相关论文: Active inference as a unified model of collision a…

Variability in human response creates non-trivial challenges for modeling and control of human-automation systems. As autonomy becomes pervasive, methods that can accommodate human variability will become paramount, to ensure efficiency,…

This paper presents a real-time lane change control framework of autonomous driving in dense traffic, which exploits cooperative behaviors of other drivers. This paper focuses on heavy traffic where vehicles cannot change lanes without…

Many models account for the traffic flow of road users but few take the details of local interactions into consideration and how they could deteriorate into safety-critical situations. Building on the concept of sensorimotor control, we…

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This…

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…

Car-following (CF) modeling, an essential component in simulating human CF behaviors, has attracted increasing research interest in the past decades. This paper pushes the state of the art by proposing a novel generative hybrid CF model,…

Understanding the movement behaviours of individuals and the way they react to the external world is a key component of any problem that involves the modelling of human dynamics at a physical level. In particular, it is crucial to capture…

Humans are interactive agents driven to seek out situations with interesting physical dynamics. Here we formalize the functional form of physical intrinsic motivation. We first collect ratings of how interesting humans find a variety of…

To date, formal models of collective intelligence have lacked a plausible mathematical description of the relationship between local-scale interactions between highly autonomous sub-system components (individuals) and global-scale behavior…

Simulation-based testing has emerged as an essential tool for verifying and validating autonomous vehicles (AVs). However, contemporary methodologies, such as deterministic and imitation learning-based driver models, struggle to capture the…

Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…

Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…

We present a novel approach for risk-aware planning with human agents in multi-agent traffic scenarios. Our approach takes into account the wide range of human driver behaviors on the road, from aggressive maneuvers like speeding and…

Accurately modeling the behavior of traffic participants is essential for safely and efficiently navigating an autonomous vehicle through heavy traffic. We propose a method, based on the intelligent driver model, that allows us to…

Traffic conflict detection is essential for proactive road safety by identifying potential collisions before they occur. Existing methods rely on surrogate safety measures tailored to specific interactions (e.g., car-following,…

Perceived risk is crucial in designing trustworthy and acceptable vehicle automation systems. However, our understanding of its dynamics is limited, and models for perceived risk dynamics are scarce in the literature. This study formulates…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

In this paper, we investigate a predictive approach for collision risk assessment in autonomous and assisted driving. A deep predictive model is trained to anticipate imminent accidents from traditional video streams. In particular, the…

Car-following behavior modeling is critical for understanding traffic flow dynamics and developing high-fidelity microscopic simulation models. Most existing impulse-response car-following models prioritize computational efficiency and…

Data subsampling has become widely recognized as a tool to overcome computational and economic bottlenecks in analyzing massive datasets. We contribute to the development of adaptive design for estimation of finite population…