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1. Adaptive control for reliable cooperative intersection crossing of connected autonomous vehicles

   https://doi.org/10.1002/msd2.12050  

   Wei, Yu ; He, Xiaozheng ( September 2022 , International Journal of Mechanical System Dynamics)

   Rapid advances in vehicle automation and communication technologies enable connected autonomous vehicles (CAVs) to cross intersections cooperatively, which could significantly improve traffic throughput and safety at intersections. Virtual platooning, designed upon car‐following behavior, is one of the promising control methods to promote cooperative intersection crossing of CAVs. Nevertheless, demand variation raises safety and stability concerns when CAVs adopt a virtual platooning control approach. Along this line, this study proposes an adaptive vehicle control method to facilitate the formation of a virtual platoon and the cooperative crossing of CAVs, factoring demand variations at an isolated intersection. This study derives the stability conditions of virtual CAV platoons depending on the time‐varying traffic demand. Based on the derived stability conditions, an optimization model is proposed to adaptively control CAVs dynamics by balancing approaching traffic mobility and safety to enhance the reliability of cooperative crossing at intersections. The simulation results show that, compared to the nonadaptive control, our proposed method can increase the intersection throughput by 18.2%. Also, time‐to‐collision results highlight the advantages of the proposed adaptive control in securing traffic safety.

    

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2. Adaptive Vehicle Platooning with Joint Network-Traffic Approach

   https://doi.org/10.1109/GLOBECOM46510.2021.9685116  

   Mahabal, Chinmay ; Fang, Hua ; Wang, Honggang ; Yang, Qing ( December 2021 , 2021 IEEE Global Communications Conference (GLOBECOM))

   The Intelligent Transportation System has become one of the most globally researched topics, with Connected and Autonomous Vehicles(CAV) at its core. The CAV applications can be improved by the study of vehicle platooning immune to realtime traffic and vehicular network losses. In this work, we explore the need to integrate the Network model and Platooning system model for highway environments. The proposed platoon model is designed to be adaptive in length, providing the node vehicles to merge and exit. This overcomes the assumption that all the platoon nodes should have a common source and destination. The challenges of the existing platoon model, such as relay selection, acceleration threshold, are addressed for highly modular platoon design. The presented algorithm for merge and exit events optimizes the trade-off between network parameters such as communication range and vehicle dynamic parameters such as velocity and acceleration threshold. It considers the network bounds like SINR and link stability and vehicle trajectory parameters like the duration of the vehicle in the platoon. This optimizes the traffic throughput while maintaining stability using the PID controller. The work tries to increase the vehicle inclusion time in the platoon while preserving the overall traffic throughput. 

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3. REPLACE: Real-time Security Assurance in Vehicular Platoons Against V2V Attacks

   Boddupalli, S ; Hegde, A ; Ray, S. ( January 2021 , 24th IEEE International Conference on Intelligent Transportation (ITSC 2021))

   null (Ed.)

   Connected Autonomous Vehicular (CAV) platoon refers to a group of vehicles that coordinate their movements and operate as a single unit. The vehicle at the head acts as the leader of the platoon and determines the course of the vehicles following it. The follower vehicles utilize Vehicle-to-Vehicle (V2V) communication and automated driving support systems to automatically maintain a small fixed distance between each other. Reliance on V2V communication exposes platoons to several possible malicious attacks which can compromise the safety, stability, and efficiency of the vehicles. We present a novel distributed resiliency architecture, RePLACe for CAV platoon vehicles to defend against adversaries corrupting V2V communication reporting preceding vehicle position. RePLACe is unique in that it can provide real-time defense against a spectrum of communication attacks. RePLACe provides systematic augmentation of a platoon controller architecture with real-time detection and mitigation functionality using machine learning. Unlike computationally intensive cryptographic solutions RePLACe accounts for the limited computation capabilities provided by automotive platforms as well as the real-time requirements of the application. Furthermore, unlike control-theoretic approaches, the same framework works against the broad spectrum of attacks. We also develop a systematic approach for evaluation of resiliency of CAV applications against V2V attacks. We perform extensive experimental evaluation to demonstrate the efficacy of RePLACe. 

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4. On the Elliptic Curve Cryptography for Privacy-Aware Secure ACO-AODV Routing in Intent-Based Internet of Vehicles for Smart Cities

   https://doi.org/10.1109/TITS.2020.3008361  

   Safavat, Sunitha ; Rawat, Danda B. ( June 2020 , IEEE Transactions on Intelligent Transportation Systems)

   null (Ed.)

   Internet of Vehicles (IoV) in 5G is regarded as a backbone for intelligent transportation system in smart city, where vehicles are expected to communicate with drivers, with road-side wireless infrastructure, with other vehicles, with traffic signals and different city infrastructure using vehicle-to-vehicle (V2V) and/or vehicle-to-infrastructure (V2I) communications. In IoV, the network topology changes based on drivers' destination, intent or vehicles' movements and road structure on which the vehicles travel. In IoV, vehicles are assumed to be equipped with computing devices to process data, storage devices to store data and communication devices to communicate with other vehicles or with roadside infrastructure (RSI). It is vital to authenticate data in IoV to make sure that legitimate data is being propagated in IoV. Thus, security stands as a vital factor in IoV. The existing literature contains some limitations for robust security in IoV such as high delay introduced by security algorithms, security without privacy, unreliable security and reduced overall communication efficiency. To address these issues, this paper proposes the Elliptic Curve Cryptography (ECC) based Ant Colony Optimization Ad hoc On-demand Distance Vector (ACO-AODV) routing protocol which avoids suspicious vehicles during message dissemination in IoV. Specifically, our proposed protocol comprises three components: i) certificate authority (CA) which maps vehicle's publicly available info such as number plates with cryptographic keys using ECC; ii) malicious vehicle (MV) detection algorithm which works based on trust level calculated using status message interactions; and iii) secure optimal path selection in an adaptive manner based on the intent of communications using ACO-AODV that avoids malicious vehicles. Experimental results illustrate that the proposed approach provides better results than the existing approaches. 

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5. Damping behavior analysis for connected automated vehicles with linear car following control

   https://doi.org/10.1016/j.trc.2022.103617  

   Wang, Pengcheng ; He, Xiaozheng ; Wei, Yu ; Wu, Xinkai ; Wang, Yunpeng ( March 2022 , Transportation research Part C Emerging technologies)

   Connected automated vehicles (CAVs), built upon advanced vehicle control and communication technology, can improve traffic throughput, safety, and energy efficiency. Previous studies on CAVs control focus on instability and stability properties of CAV platoons; however, these analyses cannot reveal the damping platoon oscillation characteristics, which are important for enhancing CAV platoon reliability against variant continuous perturbations. To this end, this research seeks to characterize the damping oscillations of CAVs through exploiting the platoon's unforced oscillatory, i.e., damping behavior. Inspired by the mechanical vibration theory, the proposed approach is applied to a CAV platoon with linear car-following control formulated as Helly's model and the predecessor-following communication topology. The proposed approach is applied to a CAV platoon with the linear car-following control formulated as Helly's model and the predecessor-following communication topology. Numerical analysis results show that a periodic perturbation with the resonance frequency of the CAV platoon will amplify the oscillation and lead to the severest oscillatory traffic. Our analysis highlights the importance of preventing platoon oscillations from resonance in ensuring CAV platooning reliability. 

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