Related papers: Closed-Loop Hybrid Digital Twin Platform for Conne…
Autonomous vehicles promise a future with a safer, cleaner, more efficient, and more reliable transportation system. However, the current approach to autonomy has focused on building small, disparate intelligences that are closed off to the…
Vision-Language Models (VLMs) have recently emerged as a promising paradigm in autonomous driving (AD). However, current performance evaluation protocols for VLM-based AD systems (ADVLMs) are predominantly confined to open-loop settings…
Communication technologies enable coordination among connected and autonomous vehicles (CAVs). However, it remains unclear how to utilize shared information to improve the safety and efficiency of the CAV system in dynamic and complicated…
This paper presents the CAT Vehicle (Cognitive and Autonomous Test Vehicle) Testbed: a research testbed comprised of a distributed simulation-based autonomous vehicle, with straightforward transition to hardware in the loop testing and…
The advancement of Connected and Automated Vehicles (CAVs) and Vehicle-to-Everything (V2X) offers significant potential for enhancing transportation safety, mobility, and sustainability. However, the integration and analysis of the diverse…
With the increasing safety validation requirements for the release of a self-driving car, alternative approaches, such as simulation-based testing, are emerging in addition to conventional real-world testing. In order to rely on virtual…
When connected and autonomous vehicles (CAVs) are widely used in the future, we can foresee many essential applications, such as platoon formation and autonomous police patrolling, which need two CAVs, originally separated in a mixed…
Realistic and controllable simulation is critical for advancing end-to-end autonomous driving, yet existing approaches often struggle to support novel view synthesis under large viewpoint changes or to ensure geometric consistency. We…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
Software-in-the-loop (SIL) simulation is a widely used method for the rapid development and testing of autonomous vehicles because of its flexibility and efficiency. This paper presents a case study on the validation of an in-house…
Development of applications related to closed-loop control requires either testing on the field or on a realistic simulator, with the latter being more convenient, inexpensive, safe, and leading to shorter development cycles. To address…
Connected and automated vehicles (CAVs) are supposed to share the road with human-driven vehicles (HDVs) in a foreseeable future. Therefore, considering the mixed traffic environment is more pragmatic, as the well-planned operation of CAVs…
In this paper, we present a novel digital twin prototype for a learning-enabled self-driving vehicle. The primary objective of this digital twin is to perform traffic sign recognition and lane keeping. The digital twin architecture relies…
Closed-loop simulation environments play a crucial role in the validation and enhancement of autonomous driving systems (ADS). However, certain challenges warrant significant attention, including balancing simulation accuracy with duration,…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from two multi-lane roads and merging at multiple points where the objective is to jointly minimize the travel time and energy consumption of…
An easily moving and safe transportation is an indicator in any country in the world of economic growth and well-being. For the past 100 years, innovation within the automotive sector has brought major technological advances leading to…
Vision-Language Models (VLMs) have demonstrated notable promise in autonomous driving by offering the potential for multimodal reasoning through pretraining on extensive image-text pairs. However, adapting these models from broad web-scale…
Autonomous driving systems continue to face safety-critical failures, often triggered by rare and unpredictable corner cases that evade conventional testing. We present the Autonomous Driving Digital Twin (ADDT) framework, a high-fidelity…
With the rise of vision-language models (VLM), their application for autonomous driving (VLM4AD) has gained significant attention. Meanwhile, in autonomous driving, closed-loop evaluation has become widely recognized as a more reliable…
A hybrid digital twin framework is presented for bridge condition monitoring using existing traffic cameras and weather APIs, reducing reliance on dedicated sensor installations. The approach is demonstrated on the Peace Bridge (99 years in…