This document summarizes several ways that connected and automated vehicles can benefit from cooperation and sharing of information through vehicle-to-everything (V2X) communication. It discusses how V2I communication can help with overheight vehicle detection and railroad crossing notifications. It also discusses how V2V communication can enable applications like cooperative platooning, blind spot warnings, and sharing of sensor data about pedestrians between vehicles. However, it notes that security is a challenge that must be addressed to ensure safe operation and avoid attacks that could disrupt vehicle cooperation or endanger drivers.

1. Cooperative Systems R&D
Southwest Research Institute
IVS.SwRI.ORG
Safety Impacts of
Connected and
Automated Vehicles
Paul A. Avery
Principal Engineer – Cooperative Systems
Southwest Research Institute
+1.210.522.6732
pavery@swri.org

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Connected Vehicles Communication
However!
Special Applications Like Platooning

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5. V2I – Overheight Detection,
Notification, and Autonomous Disable

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V2V – Blind Spot Warning

7. V2I – Railroad Grade Crossing Notification

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What About Evacuations?

9. Traffic System Modeling – Events (Radiological Spill)
 Event modeling
 Vehicles react to event
information by altering their
route choice
Road volumes after event notification –
50% CV enabled
Steady state road
volumes

10. Ooops…. We Forgot About Security

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Rush to Deploy Technology

12. Challenges with Connected/Automated Vehicles
 Recent Attacks:
 Jeep Cherokee: “Hackers Remotely
Kill a Jeep on the Highway—With
Me in It”
 GM OnStar: “This Gadget Hacks
GM Cars to Locate, Unlock, and
Start Them”
 Tesla Model S: “Researchers
Hacked a Model S… But Tesla’s
Already Released a Patch”!
 Impact of these attacks:
– Erodes public trust
– Raises awareness – improves
security practices
Image Source: Wired Magazine

13. Stalled
Vehicle!!!
Subsequent
Backup
Detecting Global Misbehavior in a CV System
 False message inserted into CV
system
 Stalled vehicle
 BSM showing velocity = 0mph
 Emergency Braking
 Wrong-way Driver, etc…
 CV-equipped vehicle(s) receive
message and vehicle’s autonomy
software or advanced driver
assistance system (ADAS) system
reacts
 Hard braking
 Swerving
 Causes secondary reactions from
nearby vehicles

14. Automated Vehicles

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http://william-flew.com/autocars/problems-not.html
Future of Traffic Enforcement?

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License and Source Code Please…

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Maybe Releasing Autopilot Into the Wild
Wasn’t A Great Idea?

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So How Do We Avoid This?

19. Connected-Automated Vehicles
Worldreviews.com
(But Only If The System Is Cooperative)

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Its.dot.gov
Vehicle Platooning
• Rules must be
established for joining a
team: Max/min speed,
following distance, vehicle
performance/efficiency
characteristics, etc
• Special message must be
used, including a “Team
ID” to enable cooperation
among specific vehicles

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24.  Developed under SwRI IR&D program
Mobile Autonomous Robotics Technology Initiative
(MARTI)
 Cooperative vehicle behaviors for sharing
sensor data in a dynamic traffic environment
 Utilizes the sensing capabilities of other
vehicles as extension of perception system
 Use-case: Pedestrian safety
 Communicates V2V regarding position,
speed, and heading of pedestrians at
intersections
 Receiving vehicle determines appropriate
action
Cooperative Sensor Sharing for
Unmanned Systems
SwRI’s MARTI in Manhattan 2008
Cooperative Sensor Sharing
SwRI/INRIA in Versailles France 2008
Cooperative Sensor Sharing

25. Cooperative Vehicle Lane-level
Model Generation Using DSRC
 Vehicles broadcast message on
their location (Basic Safety
Message)
 Roadside device collects
messages for processing
 Using learning algorithms, the
noisy data is reduced to lane-
level GPS coordinates
 Data is reduced to minimum
required set, and then re-
broadcast to vehicles
 If obstruction is removed,
vehicles will begin traversing
the area again, and a new map
will be processed and re-
broadcast

26. Cooperative Systems R&D
Southwest Research Institute
Thank You