Related papers: Extending Adaptive Cruise Control with Machine Lea…
We present here a first prototype of a "Speed Limit Support" Advance Driving Assistance System (ADAS) producing permanent reliable information on the current speed limit applicable to the vehicle. Such a module can be used either for…
A Controller Area Network (CAN) bus in the vehicles is an efficient standard bus enabling communication between all Electronic Control Units (ECU). However, CAN bus is not enough to protect itself because of lack of security features. To…
The integration of digital devices in modern vehicles has revolutionized automotive technology, enhancing safety and the overall driving experience. The Controller Area Network (CAN) bus is a central system for managing in-vehicle…
This paper describes a resilient navigation and planning system used in the Indy Autonomous Challenge (IAC) competition. The IAC is a competition where full-scale race cars run autonomously on Indianapolis Motor Speedway(IMS) up to 290 km/h…
Adaptive cruise control (ACC) vehicles are the first step toward comprehensive vehicle automation. However, the impacts of such vehicles on the underlying traffic flow are not yet clear. Therefore, it is of interest to accurately model…
Connected and automated vehicles (CAVs) have the potential to address the safety, mobility and sustainability issues of our current transportation systems. Cooperative adaptive cruise control (CACC), for example, is one promising technology…
Cooperative Adaptive Cruise Control (CACC) is considered as a key enabling technology to automatically regulate the inter-vehicle distances in a vehicle platoon to improve traffic efficiency while maintaining safety. Although the wireless…
Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feedback linearization, assuming exact vehicle parameters;…
In this paper we investigate the design of an active fault tolerant control system applicable to autonomous flight. The system comprises a nonlinear model predictive based controller integrated with an unscented Kalman filter for fault…
Integrating an automated driving software stack into vehicles with variable configuration is challenging, especially due to different hardware characteristics. Further, to provide software updates to a vehicle fleet in the field, the…
Connected and autonomous vehicles (CAVs) have great potential to improve road transportation systems. Most existing strategies for CAVs' longitudinal control focus on downstream traffic conditions, but neglect the impact of CAVs' behaviors…
We introduce Learning-Augmented Control (LAC), an approach that integrates untrusted machine learning predictions into the control of constrained, nonlinear dynamical systems. LAC is designed to achieve the "best-of-both-worlds" guarantees,…
The growing need for high-performance controllers in safety-critical applications like autonomous driving has been motivating the development of formal safety verification techniques. In this paper, we design and implement a predictive…
This study presents an analytical solution for the vehicle state evolution of Adaptive Cruise Control (ACC) systems under cut-in scenarios, incorporating sensing delays and anticipation using the Lambert W function. The theoretical analysis…
In this paper we propose a novel observer-based method to improve the safety and security of connected and automated vehicle (CAV) transportation. The proposed method combines model-based signal filtering and anomaly detection methods.…
Emergent cooperative adaptive cruise control (CACC) strategies being proposed in the literature for platoon formation in the Connected Autonomous Vehicle (CAV) context mostly assume idealized fixed information flow topologies (IFTs) for the…
Intrusion Detection Systems (IDS) must maintain reliable detection performance under rapidly evolving benign traffic patterns and the continual emergence of cyberattacks, including zero-day threats with no labeled data available. However,…
The security of modern vehicles has become increasingly important, with the controller area network (CAN) bus serving as a critical communication backbone for various Electronic Control Units (ECUs). The absence of robust security measures…
Dozens of Electronic Control Units (ECUs) can be found on modern vehicles for safety and driving assistance. These ECUs also introduce new security vulnerabilities as recent attacks have been reported by plugging the in-vehicle system or…
With the development of autonomous vehicle technology, the controller area network (CAN) bus has become the de facto standard for an in-vehicle communication system because of its simplicity and efficiency. However, without any encryption…