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We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
In the realms of the internet of vehicles (IoV) and intelligent transportation systems (ITS), software defined vehicular networks (SDVN) and edge computing (EC) have emerged as promising technologies for enhancing road traffic efficiency.…
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…
Rendering accurate multisensory feedback is critical to ensure natural user behavior in driving simulators. In this work, we present a virtual reality (VR)-based Vehicle-in-the-Loop (ViL) simulator that provides visual, vestibular, and…
Safe deployment of self-driving cars (SDC) necessitates thorough simulated and in-field testing. Most testing techniques consider virtualized SDCs within a simulation environment, whereas less effort has been directed towards assessing…
While connected vehicle (CV) applications have the potential to revolutionize traditional transportation system, cyber and physical attacks on them could be devastating. In this work, we propose an efficient dual cyber-physical blockchain…
This paper presents the CAT Vehicle (Cognitive and Autonomous Test Vehicle) Testbed: a research testbed comprised of a distributed simulation-based autonomous vehicle, with straightforward transition to hardware in the loop testing and…
The kind of closed-loop verification likely to be required for autonomous vehicle (AV) safety testing is beyond the reach of traditional test methodologies and discrete verification. Validation puts the autonomous vehicle system to the test…
Autonomous driving systems continue to face safety-critical failures, often triggered by rare and unpredictable corner cases that evade conventional testing. We present the Autonomous Driving Digital Twin (ADDT) framework, a high-fidelity…
Digital Twin is an emerging technology that replicates real-world entities into a digital space. It has attracted increasing attention in the transportation field and many researchers are exploring its future applications in the development…
Societal-scale deployment of autonomous vehicles requires them to coexist with human drivers, necessitating mutual understanding and coordination among these entities. However, purely real-world or simulation-based experiments cannot be…
With the development of V2X technology, multiple vehicles cooperative control has been widely studied. However, filed testing is rarely conducted due to financial and safety considerations. To solve this problem, this study proposes a…
Simulation is essential to validate autonomous driving systems. However, a simple simulation, even for an extremely high number of simulated miles or hours, is not sufficient. We need well-founded criteria showing that simulation does…
In this paper, we present ViSTA, a framework for Virtual Scenario-based Testing of Autonomous Vehicles (AV), developed as part of the 2021 IEEE Autonomous Test Driving AI Test Challenge. Scenario-based virtual testing aims to construct…
While vehicles have primarily been controlled through mechanical means in years past, an increasing number of embedded control systems are being installed and used, keeping pace with advances in electronic control technology and…
Modular end-to-end (ME2E) autonomous driving paradigms combine modular interpretability with global optimization capability and have demonstrated strong performance. However, existing studies mainly focus on accuracy improvement, while…
Context: Competitions for self-driving cars facilitated the development and research in the domain of autonomous vehicles towards potential solutions for the future mobility. Objective: Miniature vehicles can bridge the gap between…
Virtualization allows the simulation of automotive ECUs on a Windows PC executing in closed-loop with a vehicle simulation model. This approach enables to move certain development tasks from road or test rigs and HiL (Hardware in the loop)…
Augmenting automated vehicles to wirelessly detect and respond to external events before they are detectable by onboard sensors is crucial for developing context-aware driving strategies. To this end, we present an automated vehicle…
In vehicle dynamics control, engineering a suitable regulator is a long and costly process. The starting point is usually the design of a nominal controller based on a simple control-oriented model and its testing on a full-fledged…