O. A. Bibliography-abaza and Z. S. Hussein, Comparative analysis of multilane roundabout capacity "case study, IEEE 70th Vehicular Technology Conference Fall (VTC 2009-Fall), pp.1-5, 2009.

D. A. Abbink, Neuromuscular analysis of haptic gas pedal feedback during car following, 2006.
DOI : 10.1109/ivs.2008.4621325

. Abbink, Haptic shared control: smoothly shifting control authority?, Cognition, Technology & Work, vol.23, issue.3, pp.19-28, 2012.
DOI : 10.1080/00140138008924809

. Aeberhard, Experience, results and lessons learned from automated driving on germany's highways. Intelligent Transportation Systems Magazine, IEEE, vol.7, issue.1, pp.42-57, 2015.
DOI : 10.1109/mits.2014.2360306

. Anderson, Autonomous Vehicle Technology: A Guide for Policymakers, 2014.
DOI : 10.7249/RR443-2

. Anderson, Constraintbased planning and control for safe, semi-autonomous operation of vehicles, Intelligent Vehicles Symposium (IV), pp.2012-383, 2012.

. Aoude, Threat-aware path planning in uncertain urban environments, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.6058-6063, 2010.
DOI : 10.1109/IROS.2010.5650734

URL : http://acl.mit.edu/papers/AoudeIROS2010.pdf

. Bacha, Odin: Team VictorTango's entry in the DARPA Urban Challenge, Journal of Field Robotics, vol.23, issue.8, pp.467-492, 2008.
DOI : 10.1002/rob.20248

. Bai, Block Mechanism of Left-turned Flow at Signal-Controlled Roundabout, 2009 WRI Global Congress on Intelligent Systems, pp.443-449, 2009.
DOI : 10.1109/GCIS.2009.178

. Baltzer, Mediating the interaction between human and automation during the arbitration processes in cooperative guidance and control of highly automated vehicles, Proceedings of the 5th International Conference on Applied Human Factors and Ergonomics AHFE, 2014.

. Broggi, PROUD-Public road urban driverless test: Architecture and results, 2014 IEEE Intelligent Vehicles Symposium Proceedings, pp.648-654, 2014.
DOI : 10.1109/IVS.2014.6856478

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.572.2683

. Broggi, Moving from analog to digital driving, 2013 IEEE Intelligent Vehicles Symposium (IV), pp.1113-1118, 2013.
DOI : 10.1109/IVS.2013.6629615

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.432.6438

. Broggi, Development of the control system for the Vislab Intercontinental Autonomous Challenge, 13th International IEEE Conference on Intelligent Transportation Systems, pp.635-640, 2010.
DOI : 10.1109/ITSC.2010.5625001

. Broggi, Autonomous vehicles control in the VisLab Intercontinental Autonomous Challenge, Annual Reviews in Control, vol.36, issue.1, pp.161-171, 2012.
DOI : 10.1016/j.arcontrol.2012.03.012

. Choi, Path planning based on bézier curve for autonomous ground vehicles, WCECS'08. Advances in Electrical and Electronics Engineering-IAENG, pp.158-166, 2008.
DOI : 10.1109/wcecs.2008.27

. Coombs, Driving autonomously off-road up to 35 km/h, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511), pp.186-191, 2000.
DOI : 10.1109/IVS.2000.898339

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.80.1980

. Cremean, Alice: An information-rich autonomous vehicle for high-speed desert navigation, Journal of Field Robotics, vol.3, issue.9, pp.777-810, 2006.
DOI : 10.1109/TSMC.1975.5408371

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.132.1252

L. Da, Artificial co-drivers as a universal enabling technology for future intelligent vehicles and transportation systems, IEEE Transactions on intelligent transportation systems, vol.16, issue.1, pp.244-263, 2015.

. De-brabander, B. Vereeck-]-de-brabander, and L. Vereeck, Safety effects of roundabouts in Flanders: Signal type, speed limits and vulnerable road users, Accident Analysis & Prevention, vol.39, issue.3, 2007.
DOI : 10.1016/j.aap.2006.10.004

. Winter, A Two-Dimensional Weighting Function for a Driver Assistance System, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), vol.38, issue.1, pp.189-195, 2008.
DOI : 10.1109/TSMCB.2007.908860

. Bibliography and . Dokic, European roadmap smart systems for automated driving, European Technology Platform on Smart Systems Integration, 2015.

D. Dolgov and S. Thrun, Autonomous driving in semi-structured environments: Mapping and planning, 2009 IEEE International Conference on Robotics and Automation, pp.3407-3414, 2009.
DOI : 10.1109/ROBOT.2009.5152682

. Dolgov, Path Planning for Autonomous Vehicles in Unknown Semi-structured Environments, The International Journal of Robotics Research, vol.25, issue.8, pp.485-501, 2010.
DOI : 10.1002/rob.20255

K. Dopart, U.s. dot automation program, 2015.

S. Durekovic, S. Durekovic, and N. Smith, Architectures of Map-Supported ADAS, 2011 IEEE Intelligent Vehicles Symposium (IV), pp.207-211, 2011.
DOI : 10.1109/IVS.2011.5940402

. Elbanhawi, . Simic, M. Elbanhawi, and M. Simic, Sampling-Based Robot Motion Planning: A Review, IEEE Access, vol.2, issue.2, pp.56-77, 2014.
DOI : 10.1109/ACCESS.2014.2302442

. Erlien, Shared Steering Control Using Safe Envelopes for Obstacle Avoidance and Vehicle Stability, IEEE Transactions on Intelligent Transportation Systems, vol.17, issue.2, pp.441-451, 2016.
DOI : 10.1109/TITS.2015.2453404

E. U. European-commision, Road safety in the european union: Trends, statistics and main challenges, 2015.

E. U. European-commision, Declaration of amsterdam, cooperation in the field of connected and, 2016.

S. Ferguson, D. Ferguson, and A. Stentz, Using interpolation to improve path planning: The Field D* algorithm, Journal of Field Robotics, vol.33, issue.2, pp.79-101, 2006.
DOI : 10.1016/B978-044482537-7/50016-4

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.67.1739

. Ferguson, Motion planning in urban environments, Journal of Field Robotics, vol.25, pp.11-12, 2008.
DOI : 10.1002/rob.20265

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.375.8856

. Ferguson, PAO for planning with hidden state, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, pp.2840-2847, 2004.
DOI : 10.1109/ROBOT.2004.1307491

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.1.4376

. Fulgenzi, Probabilistic motion planning among moving obstacles following typical motion patterns, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4027-4033, 2009.
DOI : 10.1109/IROS.2009.5354755

URL : https://hal.archives-ouvertes.fr/inria-00398059

. Fulgenzi, Probabilistic navigation in dynamic environment using Rapidly-exploring Random Trees and Gaussian processes, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1056-1062, 2008.
DOI : 10.1109/IROS.2008.4650959

URL : https://hal.archives-ouvertes.fr/inria-00332595

. Funke, . Gerdes, J. Funke, and J. C. Gerdes, Simple Clothoid Lane Change Trajectories for Automated Vehicles Incorporating Friction Constraints, Journal of Dynamic Systems, Measurement, and Control, vol.138, issue.2, p.21002, 2016.
DOI : 10.1115/1.4032033

. Furgale, Toward automated driving in cities using close-to-market sensors: An overview of the V-Charge Project, 2013 IEEE Intelligent Vehicles Symposium (IV), pp.809-816, 2013.
DOI : 10.1109/IVS.2013.6629566

. Gandhi, . Trivedi, T. Gandhi, and M. Trivedi, Pedestrian protection systems: Issues, survey, and challenges. Intelligent Transportation Systems, IEEE Transactions on, vol.8, issue.3, pp.413-430, 2007.
DOI : 10.1109/tits.2007.903444

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.81.6405

. Gasser, . Westhoff, T. M. Gasser, and D. Westhoff, Bast-study: Definitions of automation and legal issues in germany, Proceedings of the 2012 Road Vehicle Automation Workshop, 2012.

. Geiger, Team AnnieWAY's Entry to the 2011 Grand Cooperative Driving Challenge, IEEE Transactions on Intelligent Transportation Systems, vol.13, issue.3, pp.1008-1017, 2012.
DOI : 10.1109/TITS.2012.2189882

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.229.493

. Glaser, Maneuver-Based Trajectory Planning for Highly Autonomous Vehicles on Real Road With Traffic and Driver Interaction, IEEE Transactions on Intelligent Transportation Systems, vol.11, issue.3, pp.589-606, 2010.
DOI : 10.1109/TITS.2010.2046037

URL : https://hal.archives-ouvertes.fr/hal-00653650

. González, . Perez, D. González, and J. Perez, Control architecture for Cybernetic Transportation Systems in urban environments, 2013 IEEE Intelligent Vehicles Symposium (IV), pp.1119-1124, 2013.
DOI : 10.1109/IVS.2013.6629616

. González, Speed profile generation based on quintic B??zier curves for enhanced passenger comfort, 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), pp.814-819, 2016.
DOI : 10.1109/ITSC.2016.7795649

. González, Parametric-based path generation for automated vehicles at roundabouts. Expert Systems with Applications 71, pp.332-341, 2017.

. Gonzalez, Continuous curvature planning with obstacle avoidance capabilities in urban scenarios, 17th International IEEE Conference on Intelligent Transportation Systems (ITSC), pp.1430-1435, 2014.
DOI : 10.1109/ITSC.2014.6957887

URL : https://hal.archives-ouvertes.fr/hal-01086888

. González, A Review of Motion Planning Techniques for Automated Vehicles, IEEE Transactions on Intelligent Transportation Systems, vol.17, issue.4, pp.1135-1145, 2016.
DOI : 10.1109/TITS.2015.2498841

G. Griffiths, P. G. Griffiths, and R. B. Gillespie, Sharing Control Between Humans and Automation Using Haptic Interface: Primary and Secondary Task Performance Benefits, Human Factors: The Journal of the Human Factors and Ergonomics Society, vol.30, issue.5, pp.574-590, 2005.
DOI : 10.1518/001872098779480532

D. Gu, T. Gu, and J. M. Dolan, On-Road Motion Planning for Autonomous Vehicles, In: Intelligent Robotics and Applications, pp.588-597, 2012.
DOI : 10.1007/978-3-642-33503-7_57

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.432.375

D. Gu, T. Gu, and J. M. Dolan, Toward human-like motion planning in urban environments, 2014 IEEE Intelligent Vehicles Symposium Proceedings, pp.350-355, 2014.
DOI : 10.1109/IVS.2014.6856493

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.587.6005

. Gu, Focused Trajectory Planning for autonomous on-road driving, 2013 IEEE Intelligent Vehicles Symposium (IV), pp.2013-547, 2013.
DOI : 10.1109/IVS.2013.6629524

R. Hacker, Certification of Algorithm 112: Position of point relative to polygon, Communications of the ACM, vol.5, issue.12, p.606, 1962.
DOI : 10.1145/355580.369118

. Han, Bezier curve based path planning for autonomous vehicle in urban environment, Intelligent Vehicles Symposium (IV), pp.1036-1042, 2010.
DOI : 10.1109/ivs.2010.5548085

. Han, A precise curved motion planning for a differential driving mobile robot, Mechatronics, vol.18, issue.9, pp.486-494, 2008.
DOI : 10.1016/j.mechatronics.2008.04.001

C. Hardy, J. Hardy, and M. Campbell, Contingency Planning Over Probabilistic Obstacle Predictions for Autonomous Road Vehicles, IEEE Transactions on Robotics, vol.29, issue.4, pp.913-929, 2013.
DOI : 10.1109/TRO.2013.2254033

. Haschke, On-line planning of timeoptimal , jerk-limited trajectories. In: Intelligent Robots and Systems, IEEE/RSJ International Conference on, pp.3248-3253, 2008.
DOI : 10.1109/iros.2008.4650924

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.561.9756

C. Havlak, F. Havlak, and M. Campbell, Discrete and Continuous, Probabilistic Anticipation for Autonomous Robots in Urban Environments, IEEE Transactions on Robotics, vol.30, issue.2, pp.461-474, 2014.
DOI : 10.1109/TRO.2013.2291620

URL : http://arxiv.org/abs/1309.0766

. Hesse, Towards User-Centred Development of Integrated Information, Warning, and Intervention Strategies for Multiple ADAS in the EU Project interactIVe, International Conference on Universal Access in Human- Computer Interaction, pp.280-289, 2011.
DOI : 10.1007/978-3-642-21666-4_31

J. Hoc, Towards a cognitive approach to human???machine cooperation in dynamic situations, International Journal of Human-Computer Studies, vol.54, issue.4, pp.509-540, 2001.
DOI : 10.1006/ijhc.2000.0454

B. Horst, J. Horst, and A. Barbera, Trajectory generation for an on-road autonomous vehicle, Defense and Security Symposium, International Society for Optics and Photonics, pp.62302-62302, 2006.
DOI : 10.1117/12.663643

K. Howard, T. M. Howard, and A. Kelly, Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots, The International Journal of Robotics Research, vol.7, issue.2, pp.141-166, 2007.
DOI : 10.1109/70.75906

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.375.9234

. Howard, State space sampling of feasible motions for high-performance mobile robot navigation in complex environments, Journal of Field Robotics, vol.24, issue.6-7, pp.6-7, 2008.
DOI : 10.1177/0278364902021010841

O. Hsieh, M. F. Hsieh, and U. Ozguner, A parking algorithm for an autonomous vehicle, Intelligent Vehicles Symposium, pp.1155-1160, 2008.

S. Hu and G. Zheng, Driver drowsiness detection with eyelid related parameters by Support Vector Machine, Expert Systems with Applications, vol.36, issue.4, pp.7651-7658, 2009.
DOI : 10.1016/j.eswa.2008.09.030

B. Hsu, Development of an automatic parking system for vehicle, Proc. IEEE Vehicle Power and Propulsion Conf. VPPC '08, pp.1-6, 2008.

. Hwang, A fast path planning by path graph optimization. Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on, vol.33, issue.1, pp.121-129, 2003.

A. Hwang, Y. K. Hwang, and N. Ahuja, Gross motion planning---a survey, ACM Computing Surveys, vol.24, issue.3, pp.219-291, 1992.
DOI : 10.1145/136035.136037

G. Ishida, S. Ishida, and J. E. Gayko, Development, evaluation and introduction of a lane keeping assistance system, IEEE Intelligent Vehicles Symposium, 2004, pp.943-944, 2004.
DOI : 10.1109/IVS.2004.1336512

. Jeon, Optimal motion planning with the half-car dynamical model for autonomous high-speed driving, ACC), pp.188-193, 2013.

K. , W. Kala, R. Warwick, and K. , Planning of multiple autonomous vehicles using rrt, Cybernetic Intelligent Systems (CIS), 2011 IEEE 10th International Conference on, pp.20-25, 2011.
DOI : 10.1109/cis.2011.6169129

W. Kala, R. Kala, and K. Warwick, Multi-level planning for semiautonomous vehicles in traffic scenarios based on separation maximization, Journal of Intelligent & Robotic Systems, vol.72, pp.3-4, 2013.

. Karaman, S. Frazzoli-]-karaman, and E. Frazzoli, Optimal kinodynamic motion planning using incremental sampling-based methods, 49th IEEE Conference on Decision and Control (CDC), pp.7681-7687, 2010.
DOI : 10.1109/CDC.2010.5717430

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.469.810

. Karaman, S. Frazzoli-]-karaman, and E. Frazzoli, Sampling-based algorithms for optimal motion planning, The International Journal of Robotics Research, vol.23, issue.7, pp.846-894, 2011.
DOI : 10.1109/TRO.2006.886840

URL : http://arxiv.org/abs/1105.1186

. Karaman, Anytime Motion Planning using the RRT*, 2011 IEEE International Conference on Robotics and Automation, pp.1478-1483, 2011.
DOI : 10.1109/ICRA.2011.5980479

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.226.4934

. Karush, Driver seat: Robot cars won't retire crashtest dummies anytime soon, 2016.

. Kavraki, Probabilistic roadmaps for path planning in high-dimensional configuration spaces. Robotics and Automation, IEEE Transactions on, vol.12, issue.4, pp.566-580, 1996.
DOI : 10.1109/70.508439

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.19.3462

. Keller, Active Pedestrian Safety by Automatic Braking and Evasive Steering, IEEE Transactions on Intelligent Transportation Systems, vol.12, issue.4, pp.1292-1304, 2011.
DOI : 10.1109/TITS.2011.2158424

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.220.9990

. Kelly, Toward reliable off road autonomous vehicles operating in challenging environments, The International Journal of Robotics Research, vol.25, pp.5-6, 2006.
DOI : 10.1177/0278364906065543

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.73.5603

M. Kogan, D. Kogan, and R. Murray, Optimization-based navigation for the darpa grand challenge, Conference on Decision and Control (CDC), 2006.

. Kritayakirana, . Gerdes, K. Kritayakirana, and J. C. Gerdes, Autonomous vehicle control at the limits of handling, International Journal of Vehicle Autonomous Systems, vol.10, issue.4, pp.271-296, 2012.
DOI : 10.1504/IJVAS.2012.051270

. Krotkov, The DARPA PerceptOR evaluation experiments, Autonomous Robots, vol.18, issue.7, pp.19-35, 2007.
DOI : 10.1007/s10514-006-9000-0

. Kummerle, Autonomous driving in a multi-level parking structure, 2009 IEEE International Conference on Robotics and Automation, pp.3395-3400, 2009.
DOI : 10.1109/ROBOT.2009.5152365

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.230.9589

. Kunchev, Path Planning and Obstacle Avoidance for Autonomous Mobile Robots: A Review, Knowledge-Based Intelligent Information and Engineering Systems, pp.537-544, 2006.
DOI : 10.1007/11893004_70

. Kushleyev, . Likhachev, A. Kushleyev, and M. Likhachev, Time-bounded lattice for efficient planning in dynamic environments, 2009 IEEE International Conference on Robotics and Automation, pp.1662-1668, 2009.
DOI : 10.1109/ROBOT.2009.5152860

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.171.548

. Kutila, The DESERVE project: Towards future ADAS functions, 2014 International Conference on Embedded Computer Systems: Architectures, Modeling, and Simulation (SAMOS XIV), pp.308-313, 2014.
DOI : 10.1109/SAMOS.2014.6893226

URL : https://hal.archives-ouvertes.fr/hal-01086885

. Bibliography and . Kuwata, Motion planning for urban driving using rrt, In: Intelligent Robots and Systems, pp.1681-1686, 2008.

. Kuwata, Real-Time Motion Planning With Applications to Autonomous Urban Driving, IEEE Transactions on Control Systems Technology, vol.17, issue.5, pp.1105-1118, 2009.
DOI : 10.1109/TCST.2008.2012116

URL : http://acl.mit.edu/papers/KuwataTCST09.pdf

. Labakhua, Smooth Trajectory Planning for Fully Automated Passengers Vehicles: Spline and Clothoid Based Methods and Its Simulation, Informatics in Control Automation and Robotics, pp.169-182, 2008.
DOI : 10.1007/978-3-540-79142-3_14

. Lavalle, S. Hutchinson-]-lavalle, and S. Hutchinson, Optimal motion planning for multiple robots having independent goals. Robotics and Automation, IEEE Transactions on, vol.14, issue.6, pp.912-925, 1998.

S. M. Lavalle, Planning algorithms, 2006.
DOI : 10.1017/CBO9780511546877

. Lavalle, S. M. Kuffner-]-lavalle, and J. J. Kuffner, Randomized Kinodynamic Planning, The International Journal of Robotics Research, vol.20, issue.5, pp.378-400, 2001.
DOI : 10.1177/02783640122067453

J. Lee and B. Park, Development and evaluation of a cooperative vehicle intersection control algorithm under the connected vehicles environment. Intelligent Transportation Systems, IEEE Transactions on, vol.13, issue.1, pp.81-90, 2012.

Y. Lee, S. Lee, and Y. Yu, Study of the night vision system in vehicle, IEEE Vehicle Power and Propulsion Conference, p.2012, 2012.

. Lee, Real-Time Gaze Estimator Based on Driver's Head Orientation for Forward Collision Warning System, IEEE Transactions on Intelligent Transportation Systems, vol.12, issue.1, pp.254-267, 2011.
DOI : 10.1109/TITS.2010.2091503

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.188.1522

. Li, Cognitive cars: A new frontier for adas research. Intelligent Transportation Systems, IEEE Transactions on, vol.13, issue.1, pp.395-407, 2012.
DOI : 10.1109/tits.2011.2159493

. Li, Hierarchical route planning based on taxi gps-trajectories, 17th International Conference on, pp.1-5, 2009.

. Liang, Automatic parking path optimization based on Bezier curve fitting, 2012 IEEE International Conference on Automation and Logistics, pp.583-587, 2012.
DOI : 10.1109/ICAL.2012.6308145

. Likhachev, . Ferguson, M. Likhachev, and D. Ferguson, Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles, The International Journal of Robotics Research, vol.25, issue.8, pp.933-945, 2009.
DOI : 10.1002/rob.20255

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.149.23

. Likhachev, Anytime search in dynamic graphs, Artificial Intelligence, vol.172, issue.14, pp.1613-1643, 2008.
DOI : 10.1016/j.artint.2007.11.009

URL : http://doi.org/10.1016/j.artint.2007.11.009

T. Lin, J. Lin, and W. Ting, Nonlinear control design of anti-lock braking systems with assistance of active suspension, IET Control Theory & Applications, vol.1, issue.1, pp.343-348, 2007.
DOI : 10.1049/iet-cta:20050218

S. Liu, An on-line reference-trajectory generator for smooth motion of impulsecontrolled industrial manipulators, In: Advanced Motion Control, pp.365-370, 2002.

. Llorca, Autonomous Pedestrian Collision Avoidance Using a Fuzzy Steering Controller, IEEE Transactions on Intelligent Transportation Systems, vol.12, issue.2, pp.390-401, 2011.
DOI : 10.1109/TITS.2010.2091272

URL : https://hal.archives-ouvertes.fr/hal-00737639

. Loewenau, Dynamic Pass Prediction ??? A New Driver Assistance System for Superior and Safe Overtaking, pp.67-77, 2006.
DOI : 10.1007/3-540-33410-6_7

. Luo, Pedestrian detection in nearinfrared night vision system, Intelligent Vehicles Symposium (IV), pp.51-58, 2010.
DOI : 10.1109/ivs.2010.5548089

. Madas, On path planning methods for automotive collision avoidance, 2013 IEEE Intelligent Vehicles Symposium (IV), pp.2013-931, 2013.
DOI : 10.1109/IVS.2013.6629586

URL : http://hh.diva-portal.org/smash/get/diva2:642063/FULLTEXT01

. Malone, Cybernetic transport systems: lessons to be learned from user needs analysis and field experience, Intelligent Vehicle Symposium, 2002. IEEE, pp.551-556, 2002.
DOI : 10.1109/IVS.2002.1188009

E. H. Mamdani, Application of fuzzy algorithms for control of simple dynamic plant, Proceedings of the Institution of Electrical Engineers, pp.1585-1588, 1974.
DOI : 10.1049/piee.1974.0328

. Mammar, Time to Line Crossing for Lane Departure Avoidance: A Theoretical Study and an Experimental Setting, IEEE Transactions on Intelligent Transportation Systems, vol.7, issue.2, pp.226-241, 2006.
DOI : 10.1109/TITS.2006.874707

URL : https://hal.archives-ouvertes.fr/hal-00505758

. Manage, Performance an of roundabouts as an alternative for intersection control in japan, Journal of the Eastern Asia Society for Transportation Studies, vol.5, pp.871-883, 2003.

. Marchal-crespo, The effect of haptic guidance, aging, and initial skill level on motor learning of a steering task, Experimental Brain Research, vol.13, issue.2, pp.209-220, 2010.
DOI : 10.2466/pms.1997.84.3.1107

F. Marchese, Multiple Mobile Robots Path-Planning with MCA, International Conference on Autonomic and Autonomous Systems (ICAS'06), pp.56-56, 2006.
DOI : 10.1109/ICAS.2006.38

. Mcnaughton, Motion planning for autonomous driving with a conformal spatiotemporal lattice, 2011 IEEE International Conference on Robotics and Automation, pp.4889-4895, 2011.
DOI : 10.1109/ICRA.2011.5980223

. Merdrignac, 2D laser based road obstacle classification for road safety improvement, 2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), pp.2015-2016, 2015.
DOI : 10.1109/ARSO.2015.7428199

URL : https://hal.archives-ouvertes.fr/hal-01158396

. Milanés, Cooperative Maneuvering in Close Environments Among Cybercars and Dual-Mode Cars, IEEE Transactions on Intelligent Transportation Systems, vol.12, issue.1, pp.15-24, 2011.
DOI : 10.1109/TITS.2010.2050060

. Milanés, Intelligent automatic overtaking system using vision for vehicle detection, Expert Systems with Applications, vol.39, issue.3, pp.3362-3373, 2012.
DOI : 10.1016/j.eswa.2011.09.024

. Milanés, Low-speed cooperative car-following fuzzy controller for cybernetic transport systems, 17th International IEEE Conference on Intelligent Transportation Systems (ITSC), pp.2075-2080, 2014.
DOI : 10.1109/ITSC.2014.6958009

. Milanés, Cooperative adaptive cruise control in real traffic situations. Intelligent Transportation Systems, IEEE Transactions on, vol.15, issue.1, pp.296-305, 2014.

. Milanés, An Intelligent V2I-Based Traffic Management System, IEEE Transactions on Intelligent Transportation Systems, vol.13, issue.1, pp.49-58, 2012.
DOI : 10.1109/TITS.2011.2178839

. Miller, Team Cornell's Skynet: Robust perception and planning in an urban environment, Journal of Field Robotics, vol.21, issue.2, pp.493-527, 2008.
DOI : 10.4271/R-114

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.375.6934

. Molinete, Cybercars-2: Close communications for cooperation between cybercars, 2009.

. Montemerlo, Junior: The Stanford entry in the Urban Challenge, Journal of Field Robotics, vol.9, issue.2, pp.569-597, 2008.
DOI : 10.1002/rob.20258

. Montes, Real-time clothoid approximation by Rational Bezier curves, 2008 IEEE International Conference on Robotics and Automation, pp.2246-2251, 2008.
DOI : 10.1109/ROBOT.2008.4543548

. Montes, Trajectory Generation based on Rational Bezier Curves as Clothoids, 2007 IEEE Intelligent Vehicles Symposium, pp.505-510, 2007.
DOI : 10.1109/IVS.2007.4290165

. Muffert, May I enter the roundabout? A time-to-contact computation based on stereo-vision, 2012 IEEE Intelligent Vehicles Symposium, pp.2012-565, 2012.
DOI : 10.1109/IVS.2012.6232178

. Mulder, The effect of haptic guidance on curve negotiation behavior of young, experienced drivers, 2008 IEEE International Conference on Systems, Man and Cybernetics, pp.804-809, 2008.
DOI : 10.1109/ICSMC.2008.4811377

. Naranjo, Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver, IEEE Transactions on Intelligent Transportation Systems, vol.9, issue.3, pp.438-450, 2008.
DOI : 10.1109/TITS.2008.922880

. Nash, Theta?*: Any-angle path planning on grids, Proceedings of the National Conference on Artificial Intelligence, p.1177, 1999.
DOI : 10.1609/aimag.v34i4.2512

. Nhtsa and N. H. Nhtsa, Preliminary statement of policy concerning automated vehicles, pp.1-14, 2013.

. Nhtsa and N. H. Nhtsa, Traffic safety facts: 2012 data, 2014.

. Nhtsa and N. H. Nhtsa, 2015 motor vehicle crashes: overview. (Traffic Safety Facts Research Note: National Highway Traffic Safety Administration, pp.1-9, 2016.

. Omalley, Vision-based detection and tracking of vehicles to the rear with perspective correction in low-light conditions, IET Intelligent Transport Systems, vol.5, issue.1, pp.1-10, 2011.
DOI : 10.1049/iet-its.2010.0032

M. Owsley, . Jr, C. Owsley, M. Jr, and G. , Vision and driving, Vision Research, vol.50, issue.23, pp.2348-2361, 2010.
DOI : 10.1016/j.visres.2010.05.021

. Paden, A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles, IEEE Transactions on Intelligent Vehicles, vol.1, issue.1, 2016.
DOI : 10.1109/TIV.2016.2578706

. Parasuraman, A model for types and levels of human interaction with automation, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, vol.30, issue.3, pp.286-297, 2000.
DOI : 10.1109/3468.844354

M. Parent, Advanced Urban Transport: Automation Is on the Way, IEEE Intelligent Systems, vol.22, issue.2, pp.9-11, 2007.
DOI : 10.1109/MIS.2007.20

. Patz, A practical approach to robotic design for the DARPA Urban Challenge, Journal of Field Robotics, vol.23, issue.9, pp.528-566, 2008.
DOI : 10.1002/rob.20251

. Pérez, Trajectory generator for autonomous vehicles in urban environments, 2013 IEEE International Conference on Robotics and Automation, pp.409-414, 2013.
DOI : 10.1109/ICRA.2013.6630608

. Perez, Dynamic trajectory generation using continuous-curvature algorithms for door to door assistance vehicles, Intelligent Vehicles Symposium Proceedings, 2014 IEEE, pp.510-515, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01081298

. Bibliography and . Pérez, Autonomous driving manoeuvres in urban road traffic environment: a study on roundabouts, Proceedings of the 18th World Congress The International Federation of Automatic Control, 2011.

. Petermeijer, Should Drivers Be Operating Within an Automation-Free Bandwidth? Evaluating Haptic Steering Support Systems With Different Levels of Authority, Human Factors: The Journal of the Human Factors and Ergonomics Society, vol.64, issue.1, pp.5-20, 2015.
DOI : 10.1037/h0044468

N. Petrov, P. Petrov, and F. Nashashibi, Adaptive steering control for autonomous lane change maneuver, 2013 IEEE Intelligent Vehicles Symposium (IV), pp.835-840, 2013.
DOI : 10.1109/IVS.2013.6629570

URL : https://hal.archives-ouvertes.fr/hal-00912963

N. Petrov, P. Petrov, and F. Nashashibi, Modeling and nonlinear adaptive control for autonomous vehicle overtaking. Intelligent Transportation Systems, IEEE Transactions on, vol.15, issue.4, pp.1643-1656, 2014.
DOI : 10.1109/tits.2014.2303995

URL : https://hal.archives-ouvertes.fr/hal-01107533

. Piazzi, Quintic G/sup 2/-splines for the iterative steering of vision-based autonomous vehicles, IEEE Transactions on Intelligent Transportation Systems, vol.3, issue.1, pp.27-36, 2002.
DOI : 10.1109/6979.994793

K. Pivtoraiko and A. Kelly, Efficient constrained path planning via search in state lattices, International Symposium on Artificial Intelligence, Robotics, and Automation in Space, 2005.

. Pivtoraiko, Differentially constrained mobile robot motion planning in state lattices, Journal of Field Robotics, vol.21, issue.1, pp.308-333, 2009.
DOI : 10.2140/pjm.1990.145.367

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.160.4601

R. Rajamani, Vehicle dynamics and control, 2011.
DOI : 10.1007/978-1-4614-1433-9

J. Reeds and L. Shepp, Optimal paths for a car that goes both forwards and backwards, Pacific Journal of Mathematics, vol.145, issue.2, pp.367-393, 1990.
DOI : 10.2140/pjm.1990.145.367

URL : http://msp.org/pjm/1990/145-2/pjm-v145-n2-p06-s.pdf

. Ren, Modified newton's method applied to potential field-based navigation for mobile robots, Robotics IEEE Transactions on, vol.22, issue.2, pp.384-391, 2006.

E. Rice, Mini-roundabouts, 2010.

. Robinson, Roundabouts: An informational guide, 2000.

. Rodegerdts, Roundabouts: An informational guide, 2010.

. Roldao, Description and technical specification of cybernetic transportation systems: an urban transportation concept -citymobil2 project approach, pp.176-181, 2015.
DOI : 10.1109/icves.2015.7396914

S. Romani, L. Romani, and M. Sabin, The conversion matrix between uniform B-spline and B??zier representations, Computer Aided Geometric Design, vol.21, issue.6, pp.549-560, 2004.
DOI : 10.1016/j.cagd.2004.04.002

. Rufli, On the application of the d* search algorithm to time-based planning on lattice graphs, pp.105-110, 2009.

. Ryu, Development and Experiences of an Autonomous Vehicle for High-Speed Navigation and Obstacle Avoidance, Frontiers of Intelligent Autonomous Systems, pp.105-116, 2013.
DOI : 10.1007/978-3-642-35485-4_8

. Sae and O. A. Sae, Taxonomy and definitions for terms related to on-road motor vehicle automated driving systems, 2014.

. Sahayadhas, Detecting Driver Drowsiness Based on Sensors: A Review, Sensors, vol.22, issue.12, pp.16937-16953, 2012.
DOI : 10.1049/iet-its.2009.0110

URL : http://doi.org/10.3390/s121216937

. Saleh, Shared steering control between a driver and an automation: Stability in the presence of driver behavior uncertainty. Intelligent Transportation Systems, IEEE Transactions on, vol.14, issue.2, pp.974-983, 2013.

J. Sánchez-reyes and J. Chacón, Polynomial approximation to clothoids via s-power series, Computer-Aided Design, vol.35, issue.14, pp.1305-1313, 2003.
DOI : 10.1016/S0010-4485(03)00045-9

R. A. Schmidt and G. Wulf, Continuous Concurrent Feedback Degrades Skill Learning: Implications for Training and Simulation, Human Factors: The Journal of the Human Factors and Ergonomics Society, vol.71, issue.4, p.509, 1997.
DOI : 10.1037/0278-7393.19.5.1134

V. Sheridan, T. B. Sheridan, and W. L. Verplank, Human and computer control of undersea teleoperators, 1978.

. Shiller, . Gwo, Z. Shiller, and Y. Gwo, Dynamic motion planning of autonomous vehicles. Robotics and Automation, IEEE Transactions on, vol.7, issue.2, pp.241-249, 1991.

S. Shladover, The gm-path platoon scenario, Intellimotion, vol.6, issue.3, 1997.

. Shladover, Automated vehicle control developments in the PATH program, IEEE Transactions on Vehicular Technology, vol.40, issue.1, pp.114-130, 1991.
DOI : 10.1109/25.69979

S. E. Shladover, PATH at 20 -- History and Major Milestones, 2006 IEEE Intelligent Transportation Systems Conference, pp.584-592, 2007.
DOI : 10.1109/ITSC.2006.1706710

. Simon, . Becker, A. Simon, and J. Becker, Vehicle guidance for an autonomous vehicle, Proceedings 199 IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems (Cat. No.99TH8383), pp.429-434, 1999.
DOI : 10.1109/ITSC.1999.821096

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.17.1707

B. W. Smith, Automated Vehicles are Probably Legal in the United States, SSRN Electronic Journal, 2012.
DOI : 10.2139/ssrn.2303904

A. Stentz, Optimal and efficient path planning for partially-known environments, Robotics and Automation IEEE International Conference on, pp.3310-3317, 1994.
DOI : 10.1109/robot.1994.351061

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.589.9461

. Thorpe, Automated Highways and the Free Agent Demonstration, Robotics Research, pp.246-254, 1998.
DOI : 10.1007/978-1-4471-1580-9_23

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.30.2526

. Thrun, Stanley: The robot that won the DARPA Grand Challenge, Journal of Field Robotics, vol.11, issue.9, pp.661-692, 2006.
DOI : 10.1007/978-1-4615-3184-5_2

M. Tracza and J. Chodura, Performance and Safety Roundabouts with Traffic Signals, SIIV 5th International Congress Sustainability of Road Infrastructures, pp.789-800, 2012.
DOI : 10.1016/j.sbspro.2012.09.928

. Trehard, Credibilist simultaneous Localization And Mapping with a LIDAR, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2699-2706, 2014.
DOI : 10.1109/IROS.2014.6942931

URL : https://hal.archives-ouvertes.fr/hal-01067931

. Trepagnier, KAT-5: Robust systems for autonomous vehicle navigation in challenging and unknown terrain, Journal of Field Robotics, vol.11, issue.8, pp.509-526, 2006.
DOI : 10.1007/978-1-4612-6333-3

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.549.8833

. Urmson, Autonomous driving in urban environments: Boss and the Urban Challenge, Journal of Field Robotics, vol.23, issue.8, pp.425-466, 2008.
DOI : 10.1137/1.9781611970104

. Urmson, A robust approach to high-speed navigation for unrehearsed desert terrain, Journal of Field Robotics, vol.5, issue.8, pp.467-508, 2006.
DOI : 10.14358/PERS.70.12.1353

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.69.2234

. Vaca, Automated global planner for cybernetic transportation systems, 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2016.
DOI : 10.1109/ICARCV.2016.7838768

URL : https://hal.archives-ouvertes.fr/hal-01401380

. Van-dijke, . Van-schijndel, J. Van-dijke, and M. Van-schijndel, CityMobil, Advanced Transport for the Urban Environment, Transportation Research Record: Journal of the Transportation Research Board, vol.2324, pp.29-36, 2012.
DOI : 10.3141/2324-04

. Van-leeuwen, Effects of concurrent continuous visual feedback on learning the lane keeping task, Proceedings of the 6th International Driving Symposium on Human Factors in Driver Assessment, Training and Vehicle Design, pp.482-488, 2011.

. Van-nunen, Cooperative competition for future mobility. Intelligent Transportation Systems, IEEE Transactions on, vol.13, issue.3, pp.1018-1025, 2012.

. Van-schijndel-de-nooij, Definition of necessary vehicle and infrastructure systems for automated driving, 2011.

. Vanholme, Highly Automated Driving on Highways Based on Legal Safety, IEEE Transactions on Intelligent Transportation Systems, vol.14, issue.1, pp.333-347, 2013.
DOI : 10.1109/TITS.2012.2225104

URL : https://hal.archives-ouvertes.fr/hal-00853321

. Villagra, Smooth path and speed planning for an automated public transport vehicle, Robotics and Autonomous Systems, vol.60, issue.2, pp.252-265, 2012.
DOI : 10.1016/j.robot.2011.11.001

URL : https://hal.archives-ouvertes.fr/hal-00741410

. Vorobieva, Automatic parallel parking with geometric continuous-curvature path planning, Intelligent Vehicles Symposium Proceedings, 2014 IEEE, pp.465-471, 2014.
DOI : 10.1109/ivs.2014.6856443

URL : https://hal.archives-ouvertes.fr/hal-01059580

. Vorobieva, Geometric continuous-curvature path planning for automatic parallel parking, 10th IEEE International Conference on, pp.418-423, 2013.
DOI : 10.1109/icnsc.2013.6548775

URL : https://hal.archives-ouvertes.fr/hal-00860891

]. Smith, Automated driving: Legislative and regulatory action, 2013.

. Walton, . Meek, D. Walton, and D. Meek, A controlled clothoid spline, Computers & Graphics, vol.29, issue.3, pp.353-363, 2005.
DOI : 10.1016/j.cag.2005.03.008

. Walton, Planar G2 transition curves composed of cubic B??zier spiral segments, Journal of Computational and Applied Mathematics, vol.157, issue.2, pp.453-476, 2003.
DOI : 10.1016/S0377-0427(03)00435-7

URL : http://doi.org/10.1016/s0377-0427(03)00435-7

. Wang, An approximation approach of the clothoid curve defined in the interval [0, ??/2] and its offset by free-form curves, Computer-Aided Design, vol.33, issue.14, pp.1049-1058, 2001.
DOI : 10.1016/S0010-4485(00)00142-1

. Wei, Towards a viable autonomous driving research platform, 2013 IEEE Intelligent Vehicles Symposium (IV), pp.2013-763, 2013.
DOI : 10.1109/IVS.2013.6629559

. Werling, A robust algorithm for handling moving traffic in urban scenarios, 2008 IEEE Intelligent Vehicles Symposium, pp.1108-1112, 2008.
DOI : 10.1109/IVS.2008.4621260

. Werling, Optimal trajectories for time-critical street scenarios using discretized terminal manifolds, The International Journal of Robotics Research, vol.26, issue.4, 2011.
DOI : 10.1109/IVS.2010.5547976

. Werling, Optimal trajectory generation for dynamic street scenarios in a frenet frame, Robotics and Automation (ICRA) IEEE International Conference on, pp.987-993, 2010.

J. Litkouhi and B. , A unified framework of the automated lane centering/changing control for motion smoothness adaptation, Intelligent Transportation Systems (ITSC), 2012 15th International IEEE Conference on, pp.282-287, 2012.

. Xiaoguang, A new traffic-signal control for modern roundabouts method and application, IEEE Intelligent Transportation Systems Society, vol.5, pp.282-287, 2004.

. Xie, A real-time robust global localization for autonomous mobile robots in large environments, 2010 11th International Conference on Control Automation Robotics & Vision, pp.1397-1402, 2010.
DOI : 10.1109/ICARCV.2010.5707329

URL : https://hal.archives-ouvertes.fr/hal-00558603

. Xu, Motion planning under uncertainty for on-road autonomous driving, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.2507-2512, 2014.
DOI : 10.1109/ICRA.2014.6907209

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.587.2377

. Xu, A real-time motion planner with trajectory optimization for autonomous vehicles, Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp.2061-2067, 2012.

K. Yang and S. Sukkarieh, An Analytical Continuous-Curvature Path-Smoothing Algorithm, IEEE Transactions on Robotics, vol.26, issue.3, pp.561-568, 2010.
DOI : 10.1109/TRO.2010.2042990

. Young, Driver distraction: Theory, effects, and mitigation, 2008.

L. Yu and C. Qin, Real-Time Signal Control Method for Multi-Approach Roundabouts, 2009 International Conference on Management and Service Science, pp.1-4, 2009.
DOI : 10.1109/ICMSS.2009.5303178

. Zhang, State-Driven Priority Scheduling Mechanisms for Driverless Vehicles Approaching Intersections, IEEE Transactions on Intelligent Transportation Systems, vol.16, issue.5, pp.2487-2500, 2015.
DOI : 10.1109/TITS.2015.2411619

Y. Zhang, Visual and cognitive distraction effects on driver behavior and an approach to distraction state classification, 2011.

J. Ziegler and C. Stiller, Spatiotemporal state lattices for fast trajectory planning in dynamic on-road driving scenarios, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1879-1884, 2009.
DOI : 10.1109/IROS.2009.5354448

. Ziegler, Trajectory planning for Bertha — A local, continuous method, 2014 IEEE Intelligent Vehicles Symposium Proceedings, pp.450-457, 2014.
DOI : 10.1109/IVS.2014.6856581

. Ziegler, Making bertha drive ?an autonomous journey on a historic route Intelligent Transportation Systems Magazine, IEEE, vol.6, issue.2, pp.8-20, 2014.
DOI : 10.1109/mits.2014.2306552

. Ziegler, Navigating car-like robots in unstructured environments using an obstacle sensitive cost function, 2008 IEEE Intelligent Vehicles Symposium, pp.787-791, 2008.
DOI : 10.1109/IVS.2008.4621302