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Autonomous Vehicles - Science topic

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Publications related to Autonomous Vehicles (10,000)
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Article
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Mobile devices, sensors, 5G networks, digital platforms and data marketplaces provide emerging possibilities for smart cities and data business. This paper introduces a novel Data Market Simulation (DMS) approach that assists data suppliers in the following: optimising vehicle-based supply of sellable data and creation of value from data; evaluatin...
Article
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Fast urbanization and climate change require innovative systems for an efficient movement of people and goods in cities. As trends towards vehicle-sharing, autonomous vehicles, and the use of micro-mobility systems gain strength, the intersection of these fields appears as an area of great opportunity. Autonomy could potentially bring the convenien...
Article
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Imaging through diffusers presents a challenging problem with various digital image reconstruction solutions demonstrated to date using computers. Here, we present a computer-free, all-optical image reconstruction method to see through random diffusers at the speed of light. Using deep learning, a set of transmissive diffractive surfaces are traine...
Article
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It is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering is poor under high-speed and large-curvature conditions. In this study, an adaptive path tracking control strategy that coordinates active front wheel steering and direct yaw moment is proposed based on model predictive control algorith...
Article
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Five intersection crashes between two vehicles, one autonomous and one manually driven, were investigated to identify the most severe crash scenarios for occupants in autonomous vehicles. The SAFER human body model and models of a semi-rigid seat and a triple-pretensioned, load-limited belt system were used to calculate occupant kinematics and inju...
Conference Paper
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The application of autonomous vehicles becomes more and more essential. LiDAR sensors play a significant role in environmental perception. However, rain-, fog-, snow-or dust particles disturb the point clouds and affect LiDAR-based map reconstruction and object detection algorithms. Widely scattered particles can be filtered using statistics. In co...
Article
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Autonomous vehicles are becoming a reality with great potential. However, persons with blindness, deafblindness, and deafness, who usually receive information and guidance from the driver, could miss information when travelling in an autonomous car. In this case study, 15 people with hearing and vision impairments explore and compare trips with and...
Article
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This paper addresses the zonotopic observer design for nonlinear systems affected by uncertainties, i.e., state disturbances and measurement noises using Takagi–Sugeno (TS) fuzzy technique. The system uncertainties are considered as unknown but bounded, which are handled via a set-membership framework. For state estimation purposes, we develop an a...
Article
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Ensuring a safe journey with an autonomous vehicle, the surrounding has to be sensed and understood. Especially human intuition about the plans and intentions of traffic participants is hard to model for machines. In literature, there are already several prediction techniques existing for pedestrians, which are based on different features. Some mod...
Article
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Every year, 1.35 million people are killed on roads worldwide and even more people are injured. Emerging self-driving car technology promises to cut this statistic down to a fraction of the current rate. On the face of it, this consideration alone constitutes a strong reason to legally require — once self-driving car technology is widely available...
Conference Paper
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This research uses modelling and simulation tools to investigate a vehicle ethical steering control system (ESCS) for autonomous vehicles (AVs). The ESCS would be activated when unavoidable collisions are detected and an ethical decision in regard to the selection of a collision target needs to be made. The ESCS involves three stages with these bei...
Article
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Electro-mobility is getting an increasing attention and progress around the world. To develop and teach artificial intelligence and automotive engineering focused on autonomous vehicles in an undergraduate level, functional and simple autonomous vehicles/platforms are required. Teaching autonomous driving is a challenging task. Indeed, most existin...
Conference Paper
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When planning motions for autonomous vehicles, traffic rules must be obeyed to ensure safety and reject liability claims. However, present solutions do not scale well with the complexity of traffic rules or even consider them. To solve this problem, we propose a scalable approach based on constrained policy optimization to improve traffic rule comp...
Article
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Asynchronous evolutionary algorithms are becoming increasingly popular as a means of making full use of many processors while solving computationally expensive search and optimization problems. These algorithms excel at keeping large clusters fully utilized, but may sometimes inefficiently sample an excess of fast‐evaluating solutions at the expens...
Article
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The rapid upswing in interest in federated learning (FL) and federated analytics (FA) architectures has corresponded with the rapid increase in commercial AI software products, ranging from face detection and language translation to connected IOT devices, smartphones, and autonomous vehicles equipped with high-resolution sensors. However, the tradi...
Preprint
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We study a combinatorial problem inspired by the following scenario: fully autonomous vehicles drive on a multi-lane ($m \geq 2$) road. Each vehicle heads to its own destination and is allowed to exit the road only through a single designated off-ramp lane. However, an individual vehicle has a severely limited memory and sensing capabilities, and,...
Preprint
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Parking is a crucial element of the driving experience in urban transportation systems. Especially in the coming era of Shared Autonomous Vehicles (SAVs), parking operations in urban transportation networks will inevitably change. Parking stations will serve as storage places for unused vehicles and depots that control the level-of-service of SAVs....
Preprint
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We were able to complete the full integration of the Robotic Technology Kernel (RTK) into an electric vehicle by-wire system using lidar and GPS sensors. The solution included a mobile application to interface with the RTK-enabled autonomous vehicle. Altogether the system was designed to be modular, using the concepts of message-based software desi...
Poster
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The first, second and third industrial revolutions gave humanity steam power, electricity, internet and connectivity, respectively. The Fourth Industrial Revolution (4IR) is a seismic shift that brings with it a set of radically new technologies. The internet of things, 3D printing, bioprinting, gene editing and autonomous vehicles are transforming...
Preprint
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Modern vehicles, including autonomous vehicles and connected vehicles, have adopted an increasing variety of functionalities through connections and communications with other vehicles, smart devices, and infrastructures. However, the growing connectivity of the Internet of Vehicles (IoV) also increases the vulnerabilities to network attacks. To pro...
Preprint
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This paper proposes a novel decision-making framework for autonomous vehicles (AVs), called predictor-corrector potential game (PCPG), composed of a Predictor and a Corrector. To enable human-like reasoning and characterize agent interactions, a receding-horizon multi-player game is formulated. To address the challenges caused by the complexity in...
Preprint
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While autonomous vehicles are being increasingly introduced into our lives, people's misunderstanding and mistrust have become the key factors hindering the acceptance of these technologies. In response to this problem, proper work must be done to increase public's understanding and awareness of self-driving and help them rationally evaluate the sy...
Presentation
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Automated Vehicles (AVs) are expected to disrupt the transport sector in the mid- to long- term future, and extensive research efforts have been dedicated to studying its potential implications. However, the existing literature is still limited in the context of Japan. To fill this gap, an integrated travel forecasting approach that combines an act...
Preprint
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Modern autonomous vehicle systems use complex perception and control components and must cope with uncertain data received from sensors. To estimate the probability that such vehicles remain in a safe state, developers often resort to time-consuming simulation methods. This paper presents an alternative methodology for analyzing autonomy pipelines...
Preprint
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Autonomous Driving (AD) related features represent important elements for the next generation of mobile robots and autonomous vehicles focused on increasingly intelligent, autonomous, and interconnected systems. The applications involving the use of these features must provide, by definition, real-time decisions, and this property is key to avoid c...
Preprint
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The paper introduces novel families of cruise controllers for autonomous vehicles on lane-free ring-roads. The design of the cruise controllers is based on the appropriate selection of a Control Lyapunov Function expressed on measures of the energy of the system with the kinetic energy expressed in ways similar to Newtonian or relativistic mechanic...
Preprint
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The tremendous excitement around the deployment of autonomous vehicles (AVs) comes from their purported promise. In addition to decreasing accidents, AVs are projected to usher in a new era of equity in human autonomy by providing affordable, accessible, and widespread mobility for disabled, elderly, and low-income populations. However, to realize...
Article
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Automotive companies continue to develop integrated safety, sustainability, and reliability features that can help mitigate some of the most common driving risks associated with autonomous vehicles (AVs). Hybrid electric vehicles (HEVs) offer practical solutions to use control strategies to cut down fuel usage and emissions. AVs and HEVs are combin...
Article
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The growing relevance of sustainability, as well as the necessity to replace traditional forms of transportation with sustainable ones, has made sustainable urban mobility an imperative. In order to respond to the ever-increasing need to develop sustainable modes of transport, the importance of electric, autonomous, and electric autonomous vehicles...
Preprint
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Vehicle-to-Infrastructure (V2I) communication is becoming critical for the enhanced reliability of autonomous vehicles (AVs). However, the uncertainties in the road-traffic and AVs' wireless connections can severely impair timely decision-making. It is thus critical to simultaneously optimize the AVs' network selection and driving policies in order...
Article
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Autonomous vehicle perception systems typically rely on single-wavelength lidar sensors to obtain three-dimensional information about the road environment. In contrast to cameras, lidars are unaffected by challenging illumination conditions, such as low light during night-time and various bidirectional effects changing the return reflectance. Howev...
Article
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Increasing demand for more reliable and safe autonomous driving means that data involved in the various aspects of perception, such as object detection, will become more granular as the number and resolution of sensors progress. Using these data for on-the-fly object detection causes problems related to the computational complexity of onboard proce...
Article
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With the popularity of autonomous vehicles and the rapid development of intelligent transportation, the application scenarios for detecting pedestrians in everyday life are becoming more and more widespread, with high and high application value. Pedestrian detection is the basis of many human-based tasks, including speed tracking, pedestrian motion...
Article
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Autonomous vehicles are expected to shape mobility and tourism. This paper introduces an extension to the TAM to better understand the adoption of self-driving cars for tourism purposes. The new model (TAMAT) confirms some under-explored impacts of tourism-related variables, such as Openness to Tourism Usage and Unusual Surroundings, and the Adhere...
Conference Paper
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The discussion of ethics in relation to AI often centres on concerns about privacy, surveillance, bias, discrimination and attempts to use AI to influence human behaviour. When considering ethical AI in transportation, the "trolley problem" dilemma is often the issue that immediately comes to mind, leading to discussions about whether and how auton...
Article
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The integration of artificial intelligence (AI) into human society mandates that their decision-making process is explicable to users, as exemplified in Asimov’s Three Laws of Robotics. Such human interpretability calls for explainable AI (XAI), of which this paper cites various models. However, the transaction between computable accuracy and human...
Article
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To improve the multidirectional motion control accuracy and driving stability of Distributed Drive Autonomous Vehicles (DDAVs) under extreme conditions, the extreme speed estimation method based on dynamic boundary and the multidirectional motion coupling control law design method based on multi degrees of freedom vehicle dynamic model are proposed...
Article
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Turning behaviour is one of the most challenging driving manoeuvres that take place at intersections. Autonomous vehicles (AVs) are often overly conservative in these scenarios as they compromised to others’ behaviour to realize behavioural consistency. This paper proposes an intended cooperative motion planning (ICMP) that can actively predict the...
Preprint
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In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumulation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to achieve a higher degree of autonomy and reliability, both in terms of decision making and safety. This paper...
Article
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Deep learning (DL) has shown great success in many human-related tasks, which has led to its adoption in many computer vision based applications, such as security surveillance systems, autonomous vehicles and healthcare. Such safety-critical applications have to draw their path to success deployment once they have the capability to overcome safety-...
Article
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Accurate estimation of the tire slip ratio is critical for vehicle safety, as it is necessary for vehicle control purposes. In this paper, an intelligent tire system is presented to develop a novel slip ratio estimation model using machine learning (ML) algorithms. The accelerations, generated by a triaxial accelerometer installed onto the inner li...
Preprint
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The focus of this contribution is on camera simulation as it comes into play in simulating autonomous robots for their virtual prototyping. We propose a camera model validation methodology based on the performance of a perception algorithm and the context in which the performance is measured. This approach is different than traditional validation o...
Article
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Traffic safety has always been a hot topic for human-driven (HDV) and autonomous vehicles (AV) mixed flow. The conflict between permitted right-turn vehicles (PRT) and opposing through vehicles (TH) at signalized intersections (left-handed traffic) is extraordinarily critical. AVs with aggressive behaviors are able to accept short gap time without...
Preprint
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To plan safe maneuvers and act with foresight, autonomous vehicles must be capable of accurately predicting the uncertain future. In the context of autonomous driving, deep neural networks have been successfully applied to learning predictive models of human driving behavior from data. However, the predictions suffer from cascading errors, resultin...
Article
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With the evolution of communication networks, the Internet of Vehicles (IOV) continues to accelerate the safe and rapid development of autonomous vehicles. Vehicle-to-Pedestrian (V2P) communication is a key technology in autonomous vehicles and a potential solution to realize collaborative intelligence between vehicles and pedestrians. However, the...
Preprint
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Making an accurate prediction of occupancy and flow is essential to enable better safety and interaction for autonomous vehicles under complex traffic scenarios. This work proposes STrajNet: a multi-modal Swin Transformerbased framework for effective scene occupancy and flow predictions. We employ Swin Transformer to encode the image and interactio...
Article
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Robust understanding of the lane position and type is essential for changing lanes in autonomous vehicles. However, accomplishing this task in real time with high level of precision is not trivial. In this paper, we propose a novel cascaded deep neural network (DNet-CNet) for real-time end-to-end lane detection (DNet) and classification (CNet). The...
Conference Paper
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A precise and real-time object detection system is crucial to ensuring the safety, smoothness, and trust of Autonomous Vehicles (AVs). Several machine learning techniques have been designed to improve vehicle detection capabilities and reduce the shortcomings caused by limited data and by transferring these data to a central server, which has shown...
Preprint
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Lidar data can be used to generate point clouds for the navigation of autonomous vehicles or mobile robotics platforms. Scan matching, the process of estimating the rigid transformation that best aligns two point clouds, is the basis for lidar odometry, a form of dead reckoning. Lidar odometry is particularly useful when absolute sensors, like GPS,...
Article
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Pedestrian and vehicle detection plays a key role in the safe driving of autonomous vehicles. Although transformer-based object detection algorithms have made great progress, the accuracy of detection in rainy scenarios is still challenging. Based on the Swin Transformer, this paper proposes an end-to-end pedestrian and vehicle detection algorithm...
Conference Paper
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Automated vehicles are leading to a significant revolution in road transportation systems, with extensive challenges to mobility through several factors, including economic, legal, social, psychological, and technological aspects. Various countries around Europe have tested and piloted autonomous vehicles on their roads and subsequently published r...
Preprint
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Large-scale deployment of autonomous vehicles has been continually delayed due to safety concerns. On the one hand, comprehensive scene understanding is indispensable, a lack of which would result in vulnerability to rare but complex traffic situations, such as the sudden emergence of unknown objects. However, reasoning from a global context requir...
Article
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Electrification, automation, and shared mobility are the 3 Revolutions (3Rs) recently emerging in urban transport, which will fundamentally change urban transport around the world. Each revolution may bring not only substantial benefits but also tough challenges. Vehicle electrification can cut vehicle energy use and CO2 emissions. However, for ele...
Article
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Appropriate overtaking can improve the safety and efficiency of driving. Practically, overtaking consists of two asymmetric lane‐changes: firstly to the left lane and then return back. Existing literatures treated the two lane‐changes as the same behaviour, which may result in frequent and unnecessary lane‐changes. For the more complex first lane‐c...
Preprint
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Existing spatial localization techniques for autonomous vehicles mostly use a pre-built 3D-HD map, often constructed using a survey-grade 3D mapping vehicle, which is not only expensive but also laborious. This paper shows that by using an off-the-shelf high-definition satellite image as a ready-to-use map, we are able to achieve cross-view vehicle...
Article
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Today, the maritime domain is at the cusp of a new era, driven by technological advances in automation, robotics, multi-sensor perception, and artificial intelligence (AI), together with digitalization and connectivity. Smart ship infrastructure and technology, remotely controlled and autonomous ship operation to improve safety, security, cost-effi...
Preprint
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The transformation toward the fourth industrial revolution leads to multi-scalar changes for existing socio-technical systems. "Smart mobility" innovations, such as autonomous vehicles or the Internet of Things, challenge existing transport regimes. This raises questions regarding the embeddedness and accessibility of these innovations and the inte...
Preprint
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Control of nonlinear uncertain systems is a common challenge in the robotics field. Nonlinear latent force models, which incorporate latent uncertainty characterized as Gaussian processes, carry the promise of representing such systems effectively, and we focus on the control design for them in this work. To enable the design, we adopt the state-sp...
Article
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Planning the optimal trajectory of emergency avoidance maneuvers for highly automated vehicles is a complex task with many challenges. The algorithm needs to decrease accident risk by reducing the severity and keeping the car in a controllable state. Optimal trajectory generation considering all aspects of vehicle and environment dynamics is numeri...