Networked Vehicle Systems Research Articles

Fuzzy-Model-Based Lateral Control for Networked Autonomous Vehicle Systems Under Hybrid Cyber-Attacks.

This article addresses the problem of lateral control problem for networked-based autonomous vehicle systems. A novel solution is presented for nonlinear autonomous vehicles to smoothly follow the planned path under external disturbances and network-induced issues, such as cyber-attacks, time delays, and limited bandwidths. First, a fuzzy-model-based system is established to represent the nonlinear networked vehicle systems subject to hybrid cyber-attacks. To reduce the network burden and effects of cyber-attacks, an asynchronous resilient event-triggered scheme (ETS) is proposed. A dynamic output-feedback control method is developed to address the underlying problem. Conditions are derived to obtain the output-feedback controller and resilient asynchronous ETS such that the closed-loop switched fuzzy system is globally exponentially stable. Examples are provided to demonstrate the effectiveness and merits of the proposed new control design techniques.

Distributed MPC-Based String Stable Platoon Control of Networked Vehicle Systems

In this paper, the string stable platoon control problem of discrete-time networked vehicle systems is considered by using distributed model predictive control (MPC) based method. An optimization problem is established to minimize the cost function associated to the system trajectories. The last-step shifting method is applied to set the local optimal solution as the assumed solution and send it to the neighbor vehicles. By using the sum of the cost function as Lyapunov function, the stability of the closed-loop platoon system is studied. Comparing with existing results, the string stability, which is the unique characteristics of the platoon system, is guaranteed under the bidirectional-based structure as well as the predecessor-follower-based information flow structure. Finally, several simulations are presented to demonstrate the effectiveness of the proposed algorithms.

Toward a Secure Drone System: Flying With Real-Time Homomorphic Authenticated Encryption

Controlling or accessing remotely has become a prevalent form of operating numerous types of platforms and infrastructure. An exploding number of vehicles such as drones or cars, in particular, are being controlled wirelessly or connected through networks. This has brought unanimous concern that today’s networked vehicle systems are vulnerable to attacks and the results could be fatal. Unfortunately, in contrast to active investigation on the security of the vehicles themselves, sensors, or communication channels, existing approaches for these real-time, safety-critical systems do not take controllers into enough consideration. In order to protect the controller that performs the arithmetic operations using sensor measurements and generates command signals, we adopt homomorphic cryptography for the controller. It removes risks associated with the management of the secret key inside the controller, by eliminating the need to encrypt and decrypt the data for the mathematical operation within the controller. Specifically, we propose an efficient linearly homomorphic authenticated encryption ( LinHAE ) scheme for the ground control center of a multi-rotor drone, in a manner that enables real-time operation for safe autonomous flight. To facilitate the linear scheme, we design the ground controller targeted to allow state update using additions and multiplications by a system-specific constant. The proposed LinHAE guarantees the security against eavesdropping and forgery attacks, unlike homomorphic encryption alone that does not provide means to check whether the received signal at the drone side is authentic or compromised. We introduce a LinHAE with security and computational tractability, and describe how it can fit into the standard architecture for drone systems and how the specific controller is implemented. Building on these ingredients, we report the first successful operation of a multi-rotor flying robot that autonomously flies under the ground controller with real-time homomorphic authenticated encryption.

Fault-Tolerant Path Planning in Networked Vehicle Systems in Presence of Communication Failures

Abstract This paper proposes a fault-tolerant path planning algorithm for autonomous and connected vehicle networks in urban traffic scenarios. Multiple vehicles try to reach their destinations in the shortest time, evaluating the information gathered by front sensors and vehicle-to-vehicle (V2V) communication. The algorithm uses an estimator and an embedded decision maker unit in order to choose safe and time-saving routes. The decision making part relies on the path plans of other vehicles received through the V2V communication. If the path plan of a vehicle is missing due to a communication failure, the algorithm makes the decision by solving a Bayesian game, taking the latest known position of the faulty vehicle into account. A dedicated simulator is developed in order to implement the algorithm and verify the results. It is shown that reasonable route decisions can be made in the presence of communication failures. Analytical solution of the Bayesian game is evaluated and the results are verified by simulations.

DESIGN OF ELECTRONICALLY CONTROLLED FUEL INJECTION SYSTEM FOR CARBURETOR BASED ENGINE

Abstract In the Modern world, automotive electronics play an important role in the manufacturing of any passenger car. Automotive electronics consists of advanced sensors, control units, and “mechatronic“actuator making it increasingly complex, networked vehicle systems. Electronic fuel injection (EFI) is the most common example of automotive electronics application in Powertrain. An EFI system is basically developed for the control of injection timing and fuel quantity for better fuel efficiency and power output. In this paper, we will explain various types of fuel injection system that are used most commonly nowadays and will also explain the various parameters considered during calculating,(using speed density method), base fuel quantity during runtime. We will explain the major difference between speed density method and alpha-n method and in the end, we will also show the MATLAB/Simulink model of fuel injection system for Single cylinder four stroke engine.

An Inside Perspective on LAUV Control and Localization Layers

Underwater Systems and Technology Laboratory (LSTS) is focused in delivering services at sea to a wider audience by providing a complete open-source software toolchain for the control of autonomous networked vehicle systems. Although these autonomous systems include aerial, surface and underwater vehicles, as well as communication gateway buoys, the Light Autonomous Underwater Vehicle (LAUV) is the core research. Recent integration of new communication technologies enable these systems to be operated remotely, with no human operators nearby. To ensure safety, accurate localization is required underwater. Also, the vehicles must be able to avoid obstacles or to launch autonomous recovery procedures when stuck. This paper describes the organization of the onboard localization, new motion controllers introduced for safety, and briefly touches on key aspects for communications networking.

Mixed-Initiative Interaction for Tracking of Ocean Sunfish

This paper describes a command and control infrastructure that provides mixed- initiative user interfaces for the coordination and control of networked vehicle systems composed by heterogeneous robots, satellite trackers, manned ships and communication gateways. The presented infrastructure was tested in a field experiment for tracking and sampling the surrounding of Ocean Sunfish. In this experiment, the system was used by operators to obtain global situation awareness and to specify high-level objectives that were incorporated by a shore-side planner and adapted during execution onboard the vehicles.

Fault‐tolerant output synchronisation control of multi‐vehicle systems

This study presents a fault-tolerant output synchronisation control approach for a class of non-linear multi-vehicle systems. Firstly, adaptive fault diagnosis observers are designed for vehicle systems by utilising local measurements. Adaptive thresholds for distributed fault-detection of each vehicle system are derived. Then an adaptive fault estimation algorithm is proposed. Using the online obtained fault information, an adaptive fault-tolerant control protocol is designed to ensure the output synchronisation of the networked vehicle systems. It is proved that the proposed active fault-tolerant control protocol is capable of maintaining the output synchronisation performance of the multi-vehicle systems, at an acceptable level, in the presence of faults. Finally, simulation results are presented to show the effectiveness of the proposed algorithms.

Implementation of a Control Architecture for Networked Vehicle Systems

This paper describes the layered control architecture and its software implementation developed and used at the Underwater Systems and Technology Laboratory. The architecture is implemented as a toolchain which consists on three main entities: DUNE onboard software, Neptus command and control software and a common IMC message-based communication protocol. The LSTS software toolchain has been tested throughout various field deployments where it was used to control heterogeneous autonomous vehicles like AUVs, ASVs, UAVs and ROVs in both single and multi-vehicle operations.

Universal experiment tool for efficient ECU development

In the development and validation of ECUs in complex, networked vehicle systems, classic application areas such as rapid control prototyping, hardware-in-the-loop simulation and ECU calibration and diagnostics are increasingly merging together. The engineers of dSpace describe how all the necessary development steps can be performed seamlessly and intuitively, the relevant interfaces connected, and the resulting data managed uniformly, by using a new, integrated experiment tool.

Leaderless Formation Control using Dynamic Extension and Sliding Control

We present a design of a leaderless formation controller for networked vehicle systems, which uses concepts from sliding mode control and dynamic extension. A single gain varies the importance of the relative and absolute position terms, allowing for tight or loose formations. This approach is proven mesh stable. Applications include formation flying of Unmanned Air Vehicles as well as possible extensions to satellites or Autonomous Underwater Vehicles.

Coordinated Control of Networked Vehicles: An Autonomous Underwater System

The specification and design of coordinated control strategies for networked vehicle systems are discussed. The discussion is illustrated with an example of the coordinated operation of two teams of autonomous underwater vehicles collecting data to find the local minimum of a given oceanographic scalar field.