Daily Papers

Transportation Cyber-Physical Systems (T-CPS) enhance safety and mobility by integrating cyber and physical transportation systems. A key component of T-CPS is the Digital Twin (DT), a virtual representation that enables simulation, analysis, and optimization through real-time data exchange and communication. Although existing studies have explored DTs for vehicles, communications, pedestrians, and traffic, real-world validations and implementations of DTs that encompass infrastructure, vehicles, signals, communications, and more remain limited due to several challenges. These include accessing real-world connected infrastructure, integrating heterogeneous, multi-sourced data, ensuring real-time data processing, and synchronizing the digital and physical systems. To address these challenges, this study develops a traffic DT based on a real-world connected vehicle corridor. Leveraging the Cellular Vehicle-to-Everything (C-V2X) infrastructure in the corridor, along with communication, computing, and simulation technologies, the proposed DT accurately replicates physical vehicle behaviors, signal timing, communications, and traffic patterns within the virtual environment. Building upon the previous data pipeline, the digital system ensures robust synchronization with the physical environment. Moreover, the DT's scalable and redundant architecture enhances data integrity, making it capable of supporting future large-scale C-V2X deployments. Furthermore, its ability to provide feedback to the physical system is demonstrated through applications such as signal timing adjustments, vehicle advisory messages, and incident notifications. The proposed DT is a vital tool in T-CPS, enabling real-time traffic monitoring, prediction, and optimization to enhance the reliability and safety of transportation systems.

The paper presents the vehicles integrated monitoring system giving priorities for emergency vehicles. The described system exploits the data gathered by: geographical positioning systems and geographical information systems. The digital maps and roadside cameras provide the dispatchers with aims for in town ambulances traffic management. The method of vehicles positioning in the city network and algorithms for ambulances recognition by image processing techniques have been discussed in the paper. These priorities are needed for an efficient life-saving actions that require the real-time controlling strategies.

The ISO 26262 standard from 2016 represents the state of the art for a safety-guided development of safety-critical electric/electronic vehicle systems. These vehicle systems include advanced driver assistance systems and vehicle guidance systems. The development process proposed in the ISO 26262 standard is based upon multiple V-models, and defines activities and work products for each process step. In many of these process steps, scenario based approaches can be applied to achieve the defined work products for the development of automated driving functions. To accomplish the work products of different process steps, scenarios have to focus on various aspects like a human understandable notation or a description via time-space variables. This leads to contradictory requirements regarding the level of detail and way of notation for the representation of scenarios. In this paper, the authors present requirements for the representation of scenarios in different process steps defined by the ISO 26262 standard, propose a consistent terminology based on prior publications for the identified levels of abstraction, and demonstrate how scenarios can be systematically evolved along the phases of the development process outlined in the ISO 26262 standard.

Congestion in traffic is an unavoidable circumstance in many cities in India and other countries. It is an issue of major concern. The steep rise in the number of automobiles on the roads followed by old infrastructure, accidents, pedestrian traffic, and traffic rule violations all add to challenging traffic conditions. Given these poor conditions of traffic, there is a critical need for automatically detecting and signaling systems. There are already various technologies that are used for traffic management and signaling systems like video analysis, infrared sensors, and wireless sensors. The main issue with these methods is they are very costly and high maintenance is required. In this paper, we have proposed a three-phase system that can guide emergency vehicles and manage traffic based on the degree of congestion. In the first phase, the system processes the captured images and calculates the Index value which is used to discover the degree of congestion. The Index value of a particular road depends on its width and the length up to which the camera captures images of that road. We have to take input for the parameters (length and width) while setting up the system. In the second phase, the system checks whether there are any emergency vehicles present or not in any lane. In the third phase, the whole processing and decision-making part is performed at the edge server. The proposed model is robust and it takes into consideration adverse weather conditions such as hazy, foggy, and windy. It works very efficiently in low light conditions also. The edge server is a strategically placed server that provides us with low latency and better connectivity. Using Edge technology in this traffic management system reduces the strain on cloud servers and the system becomes more reliable in real-time because the latency and bandwidth get reduced due to processing at the intermediate edge server.

Traffic congestion in dense urban centers presents an economical and environmental burden. In recent years, the availability of vehicle-to-anything communication allows for the transmission of detailed vehicle states to the infrastructure that can be used for intelligent traffic light control. The other way around, the infrastructure can provide vehicles with advice on driving behavior, such as appropriate velocities, which can improve the efficacy of the traffic system. Several research works applied deep reinforcement learning to either traffic light control or vehicle speed advice. In this work, we propose a first attempt to jointly learn the control of both. We show this to improve the efficacy of traffic systems. In our experiments, the joint control approach reduces average vehicle trip delays, w.r.t. controlling only traffic lights, in eight out of eleven benchmark scenarios. Analyzing the qualitative behavior of the vehicle speed advice policy, we observe that this is achieved by smoothing out the velocity profile of vehicles nearby a traffic light. Learning joint control of traffic signaling and speed advice in the real world could help to reduce congestion and mitigate the economical and environmental repercussions of today's traffic systems.

Rapid urbanization and improved living standards have led to a substantial increase in the number of vehicles on the road, consequently resulting in a rise in the frequency of accidents. Among these accidents, motorbike accidents pose a particularly high risk, often resulting in serious injuries or deaths. A significant number of these fatalities occur due to delayed or inadequate medical attention. To this end, we propose a novel automatic detection and notification system specifically designed for motorbike accidents. The proposed system comprises two key components: a detection system and a physiological signal monitoring system. The detection system is integrated into the helmet and consists of a microcontroller, accelerometer, GPS, GSM, and Wi-Fi modules. The physio-monitoring system incorporates a sensor for monitoring pulse rate and SpO_{2} saturation. All collected data are presented on an LCD display and wirelessly transmitted to the detection system through the microcontroller of the physiological signal monitoring system. If the accelerometer readings consistently deviate from the specified threshold decided through extensive experimentation, the system identifies the event as an accident and transmits the victim's information -- including the GPS location, pulse rate, and SpO_{2} saturation rate -- to the designated emergency contacts. Preliminary results demonstrate the efficacy of the proposed system in accurately detecting motorbike accidents and promptly alerting emergency contacts. We firmly believe that the proposed system has the potential to significantly mitigate the risks associated with motorbike accidents and save lives.

The advancement in machine learning and artificial intelligence is promoting the testing and deployment of autonomous vehicles (AVs) on public roads. The California Department of Motor Vehicles (CA DMV) has launched the Autonomous Vehicle Tester Program, which collects and releases reports related to Autonomous Vehicle Disengagement (AVD) from autonomous driving. Understanding the causes of AVD is critical to improving the safety and stability of the AV system and provide guidance for AV testing and deployment. In this work, a scalable end-to-end pipeline is constructed to collect, process, model, and analyze the disengagement reports released from 2014 to 2020 using natural language processing deep transfer learning. The analysis of disengagement data using taxonomy, visualization and statistical tests revealed the trends of AV testing, categorized cause frequency, and significant relationships between causes and effects of AVD. We found that (1) manufacturers tested AVs intensively during the Spring and/or Winter, (2) test drivers initiated more than 80% of the disengagement while more than 75% of the disengagement were led by errors in perception, localization & mapping, planning and control of the AV system itself, and (3) there was a significant relationship between the initiator of AVD and the cause category. This study serves as a successful practice of deep transfer learning using pre-trained models and generates a consolidated disengagement database allowing further investigation for other researchers.

Recent research shows that Large Language Models (LLMs) are vulnerable to harmful fine-tuning attacks -- models lose their safety alignment ability after fine-tuning on a few harmful samples. For risk mitigation, a guardrail is typically used to filter out harmful samples before fine-tuning. By designing a new red-teaming method, we in this paper show that purely relying on the moderation guardrail for data filtration is not reliable. Our proposed attack method, dubbed Virus, easily bypasses the guardrail moderation by slightly modifying the harmful data. Experimental results show that the harmful data optimized by Virus is not detectable by the guardrail with up to 100\% leakage ratio, and can simultaneously achieve superior attack performance. Finally, the key message we want to convey through this paper is that: it is reckless to consider guardrail moderation as a clutch at straws towards harmful fine-tuning attack, as it cannot solve the inherent safety issue of the pre-trained LLMs. Our code is available at https://github.com/git-disl/Virus

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 projected colored patches to signs, that cause CAV 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 an effective physical-world attack that leverages the sensitivity of filterless image sensors and the properties of Infrared Laser Reflections (ILRs), which are invisible to humans. The attack is designed to affect CAV cameras and perception, undermining traffic sign recognition by inducing misclassification. In this work, we formulate the threat model and requirements for an ILR-based traffic sign perception attack to succeed. We evaluate the effectiveness of the ILR attack with real-world experiments against two major traffic sign recognition architectures on four IR-sensitive cameras. Our black-box optimization methodology allows the attack to achieve up to a 100% attack success rate in indoor, static scenarios and a >80.5% attack success rate in our outdoor, moving vehicle scenarios. We find the latest state-of-the-art certifiable defense is ineffective against ILR attacks as it mis-certifies >33.5% of cases. To address this, we propose a detection strategy based on the physical properties of IR laser reflections which can detect 96% of ILR attacks.

The future of autonomous vehicles lies in the convergence of human-centric design and advanced AI capabilities. Autonomous vehicles of the future will not only transport passengers but also interact and adapt to their desires, making the journey comfortable, efficient, and pleasant. In this paper, we present a novel framework that leverages Large Language Models (LLMs) to enhance autonomous vehicles' decision-making processes. By integrating LLMs' natural language capabilities and contextual understanding, specialized tools usage, synergizing reasoning, and acting with various modules on autonomous vehicles, this framework aims to seamlessly integrate the advanced language and reasoning capabilities of LLMs into autonomous vehicles. The proposed framework holds the potential to revolutionize the way autonomous vehicles operate, offering personalized assistance, continuous learning, and transparent decision-making, ultimately contributing to safer and more efficient autonomous driving technologies.

When considering the accuracy of sensors in an automated vehicle (AV), it is not sufficient to evaluate the performance of any given sensor in isolation. Rather, the performance of any individual sensor must be considered in the context of the overall system design. Techniques like redundancy and different sensing modalities can reduce the chances of a sensing failure. Additionally, the use of safety models is essential to understanding whether any particular sensing failure is relevant. Only when the entire system design is taken into account can one properly understand the meaning of safety-relevant sensing failures in an AV. In this paper, we will consider what should actually constitute a sensing failure, how safety models play an important role in mitigating potential failures, how a system-level approach to safety will deliver a safe and scalable AV, and what an acceptable sensing failure rate should be considering the full picture of an AV's architecture.