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Electronic Control Units (ECUs) are the fundamental electronic building blocks of any automotive system. They are multi-purpose, multi-chip and multicore computer systems where more functionality is delivered in software rather than…
An adventure at engineering design and modeling is possible with a Virtual Reality Environment (VRE) that uses multiple computer-generated media to let a user experience situations that are temporally and spatially prohibiting. In this…
Simulation is a fundamental tool in developing autonomous vehicles, enabling rigorous testing without the logistical and safety challenges associated with real-world trials. As autonomous vehicle technologies evolve and public safety…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
The current verification flow of complex systems uses different engines synergistically: virtual prototyping, formal verification, simulation, emulation and FPGA prototyping. However, none is able to verify a complete architecture.…
Embedded systems represent a billionaire market and are present in most of the processors produced in the world.Embedded software interacts with external peripherals such as sensors and actuators through drivers. The strong interaction…
The energy demand of vehicles, particularly in unsteady drive cycles, is affected by complex dynamics internal to the engine and other powertrain components. Yet, in many applications, particularly macroscopic traffic flow modeling and…
Simulation is crucial in the development of autonomous driving software. In particular, assessing control algorithms requires an accurate vehicle dynamics simulation. However, recent publications use models with varying levels of detail.…
The automotive industry is transitioning from traditional ECU-based systems to software-defined vehicles. A central role of this revolution is played by containers, lightweight virtualization technologies that enable the flexible…
In this work, we present a lightweight pipeline for robust behavioral cloning of a human driver using end-to-end imitation learning. The proposed pipeline was employed to train and deploy three distinct driving behavior models onto a…
An easily moving and safe transportation is an indicator in any country in the world of economic growth and well-being. For the past 100 years, innovation within the automotive sector has brought major technological advances leading to…
In the automotive security sector, the absence of a testing platform that is configurable, practical, and user-friendly presents considerable challenges. These difficulties are compounded by the intricate design of vehicle systems, the…
Autonomous driving is complex, requiring sophisticated 3D scene understanding, localization, mapping, and control. Rather than explicitly modelling and fusing each of these components, we instead consider an end-to-end approach via…
In this paper, we present the development and deployment of an embedded optimal control strategy for autonomous driving applications on a Ford Focus road vehicle. Non-linear model predictive control (NMPC) is designed and deployed on a…
An engineering design process may involve software modules that can executed concurrently. Concurrent modules can be very easily subject to some synchronization errors. This paper discusses verification process for such engineering…
For validating low level embedded software, engineers use simulators that take the real binary as input. Like the real hardware, these full-system simulators are organized as a set of components. The main component is the CPU simulator…
Simulation frameworks have been key enablers for the development and validation of autonomous driving systems. However, existing methods struggle to comprehensively address the autonomy-oriented requirements of balancing: (i) dynamical…
The current approach for new Advanced Driver Assistance System (ADAS) and Connected and Automated Driving (CAD) function development involves a significant amount of public road testing which is inefficient due to the number miles that need…
Matlab/Simulink is a development and simulation language that is widely used by the Cyber-Physical System (CPS) industry to model dynamical systems. There are two mainstream approaches to verify CPS Simulink models: model testing that…
In this paper we present MetaEmu, an architecture-agnostic emulator synthesizer geared towards rehosting and security analysis of automotive firmware. MetaEmu improves over existing rehosting environments in two ways: Firstly, it solves the…