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While automated vehicles (AVs) are expected to revolutionize future transportation systems, emerging AV technologies open a door for malicious actors to compromise intelligent vehicles. As the first generation of AVs, adaptive cruise…
Cooperative Adaptive Cruise Control (CACC) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through…
Autonomous vehicle following systems are playing a decisive role to increase vehicle density on roads by shortening inter-vehicle time gaps. However, disturbance attenuation along a platoon of vehicles, i.e., string stability, is being a…
The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In…
The speed limit changes frequently throughout the transportation network, due to either safety (e.g., change in geometry) or congestion management (e.g., speed harmonization systems). Any abrupt reduction in the speed limit can create a…
Cooperative Adaptive Cruise Control (CACC) is one of the driving applications of vehicular ad-hoc networks (VANETs) and promises to bring more efficient and faster transportation through cooperative behavior between vehicles. In CACC,…
Lane change is a very demanding driving task and number of traffic accidents are induced by mistaken maneuvers. An automated lane change system has the potential to reduce driver workload and to improve driving safety. One challenge is how…
The Adaptive Cruise Control (ACC) system automatically adjusts the vehicle speed to maintain a safe distance between the vehicle and the lead (ahead) vehicle. The controller's decision to accelerate or decelerate is computed using the…
Modern automobiles can be considered as a collection of many subsystems working with each other to realize safe transportation of the occupants. Innovative technologies that make transportation easier are increasingly incorporated into the…
Safety performance evaluation is critical for developing and deploying connected and automated vehicles (CAVs). One prevailing way is to design testing scenarios using prior knowledge of CAVs, test CAVs in these scenarios, and then evaluate…
Safety assurance is critical in the planning and control of robotic systems. For robots operating in the real world, the safety-critical design often needs to explicitly address uncertainties and the pre-computed guarantees often rely on…
Optimal cruise control design can increase highway throughput and vehicle safety in traffic flow. In most heterogeneous platoons, the absence of vehicle-to-vehicle (V2V) communication poses challenges in maintaining system stability and…
The use of autonomous vehicles in real-world applications is often precluded by the difficulty of providing safety guarantees for their complex controllers. The simulation-based testing of these controllers cannot deliver sufficient safety…
Most automated driving functions are designed for a specific task or vehicle. Most often, the underlying architecture is fixed to specific algorithms to increase performance. Therefore, it is not possible to deploy new modules and…
Autonomous systems increasingly rely on machine learning techniques to transform high-dimensional raw inputs into predictions that are then used for decision-making and control. However, it is often easy to maliciously manipulate such…
In this article, we assess the string stability of seven 2018 model year adaptive cruise control (ACC) equipped vehicles that are widely available in the US market. Seven distinct vehicle models from two different vehicle makes are analyzed…
This paper studies cooperative adaptive cruise control (CACC) for vehicle platoons with consideration of the unknown nonlinear vehicle dynamics that are normally ignored in the literature. A unified data-driven CACC design is proposed for…
This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control. The safety specifications for these driver assistance modules are expressed in terms of set…
The development of software components for autonomous driving functions should always include an extensive and rigorous evaluation. Since real-world testing is expensive and safety-critical -- especially when facing dynamic racing scenarios…
Autonomous driving depends on perception systems to understand the environment and to inform downstream decision-making. While advanced perception systems utilizing black-box Deep Neural Networks (DNNs) demonstrate human-like comprehension,…