相关论文: Autonomous Vehicles Meet the Physical World: RSS, …

Data for training learning-enabled self-driving cars in the physical world are typically collected in a safe, normal environment. Such data distribution often engenders a strong bias towards safe driving, making self-driving cars unprepared…

This paper offers a formal framework for the rare collision risk estimation of autonomous vehicles (AVs) with multi-agent situation awareness, affected by different sources of noise in a complex dynamic environment. In our proposed setting,…

This paper proposes a novel framework for the distributionally robust input and state estimation (DRISE) for autonomous vehicles operating under model uncertainties and measurement outliers. The proposed framework improves the input and…

The majority of research on safety in autonomous vehicles has been conducted in structured and controlled environments. However, there is a scarcity of research on safety in unregulated pedestrian areas, especially when interacting with…

Autonomous driving presents one of the largest problems that the robotics and artificial intelligence communities are facing at the moment, both in terms of difficulty and potential societal impact. Self-driving vehicles (SDVs) are expected…

When autonomous vehicles encounter untrained scenarios, ensuring safety hinges on effective safety verification to prevent accidents stemming from unexpected model decisions. Reachability analysis, a method of safety verification, offers…

Reinforcement learning provides an appealing framework for robotic control due to its ability to learn expressive policies purely through real-world interaction. However, this requires addressing real-world constraints and avoiding…

Remote driving of vehicles is gaining in importance in the transportation sector, especially when Automated Driving Systems (ADSs) reach the limits of their system boundaries. This study investigates the challenges faced by human Remote…

Navigating narrow roads with oncoming vehicles is a significant challenge that has garnered considerable public interest. These scenarios often involve sections that cannot accommodate two moving vehicles simultaneously due to the presence…

Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle and others. Despite the…

We consider the problem of intelligently navigating through complex traffic. Urban situations are defined by the underlying map structure and special regulatory objects of e.g. a stop line or crosswalk. Thereon dynamic vehicles (cars,…

Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…

As autonomous driving technology matures, safety and robustness of its key components, including trajectory prediction, is vital. Though real-world datasets, such as Waymo Open Motion, provide realistic recorded scenarios for model…

Autonomous systems with machine learning-based perception can exhibit unpredictable behaviors that are difficult to quantify, let alone verify. Such behaviors are convenient to capture in probabilistic models, but probabilistic model…

The safety of learning-enabled cyber-physical systems is compromised by the well-known vulnerabilities of deep neural networks to out-of-distribution (OOD) inputs. Existing literature has sought to monitor the safety of such systems by…

A unified system integrating a compact object detector and a surrounding environmental condition classifier for enhancing the robustness of object detection scheme in advanced driver assistance systems (ADAS) is proposed in this paper. ADAS…

Safety assurance is a critical yet challenging aspect when developing self-driving technologies. Hamilton-Jacobi backward-reachability analysis is a formal verification tool for verifying the safety of dynamic systems in the presence of…

The reliability of a machine vision system for autonomous driving depends heavily on its training data distribution. When a vehicle encounters significantly different conditions, such as atypical obstacles, its perceptual capabilities can…

Semi-autonomous driving, as it is already available today and will eventually become even more accessible, implies the need for driver and automation system to reliably work together in order to ensure safe driving. A particular challenge…

For a successful market launch of automated vehicles (AVs), proof of their safety is essential. Due to the open parameter space, an infinite number of traffic situations can occur, which makes the proof of safety an unsolved problem. With…