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Autonomous Vehicles Volume 1
 Scrivener Publishing
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Publishers at Scrivener
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Autonomous Vehicles Volume 1

Using Machine Intelligence

Edited by
Romil Rawat
A. Mary Sowjanya
Syed Imran Patel
Varshali Jaiswal
Imran Khan
and
Allam Balaram
This edition first published 2023 by John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, USA
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 Contents

Preface xiii
1 Anomalous Activity Detection Using Deep Learning Techniques
in Autonomous Vehicles 1
Amit Juyal, Sachin Sharma and Priya Matta
1.1 Introduction 2
1.1.1 Organization of Chapter 2
1.2 Literature Review 3
1.3 Artificial Intelligence in Autonomous Vehicles 7
1.4 Technologies Inside Autonomous Vehicle 9
1.5 Major Tasks in Autonomous Vehicle Using AI 11
1.6 Benefits of Autonomous Vehicle 12
1.7 Applications of Autonomous Vehicle 13
1.8 Anomalous Activities and Their Categorization 13
1.9 Deep Learning Methods in Autonomous Vehicle 14
1.10 Working of Yolo 17
1.11 Proposed Methodology 18
1.12 Proposed Algorithms 20
1.13 Comparative Study and Discussion 21
1.14 Conclusion 23
References 23
2 Algorithms and Difficulties for Autonomous Cars Based
on Artificial Intelligence 27
Sumit Dhariwal, Avani Sharma and Avinash Raipuria
2.1 Introduction 27
2.1.1 Algorithms for Machine Learning
in Autonomous Driving 30
2.1.2 Regression Algorithms 30
2.1.3 Design Identification Systems (Classification) 31
2.1.4 Grouping Concept 31

v
vi Contents

2.1.5 Decision Matrix Algorithms 31

2.2 In Autonomous Cars, AI Algorithms are Applied 32
2.2.1 Algorithms for Route Planning and Control 32
2.2.2 Method for Detecting Items 32
2.2.3 Algorithmic Decision-Making 33
2.3 AI’s Challenges with Self-Driving Vehicles 33
2.3.1 Feedback in Real Time 33
2.3.2 Complexity of Computation 34
2.3.3 Black Box Behavior 34
2.3.4 Precision and Dependability 35
2.3.5 The Safeguarding 35
2.3.6 AI and Security 35
2.3.7 AI and Ethics 36
2.4 Conclusion 36
References 36
3 Trusted Multipath Routing for Internet of Vehicles against
DDoS Assault Using Brink Controller in Road Awareness
(TMRBC-IOV) 39
Piyush Chouhan and Swapnil Jain
3.1 Introduction 40
3.2 Related Work 47
3.3 VANET Grouping Algorithm (VGA) 50
3.4 Extension of Trusted Multipath Distance Vector Routing
(TMDR-Ext) 51
3.5 Conclusion 57
References 58
4 Technological Transformation of Middleware and Heuristic
Approaches for Intelligent Transport System 61
Rajender Kumar, Ravinder Khanna
and Surender Kumar
4.1 Introduction 61
4.2 Evolution of VANET 62
4.3 Middleware Approach 64
4.4 Heuristic Search 65
4.5 Reviews of Middleware Approaches 72
4.6 Reviews of Heuristic Approaches 75
4.7 Conclusion and Future Scope 78
References 79
 Contents vii

5 Recent Advancements and Research Challenges in Design

and Implementation of Autonomous Vehicles 83
Mohit Kumar and V. M. Manikandan
5.1 Introduction 84
5.1.1 History and Motivation 85
5.1.2 Present Scenario and Need for Autonomous Vehicles 85
5.1.3 Features of Autonomous Vehicles 86
5.1.4 Challenges Faced by Autonomous Vehicles 86
5.2 Modules/Major Components of Autonomous Vehicles 87
5.2.1 Levels of Autonomous Vehicles 87
5.2.2 Functional Components of An Autonomous Vehicle 89
5.2.3 Traffic Control System of Autonomous Vehicles 91
5.2.4 Safety Features Followed by Autonomous Vehicles 91
5.3 Testing and Analysis of An Autonomous Vehicle in a
Virtual Prototyping Environment 94
5.4 Application Areas of Autonomous Vehicles 95
5.5 Artificial Intelligence (AI) Approaches for
Autonomous Vehicles 97
5.5.1 Pedestrian Detection Algorithm (PDA) 97
5.5.2 Road Signs and Traffic Signal Detection 99
5.5.3 Lane Detection System 102
5.6 Challenges to Design Autonomous Vehicles 104
5.7 Conclusion 110
References 110
6 Review on Security Vulnerabilities and Defense Mechanism
in Drone Technology 113
Chaitanya Singh and Deepika Chauhan
6.1 Introduction 113
6.2 Background 114
6.3 Security Threats in Drones 115
6.3.1 Electronics Attacks 115
6.3.1.1 GPS and Communication Jamming Attacks 116
6.3.1.2 GPS and Communication Spoofing Attacks 117
6.3.1.3 Eavesdropping 117
6.3.1.4 Electromagnetic Interference 120
6.3.1.5 Laser Attacks 120
6.3.2 Cyber-Attacks 120
6.3.2.1 Man-in-Middle Attacks 121
viii Contents

6.3.2.2 Black Hole and Grey Hole 121

6.3.2.3 False Node Injection 121
6.3.2.4 False Communication Data Injection 121
6.3.2.5 Firmware’s Manipulations 121
6.3.2.6 Sleep Deprivation 122
6.3.2.7 Malware Infection 122
6.3.2.8 Packet Sniffing 122
6.3.2.9 False Database Injection 122
6.3.2.10 Replay Attack 123
6.3.2.11 Network Isolations 123
6.3.2.12 Code Injection 123
6.3.3 Physical Attacks 123
6.3.3.1 Key Logger Attacks 123
6.3.3.2 Camera Spoofing 124
6.4 Defense Mechanism and Countermeasure Against Attacks 124
6.4.1 Defense Techniques for GPS Spoofing 124
6.4.2 Defense Technique for Man-in-Middle Attacks 124
6.4.3 Defense against Keylogger Attacks 127
6.4.4 Defense against Camera Spoofing Attacks 127
6.4.5 Defense against Buffer Overflow Attacks 128
6.4.6 Defense against Jamming Attack 128
6.5 Conclusion 128
References 128
7 Review of IoT-Based Smart City and Smart Homes Security
Standards in Smart Cities and Home Automation 133
Dnyaneshwar Vitthal Kudande, Chaitanya Singh
and Deepika Chauhan
7.1 Introduction 133
7.2 Overview and Motivation 134
7.3 Existing Research Work 136
7.4 Different Security Threats Identified in IoT-Used
Smart Cities and Smart Homes 136
7.4.1 Security Threats at Sensor Layer 136
7.4.1.1 Eavesdropping Attacks 137
7.4.1.2 Node Capturing Attacks 138
7.4.1.3 Sleep Deprivation Attacks 138
7.4.1.4 Malicious Code Injection Attacks 138
7.4.2 Security Threats at Network Layer 138
7.4.2.1 Distributed Denial of Service (DDOS) Attack 139
7.4.2.2 Sniffing Attack 139
 Contents ix

7.4.2.3 Routing Attack 139

7.4.2.4 Traffic Examination Attacks 140
7.4.3 Security Threats at Platform Layer 140
7.4.3.1 SQL Injection 140
7.4.3.2 Cloud Malware Injection 141
7.4.3.3 Storage Attacks 141
7.4.3.4 Side Channel Attacks 141
7.4.4 Security Threats at Application Layer 141
7.4.4.1 Sniffing Attack 141
7.4.4.2 Reprogram Attack 142
7.4.4.3 Data Theft 142
7.4.4.4 Malicious Script Attack 142
7.5 Security Solutions For IoT-Based Environment
in Smart Cities and Smart Homes 142
7.5.1 Blockchain 142
7.5.2 Lightweight Cryptography 143
7.5.3 Biometrics 143
7.5.4 Machine Learning 143
7.6 Conclusion 144
References 144
8 Traffic Management for Smart City Using Deep Learning 149
Puja Gupta and Upendra Singh
8.1 Introduction 150
8.2 Literature Review 151
8.3 Proposed Method 154
8.4 Experimental Evaluation 155
8.4.1 Hardware and Software Configuration 155
8.4.2 About Dataset 156
8.4.3 Implementation 156
8.4.4 Result 157
8.5 Conclusion 158
References 158
9 Cyber Security and Threat Analysis in Autonomous Vehicles 161
Siddhant Dash and Chandrashekhar Azad
9.1 Introduction 162
9.2 Autonomous Vehicles 162
9.2.1 Autonomous vs. Automated 163
9.2.2 Significance of Autonomous Vehicles 163
9.2.3 Challenges in Autonomous Vehicles 164
9.2.4 Future Aspects 165
x Contents

9.3 Related Works 165

9.4 Security Problems in Autonomous Vehicles 167
9.4.1 Different Attack Surfaces and Resulting Attacks 168
9.5 Possible Attacks in Autonomous Vehicles 170
9.5.1 Internal Network Attacks 170
9.5.2 External Attacks 173
9.6 Defence Strategies against Autonomous Vehicle Attacks 175
9.6.1 Against Internal Network Attacks 175
9.6.2 Against External Attack 176
9.7 Cyber Threat Analysis 177
9.8 Security and Safety Standards in AVs 178
9.9 Conclusion 179
References 179
10 Big Data Technologies in UAV’s Traffic Management System:
Importance, Benefits, Challenges and Applications 181
Piyush Agarwal, Sachin Sharma and Priya Matta
10.1 Introduction 182
10.2 Literature Review 183
10.3 Overview of UAV’s Traffic Management System 185
10.4 Importance of Big Data Technologies and Algorithm 186
10.5 Benefits of Big Data Techniques in UTM 189
10.6 Challenges of Big Data Techniques in UTM 190
10.7 Applications of Big Data Techniques in UTM 192
10.8 Case Study and Future Aspects 198
10.9 Conclusion 199
References 199
11 Reliable Machine Learning-Based Detection for Cyber
Security Attacks on Connected and Autonomous Vehicles 203
Ambika N.
11.1 Introduction 204
11.2 Literature Survey 207
11.3 Proposed Architecture 210
11.4 Experimental Results 211
11.5 Analysis of the Proposal 211
11.6 Conclusion 213
References 214
 Contents xi

12 Multitask Learning for Security and Privacy in IoV

(Internet of Vehicles) 217
Malik Mustafa, Ahmed Mateen Buttar, Guna Sekhar Sajja,
Sanjeev Gour, Mohd Naved and P. William
12.1 Introduction 218
12.2 IoT Architecture 220
12.3 Taxonomy of Various Security Attacks
in Internet of Things 221
12.3.1 Perception Layer Attacks 221
12.3.2 Network Layer Attacks 223
12.3.3 Application Layer Attacks 224
12.4 Machine Learning Algorithms for Security and Privacy
in IoV 225
12.5 A Machine Learning-Based Learning Analytics Methodology
for Security and Privacy in Internet of Vehicles 227
12.5.1 Methodology 227
12.5.2 Result Analysis 229
12.6 Conclusion 230
References 230
13 ML Techniques for Attack and Anomaly Detection in Internet
of Things Networks 235
Vinod Mahor, Sadhna Bijrothiya, Rina Mishra
and Romil Rawat
13.1 Introduction 236
13.2 Internet of Things 236
13.3 Cyber-Attack in IoT 239
13.4 IoT Attack Detection in ML Technics 244
13.5 Conclusion 249
References 249
14 Applying Nature-Inspired Algorithms for Threat Modeling
in Autonomous Vehicles 253
Manas Kumar Yogi, Siva Satya Prasad Pennada,
Sreeja Devisetti and Sri Siva Lakshmana Reddy Dwarampudi
14.1 Introduction 254
14.2 Related Work 263
14.3 Proposed Mechanism 265
14.4 Performance Results 268
xii Contents

14.5 Future Directions 270

14.6 Conclusion 273
References 273
15 The Smart City Based on AI and Infrastructure: A New
Mobility Concepts and Realities 277
Vinod Mahor, Sadhna Bijrothiya, Rina Mishra, Romil Rawat
and Alpesh Soni
15.1 Introduction 278
15.2 Research Method 280
15.3 Vehicles that are Both Networked and Autonomous 282
15.4 Personal Aerial Automobile Vehicles and Unmanned
Aerial Automobile Vehicles 287
15.5 Mobile Connectivity as a Service 288
15.6 Major Role for Smart City Development with IoT
and Industry 4.0 289
15.7 Conclusion 291
References 292
Index 297
 Preface

This groundbreaking new volume provides and addresses the current chal-
lenges, approaches, and applications relating to autonomous vehicles using
Internet-of-Things (IoT), Machine Learning (ML), Deep Learning, Data
Science, Cloud, Fog and Edge Computing, Computer Vision, ANN, and
Artificial Intelligence (AI) techniques and covers the applications in driv-
erless intelligent systems based on advance computer science algorithms
applicable for business engineering, automation, heath informatics, mili-
tary applications, transportation, education, and so on. Several companies
are working on autonomous systems and developing cars, truck, drones
and even aero-taxis (unmanned aerial vehicles [UAVs]) for frequent trav-
elling having an easy, flexible, and fast mode of transportation on the road
or in the air for sharing real time data and activities. Several self-driving
or autonomous (“driverless”) cars, trucks, and drones incorporate a vari-
ety of IoT devices and sensing technologies such as sensors, gyroscopes,
cloud computing, and fog layer, allowing the vehicles to sense, process, and
maintain massive amounts of data on traffic, routes, suitable time to travel,
potholes, sharp turns, and robots for pipe inspection in the construction
and mining industries. Autonomous vehicle is a broad class of automation
used for farming vehicles such as irrigators, tractors, and buggies, mining
vehicles such as drilling rigs, with industrial vehicles like forklifts and car
crash testing vehicles.
The Autonomous Vehicles project is a drawn-out logical examination
program that plans to contemplate and comprehend these worldwide won-
ders through a computational, data-driven methodology. We have created
different multilingual data mining, text mining, and web mining proce-
dures to perform connection examination, content investigation, web
measurements (specialized refinement) examination, notion investigation,
origin investigation, and video investigation in our exploration. The meth-
odologies and strategies created in this venture add to propelling the field
of Autonomous Vehicles applications.

xiii
xiv Preface

Autonomous Vehicles: Using Machine Intelligence is organized into diver-

gent distinct sections that provide comprehensive coverage of important
topics. The sections are:

• Activity and Threat Analysis Using Machine Intelligence

• Algorithms for Autonomous Cars and Vehicles
• Drone Technology for Internet of Vehicles
• IoT-Based Smart City Automation for Connected Vehicles
• Traffic Management Systems for UAV’s and Smart City
Models

Objectives, Impact, and Value

This book aims to convey an overview of autonomous vehicle method-
ologies, suggest a systematic, computational approach to handling prob-
lem-solving, and lay out various tactics and strategies. Researchers, security
professionals, experts in autonomy, and strategists will all benefit from the
knowledge it carries. The monograph can likewise fill in as a source of per-
spective material or reading material in alumni level courses identified with
state of the art models of Autonomous Vehicles: Using Machine Intelligence.
The book is targeted to academic researchers, research scholars, practi-
tioners, students, traffic engineers, city planners, consultants, traffic plan-
ners, vehicle designers and all key stakeholders working on intelligent
engineering solutions. Contributions are based on conceptual and theo-
retical solutions, quantitative or empirical results, and model/simulation-
based experimental studies.
 1
Anomalous Activity Detection
Using Deep Learning Techniques
in Autonomous Vehicles
Amit Juyal1,2, Sachin Sharma1 and Priya Matta1*
Department of Computer Science and Engineering, Graphic Era
1

(Deemed to be University), Dehradun, Uttarakhand, India

2
School of Computing, Graphic Era Hill University, Dehradun, Uttarakhand, India

Abstract
Autonomous driving is self-driving without the intervention of a human driver.
A self-driving autonomous vehicle is designed with the help of high-technology
sensors that can sense the traffic and traffic signals in the surroundings and move
accordingly. It becomes necessary for a self-driving vehicle to take a right decision at
the right time in an uncertain traffic environment. Any unusual anomalous activity
or unexpected obstacle that could not be detected by an autonomous vehicle can
lead to a road accident. For decision making in autonomous vehicles, very pre-
cisely designed and optimized programming software are developed and intensively
trained to install in vehicle’s computer system. But in spite of these trained soft-
ware some of the anomalous activity could become a hindrance to detect promptly
during self-driving. Therefore, automatic detection and recognition of anomalies in
autonomous vehicles is critical to a safe drive. In this chapter we discuss and propos
deep learning method for anonymous activity detection of other vehicles that can
be danger for safe driving in an autonomous vehicle. The present chapter focuses
on various conditions and possible anomalies that should be known to handle while
developing software for autonomous vehicles using deep learning models. A variety
of deep learning models were tested to detect abnormalities, and we discovered that
deep learning models can detect anomalies in real time. We have also observed that
incremental development in YOLO (You Only Look Once) make it more accurate
and agile in object detection. We suggest that anomalies should be detected in real
time and YOLO can play a vital role in anomalous activity.

*Corresponding author: [email protected]

Romil Rawat, A. Mary Sowjanya, Syed Imran Patel, Varshali Jaiswal, Imran Khan and Allam Balaram
(eds.) Autonomous Vehicles Volume 1: Using Machine Intelligence, (1–26) © 2023 Scrivener
Publishing LLC

1
2 Autonomous Vehicles Volume 1

Keywords: Autonomous self-driving, AI, deep learning, YOLO, R-CNN,

Fast R-CNN, Faster R-CNN, SSD

1.1 Introduction
A crucial problem for the success of autonomous vehicles is ensuring safe
driving. Before being released to the general public, self-driving cars must
be thoroughly trained and tested. It should not compromise the safety of
passengers or other traffic objects like vehicles, bikers, cyclists, pedestrians,
etc. It should be thoroughly tested before the actual launch. Self-driving
cars are controlled by software and the software must be trained in such
a way that it can perform well under all circumstances or conditions. The
following points need to be considered while developing software for
autonomous vehicles.
Infrastructure: In the case of self-driving vehicles, infrastructure can be
crucial. Almost the majority of the world’s roads and transportation infra-
structure are now designed for human use. Autonomous vehicles will be
required to operate inside existing infrastructure. For a self-driving vehicle,
it is a challenging task to use current infrastructure. The software should be
trained in such a way that it can easily adapt to the existing road infrastructure.
Traffic conditions: In real time, it is very difficult to predict traffic that
what will happen next. It is almost impossible to accommodate all scenar-
ios of traffic conditions while developing software for autonomous vehi-
cles. However, AI-based algorithms should be developed in such a way that
it can learn by itself with time and experience.
Weather condition: Weather can affect driving ability in autonomous
vehicles. It may be possible that the inputs from various sensors and cam-
eras get damaged due to bad weather, and in heavy rain or in a snowstorm
various road streaks and lanes information can be hidden. An autonomous
vehicle navigation system should be developed while considering weather
conditions and it should be trained and tested in all weather conditions.
Software security: Self-driving cars completely depend on software,
and software can be hacked and can be infected by viruses (a malicious
computer code). Computer viruses can cause unexpected glitches in self-­
driving cars. These glitches can be harmful to self-driving cars especially
while driving at a high speed. So the software needs to be secure for unau-
thorized access and viruses for safe driving.

1.1.1 Organization of Chapter

The rest of the chapter is outlined as follows. Section 1.2 gives the liter-
ature review. Section 1.3 describes an artificial intelligence approach in
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