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We propose FreeSim, a camera simulation method for autonomous driving. FreeSim emphasizes high-quality rendering from viewpoints beyond the recorded ego trajectories. In such viewpoints, previous methods have unacceptable degradation…
Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe…
At the moment, urban mobility research and governmental initiatives are mostly focused on motor-related issues, e.g. the problems of congestion and pollution. And yet, we can not disregard the most vulnerable elements in the urban…
We propose a hybrid decision-making framework for safe and efficient autonomous driving of selfish vehicles on highways. Specifically, we model the dynamics of each vehicle as a Mixed-Logical-Dynamical system and propose simple driving…
The advancing digitalization of vehicles and automotive systems bears many advantages for creating and enhancing comfort and safety-related systems ranging from drive-by-wire, inclusion of advanced displays, entertainment systems up to…
Earlier work has established a decentralized framework of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without using explicit traffic signaling. The proposed solution is capable of minimizing…
Predicting risk map of traffic accidents is vital for accident prevention and early planning of emergency response. Here, the challenge lies in the multimodal nature of urban big data. We propose a compact neural ensemble model to alleviate…
The dynamic and unpredictable nature of road traffic necessitates effective accident detection methods for enhancing safety and streamlining traffic management in smart cities. This paper offers a comprehensive exploration study of…
We present an overview of recently developed data-driven tools for safety analysis of autonomous vehicles and advanced driver assist systems. The core algorithms combine model-based, hybrid system reachability analysis with sensitivity…
This paper proposes an extensive overview of safety applications and approaches as it relates to automated driving from the prospectives of sensor configurations, vehicle dynamics modelling, tyre modeling, and estimation approaches. First,…
The rapid development of autonomous vehicles spurred a careful investigation of the potential benefits of all-autonomous transportation networks. Most studies conclude that autonomous systems can enable drastic improvements in performance.…
Recent transportation research highlights the potential of autonomous vehicles (AV) to improve traffic flow mobility as they are able to maintain smaller car-following distances. However, as a unique class of ground robots, AVs are…
Autonomous Vehicles (AVs) promise a range of societal advantages, including broader access to mobility, reduced road accidents, and enhanced transportation efficiency. However, evaluating the risks linked to AVs is complex due to limited…
Intersections are hazardous places. Threats arise from interactions among pedestrians, bicycles and vehicles, more complicated vehicle trajectories in the absence of lane markings, phases that prevent determining who has the right of way,…
One of the unresolved challenges for autonomous vehicles is safe navigation among occluded pedestrians and vehicles. Previous approaches included generating phantom vehicles and assessing their risk, but they often made the ego vehicle…
Traffic regulation must be respected by all vehicles, either human- or computer- driven. However, extreme traffic situations might exhibit practical cases in which a vehicle should safely and reasonably relax traffic regulation, e.g., in…
Safety remains one of the most critical challenges in autonomous driving systems. In recent years, the end-to-end driving has shown great promise in advancing vehicle autonomy in a scalable manner. However, existing approaches often face…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…
Vehicle speed monitoring and management of highways is the critical problem of the road in this modern age of growing technology and population. A poor management results in frequent traffic jam, traffic rules violation and fatal road…