Biblio

Improved safety, high mobility and environmental concerns in transportation systems across the world and the corresponding developments in information and communication technologies continue to drive attention towards Intelligent Transportation Systems (ITS). This is evident in advanced driver-assistance systems such as lane departure warning, adaptive cruise control and collision avoidance. However, in connected and autonomous vehicles, the efficient functionality of these applications depends largely on the ability of a vehicle to accurately predict it operating parameters such as location and speed. The ability to predict the immediate future/next location (or speed) of a vehicle or its ability to predict neighbors help in guaranteeing integrity, availability and accountability, thus boosting safety and resiliency of the Vehicular Network for Mobile Cyber Physical Systems (VCPS). In this paper, we proposed a secure movement-prediction for connected vehicles by using Kalman filter. Specifically, Kalman filter predicts the locations and speeds of individual vehicles with reference to already observed and known information such posted legal speed limit, geographic/road location, direction etc. The aim is to achieve resilience through the predicted and exchanged information between connected moving vehicles in an adaptive manner. By being able to predict their future locations, the following vehicle is able to adjust its position more accurately to avoid collision and to ensure optimal information exchange among vehicles.

The objective of this study is to explore changes of trust by a situation where drivers need to intervene. Trust in automation is a key determinant for appropriate interaction between drivers and the system. System transparency and types of system failure influence shaping trust in a supervisory control. Subjective ratings of trust were collected to examine the impact of two factors: system transparency (Detailed vs. Less) and system failure (by Limits vs. Malfunction) in a driving simulator study in which drivers experienced a partially automated vehicle. We examined trust ratings at three points: before and after driver intervention in the automated vehicle, and after subsequent experience of flawless automated driving. Our result found that system transparency did not have significant impacts on trust change from before to after the intervention. System-malfunction led trust reduction compared to those of before the intervention, whilst system-limits did not influence trust. The subsequent experience recovered decreased trust, in addition, when the system-limit occurred to drivers who have detailed information about the system, trust prompted in spite of the intervention. The present finding has implications for automation design to achieve the appropriate level of trust.

Vehicular Ad Hoc Network (VANET) is a promising technology for autonomous driving as it provides many benefits and user conveniences to improve road safety and driving comfort. Sybil attack is one of the most serious threats in vehicular communications because attackers can generate multiple forged identities to disseminate false messages to disrupt safety-related services or misuse the systems. To address this issue, we propose a Sybil attack detection scheme using ADAS (Advanced Driving Assistant System) sensors installed on modern passenger vehicles, without the assistance of trusted third party authorities or infrastructure. Also, a deep learning based object detection technique is used to accurately identify nearby objects for Sybil attack detection and the multi-step verification process minimizes the false positive of the detection.

This paper addresses the fundamental problem of identifying driver talking directions using a single smartphone, which can help drivers by warning distraction of having conversations with passengers in a vehicle and enable safety enhancement. The basic idea of our system is to perform talking status and direction identification using two microphones on a smartphone. We first use the sound recorded by the two microphones to identify whether the driver is talking or not. If yes, we then extract the so-called channel fingerprint from the speech signal and classify it into one of three typical driver talking directions, namely, front, right and back, using a trained model obtained in advance. The key novelty of our scheme is the proposition of channel fingerprint which leverages the heavy multipath effects in the harsh in-vehicle environment and cancels the variability of human voice, both of which combine to invalidate traditional TDoA, DoA and fingerprint based sound source localization approaches. We conducted extensive experiments using two kinds of phones and two vehicles for four phone placements in three representative scenarios, and collected 23 hours voice data from 20 participants. The results show that our system can achieve 95.0% classification accuracy on average.

With the increasing interest in studying Automated Driving System (ADS)-equipped vehicles through simulation, there is a growing need for comprehensive and agile middleware to provide novel Virtual Analysis (VA) functions of ADS-equipped vehicles towards enabling a reliable representation for pre-deployment test. The National Institute of Standards and Technology (NIST) Universal Cyber-physical systems Environment for Federation (UCEF) is such a VA environment. It provides Application Programming Interfaces (APIs) capable of ensuring synchronized interactions across multiple simulation platforms such as LabVIEW, OMNeT++, Ricardo IGNITE, and Internet of Things (IoT) platforms. UCEF can aid engineers and researchers in understanding the impact of different constraints associated with complex cyber-physical systems (CPS). In this work UCEF is used to produce a simulated Operational Domain Design (ODD) for ADS-equipped vehicles where control (drive cycle/speed pattern), sensing (obstacle detection, traffic signs and lights), and threats (unusual signals, hacked sources) are represented as UCEF federates to simulate a drive cycle and to feed it to vehicle dynamics simulators (e.g. OpenModelica or Ricardo IGNITE) through the Functional Mock-up Interface (FMI). In this way we can subject the vehicle to a wide range of scenarios, collect data on the resulting interactions, and analyze those interactions using metrics to understand trustworthiness impact. Trustworthiness is defined here as in the NIST Framework for Cyber-Physical Systems, and is comprised of system reliability, resiliency, safety, security, and privacy. The goal of this work is to provide an example of an experimental design strategy using Fractional Factorial Design for statistically assessing the most important safety metrics in ADS-equipped vehicles.

With emerging smart automotive technologies, vehicle-to-vehicle communications, and software-dominated enhancements for enjoyable driving and advanced driver assistance systems, the complexity of providing guarantees in terms of security, trust, and privacy in a modern cyber-enabled automotive system is significantly elevated. New threat models emerge that require efficient system-level countermeasures. This article introduces synergies between on- and off-chip networking techniques to ensure secure execution environments for electronic control units. The proposed mechanisms consist of hardware firewalling and on-chip network physical isolation, whose mechanisms are combined with system-wide cryptographic techniques in automotive controller area network (CAN)-bus communications to provide authentication and confidentiality.

While vehicle to everything (V2X) communication enables safety-critical automotive control systems to better support various connected services to improve safety and convenience of drivers, they also allow automotive attack surfaces to increase dynamically in modern vehicles. Many researchers as well as hackers have already demonstrated that they can take remote control of the targeted car by exploiting the vulnerabilities of in-vehicle networks such as Controller Area Networks (CANs). For assuring CAN security, we focus on how to authenticate electronic control units (ECUs) in real-time by addressing the security challenges of in-vehicle networks. In this paper, we propose a novel and lightweight authentication protocol with an attack-resilient tree algorithm, which is based on one-way hash chain. The protocol can be easily deployed in CAN by performing a firmware update of ECU. We have shown analytically that the protocol achieves a high level of security. In addition, the performance of the proposed protocol is validated on CANoe simulator for virtual ECUs and Freescale S12XF used in real vehicles. The results show that our protocol is more efficient than other authentication protocol in terms of authentication time, response time, and service delay.

Identity masking methods have been developed in recent years for use in multiple applications aimed at protecting privacy. There is only limited work, however, targeted at evaluating effectiveness of methods-with only a handful of studies testing identity masking effectiveness for human perceivers. Here, we employed human participants to evaluate identity masking algorithms on video data of drivers, which contains subtle movements of the face and head. We evaluated the effectiveness of the “personalized supervised bilinear regression method for Facial Action Transfer (FAT)” de-identification algorithm. We also evaluated an edge-detection filter, as an alternate “fill-in” method when face tracking failed due to abrupt or fast head motions. Our primary goal was to develop methods for humanbased evaluation of the effectiveness of identity masking. To this end, we designed and conducted two experiments to address the effectiveness of masking in preventing recognition and in preserving action perception. 1- How effective is an identity masking algorithm?We conducted a face recognition experiment and employed Signal Detection Theory (SDT) to measure human accuracy and decision bias. The accuracy results show that both masks (FAT mask and edgedetection) are effective, but that neither completely eliminated recognition. However, the decision bias data suggest that both masks altered the participants' response strategy and made them less likely to affirm identity. 2- How effectively does the algorithm preserve actions? We conducted two experiments on facial behavior annotation. Results showed that masking had a negative effect on annotation accuracy for the majority of actions, with differences across action types. Notably, the FAT mask preserved actions better than the edge-detection mask. To our knowledge, this is the first study to evaluate a deidentification method aimed at preserving facial ac- ions employing human evaluators in a laboratory setting.

Keeping a driver focused on the road is one of the most critical steps in insuring the safe operation of a vehicle. The Strategic Highway Research Program 2 (SHRP2) has over 3,100 recorded videos of volunteer drivers during a period of 2 years. This extensive naturalistic driving study (NDS) contains over one million hours of video and associated data that could aid safety researchers in understanding where the driver's attention is focused. Manual analysis of this data is infeasible; therefore efforts are underway to develop automated feature extraction algorithms to process and characterize the data. The real-world nature, volume, and acquisition conditions are unmatched in the transportation community, but there are also challenges because the data has relatively low resolution, high compression rates, and differing illumination conditions. A smaller dataset, the head pose validation study, is available which used the same recording equipment as SHRP2 but is more easily accessible with less privacy constraints. In this work we report initial head pose accuracy using commercial and open source face pose estimation algorithms on the head pose validation data set.

Electric vehicle is the automobile that powered by electrical energy stored in batteries. Due to the frequent recharging, vehicles need to be connected to the recharging infrastructure while they are parked. This may disclose drivers' privacy, such as their location that drivers may want to keep secret. In this paper, we propose a scheme to enhance the privacy of the drivers using anonymous credential technique and Trusted Platform Module(TPM). We use anonymous credential technique to achieve the anonymity of vehicles such that drivers can anonymously and unlinkably recharge their vehicles. We add some attributes to the credential such as the type of the battery in the vehicle in case that the prices of different batteries are different. We use TPM to omit a blacklist such that the company that offer the recharging service(Energy Provider Company, EPC) does not need to conduct a double spending detection.