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This paper presents a secure safety filter design for nonlinear systems under sensor spoofing attacks. Existing approaches primarily focus on linear systems which limits their applications in real-world scenarios. In this work, we extend…
With an increasing degree of automation, automated vehicle systems become more complex in terms of functional components as well as interconnected hardware and software components. Thus, holistic systems engineering becomes a severe…
Autonomous vehicles rely on LiDAR based perception to support safety critical control functions such as adaptive cruise control and automatic emergency braking. While previous research has shown that LiDAR perception can be manipulated…
Assuring safety for ``AI-based'' systems is one of the current challenges in safety engineering. For automated driving systems, in particular, further assurance challenges result from the open context that the systems need to operate in…
Current validation methods often rely on recorded data and basic functional checks, which may not be sufficient to encompass the scenarios an autonomous vehicle might encounter. In addition, there is a growing need for complex scenarios…
Semi-autonomous vehicles are increasingly serving critical functions in various settings from mining to logistics to defence. A key characteristic of such systems is the presence of the human (drivers) in the control loop. To ensure safety,…
Autonomous vehicles (AVs) increasingly rely on multi-sensor perception pipelines that combine data from cameras, lidar, radar, and other modalities to interpret the environment. This SoK systematizes 48 peer-reviewed studies on…
As autonomous vehicle technology advances, the precise assessment of safety in complex traffic scenarios becomes crucial, especially in mixed-vehicle environments where human perception of safety must be taken into account. This paper…
Unfortunately, many people die in car accidents. To reduce these accidents, cars are equipped with driving safety systems. With autonomous vehicles, the driver's behavior becomes irrelevant as the car drives autonomously. All autonomous…
As a result of the ever-increasing application of cyber-physical components in the automotive industry, cybersecurity has become an urgent topic. Adapting technologies and communication protocols like Ethernet and WiFi in connected vehicles…
Future autonomous systems promise significant societal benefits, yet their deployment raises concerns about safety and trustworthiness. A key concern is assuring the reliability of robot perception, as perception seeds safe decision-making.…
In this paper, we study how to secure the platooning of autonomous vehicles when an unknown vehicle is under attack and bounded system uncertainties exist. For the attacked vehicle, its position and speed measurements from GPS can be…
Ensuring the safety of autonomous vehicles (AVs) is of utmost importance and testing them in simulated environments is a safer option than conducting in-field operational tests. However, generating an exhaustive test suite to identify…
Assessing drivers' interaction capabilities is crucial for understanding human driving behavior and enhancing the interactive abilities of autonomous vehicles. In scenarios involving strong interaction, existing metrics focused on…
Autonomous driving is a research direction that has gained enormous traction in the last few years thanks to advancements in Artificial Intelligence (AI). Depending on the level of independence from the human driver, several studies show…
While recent developments in autonomous vehicle (AV) technology highlight substantial progress, we lack tools for rigorous and scalable testing. Real-world testing, the $\textit{de facto}$ evaluation environment, places the public in…
Sensor configuration, including the sensor selections and their installation locations, serves a crucial role in autonomous driving. A well-designed sensor configuration significantly improves the performance upper bound of the perception…
As a part of the digital transformation, we interact with more and more intelligent gadgets. Today, these gadgets are often mobile devices, but in the advent of smart cities, more and more infrastructure---such as traffic and buildings---in…
The development of Autonomous Vehicles (AVs) has made significant progress in the last years. An important aspect in the development of AVs is the assessment of their safety. New approaches need to be worked out. Among these, real-world…
To improve the security and robustness of autonomous driving models, this paper presents SMET, a scenariobased metamorphic testing tool for autonomous driving models. The metamorphic relationship is divided into three dimensions (time,…