相关论文: Combining Belief Function Theory and Stochastic Mo…

This study underscores the vital importance of intelligent driving functions in enhancing road safety and driving comfort. Central to our research is the challenge of obtaining sufficient test data for evaluating these functions, especially…

In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures…

Abrupt maneuvers by surrounding vehicles (SVs) can typically lead to safety concerns and affect the task efficiency of the ego vehicle (EV), especially with model uncertainties stemming from environmental disturbances. This paper presents a…

Understanding the intention of vehicles in the surrounding traffic is crucial for an autonomous vehicle to successfully accomplish its driving tasks in complex traffic scenarios such as highway forced merging. In this paper, we consider a…

While motion planning approaches for automated driving often focus on safety and mathematical optimality with respect to technical parameters, they barely consider convenience, perceived safety for the passenger and comprehensibility for…

Perception and prediction modules are critical components of autonomous driving systems, enabling vehicles to navigate safely through complex environments. The perception module is responsible for perceiving the environment, including…

A new belief space planning algorithm, called covariance steering Belief RoadMap (CS-BRM), is introduced, which is a multi-query algorithm for motion planning of dynamical systems under simultaneous motion and observation uncertainties.…

We propose the use of Bayesian networks, which provide both a mean value and an uncertainty estimate as output, to enhance the safety of learned control policies under circumstances in which a test-time input differs significantly from the…

When a person makes a decision, it is automatically accompanied by a subjective probability judgment of the decision being correct, in other words, a confidence judgment. A better understanding of the mechanisms responsible for these…

Control barrier functions (CBFs) have emerged as a popular topic in safety critical control due to their ability to provide formal safety guarantees for dynamical systems. Despite their powerful capabilities, the determination of feasible…

In complex environments, where the human sensory system reaches its limits, our behaviour is strongly driven by our beliefs about the state of the world around us. Accessing others' beliefs, intentions, or mental states in general, could…

This paper proposes a model to estimate the probability of a vehicle reaching a near-term goal state using one or multiple lane changes based on parameters corresponding to traffic conditions and driving behavior. The proposed model not…

Self-driving vehicles (SDVs) hold great potential for improving traffic safety and are poised to positively affect the quality of life of millions of people. To unlock this potential one of the critical aspects of the autonomous technology…

Assistive robots can potentially improve the quality of life and personal independence of elderly people by supporting everyday life activities. To guarantee a safe and intuitive interaction between human and robot, human intentions need to…

Traffic simulation, complementing real-world data with a long-tail distribution, allows for effective evaluation and enhancement of the ability of autonomous vehicles to handle accident-prone scenarios. Simulating such safety-critical…

With the recent surge of interest in introducing autonomous vehicles to the everyday lives of people, developing accurate and generalizable algorithms for predicting human behavior becomes highly crucial. Moreover, many of these emerging…

Modular automated driving systems commonly handle prediction and planning as sequential, separate tasks, thereby prohibiting cooperative maneuvers. To enable cooperative planning, this work introduces a prediction model that models the…

Control barrier functions are widely used to synthesize safety-critical controls. However, the presence of Gaussian-type noise in dynamical systems can generate unbounded signals and potentially result in severe consequences. Although…

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…

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…