相关论文: Design of hazard based model and collision avoidan…
Road-vehicle accidents are mostly due to human errors, and many such accidents could be avoided by continuously monitoring the driver. Driver monitoring (DM) is a topic of growing interest in the automotive industry, and it will remain…
Cyclists and pedestrians account for a significant share of fatalities and serious injuries in the road transport system. In order to protect them, advanced driver assistance systems are being developed and introduced to the market,…
Improving road safety is hugely important with the number of deaths on the world's roads remaining unacceptably high; an estimated 1.35 million people die each year (WHO, 2020). Current practice for treating collision hotspots is almost…
Autonomous vehicles (AV) look set to become common on our roads within the next few years. However, to achieve the final breakthrough, not only functional progress is required, but also satisfactory safety assurance must be provided. Among…
We propose a hierarchy of kinetic and macroscopic models for a system consisting of a large number of interacting pedestrians. The basic interaction rules are derived from earlier work where the dangerousness level of an interaction with…
We present the pedestrian patterns dataset for autonomous driving. The dataset was collected by repeatedly traversing the same three routes for one week starting at different specific timeslots. The purpose of the dataset is to capture the…
Although extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored.…
We give an overview of time-continuous pedestrian models with a focus on data-driven modelling. Starting from pioneer, reactive force-based models we move forward to modern, active pedestrian models with sophisticated collision-avoidance…
Intelligent devices for supporting persons with vision impairment are becoming more widespread, but they are lacking behind the advancements in intelligent driver assistant system. To make a first step forward, this work discusses the…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
This paper proposes a novel max-pressure (MP) algorithm that incorporates pedestrian traffic into the MP control architecture. Pedestrians are modeled as being included in one of two groups: those walking on sidewalks and those queued at…
This paper investigates the high-level decision-making problem in highway scenarios regarding lane changing and over-taking other slower vehicles. In particular, this paper aims to improve the Travel Assist feature for automatic overtaking…
The major advances in intelligent transportation systems are pushing societal services toward autonomy where road management is to be more agile in order to cope with changes and continue to yield optimal performance. However, the…
Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…
Considering high speed following on expressway or highway, an improved car-following model is developed in this paper by introducing variable safety headway distance. Stability analysis of the new model is carried out using the control…
In this paper, we formulate a novel trajectory optimization scheme that takes into consideration the state uncertainty of the robot and obstacle into its collision avoidance routine. The collision avoidance under uncertainty is modeled here…
A general and psychologically plausible collision avoidance driver model can improve transportation safety significantly. Most computational driver models found in the literature have used control theory methods only, and they are not…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
Fast and reliable trajectory planning is a key requirement of autonomous vehicles. In this paper we introduce a novel technique for planning the route of an autonomous vehicle on a straight rural road using the Spin model checker. We show…
Autonomous vehicles are a growing technology that aims to enhance safety, accessibility, efficiency, and convenience through autonomous maneuvers ranging from lane change to overtaking. Overtaking is one of the most challenging maneuvers…