相关论文: Occlusion-aware Risk Assessment and Driving Strate…

When autonomous vehicles encounter untrained scenarios, ensuring safety hinges on effective safety verification to prevent accidents stemming from unexpected model decisions. Reachability analysis, a method of safety verification, offers…

Perception and planning under occlusion is essential for safety-critical tasks. Occlusion-aware planning often requires communicating the information of the occluded object to the ego agent for safe navigation. However, communicating rich…

For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDAR give no data, the robot must be able to reason about…

Occlusions present a significant challenge for connected and automated vehicles, as they can obscure critical road users from perception systems. Traditional risk metrics often fail to capture the cumulative nature of these threats over…

Both humans and the sensors on an autonomous vehicle have limited sensing capabilities. When these limitations coincide with scenarios involving vulnerable road users, it becomes important to account for these limitations in the motion…

Risk assessment is a crucial component of collision warning and avoidance systems in intelligent vehicles. To accurately detect potential vehicle collisions, reachability-based formal approaches have been developed to ensure driving safety,…

Ensuring safety and motion consistency for robot navigation in occluded, obstacle-dense environments is a critical challenge. In this context, this study presents an occlusion-aware Consistent Model Predictive Control (CMPC) strategy. To…

Density of the reachable states can help understand the risk of safety-critical systems, especially in situations when worst-case reachability is too conservative. Recent work provides a data-driven approach to compute the density…

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,…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

Reasoning with occluded traffic agents is a significant open challenge for planning for autonomous vehicles. Recent deep learning models have shown impressive results for predicting occluded agents based on the behaviour of nearby visible…

One of the main challenges in developing autonomous transport systems based on connected and automated vehicles is the comprehension and understanding of the environment around each vehicle. In many situations, the understanding is limited…

Reinforcement learning is nowadays a popular framework for solving different decision making problems in automated driving. However, there are still some remaining crucial challenges that need to be addressed for providing more reliable…

Safety and performance are key enablers for autonomous driving: on the one hand we want our autonomous vehicles (AVs) to be safe, while at the same time their performance (e.g., comfort or progression) is key to adoption. To effectively…

A particular challenge for both autonomous and human driving is dealing with risk associated with dynamic occlusion, i.e., occlusion caused by other vehicles in traffic. Based on the theory of hypergames, we develop a novel multi-agent…

To enable safe autonomous vehicle (AV) operations, it is critical that an AV's obstacle detection module can reliably detect obstacles that pose a safety threat (i.e., are safety-critical). It is therefore desirable that the evaluation…

Manoeuvring in the presence of emergency vehicles is still a major issue for vehicle autonomy systems. Most studies that address this topic are based on rule-based methods, which cannot cover all possible scenarios that can take place in…

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…

We present an overview of recently developed data-driven tools for safety analysis of autonomous vehicles and advanced driver assist systems. The core algorithms combine model-based, hybrid system reachability analysis with sensitivity…

Existing intelligent driving technology often has a problem in balancing smooth driving and fast obstacle avoidance, especially when the vehicle is in a non-structural environment, and is prone to instability in emergency situations.…