Browse Topic: Communication systems

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Leveraging Standards-Based MOSA for SWaP-Constrained Deployable Systems with VNX+2026-01-75369/22/2026
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Littlefield, Mark
Cooperative Object Tracking for Improved World Modeling in Multi-Agent Systems2026-01-75169/22/2026
This paper presents a cooperative object tracking framework that enables robots to share object observations, improving world model accuracy and consistency in environments with occlusions. An open-source, MHT-based object tracking package was applied in conjunction with an inter-robot communication system developed to fuse object observations across multiple robots. Experimental results demonstrate greater than 1.4-fold improvements in tracking performance in cluttered, occluded environments compared to individual tracking.
Kennedy, William, Alton, Nicholas
Advanced Brake Force Distribution and Pad Wear Life Integration in Supervisory Electronic Brake Control System for Combination Vehicles2026-01-07979/14/2026
Commercial vehicle fleets frequently operate with tractors that connect to different trailers and dollies, resulting in combinations with varying brake pad wear across wheel ends. Traditional brake-force distribution strategies do not consider these pad-life differences, which can lead to uneven brake utilization, irregular maintenance intervals, and increased total cost of ownership (TCO) in mixed-trailer operations [7, 9]. While modern electronically controlled braking systems (EBS) already incorporate pad wear based braking for the tractor itself [5], these capabilities do not extend across the entire vehicle combination because trailer-side communication is typically limited to standardized CAN protocols such as ISO 11992 and J1939 [1, 2, 3]. As braking systems become more software defined and rely heavily on distributed electronic communication, ensuring the authenticity and integrity of trailer originated brake information becomes essential for both functional safety and cybersecurity [6]. In the proposed architecture, trailers and dollies communicate brake related data to the tractor over the ISO 11992 Tractor-Trailer CAN (TT-CAN) network [1, 2], allowing the tractor Brake Control ECU to securely validate the source of the information and register each towed unit for health aware braking. Once authenticated pad life data is available, the tractor constructs a combination level brake health map covering every wheel end in the configuration. During normal braking, a supervisory allocator computes wheel end specific brake pressure targets that bias braking toward wheel ends with greater remaining pad life while ensuring full compliance with stopping distance regulations and stability requirements [4, 7]. By integrating authenticated pad wear information with tractor hosted supervisory control, the system improves braking consistency across mixed combinations, harmonizes pad utilization, enhances maintenance predictability, and reduces TCO while meeting the safety and cybersecurity expectations of modern commercial vehicle fleets.
Ganesha, Vinodkumar
Train Delay Reduction Approach based on a Virtually Coupled Trains Following Model with Timetable Recovery Process: A Case of High-Speed Rail2026-99-15169/11/2026
One challenge in railway operation is how to achieve high levels of punctuality and reliability. However, especially in peak hour operation, a high volume of train traffic will affect timetables, which are more sensitive to the increase in travel time. The concept of virtual coupling has been introduced for controlling train movement mainly to increase capacity. As the operation under virtual coupling requires a short separation distance between trains, it might be applied to reduce the delay and recover the train timetable. However, there is no approach proposed detailing how the coupling is applied to reduce delay. In this paper, the virtual coupling state movement approach based on a vehicle following model with the coupling conditions determined to couple a group of trains for reducing or preventing secondary delay is proposed. The train operation under the proposed approach is simulated in MATLAB software, then applied to the hypothetical case, High-speed line, Bangkok - Nakhon Ratchasima, Thailand. The delay analysis is performed, and the waiting probability is determined to prove the effectiveness of the proposed approach. The simulation results show that trains will be virtually coupled with their front train as a form of train convoy when they cannot proceed at the ideal speed. Thus, operating train movement based on the proposed approach can reduce secondary delay and bring a train to arrive on time compared to the operation under the moving block control.
Chansong, Sukanya, Ketphat, Naphat
A Method for Resolving Two-Vehicle Conflicts at Unsignalized Intersections Based on Adaptive TTC and Traffic Rules2026-99-11409/11/2026
To address the challenges of unsignalized intersections—where the absence of traffic signals leads to high computational complexity and poor real-time performance in existing cooperative methods—this paper proposes a lightweight, real-time conflict resolution strategy for two-vehicle scenarios. First, a traffic rule matrix is constructed based on China’s Road Traffic Safety Law Implementation Regulations, digitizing right-of-way priorities to achieve millisecond-level conflict detection. Second, we introduce an adaptive TTC threshold function to dynamically adjust the warning time between vehicles based on the vehicle speed. Finally, based on the type and priority of the conflict, the speed adjustment value is obtained through the parsing method, enabling real-time calculation of the deceleration amount without the need for iterative optimization. Simulation results in SUMO demonstrate that, compared to the default uncoordinated mode, the strategy reduces the delay in converging conflicts from 4.87 s to 2.87ds and cuts the deceleration frequency by 37.5%. For crossing conflicts, high-priority vehicle deceleration events drop from 8 to 1, and speed standard deviation decreases from 1.27 m/s to 0.78dm/s. This method reduces the computational load while ensuring security, providing a practical solution for cooperative driving at unsignalized intersections in the V2X environment.
Wang, Xinxin, Zhang, Xin
Intelligent Connected Road Test Brake Throttle Robot Calibration Method2026-99-11209/11/2026
With the development of intelligent connected vehicle (ICV) technology, road testing has become a key guarantee for verifying the safety and reliability of automobiles. The brake pedal robot basically eliminates human differences in complex scenes by simulating human operation. Therefore, the accuracy of the actions performed by these robots directly determines the validity of the test results. However, the current study lacks a uniform calibration standard, resulting in reduced execution accuracy. In order to meet the requirements of precision and a unified standard for the test, this research analyzes the metrological characteristics of brake pedal robot. Based on this, a systematic calibration framework was established to verify key performance parameters. Specifically, the pedal speed is dynamically calibrated using high-precision accelerometers, and pedal force is verified through a dedicated calibration device that integrates standard force sensors. And the pedal space travel is measured using a portable three coordinate articulated arm system. Experimental verification shows that the proposed method can strictly control the pedal speed error within ± 5%, pedal force error within ± 3%, and pedal stroke error within ± 2 mm, fully meeting the requirements of ICV road testing. This study provides a standardized framework and scientific basis for calibration, improving the accuracy and credibility of road test data, thereby supporting safer deployment of intelligent driving systems.
Chen, Xi, Ma, Siyao, Feng, Zhu
Research on High-Reliability Testing Systems for Intelligent and Connected Vehicle2026-99-11119/11/2026
With the large-scale application of intelligent connected vehicles, the verification of their functional safety and reliability has become a core bottleneck in the industrial development. The traditional real- vehicle road test method can no longer meet the current demand for large-scale test verification due to problems such as high cost, low efficiency, and difficulty in reproducing dangerous scenarios. This paper studies the vehicle-in-the-loop simulation test system based on a digital twin. By constructing a virtual scenario highly consistent with the real world, physical-level multi-source perception signals are simulated and mapped to the system under test to enable high- reliability verification of real vehicles. In terms of lateral and longitudinal control functions, multiple sets of test cases are selected respectively for comparison between road tests and virtual simulation tests. The results show that the accuracy of key indicators is above 90%, which provides practical reference for the subsequent test and verification system of high-level autonomous driving.
Hou, Quanshan, Tang, Ke, Gao, Tian, Chen, Tao, Zhou, Si
Analysis of Latency-Influencing Factors in Vehicle-Road-Cloud Integrated Systems Based on Fault Tree Analysis and Analytic Hierarchy Process2026-99-15439/11/2026
Vehicle–road–cloud integrated systems have great potential in terms of improving traffic efficiency and achieving intelligent automatic driving through the integration of on–board terminals, roadside facilities, and cloud computing. However, their operational capabilities are heavily reliant on ultra-low-latency collaborative communication. This paper constructs a latency fault tree model to comprehensively analyze multi-source triggering paths of computation delay and reveals the formation mechanism of the delay path from “germination–induction–evolution”. On this basis, the Analytic Hierarchy Process is used to construct a three-level evaluation framework, and the influencing factors are quantitatively evaluated using NS-3 simulation data of the 004-V2X Communication Performance Testing Dataset. The result shows that the weight value of the network communication layer is the largest, 0.498, which shows that the bottleneck of performance in network communication is the wireless link quality. The cloud processing layer is second 0.327, which is dominated by the computational complexity and resource allocation policy. The impact of the onboard terminal layer is the smallest, 0.175. The FTA–AHP framework supported by empirical data can find the key factors affecting delay, which can help engineering optimization. It is noted that the AHP consistency check (CR) just checks the inner transitivity of expert judgment (i.e., the matrix consistency), while it cannot assure the objectivity and the bias elimination. We reduce the subjectivity by combining multiple experts, anchoring judgment with the simulation data, and performing a sensitivity check on the perturbation of the weights.
Xu, Yunchuan, Wang, Xiaomeng, Wang, Yan
Simulation and Experimental Evaluation of a Vehicle–Road Cooperative Positioning Method in Global Navigation Satellite Systems (GNSS)-Denied Environments12-09-04-00297/29/2026
In complex urban environments, vehicle positioning based on Global Navigation Satellite Systems (GNSS) is prone to failure or accuracy degradation due to signal blockage and multipath effects. To address this issue, this article proposes a vehicle–road cooperative positioning method based on factor graph optimization for GNSS-denied environments and evaluates its performance through both simulation and real-vehicle experiments. In the proposed approach, road codes deployed on the road surface serve as absolute position references on the road surface, and high-precision vehicle position estimates are obtained in real time by fusing roadside positioning information with onboard sensor measurements using factor graph optimization. Furthermore, to reduce the experimental cost and development cycle of the vehicle–road cooperative positioning method, a performance simulation platform is developed based on the CARLA simulator, RoadRunner, and the CARLA-ROS (Robot Operating System) bridge for real-time communication between simulation and positioning modules. The platform supports road code generation and deployment, customized scenario construction, and positioning performance simulation, and a multi-objective optimization approach is employed to obtain an optimal deployment scheme for road code spacing. Finally, the effectiveness of the proposed vehicle–road cooperative positioning method is validated through both simulation and real-vehicle experiments. Real-vehicle experiments show that the proposed method reduces the average RMSE (Root Mean Square Error) by 26.6% compared with the ESKF (Error State Kalman Filter) baseline, achieving an RMSE of 0.25 m and a maximum error of 0.95 m at a vehicle speed of 60 km/h and a 10 m code spacing, thereby confirming decimeter-level continuous accuracy in GNSS-denied environments.
Shen, Chuanfu, Zhao, Zhiguo, Yan, Danshu, Ling, Yubin
A Review of Physical and Digital Infrastructure Standards and Guidelines to Support Deployment of Automated Vehicles in Rural Environments12-09-04-00307/23/2026
Connected and Automated Vehicles (CAVs) represent a transformative innovation poised to revolutionize roadway transportation by leveraging automated driving systems equipped with advanced sensors, high-performance computing, and communication technologies. While urban areas are the primary focus of current CAV developments, rural transportation systems risk being left behind despite the significant benefits that CAVs can bring to these regions. This article, therefore, explores the physical and digital infrastructure requirements for the safe deployment of CAVs in rural areas, drawing insights from standards, recommendations, and guidelines developed by leading standard organizations. The study highlights the specific design of physical infrastructure, including traffic signs, traffic signals, and pavement markings, and digital infrastructure, including communication, sensing, and mapping, to ensure rural communities are effectively prepared to benefit from the potential of CAVs. As its primary contribution, this article provides a comprehensive review of existing standards and guidelines relevant to rural CAV deployment. By synthesizing guidance across multiple standard-setting organizations, this review delivers a structured analytical assessment of existing standards, revealing their limitations and misalignment with rural transportation contexts while highlighting emerging good practices. The article clarifies the applicability of current guidance to rural infrastructure, identifies systemic infrastructure-related failure modes, and informs context-aware planning considerations for efficient and scalable CAV deployment in rural areas.
Zakaria, Mohammed, Getahun, Tesfamichael, Tavasoli, Mahsa, Pandey, Venktesh, Sarrafzadeh, Abdolhossein, Karimoddini, Ali
Towards a Smarter E-Bike: Enhancing Energy Efficiency through Adaptive Speed Control2026-01-07367/1/2026
This paper presents the development of a speed controller for e-bikes, designed as part of an energy-adaptive assistance system. The controller provides riders with appropriate support along planned routes, based on the available battery capacity. The control concept is intended for integration into existing commercial e-bikes without requiring extensive modifications to the drive system. Therefore, the rider remains part of the control loop, adjusting the support mode according to instructions from the controller. The speed controller is implemented as a rule-based state machine, enabling comprehensible design and parameterization. Since the rider must manually switch between support modes while riding, the control logic incorporates hysteresis and dead times to ensure stability, prevent oscillations, and avoid frequent mode switching. The user interface is a smartphone application that issues visual and audio instructions for switching support modes. An initial, system-independent version that relied on GPS-based speed measurement was found to be insufficiently accurate for the control task. Furthermore, it was found that detection of the pedaling state was essential for proper operation. To address these issues, a Bluetooth-based hardware adapter was developed to access relevant signals from the e-bike’s CAN bus communication system. These include pedal power, cadence and speed, which are made accessible through reverse engineering of the CAN bus. The proposed concept is evaluated in a chassis dynamometer study with 13 participants on two test profiles: a synthetic gradient profile for assessing control stability and a realistic elevation profile for dynamic evaluation. Additional measurements taken with one of the test riders at different speeds demonstrate the system’s reliability and its potential to improve the energy efficiency. The results show that, with approximately the same power brought in by the rider, only 27% more electrical energy is required to increase the average speed by 45%.
Rauch, Yannick, Simmann, Gabriel, Schneider, Manuel, Goss, Christian, Kriesten, Reiner
Cooperative Edge Extension for Automated Driving Level 4 and Beyond2026-01-07767/1/2026
Electrical/Electronic Architectures (EEAs) are continuously evolving to meet newly emerging demands. In recent years, major drivers of this evolution have been the increasing software-defined nature of vehicles and the push toward automated driving. Key technologies such as edge-enhanced functions, vehicle-to-vehicle communication, and service-oriented architectures are therefore the focus of current research efforts. This paper presents a vision of how these technologies can be used to enable cooperation between vehicles, illustrated by using parked vehicles as edge nodes. These are typically seen as obstructions, as they significantly increase the risk of missing or misinterpreting vulnerable road users such as pedestrians or cyclists. Our proposed approach to counteract this problem is the use of the parked vehicles themselves as edge nodes that support object detection or even trajectory planning. Current research primarily considers smart traffic infrastructure, roadside units, and other vehicles as potential edge nodes. Including parked vehicles as edge nodes means that, instead of acting solely as obstacles, we leverage their built-in sensors to contribute to cooperative awareness. While such cooperation will enhance the safety of automated vehicles in urban areas, several challenges arise. In this paper, we discuss how data traceability, decision-making in the presence of conflicting information, and incentive mechanisms for owners of parked vehicles can be addressed. Based on these challenges, the paper outlines requirements for future cooperative architecture and highlights the role of edge-enhanced functions, Vehicle-to-Vehicle (V2V) communication, and service-oriented architectures in enabling fully automated driving.
Lüntzel, Vitus, Lukezic, Nikola, Kraus, David, Seidel, Luca, Beck, Maximilian, Schindewolf, Marc, Sax, Eric
Impact of Network-Induced Delays on Autonomous Vehicle Steering Stability10-10-03-00246/25/2026
This article presents a cross-layer framework that integrates realistic vehicle-to-network-to-vehicle (V2N2V) delay characterization with a rigorous stability analysis of automated vehicle steering control. Both constant and network-induced time-varying delays modeled via deterministic bounds are addressed. For constant delays, delay-independent stability regions within the controller gain space are analytically derived. For time-varying delays with stochastic network origins, modeled using deterministic bounds, a refined Lyapunov–Krasovskii functional (LKF) incorporating augmented single- and double-integral terms is constructed. To establish delay-dependent linear matrix inequality (LMI) conditions, a reciprocally convex combination approach is employed to handle the delay interval partitioning, and the second-order Bessel–Legendre inequality is applied to tighten the integral quadratic bounds. The resulting LMI conditions explicitly capture the coupled effects of delay magnitude, delay variation rate, and control gains on closed-loop stability. Simulations of a lane-keeping scenario confirm that the predicted stability boundaries accurately match the closed-loop system behavior. Notably, incorporating a realistic time-varying V2N2V delay profile into the controller design reduces the lateral-state root-mean-square error (RMSE) by over 54% and decreases the settling time by a factor of 10 compared to designs relying on an average-delay assumption. However, high packet loss rates are shown to still induce residual oscillations due to information scarcity. Ultimately, these results elucidate delay-induced instability mechanisms and provide practical guidelines for designing delay-robust steering controllers for connected and automated vehicles.
Li, Jialin, Lu, Jianwei, Wei, Heng, Ao, Di
Enabling Flexibility Services through Interoperable V2X Infrastructures: Advanced Modeling and Operational Validation in the FLEXV2X Project2026-37-00246/9/2026
The integration of Electric Vehicles (EVs) as active grid resources represents a pivotal shift towards decarbonization. However, the implementation of effective Vehicle-to-Everything (V2X) services faces technical challenges regarding interoperability, predictive management, and battery health preservation. This work presents a comprehensive system design and research methodology developed within the framework of the FLEXV2X project, aimed at addressing interdependencies within a unified bidirectional charging ecosystem. The proposed scientific framework addresses two complementary timescales. At the device level, the study details the modelling and optimization of bidirectional converters, focusing on control algorithms designed to ensure robust dynamic response and efficiency. Building upon this hardware foundation, the paper describes a system-level optimization strategy. By employing open-source cyber-physical modelling, the architecture simulates complex EV-grid interactions. This layer integrates Artificial Intelligence (AI) algorithms to forecast stochastic variables such as renewable generation and fleet availability, driving a rule-based optimization engine. This dispatching logic will also be constrained by novel battery aging models, calibrated through experimental cycling stress-tests, balancing grid flexibility services with the preservation of the vehicle’s asset value. The effectiveness of this multi-layered design is assessed through a validation roadmap involving real-world deployment of a corporate mobility hub connected to a 10 MW wind farm, and a large-scale urban car-sharing fleet.
Lutzemberger, Giovanni, Barater, Davide, Ceraolo, Massimo, Fera, Cesare, Leaver, Ian, Pasini, Gianluca
Implementation of Wireless IoT Technology for Enhanced Communication and Monitoring in EVAC Slide Emergency Systems2026-26-07926/1/2026
Emergency evacuation slides (EVAC slides) are critical safety devices used on aircraft to enable rapid egress during emergencies. While these slides provide a quick and reliable escape route, communication between separated slides during evacuation remains a challenge. Often, during raft deployment over water, slides may drift apart impeding communication among evacuees and rescue personnel potentially compromising safety. Existing aircraft EVAC systems lack integrated wireless communication relying on visual or voice signals that are unreliable in chaotic conditions. This paper explores the integration of wireless IoT technology into EVAC slide systems to facilitate inter-slide communication and monitor critical parameters such as slide air pressure and the floating weight of stranded passengers through embedded sensors. It proposes the adoption of Long Range (LoRa) modulation technology for wireless communication chosen for its low-power, long-range performance and license-free operation in emergency evacuation scenarios. In addition, the usage of this proposed technology can be further extended to locate the aircraft when other existing locating mechanisms fail.
Sengodan, Rajkumar, Talore, Suresh
A GenAI-Based Approach for Real-Time Multilingual In-Flight Communication Systems2026-26-07846/1/2026
In today’s global aviation industry, passenger experience is strongly influenced by effective communication. In-flight announcements, often limited to English and a single local language, can create confusion and stress for international travelers who may not be fluent in either. This communication gap not only impacts passenger comfort but also poses potential risks in conveying time-sensitive or safety-critical information. Recent advances in Generative Artificial Intelligence (GenAI), particularly in speech recognition, neural machine translation, and naturalistic text-to-speech, provide a pathway to overcome these challenges. This paper explores the concept of real-time multilingual in-flight announcements delivered in each passenger’s preferred language through connected headphones or personal devices. The proposed system architecture integrates speech-to-text conversion, language translation, and speech synthesis with aircraft infotainment platforms. Potential applications range from pre-generated multilingual safety messages to long-term visions of fully personalized, real-time translations with minimal latency. Benefits include improved inclusivity, accessibility for hearing-impaired passengers, and enhanced brand differentiation for airlines. Challenges such as regulatory certification, translation accuracy, latency constraints, and hardware integration must be addressed. Beyond aerospace, this capability has cross-domain relevance in automotive, railways, and public services, making it a promising area for future customer experience innovations.
Mishra, Ashwini, Kature, Kartik, Patil, Ashish
Unified and Certifiable Cybersecurity Management Framework for IVHM2026-26-07676/1/2026
Commercial and military aircraft increasingly rely on Integrated Vehicle Health Management (IVHM) as a critical enabler for predictive maintenance, operational efficiency, and mission availability. The evolution of IVHM data communication architecture- from legacy wire-based networks to more wireless based architecture involving onboard wireless sensor networks (WSN) and IP-based air to ground communication networks introduces multidomain cyber-physical attack surfaces that challenge both functional safety and continued airworthiness. DO-326A/ED-202A and DO-356A/ED-203A standards define aviation cybersecurity requirements within a safety-driven assurance context, and IEC 62443 standard offers a defense-in-depth, lifecycle-based control framework for industrial systems. A unified approach by mapping and harmonizing the complimentary aspects of these two standards has the potential to simplify and expedite the security assurance and certification process for the IVHM and other digital avionic systems. The proposed work is a unified, standard-aligned cybersecurity assurance framework for aircraft IVHM systems covering both airborne ground segments as a single integrated entity. The novel methodology evaluates risks by performing Fundamental Requirements (FR) analysis, mapping IEC 62443 to DO-326A/ED-202A requirements through qualitative risk assessment, protocol vulnerability analysis, and attack tree modelling on zone-conduits as per the Security Level (SL) requirements. The resulting risk treatment plan demonstrates a verifiable and auditable method to achieve security assurance and certification of aircraft IVHM system which is extendable to other digital avionic systems.
Samudrala, Ramakrishna, Ramamurthy, Prasanna
An Energy-Saving Coupling-Decoupling Optimization Strategy for Electric Modular Buses Considering Vehicle to Vehicle Charging2026-99-07305/15/2026
As an emerging innovative mode of public transportation, electric modular buses (EMBs) offer a novel solution to the problems of existing public transportation systems, due to the coupling-decoupling processes. In this paper, we study the energy consumption characteristics of EMBs by joining vehicle-to-vehicle (V2V) charging and reduction in aerodynamic drag due to coupling. For the pursuit of energy economy, ride comfort, and operational efficiency, we constructed an optimization scheme based on the simulated annealing (SA) algorithm to facilitate the coupling-decoupling process. The simulation results show that EMBs can meet 82.5 % of service requests compared with 61.8 % for the benchmark group, and V2V presents a significant contribution to energy efficiency, especially at low battery state of charge (SOC). Additionally, sensitivity analysis is conducted to study the impact of initial SOC, operation interval, and route type. The results provide insights for optimizing EMBs’ operations and emphasize the potential role of EMBs in supporting low-carbon and sustainable urban mobility systems.
Liao, Peng, Guo, Jiahe, Ning, Donghong, Li, Sijia, Wang, Tao
The Next Step in Wireless Cellular Technology: 6GTBMG-550855/1/2026
Sixth-generation, or 6G, cellular networks are the next step in wireless communication, and electromagnetic terahertz waves are seen as crucial to its development. However, terahertz waves, with their higher frequency and shorter wavelength, are subject to greater interference from electromagnetic noise, making clear and secure transmission a challenge.
Automated Vehicle Marshalling SystemJ3292_202604 (Current)4/13/2026
The scope of this standard is Automated Vehicle Marshalling (AVM) of vehicles to enable remote control functionality for achieving SAE Level 4 (High Driving Automation according to the Surface Vehicle Recommended Practice SAE J3016) driving capabilities at controlled speeds within geofenced private controlled environments utilizing infrastructure-assisted sensing. It specifies a concept of operations which includes a reference-system architecture and use cases, system functional and performance requirements, multiple wireless communications protocols, and associated wireless messages to support AVM. AVM use cases such as plant marshalling, depot marshalling, valet parking, electric vehicle charging, etc. The Automated Vehicle Marshalling Central Server (AVM CS) infrastructure does detect objects, vehicles, vulnerable road users, and any obstructions that help guide the Automated Vehicle (AV) starting from uninitiated, activation, identification, automated control, unavailable and deactivation states of the respective feature lifecycle of AVM use cases by using only two wireless messages named Infrastructure Marshalling Message (IMM) and Vehicle Marshalling Message (VMM). This standard specifies the minimum requirements for the Vehicle-to-Everything (V2X) messages, such as IMM and VMM, and the corresponding data frames and elements which are defined to support Infrastructure guided AVM use cases over Direct (LTE-V2X) and Network-based wireless communications technologies. These messages are utilized to achieve desired interoperability, safety, and data integrity. This standard focuses on an infrastructure-led implementation of an AVM system analogue to a Type 2 Automated Vehicle Parking (AVP) system implementation as described in International Organization for Standardization (ISO) 23374-1; the functional allocations listed below are part of the Type 2 AVP System where AVM CS of infrastructure carries out most of the operation functions including AV Identification and Emergency Stopping: Destination Assignment Route Planning Object and Event Detection and Response (OEDR) AV Localization Path Determination Trajectory Calculation Vehicle Motion Control (VMC) NOTE 1: Functional Safety rating Automotive Safety Integrity Level (ASIL) related requirements are outside the scope of this standard. NOTE 2: This standard could be utilized as a base for human operator assisted AVM. The implementation details from human operator assistance without Infrastructure assistance is outside the scope of this standard. NOTE 3: Unless otherwise marked as Informative, all material in this standard is to be considered normative.
V2X Core Technical Committee
Quantifying Highway Flow Improvements via CACC-Based Truck Platooning: A Statistical Modeling Approach2026-01-04634/7/2026
The advancement of Cooperative Adaptive Cruise Control (CACC) technology enables vehicle platooning on public roads, offering significant potential to enhance urban mobility, driving safety, and energy efficiency. Among various applications, truck platooning has become a promising strategy to increase highway flow rates by reducing vehicle headways, improving coordination, and optimizing space utilization. This paper presents a quantitative assessment of a CACC-based truck platooning system, focusing on its effectiveness in enhancing highway mobility under varying traffic conditions. A statistical regression model is developed and calibrated using simulations of real-world highway networks to identify key influencing factors and evaluate the resulting improvements in traffic flow. The analysis considers five primary variables: desired platoon speed, platoon size, space headway, percentage of platooning trucks, and non-platoon traffic flow. The study systematically examines the impact of each parameter on overall traffic throughput. Results indicate that truck platooning can increase highway flow rates by up to 200%, particularly under conditions of high truck volumes and larger platoon sizes. Both platoon size and the percentage of platooning trucks show a positive correlation with flow rates, suggesting that greater coordination among vehicles enhances overall mobility. Conversely, higher desired speeds and larger space headways tend to diminish the benefits of platooning by reducing traffic density. Overall, this paper provides a comprehensive quantitative evaluation of the mobility benefits of truck platooning and highlights its potential to significantly improve highway operations. Future work will extend these findings to assess the energy and emission benefits of platooning and to evaluate the performance of large-scale platooning deployment strategies.
Karbasi, Amir Hossein, Wang, Jinghui, Yang, Hao
Electric Vehicles & the Grid - Synergy or Strain?2026-01-03984/7/2026
As the demand for electrical power has surged over recent years due to the increasing popularity of data centers for Artificial Intelligence (AI) and Electric Vehicles (EVs), it is becoming evident that the aging electrical grid infrastructure is struggling to keep up. Some of the problems this aging infrastructure has resulted in include frequent blackouts due to weather related events, reduced efficiency resulting in higher maintenance costs and outdated communication systems causing poor monitoring and response times. Modernization of the grid in conjunction with integration of the transportation sector with the grid is essential to ensure the reliability and resiliency of the grid. Electric vehicles have dramatically increased in popularity, with most vehicle manufacturers offering at least one electric option in their lineups. Looking at recent developments in vehicle-to-grid (V2G) technology, a new possibility becomes evident; instead of straining the power grid, the electric vehicle can synergize with it. This becomes possible when EVs can facilitate charging during off-peak (low demand) hours and supplying power back to the grid during on-peak (high demand) hours. There are quite a few challenges associated with this approach, lack of standardized charging infrastructure and higher install costs, regulatory and policy hurdles, gaps in technological know-how particularly in relation to impact of power supplied by EVs on grid and effect of V2G on EV battery degradation in the long run, to name a few. This paper reviews the current power demand and supply along with existing and projected power consumption metrics. We also discuss the V2G strategy to effectively manage load requirements, incentives that can be provided to facilitate the execution, and the challenges associated with its widespread implementation. Finally, we discuss case studies of vehicles that incorporate V2G capability and their implications.
Dahlmann, Alexander Drake, Lele, Sneha
Characterizing the Impact of C-V2X PC5 Radio on Cooperative Driving Automation in Hardware-in-the-Loop Experiments2026-01-00774/7/2026
The SAE J3216 standard defines Cooperative Driving Automation (CDA), which has received increasing attention in recent years as an umbrella framework encompassing a wide range of automated vehicle applications enabled by Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) technologies. Despite this growing interest, limited research has investigated the impact of Cellular Vehicle-to-Everything (C-V2X) on CDA applications, particularly with respect to agreement-seeking operations. This work presents a hardware-in-the-loop (HIL) experimental study designed to evaluate an Argonne National Laboratory designed CDA controller under different message configurations and varying C-V2X PC5 radio transmission frequencies. A three-vehicle car-following scenario was implemented in the Argonne-developed Roadrunner simulator, incorporating CDA agreement-seeking logic, vehicle powertrain models, and V2V communication modules. CDA messages were exchanged through two physical C-V2X PC5 radios, capturing realistic communication impairment caused by the hardware characteristics. Packet loss and cooperation ratio were evaluated as functions of transmission frequency and message scheduling strategy. To further investigate the role of packet loss in the agreement-seeking process, a four-state Markov chain model was applied to characterize mechanisms that reduce cooperation ratio. The results indicate that synchronous transmission of CDA messages introduces half-duplex constraints, leading to increased packet loss and reduced cooperative driving duration. Increasing the message transmission frequency improves overall cooperation time, although it results in higher packet loss rates. These findings provide insight into the behavior of C-V2X radios and their impact on CDA applications, with a particular emphasis on cooperation duration, while remaining agnostic to specific controller performance characteristics.
Zhan, Lu, Di Russo, Miriam, Das, Debashis, Stutenberg, Kevin, Misra, Priyash, Jeong, Jongryeol, Hyeon, Eunjeong
Integration and Validation of Adaptive Cruise Control across Different Modes2026-01-00764/7/2026
This paper presents the integration and validation of Adaptive Cruise Control (ACC) algorithms on a student-team-developed vehicle as part of the U.S. Department of Energy EcoCAR EV Challenge. The competition provided each team with a 2023 Cadillac Lyriq, which was modified to an all-wheel-drive configuration and re-architected to support the development of SAE Level 3 autonomous features including Adaptive Cruise Control (ACC), Automatic Intersection Navigation (AIN), Lane Centering Control (LCC), and Automatic Parking (AP). The scope of this paper, however, is limited to the development, implementation, and validation of a Level 2 longitudinal ADAS function. Higher-level automation requirements such as Operational Design Domain (ODD) definition and Driver Monitoring System (DMS) enforcement are addressed at the vehicle architecture and competition level but are not the focus of this work. The major contribution of this work is the development of ACC with Vehicle-to-Infrastructure (V2I) integration, highlighting the end-to-end implementation of the ACC algorithm and its interaction with key actuation systems in the modified vehicle architecture. The ACC algorithm encompassed multiple applications: conventional cruise control to maintain speed, adaptive cruise control to respond to a lead vehicle, and initial deceleration handling for intersection navigation in a single straight lane. By implementing a unified algorithm, transitions between these modes were smooth and more efficient compared to developing separate algorithms for each application. Track-based testing and calibration were conducted to validate these modes under real-world scenarios, ensuring safe operation while addressing the challenges of blended actuation. Multiple track tests were used to measure stopping distances at intersections for different entry speeds, evaluate controller performance during different driving scenarios, and identify system limitations. Results demonstrated that the controller maintained steady-state speed error within +/- 1 km/hr, preserved a minimum following distance of 8 m at a complete stop, and limited acceleration within +/- 2 m/s2 to support driver comfort. The work demonstrates the progression from simulation to real-world deployment using an empirical approach to system-level validation of ACC with V2I integration. The findings provide insights into calibration methodology, mode transition, and the benefits of a unified control framework for advancing software-defined vehicle features.
Gupta, Ishika, Estrada, Tyler, Tambolkar, Pooja, Midlam-Mohler, Shawn
A Simple Analytical Model for Predicting Cooperative Ratio in Agreement-Seeking Cooperative Driving Automation with C-V2X Communication2026-01-00784/7/2026
Cooperative Driving Automation (CDA) has emerged as an active research area in recent years, categorized into four classes of operations with varying levels of cooperation as defined in the SAE J3216 standard. Among these, Class C CDA, referred to as Agreement-Seeking Cooperation (ASC), has received limited attention in literature. Unlike Cooperative Adaptive Cruise Control (CACC), which typically engages when lead vehicles are identified as cooperative and disagree under manual override or safety-critical conditions, ASC requires agents to exchange messages interactively to reach consensus on a proposed plan and its implementation. This necessitates more sophisticated communication and control designs, which in turn influences customized ASC efficiency. Previous work has examined, through simulation, the impact of three key parameters on ASC system performance: CDA message transmission frequency, Packet Drop Ratio (PDR), and Cooperation Duration Length (CDL). In this paper, we extend that investigation by conducting Hardware-in-the-Loop (HIL) experiments in a scenario-based simulation environment, integrating the ASC controller with vehicle-to-vehicle (V2V) communication enabled by PC5-based Cellular Vehicle-to-Everything (C-V2X) radios. Using HIL test data, we derived a simple analytical model based on Pascal Distribution to predict the Cooperative Ratio (CR), which is a key index defined by cooperative time over the total scenario time. The model explores the fundamental mechanism of how transmission frequency, total trip time, instance CDA engagement probability and CDL collaboratively impact Cooperative Ratio. The validation of the model with experimental data reports the relative error is less than 5% for scenarios with CDA message transmission frequency higher than 5 HZ. Furthermore, because the model is independent of specific control logic assumptions, it provides a practical tool for guiding the design of ASC communication protocols and control strategies.
Zhan, Lu, Di Russo, Miriam, Das, Debashis, Stutenberg, Kevin, Misra, Priyash, Jeong, Jongryeol, Hyeon, Eunjeong
Optimization of Road Reference Profiles Based on Highway Design for Connected and Automated Vehicles2026-01-00964/7/2026
Advances in Connected and Automated Vehicles (CAVs) have developed a level in which high-definition maps can be used to improve road safety. Data compactness and robustness on road characterization is essential for the proper handling of vehicles under curves. In this paper, an optimization scheme that relates highway-design road curvature and optimal speed of travel is defined to safely navigate through a given road. The scheme is divided in two main steps. First a nonlinear optimization problem, in which curvature profiles are fitted from a model that based on street design standards as per the American Association of State Highway and Transportation Officials (AASHTO). Secondly, the optimized curvature profile is subject to a secondary optimization problem that uses vehicle dynamics for both constraints and objective function derivation. Guidance reference parameters such as curvature and velocity, at different levels of friction are analyzed. Results show that, even in sparse datasets, the algorithm can leverage on highway design to generate proper velocity profiles. These profiles in turn can be used to enhance existing wireless communication infrastructure and autonomous vehicle technology.
Jacome, Ricardo Osmar, Stolle, Cody, Grispos, George
OBD Traceability MatrixJ1939-90_202603 (Current)3/13/2026
This Information Report is intended to supplement the J1939 documents by offering the application of SAE RP J1939 to OBD data communications in a form that can be sorted and searched for easier use. It is NOT intended as a substitute for the actual regulations and standards documents, and any discrepancies between this document and the published documents must be resolved in favor of the published documents. Regulatory Version(s): CARB 1971.1 OCTOBER 3, 2019 ; CARB 1968.2 OCTOBER 3, 2019; “CALIFORNIA GREENHOUSE GAS EXHAUST EMISSION STANDARDS AND TEST PROCEDURES FOR 2014 AND SUBSEQUENT MODEL HEAVY-DUTY VEHICLES” As Amended: September 9, 2021; “CALIFORNIA STANDARDS AND TEST PROCEDURES FOR NEW 2021 AND SUBSEQUENT MODEL HEAVY-DUTY ZERO-EMISSION POWERTRAINS.” As Adopted: June 27, 2019; EPA 40 CFR Part 1036 Subpart B (up to date as of 10/10/2024)
Truck and Bus Control and Communications Network Committee
Power Line Carrier Communication for Commercial VehiclesJ2497_202603 (Historical)3/13/2026
This SAE Recommended Practice defines a method for implementing a bidirectional, serial communications link over the vehicle power supply line among modules containing microcomputers. This document defines those parameters of the serial link that relate primarily to hardware and software compatibility such as interface requirements, system protocol, and message format that pertain to Power Line Communications (PLC) between Tractors and Trailers. This document defines a method of activating the trailer ABS Indicator Lamp that is located in the tractor.
Truck and Bus Control and Communications Network Committee
On-Board System Requirements for V2V Safety CommunicationsJ2945/1_202603 (Current)3/4/2026
This standard specifies the system requirements for an on-board vehicle-to-vehicle (V2V) safety communications system for light vehicles1, including standards profiles, functional requirements, and performance requirements. The system is capable of transmitting and receiving the SAE J2735-defined basic safety message (BSM) [1] over a dedicated short range communications (DSRC) wireless communications link as defined in the Institute of Electrical and Electronics Engineers (IEEE) 1609 suite and IEEE 802.11 standards [2] to [6].
V2X Core Technical Committee
New MEMS Modulator Offers Significant Advancements in Optical EfficiencyTBMG-547123/1/2026
A new Microelectromechanical system (MEMS) grating modulator has been developed, offering significant advancements in optical efficiency and scalability for communication systems. By integrating a tunable sinusoidal grating with broadside-constrained continuous ribbons, a large-scale aperture of 30 × 30 mm is achieved and supports high-speed modulation up to 250 kHz.
Overcoming Multipath PropagationTBMG-547103/1/2026
The evolution of wireless communications and the miniaturization of electrical circuits have fundamentally reshaped our lives and the digital landscape. However, as we push toward higher-frequency communications in an increasingly connected world, engineers face growing challenges from multipath propagation — a phenomenon where the same radio signal reaches receiving antennas through multiple routes, usually with time delays and altered amplitudes. Multipath interference leads to many reliability issues, ranging from “ghosting” in television broadcasts to signal fading in wireless communications.
Automotive Ethernet Proxy-Based Security Architecture in Vehicle Computers2026-28-01212/12/2026
Modern vehicles require sophisticated, secure communication systems to handle the growing complexity of automotive technology. As in-vehicle networks become more integrated with external wireless services, they face increasing cybersecurity vulnerabilities. This paper introduces a specialized Proxy based security architecture designed specifically for Internet Protocol (IP) based communication within vehicles. The framework utilizes proxy servers as security gatekeepers that mediate data exchanges between Electronic Control Units (ECUs) and outside networks. At its foundation, this architecture implements comprehensive traffic management capabilities including filtering, validation, and encryption to ensure only legitimate data traverses the vehicle's internal systems. By embedding proxies within the automotive middleware layer, the framework enables advanced protective measures such as intrusion detection systems, granular access controls, and protected over-the-air (OTA) update channels. This strategy enhances both data security and system isolation, creating protective boundaries between critical vehicle operations and potential external attacks. The architecture particularly excels in supporting Vehicle-to-Everything (V2X) connectivity, facilitating seamless information exchange between vehicles, roadside infrastructure, and pedestrians. This capability is essential for enhancing roadway safety, optimizing traffic flow, and supporting autonomous driving technologies. The system incorporates dedicated proxy modules for specialized protocols including Trivial File Transfer Protocol (TFTP), Diagnostic Over Internet Protocol (Doip), and Message Queuing Telemetry Transport (MQTT), each fulfilling specific functions in vehicle diagnostics, software updates, and telemetry data management. Performance evaluations will measure latency and throughput metrics to validate the architecture's efficiency and reliability. The framework's modular design aims to provide scalability and adaptability to accommodate both technological advancements and emerging security challenges. The proxy-based security framework presented offers a holistic and forward-looking approach to safeguarding in-vehicle networks. It provides automotive manufacturers with the tools to develop connected vehicles that combine intelligence and efficiency with robust protection against diverse cybersecurity threats.
M, Arvind, Praneetha, Appana Durga, Remalli, Ravi Teja
Vehicle-Level Validation Test Procedures for V2V Safety CommunicationsJ3161/1A_202602 (Current)2/11/2026
This document provides vehicle-level data collection, data analysis, and data verification procedures that may be used to verify that an instrument under test (IUT) satisfies the vehicle-level requirements specified in SAE J3161/1. For the purposes of this report, “vehicle-level requirements” primarily consist of those requirements which can be verified external to the vehicle. The IUT for these procedures is a configured LTE-V2X vehicle-to-vehicle (V2V) device as defined in SAE J3161/1 and is installed on a vehicle of class 2, 3, 4, or 5. While the IUT is conceptually separated from the vehicle it is installed on, the tests outlined in this document are primarily vehicle level, so the terms “vehicle” and “IUT” can generally be considered interchangeable. Additionally, non-vehicle-level complementary tests, not included in this document, are required to verify that the entire set of requirements specified in SAE J3161/1 is satisfied. This document also includes a Traceability Matrix to provide traceability between SAE J3161/1 sections and the test procedures. This can be used to ensure thoroughness of testing coverage. The traceability matrix in Section 7 correlates test procedures from this document with the sections in SAE J3161/1 being tested. The SAE J3161/1 sections that are addressed in this document are indicated in Table 1. SAE J3161/1 major section numbers that are indicated as N/A do not contain any requirements (subsections may include requirements). Sections that are not in scope, such as standards profiles, are expected to be tested and verified as part of device-level certification, done prior to the vehicle-level testing described in this document.
C-V2X Technical Committee
Aircraft Lightning ZoneARP5414B (Current)2/6/2026
This SAE Aerospace Recommended Practice (ARP) defines lightning strike zones and provides guidelines for locating them on particular aircraft, together with examples. The zone definitions and location guidelines described herein are applicable to Parts 23, 25, 27, and 29 aircraft. The zone location guidelines and examples are representative of in-flight lightning exposures.
AE-2 Lightning Committee
Digital Annex of Medium/Heavy-Duty E/E Systems Diagnosis NomenclatureJ2403DA_202601 (Current)2/6/2026
This document is intended to supplement SAE J2403 by providing the content of Table 1, Table 2, and Table 3 from SAE J2403 in a form that can be sorted and searched for easier use. It is NOT intended as a substitute for the actual document, and any discrepancies between this Digital Annex and the published SAE J2403 document must be resolved in favor of the published document. This document provides the content of Table 1 and Table 2 published in SAE J2403 into the single table in the 'Term' tab, while the 'Recommended Term Definitions' tab provides the content of Table 3 in SAE J2403 and the 'Glossary' tab provides the content of Table 4 in SAE J2403.
Truck and Bus Control and Communications Network Committee
RAKSH: A Blockchain Derived in-Vehicle Key Management System2026-26-06201/16/2026
Modern cars have advanced significantly with the rapid growth of connectivity and communication technologies. In the wake of rising cyber attacks and enforcement of regulations, implementation of cybersecurity is imperative to safeguard vehicles. The cybersecurity controls such as secure boot, secure updates, and secure communication require cryptographic primitives (keys/certificates). These security features are largely dependent on robust Key Management System (KMS), as keys are the sensitive assets that must be protected throughout the lifecycle of vehicle. Several security critical applications like over-the-air and car-to-car interaction essentially needs robust KMS to protect the vehicle assets from expanding attack vectors. Traditionally KMS is established centrally in a backend server. The cloud based KMS is becoming complex due to increased number of keys/certificates required to provision in a vehicle. We propose a self-governing in-vehicle key management system for a gateway-based architecture. The solution is derived from core principles of Blockchain technology. Every key or certificate transaction is recorded in a registry, with the first block (genesis block) created during the vehicle manufacturing stage by the gateway. The first stage involves creation of a genesis block, followed by the generation of a PKI blockchain for each ECU during vehicle manufacturing. In the second stage, the established PKI blockchain will be utilized for secure on-road communication during vehicle operations. Key management operations such as key rotation, revocation, addition, and replacement will be performed based on the established blockchain, with the gateway serving as the anchor point. Each key management operation is appended to the chain starting from the genesis block, with updates securely broadcast and replicated across all ECUs ensuring a distributed, tamper-proof key management framework. Several diverse communications like CAN, CAN-FD and Ethernet are comparatively analyzed, against its usage, benefits and complexity in the proposed approach.
Goyal, Yogendra, Sutar, Swapnil, Jaisingh, Sanjay
Feasibility and Performance of Post-Quantum Cryptography on Embedded Systems for Two-Wheeler Security2026-26-06221/16/2026
The proliferation of connectivity features (V2X, OTA updates, diagnostics) in modern two-wheelers significantly expands the attack surface, demanding robust security measures. However, the anticipated arrival of quantum computers threatens to break widely deployed publickey cryptography (RSA, ECC), rendering current security protocols obsolete. This paper addresses the critical need for quantum-resistant security in the automotive domain, specifically focusing on the unique challenges of two-wheeler embedded systems. This work presents an original analytical and experimental evaluation of implementing selected Post-Quantum Cryptography (PQC) algorithms, primarily focusing on NIST PQC standardization candidates (e.g., lattice-based KEMs/signatures like Kyber/Dilithium), on microcontroller platforms representative of those used in two-wheeler Electronic Control Units (ECUs) - typically ARM Cortex-M series devices characterized by limited computational power, memory (RAM/ROM), and strict real-time requirements. Our experimental study involved porting and optimizing PQC reference implementations for these constrained environments. We rigorously benchmarked key performance indicators, including key generation time, encapsulation/decapsulation speeds, signing/verification times, and memory footprint (stack usage, code size). The results demonstrate the feasibility of deploying specific PQC schemes, achieving practical execution times (e.g., key operations completing within tens to hundreds of milliseconds) and manageable memory overhead (fitting within typical MCU constraints) for securing functions like secure boot, firmware updates, and authenticated communication. Performance trade-offs between different PQC algorithms regarding speed, key/signature sizes, and memory consumption are analyzed. The significance of this contribution lies in providing the first quantitative performance data and feasibility analysis for PQC adoption within the specific context of two-wheeler embedded systems. These findings offer crucial insights for OEMs and suppliers planning the transition to quantum-safe security architectures, ensuring the long-term security and trustworthiness of connected two-wheelers against future cryptographic threats.
Mishra, Abhigyan
Artificially Intelligent Rapid Rescue Vehicle System2026-26-06421/16/2026
The rapid development of science and technology has impacted on the human lifestyle. The automotive industry plays a crucial role as travel is an integral part of human lifestyle. This indeed has increased the need and demand for automotive domain to step ahead with technology and innovations. Especially, related to ADAS features and AI/ML based algorithms to provide comfort, safety, and many other factors for the consumers. The busy life of human beings has shown an increased rate of many health-related issues like stress, anxiety, heart attacks, blood pressure and so on. The existing system in vehicles detects health emergency and triggers SOS to the emergency service center. However, several catastrophic events occur due to delayed information, thus there is a need for a proactive solution that combines technology and human safety. In this work, we have investigated the different methods which detect the health issues of occupants in a vehicle by monitoring their stress level, heart rate, blood pressure and so on. We propose a solution which helps to navigate to the nearest health center or ambulance meeting point in emergency cases, overcoming technical glitches and delays by driving cars to the emergency center or meeting point, thus saving time for occupants. The prerequisite is that the vehicle has an advanced driver assistance system, detects health emergency of the occupants, V2X communication and SOS are triggered with the basic details of the situation. The system selects the nearest relevant hospital to drive to or requests the SOS center for the geo-coordinates of the ambulance meeting point using V2X communication. As soon as the system receives information related to meeting point from SOS center, autonomous driving mode is initiated, acknowledgment is sent to SOS center, and live location is shared for better communication and coordination. Additionally, the system triggers a siren and emergency lights to indicate an emergency drive, ensuring safety and a clear path. This proactive solution increases the probability of rescuing occupants by taking necessary action, rather than just monitoring, reporting, and waiting for measures.
Eswarappa, Asha, Nagaraj, Chaitra, Mudassir, Syed
Integrating V2V and V2I Communication for Enhanced Traffic Safety and Efficiency in Connected Vehicular Networks2026-26-02711/16/2026
This paper is a new approach to improve road safety and traffic flow by combining vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communications. The Study is focused on a system that connects vehicles with each other and with traffic light to share real-time data about speed and position. This work is aimed to discuss the methodology adopted for developing a system which predicts and advises the optimal speed for vehicles approaching an intersection. Inspired by the Green Light Optimized Speed Advisory (GLOSA) , the proposed system is designed to help drivers approach traffic signals at speeds that minimize unnecessary stops, reduce delays, and improve traffic efficiency. This paper contains the approach taken, the decision-making algorithm, and the simulation framework built in MATLAB/Simulink to validate the concept under real traffic conditions. Simulation results are presented to demonstrate how the system generates speed recommendations based on vehicle parameters and traffic light states. We have worked on the integration of both V2V and V2I communications, combined with a speed advisory algorithm. This work paves the way for smarter, more responsive traffic management systems and supports the future deployment of connected and autonomous vehicles.
Pinto, Colin Aubrey, Shah, Ravindra, Karle, Ujjwala
Vehicle-to-Vehicle Negotiation Via Manoeuvre Coordination Messages for Cooperative Cut-in Scenarios2026-26-02741/16/2026
The automotive industry is rapidly extending the capabilities of automated systems by incorporating connectivity and cooperation features that enable real-time information exchange between vehicles and road infrastructure. Within the Connected, Cooperative, and Automated Mobility (CCAM) framework, Vehicle-to-Vehicle (V2V) communication is expected to play a key role in improving road safety, traffic efficiency, and driving comfort. This work addresses a practical implementation of the standardized Manoeuvre Coordination Messages (MCMs), as defined in the ongoing ETSI standard (ETSI TS 103 561). The proposed approach is demonstrated through a cooperative cut-in use case in which two vehicles negotiate a lane change manoeuvre. In the considered scenario, the ego vehicle, driven by a Highway Pilot (HWP) system, receives the intention to cut-in from a neighbouring cooperative vehicle through an MCM. In response, the ego vehicle adapts its behaviour by decelerating to generate a safe longitudinal gap, which allows the cooperative vehicle to merge the ego’s lane. The negotiation process relies on the bidirectional exchange of MCMs to coordinate the timing and trajectories, ensuring both vehicles complete the manoeuvre safely. Additionally, the Cooperative Awareness Messages (CAMs) allow the vehicles to share real-time information such as position, speed and heading. This connected-enhanced approach extends the capabilities of local perception systems, enabling an improved performance and reaction time to surround traffic participants. The described use case is implemented and validated in a prototype vehicle equipped with V2V communication capabilities and a Highway Pilot (HWP) SAE level 3 driving automation system. Proving ground tests demonstrate that the system can successfully negotiate cut-in manoeuvres in real time, enhancing both safety and traffic flow. The results confirm the feasibility of deploying standardized V2V coordination mechanisms within operational automated driving functions and lay the groundwork for broader integration into future CCAM applications.
Leiva Ricart, Gisela, Domingo Mateu, Bernat
A Dynamic Cybersecurity Benchmarking Framework for Automotive Cyber-Physical Systems2026-26-06121/16/2026
The modern vehicle is no longer a mechanical appliance—it has transformed into a software-defined cyber-physical system, integrating OTA updates, cloud-connected diagnostics, V2X services, and telematics-driven personalization. While this evolution promises unprecedented value in consumer experience and fleet operations, it also surfaces a dramatically expanded and evolving attack perimeter, especially across safety-critical ECUs and communication buses. Cyber vulnerabilities have shifted from isolated IT threats to real-time, embedded exploits. Controller area network (CAN), the backbone of vehicle bus systems, remains intrinsically insecure due to its lack of authentication and encryption, making it highly susceptible to message injection and denial-of-service by low-cost tools. Similarly, OEM implementations of BLE-based passive entry systems have proven vulnerable to replay and spoofing attacks with minimal hardware. In the Indian context, the transition to connected mobility is advancing rapidly under national mandates such as FAME II, PM e-DRIVE, and the National Electric Mobility Mission Plan (NEMMP). However, field-level assessments of Indian and international vehicle models—including ICE cars, electric two-wheelers, and fleet EVs—reveal critical gaps in CAN architecture connected to critical ECUs, Cloud API and Endpoints and RF controls. Notably, many of these vulnerabilities materialized after vehicle homologation, propagating through OTA updates or third-party app integrations. This reality underscores the inadequacy of static, pre-market cybersecurity assessments in effectively mitigating operational risk. This paper introduces a novel, scalable methodology that addresses this critical gap by enabling empirical, attack-informed validation, aligned with both Indian priorities and international best practices
Shah, Ravindra, Awasthi, Vibhu Vaibhav, Karle, Ujjwala
Assessment of Cybersecurity Risks in State-Operated Connected Electric Passenger Buses in India2026-26-06101/16/2026
State Transport Units (STUs) are increasingly using electric buses (EVs) as a result of India's quick shift to sustainable mobility. Although there are many operational and environmental benefits to this development, like lower fuel prices, fewer greenhouse gas emissions, and quieter urban transportation, there are also serious cybersecurity dangers. The attack surface for potential cyber threats is expanded by the integration of connected technologies, such as cloud-based fleet management, real-time monitoring, and vehicle telematics. Although these systems make fleet operations smarter and more efficient, they are intrinsically susceptible to remote manipulation, data breaches, and unwanted access. This study looks on cybersecurity flaws unique to connected passenger electric vehicles (EVs) that run on India's public transit system. Electric vehicle supply equipment (EVSE), telematics control units (TCUs), over-the-air (OTA) update systems, and in-car networks (such as the Controller Area Network or CAN bus) are important areas of interest. Potential interruptions to vehicle functionality and passenger safety are examined in relation to common attack techniques such spoofing, data injection, denial-of-service (DoS), and remote code execution. In comparison to international standards like ISO/SAE 21434 and UNECE rules R155/R156, the report also assesses regulatory and compliance deficiencies in India. It lists the operational difficulties that Indian STUs encounter, including as antiquated infrastructure, a deficiency in cybersecurity knowledge, and a lack of established protocols. The paper suggests a plan for installing a Cybersecurity Management System (CSMS) in STU-operated EV fleets in order to reduce these threats. Strong incident response mechanisms, focused training initiatives, and the creation of cybersecurity standards tailored to India are among the recommendations. Implementing these measures will enhance the resilience of electric vehicle infrastructure against emerging cyber risks. Furthermore, collaboration between government agencies, industry stakeholders, and academic institutions is emphasized to ensure a comprehensive cybersecurity framework.
Mokhare, Devendra Ashok
Automotive Cybersecurity: Regulatory Landscape, Type Approval and the Road Ahead2026-26-02461/16/2026
Effective communication is the key for bringing harmony - be it the communication between humans and humans, or communication between machine and machine. Today’s car is a sophisticated gadget, equipped with the best of technologies running using millions of lines of codes of software. The effective use of these technologies involve communication between car to car and car to infrastructure using Dedicated Short-Range Communication (DSRC), C-V2X (Cellular Vehicle-to-Everything). It is pertinent that any communication using the internet needs to be digitally secure and that the systems are designed to mitigate the perceived threats. The methods used for ensuring cyber safety of automobiles need to be verified before the end product is put to use. Automotive Industry Standards AIS-189 and AIS-190 have been formulated to provide a harmonized verification framework. Both the vehicle manufacturer and the test agency need to equip themselves with necessary skills and tools to ensure compliance as per the laid down norms. With the ever-increasing use of software to run vehicles, the regulatory requirements would need to be constantly updated by reviewing the future threats involved and probable measures to mitigate them. The paper presents an overview of these important elements of cyber security regulations viz., applicable standards and approval procedure and means for a constant update of the two.
Nayak, Pratik, Tandon, Vikram, Badusha, Akbar, Desai, Manoj, Sathianesan, Rejin
Integration and Proving Ground Evaluation of a Connected Highway Pilot System2026-26-01361/16/2026
Highway Pilot (HWP) systems, classified as SAE Level 3 Automated Driving Systems (ADS), represent a potential advancement for safer and more efficient highway drives. In this work, the development of a connected HWP prototype is presented. The HWP system is deployed in a real test vehicle and designed to operate autonomously in highway environments. The implementation presented in this paper covers the complete setup of the vehicle platform, including sensor selection and placement, hardware integration and communication interfaces for both autonomous functionality and Vehicle-to-Everything (V2X) connectivity. The software architecture follows a modular design, composed of modules for perception, decision-making and motion control to operate in real-time. The prototype integrates Vehicle-to-Vehicle (V2V) communication, such as Cooperative Awareness Messages (CAM), to enhance situational awareness and improve the overall system behaviour. The modular structure allows new functionalities to be developed and integrated into the same platform, so it becomes a beta testing platform for the early-stage experimentation of innovative features. To validate the prototype, execution of scenario-based testing on a proving ground is used, which is part of the Safety Assurance Framework (SAF), which provides structured methods to help define test scenarios to cover the system’s Operational Design Domain (ODD). Experimental results demonstrate the prototype’s ability to operate in varied highway scenarios.
Domingo Mateu, Bernat, Leiva Ricart, Gisela, Facerias Pelegri, Marc, Perez, Marc
Software-Defined Vehicles: Architecting the Future of Intelligent and Connected Mobility2026-26-06911/16/2026
This paper presents a comprehensive technical review of the Software-Defined Vehicle (SDV), a paradigm that is fundamentally reshaping the automotive industry. We analyze the architectural evolution from distributed Electronic Control Units (ECUs) to centralized zonal compute platforms, examining the critical role of Service-Oriented Architectures (SOA), the AUTOSAR standard, and virtualization technologies in enabling this shift. A comparative analysis of leading High-Performance Computing (HPC) platforms, including NVIDIA DRIVE, Tesla FSD, and Qualcomm Snapdragon Ride, is conducted to evaluate the silicon foundation of the SDV. The paper further investigates key enabling technologies such as Over- the-Air (OTA) updates, Digital Twins, and the integration of Artificial Intelligence (AI) for applications ranging from predictive maintenance to software-defined battery management. We scrutinize the competing V2X communication standards (DSRC vs. C-V2X) and address the paramount challenges of functional safety (ISO 26262) and cybersecurity (ISO/SAE 21434) in this new landscape. Finally, we identify open research challenges, ethical considerations, and the future trajectory of SDVs toward fully AI-defined, intelligent, and connected mobility.
Ahmad, Aqueel, Hemanth, Khimavath, Kumar, Om, Kumar, Rajiv, Haregaonkar, Rushikesh Sambhaji
Design of a Low-Power Consumption 4x4 MIMO Antenna for Next-Generation 4G LTE-A and 5G IoT Communication Systems2026-26-03711/16/2026
This paper presents the design, simulation, and evaluation of a low-profile Multiple-Input Multiple-Output (MIMO) antenna configuration, optimized to meet the evolving demands of modernized wireless communication systems, incorporating LTE-Advanced (LTE-A) and emerging 5G Internet of Things (5G-IoT) applications. The antenna’s geometry relies on a novel design comprising staircase-shaped rectangular radiating patches with an integrated stub. This configuration is employed to improve impedance bandwidth and strengthen the isolation between antenna components, which are critical parameters in MIMO system performance. The antenna is fabricated on a Rogers RT/Duroid 5880 substrate, distinguished by its low dielectric loss and high-frequency stability. With a compact physical footprint of 96 × 96 mm2, the proposed design effectively serves the feature of integration into portable and space-constrained wireless devices. The antenna operates effectively across frequency range of 2.13 GHz to 4.2 GHz, covering a broadband that encompasses multiple wireless communication bands, including sub-6 GHz 5G spectrum. Comprehensive performance evaluation was conducted using key MIMO metrics. The design achieves an Envelope Correlation Coefficient (ECC) of less than 0.015, indicating excellent diversity performance. The Mean Effective Gain (MEG) remains below -3 dB for all elements, while the Diversity Gain (DG) reaches up to 10 dB, supporting reliable signal reception in multipath environments. Furthermore, Channel Capacity Loss (CCL) is maintained below 0.12 bps/Hz, confirming the antenna’s proficiency in supporting fast data transmission rates with minimal degradation in channel capacity. Overall, the proposed MIMO monopole antenna exhibits a well-balanced trade-off between compactness, bandwidth, and isolation, making it a strong candidate for next-generation wireless platforms where high-performance, compact antennas are essential.
Gupta, Parul, Prasad, Anjay
Testing Framework and Safety Evaluation for Vehicle-to-Vehicle (V2V) Charging Systems in Electric Mobility2026-26-01761/16/2026
This paper presents a comprehensive testing framework and safety evaluation for Vehicle-to-Vehicle (V2V) charging systems, incorporating advanced theoretical modeling and experimental validation of a modern, integrated 3-in-1 combo unit (PDU, DCDC, OBC). The proliferation of electric vehicles has necessitated the development of resilient and flexible charging solutions, with V2V technology emerging as a critical decentralized infrastructure component. This study establishes a rigorous mathematical framework for power flow analysis, develops novel safety protocols based on IEC 61508 and ISO 26262 functional safety standards, and presents comprehensive experimental validation across 47 test scenarios. The framework encompasses five primary test categories: functional performance validation, power conversion efficiency optimization, electromagnetic compatibility (EMC) assessment, thermal management evaluation, and comprehensive fault-injection testing including Byzantine fault scenarios. Through systematic experimental validation using advanced power electronics simulation and hardware-in-the-loop (HIL) testing, we demonstrate 98.2% power conversion efficiency, sub-50ms fault detection response times, and compliance with automotive safety integrity level ASIL-D requirements. Our results establish the theoretical foundations and practical validation methodologies essential for next-generation V2V charging infrastructure deployment.
Uthaman, Sreekumar, Mulay, Abhijit B, Nikam, Sandip B.
Automotive Cybersecurity: Safeguarding Connected and Autonomous Mobility2026-26-06291/16/2026
As vehicles transform into complex cyber-physical systems within Intelligent Transportation Systems (ITS), automotive cybersecurity has become a foundational pillar in securing safe, reliable, and trustworthy transportation. This paper examines cybersecurity challenges in connected and autonomous vehicles (CAVs), focusing on Vehicle-to-Everything (V2X) communications technologies, including Vehicle-to-Vehicle (V2V), Vehicle-to-Infrastructure (V2I), and Vehicle-to-Pedestrian (V2P), and critical systems like electronic control units (ECUs), battery management units (BMUs), and sensor fusion modules. Key vulnerabilities, such as remote hacking, denial-of-service (DoS) attacks, malware injection, and data breaches, threaten vehicle functionality, passenger safety, and privacy. Key protection mechanisms, including encryption, intrusion detection systems (IDS), cryptographic protocols, secure over-the-air (OTA) updates, and Advanced Artificial Intelligence (AI) and Machine Learning (ML) algorithms, enhance threat detection, anomaly monitoring, and adaptive security responses. Additionally, emerging blockchain-based security frameworks offer decentralized solutions for data integrity and secure transactions. For electric vehicles (EVs), lightweight and energy-efficient cybersecurity solutions are critical to securing EV-specific architectures. Global standardization efforts, including ISO/SAE 21434 and UN Regulation No. 155, are shaping industry best practices, ensuring interoperability and scalable security frameworks for next-generation vehicles. This review synthesizes research advancements from 2001 to 2024, identifying key challenges such as real-time threat mitigation, scalability, and adaptive security architectures. The paper aims to provide valuable insights for researchers, engineers, and policymakers, fostering the development of secure, resilient, and sustainable automotive ecosystems in an increasingly digitized transportation network.
Kumar, Om, Kumar, Rajiv, Sankar M, Gopi, Haregaonkar, Rushikesh Sambhaji
Distributed Robust Control of Heterogeneous Vehicular Platoons Based on IDM Following Model under Communication Delay2025-01-735012/31/2025
With the rapid development of automobile industrialization, the traffic environment is becoming increasingly complex, traffic congestion and road accidents are becoming critical, and the importance of Intelligent Transportation System (ITS) is increasingly prominent. In our research, for the problem of cooperative control of heterogeneous intelligent connected vehicle platoons under ITS considering communication delay. The proposed method integrates the nonlinear Intelligent Driver Model (IDM) and a spacing compensation mechanism, aiming to ensure that the platoon maintains structural stability in the presence of communication disturbances, while also enhancing the comfort and safety of following vehicles. Firstly, construct heterogeneous vehicle platoon system based on the third-order vehicle dynamics model, Predecessor-Leader-Following (PLF) communication topology, and the fixed time-distance strategy, while a nonlinear distributed controller integrating the IDM following behavior and the front-vehicle spacing compensation mechanism is designed to enhance the robustness of the system to delay disturbance. Secondly, leveraging the Lyapunov-Krasovskii functional framework in conjunction with the Moon inequality, an LMI-based stability condition is derived to ensure the uniform asymptotic stability of the system. The corresponding maximum admissible communication delay is then determined, followed by a detailed analysis of the system's string stability. Finally, comparative simulations are conducted on the MATLAB/Simulink platform. Simulation results verify that the proposed controller offers enhanced convergence speed, reduced acceleration variability, and improved suppression of spacing errors under communication delay disturbances. Compared to conventional linear controllers, it demonstrates markedly superior control performance and greater practical applicability. This method provides a valuable reference for the robust design and performance optimization of cooperative control systems for heterogeneous vehicle platoons under communication delay conditions.
Ye, Xin, Kang, Zhongping
Effective Aperture Determination for Efficient Vehicle-Mounted Antennas Measurement via Spherical Wave Expansion Power Spectrum Analysis2025-01-732112/31/2025
With the advancement of wireless technology within the automotive industry, vehicle antenna measurement has garnered increasing attention, as antenna system performance exerts critical influences on wireless communication performance. In spherical near-filed (SNF) automotive measurement, the assignment of minimum sphere radius (MSR) is of paramount significance in reducing test duration. Current industrial practice typically presumes the aperture equivalent to the entire vehicle, consequently assigning the minimum sphere to enclose the entire vehicle structure. Such a sampling scheme, however, is often redundant since regions distant from the antenna experience weak illumination and contribute negligibly to radiation, particularly at higher frequencies. Thus, determining the effective aperture becomes essential for MSR reduction and enhanced testing efficiency. To this end, this paper investigated the effective aperture of vehicle-mounted antenna (VMA) to reduce the test duration. The spherical mode coefficients (SMCs) of the VMA are derived, and their power spectrum is analyzed. Leveraging the correlation between source distribution and spectral power characteristics, modal truncation error was evaluated to ascertain the effective aperture dimensions. A GNSS antenna operating at 1.94 GHz is designed, fabricated, and mounted atop the front and rear of a vehicle model. Numerical results are provided to demonstrate the proposed methodology, and measurement outcomes are presented to validate its efficacy.
Yang, Xin, Chen, Rui, Zhou, Liling, Tao, Tingting
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