All vehicles must follow the rules that govern traffic behavior, regardless of whether the vehicles are human-driven or Connected, Autonomous Vehicles (CAVs). Road signs indicate locally active rules, such as speed limits and requirements to yield or stop. Recent research has demonstrated attacks, such as adding stickers or dark patches to signs, that cause CAV sign misinterpretation, resulting in potential safety issues. Humans can see and potentially defend against these attacks. But humans can not detect what they can not observe. We have developed the first physical-world attack against CAV traffic sign recognition systems that is invisible to humans. Utilizing Infrared Laser Reflection (ILR), we implement an attack that affects CAV cameras, but humans can not perceive. In this work, we formulate the threat model and requirements for an ILR-based sign perception attack. Next, we evaluate attack effectiveness against popular, CNNbased traffic sign recognition systems. We demonstrate a 100% success rate against stop and speed limit signs in our laboratory evaluation. Finally, we discuss the next steps in our research.
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Cooperative driving of connected autonomous vehicles using responsibility-sensitive safety (RSS) rules
Connected Autonomous Vehicles (CAVs) are expected to enable reliable and efficient transportation systems. Most motion planning algorithms for multi-agent systems are not completely safe because they implicitly assume that all vehicles/agents will execute the expected plan with a small error. This assumption, however, is hard to keep for CAVs since they may have to slow down (e.g., to yield to a jaywalker) or are forced to stop (e.g. break down), sometimes even without a notice. Responsibility-Sensitive Safety (RSS) defines a set of safety rules for each driving scenario to ensure that a vehicle will not cause an accident irrespective of other vehicles' behavior. RSS rules, however, are hard to evaluate for merge, intersection, and unstructured road scenarios. In addition, deadlock situations can happen that are not considered by the RSS. In this paper, we propose a generic version of RSS rules for CAVs that can be applied to any driving scenario. We integrate the proposed RSS rules with the CAV's motion planning algorithm to enable cooperative driving of CAVs. Our approach can also detect and resolve deadlocks in a decentralized manner. We have conducted experiments to verify that a CAV does not cause an accident no matter when other CAVs slow down or stop. We also showcase our deadlock detection and resolution mechanism. Finally, we compare the average velocity and fuel consumption of vehicles when they drive autonomously but not connected with the case that they are connected.
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- Award ID(s):
- 1645578
- NSF-PAR ID:
- 10321994
- Date Published:
- Journal Name:
- ACM/IEEE 12th International Conference on Cyber-Physical Systems
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Abstract Developing safety and efficiency applications for Connected and Automated Vehicles (CAVs) requires a great deal of testing and evaluation. The need for the operation of these systems in critical and dangerous situations makes the burden of their evaluation very costly, possibly dangerous, and time‐consuming. As an alternative, researchers attempt to study and evaluate their algorithms and designs using simulation platforms. Modeling the behavior of drivers or human operators in CAVs or other vehicles interacting with them is one of the main challenges of such simulations. While developing a perfect model for human behavior is a challenging task and an open problem, a significant augmentation of the current models used in simulators for driver behavior is presented. In this paper, a simulation framework for a hybrid transportation system is presented that includes both human‐driven and automated vehicles. In addition, the human driving task is decomposed and a modular approach is offered to simulate a large‐scale traffic scenario, allowing for a thorough investigation of automated and active safety systems. Such representation through Interconnected modules offers a human‐interpretable system that can be tuned to represent different classes of drivers. Additionally, a large driving dataset is analyzed to extract expressive parameters that would best describe different driving characteristics. Finally, a similarly dense traffic scenario is recreated within the simulator and a thorough analysis of various human‐specific and system‐specific factors is conducted, studying their effect on traffic network performance and safety.
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1145/3450267.3450530
