Verification and validation methods for decision-making and planning of automated vehicles: A review
Verification and validation (V&V) hold a significant position in the research and development
of automated vehicles (AVs). Current literature indicates that different V&V techniques have …
of automated vehicles (AVs). Current literature indicates that different V&V techniques have …
Federated vehicular transformers and their federations: Privacy-preserving computing and cooperation for autonomous driving
Cooperative computing is promising to enhance the performance and safety of autonomous
vehicles benefiting from the increase in the amount, diversity as well as scope of data …
vehicles benefiting from the increase in the amount, diversity as well as scope of data …
Autonomous driving on curvy roads without reliance on frenet frame: A cartesian-based trajectory planning method
Curvy roads are a particular type of urban road scenario, wherein the curvature of the road
centerline changes drastically. This paper is focused on the trajectory planning task for …
centerline changes drastically. This paper is focused on the trajectory planning task for …
Using online verification to prevent autonomous vehicles from causing accidents
Ensuring that autonomous vehicles do not cause accidents remains a challenge. We
present a formal verification technique for guaranteeing legal safety in arbitrary urban traffic …
present a formal verification technique for guaranteeing legal safety in arbitrary urban traffic …
Stochastic model predictive control with a safety guarantee for automated driving
T Brüdigam, M Olbrich, D Wollherr… - IEEE Transactions on …, 2021 - ieeexplore.ieee.org
Automated vehicles require efficient and safe planning to maneuver in uncertain
environments. Largely this uncertainty is caused by other traffic participants, eg, surrounding …
environments. Largely this uncertainty is caused by other traffic participants, eg, surrounding …
Set-based prediction of traffic participants considering occlusions and traffic rules
M Koschi, M Althoff - IEEE Transactions on Intelligent Vehicles, 2020 - ieeexplore.ieee.org
Provably safe motion planning for automated road vehicles must ensure that planned
motions do not result in a collision with other traffic participants. This is a major challenge in …
motions do not result in a collision with other traffic participants. This is a major challenge in …
Receding-horizon reinforcement learning approach for kinodynamic motion planning of autonomous vehicles
X Zhang, Y Jiang, Y Lu, X Xu - IEEE Transactions on Intelligent …, 2022 - ieeexplore.ieee.org
Kinodynamic motion planning is critical for autonomous vehicles with high maneuverability
in dynamic environments. However, obtaining near-optimal motion planning solutions with …
in dynamic environments. However, obtaining near-optimal motion planning solutions with …
Car-following behavior of human-driven vehicles in mixed-flow traffic: A driving simulator study
Connected and autonomous vehicles (CAVs) and human-driven vehicles (HDVs) will
inevitably coexist on roads in the future, creating mixed-flow traffic. The heterogeneous car …
inevitably coexist on roads in the future, creating mixed-flow traffic. The heterogeneous car …
Specification-compliant driving corridors for motion planning of automated vehicles
It is crucial for automated vehicles to explicitly comply with specifications, including traffic
rules, to ensure their safe and effective participation in road traffic. Such compliance is also …
rules, to ensure their safe and effective participation in road traffic. Such compliance is also …
CommonRoad-CriMe: A toolbox for criticality measures of autonomous vehicles
Criticality measures are essential for autonomous vehicles to capture the complexity of the
surrounding environment, trigger emergency maneuvers, and verify safety. However, there …
surrounding environment, trigger emergency maneuvers, and verify safety. However, there …