相关论文: Generation of Wheel Lockup Attacks on Nonlinear Dy…

The safety-critical nature of vehicle steering is one of the main motivations for exploring the space of possible cyber-physical attacks against the steering systems of modern vehicles. This paper investigates the adversarial capabilities…

Recent studies reveal that Autonomous Vehicles (AVs) can be manipulated by hidden backdoors, causing them to perform harmful actions when activated by physical triggers. However, it is still unclear how these triggers can be activated while…

Recent studies demonstrated the vulnerability of control policies learned through deep reinforcement learning against adversarial attacks, raising concerns about the application of such models to risk-sensitive tasks such as autonomous…

Modern vehicles have evolved from mechanical systems to complex and connected ones controlled by numerous digital computers interconnected through internal networks. While this development has improved their efficiency and safety, it also…

In autonomous driving, behavior prediction is fundamental for safe motion planning, hence the security and robustness of prediction models against adversarial attacks are of paramount importance. We propose a novel adversarial backdoor…

Trajectory prediction is a key element of autonomous vehicle systems, enabling them to anticipate and react to the movements of other road users. Evaluating the robustness of prediction models against adversarial attacks is essential to…

Assessing the safety of autonomous driving (AD) systems against security threats, particularly backdoor attacks, is a stepping stone for real-world deployment. However, existing works mainly focus on pixel-level triggers that are…

This study presents a nonlinear model predictive control (NMPC) formulation for preview-based traction control, which uses the information on the expected tire-road friction coefficient ahead to enhance the wheel slip control performance,…

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…

This paper studies the vehicle bicycle model under three classes of stealthy cyber-attacks: replay attacks, zero dynamics attacks, and covert attacks. Using a system-theoretic framework, we analyze the feasibility and impact of these…

Construction equipment is designed to maintain good traction, even when operating in difficult off-road conditions. To curb wheel slip, the vehicles are equipped with differential locks. A driver may engage/disengage the locks to switch…

Maintaining the security of control systems in the presence of integrity attacks is a significant challenge. In literature, several possible attacks against control systems have been formulated including replay, false data injection, and…

We examine the impact of adversarial actions on vehicles in traffic. Current advances in assisted/autonomous driving technologies are supposed to reduce the number of casualties, but this seems to be desired despite the recently proved…

This paper proposes an event-triggered add-on safety mechanism to adjust the control parameters for timely braking in a networked vehicular system while maintaining maneuverability. Passenger vehicle maneuverability is significantly…

In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving safety. However, the occurrence of unexpected…

Electric vehicles (EVs) have drastically changed the auto industry and developed a new era of technologies where power electronics play the leading role in traction management, energy conversion and vehicle control processes. Nevertheless,…

This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…

Autonomous vehicles ought to predict the surrounding agents' trajectories to allow safe maneuvers in uncertain and complex traffic situations. As companies increasingly apply trajectory prediction in the real world, security becomes a…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…

Conventional trajectory planning approaches for autonomous racing are based on the sequential execution of prediction of the opposing vehicles and subsequent trajectory planning for the ego vehicle. If the opposing vehicles do not react to…