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Advanced Driver Assistance Systems (ADAS) have made driving safer over the last decade. They prepare vehicles for unsafe road conditions and alert drivers if they perform a dangerous maneuver. However, many accidents are unavoidable because…

Vehicles are becoming more and more connected, this opens up a larger attack surface which not only affects the passengers inside vehicles, but also people around them. These vulnerabilities exist because modern systems are built on the…

Lane-change maneuver has always been a challenging task for both manual and autonomous driving, especially in an urban setting. In particular, the uncertainty in predicting the behavior of other vehicles on the road leads to indecisive…

Accurate lane change prediction can reduce potential accidents and contribute to higher road safety. Adaptive cruise control (ACC), lane departure avoidance (LDA), and lane keeping assistance (LKA) are some conventional modules in advanced…

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…

This paper presents an on-board advance warning system for vehicles based on a probabilistic prediction model that advises them on when to change lanes to reach a highway diverge on time. The system is based on a model that estimates the…

This paper proposes an onboard advance warning system based on a probabilistic prediction model that advises vehicles on when to change lanes for an upcoming lane drop. Using several traffic- and driver-related parameters such as the…

Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set…

We present an approach for predictive braking of a four-wheeled vehicle on a nonplanar road. Our main contribution is a methodology to consider friction and road contact safety on general smooth road geometry. We use this to develop an…

Highway driving invariably combines high speeds with the need to interact closely with other drivers. Prediction methods enable autonomous vehicles (AVs) to anticipate drivers' future trajectories and plan accordingly. Kinematic methods for…

Modern Advanced Driver Assistance Systems (ADAS) are limited in their ability to consider the drivers intention, resulting in unnatural guidance and low customer acceptance. In this research, we focus on a novel data-driven approach to…

While driving on highways, every driver tries to be aware of the behavior of surrounding vehicles, including possible emergency braking, evasive maneuvers trying to avoid obstacles, unexpected lane changes, or other emergencies that could…

Navigating automated driving systems (ADSs) through complex driving environments is difficult. Predicting the driving behavior of surrounding human-driven vehicles (HDVs) is a critical component of an ADS. This paper proposes an enhanced…

As vehicle automation advances, motion planning algorithms face escalating challenges in achieving safe and efficient navigation. Existing Advanced Driver Assistance Systems (ADAS) primarily focus on basic tasks, leaving unexpected…

The vehicular connectivity revolution is fueling the automotive industry's most significant transformation seen in decades. However, as modern vehicles become more connected, they also become much more vulnerable to cyber-attacks. In this…

Advanced Driver Assistance Systems (ADAS) alert drivers during safety-critical scenarios but often provide superfluous alerts due to a lack of consideration for drivers' knowledge or scene awareness. Modeling these aspects together in a…

In a mixed-traffic scenario where both autonomous vehicles and human-driving vehicles exist, a timely prediction of driving intentions of nearby human-driving vehicles is essential for the safe and efficient driving of an autonomous…

Transportation facilities are becoming more developed as society develops, and people's travel demand is increasing, but so are the traffic safety issues that arise as a result. And car accidents are a major issue all over the world. The…

Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…

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…