We describe the design and validation of a decision-making system in the guidance and
control architecture for automated driving. The decision-making system determines the …

This paper presents the design of a discrete decision making algorithm for vehicles with
advanced driver-assistance and automated features. We model the system as a hybrid …

Despite large advances in recent years, real-time capable motion planning for autonomous
road vehicles remains a huge challenge. In this work, we present a decision module that is …

The computational effort of trajectory planning for automated vehicles often increases with
the complexity of the traffic situation. This is particularly problematic in safety-critical …

This paper develops a method for safe lane changes. We leverage feedback control and
constraint-admissible positively invariant sets to guarantee collision-free closed-loop …

Safety guarantees in motion planning for autonomous driving typically involve certifying the
trajectory to be collision-free under any motion of the uncontrollable participants in the …

Compliance with the rules of the road is crucial for the safe operation of autonomous
vehicles. Previous work has shown that one can expedite rule-compliant motion planning by …

To operate in traffic, autonomous vehicles must plan long trajectories (eg, unprotected left
turns across traffic) and validate that they are not-at-fault in a collision. Reachability-based …

In this paper, a set based approach is presented for safety verification and performance
analysis of automated driving systems. As an example, reachability analysis technique is …

Safety is an important topic in autonomous driving since any collision may cause serious
injury to people and damage to property. Hamilton-Jacobi (HJ) Reachability is a formal …