相关论文: Task-Aware Risk Estimation of Perception Failures …

Autonomous vehicles (AVs) rely on environment perception and behavior prediction to reason about agents in their surroundings. These perception systems must be robust to adverse weather such as rain, fog, and snow. However, validation of…

Automated Vehicles require exhaustive testing in simulation to detect as many safety-critical failures as possible before deployment on public roads. In this work, we focus on the core decision-making component of autonomous robots: their…

This paper offers a technique for estimating collision risk for automated ground vehicles engaged in cooperative sensing. The technique allows quantification of (i) risk reduced due to cooperation, and (ii) the increased accuracy of risk…

Perception plays a central role in connected and autonomous vehicles (CAVs), underpinning not only conventional modular driving stacks, but also cooperative perception systems and recent end-to-end driving models. While deep learning has…

This research introduces two efficient methods to estimate the collision risk of planned trajectories in autonomous driving under uncertain driving conditions. Deterministic collision checks of planned trajectories are often inaccurate or…

Task offloading in Vehicular Edge Computing (VEC) can advance cooperative perception (CP) to improve traffic awareness in Autonomous Vehicles. In this paper, we propose the Quality-aware Cooperative Perception Task Offloading (QCPTO)…

Challenges related to automated driving are no longer focused on just the construction of such automated vehicles (AVs), but in assuring the safety of their operation. Recent advances in Level 3 and Level 4 autonomous driving have motivated…

This paper offers a formal framework for the rare collision risk estimation of autonomous vehicles (AVs) with multi-agent situation awareness, affected by different sources of noise in a complex dynamic environment. In our proposed setting,…

The safety of Automated Vehicles (AVs) must be assured before their release and deployment. The current approach to evaluation relies primarily on (i) testing AVs on public roads or (ii) track testing with scenarios defined in a test…

We consider the problem of safe control in discrete autonomous agents that use learned components for imperfect perception (or more generally, state estimation) from high-dimensional observations. We propose a shield construction that…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

This work proposes a novel risk-perception-aware (RPA) control design using non-rational perception of risks associated with uncertain dynamic spatial costs. We use Cumulative Prospect Theory (CPT) to model the risk perception of a decision…

Autonomous Vehicles (AVs) promise a range of societal advantages, including broader access to mobility, reduced road accidents, and enhanced transportation efficiency. However, evaluating the risks linked to AVs is complex due to limited…

Automated driving functions increasingly rely on machine learning for tasks like perception and trajectory planning, requiring large, relevant datasets. The performance of these algorithms depends on how closely the training data matches…

In the field of conditional autonomous driving technology, driver perceived risk prediction plays a crucial role in reducing traffic risks and ensuring passenger safety. This study introduces an innovative perceived risk prediction model…

Self-assessment rules play an essential role in safe and effective real-world robotic applications, which verify the feasibility of the selected action before actual execution. But how to utilize the self-assessment results to re-choose…

Most autonomous driving safety benchmarks use time-to-collision (TTC) to assess risk and guide safe behaviour. However, TTC-based methods treat risk as a one-dimensional closing problem, despite the inherently two-dimensional nature of…

Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient…

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…

Perceived risk is crucial in designing trustworthy and acceptable vehicle automation systems. However, our understanding of its dynamics is limited, and models for perceived risk dynamics are scarce in the literature. This study formulates…