Milestones in Autonomous Driving and Intelligent Vehicles Part \uppercase\expandafter{\romannumeral1}: Control, Computing System Design, Communication, HD Map, Testing, and Human Behaviors

Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits. Although a number of surveys have reviewed research achievements in this field, they are still limited in specific tasks and lack systematic summaries and research directions in the future. Our work is divided into 3 independent articles and the first part is a Survey of Surveys (SoS) for total technologies of AD and IVs that involves the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions. This is the second part (Part \uppercase\expandafter{\romannumeral1} for this technical survey) to review the development of control, computing system design, communication, High Definition map (HD map), testing, and human behaviors in IVs. In addition, the third part (Part \uppercase\expandafter{\romannumeral2} for this technical survey) is to review the perception and planning sections. The objective of this paper is to involve all the sections of AD, summarize the latest technical milestones, and guide abecedarians to quickly understand the development of AD and IVs. Combining the SoS and Part \uppercase\expandafter{\romannumeral2}, we anticipate that this work will bring novel and diverse insights to researchers and abecedarians, and serve as a bridge between past and future.Comment: 18 pages, 4 figures, 3 table

Starling: A Blockchain-based System for Coordinated Obstacle Mapping in Dynamic Vehicular Environments

Current Vehicle-to-Vehicle solutions cannot ensure the authenticity of safety-critical vehicle and traffic data. Moreover, they do not allow malicious vehicles to be detected and eliminated. However, this is becoming mandatory, as more and more vehicles are on the road and communicating with each other. We propose a system called Starling, which focuses on trusted coordinated obstacle mapping using blockchain technology and a distributed database. Starling enables vehicles to share detected obstacles with other vehicles in a secure and verifiable manner, thus improving road safety. It ensures that data was not manipulated, changed, or deleted and is based on an open protocol so that vehicles can exchange data regardless of their manufacturer. In a case study, we demonstrate how a consensus is reached among vehicles and conduct a comprehensive evaluation of the Starling system using Ethereum and the InterPlanetary File System

Coordination of Cooperative Autonomous Vehicles Toward safer and more efficient road transportation

While intelligent transportation systems come in many shapes and sizes, arguably the most transformational realization will be the autonomous vehicle. As such vehicles become commercially available in the coming years, first on dedicated roads and under specific conditions, and later on all public roads at all times, a phase transition will occur. Once a sufficient number of autonomous vehicles is deployed, the opportunity for explicit coordination appears. This article treats this challenging network control problem, which lies at the intersection of control theory, signal processing, and wireless communication. We provide an overview of the state of the art, while at the same time highlighting key research directions for the coming decades

Search-based Test Generation for Automated Driving Systems: From Perception to Control Logic

abstract: Automated driving systems are in an intensive research and development stage, and the companies developing these systems are targeting to deploy them on public roads in a very near future. Guaranteeing safe operation of these systems is crucial as they are planned to carry passengers and share the road with other vehicles and pedestrians. Yet, there is no agreed-upon approach on how and in what detail those systems should be tested. Different organizations have different testing approaches, and one common approach is to combine simulation-based testing with real-world driving. One of the expectations from fully-automated vehicles is never to cause an accident. However, an automated vehicle may not be able to avoid all collisions, e.g., the collisions caused by other road occupants. Hence, it is important for the system designers to understand the boundary case scenarios where an autonomous vehicle can no longer avoid a collision. Besides safety, there are other expectations from automated vehicles such as comfortable driving and minimal fuel consumption. All safety and functional expectations from an automated driving system should be captured with a set of system requirements. It is challenging to create requirements that are unambiguous and usable for the design, testing, and evaluation of automated driving systems. Another challenge is to define useful metrics for assessing the testing quality because in general, it is impossible to test every possible scenario. The goal of this dissertation is to formalize the theory for testing automated vehicles. Various methods for automatic test generation for automated-driving systems in simulation environments are presented and compared. The contributions presented in this dissertation include (i) new metrics that can be used to discover the boundary cases between safe and unsafe driving conditions, (ii) a new approach that combines combinatorial testing and optimization-guided test generation methods, (iii) approaches that utilize global optimization methods and random exploration to generate critical vehicle and pedestrian trajectories for testing purposes, (iv) a publicly-available simulation-based automated vehicle testing framework that enables application of the existing testing approaches in the literature, including the new approaches presented in this dissertation.Dissertation/ThesisDoctoral Dissertation Computer Engineering 201

An Overview about Emerging Technologies of Autonomous Driving

Since DARPA started Grand Challenges in 2004 and Urban Challenges in 2007, autonomous driving has been the most active field of AI applications. This paper gives an overview about technical aspects of autonomous driving technologies and open problems. We investigate the major fields of self-driving systems, such as perception, mapping and localization, prediction, planning and control, simulation, V2X and safety etc. Especially we elaborate on all these issues in a framework of data closed loop, a popular platform to solve the long tailed autonomous driving problems

Smart and Secure CAV Networks Empowered by AI-Enabled Blockchain: Next Frontier for Intelligent Safe-Driving Assessment

Securing safe-driving for connected and autonomous vehicles (CAVs) continues to be a widespread concern despite various sophisticated functions delivered by artificial intelligence for in-vehicle devices. Besides, diverse malicious network attacks become ubiquitous along with the worldwide implementation of the Internet of Vehicles, which exposes a range of reliability and privacy threats for managing data in CAV networks. Combined with the fact that the capability of existing CAVs in handling intensive computation tasks is limited, this implies a need for designing an efficient assessment system to guarantee autonomous driving safety without compromising data security. Motivated by this, in this article, we propose a novel framework, namely Blockchain-enabled intElligent Safe-driving assessmenT (BEST), that offers a smart and reliable approach for conducting safe driving supervision while protecting vehicular information. Specifically, a promising solution that exploits a long short-term memory model is introduced to assess the safety level of the moving CAVs. Then, we investigate how a distributed blockchain obtains adequate trustworthiness and robustness for CAV data by adopting a byzantine fault tolerance-based delegated proof-of-stake consensus mechanism. Simulation results demonstrate that our presented BEST gains better data credibility with a higher prediction accuracy for vehicular safety assessment when compared with existing schemes. Finally, we discuss several open challenges that need to be addressed in future CAV networks.Comment: 8 pages, 6 figures. This paper has been accepted for publication by IEEE Networ