相关论文: Pedestrian Emergency Braking in Ten Weeks

Ensuring the safety of autonomous vehicles, given the uncertainty in sensing other road users, is an open problem. Moreover, separate safety specifications for perception and planning components raise how to assess the overall system…

This paper proposes an Adaptive Robust Model Predictive Control strategy for lateral control in lane keeping problems, where we continuously learn an unknown, but constant steering angle offset present in the steering system. Longitudinal…

The sudden appearance of a static obstacle on the road, i.e. the moose test, is a well-known emergency scenario in collision avoidance for automated driving. Model Predictive Control (MPC) has long been employed for planning and control of…

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…

Vehicle platooning enables close-gap driving and offers potential benefits for traffic efficiency and safety. In conditionally automated platooning, drivers remain responsible for supervising the system and intervening when necessary,…

We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…

Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…

Human lives are important. The decision to allow self-driving vehicles operate on our roads carries great weight. This has been a hot topic of debate between policy-makers, technologists and public safety institutions. The recent Uber Inc.…

The ability to engage in other activities during the ride is considered by consumers as one of the key reasons for the adoption of automated vehicles. However, engagement in non-driving activities will provoke occupants' motion sickness,…

Advancements in technology are steering attention toward creating comfortable and acceptable driving characteristics in autonomous vehicles. Ensuring a safe and comfortable ride experience is vital for the widespread adoption of autonomous…

The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range…

In the last four years, the number of distinct autonomous vehicles platforms deployed in the streets of California increased 6-fold, while the reported accidents increased 12-fold. This can become a trend with no signs of subsiding as it is…

In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a…

Drivers with disabilities such as hemiplegia or unilateral upper limb amputation restricting steering wheel operation to one arm could encounter the challenge of stabilizing vehicles during pedestrian collision avoidance. An sEMG-controlled…

The current approach to connected and autonomous driving function development and evaluation uses model-in-the-loop simulation, hardware-in-the-loop simulation, and limited proving ground work followed by public road deployment of beta…

Safety-critical corner cases, difficult to collect in the real world, are crucial for evaluating end-to-end autonomous driving. Adversarial interaction is an effective method to generate such safety-critical corner cases. While existing…

We report on two series of experiments, conducted in the frame of two different collaborations designed to study how pedestrians adapt their trajectories and velocities in groups or crowds. Strong emphasis is put on the motivations for the…

Connected and automated vehicles (CAVs) have the potential to enhance driving safety, for example by enabling safe vehicle following and more efficient traffic scheduling. For such future deployments, safety requirements should be…

The Institute of Measurement, Control and Microtechnology at Ulm University investigates advanced driver assistance systems for decades and concentrates in large parts on autonomous driving. It is well known that motion planning is a key…

In this paper, we provide a theoretical framework for the coordination of connected and automated vehicles (CAVs) at signal-free intersections, accounting for the unexpected presence of pedestrians. First, we introduce a general…