Recent advances in attack/anomaly detection and resilience strategies for connected automated vehicles (CAVs) are reviewed from vehicle dynamics control perspective. Compared to traditional vehicles, CAVs featured the increasing number of perception sensors, advanced intra-vehicle communication technologies, capabilities driving automation connectivity between single vehicles. These features bring about safety issues which not encountered systems. One main type these is attack or anomaly...

This article investigates the distributed sensor deception attack and estimation for a class of platoon-based connected vehicles. In these systems, information each vehicle's position its relative distances with respect to neighbours plays crucial role achieve desired group performance. When getting attacks on such important information, it will result in severe consequences including collision. order detect estimate attacks, longitudinal dynamic model vehicle platoons modelling...

In this article, the position sensor deception attack detection and estimation problem is investigated for a local vehicle in platoon. platoon system, measurement critical as distances between neighboring vehicles are relatively small. However, of usually vulnerable to attacks it relies on external information, such GPS environment information from cameras. Therefore, should be addressed To deal with problem, linearized model presented describe longitudinal dynamics vehicle. Moreover,...

In this work, we propose DTFI: a 3D object <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">D</b> etection and xmlns:xlink="http://www.w3.org/1999/xlink">T</b> racking approach consisting of lidar-camera xmlns:xlink="http://www.w3.org/1999/xlink">F</b> usion-based detection xmlns:xlink="http://www.w3.org/1999/xlink">I</b> nteracting multiple model with unscented Kalman filter (IMM-UKF) based tracking algorithm towards highway driving. For the...

With features of collaborative interaction and autonomous decision-making, connected vehicles (CAVs) offer a viable solution for sustainable efficient future transportation. However, with the development CAVs, questions have been raised about weaknesses in cybersecurity driving capabilities. In particular, CAVs provide new opportunities cyberattackers, posing significant threat to road vehicle data security. Therefore, this paper provides comprehensive analysis environment CAVs. First, we...

This article proposes a distributed stochastic model predictive control (DSMPC) algorithm for vehicle platoons in which every is subject to modeling uncertainties. When the distributions of uncertainties are available, DSMPC enables less conservative treatment than commonly used robust MPC. The problem transformed into deterministic one by constraint tightening. Terminal costs and constraints carefully designed so that recursive feasibility achieved. Moreover, update policy combined with...

The tire-road friction coefficient (TRFC) is critical to the control of assisted and autonomous vehicles. However, direct measurement TRFC by existing sensors impossible. In this paper, we aim develop a scheme estimate based on mathematical model measurable vehicle states. To address issue, first dynamics wheel rotation model. Based two models, propose robust proportional multiple-integral (PMI) observers for longitudinal lateral tire-force estimation. reduce conservative conventional H∞...

In the field of minimally invasive surgery, flexible needles can avoid blood vessels and organs more flexibly compared to rigid needles. One main challenges when using reach lesions is planning a suitable path. Due non-holonomic characteristic needle dynamics tissue deformation caused by tip during insertion, accessibility safety needle's states need be considered in path stage. this article, we propose an adaptable algorithm improving canonical rapidly exploring random trees* (RRT*) compute...

In this work, we aim to investigate the problem of detecting and analyzing traffic accidents automatically effectively through surveillance videos implement whole framework on an AI demo board. First, technique motion interaction field (MIF) that has potential detect crashes in a video is adopted locate crashed vehicles based interactions between multiple moving objects. Second, YOLO v3 model employed identify within appropriate location. order recover vehicle trajectories before collision,...

Online driving style recognition can enhance the customization of human-centric systems, thereby improving comfort, safety, and fuel economy. However, limited performance automotive-grade chips makes it highly challenging to compile run complicated algorithms in real time. To overcome this bottleneck, paper proposes an embedded method for recognizing styles, which is computationally efficient. This approach leverages experts' prior knowledge learning applies electronic control unit (ECU)...

Planning safe and smooth trajectories for multiple autonomous ground vehicles (MAGVs) in a complex dynamic unstructured environment is fundamental challenging task. In this article, novel unified framework integrating trajectory planning motion optimization (TPMO) proposed based on spatio-temporal safety corridor (STSC), which guarantees collision avoidance smoothness. The TPMO consists of two parts. first part to establish the STSC each AGV mixed integer quadratic programming (MIQP)...

Autonomous tractor semi-trailers are expected to improve safety and efficiency for road freight transportation. However, the complex dynamics introduced by articulated structure of semi-trailer results in poor yaw roll stability, which consequence poses great challenges path tracking under extreme conditions featuring high lateral acceleration or low tire-road friction. In this work, a stability-guaranteed computationally efficient model predictive framework is devised. particular,...

Autonomous driving requires a structured understanding of the surrounding road maps and networks to navigate. However, considering flexibility autonomous vehicles variations in lane curvature shape, online accurate extraction with fine-grained boundaries topology unified framework remains challenging. This paper proposes SRSU, an map detection network estimation for bird's-eye view scene understanding. Specifically, we introduce hierarchical representation, <italic...