Towards the introduction of autonomous vehicles, studying their functionality is becoming increasingly important. Detecting the environment in a self-driving vehicle is a very complex issue. The combination of different sensors is essential for safe...
Autonomous vehicles are the near future of the automobile industry. However, until they reach Level 5, humans and cars will share this intermediate future. Therefore, studying the transition between autonomous and manual modes is a fascinating topic....
For safe autonomous driving, deep neural network (DNN)-based perception systems play essential roles, where a vast amount of driving images should be manually collected and labeled with ground truth (GT) for training and validation purposes. After ob...
In this paper, we propose a deep Q-network (DQN) method to develop an autonomous vehicle control system to achieve trajectory design and collision avoidance with regard to obstacles on the road in a virtual environment. The intention of this work is...
Computer vision is one of the key technologies of advanced driver assistance systems (ADAS), but the incorporation of a vision-based driver assistance system (still) poses a great challenge due to the special characteristics of the algorithms, the ne...
Autonomous vehicles operating at signalized intersections face fundamental challenges arising from queue dynamics, signal-phase transitions, and tightly coupled multi-vehicle interactions. Conventional motion-planning methods, which rely primarily on...
This paper presents the design, implementation, and Sim-to-Real evaluation of a Nonlinear Model Predictive Control (NMPC) strategy for autonomous urban shuttles and last-mile transport, focusing on bridging the reality gap. A decoupled NMPC architect...
In an urban and uncontrolled environment, the presence of mixed traffic of autonomous vehicles, classical vehicles, vulnerable road users, e.g., pedestrians, and unprecedented dynamic events makes it challenging for the classical autonomous vehicle t...
The use of Deep Learning algorithms in the domain of Decision Making for Autonomous Vehicles has garnered significant attention in the literature in recent years, showcasing considerable potential. Nevertheless, most of the solutions proposed by the...
ADAS and autonomous technologies in vehicles become more and more complex, which increases development time and expenses. This paper presents a new real-time ADAS multisensory validation system, which can speed up the development and implementation p...
Recent advancements in vehicle technology have stimulated innovation across the automotive sector, from Advanced Driver Assistance Systems (ADAS) to autonomous driving and motorsport applications. Modern vehicles, equipped with sensors for perception...
Lidar technology is a key sensor for autonomous driving due to its precise environmental perception. However, adverse weather and atmospheric conditions involving fog, rain, snow, dust, and smog can impair lidar performance, leading to potential safe...
This paper proposes a novel prediction model termed the social and spatial attentive generative adversarial network (SSA-GAN). The SSA-GAN framework utilizes a generative approach, where the generator employs social attention mechanisms to accurately...
The successful transfer of autonomous driving stacks (ADS) from simulation to the real world faces two main challenges: the Reality Gap (RG)—mismatches between simulated and real behaviors—and the Performance Gap (PG)—differences be...
This paper introduces an approach that leverages large language models (LLMs) to convert detailed descriptions of an Operational Design Domain (ODD) into realistic, executable simulation scenarios for testing autonomous vehicles. The method combines...
The validation of sensor systems, particularly lidar, is crucial in advancing autonomous vehicle technology. Despite their robust perception capabilities, certain weather conditions and object characteristics can challenge detection performance, lead...
Autonomous driving in complex urban environments remains challenging due to perception uncertainty, dynamic multi-agent interactions, and control instability under adverse conditions. Despite advances in individual components, systematic evaluations...
Deep learning algorithms for object detection used in autonomous vehicles require a huge amount of labeled data. Data collecting and labeling is time consuming and, most importantly, in most cases useful only for a single specific sensor application....
In the complex and stochastic traffic flow, ensuring safe driving requires improvements in perception and decision-making. This paper proposed a decision-control method that leveraged the scene perception and understanding capabilities of semantic se...
Autonomous vehicles must make quick and accurate decisions to operate efficiently in complex and dynamic urban traffic environments, necessitating a reliable and stable learning mechanism. The proximal policy optimization (PPO) algorithm stands out a...
Simulation-based testing is fundamental for validating automated driving systems (ADSs), and real-world traffic accident records provide realistic scenario data. However, converting such records into executable simulations requires addressing structu...
Autonomous driving (AD) technology has seen significant advancements in recent years; however, challenges remain, particularly in achieving reliable performance under adverse weather conditions such as heavy fog. In response, we propose a multi-class...
Autonomous vehicles (AVs) are expected to operate safely and efficiently in complex urban environments characterized by dynamic and uncertain elements such as pedestrians, cyclists and adverse weather. Although current neural network-based decision-m...
Predicting potential collisions with leading vehicles is a fundamental capability of autonomous and assisted driving systems. In particular, automatic emergency braking (AEB) demands reaction times on the order of microseconds. A key limitation of ex...
This study investigates the safety limitations of autonomous vehicles operating under dense fog conditions, where sensor performance is severely degraded, and explores the potential of cooperative control for collision avoidance. A comparative framew...
Pedestrian trajectory prediction is one of the most important topics to be researched for unmanned driving and intelligent mobile robots to perform perceptual interaction with the environment. To solve the problem of the SGAN (social generative adver...
This study explores the integration of Spiking Neural Networks (SNNs) with Dynamic Vision Sensors (DVSs) to enhance pedestrian street-crossing detection in adverse weather conditions—a critical challenge for autonomous vehicle systems. Utilizin...
The implementation of safe and reliable Autonomous Driving Stacks in complex urban environments remains a formidable engineering challenge. While classical modular pipelines provide necessary component-level interpretability, they are inherently rigi...
Deep reinforcement learning (DRL) trains agents to make decisions by learning from rewards and penalties, using trial and error. It combines reinforcement learning (RL) with deep neural networks (DNNs), enabling agents to process large datasets and l...
This paper introduces a robust yet straightforward lane detection and lateral control approach via the deployment of a dual camera based on the look-down strategy for autonomous vehicles. Unlike traditional single-camera systems that rely on the look...
Model predictive control (MPC) has emerged as one of the most effective control strategies for autonomous vehicle path tracking owing to its capability to explicitly handle dynamic constraints and optimize future control actions. However, its trackin...
This study presents a method based on active preference learning to overcome the challenges of designing reward functions for autonomous navigation. Results obtained from training with artificially designed reward functions may not accurately reflect...
To enable autonomous driving in real-world environments that involve a diverse range of geographic variations and complex traffic regulations, it is essential to investigate Deep Reinforcement Learning (DRL) algorithms capable of policy learning in h...
Model Predictive Control (MPC) offers a structured approach for autonomous-vehicle motion planning by optimizing predicted vehicle behavior over a finite horizon. As learning-based components become increasingly integrated into autonomous systems, in...
Future traffic scenarios will involve autonomous vehicles (AVs) interacting with other road users, including cyclists. For this interaction to be safe and socially acceptable, there is a need for development and testing environments that enable scena...
A dataset of aerial urban traffic images and their semantic segmentation is presented to be used to train computer vision algorithms, among which those based on convolutional neural networks stand out. This article explains the process of creating th...
Autonomous driving is a complex and fast-evolving domain at the intersection of robotics, machine learning, and control systems. This paper provides a systematic review of recent developments in reinforcement learning (RL) and imitation learning (IL)...
Despite recent major advances in autonomous driving, several challenges remain. Even with modern advanced sensors and processing systems, vehicles are still unable to detect all possible obstacles present in complex urban settings and under diverse e...
Autonomous driving navigation relies on diverse approaches, each with advantages and limitations depending on various factors. For HD maps, modular systems excel, while end-to-end methods dominate mapless scenarios. However, few leverage the strength...
The growing concerns over road safety and the increasing popularity of two-wheeled vehicles highlight the need to address aggressive driving behaviors in this context. Understanding and detecting such behaviors can significantly contribute to rider s...
This paper presents a framework that integrates real-time onboard (ego vehicle) perception module with edge processing capabilities and a cloud-based digital twin for intelligent transportation systems (ITSs) in smart city applications. The proposed...
Paris-CARLA-3D is a dataset of several dense colored point clouds of outdoor environments built by a mobile LiDAR and camera system. The data are composed of two sets with synthetic data from the open source CARLA simulator (700 million points) and r...
Intersections are considered one of the most complex scenarios in a self-driving framework due to the uncertainty in the behaviors of surrounding vehicles and the different types of scenarios that can be found. To deal with this problem, we provide a...
Driving at an unsignalized roundabout is a complex traffic scenario that requires both traffic safety and efficiency. At the unsignalized roundabout, the driving policy does not simply maintain a safe distance for all vehicles. Instead, it pays more...
Autonomous vehicles (AVs) are increasingly becoming a reality, enabled by advances in sensing technologies, intelligent control systems, and real-time data processing. For AVs to operate safely and effectively, they must maintain a reliable perceptio...
Rare and safety-critical traffic situations remain challenging for autonomous driving (AD) because they are underrepresented in common training data and may include objects outside standard detector classes. This paper presents a real-time RGB-LiDAR...
Navigating roundabouts is a complex driving scenario for both manual and autonomous vehicles. This paper proposes an approach based on the use of the Q-learning algorithm to train an autonomous vehicle agent to learn how to appropriately navigate rou...
Autonomous urban driving navigation is still an open problem and has ample room for improvement in unknown complex environments. This paper proposes an end-to-end autonomous driving approach that combines Conditional Imitation Learning (CIL), Mask R-...
Synthetic data generated by simulation environments have gained importance in the evaluation of machine learning models, particularly in domains where collecting real-world data is costly or difficult to scale. Photorealistic and well-annotated synth...
The mechanical LiDAR sensor is crucial in autonomous vehicles. After projecting a 3D point cloud onto a 2D plane and employing a deep learning model for computation, accurate environmental perception information can be supplied to autonomous vehicles...
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