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In order to develop custom controllers intended to operate vehicles on a live highway, a series of data collection-focused tests were performed at increasing stages of complexity. Modern vehicles with features like Adaptive Cruise Control (ACC) feature a rich set of sensors and drive-by-wire mechanisms. The presented stages of data collection begins with the analysis of raw data provided by various vehicles, and eventually results in spoofing Controller Area Network (CAN) protocols for sending control commands to operate a vehicle. This paper covers the data and technical efforts needed at various stages. The raw data and tools to plot the data are also publicly available.more » « less
