相关论文: A new computational perceived risk model for autom…

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…

Achieving rapid and effective active collision avoidance in dynamic interactive traffic remains a core challenge for autonomous driving. This paper proposes REACT (Runtime-Enabled Active Collision-avoidance Technique), a closed-loop…

The ability to accurately predict the trajectory of surrounding vehicles is a critical hurdle to overcome on the journey to fully autonomous vehicles. To address this challenge, we pioneer a novel behavior-aware trajectory prediction model…

Vehicles with a safety function for anticipating crashes in advance can enhance drivers' ability to avoid crashes. As dashboard cameras have become a low-cost sensor device accessible to almost every vehicle, deep neural networks for crash…

We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…

Early accident anticipation from dashcam videos is a highly desirable yet challenging task for improving the safety of intelligent vehicles. Existing advanced accident anticipation approaches commonly model the interaction among traffic…

The recently developed DeeP-LCC (Data-EnablEd Predictive Leading Cruise Control) method has shown promising performance for data-driven predictive control of Connected and Autonomous Vehicles (CAVs) in mixed traffic. However, its simplistic…

Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…

We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…

Trajectory prediction is one of the key components of the autonomous driving software stack. Accurate prediction for the future movement of surrounding traffic participants is an important prerequisite for ensuring the driving efficiency…

We propose a computational model to estimate a person's attended awareness of their environment. We define attended awareness to be those parts of a potentially dynamic scene which a person has attended to in recent history and which they…

The safety of autonomous driving systems (ADS) depends on accurate perception across distance and driving conditions. The outputs of AI perception algorithms are stochastic, which have a major impact on decision making and safety outcomes,…

Automated vehicles require efficient and safe planning to maneuver in uncertain environments. Largely this uncertainty is caused by other traffic participants, e.g., surrounding vehicles. Future motion of surrounding vehicles is often…

Predicting risk map of traffic accidents is vital for accident prevention and early planning of emergency response. Here, the challenge lies in the multimodal nature of urban big data. We propose a compact neural ensemble model to alleviate…

Learning-based methods have been successful in solving complex control tasks without significant prior knowledge about the system. However, these methods typically do not provide any safety guarantees, which prevents their use in…

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…

One of the unresolved challenges for autonomous vehicles is safe navigation among occluded pedestrians and vehicles. Previous approaches included generating phantom vehicles and assessing their risk, but they often made the ego vehicle…

In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a two layer structure wherein first, an appropriate path is…

With the rapid development of urbanization, the boom of vehicle numbers has resulted in serious traffic accidents, which led to casualties and huge economic losses. The ability to predict the risk of traffic accident is important in the…

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…