Ensuring Secure Platooning of Constrained Intelligent and Connected Vehicles Against Byzantine Attacks:A Distributed MPC Framework

This study investigates resilient platoon control for constrained intelligent and connected vehicles(ICVs)against F-local Byzantine attacks.We introduce a resilient distributed model-predictive platooning control framework for such ICVs.This framework seamlessly integrates the predesigned optimal control with distributed model predictive control(DMPC)optimization and introduces a unique distributed attack detector to ensure the reliability of the transmitted information among vehicles.Notably,our strategy uses previously broadcasted information and a specialized convex set,termed the“resilience set”,to identify unreliable data.This approach significantly eases graph robustness prerequisites,requiring only an(F+1)-robust graph,in contrast to the established mean sequence reduced algorithms,which require a minimum(2F+1)-robust graph.Additionally,we introduce a verification algorithm to restore trust in vehicles under minor attacks,further reducing communication network robustness.Our analysis demonstrates the recursive feasibility of the DMPC optimization.Furthermore,the proposed method achieves exceptional control performance by minimizing the discrepancies between the DMPC control inputs and predesigned platoon control inputs,while ensuring constraint compliance and cybersecurity.Simulation results verify the effectiveness of our theoretical findings.

FADSF:A Data Sharing Model for Intelligent Connected Vehicles Based on Blockchain Technology

With the development of technology,the connected vehicle has been upgraded from a traditional transport vehicle to an information terminal and energy storage terminal.The data of ICV(intelligent connected vehicles)is the key to organically maximizing their efficiency.However,in the context of increasingly strict global data security supervision and compliance,numerous problems,including complex types of connected vehicle data,poor data collaboration between the IT(information technology)domain and OT(operation technology)domain,different data format standards,lack of shared trust sources,difficulty in ensuring the quality of shared data,lack of data control rights,as well as difficulty in defining data ownership,make vehicle data sharing face a lot of problems,and data islands are widespread.This study proposes FADSF(Fuzzy Anonymous Data Share Frame),an automobile data sharing scheme based on blockchain.The data holder publishes the shared data information and forms the corresponding label storage on the blockchain.The data demander browses the data directory information to select and purchase data assets and verify them.The data demander selects and purchases data assets and verifies them by browsing the data directory information.Meanwhile,this paper designs a data structure Data Discrimination Bloom Filter(DDBF),making complaints about illegal data.When the number of data complaints reaches the threshold,the audit traceability contract is triggered to punish the illegal data publisher,aiming to improve the data quality and maintain a good data sharing ecology.In this paper,based on Ethereum,the above scheme is tested to demonstrate its feasibility,efficiency and security.

Heterogeneous Task Allocation Model and Algorithm for Intelligent Connected Vehicles

With the development of vehicles towards intelligence and connectivity,vehicular data is diversifying and growing dramatically.A task allocation model and algorithm for heterogeneous Intelligent Connected Vehicle(ICV)applications are proposed for the dispersed computing network composed of heterogeneous task vehicles and Network Computing Points(NCPs).Considering the amount of task data and the idle resources of NCPs,a computing resource scheduling model for NCPs is established.Taking the heterogeneous task execution delay threshold as a constraint,the optimization problem is described as the problem of maximizing the utilization of computing resources by NCPs.The proposed problem is proven to be NP-hard by using the method of reduction to a 0-1 knapsack problem.A many-to-many matching algorithm based on resource preferences is proposed.The algorithm first establishes the mutual preference lists based on the adaptability of the task requirements and the resources provided by NCPs.This enables the filtering out of un-schedulable NCPs in the initial stage of matching,reducing the solution space dimension.To solve the matching problem between ICVs and NCPs,a new manyto-many matching algorithm is proposed to obtain a unique and stable optimal matching result.The simulation results demonstrate that the proposed scheme can improve the resource utilization of NCPs by an average of 9.6%compared to the reference scheme,and the total performance can be improved by up to 15.9%.

Evaluating the Robustness of MDSS Maintenance Forecasts Using Connected Vehicle Data

The Indiana Department of Transportation (INDOT) adopted the Maintenance Decision Support System (MDSS) for user-defined plowing segments in the winter of 2008-2009. Since then, many new data sources, including connected vehicle data, enhanced weather data, and fleet telematics, have been integrated into INDOT winter operations activities. The objective of this study was to use these new data sources to conduct a systematic evaluation of the robustness of the MDSS forecasts. During the 2023-2024 winter season, 26 unique MDSS forecast data attributes were collected at 0, 1, 3, 6, 12 and 23-hour intervals from the observed storm time for 6 roadway segments during 13 individual storms. In total, over 888,000 MDSS data points were archived for this evaluation. This study developed novel visualizations to compare MDSS forecasts to multiple other independent data sources, including connected vehicle data, National Oceanic and Atmospheric Administration (NOAA) weather data, road friction data and snowplow telematics. Three Indiana storms, with varying characteristics and severity, were analyzed in detailed case studies. Those storms occurred on January 6th, 2024, January 13th, 2024 and February 16th, 2024. Incorporating these visualizations into winter weather after-action reports increases the robustness of post-storm performance analysis and allows road weather stakeholders to better understand the capabilities of MDSS. The results of this analysis will provide a framework for future MDSS evaluations and implementations as well as training tools for winter operation stakeholders in Indiana and beyond.

Cloud Control System Architectures,Technologies and Applications on Intelligent and Connected Vehicles:a Review

The electrification of vehicle helps to improve its operation efficiency and safety.Due to fast development of network,sensors,as well as computing technology,it becomes realizable to have vehicles driving autonomously.To achieve autonomous driving,several steps,including environment perception,path-planning,and dynamic control,need to be done.However,vehicles equipped with on-board sensors still have limitations in acquiring necessary environmental data for optimal driving decisions.Intelligent and connected vehicles(ICV)cloud control system(CCS)has been introduced as a new concept as it is a potentially synthetic solution for high level automated driving to improve safety and optimize traffic flow in intelligent transportation.This paper systematically investigated the concept of cloud control system from cloud related applications on ICVs,and cloud control system architecture design,as well as its core technologies development.Based on the analysis,the challenges and suggestions on cloud control system development have been addressed.

Resilient and Safe Platooning Control of Connected Automated Vehicles Against Intermittent Denial-of-Service Attacks

Connected automated vehicles(CAVs)serve as a promising enabler for future intelligent transportation systems because of their capabilities in improving traffic efficiency and driving safety,and reducing fuel consumption and vehicle emissions.A fundamental issue in CAVs is platooning control that empowers a convoy of CAVs to be cooperatively maneuvered with desired longitudinal spacings and identical velocities on roads.This paper addresses the issue of resilient and safe platooning control of CAVs subject to intermittent denial-of-service(DoS)attacks that disrupt vehicle-to-vehicle communications.First,a heterogeneous and uncertain vehicle longitudinal dynamic model is presented to accommodate a variety of uncertainties,including diverse vehicle masses and engine inertial delays,unknown and nonlinear resistance forces,and a dynamic platoon leader.Then,a resilient and safe distributed longitudinal platooning control law is constructed with an aim to preserve simultaneous individual vehicle stability,attack resilience,platoon safety and scalability.Furthermore,a numerically efficient offline design algorithm for determining the desired platoon control law is developed,under which the platoon resilience against DoS attacks can be maximized but the anticipated stability,safety and scalability requirements remain preserved.Finally,extensive numerical experiments are provided to substantiate the efficacy of the proposed platooning method.

Planning and Decision-making for Connected Autonomous Vehicles at Road Intersections:A Review

Planning and decision-making technology at intersections is a comprehensive research problem in intelligent transportation systems due to the uncertainties caused by a variety of traffic participants.As wireless communication advances,vehicle infrastructure integrated algorithms designed for intersection planning and decision-making have received increasing attention.In this paper,the recent studies on the planning and decision-making technologies at intersections are primarily overviewed.The general planning and decision-making approaches are presented,which include graph-based approach,prediction base approach,optimization-based approach and machine learning based approach.Since connected autonomous vehicles(CAVs)is the future direction for the automated driving area,we summarized the evolving planning and decision-making methods based on vehicle infrastructure cooperative technologies.Both four-way signalized and unsignalized intersection(s)are investigated under purely automated driving traffic and mixed traffic.The study benefit from current strategies,protocols,and simulation tools to help researchers identify the presented approaches’challenges and determine the research gaps,and several remaining possible research problems that need to be solved in the future.

Energy-Optimal Braking Control Using a Double-Layer Scheme for Trajectory Planning and Tracking of Connected Electric Vehicles

Most researches focus on the regenerative braking system design in vehicle components control and braking torque distribution,few combine the connected vehicle technologies into braking velocity planning.If the braking intention is accessed by the vehicle-to-everything communication,the electric vehicles(EVs)could plan the braking velocity for recovering more vehicle kinetic energy.Therefore,this paper presents an energy-optimal braking strategy(EOBS)to improve the energy efficiency of EVs with the consideration of shared braking intention.First,a double-layer control scheme is formulated.In the upper-layer,an energy-optimal braking problem with accessed braking intention is formulated and solved by the distance-based dynamic programming algorithm,which could derive the energy-optimal braking trajectory.In the lower-layer,the nonlinear time-varying vehicle longitudinal dynamics is transformed to the linear time-varying system,then an efficient model predictive controller is designed and solved by quadratic programming algorithm to track the original energy-optimal braking trajectory while ensuring braking comfort and safety.Several simulations are conducted by jointing MATLAB and CarSim,the results demonstrated the proposed EOBS achieves prominent regeneration energy improvement than the regular constant deceleration braking strategy.Finally,the energy-optimal braking mechanism of EVs is investigated based on the analysis of braking deceleration,battery charging power,and motor efficiency,which could be a guide to real-time control.

Integrated Route Planning and Resource Allocation for Connected Vehicles

Intelligent and connected vehicles have leveraged edge computing paradigm to enhance their environment comprehension and behavior planning capabilities.As the quantity of intelligent vehicles and the demand for edge computing are increasing rapidly,it becomes critical to efficiently orchestrate the communication and computation resources on edge clouds.Existing methods usually perform resource allocation in a fairly effective but still reactive manner,which is subject to the capacity of nearby edge clouds.To deal with the contradiction between the spatiotemporally varying demands for edge computing and the fixed edge cloud capacity,we proactively balance the edge computing demands across edge clouds by appropriate route planning.In this paper,route planning and resource allocation are jointly optimized to enhance intelligent driving.We propose a multi-scale decentralized optimization method to deal with the curse of dimensionality.In large-scale optimization,backpressure algorithm is used to conduct route planning and load balancing across edge clouds.In small-scale optimization,game-theoretic multi-agent learning is exploited to perform regional resource allocation.The experimental results show that the proposed algorithm outperforms the baseline algorithms which optimize route planning and resource allocation separately.

Intelligent back-looking distance driver model and stability analysis for connected and automated vehicles

The connected and automated vehicles(CAVs)technologies provide more information to drivers in the car-following(CF)process.Unlike the human-driven vehicles(HVs),which only considers information in front,the CAVs circumstance allows them to obtain information in front and behind,enhancing vehicles perception ability.This paper proposes an intelligent back-looking distance driver model(IBDM)considering the desired distance of the following vehicle in homogeneous CAVs environment.Based on intelligent driver model(IDM),the IBDM integrates behind information of vehicles as a control term.The stability condition against a small perturbation is analyzed using linear stability theory in the homogeneous traffic flow.To validate the theoretical analysis,simulations are carried out on a single lane under the open boundary condition,and compared with the IDM not considering the following vehicle and the extended IDM considering the information of vehicle preceding and next preceding.Six scenarios are designed to evaluate the results under different disturbance strength,disturbance location,and initial platoon space distance.The results reveal that the IBDM has an advantage over IDM and the extended IDM in control of CAVs car-following process in maintaining string stability,and the stability improves by increasing the proportion of the new item.

Connected Vehicle-Based Traffic Signal Coordination

This study presents a connected vehicles(CVs)-based traffic signal optimization framework for a coordinated arterial corridor.The signal optimization and coordination problem are first formulated in a centralized scheme as a mixed-integer nonlinear program(MINLP).The optimal phase durations and offsets are solved together by minimizing fuel consumption and travel time considering an individual vehicle’s trajectories.Due to the complexity of the model,we decompose the problem into two levels:an intersection level to optimize phase durations using dynamic programming(DP),and a corridor level to optimize the offsets of all intersections.In order to solve the two-level model,a prediction-based solution technique is developed.The proposed models are tested using traffic simulation under various scenarios.Compared with the traditional actuated signal timing and coordination plan,the signal timing plans generated by solving the MINLP and the two-level model can reasonably improve the signal control performance.When considering varies vehicle types under high demand levels,the proposed two-level model reduced the total system cost by 3.8%comparing to baseline actuated plan.MINLP reduced the system cost by 5.9%.It also suggested that coordination scheme was beneficial to corridors with relatively high demand levels.For intersections with major and minor street,coordination conducted for major street had little impacts on the vehicles at the minor street.

Big Wave of the Intelligent Connected Vehicles

Internet of things is deemed as the one of the great revolution after the age of Industrial Revolution.With the development of the communication technology,more and more entities are connected to the communication network and become one of the elements in the network.Over recent decades,in the area of intelligent transportation,pedestrian and transport infrastructure are connected to the communication network to improve the driving safety and traffic efficiency which is known as the ICV(Intelligent Connected Vehicle).This paper summarizes the global ICV progresses in the past decades and the latest activities of ICV in China,and introduces various aspects regarding the recent development of the ICV,including industry development,spectrum and standard,at the same time.

AI Based Traffic Flow Prediction Model for Connected and Autonomous Electric Vehicles

There is a paradigm shift happening in automotive industry towards electric vehicles as environment and sustainability issues gainedmomentum in the recent years among potential users.Connected and Autonomous Electric Vehicle(CAEV)technologies are fascinating the automakers and inducing them to manufacture connected autonomous vehicles with self-driving features such as autopilot and self-parking.Therefore,Traffic Flow Prediction(TFP)is identified as a major issue in CAEV technologies which needs to be addressed with the help of Deep Learning(DL)techniques.In this view,the current research paper presents an artificial intelligence-based parallel autoencoder for TFP,abbreviated as AIPAE-TFP model in CAEV.The presented model involves two major processes namely,feature engineering and TFP.In feature engineering process,there are multiple stages involved such as feature construction,feature selection,and feature extraction.In addition to the above,a Support Vector Data Description(SVDD)model is also used in the filtration of anomaly points and smoothen the raw data.Finally,AIPAE model is applied to determine the predictive values of traffic flow.In order to illustrate the proficiency of the model’s predictive outcomes,a set of simulations was performed and the results were investigated under distinct aspects.The experimentation outcomes verified the effectual performance of the proposed AIPAE-TFP model over other methods.

Markov chain-based platoon recognition model in mixed traffic with human-driven and connected and autonomous vehicles

Many vehicle platoons are interrupted while traveling on roads,especially at urban signalized intersections.One reason for such interruptions is the inability to exchange real-time information between traditional human-driven vehicles and intersection infrastructure.Thus,this paper develops a Markov chain-based model to recognize platoons.A simulation experiment is performed in Vissim based on field data extracted from video recordings to prove the model’s applicability.The videos,recorded with a high-definition camera,contain field driving data from three Tesla vehicles,which can achieve Level 2 autonomous driving.The simulation results show that the recognition rate exceeds 80%when the connected and autonomous vehicle penetration rate is higher than 0.7.Whether a vehicle is upstream or downstream of an intersection also affects the performance of platoon recognition.The platoon recognition model developed in this paper can be used as a signal control input at intersections to reduce the unnecessary interruption of vehicle platoons and improve traffic efficiency.

Hierarchical Cooperative Control of Connected Vehicles:From Heterogeneous Parameters to Heterogeneous Structures

As one of the typical applications of connected vehicles(CVs),the vehicle platoon control technique has been proven to have the advantages of reducing emissions,improving traffic throughout and driving safety.In this paper,a unified hierarchical framework is designed for cooperative control of CVs with both heterogeneous model parameters and structures.By separating neighboring information interaction from local dynamics control,the proposed framework is designed to contain an upper-level observing layer and a lower-level tracking control layer,which helps address the heterogeneity in vehicle parameters and structures.Within the proposed framework,an observer is designed for following vehicles to observe the leading vehicle's states using neighboring communication,while a tracking controller is designed to track the observed leading vehicle using local feedback control.Closed-loop stability in the absence and presence of communication time delay is analyzed,and the observer is further extended to a finite time convergent one to address string stability under general communication topology.Numerical simulation and field experiment verify the effectiveness of the proposed method.

Longitudinal Performance Assessment of Traffic Signal System Impacted by Long-Term Interstate Construction Diversion Using Connected Vehicle Data

Local arterials can be significantly impacted by diversions from adjacent work zones. These diversions often occur on unofficial detour routes due to guidance received on personal navigation devices. Often, these routes do not have sufficient sensing or communication equipment to obtain infrastructure-based traffic signal performance measures, so other data sources are required to identify locations being significantly affected by diversions. This paper examines the network impact caused by the start of an 18-month closure of the I-65/70 interchange (North Split), which usually serves approximately 214,000 vehicles per day in Indianapolis, IN. In anticipation of some proportion of the public diverting from official detour routes to local streets, a connected vehicle monitoring program was established to provide daily performances measures for over 100 intersections in the area without the need for vehicle sensing equipment. This study reports on 13 of the most impacted signals on an alternative arterial to identify locations and time of day where operations are most degraded, so that decision makers have quantitative information to make informed adjustments to the system. Individual vehicle movements at the studied locations are analyzed to estimate changes in volume, split failures, downstream blockage, arrivals on green, and travel times. Over 130,000 trajectories were analyzed in an 11-week period. Weekly afternoon peak period volumes increased by approximately 455%, split failures increased 3%, downstream blockage increased 10%, arrivals on green decreased 16%, and travel time increase 74%. The analysis performed in this paper will serve as a framework for any agency that wants to assess traffic signal performance at hundreds of locations with little or no existing sensing or communication infrastructure to prioritize tactical retiming and/or longer-term infrastructure investments.

Design and Implementation of a Battery Big Data Platform Through Intelligent Connected Electric Vehicles

The development of a battery management algorithm is highly dependent on high-quality battery operation data,especially the data in extreme conditions such as low temperatures.The data in faults are also essential for failure and safety management research.This study developed a battery big data platform to realize vehicle operation,energy interaction and data management.First,we developed an electric vehicle with vehicle navigation and position detection and designed an environmental cabin that allows the vehicle to operate autonomously.Second,charging and heating systems based on wireless energy transfer were developed and equipped on the vehicle to investigate optimal charging and heating methods of the batteries in the vehicle.Third,the data transmission network was designed,a real-time monitoring interface was developed,and the self-developed battery management system was used to measure,collect,upload,and store battery operation data in real time.Finally,experimental validation was performed on the platform.Results demonstrate the efficiency and reliability of the platform.Battery state of charge estimation is used as an example to illustrate the availability of battery operation data.

Integrated Sensing and Communication Enabled Multiple Beamwidth and Power Allocation for Connected Automated Vehicles

Connected autonomous vehicles(CAVs)are a promising paradigm for implementing intelligent transportation systems.However,in CAVs scenarios,the sensing blind areas cause serious safety hazards.Existing vehicle-to-vehicle(V2V)technology is difficult to break through the sensing blind area and ensure reliable sensing information.To overcome these problems,considering infrastructures as a means to extend the sensing range is feasible based on the integrated sensing and communication(ISAC)technology.The mmWave base station(mmBS)transmits multiple beams consisting of communication beams and sensing beams.The sensing beams are responsible for sensing objects within the CAVs blind area,while the communication beams are responsible for transmitting the sensed information to the CAVs.To reduce the impact of inter-beam interference,a joint multiple beamwidth and power allocation(JMBPA)algorithm is proposed.By maximizing the communication transmission rate under the sensing constraints.The proposed non-convex optimization problem is transformed into a standard difference of two convex functions(D.C.)problem.Finally,the superiority of the lutions.The average transmission rate of communication beams remains over 3.4 Gbps,showcasing a significant improvement compared to other algorithms.Moreover,the satisfaction of sensing services remains steady.

Diverging Diamond Interchange Performance Measures Using Connected Vehicle Data

Since the first Diverging Diamond Interchange (DDI) implementation in 2009, most of the performance studies developed for this type of interchange have been based on simulations and historical crash data, with a small number of studies using Automated Traffic Signal Performance Measures (ATSPM). Simulation models require considerable effort to collect volumes and to model actual controller operations. Safety studies based on historical crashes usually require from 3 to 5 years of data collection. ATSPMs rely on sensing equipment. This study describes the use of connected vehicle trajectory data to analyze the performance of a DDI located in the metropolitan area of Fort Wayne, IN. An extension of the Purdue Probe Diagram (PPD) is proposed to assess the levels of delay, progression, and saturation. Further, an additional PPD variation is presented that provides a convenient visualization to qualitatively understand progression patterns and to evaluate queue length for spillback in the critical interior crossover. Over 7000 trajectories and 130,000 GPS points were analyzed between the 7th and the 11th of June 2021 from 5:00 AM to 10:00 PM to estimate the DDI’s arrivals on green, level of service, split failures, and downstream blockage. Although this technique was demonstrated for weekdays, the ubiquity of connected vehicle data makes it very easy to adapt these techniques to analysis during special events, winter storms, and weekends. Furthermore, the methodologies presented in this paper can be applied by any agency wanting to assess the performance of any DDI in their jurisdiction.

Roundabout Performance Analysis Using Connected Vehicle Data

There are over 8000 roundabouts in the United States. The current techniques for assessing their performance require field counts to provide inputs to analysis or simulation models. These techniques are labor-intensive and do not scale well. This paper presents a methodology to use connected vehicle (CV) trajectory data to estimate delay and level of service for roundabout approaches by adapting the Purdue Probe Diagram used for traffic signal analytics. By linear referencing vehicle trajectories with a particular movement based on the location and time they exit a roundabout, delay can be calculated. The scalability is demonstrated by applying these techniques to assess over 100 roundabouts in Carmel, IN during the weekday afternoon peak period in July 2021. Over 264,000 trajectories and 3,600,000 GPS points were analyzed to rank over 300 roundabout approaches by delay and summarize in Pareto-sorted graphics and maps. The paper concludes by discussing how these techniques can also be used to analyze queue lengths and origin-destination characteristics at roundabouts. The methodology presented in this study can be used by any agency that wants to assess the performance of all roundabouts in their system.