相关论文: Extending Urban Multi-Lane Spatial Logic to Formal…
Autonomous Vehicles (AVs) can potentially improve urban living by reducing accidents, increasing transportation accessibility and equity, and decreasing emissions. Realizing these promises requires the innovations of AV driving behaviors,…
Formal representations of traffic scenarios can be used to generate test cases for the safety verification of autonomous driving. However, most existing methods are limited to highway or highly simplified intersection scenarios due to the…
A robust estimation of road course and traffic lanes is an essential part of environment perception for next generations of Advanced Driver Assistance Systems and development of self-driving vehicles. In this paper, a flexible method for…
Most autonomous cars rely on the availability of high-definition (HD) maps. Current research aims to address this constraint by directly predicting HD map elements from onboard sensors and reasoning about the relationships between the…
Validating the safety of Autonomous Vehicles (AVs) operating in open-ended, dynamic environments is challenging as vehicles will eventually encounter safety-critical situations for which there is not representative training data. By…
Autonomous vehicles (AVs) are inevitably entering our lives with potential benefits for improved traffic safety, mobility, and accessibility. However, AVs' benefits also introduce a serious potential challenge, in the form of complex…
Recent studies have investigated new approaches for communicating an autonomous vehicle's (AV) intent and awareness to pedestrians. This paper adds to this body of work by presenting the design and evaluation of in-situ projections on the…
Accurately depicting the complex traffic scene is a vital component for autonomous vehicles to execute correct judgments. However, existing benchmarks tend to oversimplify the scene by solely focusing on lane perception tasks. Observing…
Existing safety assurance approaches for autonomous vehicles (AVs) perform system-level safety evaluation by placing the AV-under-test in challenging traffic scenarios captured by abstract scenario specifications and investigated in…
Autonomous Vehicles (AV) will transform transportation, but also the interaction between vehicles and pedestrians. In the absence of a driver, it is not clear how an AV can communicate its intention to pedestrians. One option is to use…
Autonomous vehicles (AVs) hold vast potential to enhance transportation systems by reducing congestion, improving safety, and lowering emissions. AV controls lead to emergent traffic phenomena; one such intriguing phenomenon is traffic…
Cooperative decision-making of Connected Autonomous Vehicles (CAVs) presents a longstanding challenge due to its inherent nonlinearity, non-convexity, and discrete characteristics, compounded by the diverse road topologies encountered in…
In previous work, we proposed a Runtime Enforcement Approach to deal with timing properties in motorway traffic, which are present in form of Timed Multi-Lane Spatial Logic (TMLSL) formulae, a logic tailored to express both spatial and…
The kind of closed-loop verification likely to be required for autonomous vehicle (AV) safety testing is beyond the reach of traditional test methodologies and discrete verification. Validation puts the autonomous vehicle system to the test…
Advances in autonomy offer the potential for dramatic positive outcomes in a number of domains, yet enabling their safe deployment remains an open problem. This work's motivating question is: In safety-critical settings, can we avoid the…
This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this…
With Multi-lane Spatial Logic (MLSL) a powerful approach to formally reason about and prove safety of autonomous traffic manoeuvres was introduced. Extended timed automata controllers using MLSL were constructed to commit safe lane change…
The design of autonomous vehicles (AVs) and the design of AV-enabled mobility systems are closely coupled. Indeed, knowledge about the intended service of AVs would impact their design and deployment process, whilst insights about their…
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…
Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…