Publications

Project Report - Uncertainty-aware and safety-enhanced management of CAVs for safer mixed traffic

This project focuses on enhancing the safety of connected and autonomous vehicles (CAVs) operating within complex mixed traffic environments, where both human-driven vehicles (HDVs) and CAVs coexist. In such scenarios, CAVs are subject to multiple sources

Coordinated 5G LEO-5G cellular positioning for improved safety functions in heavy vehicles

Accurate vehicle positioning is a critical enabler for safety functions in automated driving (AD) and advanced driver assistance systems (ADAS), particularly at higher levels of automation. In level 3 ADAS, where the vehicle must make autonomous decisions

Final Report Future Driver Training

Understanding drivers’ theory material is a key component of education leading up to driver’s license acquisition in Sweden. Sweden’s novel immersive approach to driver risk training can be extended to driver’s theory training as well by use of game-based

Final report: In-vehicle detection of alcohol and drug impaired drivers

This pre‑study examines the technological landscape, practical experience, and regulatory requirements related to in‑vehicle detection of alcohol‑ and drug‑impaired driving, focusing on alcohol and cannabis.

Current detection approaches fall into five

SAFER Annual Report 2025 Appendices

Final Report - Analysis of the 3D H-point machine in relation to diversity

This project explores the role and impact of the H-Point Machine (HPM) in vehicle design and crash safety assessment. Through a combination of expert focus group discussions and a targeted review of UN regulations, the project investigates how the use of

Cooperative Automated Driving for Enhanced Safety and Ethical Decision-Making

Advances in technologies for vehicular communication enable new applications for Cooperative Intelligent Transportation Systems (C-ITS). Communicating vehicles share information and cooperate, which allows for improved safety, fuel economy, and traffic

Project Report: Strategic recommendations for improved traffic safety through an increased citizen perspective

Sweden’s road safety system has long been internationally recognised, built on close collaboration between the state, industry, academia – and civil society. In recent years, however, the role of the non-profit sector has weakened. At the same time, new

Computational models for safe interactions between automated vehicles and cyclists

Cyclists, as vulnerable road users, face significant safety risks in traffic, especially at unsignalized intersections where they must interact with motorized vehicles. This PhD thesis investigated bicycle-vehicle interactions at unsignalized intersections

Bridging Worlds: Integrating Human Factors in Agile Automated Vehicle Development

Context: Automated Vehicle (AV) technology has grown significantly in complexity and impact, promising to transform urban transportation. However, research shows that vehicle automation can only live up to this expectation if it is designed with human

Advancing Pelvis Computational Models for Automotive Safety Assessment

The pelvis is a key load bearer in vehicle safety due to its relatively high load tolerance and shape, which is utilized to control occupant kinematics in accidents by engaging with vehicle restraint systems. However, epidemiological studies have shown

Cyclists’ interactions with professional and non-professional drivers: Observations and game theoretic models

According to crash data reports, most collisions between cyclists and motorized vehicles occur at unsignalized intersections (where no traffic lights regulate vehicle priority). In the era of automated driving, it is imperative for automated vehicles to

Evaluation of adaptive sampling methods in scenario generation for virtual safety impact assessment of pre-crash safety systems

Virtual safety assessment plays a vital role in evaluating the safety impact of pre-crash safety systems such as advanced driver assistance systems (ADAS) and automated driving systems (ADS). However, as the number of parameters in simulation- based

Active sampling: A machine-learning-assisted framework for finite population inference with optimal subsamples

Data subsampling has become widely recognized as a tool to overcome computational and economic bottlenecks in analyzing massive datasets. We contribute to the development of adaptive design for estimation of finite population characteristics, using active

Strategic decision points in experiments: A predictive Bayesian optional stopping method

Sample size determination is a critical element in experimental design – not least in traffic and transport research. On one hand, without a sufficient sample size, an experiment cannot reliably answer its research question(s); on the other hand, too many

Improving pre-crash safety systems: Using computational driver behavior models and efficient sampling methods

In-vehicle pre-crash safety systems have been used by the automotive industry for some time as integral parts of advanced driver assistance systems (ADAS) and automated driving systems (ADS), in order to improve traffic safety worldwide. Among the methods

Assessing injury risks of reclined occupants in a frontal crash preceded by braking with varied seatbelt designs using the SAFER Human Body Model

Objective: This study investigated the effects of different seatbelt geometries and load-limiting levels on the kinematics and injury risks of a reclined occupant during a whole-sequence frontal crash scenario, using simulations with the Active SAFER Human

Increasing traffic safety at schools in Zambia: a before and after study

Pedestrians are the group most at risk to be involved in a road crash, especially children and young people (World Health Organization, 2023). In the African Region pedestrian fatalities account for 33% of road deaths, although this varies according to

DDI 2024 Abstract book

Traffic Safety Data: Sources, analysis and applications

Traffic fatalities decrease in most high-income countries, though it is still a long journey to reach the Vision Zero target. The trend is quite the opposite in low- and middle-income countries, where road casualty numbers stagnate at best. In both

Slutrapport - Goda exempel på redovisning av säkerhetskultur inom företag och organisationer

Rapporten är framtagen med ekonomiskt bidrag från Skyltfonden. Ståndpunkter och slutsatser i rapporten reflekterar författaren och överensstämmer inte med nödvändighet med Trafikverkets ståndpunkter och slutsatser inom rapportens ämnesområde.

För att kunna

On Optimization-Based Coordination of Automated Vehicles in Confined Sites

Autonomous driving is a major technological challenge, offering potential improvements in safety, efficiency, and comfort for daily transportation. However, the full-scale implementation of fully automated vehicles (AVs) remains distant, primarily due to

Towards More Reliable Pre-Crash Virtual Safety Assessment: The impact of the choice of data types and reference driver models on the assessment of vehicle automation

Road crashes are a major cause of deaths and serious injuries worldwide. New technologies offer the opportunity to reduce road crashes by supporting drivers with advanced driver assistance systems (ADASs), and by taking over the entire driving task—at

Digital Twin-Based Simulated Automotive Radar for Virtual Testing

Modern vehicles are increasingly characterized by software-based systems, and perception sensing technology plays an important part in the safety and the driving experience. The development of a reliable and efficient methodology for perception technology

Digital Twins for Early Verification and Validation of Autonomous Driving Features: Open-source Tools and Standard Formats

Getting real data from safety critical systems for specific, rare situations (e.g., edge cases) is challenging. Moreover, data gathered during operations (e.g., crash reports) are not often publicly accessible and reports might be incomplete. However

Final Project Report CARDIO

A relatively large proportion of fatalities on Swedish roads are due to sudden illness in drivers, with the majority of these cases attributed to cardiovascular disease. Being able to detect and manage these sudden events could save many lives. Various

Characterising Bicyclist Posture in Various Bicycle Types for Safety Evaluation

The growing use of bicycles and the increasing frequency of accidents underscore the need for an in-depth investigation into bicyclists’ kinematics and injuries. This study aims to collect and analyse bicyclists’ posture data across three bicycle types to

Bicyclist Shoulder Forces in Car-to-Bicycle Crash and Single-Bicycle Crash Simulations

Semantic Aware Environment Spatial-Temporal Graph Transformer: A Single-Agent Multi-Class Trajectory Prediction Framework

Trajectory Prediction (TP) plays a pivotal role across various domains, transforming navigationand interaction within complex environments. This study introduces the Semantic Aware Environ-mental Spatial-Temporal Graph Transformer (SAE-STAR) model

A Semantic Representation of Pedestrian Crossing Behavior

In this paper, we focus on the crucial task of understanding and modeling pedestrian behavior, which is essential for numerous applications. We introduce a semantic representation of pedestrian crossing behavior. The representation is to capture the sub

Project poster

Dataset Creator OSI

Dataset: Vehicle Dynamics

Dataset: REHEARSE: adveRse wEatHEr datAset for sensoRy noiSe modEls.

Dense Road Surface Grip Map Prediction from Multimodal Image Data

Slippery road weather conditions are prevalent in many regions and cause a regular risk for traffic. Still, there has been less research on how autonomous vehicles could detect slippery driving conditions on the road to drive safely. In this work, we

Semantics-aware LiDAR-Only Pseudo Point Cloud Generation for 3D Object Detection

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced pseudo-LiDAR, i

A Novel Score-Based LiDAR Point Cloud Degradation Analysis Method

Assisted and automated driving systems critically depend on high-quality sensor data to build accurate situational awareness. A key aspect of maintaining this quality is the ability to quantify the perception sensor degradation through detecting

Depth- and semantics-aware multi-modal domain translation: Generating 3D panoramic color images from LiDAR point clouds

This work presents a new depth- and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation in a multi-modal setup between LiDAR and camera sensors. The proposed model leverages scene semantics as a mid

Engineering Safety Requirements for Autonomous Driving with Large Language Models

Changes and updates in the requirement artifacts, which can be frequent in the automotive domain, are a challenge for SafetyOps. Large Language Models (LLMs), with their impressive natural language understanding and generating capabilities, can play a key

Welcome your new ai teammate: On safety analysis by leashing large language models

DevOps is a necessity in many industries, including the development of Autonomous Vehicles. In those settings, there are iterative activities that reduce the speed of SafetyOps cycles. One of these activities is "Hazard Analysis Risk Assessment"(HARA)

Accelerating the Design Phase: Towards DevSafeOps for Autonomous Driving Software

Background: The safety of Autonomous Driving (AD) remains a barrier to its widespread adoption, as evidenced by recent incidents. Factors such as the complex environment, evolving technologies, and shifting regulatory and customer requirements necessitate

Towards Safer Powered Two- and Three-Wheeler Riders: Enhancing Human Body Models for Thoracic Injury Assessment

Powered two- and three-wheelers (PTWs) make up the second largest motor vehicle fleet, with their users representing the most vulnerable group of road users. One of the most common crash scenarios for PTW riders is PTW front-to-passenger car side, which

Quantifying rider posture variability in powered two- and three-wheelers for safety assessment

Objective

Injury outcomes for powered two- and three-wheeler (PTW) riders are influenced by the rider posture. To enable analysis of PTW rider accidents and development of protection systems, detailed whole-body posture data is needed. Therefore, the aim of

Legal challenges of remote operation as a key transition and safety approach towards fully autonomous vehicles

The role of autonomous vehicles to achieve sustainability goals has been much emphasized, but large-scale implementation is still relatively low. It has been suggested, however, that the use of remote operation of automated road vehicles, as a bridging

Remote Driving of Road Vehicles: A Survey of Driving Feedback, Latency, Support Control, and Real Applications

This literature survey explores the domain of remote driving of road vehicles within autonomous vehicles, focusing on challenges and state-of-the-art solutions related to driving feedback, latency, support control, as well as remote driving platform and

The Influence of Motion-Cueing, Sound and Vibration Feedback on Driving Behavior and Experience—A Virtual Teleoperation Experiment

Driving feedback is an important factor that can affect the perceptions of remote drivers of the surrounding environment during teleoperation. This paper focuses on investigating the influence of motion-cueing, sound and vibration feedback on driving

Enhanced Model-Free Predictor for Latency Compensation in Remote Driving Systems

Remote driving plays a vital role in coordinating automated vehicles in challenging situations. Data transmission latency, however, can cause several problems in remote driving. Firstly, it can degrade the performance of remote-controlled vehicles, evident

Driving Experience and Behavior Change in Remote Driving: An Explorative Experimental Study

Remote driving plays an essential role in coordinating automated vehicles in some challenging situations. Due to the changed driving environment, the experiences and behaviors of remote drivers would undergo some changes compared to conventional drivers

A Roadmap Towards Remote Assistance: Outcomes from Multidisciplinary Workshop at the 2023 Intelligent Vehicles Symposium

Remote operation of highly automated vehicles (HAVs) may include occasional assistance from a human remote operator that is located outside the HAVs. Remote assistance typically delegates only high-level guidance tasks to the remote operators such as

Navigating the challenges of remote operations of automated road vehicles: A socio-technical perspective

The advent of automated driving systems introduces a paradigm shift with the possibility to revolutionize transportation systems on our roads. Benefits of improved safety, and operational efficiency is foreseen by actors in the business and the hopes of