相关论文: Active Safety System for Semi-Autonomous Teleopera…
In this article we design a physically-inspired model-based assist-as-needed semi-autonomous control (ASC) algorithm to address the problem of safely driving a vehicle (a power wheelchair) in an environment with static obstacles. Once…
Trajectory planning for autonomous driving is challenging because the unknown future motion of traffic participants must be accounted for, yielding large uncertainty. Stochastic Model Predictive Control (SMPC)-based planners provide…
Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The full potential of ADSs cannot be realized unless the robustness of…
A growing number of vehicles are being transformed into semi-autonomous vehicles (Level 2 autonomy) by relying on advanced driver assistance systems (ADAS) to improve the driving experience. However, the increasing complexity and…
In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
Implementing a teleoperation system with its various actors and interactions is challenging and requires an overview of the necessary functions. This work collects all tasks that arise in a control center for an automated vehicle fleet from…
In parallel with the advancement of Automated Driving (AD) functions, teleoperation has grown in popularity over recent years. By enabling remote operation of automated vehicles, teleoperation can be established as a reliable fallback…
Ensuring the functional safety of Autonomous Vehicles (AVs) requires motion planning modules that not only operate within strict real-time constraints but also maintain controllability in case of system faults. Existing safeguarding…
This paper introduces an AI-enabled, interaction-aware active safety analysis framework that accounts for groupwise vehicle interactions. Specifically, the framework employs a bicycle model-augmented with road gradient considerations-to…
With increased developments and interest in cooperative driving and higher levels of automation (SAE level 3+), the need for safety systems that are capable to monitor system health and maintain safe operations in faulty scenarios is…
A gradual takeover strategy is proposed, in which the dynamic driving privilege assignment in real-time and the driving privilege gradual handover are realized. Firstly, the driving privilege assignment based on the risk level is achieved.…
Drivers are becoming increasingly reliant on advanced driver assistance systems (ADAS) as autonomous driving technology becomes more popular and developed with advanced safety features to enhance road safety. However, the increasing…
Ensuring safe and effective collaboration between humans and autonomous legged robots is a fundamental challenge in shared autonomy, particularly for teleoperated systems navigating cluttered environments. Conventional shared-control…
Autonomous vehicles (AVs) are rapidly evolving as an innovative mode of transportation. However, the consensus in both industry and academia is that AVs cannot independently resolve all traffic scenarios. Consequently, the need for remote…
Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…
It is estimated that 90% of crashes occur due to human error, mainly induced by poor judgement, distraction or lack of situation awareness. The development of systems that aim to increase road safety and to improve driving comfort is the…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is…