TY - CHAP A1 - Vaculin, Ondrej A1 - Haryanto, Aditya A1 - de Borba, Thiago T1 - Potential of infrastructure-based sensors to road safety T2 - 43rd Annual Southern African Transport Conference 2025 Y1 - 2025 UR - http://hdl.handle.net/2263/104958 SN - 978-0-0370-8021-0 PB - SATC CY - Johannesburg ER - TY - JOUR A1 - de Borba, Thiago A1 - Vaculin, Ondrej A1 - Marzbani, Hormoz A1 - Jazar, Reza T1 - Increasing Safety of Automated Driving by Infrastructure-Based Sensors JF - IEEE Access N2 - This paper describes the development of an intelligent infrastructure, a test field, for the safety assurance of automated vehicles within the research project Ingolstadt Innovation Laboratory (IN2Lab). It includes a description of the test field architecture, the RoadSide Units (RSU) concept based on infrastructure-based sensors, the environment perception system, and the mission control system. The study also proposes a global object fusion method to fuse objects detected by different RSUs and investigate the overall measurement accuracy obtained from the usage of different infrastructure-based sensors. Furthermore, it presents four use cases: traffic monitoring, assisted perception, collaborative perception, and extended perception. The traffic monitoring, based on the perception information provided by each roadside unit, generates a global fused object list and monitors the state of the traffic participants. The assisted perception, using vehicle-to-infrastructure communication, broadcasts the state information of the traffic participants to the connected vehicles. The collaborative perception creates a global fused object list with the local detections of connected vehicles and the detections provided by the roadside units, making it available for all connected vehicles. Lastly, the extended environment perception monitors specific locations, recognizes critical scenarios involving vulnerable road users and automated vehicles, and generates a suitable avoidance maneuver to avoid or mitigate the occurrence of collisions. UR - https://doi.org/10.1109/ACCESS.2023.3311136 KW - Automated vehicles KW - infrastructure-based sensors KW - safety KW - test field Y1 - 2023 UR - https://doi.org/10.1109/ACCESS.2023.3311136 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-39623 SN - 2169-3536 VL - 11 SP - 94974 EP - 94991 PB - IEEE CY - New York ER - TY - CHAP A1 - de Borba, Thiago A1 - Vaculin, Ondrej A1 - Marzbani, Hormoz A1 - Jazar, Reza T1 - Cooperative Maneuver Coordination: Smart Infrastructure for VRUs Collision Avoidance with Trajectory Planning T2 - Proceedings: 2025 IEEE 3rd International Conference on Mobility, Operations, Services and Technologies, MOST 2025 UR - https://doi.org/10.1109/MOST65065.2025.00015 Y1 - 2025 UR - https://doi.org/10.1109/MOST65065.2025.00015 SN - 979-8-3315-1160-9 SP - 51 EP - 58 PB - IEEE CY - Piscataway ER - TY - JOUR A1 - de Borba, Thiago A1 - Vaculin, Ondrej A1 - Marzbani, Hormoz A1 - Jazar, Reza T1 - Increasing Safety of Vulnerable Road Users in Scenarios With Occlusion: A Collaborative Approach for Smart Infrastructures and Automated Vehicles JF - IEEE Access N2 - The impact of Automated Vehicles (AVs) on road traffic safety has become the focus of discussions among governmental organizations, academia, stakeholders, and OEMs. Questions about how safe the automated driving features should be and how the road infrastructure should be improved for the arrival of this new technology must be clarified to enable full acceptance by the customers and society and prepare the mobility of future cities. The fundamental architecture of automated vehicles comprises perception, planning, decision, and actuation. The operation of the perception system, which is responsible for understanding the environment in which the vehicle is inserted, relies mainly on the onboard sensors. However, the available ranging and vision sensors, e.g., LiDAR, radar, and camera, have several limitations. Scenarios with occlusion present a real challenge for state-of-the-art perception systems. The occlusion, caused by obstructing the sensors’ detection field, limits the vehicle’s perception ability and inhibits the detection of other road users in the surroundings, especially Vulnerable Road Users (VRUs). Infrastructure composed of Roadside Units (RSUs) equipped with infrastructure-based sensors can overcome the perception limitations of a system based solely on onboard sensors by monitoring the road environment with a larger field of view and reduced sensitivity to occlusion. This paper presents a collaborative approach for smart infrastructures and automated vehicles for vulnerable road users’ collision avoidance. The proposed extended perception system comprises four main modules: traffic monitoring, long-term motion prediction, collision risk assessment, and trajectory planning. In the event of a safety-critical scenario, the infrastructure generates a safe and comfortable evasive maneuver to avoid a possible collision. Hence, the proposed approach provides a complete solution to overcome scenarios with occluded VRUs. It allows AVs to react to a critical situation with a longer time-to-collision than other systems relying only on onboard sensors, increasing the chance of successful avoidance even when implementing smoother maneuvers. This contributes considerably to the safe and comfortable operation of automated vehicles. UR - https://doi.org/10.1109/ACCESS.2025.3527865 Y1 - 2025 UR - https://doi.org/10.1109/ACCESS.2025.3527865 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-56466 SN - 2169-3536 VL - 13 SP - 8851 EP - 8885 PB - IEEE CY - New York ER - TY - JOUR A1 - Dönmez, Ömer A1 - Vaculin, Ondrej A1 - de Borba, Thiago T1 - A Cost Effective Solution to an Automated Valet Parking System JF - International Journal of Automotive Technology N2 - Automated Valet Parking Systems (AVPS) relieve the driver of the entire parking process. Many of the systems known today rely on a combination of automotive sensors with sensors of the infrastructure. For this purpose, parking facilities are equipped with comprehensive sensor technology to support the vehicles in environment sensing and route planning. This approach is comparatively expensive which is why many parking operators don’t provide that technology to their customers. This paper proposes a lean AVPS system architecture that requires minimal effort to adapt the infrastructure. At the same time, state-of-the-art vehicle technology is used to make AVPS more profitable overall. At the beginning, an overview will be given describing the state of the art of AVPS. Subsequently, requirements for the AVPS will be elaborated, whereby the system can be designed and implemented in the following. Finally, the presentation of simulation results shows that one doesn’t have to extend the infrastructure with sensors to develop a safe and reliable AVPS. UR - https://doi.org/10.1007/s12239-024-00031-9 KW - Automated driving KW - Automated valet parking KW - Trajectory planning KW - Smart parking KW - System architecture Y1 - 2024 UR - https://doi.org/10.1007/s12239-024-00031-9 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-46333 SN - 1976-3832 SN - 1229-9138 VL - 25 IS - 2 SP - 369 EP - 380 PB - Springer CY - Heidelberg ER - TY - CHAP A1 - de Borba, Thiago A1 - Vaculin, Ondrej A1 - Patel, Parth T1 - Concept of a Vehicle Platform for Development and Testing of Low-Speed Automated Driving Functions T2 - FISITA World Congress 2021 Y1 - 2021 UR - https://www.fisita.com/library/f2021-acm-118 PB - FISITA CY - Bishops Stortford ER -