相关论文: Multimodal Belief-Space Covariance Steering with A…

In order to develop provably safe human-in-the-loop systems, accurate and precise models of human behavior must be developed. In the case of intelligent vehicles, one can imagine the need for predicting driver behavior to develop minimally…

The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…

A major challenge for autonomous vehicles is handling interactive scenarios, such as highway merging, with human-driven vehicles. A better understanding of human interactive behaviour could help address this challenge. Such understanding…

For an autonomous vehicle to operate reliably within real-world traffic scenarios, it is imperative to assess the repercussions of its prospective actions by anticipating the uncertain intentions exhibited by other participants in the…

Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive…

As autonomous vehicles move from a simplified research setting to practical use, there exists a large gap between the dynamic behavior of a human driving and an autonomous system. Risk-aware behavior needs to naturally develop in order to…

Robotic systems, particularly in demanding environments like narrow corridors or disaster zones, often grapple with imperfect state estimation. Addressing this challenge requires a trajectory plan that not only navigates these restrictive…

Predicting the motion of other road agents enables autonomous vehicles to perform safe and efficient path planning. This task is very complex, as the behaviour of road agents depends on many factors and the number of possible future…

Next-generation autonomous systems must execute complex tasks in uncertain environments. Active perception, where an autonomous agent selects actions to increase knowledge about the environment, has gained traction in recent years for…

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…

One of the bottlenecks of automated driving technologies is safe and socially acceptable interactions with human-driven vehicles, for example during merging. Driver models that provide accurate predictions of joint and individual driver…

This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model…

Navigating dense and dynamic environments poses a significant challenge for autonomous driving systems, owing to the intricate nature of multimodal interaction, wherein the actions of various traffic participants and the autonomous vehicle…

With the development of autonomous driving, it is becoming increasingly common for autonomous vehicles (AVs) and human-driven vehicles (HVs) to travel on the same roads. Existing single-vehicle planning algorithms on board struggle to…

Humans are experts in making decisions for challenging driving tasks with uncertainties. Many efforts have been made to model the decision-making process of human drivers at the behavior level. However, limited studies explain how human…

Autonomous vehicles (AVs) are on the road. To safely and efficiently interact with other road participants, AVs have to accurately predict the behavior of surrounding vehicles and plan accordingly. Such prediction should be probabilistic,…

To maximize safety and driving comfort, autonomous driving systems can benefit from implementing foresighted action choices that take different potential scenario developments into account. While artificial scene prediction methods are…

In high-conflict mixed-traffic scenarios involving human-driven and autonomous vehicles, most existing autonomous driving systems default to overly conservative behaviors, lack proactive interaction, and consequently suffer from limited…

A conceptual and computational framework is proposed for modelling of human sensorimotor control, and is exemplified for the sensorimotor task of steering a car. The framework emphasises control intermittency, and extends on existing models…

In the driving scene, the road agents usually conduct frequent interactions and intention understanding of the surroundings. Ego-agent (each road agent itself) predicts what behavior will be engaged by other road users all the time and…