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Current technologies are unable to produce massively deployable, fully autonomous vehicles that do not require human intervention. Such technological limitations are projected to persist for decades. Therefore, roadway scenarios requiring a…
Accident detection and traffic analysis is a critical component of smart city and autonomous transportation systems that can reduce accident frequency, severity and improve overall traffic management. This paper presents a comprehensive…
A novel paradigm for vehicular traffic in the era of connected and automated vehicles (CAVs) is proposed, which includes two combined principles: lane-free traffic and vehicle nudging, whereby vehicles are "pushing" (from a distance, using…
Estimation of road traffic is a fundamental problem which has been addressed with a variety of methods. In the present paper, a variant of the mobile observer method is proposed. It is assumed that some vehicles composing the road traffic…
Autonomous vehicles (AVs) have the potential to significantly revolutionize society by providing a secure and efficient mode of transportation. Recent years have witnessed notable advancements in autonomous driving perception and…
A major challenge in the safety assessment of automated vehicles is to ensure that risk for all traffic participants is as low as possible. A concept that is becoming increasingly popular for testing in automated driving is scenario-based…
How to free a road from vehicle traffic as efficiently as possible and in a given time, in order to allow for example the passage of emergency vehicles? We are interested in this question which we reformulate as an optimal control problem.…
While motion planning approaches for automated driving often focus on safety and mathematical optimality with respect to technical parameters, they barely consider convenience, perceived safety for the passenger and comprehensibility for…
The traditional build-and-expand approach is not a viable solution to keep roadway traffic rolling safely, so technological solutions, such as Autonomous Vehicles (AVs), are favored. AVs have considerable potential to increase the carrying…
Modern Automated Driving (AD) systems rely on safety measures to handle faults and to bring vehicle to a safe state. To eradicate lethal road accidents, car manufacturers are constantly introducing new perception as well as control systems.…
Rapid advancements in driver-assistance technology will lead to the integration of fully autonomous vehicles on our roads that will interact with other road users. To address the problem that driverless vehicles make interaction through eye…
Safety is a central requirement for automated vehicles. As such, the assessment of risk in automated driving is key in supporting both motion planning technologies and safety evaluation. In automated driving, risk is characterized by two…
This paper presents a new mathematical model of vehicular traffic, based on the methods of the generalized kinetic theory, in which the space of microscopic states (position and velocity) of the vehicles is genuinely discrete. While in the…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
Safety validation of autonomous driving systems is extremely challenging due to the high risks and costs of real-world testing as well as the rarity and diversity of potential failures. To address these challenges, we train a denoising…
Safety guarantees in motion planning for autonomous driving typically involve certifying the trajectory to be collision-free under any motion of the uncontrollable participants in the environment, such as the human-driven vehicles on the…
Challenges related to automated driving are no longer focused on just the construction of such automated vehicles (AVs), but in assuring the safety of their operation. Recent advances in Level 3 and Level 4 autonomous driving have motivated…
Safety is one of the most crucial challenges of autonomous driving vehicles, and one solution to guarantee safety is to employ an additional control revision module after the planning backbone. Control Barrier Function (CBF) has been widely…
The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…
With the rapid development of automated vehicles (AVs) in recent years, commercially available AVs are increasingly demonstrating high-level automation capabilities. However, most existing AV safety evaluation methods are primarily designed…