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In a modern vehicle, there are over seventy Electronics Control Units (ECUs). For an in-vehicle network, ECUs communicate with each other by following a standard communication protocol, such as Controller Area Network (CAN). However, an…

Autonomous offroad driving is essential for applications like emergency rescue, military operations, and agriculture. Despite progress, systems struggle with high-speed vehicles exceeding 10m/s due to the need for accurate long-range (>…

Autonomous vehicles interacting with other traffic participants heavily rely on the perception and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions limit the vehicle's perception ability, reasoning…

Trajectory prediction is essential for autonomous vehicles (AVs) to plan correct and safe driving behaviors. While many prior works aim to achieve higher prediction accuracy, few study the adversarial robustness of their methods. To bridge…

We present SlowFast networks for video recognition. Our model involves (i) a Slow pathway, operating at low frame rate, to capture spatial semantics, and (ii) a Fast pathway, operating at high frame rate, to capture motion at fine temporal…

Autonomous vehicle perception systems require robust pedestrian detection, particularly on geometrically complex roadways like Type-S curved surfaces, where standard RGB camera-based methods face limitations. This paper introduces YOLO-APD,…

Advanced Driver Assistance Systems (ADAS) significantly enhance road safety by detecting potential collisions and alerting drivers. However, their reliance on expensive sensor technologies such as LiDAR and radar limits accessibility,…

Perception is a key component of Automated vehicles (AVs). However, sensors mounted to the AVs often encounter blind spots due to obstructions from other vehicles, infrastructure, or objects in the surrounding area. While recent…

Autonomous Braking and Throttle control is key in developing safe driving systems for the future. There exists a need for autonomous vehicles to negotiate a multi-agent environment while ensuring safety and comfort. A Deep Reinforcement…

Scene flow provides crucial motion information for autonomous driving. Recent LiDAR scene flow models utilize the rigid-motion assumption at the instance level, assuming objects are rigid bodies. However, these instance-level methods are…

In Autonomous Driving (AD) systems, perception is both security and safety critical. Despite various prior studies on its security issues, all of them only consider attacks on camera- or LiDAR-based AD perception alone. However, production…

Traffic sign recognition plays a critical role in ensuring safe and efficient transportation of autonomous vehicles but remain vulnerable to adversarial attacks using stickers or laser projections. While existing attack vectors demonstrate…

Autonomous driving has advanced significantly due to sensors, machine learning, and artificial intelligence improvements. However, prevailing methods struggle with intricate scenarios and causal relationships, hindering adaptability and…

Trajectory prediction is one of the key components of the autonomous driving software stack. Accurate prediction for the future movement of surrounding traffic participants is an important prerequisite for ensuring the driving efficiency…

Accurate 3D object detection in real-world environments requires a huge amount of annotated data with high quality. Acquiring such data is tedious and expensive, and often needs repeated effort when a new sensor is adopted or when the…

The efficiency of object detectors depends on factors like detection accuracy, processing time, and computational resources. Processing time is crucial for real-time applications, particularly for autonomous vehicles (AVs), where…

Deep learning drives major advances in autonomous driving (AD), where object detectors are central to perception. However, adversarial attacks pose significant threats to the reliability and safety of these systems, with physical…

While the most visible part of the safety verification process of automated vehicles concerns the planning and control system, it is often overlooked that safety of the latter crucially depends on the fault-tolerance of the preceding…

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…

Cooperative perception aims to address the inherent limitations of single-vehicle autonomous driving systems through information exchange among multiple agents. Previous research has primarily focused on single-frame perception tasks.…