相关论文: Dynamic Risk Assessment for Autonomous Vehicles fr…

Optimizing traffic dynamics in an evolving transportation landscape is crucial, particularly in scenarios where autonomous vehicles (AVs) with varying levels of autonomy coexist with human-driven cars. While optimizing Reinforcement…

Risk assessment is a central element for the development and validation of Autonomous Vehicles (AV). It comprises a combination of occurrence probability and severity of future critical events. Time Headway (TH) as well as Time-To-Contact…

Intersections constitute one of the most dangerous elements in road systems. Traffic signals remain the most common way to control traffic at high-volume intersections and offer many opportunities to apply intelligent transportation systems…

Human-robot collaboration (HRC) introduces significant safety challenges, particularly in protecting human operators working alongside collaborative robots (cobots). While current ISO standards emphasize risk assessment and hazard…

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…

This paper introduces a novel machine learning architecture for an efficient estimation of the probabilistic space-time representation of complex traffic scenarios. A detailed representation of the future traffic scenario is of significant…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…

Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…

In the context of autonomous driving on expressways, the issue of ensuring safe and efficient ramp merging remains a significant challenge. Existing systems often struggle to accurately assess the status and intentions of other vehicles,…

We propose a framework for planning in unknown dynamic environments with probabilistic safety guarantees using conformal prediction. Particularly, we design a model predictive controller (MPC) that uses i) trajectory predictions of the…

This article presents a family of Stochastic Cartographic Occupancy Prediction Engines (SCOPEs) that enable mobile robots to predict the future states of complex dynamic environments. They do this by accounting for the motion of the robot…

In this article, an approach for probabilistic trajectory forecasting of vulnerable road users (VRUs) is presented, which considers past movements and the surrounding scene. Past movements are represented by 3D poses reflecting the posture…

Ensuring safe autonomous driving in the presence of occlusions poses a significant challenge in its policy design. While existing model-driven control techniques based on set invariance can handle visible risks, occlusions create latent…

Intelligent devices for supporting persons with vision impairment are becoming more widespread, but they are lacking behind the advancements in intelligent driver assistant system. To make a first step forward, this work discusses the…

The advance towards higher levels of automation within the field of automated driving is accompanied by increasing requirements for the operational safety of vehicles. Induced by the limitation of computational resources, trade-offs between…

Risk is traditionally described as the expected likelihood of an undesirable outcome, such as collisions for autonomous vehicles. Accurately predicting risk or potentially risky situations is critical for the safe operation of autonomous…

Given its increasing popularity in recent years, teleoperation technology is now recognized as a robust fallback solution for Automated Driving (AD). Remote Assistance (RA) represents an event-driven class of teleoperation with a distinct…

Autonomous vehicles (AV) are becoming a part of humans' everyday life. There are numerous pilot projects of driverless public buses; some car manufacturers deliver their premium-level automobiles with advanced self-driving features. Thus,…

In the context of autonomous vehicles, one of the most crucial tasks is to estimate the risk of the undertaken action. While navigating in complex urban environments, the Bayesian occupancy grid is one of the most popular types of maps,…

Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…