A Multiclass Simulation-Based Dynamic Traffic Assignment Model for Mixed Traffic Flow of Connected and Autonomous Vehicles and Human-Driven Vehicles

One of the potential capabilities of Connected and Autonomous Vehicles (CAVs) is that they can have different route choice behavior and driving behavior compared with human Driven Vehicles (HDVs). This will lead to mixed traffic flow with multiple classes of route choice behavior. Therefore, it is crucial to solve the multiclass Traffic...

Paradigm Shift Beyond Business-As-Usual for Automated Road Transportation to Contribute to Climate-Neutral Smart Cities

One of the major challenges for society today is to reach environmental goals. Around the world governments aim to reduce transportation emissions and are investing in a diverse set of strategies, including connected cooperative and automated mobility. Many discussions about automated road transportation technologies revolve around automation...

Risk in Stochastic and Robust Model Predictive Path-Following Control for Vehicular Motion Planning

In automated driving, risk describes potential harm to passengers of an autonomous vehicle (AV) and other road users. Recent studies suggest that human-like driving behavior emerges from embedding risk in AV motion planning algorithms. Additionally, providing evidence that risk is minimized during the AV operation is essential to vehicle safety...

Informed sampling-based trajectory planner for automated driving in dynamic urban environments

The urban environment is amongst the most difficult domains for autonomous vehicles. The vehicle must be able to plan a safe route on challenging road layouts, in the presence of various dynamic traffic participants such as vehicles, cyclists and pedestrians and in various environmental conditions. The challenge remains to have motion planners...

Scenario Parameter Generation Method and Scenario Representativeness Metric for Scenario-Based Assessment of Automated Vehicles

The development of assessment methods for the performance of Automated Vehicles (AVs) is essential to enable the deployment of automated driving technologies, due to the complex operational domain of AVs. One candidate is scenario-based assessment, in which test cases are derived from real-world road traffic scenarios obtained from driving data....

Procedure for the Safety Assessment of an Autonomous Vehicle Using Real-World Scenarios

The development of Autonomous Vehicles (AVs) has made significant progress in the last years and it is expected that AVs will soon be introduced on our roads. An important aspect in the development of AVs is the assessment of their safety. As traditional methods for safety assessment of vehicles are not feasible to be performed for AVs within...

Tagging Real-World Scenarios for the Assessment of Autonomous Vehicles

The development of Autonomous Vehicles (AVs) has made significant progress in the last years and it is expected that AVs will soon be introduced on our roads. An essential aspect in the development of AVs is the assessment of quality and performance aspects of the AVs, such as safety, comfort, and efficiency. Among other methods, a scenario...

IoT Technologies for Connected and Automated Driving Applications

The applications of the Internet of Things (IoT) technologies connect multiple devices directly and through the Internet. Autonomous vehicles utilise connectivity when updating their algorithms based on user data, interact with the infrastructure to get environmental information, communicate with other vehicles. They exchange information with...

Decision making for autonomous vehicles: Combining safety and optimality

In this paper, we propose a novel decision maker design for an autonomous vehicle driving on a highway, considering safety and optimality, and which is scalable, i.e., remains computationally tractable for more complex situations. This is realized in two stages. First, all safe actions are found, and second, from these actions the optimal action...

Autonomous Driving Progressed by oneM2M: The Experience of the AUTOPILOT Project

The European Commission Horizon 2020 AUTOPILOT (AUTOmated driving Progressed by Internet Of Things) is aiming to exploit the IoT ecosystem to integrate connected cars and transform them in automated moving "objects". One of the key challenges encountered in the project is to ensure the interoperability of the different components and IoT...

Moving base driving simulators potential carsickness research

We investigated whether motion sickness analogous to carsickness can be studied in a moving base simulator, despite the limited motion envelope. Importantly, to avoid simulator sickness, vision outside the simulator cabin was restricted. Participants (N = 16) were exposed blindfolded to 15-min lateral sinusoidal motion at 0.2 Hz and 0.35 Hz on...

Distributed constraint optimization for autonomous multi AUV mine counter-measures

In this paper, Mine Counter-Measures (MCM) operations with multiple cooperative Autonomous Underwater Vehicles (AUVs) are examined within the Distributed Constraint optimization Problem (DCOP) framework. The goal of an MCM-operation is to search for mines and mine-like objects within a predetermined area so that ships can pass the area through a...

Intelligent autonomous vehicles with an extendable knowledge base under meaningful human control

Intelligent robotic autonomous systems (unmanned aerial/ground/surface/underwater vehicles) are attractive for military application to relieve humans from tedious or dangerous tasks. These systems require awareness of the environment and their own performance to reach a mission goal. This awareness enables them to adapt their operations to...

Looking forward: In-vehicle auxiliary display positioning affects carsickness

Carsickness is associated with a mismatch between actual and anticipated sensory signals. Occupants of automated vehicles, especially when using a display, are at higher risk of becoming carsick than drivers of conventional vehicles. This study aimed to evaluate the impact of positioning of in-vehicle displays, and subsequent available...

Network enabled cooperation of autonomous vehicles: A communications perspective

In this paper we present the NECSAVE system which allows the control of heterogeneous unmanned vehicles under challenging environments by a single human operator by providing it with the desired highlevel objectives. The described software stack takes care of decomposing the high-level objectives into assignable tasks and (re)distributing the...

The impact of vehicle appearance and vehicle behavior on pedestrian interaction with autonomous vehicles

In this paper, we present the preliminary results of a study that aims to investigate the role of an approaching vehicle's behavior and outer appearance in determining pedestrians' decisions while crossing a street. Concerning appearance, some vehicles are designed to look more assertive than others, and it is believed that vehicle appearance...

A Spatial Approach to Control of Platooning Vehicles: Separating Path-Following from Tracking

We introduce a new way to look at the combined lateral and longitudinal control problem for platooning vehicles by studying these problems separately. The lateral control problem is approached as a path following problem in the spatial domain: based on the path of the preceding vehicle we determine a path for the following vehicle which...

An approach for functional safety improvement of an existing automotive system

Safety of automotive systems is becoming more involved, specially for the case of autonomous vehicles. The ISO 26262 standard offers a systematic approach for designing a safe road vehicle (or subsystems of a car) from design phase through its production. However, providing functional safety (according to ISO 26262) for an existing system is a...