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Autonomous vehicle control is growing in availability for new vehicles and there is a potential need to retrofit older vehicles with this capability. Additionally, automotive cybersecurity has become a significant concern in recent years…
As the autonomous vehicle industry continues to grow, various companies are exploring the use of aftermarket kits to retrofit existing vehicles with semi-autonomous capabilities. However, differences in implementation of the controller area…
In recent years, end to end steering prediction for autonomous vehicles has become a major area of research. The primary method for achieving end to end steering was to use computer vision models on a live feed of video data. However, to…
Cars can nowadays record several thousands of signals through the CAN bus technology and potentially provide real-time information on the car, the driver and the surrounding environment. This paper proposes a new method for the analysis and…
Modern vehicles contain a few controller area networks (CANs), which allow scores of on-board electronic control units (ECUs) to communicate messages critical to vehicle functions and driver safety. CAN provide a lightweight and reliable…
Data is the new oil for the car industry. Cars generate data about how they are used and who's behind the wheel which gives rise to a novel way of profiling individuals. Several prior works have successfully demonstrated the feasibility of…
Modern vehicles are equipped with Electronic Control Units (ECU) that are used for controlling important vehicle functions including safety-critical operations. ECUs exchange information via in-vehicle communication buses, of which the…
An open-source vehicle testbed to enable the exploration of automation technologies for road vehicles is presented. The platform hardware and software, based on the Robot Operating System (ROS), are detailed. Two methods are discussed for…
Modern vehicles rely on scores of electronic control units (ECUs) broadcasting messages over a few controller area networks (CANs). Bereft of security features, in-vehicle CANs are exposed to cyber manipulation and multiple researches have…
Controller Area Networks (CANs) are widely adopted in real-time automotive control and are increasingly standard in factory automation. Considering their critical application in safety-critical systems, The error rate of the system must be…
Software systems for safety-critical systems like self-driving cars (SDCs) need to be tested rigorously. Especially electronic control units (ECUs) of SDCs should be tested with realistic input data. In this context, a communication…
This work presents an experimental evaluation of the detection performance of eight different algorithms for anomaly detection on the Controller Area Network (CAN) bus of modern vehicles based on the analysis of the timing or frequency of…
Based on requirements of modern vehicle, in- vehicle Controller Area Network (CAN) architecture has been implemented. In order to reduce point to point wiring harness in vehicle automation, CAN is suggested as a means for data communication…
Vehicles become more vulnerable to remote attackers in modern days due to their increasing connectivity and range of functionality. Such increased attack vectors enable adversaries to access a vehicle Electronic Control Unit (ECU). As of…
Modern vehicles communicate data to and from sensors, actuators, and electronic control units (ECUs) using Controller Area Network (CAN) bus, which operates on differential signaling. An autonomous ECU responsible for the execution of…
Controller Area Network (CAN) is one of the in-vehicle network protocols that is used to communicate among Electronic Control Units (ECUs) and has been de-facto standard. CAN is simple and has several vulnerabilities such as unable to…
CANs are a broadcast protocol for real-time communication of critical vehicle subsystems. Original equipment manufacturers of passenger vehicles hold secret their mappings of CAN data to vehicle signals, and these definitions vary according…
As the central nerve of the intelligent vehicle control system, the in-vehicle network bus is crucial to the security of vehicle driving. One of the best standards for the in-vehicle network is the Controller Area Network (CAN bus)…
Corner cases are the main bottlenecks when applying Artificial Intelligence (AI) systems to safety-critical applications. An AI system should be intelligent enough to detect such situations so that system developers can prepare for…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…