Dissertations / Theses on the topic 'Véhicules autonomes – Mesures de sécurité'
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Grébonval, Cyrille. "Automatisation des véhicules et nouveaux habitacles : postures de confort et risques associés en cas de choc." Thesis, Lyon, 2021. http://www.theses.fr/2021LYSE1328.
Considerable research and development efforts are currently focused on automated vehicles that could free drivers from driving tasks and allow them to perform new activities (e.g. working, sleeping). Such activities would benefit from new seating configurations. However, even if a high level of safety is expected for these future vehicles, accidents will continue to occur. Current protective devices are designed for a driving position. They may require modifications to maintain the current level of protection for new occupant positions. This thesis aims to identify the risks and opportunities in terms of occupant protection associated with new positions that could appear with automated vehicles. The analyses used digital human models for applied traffic safety which have proven to be a relevant risk assessment tool. Particular attention was paid to assessing the validity of the models after repositioning. The work provided a better understanding of the restraint mechanisms in reclined configurations during a frontal impact. These positions appear to be critical with a difficult restraint of the pelvis or loading of the lumbar spine depending on the seat angle. The occupant response was also significantly affected by the initial position of the pelvis. These results can be used to help design and evaluate new restraint systems. In order to better understand the comfortable position in these reclined configurations, an experimental study was carried out using a multi-adjustable seat. These experiments enabled, on the one hand, to identify the comfort seat configurations, and on the other hand to establish the relationships between these seat configurations and the position of the internal skeleton and in particular for the pelvis. These results can in particular help the positioning of occupants during physical or digital tests. Overall, this work shows the strong interaction between comfort and safety for the design of new passenger cars
Zhang, Hongyi. "Road surface condition detection for autonomous vehicle by NIR LED system and machine learning approaches." Thesis, université Paris-Saclay, 2022. http://www.theses.fr/2022UPAST106.
The field of autonomous vehicles has aroused great interest in recent years. In order to ensure the passenger to get a safe and comfortable experience on autonomous vehicles, advanced obstacle systems have to be implemented. Although current solutions for detecting obstacles have shown quite good performances, they have to be improved for an increased safety of autonomous vehicles on road, both in day-time and night-time conditions. In particular, autonomous vehicles in real life may encounter ice, snow or water puddles, which may be the cause of severe crashes and traffic accidents. The detection systems must hence allow detecting changes in road conditions to anticipate the vehicle reaction and/or deactivate the automated functions. The aim of this thesis is to propose a system implemented on the autonomous vehicles in order to detect the road surface conditions induced by the weather. After deep investigation of the state of art, a near infrared (NIR) system based on LEDs and a machine learning system were proposed for daytime and night-time detection. The NIR systems with three LEDs were investigated with experimental validations. In addition, the specifications of the NIR systems are carefully discussed. Furthermore, the machine learning system is proposed as a supplementary system. The performance of different models is compared in terms of classification accuracy and model complexity. Finally, the results are discussed and a combination of the two systems is proposed
Koné, Tchoya Florence. "Contribution à la démonstration de la sécurité du véhicule autonome, basée sur une stratégie de génération de scénarios, modélisée par niveaux d’abstraction et orientée par la sensibilité du VA, pour une validation par simulation." Electronic Thesis or Diss., Université de Lorraine, 2021. http://www.theses.fr/2021LORR0182.
This CIFRE thesis, carried out within Stellantis, provides a scenario generation strategy, modelled by levels of abstraction and oriented by the sensitivity of the AV, for a simulation-based validation process. This work is within the scope of the ISO PAS 21448 /SOTIF (Safety Of The Intended Functionality) standard.To do this, the approach followed is based on five contributions: (1) An analysis of the functional architecture of the AV and the highlighting of the challenges related to its safety validation: normative aspects, simulation chains, the presence of uncertainty in the operational environment of the AV. (2) The proposal of a conceptual framework (knowledge model) on which the scenario generation methodology to be proposed later will be based. (3) A summary of the indicators used in the literature, as well as those that we will use in our final generation strategy, including the sensitivity indicator. It also gives a structure of the system of scenario generation and simulation based validation of the safety of the AV, as well as the way in which the indicators will be exploited in this structure. (4) The proposal of a scenario generation heuristic and the estimation of the risk indicator associated with the AV. This fourth contribution is based on the elements developed in the previous contributions: the proposed conceptual model (contribution 2), the structure of the generation and validation system and the associated indicators (contribution 3). (5) Finally, the last contribution is an implementation of the previous proposals via a case study.Keywords: Autonomous Vehicle (AV), Safety Of The Intended Functionality (SOTIF), Functional performance limitation, Functional insufficiencies, Critical scenarios, Sensitivity metric, Scenarios generation strategy, Simulation-based Validation process
Diallo, El-hacen. "Study and Design of Blockchain-based Decentralized Road Traffic Data Management in VANET (Vehicular Ad hoc NETworks)." Electronic Thesis or Diss., université Paris-Saclay, 2022. http://www.theses.fr/2022UPASG017.
The prominence of autonomous vehicles has imposed the need for more secure road traffic data (i.e., events related to accidents, traffic state, attack report, etc.) management in VANET (Vehicular Ad hoc NETworks). Traditional centralized systems address this need by leveraging remote servers far from the vehicles. That is not an optimal solution as road traffic data must be distributed and securely cached close to cars to enhance performance and reduce bandwidth overhead. Blockchain technology offers a promising solution thanks to its decentralization property. But some questions remain unanswered: how to design blockchain-adapted traffic data validation, which is more complex than an economic transaction? What is the performance in real-world VANET scenarios?This thesis addresses those questions by designing blockchain-adapted traffic data management. The performance analysis and the validation of the proposed schemes are conducted through various simulations of real scenarios.We first adapt the PoW (Proof of Work) consensus mechanism to the VANET context whereby the RSUs (Road Side Units) maintain the decentralized database of road traffic data. After that, the proposed scheme is evaluated in the presence of malicious vehicles. The results show that the proposed approach enables a secure and decentralized database of road traffic data at the RSUs level.Next, motivated by our findings, we adopt PBFT (Practical Byzantine Fault Tolerance), a voting-based consensus mechanism, to reduce the blockchain latency. The traffic data validators are dynamically selected based on traffic event appearance location. Finally, we propose a novel blockchain replication scheme between RSUs. This scheme offers a trade-off between the blockchain latency and replication frequency. Simulation results show better performance when the validators (i.e., RSUs) are minimized.Finally, we propose a trust model to minimize the validators without compromising the decentralization and fairness of block-creation. This trust model leverages the geographical distance and the RSUs trust to dynamically form a group of validators for each block in the blockchain. We formalize and evaluate this trust model, considering various scenarios with malicious RSUs. Results show the efficiency of the proposed model to minimize the validators group while isolating malicious RSUs
Zhao, Xiaoyuan. "Assessing pedestrian decision making in the presence of automated vehicles : mitigating risks for safer urban environment." Electronic Thesis or Diss., Université Paris Cité, 2023. https://wo.app.u-paris.fr/cgi-bin/WebObjects/TheseWeb.woa/wa/show?t=6155&f=67686.
Each year, around 1.35 million fatalities occur on roads worldwide. Of particular concern is the fact that over a quarter of these fatalities comprise vulnerable road users, notably pedestrians and cyclists. The advancement of Automated vehicles (AVs) technology, particularly with full automation, is envisioned to reduce the number of crashes by eliminating human errors in driving. However, the introduction of these vehicles into the existing traffic system necessitates their harmonious coexistence with human road users, including pedestrians. Consequently, the integration of AVs may introduce a new set of road safety concerns originating from potential human errors/violations in interactions with this emergent technology. To increase the likelihood of achieving safe and efficient interactions between AVs and pedestrians, the function of this system must be optimized by identifying and addressing human factor related risks and challenges. At the center of the human factors-related challenges concerning pedestrian-AV interaction is underlined by the fact that pedestrian behavior is extremely flexible and influenced by a multitude of contextual factors such as built environment, as well as psychological factors such as risk perception. Moreover, it is reasonable to expect that pedestrians may adapt to new behavior patterns in response to the introduction of AVs. For these reasons, it is essential to understand pedestrians' perceptions about AVs and behavioral responses when interacting with them within diverse road contexts, all while considering the underlying psychological mechanisms at play. This nuanced understanding is a prerequisite for the design of safe, trustworthy, and acceptable AVs, thereby facilitating harmonious road sharing between pedestrians and these vehicles. This PhD work, therefore, focuses on the interactions between AVs and pedestrians from the perspective of pedestrians. It includes three studies, each focusing on different contexts in which pedestrian-AV interactions take place. Using an online survey, the first study seeks to understand pedestrians' perceptions and beliefs about AVs as influential factors motivating their intention to take risks when crossing road in front of AVs, particularly in time-sensitive situations. The second study explores utilizes a video-based experiment to assess the influence of external Human-Machine Interfaces (eHMIs) on pedestrians' decision-making process, specifically under conditions of high mental workload, during interactions with AVs. The last study performs a virtual reality (VR) experiment to further investigate the process of which pedestrians acquire knowledge and skills to interact with AVs, potentially influenced by other pedestrians. Collectively, findings of the three studies show that AVs and their interaction strategies (i.e. eHMIs) may have the potential to lead pedestrians to make decisions that are less safe or less appropriate in specific contexts. These findings shed light on the potential risks and challenges associated with the deployment of AVs and eHMI systems in real-world traffic scenarios
Karray, Khaled. "Cyber-security of connected vehicles : contributions to enhance the risk analysis and security of in-vehicle communications." Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLT023.
During the last decade, technological advances have made the car more and more connected to the outside world. On the flip side, thistechnological transformation has made modern vehicles subject to advanced cyber attacks. The cyber-physical architectures of automotive systems were not designed with security in mind. With the integration of connected platforms into these cyberphysical systems, the threat landscape has radically changed. Lately, multiple security breaches targeting different car manufacturers have been reported mainly by the scientific community. This makes security a critical concern, with a high impact especially on future autonomous driving. In order to address this gap, rigorous security engineering needs to be integrated into the design process of an automotive system and new protection methods adapted to the specificities of the vehicle systems must be introduced. Threat modeling and risk analysis are essential building blocks of this process. In this context, attack trees proved to be a reasonably good way to model attack steps. Nevertheless, given the diversity of architectures, it can quickly become a burden to draw attack trees for all architectures. This thesis tackles the issues of security of connected vehicles. The proposed approach allows enhancing the threat analysis with the automated generation of attack tree used to assist in the risk assessment step. We also propose novel and efficient protection mechanisms for in-vehicle communication networks capable of coping with existing cyber-physical attacks
Li, Letitia. "Approche orientée modèles pour la sûreté et la sécurité des systèmes embarqués." Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLT002/document.
The presence of communicating embedded systems/IoTs in our daily lives have brought a myriad of benefits, from adding conveniences and entertainment, to improving the safety of our commutes and health care. However, the flaws and vulnerabilities in these devices expose their users to risks of property damage, monetary losses, and personal injury. For example, consumer vehicles, both connected and conventional, have succumbed to a variety of design flaws resulting in injuries and death. At the same time, as vehicles are increasingly connected (and in the near future, autonomous), researchers have demonstrated possible hacks on their sensors or internal control systems, including direct injection of messages on the CAN bus.Ensuring the safety of users or bystanders involves considering multiple factors. Conventional safety suggests that a system should not contain software and hardware flaws which can prevent it from correct function. `Safety of the Intended Function' involves avoiding the situations which the system or its components cannot handle, such as adverse extreme environmental conditions. Timing can be critical for certain real-time systems, as the system will need to respond to certain events, such as obstacle avoidance, within a set period to avoid dangerous situations. Finally, the safety of a system depends on its security. An attacker who can send custom commands or modify the software of the system may change its behavior and send it into various unsafe situations. Various safety and security countermeasures for embedded systems, especially connected vehicles, have been proposed. To place these countermeasures correctly requires methods of analyzing and verifying that the system meets all safety, security, and performance requirements, preferably at the early design phases to minimize costly re-work after production. This thesis discusses the safety and security considerations for embedded systems, in the context of Institut Vedecom's autonomous vehicle. Among the proposed approaches to ensure safety and security in embedded systems, Model-Driven Engineering is one such approach that covers the full design process, from elicitation of requirements, design of hardware and software, simulation/formal verification, and final code generation. This thesis proposes a modeling-based methodology for safe and secure design, based on the SysML-Sec Methodology, which involve new modeling and verification methods. Security modeling is generally performed in the last phases of design. However, security impacts the early architecture/mapping and HW/SW partitioning decisions should be made based on the ability of the architecture to satisfy security requirements. This thesis proposes how to model the security mechanisms and the impact of an attacker as relevant to the HW/SW Partitioning phase. As security protocols negatively impact performance, it becomes important to measure both the usage of hardware components and response times of the system. Overcharged components can result in unpredictable performance and undesired delays. This thesis also discusses latency measurements of safety-critical events, focusing on one critical to autonomous vehicles: braking as after obstacle detection. Together, these additions support the safe and secure design of embedded systems
Aljnidi, Mohamad. "Vers un système d'administration de la sécurité pour les réseaux autonomes." Phd thesis, Télécom ParisTech, 2009. http://pastel.archives-ouvertes.fr/pastel-00570696.
Machin, Mathilde. "Synthèse de règles de sécurité pour des systèmes autonomes critiques." Thesis, Toulouse 3, 2015. http://www.theses.fr/2015TOU30129/document.
Autonomous systems operating in the vicinity of humans are critical in that they potentially harm humans. In these systems, fault removal is not sufficient given the command complexity and their interactions with an unstructured environment. By a fault tolerance approach, we consider a safety monitor separated from the main command and able to observe and intervene on the system. The monitor behavior is specified by safety rules that must both ensure safety and permit the system to carry out its tasks in absence of hazard. We propose a systematic method to obtain these safety rules. The hazards, determined by a risk analysis, are formally modeled, then an algorithm synthesizes safe and permissive rules, if any exists. The method is tooled both for modeling and synthesis by use of the model-checker NuSMV. Method and tools are applied to the industrial use case of a robotic co-worker
Tagne, Fokam Gilles. "Commande et planification de trajectoires pour la navigation de véhicules autonomes." Thesis, Compiègne, 2014. http://www.theses.fr/2014COMP2004/document.
My research focuses on trajectory planning and control of autonomous vehicles. This work is a part of an extremely ambitious project launched by the Heudiasyc laboratory about autonomous driving at high speed (longitudinal speed greater to 5m/s ~= 18 km/h). With regard to the control of autonomous vehicles at high speed, a lateral controler using higher-order sliding mode control is proposed. Given the implicit similarity between the sliding mode and the principle of immersion and invariance, two controllers using the principle of immersion and invariance have been subsequently proposed in order to improve the performance with respect to the sliding mode. The development of these new controllers shows very strong robust stability which leads us to study the intrinsic properties of the system. A study of the passivity properties of the system is also crried out, showing some interesting characteristics of the system. Hence, a robust passivity-based controller has been developed. Regarding the navigation, we have developed two navigation algorithms based on the tentacles method. Subsequently, a feasibility study of trajectory generation strategies for high speed driving is conducted. The outcome of the simulation proved that the algorithms gave out good results with respect to the expected ogjectives of obstacle avoidance and global reference path following. Control and motion planning algorithms developed were validated offline by simulation with real data. They have been also tested on a realistic simulator
Mekki, Mokhtar Amina. "Processus d'identification de propriétés de sécurité-innocuité vérifiables en ligne pour des systèmes autonomes critiques." Toulouse 3, 2012. http://thesesups.ups-tlse.fr/1776/.
Recent progress in the definition of decisional mechanisms has allowed computer-based systems to become more and more autonomous. For example, service robots can nowadays work in direct interaction with humans and carry out increasingly complex tasks. This transfer of responsibility poignantly raises the issue of system safety towards humans, the environment and the system itself. System surveillance by an independent safety monitor aims to enforce safe behaviour despite faults and uncertainties. Such a monitor must detect potentially dangerous situations in order to trigger safety actions aiming to bring the system towards a safe state. This thesis addresses the problem of identifying safety trigger conditions. A systematic process is proposed for the identification, starting from a HazOp/UML risk analysis. The proposed methodology also allows the identification of system states in which multiple safety actions might be executed concurrently, in order to be checked and, if necessary, corrected by a system expert. The methodology is applied to a robotic rollator
Artus, Samuel. "Estimation et pronostic de températures de disques de frein : application aux véhicules industriels." Lille 1, 2006. http://www.theses.fr/2006LIL10159.
Active safety systems are of growing importance in automotive applications, including commercial vehicles. Their development is deeply based on embedded electronic modules. The first objective of this thesis consists in developing a brake disc temperature estimation for commercial heavy vehicles. Trucks manufacturer knowledge limitations impose to consider this problem via a global energetic approach. This approach is applied at the vehicle level to reach a systemic point of view and represent the manufacturer's vision of the system integration. Our algorithms have shown promising results on prototype vehic1es, where tests and demonstration were performed for a European project contribution. The proposed model based approach is also able to address prediction objectives. Thus, this work presents the prediction of commercial heavy vehicle brake disc temperature. Considering temperature estimation, it seems feasible to define the temperature evolution over a near future time window. Required assumptions to achieve the brake disc temperature prediction are discussed in the last part of the thesis
Perron, Thierry. "Méthodologie d'analyse de sécurité primaire automobile pour la spécification fonctionnelle et l'évaluation prévisionnelle d'efficacité de systèmes d'évitement d'accidents." Châtenay-Malabry, Ecole centrale de Paris, 1997. http://www.theses.fr/1997ECAP0595.
Leurent, Edouard. "Apprentissage par renforcement sûr et efficace pour la prise de décision comportementale en conduite autonome." Thesis, Lille 1, 2020. http://www.theses.fr/2020LIL1I049.
In this Ph.D. thesis, we study how autonomous vehicles can learn to act safely and avoid accidents, despite sharing the road with human drivers whose behaviors are uncertain. To explicitly account for this uncertainty, informed by online observations of the environment, we construct a high-confidence region over the system dynamics, which we propagate through time to bound the possible trajectories of nearby traffic. To ensure safety under such uncertainty, we resort to robust decision-making and act by always considering the worst-case outcomes. This approach guarantees that the performance reached during planning is at least achieved for the true system, and we show by end-to-end analysis that the overall sub-optimality is bounded. Tractability is preserved at all stages, by leveraging sample-efficient tree-based planning algorithms. Another contribution is motivated by the observation that this pessimistic approach tends to produce overly conservative behaviors: imagine you wish to overtake a vehicle, what certainty do you have that they will not change lane at the very last moment, causing an accident? Such reasoning makes it difficult for robots to drive amidst other drivers, merge into a highway, or cross an intersection — an issue colloquially known as the “freezing robot problem”. Thus, the presence of uncertainty induces a trade-off between two contradictory objectives: safety and efficiency. How to arbitrate this conflict? The question can be temporarily circumvented by reducing uncertainty as much as possible. For instance, we propose an attention-based neural network architecture that better accounts for interactions between traffic participants to improve predictions. But to actively embrace this trade-off, we draw on constrained decision-making to consider both the task completion and safety objectives independently. Rather than a unique driving policy, we train a whole continuum of behaviors, ranging from conservative to aggressive. This provides the system designer with a slider allowing them to adjust the level of risk assumed by the vehicle in real-time
Bousquet, Aline. "Application et assurance autonomes de propriétés de sécurité dans un environnement d’informatique en nuage." Thesis, Orléans, 2015. http://www.theses.fr/2015ORLE2012/document.
Cloud environnements are heterogeneous and dynamic, which makes them difficult to protect. In this thesis, we introduce a language and an architecture that can be used to express and enforce security properties in a Cloud. The language allows a Cloud user to express his security requirements without specifying how they will be enforced. The language is based on contexts (to abstract the resources) and properties (to express the security requirements). The properties are then enforced through an autonomic architecture using existing and available security mechanisms (such as SELinux, PAM, iptables, or firewalld). This architecture abstracts and reuses the security capabilities of existing mechanisms. A security property is thus defined by a combination of capabilities and can be enforced through the collaboration of several mechanisms. The mechanisms are then automatically configured according to the user-defined properties. Moreover, the architecture offers an assurance system to detect the failure of a mechanism or an enforcement error. Therefore, the architecture can address any problem, for instance by re-applying a property using different mechanisms. Lastly, the assurance system provides an evaluation of the properties enforcement. This thesis hence offers an autonomic architecture to enforce and assure security in Cloud environnements
Chaudemar, Jean-Charles. "Étude des architectures de sécurité de systèmes autonomes : formalisation et évaluation en Event B." Thesis, Toulouse, ISAE, 2012. http://www.theses.fr/2012ESAE0003/document.
The study of complex system safety requires a rigorous design process. The context of this work is the formal modeling of fault tolerant autonomous control systems. The first objective has been to provide a formal specification of a generic layered architecture that covers all the main activities of control system and implement safety mechanisms. The second objective has been to provide tools and a method to qualitatively assess safety requirements. The formal framework of modeling and assessment relies on Event-B formalism. The proposed Event-B modeling is original because it takes into account exchanges and relations betweenarchitecture layers by means of refinement. Safety requirements are first specified with invariants and theorems. The meeting of these requirements depends on intrinsic properties described with axioms. The proofs that the concept of the proposed architecture meets the specified safety requirements were discharged with the proof tools of the Rodin platform. All the functional properties and the properties relating to fault tolerant mechanisms improve the relevance of the adopted Event-B modeling for safety analysis. Then, this approach isimplemented on a study case of ONERA UAV
Schweppe, Hendrik. "Sécurité et protection de la vie privée dans les systèmes embarqués automobiles." Electronic Thesis or Diss., Paris, ENST, 2012. http://www.theses.fr/2012ENST0062.
Electronic equipment has become an integral part of a vehicle's network architecture, which consists of multiple buses and microcontrollers called Electronic Control Units (ECUs). These ECUs recently also connect to the outside world. Navigation and entertainment system, consumer devices, and Car2X functions are examples for this. Recent security analyses have shown severe vulnerabilities of exposed ECUs and protocols, which may make it possible for attackers to gain control over a vehicle. Given that car safety-critical systems can no longer be fully isolated from such third party devices and infotainment services, we propose a new approach to securing vehicular on-board systems that combines mechanisms at different layers of the communication stack and of the execution platforms. We describe our secure communication protocols, which are designed to provide strong cryptographic assurances together with an efficient implementation fitting the prevalent vehicular communication paradigms. They rely on hardware security modules providing secure storage and acting as root of trust. A distributed data flow tracking based approach is employed for checking code execution against a security policy describing authorized communication patterns. Binary instrumentation is used to track data flows throughout execution (taint engine) and also between control units (middleware), thus making it applicable to industrial applications. We evaluate the feasibility of our mechanisms to secure communication on the CAN bus, which is ubiquitously implemented in cars today. A proof of concept demonstrator also shows the feasibility of integrating security features into real vehicles
Li, Letitia. "Approche orientée modèles pour la sûreté et la sécurité des systèmes embarqués." Electronic Thesis or Diss., Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLT002.
The presence of communicating embedded systems/IoTs in our daily lives have brought a myriad of benefits, from adding conveniences and entertainment, to improving the safety of our commutes and health care. However, the flaws and vulnerabilities in these devices expose their users to risks of property damage, monetary losses, and personal injury. For example, consumer vehicles, both connected and conventional, have succumbed to a variety of design flaws resulting in injuries and death. At the same time, as vehicles are increasingly connected (and in the near future, autonomous), researchers have demonstrated possible hacks on their sensors or internal control systems, including direct injection of messages on the CAN bus.Ensuring the safety of users or bystanders involves considering multiple factors. Conventional safety suggests that a system should not contain software and hardware flaws which can prevent it from correct function. `Safety of the Intended Function' involves avoiding the situations which the system or its components cannot handle, such as adverse extreme environmental conditions. Timing can be critical for certain real-time systems, as the system will need to respond to certain events, such as obstacle avoidance, within a set period to avoid dangerous situations. Finally, the safety of a system depends on its security. An attacker who can send custom commands or modify the software of the system may change its behavior and send it into various unsafe situations. Various safety and security countermeasures for embedded systems, especially connected vehicles, have been proposed. To place these countermeasures correctly requires methods of analyzing and verifying that the system meets all safety, security, and performance requirements, preferably at the early design phases to minimize costly re-work after production. This thesis discusses the safety and security considerations for embedded systems, in the context of Institut Vedecom's autonomous vehicle. Among the proposed approaches to ensure safety and security in embedded systems, Model-Driven Engineering is one such approach that covers the full design process, from elicitation of requirements, design of hardware and software, simulation/formal verification, and final code generation. This thesis proposes a modeling-based methodology for safe and secure design, based on the SysML-Sec Methodology, which involve new modeling and verification methods. Security modeling is generally performed in the last phases of design. However, security impacts the early architecture/mapping and HW/SW partitioning decisions should be made based on the ability of the architecture to satisfy security requirements. This thesis proposes how to model the security mechanisms and the impact of an attacker as relevant to the HW/SW Partitioning phase. As security protocols negatively impact performance, it becomes important to measure both the usage of hardware components and response times of the system. Overcharged components can result in unpredictable performance and undesired delays. This thesis also discusses latency measurements of safety-critical events, focusing on one critical to autonomous vehicles: braking as after obstacle detection. Together, these additions support the safe and secure design of embedded systems
Bouteldja, Mohamed. "Modélisation des interactions dynamiques poids lourds / infrastructures pour la sécurité et les alertes." Versailles-St Quentin en Yvelines, 2005. http://www.theses.fr/2005VERS0043.
Schweppe, Hendrik. "Sécurité et protection de la vie privée dans les systèmes embarqués automobiles." Thesis, Paris, ENST, 2012. http://www.theses.fr/2012ENST0062/document.
Electronic equipment has become an integral part of a vehicle's network architecture, which consists of multiple buses and microcontrollers called Electronic Control Units (ECUs). These ECUs recently also connect to the outside world. Navigation and entertainment system, consumer devices, and Car2X functions are examples for this. Recent security analyses have shown severe vulnerabilities of exposed ECUs and protocols, which may make it possible for attackers to gain control over a vehicle. Given that car safety-critical systems can no longer be fully isolated from such third party devices and infotainment services, we propose a new approach to securing vehicular on-board systems that combines mechanisms at different layers of the communication stack and of the execution platforms. We describe our secure communication protocols, which are designed to provide strong cryptographic assurances together with an efficient implementation fitting the prevalent vehicular communication paradigms. They rely on hardware security modules providing secure storage and acting as root of trust. A distributed data flow tracking based approach is employed for checking code execution against a security policy describing authorized communication patterns. Binary instrumentation is used to track data flows throughout execution (taint engine) and also between control units (middleware), thus making it applicable to industrial applications. We evaluate the feasibility of our mechanisms to secure communication on the CAN bus, which is ubiquitously implemented in cars today. A proof of concept demonstrator also shows the feasibility of integrating security features into real vehicles
Ah-Tchine, Emeline. "Education et objets innovants : études proactives des préconceptions des piétons, des décisions de traversée et des systèmes d’interaction des voitures autonomes." Thesis, Université Grenoble Alpes, 2020. https://thares.univ-grenoble-alpes.fr/2020GRALH019.pdf.
Academic syllabi need to be constantly restructured to accommodate controversial topics emerging in everyday life. These subjects are gathered under the concept of “education of…”. Socially acute questions is a field of research which identifies potential subjects which may fit under the label of “education of…”. Regarding road safety education, the development of the autonomous car is appropriate to these socially acute questions. In order to consider this new object in road safety education and to provide recommendations, the objective of this thesis is to understand the interaction with this object and observe the behaviour towards the object. Four empirical studies took place in order to gain knowledge of the interaction with this object. In the first study, the objective was to explore the preconceptions on the nature and functionalities of the autonomous car. One hundred eighty participants were recruited to answer a three parts questionnaire. Five profiles were found and recommendations were given for each profile. In the second study, the goal was to study the influence of the type of car on road crossing decisions and the feeling of safety of pedestrians. Forty-five participants took part in a road crossing task composed of three street scenes with four configurations of pedestrian road infrastructures (zebra crossings and pedestrian traffic lights). Results showed a lower percentage of positive road crossing decisions in front of autonomous cars when taking into account trustworthiness. In a third study, in focus groups, the objective was to create interaction systems with autonomous car. Two systems were selected, the first informs pedestrians on the speed of the car and the latter gives advice to the pedestrian on appropriate behaviour using pedestrian traffic lights. We evaluated the comprehension of these interaction systems with 200 participants. The two systems were shown either as static pictures or as dynamic video clips, and comprehension was assessed with open-ended and multiple choice questions. Both systems purposefully conveyed the intended message, however the inform system led to more alternative explanations. The advice system is the most relevant for pedestrian rule compliance for road crossing decision. Then, in a last study, using virtual reality, 84 participants made road-crossing decisions in front of an autonomous car equipped with either an information, an advice or no communication system. The advice system induced less road crossing decision especially when no zebra nor pedestrian light were available. Each study answer a specific question which allows us to characterize the interaction between pedestrians and autonomous car before its implementation. The results for each study is discussed and theoretical and practical implications are provided
Emzivat, Yrvann. "Safety System Architecture for the Design of Dependable and Adaptable Autonomous Vehicles." Thesis, Ecole centrale de Nantes, 2018. http://www.theses.fr/2018ECDN0009.
Driving automation is often presented as a viable solution to the prevailing challenges of sustainable mobility. It has the potential to create a paradigm shift in transportation technology, by providing a medium for cleaner, safer and more efficient means of transportation, while providing a better user experience overall. However, designing a dependable Automated Driving System is a challenge in itself. Current systems lack common sense and have trouble behaving in a truly cautionary manner, which is why a fallback-ready user is expected to take over in the event of a performance-relevant system failure affecting the dynamic driving task. Yet it seems unwise to rely on human drivers to act as a safety net for the purpose of offsetting the lack of maturity of Automated Driving Systems, for automation changes their active involvement into a monitoring role and creates new challenges, such as complacency, automation dependency, lack of understanding and misuse. The work places emphasis on the design of dependable and adaptable Automated Driving Systems. In particular, the thesis addresses the problem of designing a new ADS primary subsystem, whose role it is to monitor the state of the ADS, supervise its actions and respond as needed to guarantee the safety of its occupants and of others
Zaouche, Lotfi. "Sécurité et fiabilité des communications dans les réseaux d’essaims." Thesis, Compiègne, 2017. http://www.theses.fr/2017COMP2339/document.
The emergence of small and inexpensive Unmanned Aerial Vehicles (UAVs) promotes their use in several applications. UAVs are usually equipped with different sensors and have the ability to communicate via wireless connections. Their capability to fly freely in the space offers new opportunities to monitoring and tracking applications. A Flying Ad hoc Network (FANET) is composed of a fleet of autonomous UAVs and is used for monitoring applications in hostile environments, surveillance or site inspection. FANETs could also be used for filming special events such as bike races or soccer matches, so, the connections must guarantee a minimum of quality of service. In FANETs, saving energy of UAVs that have limited battery is very challenging and protecting the network from malicious attacks is even more difficult. In this thesis, we focus on tracking and filming a moving target using a fleet of UAVs. Since the target is moving, the UAVs have to follow it continuously, and a path to the ground station must be available. In this context, we propose an efficient solution that allows the coordination of the UAVs to maintain an optimal path between the target and the ground station. The proposed solution is time and energy efficient. We also propose a solution based on hierarchical protocols to save more energy in the communication process with the ground station. Another solution that allows energy saving is to force selfish nodes to participate in the network to route received packets towards their destination. Indeed, a selfish node is concerned only about its own welfare, refusing to route packets of other node, causing an extra charge for the rest of nodes in the network. We validate our solutions through simulation campaigns
Loulou, Hassan. "Verifying Design Properties at Runtime Using an MDE-Based Approach Models @Run.Time Verification-Application to Autonomous Connected Vehicles." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLS405.
Autonomous Connected Vehicles (ACVs) are Cyber-physical systems (CPS) where the computationalworld and the real one meet. These systems require a rigorous validation processthat starts at design phase and continues after the software deployment. Models@Runtimehas appeared as a new paradigm for continuously monitoring software systems execution inorder to enable adaptations whenever a change, a failure or a bug is introduced in the executionenvironment. In this thesis, we are going to tackle ACVs environment where vehicles tries tocollaborate and share their data in a secure manner.Different modeling approaches are already used for expressing access control requirementsin order to impose security policies. However, their validation tools do not consider the impactsof the interaction between the functional and the security requirements. This interaction canlead to unexpected security breaches during the system execution and its potential runtimeadaptations. Also, the real-time prediction of traffic states using crowd sourcing data could beuseful for proposition adaptations to AVCs cooperation models. Nevertheless, it has not beensufficiently studied yet. To overcome these limitations, many issues should be addressed:• The evolution of the system functional part must be considered during the validation ofthe security policy and attack scenarios must be generated automatically.• An approach for designing and automatically detecting security anti-patterns might bedeveloped. Furthermore, new reconfigurations for access control policies also must befound, validated and deployed efficiently at runtime.• ACVs need to observe and analyze their complex environment, containing big-datastreams to recommend new cooperation models, in near real-time.In this thesis, we build an approach for sensing the ACVs environment, validating its accesscontrol models and securely reconfiguring it on the fly. We cover three aspects:• We propose an approach for guiding security models checkers to find the attack scenariosat design time automatically.• We design anti-patterns to guide the validation process. Then, we develop an algorithmto detect them automatically during models reconfigurations. Also, we design a mechanismfor reconfiguring the access control model and we develop a lightweight modularframework for an efficient deployment of new reconfigurations.• We build an approach for the real-time monitoring of dynamic data streams to proposeadaptations for the access policy at runtime.Our proposed approach was validated using several examples related o ACVs. the results ofour experimentations prove the feasibility of this approach
Petit, Jonathan. "Surcoût de l'authentification et du consensus dans la sécurité des réseaux sans fil véhiculaires." Phd thesis, Toulouse 3, 2011. http://thesesups.ups-tlse.fr/1587/.
In 2007, road accidents have cost 110 deaths, 4600 injuries and €438 millions daily in the European Union. The damage is similarly devastating in the United States with 102 deaths, 7900 injuries and 30 millions daily. Therefore, industry consortia, governments, and automotive companies, have made the reduction of vehicular fatalities a top priority. To raise this challenge, a main idea is to make vehicles and roads smarter thanks to wireless communications. Indeed, wireless communications will increase the line-of-sight of the driver and make vehicles aware of their environment. Smart vehicles and roads will form a wireless vehicular network (VANET). The VSC Project details 75 applications that could be deployed on vehicular networks. Applications are divided in three categories: safety-related, traffic optimization and infotainment. Automotive safety-related applications aim to assist drivers in avoiding vehicular accidents, by providing advisories and early warnings to drivers, using broadcast vehicle-to-vehicle (V2V) communications. Vehicles typically communicate as per the Dedicated Short Range Communication standard (DSRC), and broadcast messages in response to certain notified events (emergency message) or periodically (beacon message). In this thesis, we focus on V2V communications in Local Danger Warning (LDW) application, which is considered one of the most promising active safety applications for inter-vehicle communication. Since drivers of vehicles participating in V2V communications are expected to act on messages received from other participants, it is clearly necessary that these messages be transmitted in a secure fashion. Unfortunately, security mechanisms come with overhead that impact the performance of the V2V communications, and hence that of the safety applications. The IEEE 1609. 2 standard for vehicular ad hoc networks is based on the ECDSA algorithm for supporting the authentication mechanism. The main goal of this work is to define a formula, which assesses the authentication overhead in VANET. We also introduce the problem of consensus, which is an additional mechanism that impacts the total time overhead of ECDSA. Indeed, when you receive a message, you could legitimately ask: "Should I trust this message?". The consensus aims at increasing trust. But consensus mechanism comes with overheads. We investigate the network performance and propose new decision methods and techniques to reduce these overheads
Russo, Jean-Nicola. "Evaluation du risque de téléscopage dans un contexte de véhicules communicants par la méthode des réseaux Bayésiens." Thesis, Mulhouse, 2018. http://www.theses.fr/2018MULH2947.
Technological advances and the globalization of transport have led to an increase flow of passengers. However, in the automotive sector, technical or human problems lead to accidents that still cause thousands of injuries and deaths each year. As a result, government authorities and car manufacturers are working on new regulations and technical advances to ensure safety of every road user. To ensure that cut of deaths and injuries, an interesting research approach is to merge information from the vehicle, the driver and the environment in order to warn the driver of the risk he is taking or even to act directly on the vehicle. Thus, after defining the risk we consider, we are interested here in its modelling and estimation in real time. In this context, the deceleration of the leading vehicle is monitored and studied then we analyze and process the data through a Bayesian network in order to evaluate the rear-end risk that will be shared through vehicular communication thanks to VANet
Mendiboure, Léo. "Distribution géographique de données dans l'Internet des Véhicules : une approche logicielle et sécurisée utilisant les réseaux cellulaires." Thesis, Bordeaux, 2020. http://www.theses.fr/2020BORD0103.
Nowadays, the deployment of vehicular communication networks appears as an efficient solution to improve both road users safety and road traffic efficiency. Indeed, vehicular networks could enable the deployment of Cooperative Intelligent Transport Systems (C-ITS). Thanks to C-ITS applications, vehicles could exchange information concerning, for example, road conditions or emergency braking.The operation of many C-ITS applications relies on an efficient geographical dissemination of data: cooperative downloading, obstacle detection, cooperative map creation, etc. So far, this geographical data dissemination has mainly been based on direct communication between vehicles (vehicle-to-vehicle). However, this approach faces limitations when data must be transmitted over large geographical areas: connectivity loss, packet loss, etc. In addition, in recent years, vehicular networks have evolved from an extit{ad hoc} approach to a centralized approach, integrating cellular communication technologies. Therefore, geographical data dissemination could be based on the cellular network, widely deployed and guaranteeing acceptable performance.Thus, in this thesis, we focused on the definition of an efficient and secure solution for cellular-based geographical data dissemination. To achieve that, first of all, we proposed an evolution of the current vehicular communication architecture. Thanks to the proposed improvements, the proper functioning of all C-ITS applications could be guaranteed. Then, we defined a solution, based on a Software Defined approach, to efficiently distribute data geographically. This approach overcomes the limitations of the protocol currently used for geographic data dissemination. Moreover, it guarantees an efficient management of the mobility of terminal devices. Finally, we introduced a new solution to secure software-defined vehicular networks. The proposed approach, using the Blockchain technology, aims to guarantee a high level of security and scalability
Petit, Jonathan. "Surcoût de l'authentification et du consensus dans la sécurité des réseaux sans fil véhiculaires." Phd thesis, Université Paul Sabatier - Toulouse III, 2011. http://tel.archives-ouvertes.fr/tel-00609445.
Chbib, Fadlallah. "Enhanced Cross Layer and Secure Architecture for Connected Vehicles." Thesis, Troyes, 2021. http://www.theses.fr/2021TROY0038.
Vehicular Ad hoc NETworks, known as VANETs, are deployed to minimize the risk of road accidents as well as to improve passengers comfort. This thesis deals with the problem of dropping and delaying packets in VANETs by reducing the time of exchanging data, improving the packet delivery ratio, as well as securing the vehicular architecture. First, we propose a novel method to avoid the congestion on the control channel in order to guarantee the real time transfer and the reliability of urgent safety messages. In addition, we extend the proposed method by using a neural network with various parameters such as priority of the message, sensitivity of road, type of vehicle and buffer state to reduce the time of exchanging safety data. Second, we propose two routing protocols based on signal to interference ratio (SIR). Our target in both is to maximize the overall SIR between source and destination with the aim to select the optimal path. In the first one, we evaluate the SIR level, while in the second, we use a Markov chain model to predict the SIR level. Finally, we protect these protocols from various attacks through three anti-attack algorithms. In the first algorithm, we create a key-value variable to detect the fabrication of the source address at the intermediate node. In the second one, we create a buffer and check it periodically in order to catch out the malicious node occurring at the destination field. In the last one, we discover the attack at the SIR level
Obeid, Nizar. "Évaluation des performances en localisation d’un radar ultra large bande millimétrique pour l’automobile." Thesis, Lille 1, 2010. http://www.theses.fr/2010LIL10139/document.
In order to ensure maximum safety of users of road transport and to reduce the number of road accidents, considerable scientific research is conducted. The use of radar mounted on vehicles is a considered technological entry point. The required functions are measuring the distance and the velocity of fixed or mobile obstacles and providing their directions of arrival. More recently, a secondary vehicle to vehicle communication function has been suggested for these radar sensors. This thesis was part of a national research project launched in 2007 entitled "Communication inter VEhicules and accurate relative LOcation (VELO)" following a call for tenders from the French National Agency of Research. This project aims to design and to implement a radar sensor operating at the recently assigned millimeter frequency band of 79 GHz. Different functions must be provided by this sensor: Detection and radial distances of the targets; Targets speed measurements; Vehicle to vehicle communication; and Accurate targets relative location. The ultimate goal of these sensors is to constitute a safety virtual belt operating at 360 ° all around the vehicle, providing a high resolution localization of all the surrounding targets and the ability to communicate with other vehicles. In this work we focus particularly on the part “accurate relative localization of the targets”. We show that through the use of the ultra wideband (UWB) technique and of sub nanosecond pulses we can simultaneously satisfy these requirements. To evaluate the relative localization accuracy provided by this approach, the impact of different parameters are modeled: pulse waveforms, sampling rate, jitter, TOA, TDOA, DOA (Time Of Arrival, Time Difference Of Arrival, Direction Of Arrival) methods. Simulation models needed to assess overall system performance relative location were implemented and developed in MatlabTM and ADSTM. These simulation results have been validated during an experimental phase where we have localized sources emitting at 4 GHz and 60 GHz in a laboratory environment. A channel model considering a two-ray approach was also implemented in the simulations and experimentally validated at 63 GHz
Hasrouny, Hamssa. "Gestion de confiance et solutions de sécurité pour les réseaux véhiculaires." Electronic Thesis or Diss., Evry, Institut national des télécommunications, 2018. http://www.theses.fr/2018TELE0001.
VANETs (Vehicular Ad-hoc Networks) consist of vehicles capable of exchanging information by radio to improve road safety (alerts in case of accidents or in case of abnormal slowdowns, collaborative driving…) or allow internet access for passengers (collaborative networks, infotainment, etc.). Road safety messages exchanged between vehicles may be falsified or eliminated by malicious entities in order to cause accidents and endanger people life. In this thesis, we focus on defining, designing and evaluating a security solution for V2V communications in VANET, to ensure a secure communication and a good level of confidence between the different participating vehicles. Adopting a group-based model, we consider the Trustworthiness evaluation of vehicles participating in VANET and we develop a Trust Model to analyze the behavior of the vehicles in the group while preserving the privacy of the participants and maintaining low network overhead. We then propose a hierarchical and modular framework for Misbehavior Detection and Revocation Management
Ayrault, Maxime. "Dynamic Defenses for Improved Resilience of Connected Cars." Electronic Thesis or Diss., Institut polytechnique de Paris, 2022. http://www.theses.fr/2022IPPAT032.
With the advent of connected cars, new security threats need to be faced. There are mainly two factors that make up the severity of these threats: Firstly, the attack surface is growing with the ever increasing use of software-driven electronic components in the car and especially with every new interface that connects the car to the internet and the outside world. Secondly, the potential impact of security vulnerabilities is growing with the car electronics taking over more and more safety critical functionalities, such as “brake-by-wire” or advanced driver-assistance systems. In the recent years, new attacks have been published that make use of wireless connections in order to take over the control of a car. With these new attack vectors and the growing complexity of the on-board units, safety and security are becoming a major design objective of new automotive systems. The term resilience by design refers to the goal of securing the overall system architecture instead of deploying local security patches. This includes the detection of intrusions or defects and a coordinated protection against these threats. Bio-inspired approaches use the natural resitance of biological organism as a blueprint to propose technical solutions to this challenge. As an example, the principle of a moving target defense is to change the configuration of a system so as to make deterministic attacks impractical. This defense pattern can be observed in many viruses – such as HIV – which are constantly changing the surface proteins exposed to the outside world so as to escape attacks from the immune system. In this project, we would like to study the potential of architectural reconfigurations as means of a moving target defense against cyber attacks and defects in a connected car environment. As a prerequisite for this work, a precise and formal architectural model will be constructed. The main idea is to examine the space of functionally correct configurations of the architecture. In case of a detected intrusion, the system switches in a non-deterministic manner to some remaining configuration. The decision of when and how to trigger a reconfiguration is based on the attack tree: A possible strategy is to keep the system in a state where a maximum number of legal configurations remains in order to be able to react to evolving attacks
Patel, Raj Haresh. "Autonomous cars' coordination among legacy vehicles applied to safe braking." Electronic Thesis or Diss., Sorbonne université, 2018. http://www.theses.fr/2018SORUS468.
The behaviour of an autonomous vehicle can be impacted by various internal factors like onboard system failure, sensor failure, etc. or by external factors like risky maneuvers by immediate neighbors threatening a collision, sudden change in road conditions, etc. This can result in a failure of coordination maneuver like multi-vehicle intersection clearance. In such situations when conditions dynamically change and the nominal operational condition is violated by internal or external influences, an autonomous vehicle must have the capability to reach the minimal risk condition. Bringing the vehicle to a halt is one of the ways to achieve minimal risk condition. This thesis introduces a safe stop algorithm which generates controls for multiple autonomous vehicles considering the presence of legacy manually driven vehicles on the road. A Model Predictive Control based algorithm is proposed which is robust to errors in communication, localization, control implementation, and model mismatch. Collisions avoided and discomfort faced by the driver are two evaluation parameters. Simulations show that the robust controller under the influence of errors can perform as well as the non-robust controller in the absence of these errors
Bouchaala, Younes. "Gestion des messages de sécurité dans les réseaux VANET." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLV101/document.
Quality of Service (QoS) requirements for VANET applications vary depending on the nature and type of the application. Therefore, a communication protocol in VANETs must be able to meet various QoS requirements according to the type of traffic. In VANET, the transmission channel is shared by all the vehicles using the same radio frequency. A poor exploitation of the channel can therefore lead to collisions and wasted bandwidth. A MAC protocol must therefore be designed to share the channel between the different nodes in an efficient and fair way.In this thesis we present the following contributions:1- Analysis and improvement of diffusion in the IEEE 802.11 standard.2- Optimization of the CSMA technique for 1D and 2D networks.3- Design of an adaptive transmission algorithm that updates the Carrier Sense threshold to reach a target value.4- Study the gain obtained by the use of directional antennas for Aloha, non-slotted Aloha, and CSMA
Hasrouny, Hamssa. "Gestion de confiance et solutions de sécurité pour les réseaux véhiculaires." Thesis, Evry, Institut national des télécommunications, 2018. http://www.theses.fr/2018TELE0001/document.
VANETs (Vehicular Ad-hoc Networks) consist of vehicles capable of exchanging information by radio to improve road safety (alerts in case of accidents or in case of abnormal slowdowns, collaborative driving…) or allow internet access for passengers (collaborative networks, infotainment, etc.). Road safety messages exchanged between vehicles may be falsified or eliminated by malicious entities in order to cause accidents and endanger people life. In this thesis, we focus on defining, designing and evaluating a security solution for V2V communications in VANET, to ensure a secure communication and a good level of confidence between the different participating vehicles. Adopting a group-based model, we consider the Trustworthiness evaluation of vehicles participating in VANET and we develop a Trust Model to analyze the behavior of the vehicles in the group while preserving the privacy of the participants and maintaining low network overhead. We then propose a hierarchical and modular framework for Misbehavior Detection and Revocation Management
Ribouh, Soheyb. "Identification de l'environnement basée sur l'estimation de canal et génération de clés de sécurité pour les communications véhiculaires." Thesis, Valenciennes, Université Polytechnique Hauts-de-France, 2020. http://www.theses.fr/2020UPHF0029.
Autonomous connected vehicles are expected to see prevalent usage as part ofthe next generation of transportation systems and the smart road vision Since thevehicular environment is highly mobile, the transmitted messages are affected by thewireless channel effect. This makes channel estimation one of the challenging tasksin Vehicle-To-Everything (V2X) communications. In this context, we propose a novelMultiple Sequential Constraint Removal (MSCR) algorithm of channel estimation,dedicated to OFDM systems based-V2X communications. In addition, identifyingthe environment where the vehicle is driving along is quite important in order toallow the vehicle to make the correct self- driving decisions. Thus by exploiting theestimated wireless channel characteristics, we propose a novel vehicular environmentidentification approach based on deep learning, where the estimated channel stateinformation (CSI) are used as input features for the proposed model. Besides that,as the vehicular environment is open access exchanged messages through V2X communicationare vulnerable to attacks. Therefore, we propose a novel physical layerkey generation algorithm in order to secure vehicular communications, where the CSIvalues are used as a source of randomness. Our key generation algorithm has beenimplemented on USRP Software-Defined Radios (SDR) cards and has been tested ona real-world testbed vehicular environment. The performance evaluation results of allthe proposed methods (MSCR channel estimation algorithm, environment identificationsapproach, and key generation algorithm), show that they meet the performancesrequired in a vehicular environment
Iberraken, Dimia. "Safe Trajectories and Sequential Bayesian Decision-Making Architecture for Reliable Autonomous Vehicle Navigation." Thesis, Université Clermont Auvergne (2017-2020), 2020. http://www.theses.fr/2020CLFAC043.
Recent advances in Autonomous Vehicles (AV) driving raised up all the importance to ensure the complete reliability of AV maneuvers even in highly dynamic and uncertain environments/situations. This objective becomes even more challenging due to the uniqueness of every traffic situation/condition. To cope with all these very constrained and complex configurations, AVs must have appropriate control architecture with reliable and real-time Risk Assessment and Management Strategies (RAMS). These targeted RAMS must lead to reduce drastically the navigation risks (theoretically, lower than any human-like driving behavior), with a systemic way. Consequently, the aim is also to reduce the need for too extensive testing (which could take several months and years for each produced RAMS without at the end having absolute prove). Hence the goal in this Ph.D. thesis is to have a provable methodology for AV RAMS. This dissertation addresses the full pipeline from risk assessment, path planning to decision-making and control of autonomous vehicles. In the first place, an overall Probabilistic Multi-Controller Architecture (P-MCA) is designed for safe autonomous driving under uncertainties. The P-MCA is composed of several interconnected modules that are responsible for: assessing the collision risk with all observed vehicles while considering their trajectories' predictions; planning the different driving maneuvers; making the decision on the most suitable actions to achieve; control the vehicle movement; aborting safely the engaged maneuver if necessary (due for instance to a sudden change in the environment); and as last resort planning evasive actions if there is no other choice. The proposed risk assessment is based on a dual-safety stage strategy. The first stage analyzes the actual driving situation and predicts potential collisions. This is performed while taking into consideration several dynamic constraints and traffic conditions that are known at the time of planning. The second stage is applied in real-time, during the maneuver achievement, where a safety verification mechanism is activated to quantify the risks and the criticality of the driving situation beyond the remaining time to achieve the maneuver. The decision-making strategy is based on a Sequential Decision Networks for Maneuver Selection and Verification (SDN-MSV) and corresponds to an important module of the P-MCA. This module is designed to manage several road maneuvers under uncertainties. It utilizes the defined safety stages assessment to propose discrete actions that allow to: derive appropriate maneuvers in a given traffic situation and provide a safety retrospection that updates in real-time the ego-vehicle movements according to the environment dynamic, in order to face any sudden hazardous and risky situation. In the latter case, it is proposed to compute the corresponding low-level control based on the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) that allows the ego-vehicle to pursue the advised collision-free evasive trajectory to avert an accident and to guarantee safety at any time.The reliability and the flexibility of the overall proposed P-MCA and its elementary components have been intensively validated, first in simulated traffic conditions, with various driving scenarios, and secondly, in real-time with the autonomous vehicles available at Institut Pascal
Ben, Jaballah Wafa. "Securing wireless sensor and vehicular networks." Thesis, Bordeaux, 2014. http://www.theses.fr/2014BORD0013/document.
Wireless sensor and vehicular networks play an important role in critical military and civil applications, and pervade our daily life. However, security concerns constitute a potential stumbling block to the impeding wide deployment of sensor networks and vehicular communications. This dissertation studies communication security for Wireless Sensor Networks (WSNs), and vehicular communication. To this aim, we address four important aspects. The first study addresses broadcast authentication in WSNs. We focus on key disclosure based schemes. We demonstrate that key disclosure delay induces an authentication delay, which could lead to a memory DoS attack. We then propose two broadcastauthentication protocols for WSNs, which overcome the security vulnerability of existingsolutions. The proposed schemes guarantee the efficient management of receiver’s buffer, by employing a staggered authentication mechanism, and a Bloom filter data structure to reduce the communication overhead. We also validate our protocols under the AVISPA model checking tool, and we evaluate them with experiments under TinyOS. Our findings are that these protocols provide source authentication service while respecting the WSN constraints.The second study addresses the storage issue in WSNs, in particular the Delayed AuthenticationCompromise attack (DAC). We first demonstrate that recently proposed schemes, which also address the DAC issue are vulnerable to two kinds of attacks: switch command attack (where an adversary pretends to “switch” two messages over time), and drop command attack (where an adversary just pretends to “hide” a message sent from the broadcaster). As a countermeasure against these attacks, we propose a new solution for broadcast authentication. Our analysis shows that our solution is effective in detecting both switch command and drop command attack, and—at the same time—is more efficient (in terms of both communication and computation) than the state of the art solutions.In the third study, we address key management security in WSNs. We present novel symmetric-key-based authentication schemes which exhibit low computation and communication authentication overhead. Our schemes are built upon the integration of a reputation mechanism, a Bloom filter, and a key binary tree for the distribution and updating of the auxviii thentication keys. Our schemes are lightweight and efficient with respect to communication and energy overhead. The fourth study addresses security in vehicular communications. We focus on fast multi hop broadcast applications. We analyze the security threats of state of the art vehicular based safety applications. We demonstrate that these schemes are vulnerable to the position cheating attack, the replay broadcast message attack, and the interrupting forwarding attack. Then, we propose countermeasures for these threats. We hence propose a complete solution which is both fast and secure in broadcasting safety related messages: Fast and Secure Multi-hop Broadcast Algorithm (FS-MBA). Finally, we confirm the efficiency and feasibility of our proposals using an extensive set of simulations under NS-2 Simulator
Jugade, Shriram. "Shared control authority between human and autonomous driving system for intelligent vehicles." Thesis, Compiègne, 2019. http://www.theses.fr/2019COMP2507.
Road traffic accidents have always been a concern to the driving community which has led to various research developments for improving the way we drive the vehicles. Since human error causes most of the road accidents, introducing automation in the vehicle is an efficient way to address this issue thus making the vehicles intelligent. This approach has led to the development of ADAS (Advanced Driver Assistance Systems) functionalities. The process of introducing automation in the vehicle is continuously evolving. Currently the research in this field has targeted full autonomy of the vehicle with the aim to tackle the road safety to its fullest potential. The gap between ADAS and full autonomy is not narrow. One of the approach to bridge this gap is to introduce collaboration between human driver and autonomous system. There have been different methodologies such as haptic feedback, cooperative driving where the autonomous system adapts according to the human driving inputs/intention for the corrective action each having their own limitations. This work addresses the problem of shared control authority between human driver and autonomous driving system without haptic feedback using the fusion of driving inputs. The development of shared control authority is broadly divided into different stages i.e. shared control framework, driving input assessment, driving behavior prediction, fusion process etc. Conflict resolution is the high level strategy introduced in the framework for achieving the fusion. The driving inputs are assessed with respect to different factors such as collision risk, speed limitation,lane/road departure prevention etc in the form of degree of belief in the driving input admissibility using sensor data. The conflict resolution is targeted for a particular time horizon in the future using a sensor based driving input prediction using neural networks. A two player non-cooperative game (incorporating admissibility and driving intention) is defined to represent the conflict resolution as a bargaining problem. The final driving input is computed using the Nash equilibrium. The shared control strategy is validated using a test rig integrated with the software Simulink and IPG CarMaker. Various aspects of shared control strategy such as human-centered, collision avoidance, absence of any driving input, manual driving refinement etc were included in the validation process
Qian, Gengjian. "Analyse de sensibilité et robustesse dans le génie industriel : méthodologies et applications aux essais de chocs." Thesis, Lyon, 2017. http://www.theses.fr/2017LYSE1064/document.
More than 1 million people die in crashes on the world’s roads and many millions are seriously injured each year. According to the studies: Run-Off-Road accidents (ROR), i.e. the vehicle run-off the road into the roadside and has at least one collision with either roadside equipment or the roadside itself, “represent about 10% of the total road accidents, while 45% of all fatal accidents are ROR”. Vehicle Restraint Systems (VRS) are the infrastructures installed on the road to provide a level of containment for an errant vehicle. Safety barrier is “continuous VRS installed alongside, or on the central reserve, of a road to prevent errant vehicles from crashing on roadside obstacles, and to retain them safely”. Statistic results show that “the existence of protective barriers on road can reduce fatalities up to a factor of 4 when compared to collisions against other road obstacles.” The life-saving performances of a VRS depend on the design of the device. Standards such as EN1317 normalized the impact conditions under which a design of VRS must be tested by crash tests, and defined the criteria for performance evaluation of a design. While a VRS cannot really be optimized: Multi-criteria exist for performance evaluation of a VRS and all the criteria cannot be optimized in the same time; the impact conditions of the VRS with the errant vehicle are numerous; uncertain factors of the VRS may degrade the performances of a design. The thesis aims to define an approach that can serve: sensitivity analysis (SA) and robust design of the VRS; Enrichment for the existing standards in the design of VRS. The case of a safety barrier is specified in the study: a safety barrier has been test experimentally, the program Ls-Dyna was used for crash simulation of the device; considering properties of the crash model, efficiencies of different SA methods were studied and influences of the critical factors whose uncertainties contribute the most to the instability of the barrier were quantified with the selected SA approaches; considering the uncertainties of the critical factors, Multi-Objective robust optimization of the tested barrier were realized; under different impact conditions, crash simulations of the optimized barrier were carried out to evaluate its performances in the real crash accidents. The approaches presented in the article can be useful for the design of other VRS or more broadly, other complex engineering systems. Hopefully, the robustness analysis and generalization analysis (i.e. performance evaluation of the VRS under different impact conditions) of the safety barrier could enrich the standards for the design of VRS
Bouali, Tarek. "Platform for efficient and secure data collection and exploitation in intelligent vehicular networks." Thesis, Dijon, 2016. http://www.theses.fr/2016DIJOS003/document.
Nowadays, automotive area is witnessing a tremendous evolution due to the increasing growth in communication technologies, environmental sensing & perception aptitudes, and storage & processing capacities that we can find in recent vehicles. Indeed, a car is being a kind of intelligent mobile agent able to perceive its environment, sense and process data using on-board systems and interact with other vehicles or existing infrastructure. These advancements stimulate the development of several kinds of applications to enhance driving safety and efficiency and make traveling more comfortable. However, developing such advanced applications relies heavily on the quality of the data and therefore can be realized only with the help of a secure data collection and efficient data treatment and analysis. Data collection in a vehicular network has been always a real challenge due to the specific characteristics of these highly dynamic networks (frequent changing topology, vehicles speed and frequent fragmentation), which lead to opportunistic and non long lasting communications. Security, remains another weak aspect in these wireless networks since they are by nature vulnerable to various kinds of attacks aiming to falsify collected data and affect their integrity. Furthermore, collected data are not understandable by themselves and could not be interpreted and understood if directly shown to a driver or sent to other nodes in the network. They should be treated and analyzed to extract meaningful features and information to develop reliable applications. In addition, developed applications always have different requirements regarding quality of service (QoS). Several research investigations and projects have been conducted to overcome the aforementioned challenges. However, they still did not meet perfection and suffer from some weaknesses. For this reason, we focus our efforts during this thesis to develop a platform for a secure and efficient data collection and exploitation to provide vehicular network users with efficient applications to ease their travel with protected and available connectivity. Therefore, we first propose a solution to deploy an optimized number of data harvesters to collect data from an urban area. Then, we propose a new secure intersection based routing protocol to relay data to a destination in a secure manner based on a monitoring architecture able to detect and evict malicious vehicles. This protocol is after that enhanced with a new intrusion detection and prevention mechanism to decrease the vulnerability window and detect attackers before they persist their attacks using Kalman filter. In a second part of this thesis, we concentrate on the exploitation of collected data by developing an application able to calculate the most economic itinerary in a refined manner for drivers and fleet management companies. This solution is based on several information that may affect fuel consumption, which are provided by vehicles and other sources in Internet accessible via specific APIs, and targets to economize money and time. Finally, a spatio-temporal mechanism allowing to choose the best available communication medium is developed. This latter is based on fuzzy logic to assess a smooth and seamless handover, and considers collected information from the network, users and applications to preserve high quality of service
Sleem, Lama. "Design and implementation of lightweight and secure cryptographic algorithms for embedded devices." Thesis, Bourgogne Franche-Comté, 2020. http://www.theses.fr/2020UBFCD018.
Living in an era where new devices are astonishing considering their high capabilities, new visions and terms have emerged. Moving to smart phones, Wireless Sensor Networks, high-resolution cameras, pads and much more, has mandated the need to rethink the technological strategy that is used today. Starting from social media, where apparently everything is being exposed, moving to highly powerful surveillance cameras, in addition to real time health monitoring, it can be seen that a high amount of data is being stored in the Cloud and servers. This introduced a great challenge for their storage and transmission especially in the limited resourced platforms that are characterized by: (a) limited computing capabilities, (b) limited energy and source of power and (c) open infrastructures that transmit data over wireless unreliable networks. One of the extensively studied platforms is the Vehicular Ad-hoc Networks which tends to have many limitations concerning the security field. In this dissertation, we focus on improving the security of transmitted multimedia contents in different limited platforms, while preserving a high security level. Limitations of these platforms are taken into consideration while enhancing the execution time of the secure cipher. Additionally, if the proposed cipher is to be used for images, the intrinsic voluminous and complex nature of the managed images is also taken into account. In the first part, we surveyed one of the limited platforms that is interesting for many researchers, which is the Vehicular Ad-hoc Networks. In order to pave the way for researchers to find new efficient security solutions, it is important to have one reference that can sum most of the recent works. It almost investigates every aspect in this field shedding the light over different aspects this platform possesses. Then, in order to propose any new security solution and validate its robustness and the level of randomness of the ciphered image, a simple and efficient test is proposed. This test proposes using the randomness tools, TestU01 and Practrand, in order to assure a high level of randomness. After running these tests on well known ciphers, some flaws were exposed. Proceeding to the next part, a novel proposal for enhancing the well-known ultra lightweight cipher scheme, Speck, is proposed. The main contribution of this work is to obtain a better version compared to Speck. In this proposal, 26 rounds in Speck were reduced to 7 rounds in Speck-R while enhancing the execution time by at least 50%. First, we validate that Speck-R meets the randomness tests that are previously proposed. Additionally, a dynamic substitution layer adds more security against key related attacks and highly fortifies the cipher. Speck-R was implemented on different limited arduino chips and in all cases, Speck-R was ahead of Speck. Then, in order to prove that this cipher can be used for securing images, especially in VANETS/IoV, where images can be extensively re/transmitted, several tests were exerted and results showed that Speck-R indeed possesses the high level of security desired in any trusted cipher. Extensive experiments validate our proposal from both security and performance point of views and demonstrate the robustness of the proposed scheme against the most-known types of attacks
Randriamasy, Malalatiana. "Localisation et transmissions sécurisées pour la communication Véhicule à Infrastructure (V2I) : Application au service de télépéage ITS-G5." Thesis, Normandie, 2019. http://www.theses.fr/2019NORMR011/document.
The precise localization of vehicles and the security of communication are requirements that make almost of the services provided in intelligent transport systems (ITS) more reliable. In recent years, they have been the subject of numerous research projects for various fields of application. In this thesis, the context is the development of an electronic toll service using the ITS-G5 technology. This wireless communication technology initially allows the sharing of traffic safety information between vehicles (V2V), vehicle and infrastructure (V2I). In our work, we propose a tolling application using equipment operating in ITS-G5 embedded in the connected vehicles and roadside units. For this, ensuring both precise geolocation of the vehicles and security of communication are required to validate the transaction.In order to properly locate the vehicles during the toll crossing, our approach is based on the understanding of the kinematics of the vehicle through a suitable modeling from the data collected in the cooperative messages (called CAM: Cooperative Awareness Message). This approach aims to improve the geolocation information already present in the message. Our goal is to achieve vehicle localization with an accuracy lower than one meter to distinguish two adjacent vehicles. On the other hand, the proposed tolling protocol ensures the authentication of the equipment or entities involved in the exchange and the validation of the transaction, the integrity of the transmitted data as well as the confidentiality of the communication. In this way, we take into account the context of the wireless communication and the sensitivity of the exchanged data. Our two contributions are integrated in the implemented Proof of Concept of the tolling application using the ITS-G5 technology
Brini, Manel. "Safety-Bag pour les systèmes complexes." Thesis, Compiègne, 2018. http://www.theses.fr/2018COMP2444/document.
Autonomous automotive vehicles are critical systems. Indeed, following their failures, they can cause catastrophic damage to the human and the environment in which they operate. The control of autonomous vehicles is a complex function, with many potential failure modes. In the case of experimental platforms that have not followed either the development methods or the certification cycle required for industrial systems, the probabilities of failure are much greater. Indeed, these experimental vehicles face two problems that impede their dependability, which is the justified confidence that can be had in their correct behavior. First, they are used in open environment, with a very wide execution context. This makes their validation very complex, since many hours of testing would be necessary, with no guarantee that all faults in the system are detected and corrected. In addition, their behavior is often very difficult to predict or model. This may be due to the use of artificial intelligence software to solve complex problems such as navigation or perception, but also to the multiplicity of systems or components interacting and complicating the behavior of the final system, for example by generating behaviors emerging. A technique to increase the safety of these autonomous systems is the establishment of an Independent Safety Component, called "Safety-Bag". This system is integrated between the control application and the actuators of the vehicle, which allows it to check online a set of safety necessities, which are necessary properties to ensure the safety of the system. Each safety necessity is composed of a safety trigger condition and a safety intervention applied when the safety trigger condition is violated. This intervention consists of either a safety inhibition that prevents the system from moving to a risk state, or a safety action to return the autonomous vehicle to a safe state. The definition of safety necessities must follow a rigorous method to be systematic. To do this, we carried out in our work a study of dependability based on two fault prevention methods: FMEA and HazOp-UML, that respectively focus on the internal hardware and software components of the system and on the road environment and driving process. The result of these risk analyzes is a set of safety requirements. Some of these safety requirements can be translated into safety necessities, implementable and verifiable by the Safety-Bag. Others cannot be implemented in the Safety-Bag. The latter must remain simple so that it is easy to be validated. Then, we carried out experiments based on the faults injection in order to validate some safety necessities and to evaluate the Safety-Bag's behavior. These experiments were done on our robotic vehicle type Fluence in our laboratory in two different settings, on the actual track SEVILLE at first and then on the virtual track simulated by the Scanner Studio software on the VILAD testbed. The Safety-Bag remains a promising but partial solution for autonomous industrial vehicles. On the other hand, it meets the essential needs for the safety of experimental autonomous vehicles