Team Halmstad Approach to Cooperative Driving in the Grand Cooperative Driving Challenge 2016

This paper is an experience report of team Halmstad from the participation in a competition organised by the i-GAME project, the Grand Cooperative Driving Challenge 2016. The competition was held in Helmond, The Netherlands, during the last weekend of May 2016. We give an overview of our car\u27s control and communication system that was developed for the competition following the requirements and specifications of the i-GAME project. In particular, we describe our implementation of cooperative adaptive cruise control, our solution to the communication and logging requirements, as well as the high level decision making support. For the actual competition we did not manage to completely reach all of the goals set out by the organizers as well as ourselves. However, this did not prevent us from outperforming the competition. Moreover, the competition allowed us to collect data for further evaluation of our solutions to cooperative driving. Thus, we discuss what we believe were the strong points of our system, and discuss post-competition evaluation of the developments that were not fully integrated into our system during competition time

On the Secure and Resilient Design of Connected Vehicles: Methods and Guidelines

Vehicles have come a long way from being purely mechanical systems to systems that consist of an internal network of more than 100 microcontrollers and systems that communicate with external entities, such as other vehicles, road infrastructure, the manufacturer’s cloud and external applications. This combination of resource constraints, safety-criticality, large attack surface and the fact that millions of people own and use them each day, makes securing vehicles particularly challenging as security practices and methods need to be tailored to meet these requirements.This thesis investigates how security demands should be structured to ease discussions and collaboration between the involved parties and how requirements engineering can be accelerated by introducing generic security requirements. Practitioners are also assisted in choosing appropriate techniques for securing vehicles by identifying and categorising security and resilience techniques suitable for automotive systems. Furthermore, three specific mechanisms for securing automotive systems and providing resilience are designed and evaluated. The first part focuses on cyber security requirements and the identification of suitable techniques based on three different approaches, namely (i) providing a mapping to security levels based on a review of existing security standards and recommendations; (ii) proposing a taxonomy for resilience techniques based on a literature review; and (iii) combining security and resilience techniques to protect automotive assets that have been subject to attacks. The second part presents the design and evaluation of three techniques. First, an extension for an existing freshness mechanism to protect the in-vehicle communication against replay attacks is presented and evaluated. Second, a trust model for Vehicle-to-Vehicle communication is developed with respect to cyber resilience to allow a vehicle to include trust in neighbouring vehicles in its decision-making processes. Third, a framework is presented that enables vehicle manufacturers to protect their fleet by detecting anomalies and security attacks using vehicle trust and the available data in the cloud

Controller Design and Experimental Validation for Connected Vehicle Systems Subject to Digital Effects and Stochastic Packet Drops

Vehicle-to-everything (V2X) communication allows vehicles to monitor the nearby traffic environment, including participants that are beyond the line of sight. Equipping conventional vehicles with V2X devices results in connected vehicles (CVs) while incorporating the information provided by V2X devices into the controllers of automated vehicles (AVs) leads to connected automated vehicles (CAVs). CAVs have great potential for improving driving comfort, reducing fuel consumption and advancing active safety for individual vehicles, as well as enhancing traffic efficiency and mobility for human-dominated traffic systems. In this dissertation, we study a class of connected cruise control (CCC) algorithms for longitudinal control of CAVs, where they respond to the motion information of one or multiple connected vehicles ahead. For validation and demonstration purposes, we utilize a scaled connected vehicle testbed consisting of a group of ground robots, which can provide us with insights about the controller design of full-size vehicles. On the one hand, intermittencies in V2X communication combined with the digital implementation of controllers introduce information delays. To ensure the performance of individual CAVs and the overall traffic, a set of methods is proposed for design and analysis of such communication-based controllers. We validate them with the scaled testbed by conducting a series of experiments on two-car predecessor-follower systems, cascaded predecessor-follower systems, and more complex connected vehicle systems. It is demonstrated that CAVs utilizing information about multiple preceding vehicles in the CCC algorithm can improve the system performance even for low penetration levels. This can be beneficial at the early stage of vehicle automation when human-driven vehicles still dominate the traffic system. On the other hand, we study the delay variations caused by stochastic packet drops in V2X communication and derive the stochastic processes describing the dynamics for the predecessor-follower systems. The dynamics of the mean, second moment and covariance are utilized to obtain stability conditions. Then the results of the two-car predecessor-follower system with stochastic delay variations are extended to an open chain as well as to a closed ring of cascaded predecessor-followers where stochastic packet drops lead to heterogeneity among different V2X devices. It is shown that the proposed analytical methods allow CCC design for CAVs that can achieve stability and stochastic disturbance attenuation in the presence of stochastic packet drops in complex connected vehicle systems.PHDMechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/145874/1/wubing_1.pd