Engineering Commons^™

Vision-Based Control Of A Full-Size Car By Lane Detection, N. Chase Kunz

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

Self-driving cars are an area of increasing investment for researchers and auto manufacturers. Integration has already begun for such vehicles in urban environments. An essential aspect of navigation in these areas is the ability to sense and follow lane markers. This thesis focuses on the development of a self-driving, full-size, electric car which uses only a camera and lane markers to stay on the road. A complete method for automation is shown for a stock vehicle. Discussion includes reverse engineering of the steering, braking, and acceleration signals, as well as methods for lane detection and full-vehicle control.

Autonomous Highway Systems Safety And Security, Imran Sajjad

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

This thesis aims to address question of safety and security in autonomous highway systems. Chains of multiple self-driving vehicles (platoons) give rise to inherent vulnerabilities to attacks resulting from their control algorithms. These weaknesses can possibly result in collisions or decreased traffic flow.

This work first provides an overview of these vulnerabilities analyzed from a control systems perspective. The capabilities and extent of damage that an attack can cause are analyzed. Then some possible mitigation strategies are presented that can defend against these attacks.

Simulation results are provided to support the effectiveness of these controllers and an experimental validation is …