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Considerable research efforts have been devoted to the development of motion planning algorithms, which form a cornerstone of the autonomous driving system (ADS). Nonetheless, acquiring an interactive and secure trajectory for the ADS…

As autonomous driving technology evolves, ensuring the stability and safety of Autonomous Driving Systems (ADS) through alignment with human values becomes increasingly crucial. While existing research emphasizes the adherence of AI to…

Testing and evaluation are expensive but critical steps in the development of connected and automated vehicles (CAVs). In this paper, we develop an adaptive sampling framework to efficiently evaluate the accident rate of CAVs, particularly…

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…

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,…

The increasing, high-risk interactions between vehicles and vulnerable micromobility users, such as e-scooter riders, challenge vehicular safety functions and Automated Driving (AD) techniques, often resulting in severe consequences due to…

With the advent of Advanced Driver Assistance Systems (ADAS), there is an increasing need to evaluate driver behavior while using such technology. In this unique study, a forward collision warning (FCW) system using connected vehicle…

Ensuring and improving the safety of autonomous driving systems (ADS) is crucial for the deployment of highly automated vehicles, especially in safety-critical events. To address the rarity issue, adversarial scenario generation methods are…

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…

Real-time safety metrics are important for the automated driving system (ADS) to assess the risk of driving situations and to assist the decision-making. Although a number of real-time safety metrics have been proposed in the literature,…

Anomaly driving detection is an important problem in advanced driver assistance systems (ADAS). It is important to identify potential hazard scenarios as early as possible to avoid potential accidents. This study proposes an unsupervised…

Autonomous Driving Systems (ADSs) are safety-critical, as real-world safety violations can result in significant losses. Rigorous testing is essential before deployment, with simulation testing playing a key role. However, ADSs are…

This paper proposes an adaptive behavioral decision-making method for autonomous vehicles (AVs) focusing on complex merging scenarios. Leveraging principles from non-cooperative game theory, we develop a vehicle interaction behavior model…

According to data from the United Nations, more than 3000 people have died each day in the world due to road traffic collision. Considering recent researches, the human error may be considered as the main responsible for these fatalities.…

Collision avoidance -- involving a rapid threat detection and quick execution of the appropriate evasive maneuver -- is a critical aspect of driving. However, existing models of human collision avoidance behavior are fragmented, focusing on…

Autonomous Vehicle decisions rely on multimodal prediction models that account for multiple route options and the inherent uncertainty in human behavior. However, models can suffer from mode collapse, where only the most likely mode is…

In Autonomous Driving (AD), real-time perception is a critical component responsible for detecting surrounding objects to ensure safe driving. While researchers have extensively explored the integrity of AD perception due to its safety and…

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…

In order to drive effectively, a driver must be aware of how they can expect other vehicles' behaviour to be affected by their decisions, and also how they are expected to behave by other drivers. One common family of methods for addressing…

Autonomous vehicles (AVs) rely on complex perception and communication systems, making them vulnerable to adversarial attacks that can compromise safety. While simulation offers a scalable and safe environment for robustness testing,…