Driving safety is the most basic demand for au- tonomous vehicles but is also the most difficult task at the same time. Intelligent tires equipped with in-tire sensors have been proposed to recognize the tire-road interaction conditions, such as road surface conditions, tire dynamics states, and friction conditions, which can help realize safer driving of autonomous vehicles. In this study, we first review the related research of intelligent tires about the sensing system and tire-road contact state estimation methods and discuss their desirability and limitations. On this basis, we propose our constructive strategies for improving the design of the intelligent tire sensing system to adapt to the extremely harsh working condition of tires, make full use of the installed sensors, and realize the continuous measurement of tire-road contact information. In addition, we analyze the specific requirements for the implementation process when applying intelligent tires to autonomous driving. In the future, intelligent tires with specially designed sensing systems combined with optimal recognition methods can bring new opportunities to safer vehicle dynamics control and promote the development of autonomous driving technology.

Along with the promotion of intelligent connected vehicles, the problems of network attacks have rapidly increased, and thus the cybersecurity has drawn much attention. Unfortunately, although remarkable progress has been achieved both in technics and standard, it still remains vague for designing vehicular cybersecurity. In this article, the general technical profile of cybersecurity for intelligent connected vehicles has been comprehensively reviewed, including threat analysis and risk assessment, static defense and intrusion detection. The potential attacking vulnerabilities for ICVs are summarized, within in-vehicle network and mobile networks. Then, the identity authentication and secure communication methods are introduced from static defense, where the conventional and novel intelligent approach are included. And the intrusion detection is introduced as the active methods including conventional and novel ones. Moreover, the general procedure and management for designing the vehicular cybersecurity are also summarized according to the current standard system. It hopes that the review of research progress on technical method may help researchers and manufactures, and delivers the potential direction for future cybersecurity development.

The rapid development of intelligent networked vehicles (ICVs) has brought many positive effects. Unfortunately, connecting to the outside exposes ICVs to security threats. Using secure protocols is an important approach to protect ICVs from hacker attacks and has become a hot research area for vehicle security. However, most of the previous studies were carried out on V2X networks, while those on in-vehicle networks (IVNs) did not involve Ethernet. To this end, oriented to the new IVNs based on Ethernet, we designed an efficient secure scheme, including an authentication scheme using the Scalable Service-Oriented Middleware over IP (SOME/IP) protocol and a secure communication scheme modifying the payload field of the original SOME/IP data frame. The security analysis shows that the designed authentication scheme can provide mutual identity authentication for communicating parties and ensure the confidentiality of the issued temporary session key; the designed authentication and secure communication scheme can resist the common malicious attacks conjointly. The performance experiments based on embedded devices show that the additional overhead introduced by the secure scheme is very limited. The secure scheme proposed in this article can promote the popularization of the SOME/IP protocol in IVNs and contribute to the secure communication of IVNs.

In recent years, Ethernet has been introduced into vehicular networks to cope with the increasing demand for bandwidth and complexity in communication networks. To exchange data between controller area network (CAN) and Ethernet, a gateway system is required to provide a communication interface. Additionally, the existence of networked devices exposes automobiles to cyber security threats. Against this background, a gateway for CAN/CAN with flexible data-rate (CANFD) to scalable service-oriented middleware over IP (SOME/IP) protocol conversion is designed, and security schemes are implemented in the routing process to provide integrity and confidentiality protections. Based on NXP-S32G, the designed gateway is implemented and evaluated. Under most operating conditions, the CPU and the RAM usage are less than 5% and 20 MB, respectively. Devices running a Linux operating system can easily bear such a system resource overhead. The latency caused by the security scheme accounts for about 25% of the entire protocol conversion latency. Considering the security protection provided by the security scheme, this overhead is worthwhile. The results show that the designed gateway can ensure a CAN/CANFD to SOME/IP protocol conversion with a low system resource overhead and a low latency while effectively resisting hacker attacks such as frame forgery, tampering, and sniffing.

How to drive safely in complex real-world traffic settings has long been a question and challenge for autonomous vehicles (AVs). Decision-making systems (DecSs) are the core of AVs, and their safety and rationality are crucial. Several decision-making techniques and algorithms have been applied to AVs; however, they are still subject to limitations and deficiencies, making it impossible to fully guarantee safety. Thus, it is necessary to conduct a safety assessment of the state performance of the DecSs of AVs to reduce driving risks and implement immediate safety measures. This article reviews relevant research on safety assessment methods of AVs’ DecSs. The insufficiency of the current DecSs in terms of safety is analyzed, and the importance and definition of decision-making safety assessment (DMSA) are established. On this basis, assessment indexes related to DMSA are analyzed. From the perspectives of methodology and industrialization development, the existing safety assessment methods are summarized categorically, their applicability and limitations are discussed, and corresponding constructive strategies for improvement are proposed. Additionally, the deficiencies of the existing DMSA methods and the areas that need improvement are analyzed. In this regard, the future challenges and development opportunities of DMSA are proposed. This article provides a useful reference for the perfect DMSA method.

Route planning for autonomous driving is a global road planning method based on a given starting point and target point combined with current traffic flow information. The optimal global route can reduce traffic jams and improve the safety and economy of autonomous vehicles. The current optimization method of route planning for autonomous driving only considers a single objective or a chain of single objectives, which cannot meet the requirements of drivers. In this paper, we devise a general framework for the route planning method based on multi-objective optimization. Different from planning optimization based on not only traffic information, the framework considers travel time, distance, cost and personal preference, but focuses more on vehicle status and driver requirements. We use an improved depth-first search algorithm to find the optimal route. The evaluations of our method on real-world traffic data indicate the feasibility and applicability of the framework. Our study contributes to a better understanding of route planning and reveals that exploitation of personal preference can more flexibly configure the corresponding route according to the driver’s requirements.