Related papers: How human drivers control their vehicle

We introduce a counting process to model the random occurrence in time of car traffic accidents, taking into account some aspects of the self-excitation typical of this phenomenon. By combining methods from probability and differential…

In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…

Motion planning is a fundamental component in automated vehicles. It influences the comfort and time efficiency of the ride. Despite a vast collection of studies working towards improving motion comfort in self-driving cars, little…

Modeling car-following behavior is fundamental to microscopic traffic simulation, yet traditional deterministic models often fail to capture the full extent of variability and unpredictability in human driving. While many modern approaches…

Driving behavior modeling is of great importance for designing safe, smart, and personalized autonomous driving systems. In this paper, an internal reward function-based driving model that emulates the human's decision-making mechanism is…

The use of partially automated driving systems raises concerns about potential responsibility issues, posing risk to the system safety, acceptance, and adoption of these technologies. The concept of meaningful human control has emerged in…

A fundamental concept in control theory is that of controllability, where any system state can be reached through an appropriate choice of control inputs. Indeed, a large body of classical and modern approaches are designed for controllable…

This paper proposes a imitation learning model for autonomous driving on highway traffic by mimicking human drivers' driving behaviours. The study utilizes the HighD traffic dataset, which is complex, high-dimensional, and diverse in…

In this paper a new framework has been applied to the design of controllers which encompasses nonlinearity, hysteresis and arbitrary density functions of forward models and inverse controllers. Using mixture density networks, the…

We propose a novel data-driven stochastic model predictive control framework for uncertain linear systems with noisy output measurements. Our approach leverages multi-step predictors to efficiently propagate uncertainty, ensuring chance…

Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and…

This paper proposes a novel monitoring methodology for car-following control of automated vehicles that uses real-time measurements of spacing and velocity obtained through vehicle sensors. This study focuses on monitoring the time gap, a…

This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…

In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…

Personalized driver models play a key role in the development of advanced driver assistance systems and automated driving systems. Traditionally, physical-based driver models with fixed structures usually lack the flexibility to describe…

In this paper, we present a data-driven Model Predictive Controller that leverages a Gaussian Process to generate optimal motion policies for connected autonomous vehicles in regions with uncertainty in the wireless channel. The…

We can use driving data collected over a long period of time to extract rich information about how vehicles behave in different areas of the roads. In this paper, we introduce the concept of directional primitives, which is a representation…

This study proposes a method for qualitatively evaluating and designing human-like driver models for autonomous vehicles. While most existing research on human-likeness has been focused on quantitative evaluation, it is crucial to consider…

Autonomous cars can perform poorly for many reasons. They may have perception issues, incorrect dynamics models, be unaware of obscure rules of human traffic systems, or follow certain rules too conservatively. Regardless of the exact…

A simple algorithm for constructing an effective traffic model is presented. The algorithm uses statistically well-defined quantities extracted from the flow-density plot, and the resulting effective model naturally captures and predicts…