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With the development of autonomous vehicle technology, there is an increasing tendency toward the application of intelligent sensors in environment-perception system on autonomous vehicle to assist vehicle in intelligent decision making relevant to autonomous driving. As for environment-perception system, a good track management method serves as the foundation, while multi-target tracking and multi-sensor data fusion are recognized as the key. In this paper, a track management method is proposed to deal with multi-target tracking based on the target-level data of multisource environmental sensors for autonomous vehicle. The track management includes four procedures as following: track initiation; point-track association; track update; track deletion. A modified fast algorithm for data association is applied in the point-track association procedure. Afterwards Kalman filter is implemented to update the track information of target. The algorithm has got through a simulation test.

Automotive security has become one of important topics in recent years under new automotive Electronic and Electrical Architecture (EEA). With the development of Intelligent Connected Vehicle (ICV), it has become possible to hack an automotive through in-vehicle networks. The introduction of Information Communications Technology (ICT) brings more risk threats to automotive. Researchers have shown that an attacker can easily tamper with many automotive functions via On-Board Diagnostic II (OBD-II) or In-Vehicle Infotainment (IVI). In order to protect automotive against malicious attacks, automotive security risks were analyzed and then security mechanisms based on network firewall were designed in this paper. Automotive network firewall is a security system that monitors and controls incoming and outgoing network traffics of automotive based on predetermined security rules. The main functions of network firewall include packet filter, anti-DoS and access control.

In the automotive network architecture, the basic functions of gateway include routing, diagnostic, network management and so on. With the rapid development of connected vehicles, the cybersecurity has become an important topic in the automotive network. A spoof ECU can be used to hack the automotive network. In order to prevent the in-vehicle networks from attacking, the automotive gateway is an important part of the security architecture. A secure gateway should be able to authenticate the connected ECU and control the access to the critical network domain. The data and signals transferred between gateway and ECUs should be protected to against wiretap attacking. The purpose of this paper is to design a secure gateway for in-vehicle networks. In this paper, the designing process of the automotive secure gateway is presented. Based on the threat analysis, security requirements for automotive gateway are defined.