相关论文: Prediction Horizon Requirements for Automated Driv…

For safe navigation around pedestrians, automated vehicles (AVs) need to plan their motion by accurately predicting pedestrians trajectories over long time horizons. Current approaches to AV motion planning around crosswalks predict only…

Advanced collision avoidance and driver hand-off systems can benefit from the ability to accurately predict, in real time, the probability a vehicle will be involved in a collision within an intermediate horizon of 10 to 20 seconds. The…

In highway scenarios, an alert human driver will typically anticipate early cut-in/cut-out maneuvers of surrounding vehicles using visual cues mainly. Autonomous vehicles must anticipate these situations at an early stage too, to increase…

Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…

Automated vehicles require a comprehensive understanding of traffic situations to ensure safe and anticipatory driving. In this context, the prediction of pedestrians is particularly challenging as pedestrian behavior can be influenced by…

Human-robot teams must be aware of human workload when operating in uncertain, dynamic environments. Prior work employed physiological response metrics from wearable sensors to estimate the current human workload; however, these estimates…

Although automated driving systems have been used frequently, they are still unpopular in society. To increase the popularity of automated vehicles (AVs), assisting pedestrians to accurately understand the driving intentions and improving…

Highway driving places significant demands on human drivers and autonomous vehicles (AVs) alike due to high speeds and the complex interactions in dense traffic. Merging onto the highway poses additional challenges by limiting the amount of…

In this paper we investigate real-time, dynamic traffic optimization in railway systems. In order to enable practical solution times, we operate the optimizer in a receding horizon fashion and with optimization horizons that are shorter…

To plan a safe and efficient route, an autonomous vehicle should anticipate future trajectories of other agents around it. Trajectory prediction is an extremely challenging task which recently gained a lot of attention in the autonomous…

For driving safely and efficiently in highway scenarios, autonomous vehicles (AVs) must be able to predict future behaviors of surrounding object vehicles (OVs), and assess collision risk accurately for reasonable decision-making. Aiming at…

The ability to predict the future movements of other vehicles is a subconscious and effortless skill for humans and key to safe autonomous driving. Therefore, trajectory prediction for autonomous cars has gained a lot of attention in recent…

Safe and smooth interacting with other vehicles is one of the ultimate goals of driving automation. However, recent reports of demonstrative deployments of automated vehicles (AVs) indicate that AVs are still difficult to meet the…

Navigating social robots in dense, dynamic crowds is challenging due to environmental uncertainty and complex human-robot interactions. While Model Predictive Control (MPC) offers strong real-time performance, its reliance on a fixed…

This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…

Hybrid traffic which involves both autonomous and human-driven vehicles would be the norm of the autonomous vehicles practice for a while. On the one hand, unlike autonomous vehicles, human-driven vehicles could exhibit sudden abnormal…

Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…

The acceptance of automated driving is under the potential threat of motion sickness. It hinders the passengers' willingness to perform secondary activities. In order to mitigate motion sickness in automated vehicles, we propose an…

Safe trajectory planning for high-performance automated vehicles in an environment with both static and moving obstacles is a challenging problem. Part of the challenge is developing a formulation that can be solved in real-time while…

Progress towards advanced systems for assisted and autonomous driving is leveraging recent advances in recognition and segmentation methods. Yet, we are still facing challenges in bringing reliable driving to inner cities, as those are…