Machine learning (ML) has made incredible impacts and transformations in a wide range of vehicular applications. As the use of ML in Internet of Vehicles (IoV) continues to advance, adversarial threats and their impact have become an important subject of research worth exploring. In this paper, we focus on Sybil-based adversarial threats against a deep reinforcement learning (DRL)-assisted IoV framework and more specifically, DRL-based dynamic service placement in IoV. We carry out an experimental study with real vehicle trajectories to analyze the impact on service delay and resource congestion under different attack scenarios for the DRL-based dynamic service placement application. We further investigate the impact of the proportion of Sybil-attacked vehicles in the network. The results demonstrate that the performance is significantly affected by Sybil-based data poisoning attacks when compared to adversary-free healthy network scenario.
As intelligent transportation systems been implemented broadly and unmanned arial vehicles (UAVs) can assist terrestrial base stations acting as multi-access edge computing (MEC) to provide a better wireless network communication for Internet of Vehicles (IoVs), we propose a UAVs-assisted approach to help provide a better wireless network service retaining the maximum Quality of Experience(QoE) of the IoVs on the lane. In the paper, we present a Multi-Agent Graph Convolutional Deep Reinforcement Learning (M-AGCDRL) algorithm which combines local observations of each agent with a low-resolution…
Proactive edge association is capable of improving wireless connectivity at the cost of increased handover (HO) frequency and energy consumption, while relying on a large amount of private information sharing required for decision making. In order to improve the connectivity-cost trade-off without privacy leakage, we investigate the privacy-preserving joint edge association and power allocation (JEAPA) problem in the face of the environmental uncertainty and the infeasibility of individual learning. Upon modelling the problem by a decentralized partially observable Markov Decision Process (Dec…
Tsinghua University（清华大学）；Anhui Jianghuai Automobile Co Ltd（安徽江淮汽车集团股份有限公司）
Autonomous vehicles must be comprehensively evaluated before deployed in cities and highways. However, most existing evaluation approaches for autonomous vehicles are static and lack adaptability, so they are usually inefficient in generating challenging scenarios for tested vehicles. In this paper, we propose an adaptive evaluation framework to efficiently evaluate autonomous vehicles in adversarial environments generated by deep reinforcement learning. Considering the multimodal nature of dangerous scenarios, we use ensemble models to represent different local optimums for diversity. We then…
The growth of 5G and edge computing has enabled the emergence of Internet of Vehicles. It supports different types of services with different resource and service requirements. However, limited resources at the edge, high mobility of vehicles, increasing demand, and dynamicity in service request-types have made service placement a challenging task. A typical static placement solution is not effective as it does not consider the traffic mobility and service dynamics. Handling dynamics in IoV for service placement is an important and challenging problem which is the primary focus of our work in …
Internet of vehicles is a promising area related to D2D communication and internet of things. We present a novel perspective for vehicular communications, social vehicle swarms, to study and analyze socially aware internet of vehicles with the assistance of an agent-based model intended to reveal hidden patterns behind superficial data. After discussing its components, namely its agents, environments, and rules, we introduce supportive technology and methods, deep reinforcement learning, privacy preserving data mining and sub-cloud computing, in order to detect the most significant and interes…
Xidian University（西安电子科技大学）；Deakin University（迪肯大学）；University of Macau（澳门大学）
Mobile edge computing has become an effective and fundamental paradigm for futuristic autonomous vehicles to offload computing tasks. However, due to the high mobility of vehicles, the dynamics of the wireless conditions, and the uncertainty of the arrival computing tasks, it is difficult for a single vehicle to determine the optimal offloading strategy. In this paper, we propose a Digital Twin (DT) empowered task offloading framework for Internet of Vehicles. As a software agent residing in the cloud, a DT can obtain both global network information by using communications among DTs, and histo…
Due to the rapid growth of data transmissions in internet of vehicles (IoV), finding schemes that can effectively alleviate access congestion has become an important issue. Recently, many traffic control schemes have been studied. Nevertheless, the dynamics of traffic and the heterogeneous requirements of different IoV applications are not considered in most existing studies, which is significant for the random access resource allocation. In this paper, we consider a hybrid traffic control scheme and use proximal policy optimization (PPO) method to tackle it. Firstly, IoV devices are divided i…
Adversarial Generative Flow Network for Solving Vehicle Routing Problems
Singapore Management University（新加坡管理大学）；Singapore Institute of Manufacturing Technology (SIMTech), Agency of Science, Technology and Research (A*STAR)（新加坡制造技术研究院（新加坡科技研究局下属机构））
Korea Advanced Institute of Science and Technology（韩国科学技术院）；The University of Queensland（昆士兰大学）
Recently, an abundant amount of urban vehicle trajectory data has been collected in road networks. Many studies have used machine learning algorithms to analyze patterns in vehicle trajectories to predict location sequences of individual travelers. Unlike the previous studies that used a discriminative modeling approach, this research suggests a generative modeling approach to learn the underlying distributions of urban vehicle trajectory data. A generative model for urban vehicle trajectories can better generalize from training data by learning the underlying distribution of the training data…
A Learning-based Incentive Mechanism for Mobile AIGC Service in Decentralized Internet of Vehicles
School of Computer Science and Engineering, Nanyang Technological University（南洋理工大学计算机科学与工程学院）；College of Control Science and Engineering, Zhejiang University（浙江大学控制科学与工程学院）
Adversarial examples are firstly investigated in the area of computer vision: by adding some carefully designed ''noise'' to the original input image, the perturbed image that cannot be distinguished from the original one by human, can fool a well-trained classifier easily. In recent years, researchers also demonstrated that adversarial examples can mislead deep reinforcement learning (DRL) agents on playing video games using image inputs with similar methods. However, although DRL has been more and more popular in the area of intelligent transportation systems, there is little research invest…
Semantic-Aware Spectrum Sharing in Internet of Vehicles Based on Deep Reinforcement Learning
School of Internet of Things Engineering, Jiangnan University（江南大学物联网工程学院）；Department of Electronic Engineering, Beijing National Research Center for Information Science and Technology, Tsinghua University（清华大学电子工程系，北京信息科学与技术国家研究中心）；State Key Lab. of ISN and School of Telecommunications Engineering, Xidian University（西安电子科技大学信息与通信系统国家重点实验室及电信工程学院）；School of Engineering, University of Kent（肯特大学工程学院）；Department of Electrical and Computer Engineering, Hong Kong University of Science and Technology (HKUST)（香港科技大学电子与计算机工程系）
To improve efficiency and reduce failures in autonomous vehicles, research has focused on developing robust and safe learning methods that take into account disturbances in the environment. Existing literature in robust reinforcement learning poses the learning problem as a two player game between the autonomous system and disturbances. This paper examines two different algorithms to solve the game, Robust Adversarial Reinforcement Learning and Neural Fictitious Self Play, and compares performance on an autonomous driving scenario. We extend the game formulation to a semi-competitive setting a…
With the rapidly growing interest in autonomous navigation, the body of research on motion planning and collision avoidance techniques has enjoyed an accelerating rate of novel proposals and developments. However, the complexity of new techniques and their safety requirements render the bulk of current benchmarking frameworks inadequate, thus leaving the need for efficient comparison techniques unanswered. This work proposes a novel framework based on deep reinforcement learning for benchmarking the behavior of collision avoidance mechanisms under the worst-case scenario of dealing with an opt…
Western University（韦仕敦大学）；S2E Technologies（S2E科技公司）
Modern vehicles, including autonomous vehicles and connected vehicles, have adopted an increasing variety of functionalities through connections and communications with other vehicles, smart devices, and infrastructures. However, the growing connectivity of the Internet of Vehicles (IoV) also increases the vulnerabilities to network attacks. To protect IoV systems against cyber threats, Intrusion Detection Systems (IDSs) that can identify malicious cyber-attacks have been developed using Machine Learning (ML) approaches. To accurately detect various types of attacks in IoV networks, we propose…
Modern vehicles, including autonomous vehicles and connected vehicles, are increasingly connected to the external world, which enables various functionalities and services. However, the improving connectivity also increases the attack surfaces of the Internet of Vehicles (IoV), causing its vulnerabilities to cyber-threats. Due to the lack of authentication and encryption procedures in vehicular networks, Intrusion Detection Systems (IDSs) are essential approaches to protect modern vehicle systems from network attacks. In this paper, a transfer learning and ensemble learning-based IDS is propos…
In a modern vehicle, there are over seventy Electronics Control Units (ECUs). For an in-vehicle network, ECUs communicate with each other by following a standard communication protocol, such as Controller Area Network (CAN). However, an attacker can easily access the in-vehicle network to compromise ECUs through a WLAN or Bluetooth. Though there are various deep learning (DL) methods suggested for securing in-vehicle networks, recent studies on adversarial examples have shown that attackers can easily fool DL models. In this research, we further explore adversarial examples in an in-vehicle ne…
Western University（西部大学）；National Research Council (NRC)（国家研究委员会）
The use of autonomous vehicles (AVs) is a promising technology in Intelligent Transportation Systems (ITSs) to improve safety and driving efficiency. Vehicle-to-everything (V2X) technology enables communication among vehicles and other infrastructures. However, AVs and Internet of Vehicles (IoV) are vulnerable to different types of cyber-attacks such as denial of service, spoofing, and sniffing attacks. In this paper, an intelligent intrusion detection system (IDS) is proposed based on tree-structure machine learning models. The results from the implementation of the proposed intrusion detecti…
Modern vehicles, including connected vehicles and autonomous vehicles, nowadays involve many electronic control units connected through intra-vehicle networks to implement various functionalities and perform actions. Modern vehicles are also connected to external networks through vehicle-to-everything technologies, enabling their communications with other vehicles, infrastructures, and smart devices. However, the improving functionality and connectivity of modern vehicles also increase their vulnerabilities to cyber-attacks targeting both intra-vehicle and external networks due to the large at…
University of California, San Diego（加州大学圣地亚哥分校）；San Diego State University（圣地亚哥州立大学）
Industrial Internet of Things (I-IoT) is a collaboration of devices, sensors, and networking equipment to monitor and collect data from industrial operations. Machine learning (ML) methods use this data to make high-level decisions with minimal human intervention. Data-driven predictive maintenance (PDM) is a crucial ML-based I-IoT application to find an optimal maintenance schedule for industrial assets. The performance of these ML methods can seriously be threatened by adversarial attacks where an adversary crafts perturbed data and sends it to the ML model to deteriorate its prediction perf…
Beijing Information Science and Technology University（北京信息科技大学）
Federated Deep Learning (FDL) is helping to realize distributed machine learning in the Internet of Vehicles (IoV). However, FDL's global model needs multiple clients to upload learning model parameters, thus still existing unavoidable communication overhead and data privacy risks. The recently proposed Swarm Learning (SL) provides a decentralized machine-learning approach uniting edge computing and blockchain-based coordination without the need for a central coordinator. This paper proposes a Swarm-Federated Deep Learning framework in the IoV system (IoV-SFDL) that integrates SL into the FDL …
Integration of Mixture of Experts and Multimodal Generative AI in Internet of Vehicles: A Survey
Nanyang Technological University（南洋理工大学）；Guangdong University of Technology（广东工业大学）；Singapore University of Technology and Design（新加坡科技设计大学）；University of Sydney（悉尼大学）；City University of Hong Kong（香港城市大学）；Sungkyunkwan University（成均馆大学）；University of Waterloo（滑铁卢大学）
Beyond Crash: Hijacking Your Autonomous Vehicle for Fun and Profit
Johns Hopkins University（约翰斯·霍普金斯大学）；Johns Hopkins University Applied Physics Laboratory（约翰斯·霍普金斯大学应用物理实验室）；University of California, Santa Cruz（加州大学圣克鲁兹分校）
World wide road traffic fatality and accident rates are high, and this is true even in technologically advanced countries like the USA. Despite the advances in Intelligent Transportation Systems, safe transportation routing i.e., finding safest routes is largely an overlooked paradigm. In recent years, large amount of traffic data has been produced by people, Internet of Vehicles and Internet of Things (IoT). Also, thanks to advances in cloud computing and proliferation of mobile communication technologies, it is now possible to perform analysis on vast amount of generated data (crowd sourced)…
City University of Hong Kong（香港城市大学）；University of Victoria（维多利亚大学）；University of Puerto Rico at Mayagüez（波多黎各大学马亚圭斯分校）
In recent years, many deep learning models have been adopted in autonomous driving. At the same time, these models introduce new vulnerabilities that may compromise the safety of autonomous vehicles. Specifically, recent studies have demonstrated that adversarial attacks can cause a significant decline in detection precision of deep learning-based 3D object detection models. Although driving safety is the ultimate concern for autonomous driving, there is no comprehensive study on the linkage between the performance of deep learning models and the driving safety of autonomous vehicles under adv…
With the incoming introduction of 5G networks and the advancement in technologies, such as Network Function Virtualization and Software Defined Networking, new and emerging networking technologies and use cases are taking shape. One such technology is the Internet of Vehicles (IoV), which describes an interconnected system of vehicles and infrastructure. Coupled with recent developments in artificial intelligence and machine learning, the IoV is transformed into an Intelligent Transportation System (ITS). There are, however, several operational considerations that hinder the adoption of ITS sy…
Centre for Intelligent Sensing, Queen Mary University of London（伦敦玛丽女王大学智能感知中心）；Ecole Polytechnique Fédérale de Lausanne (EPFL)（洛桑联邦理工学院）
Autonomous Vehicles rely on accurate and robust sensor observations for safety critical decision-making in a variety of conditions. Fundamental building blocks of such systems are sensors and classifiers that process ultrasound, RADAR, GPS, LiDAR and camera signals~\cite{Khan2018}. It is of primary importance that the resulting decisions are robust to perturbations, which can take the form of different types of nuisances and data transformations, and can even be adversarial perturbations (APs). Adversarial perturbations are purposefully crafted alterations of the environment or of the sensory …
Blockchain-Enabled Variational Information Bottleneck for Data Extraction Based on Mutual Information in Internet of Vehicles
School of Internet of Things Engineering, Wuxi Institute of Technology（物联网工程学院、无锡科技学院）；School of Internet of Things Engineering, Jiangnan University（物联网工程学院、江南大学）；Department of Electronic Engineering, Beijing National Research Center for Information Science and Technology, Tsinghua University（电子工程系、信息科学与技术国家研究中心、清华大学）；State Key Lab. of ISN and School of Telecommunications Engineering, Xidian University（信息与通信工程学院、西安电子科技大学）；Department of Electronic Engineering, Shanghai JiaoTong University（电子工程系、上海交通大学）；Department of Electrical and Computer Engineering, the Hong Kong University of Science and Technology (HKUST)（电气与计算机工程系、香港科技大学）
Nanyang Technological University（南洋理工大学）；Alibaba-NTU Singapore Joint Research Institute（阿里巴巴-新加坡南洋理工大学联合研究院）
Internet of Vehicles (IoV) is a promising branch of the Internet of Things. IoV simulates a large variety of crowdsourcing applications such as Waze, Uber, and Amazon Mechanical Turk, etc. Users of these applications report the real-time traffic information to the cloud server which trains a machine learning model based on traffic information reported by users for intelligent traffic management. However, crowdsourcing application owners can easily infer users' location information, which raises severe location privacy concerns of the users. In addition, as the number of vehicles increases, the…
Mitsubishi Electric Research Laboratories (MERL)（三菱电机研究实验室）；Information Technology R&D Center, Mitsubishi Electric Corporation（三菱电机株式会社信息技术研发中心）；NC State University（北卡罗来纳州立大学）
While privacy concerns entice connected and automated vehicles to incorporate on-board federated learning (FL) solutions, an integrated vehicle-to-everything communication with heterogeneous computation power aware learning platform is urgently necessary to make it a reality. Motivated by this, we propose a novel mobility, communication and computation aware online FL platform that uses on-road vehicles as learning agents. Thanks to the advanced features of modern vehicles, the on-board sensors can collect data as vehicles travel along their trajectories, while the on-board processors can trai…
Deep neural networks have demonstrated their capability to learn control policies for a variety of tasks. However, these neural network-based policies have been shown to be susceptible to exploitation by adversarial agents. Therefore, there is a need to develop techniques to learn control policies that are robust against adversaries. We introduce Adversarially Robust Control (ARC), which trains the protagonist policy and the adversarial policy end-to-end on the same loss. The aim of the protagonist is to maximise this loss, whilst the adversary is attempting to minimise it. We demonstrate the …
Rafael - Advanced Defense Systems Ltd.（拉斐尔先进防务系统有限公司）
In this paper, we present a proof of concept for adversarially attacking the image-based localization module of an autonomous vehicle. This attack aims to cause the vehicle to perform a wrong navigational decisions and prevent it from reaching a desired predefined destination in a simulated urban environment. A database of rendered images allowed us to train a deep neural network that performs a localization task and implement, develop and assess the adversarial pattern. Our tests show that using this adversarial attack we can prevent the vehicle from turning at a given intersection. This is d…
Information Technology University (ITU)（信息技术大学（ITU））；Hamad Bin Khalifa University (HBKU)（哈马德本哈利法大学（HBKU））
Connected and autonomous vehicles (CAVs) will form the backbone of future next-generation intelligent transportation systems (ITS) providing travel comfort, road safety, along with a number of value-added services. Such a transformation---which will be fuelled by concomitant advances in technologies for machine learning (ML) and wireless communications---will enable a future vehicular ecosystem that is better featured and more efficient. However, there are lurking security problems related to the use of ML in such a critical setting where an incorrect ML decision may not only be a nuisance but…
Nanchang Institute of Technology（南昌工程学院）；King’s College London（伦敦国王学院）
The challenge of dynamic traffic demand in mobile networks is tackled by moving cells based on unmanned aerial vehicles. Considering the tremendous potential of unmanned aerial vehicles in the future, we propose a new heuristic algorithm for coverage optimization. The proposed algorithm is implemented based on a conditional generative adversarial neural network, with a unique multilayer sum-pooling loss function. To assess the performance of the proposed approach, we compare it with the optimal core-set algorithm and quasi-optimal spiral algorithm. Simulation results show that the proposed app…
Korea University（高丽大学）；Mofl Inc.（Mofl 公司）；Hallym University（翰林大学）；California State University, Long Beach（加州州立大学长滩分校）
Self-driving cars and autonomous driving research has been receiving considerable attention as major promising prospects in modern artificial intelligence applications. According to the evolution of advanced driver assistance system (ADAS), the design of self-driving vehicle and autonomous driving systems becomes complicated and safety-critical. In general, the intelligent system simultaneously and efficiently activates ADAS functions. Therefore, it is essential to consider reliable ADAS function coordination to control the driving system, safely. In order to deal with this issue, this paper p…
Spatial Temporal Attention based Target Vehicle Trajectory Prediction for Internet of Vehicles
The School of Computer Science and Technology, Hangzhou Dianzi University（杭州电子科技大学计算机科学与技术学院）；The School of Automation, Hangzhou Dianzi University（杭州电子科技大学自动化学院）；The China Mobile Information Technology Co., Ltd.（中国移动信息技术有限公司）；The Key Laboratory for Information Science of Electromagnetic Waves (MoE), Fudan University（复旦大学电磁波信息科学教育部重点实验室）
To reap the benefits of the Internet of Things (IoT), it is imperative to secure the system against cyber attacks in order to enable mission critical and real-time applications. To this end, intrusion detection systems (IDSs) have been widely used to detect anomalies caused by a cyber attacker in IoT systems. However, due to the large-scale nature of the IoT, an IDS must operate in a distributed manner with minimum dependence on a central controller. Moreover, in many scenarios such as health and financial applications, the datasets are private and IoTDs may not intend to share such data. To t…
The nexus between transportation, the power grid, and consumer behavior is more pronounced than ever before as the race to decarbonize the transportation sector intensifies. Electrification in the transportation sector has led to technology shifts and rapid deployment of electric vehicles (EVs). The potential increase in stochastic and spatially heterogeneous charging load presents a unique challenge that is not well studied, and will have significant impacts on grid operations, emissions, and system reliability if not managed effectively. Realistic scenario generators can help operators prepa…
In this paper, the design of a rational decision support system (RDSS) for a connected and autonomous vehicle charging infrastructure (CAV-CI) is studied. In the considered CAV-CI, the distribution system operator (DSO) deploys electric vehicle supply equipment (EVSE) to provide an EV charging facility for human-driven connected vehicles (CVs) and autonomous vehicles (AVs). The charging request by the human-driven EV becomes irrational when it demands more energy and charging period than its actual need. Therefore, the scheduling policy of each EVSE must be adaptively accumulated the irrationa…
Sparse Federated Training of Object Detection in the Internet of Vehicles
Nanjing University of Science and Technology（南京理工大学）；Zhejiang Lab（之江实验室）；Data61, CSIRO（澳大利亚联邦科学与工业研究组织Data61）；Nanjing University of Aeronautics and Astronautics（南京航空航天大学）
University of Technology Sydney（悉尼科技大学）；Universitas Gadjah Mada（加查马达大学）；University College Dublin（都柏林大学学院）；Sun Yat-sen University（中山大学）
Federated learning (FL) can empower Internet-of-Vehicles (IoV) networks by leveraging smart vehicles (SVs) to participate in the learning process with minimum data exchanges and privacy disclosure. The collected data and learned knowledge can help the vehicular service provider (VSP) improve the global model accuracy, e.g., for road safety as well as better profits for both VSP and participating SVs. Nonetheless, there exist major challenges when implementing the FL in IoV networks, such as dynamic activities and diverse quality-of-information (QoI) from a large number of SVs, VSP's limited pa…
The Alan Turing Institute（艾伦·图灵研究所）；University of Bristol（布里斯托大学）
Future Connected and Automated Vehicles (CAV), and more generally ITS, will form a highly interconnected system. Such a paradigm is referred to as the Internet of Vehicles (herein Internet of CAVs) and is a prerequisite to orchestrate traffic flows in cities. For optimal decision making and supervision, traffic centres will have access to suitably anonymized CAV mobility information. Safe and secure operations will then be contingent on early detection of anomalies. In this paper, a novel unsupervised learning model based on deep autoencoder is proposed to detect the self-reported location ano…
