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Roth, M. (author)This thesis addresses the sensor-based perception of driver and pedestrian to improve joint path prediction of ego-vehicle and pedestrian based on mutual awareness in the domain of intelligent vehicles.<br/><br/>According to the World Health Organization (WHO), more than half of global traffic deaths are among Vulnerable Road Users (VRUs), such...doctoral thesis 2023
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van Geerenstein, Mathijs (author)3D object detection models that exploit both LiDAR and camera sensor features are top performers in large-scale autonomous driving benchmarks. A transformer is a popular network architecture used for this task, in which so-called object queries act as candidate objects. Initializing these object queries based on current sensor inputs leads to...master thesis 2023
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Hoek, Tobias (author)A scenario-based testing approach can reduce the time required to obtain statistically significant evidence of the safety of Automated Driving Systems (ADS). Identifying these scenarios in an automated manner is a challenging task. Most methods on scenario classification do not work for complex scenarios with diverse environments (highways,...master thesis 2023
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Palffy, A. (author), Kooij, J.F.P. (author), Gavrila, D. (author)Early and accurate detection of crossing pedestrians is crucial in automated driving in order to perform timely emergency manoeuvres. However, this is a difficult task in urban scenarios where pedestrians are often occluded (not visible) behind objects, e.g., other parked vehicles. We propose an occlusion aware fusion of stereo camera and...journal article 2023
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Palffy, A. (author)This thesis addresses the problem of object detection with automotive radar sensors in the field of intelligent vehicles with special attention to vulnerable road users: pedestrians, cyclists, and motorcyclists. It is not the goal of this work to improve the hardware design or signal processing algorithms of the radar sensors themselves, but to...doctoral thesis 2022
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Braun, M. (author)This thesis addresses the topic of visual person detection and pose estimation. While these tasks are relevant for a broad range of applications, this thesis focuses on the domain of intelligent vehicles in urban traffic scenes. This domain is particularly interesting due to specific challenges related to visual perception from a moving vehicle....doctoral thesis 2022
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Hehn, T.M. (author)that do not require any action from the drivers for a short period of time. Although these systems are still limited and only reliable in certain situations, it shows the general trend: cars will become more and more autonomous. The reasons why people and companies are eagerly anticipating fully autonomous cars are manifold: self-driving...doctoral thesis 2022
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Beekes, Sebastiaan (author)Testing Sidewalk Autonomous Delivery Robot (SADR) performance in real world conditions is important to prove whether the innovation is ready for large-scale adoption. Currently, testing SADRs in public is not allowed in the Netherlands, because little is known about the actual risks associated with delivery robots, and the risks are currently...master thesis 2022
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Roth, M. (author), Stapel, J.C.J. (author), Happee, R. (author), Gavrila, D. (author)We present a novel method for vehicle-pedestrian path prediction that takes into account the awareness of the driver and the pedestrian towards each other. The method jointly models the paths of vehicle and pedestrian within a single Dynamic Bayesian Network (DBN). In this DBN, sub-graphs model the environment and entity-specific context cues...journal article 2022
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de Gelder, E. (author), Hof, Jasper (author), Cator, Eric (author), Paardekooper, Jan Pieter (author), Camp, Olaf Op den (author), Ploeg, Jeroen (author), De Schutter, B.H.K. (author)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...journal article 2022
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Bertipaglia, A. (author), Shyrokau, B. (author), Alirezaei, Mohsen (author), Happee, R. (author)This paper presents a novel methodology to auto-tune an Unscented Kalman Filter (UKF). It involves using a Two-Stage Bayesian Optimisation (TSBO), based on a t-Student Process to optimise the process noise parameters of a UKF for vehicle sideslip angle estimation. Our method minimises performance metrics, given by the average sum of the states’...conference paper 2022
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Wang, X. (author), Li, Z. (author), Alonso-Mora, J. (author), Wang, M. (author)Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set considering two-dimensional motion with vehicle state probability distributions is firstly established. We...conference paper 2022
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Zheng, Y. (author), Shyrokau, B. (author), Keviczky, T. (author)Motion comfort is the basis of many societal benefits promised by automated driving and motion planning is primarily responsible for this. By planning the spatial trajectory and the velocity profile, motion planners can significantly enhance motion comfort, ideally without sacrificing time efficiency. Active suspensions can push the boundary...conference paper 2022
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Wagih, Hassan (author), Osman, M.E.A. (author), Awad, Mohammed I. (author), Hammad, Sherif (author)In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle between the successive camera frames, then integrates these increments to determine the pose of the vehicle. The proposed neural...conference paper 2022
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Marcelis, N.H.H. (author)With the performance of current motion planning methods being highly dependent on the quality of the perception system, robust 3D multi-object detection and tracking are vital for autonomous driving applications. Despite all the advancements in 2D and 3D object detectors, robust tracking of pedestrians in dense scenarios is still a challenging...master thesis 2021
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Hoogmoed, Jim (author)The level of automation in vehicles is growing. But until all vehicles are completely automated, there will be a transition period where automated vehicles and human drivers coexist. Because these road users will coexist, it is necessary that automated vehicles understand human drivers and vice versa. This study aims to create a model that...master thesis 2021
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Pattanayak, Adarsh (author)Following the literature review, our goal was to study the effect and interaction of motion sickness and motivation on cognitive performance in a reading comprehension task and the associated workload with the task. We chose UCKAT reading tasks for our cognitive task, monetary incentive and ranks as our motivator and a multisine sickening motion...master thesis 2021
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de Britto Heemskerk, Roderick (author)Intention Aware Routing System is a route-planning algorithm for electric vehicles that minimizes overall travel time by taking into consideration congestion at charging stations. This paper extends this algorithm to allow choices to be made based on prices at charging stations. The goal of this paper is to find a way to minimize maximum...bachelor thesis 2021
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Pool, E.A.I. (author)This thesis addresses the problem of path prediction for cyclists.<br/>Instead of solely focusing on how to predict the future trajectory based on previous position measurements, this thesis investigates how to leverage additional contextual information that can inform on the future intent of cyclists.<br/>This thesis does this with the...doctoral thesis 2021
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Pool, E.A.I. (author), Kooij, J.F.P. (author), Gavrila, D. (author)This paper compares two models for context-based path prediction of objects with switching dynamics: a Dynamic Bayesian Network (DBN) and a Recurrent Neural Network (RNN). These models are instances of two larger model categories, distinguished by whether expert knowledge is explicitly crafted into the state representation (and thus is...journal article 2021