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Raphael Stern - IEEE Xplore Author Profile
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Raphael Stern

Also published under: Raphael E. Stern, R. Stern

Publications
36
Citations
576
Publications by Year
20162025
Co-Authors:
Show All Co-Authors (43)
Image of author Raphael Stern

Raphael Stern

Also published under: Raphael E. Stern, R. Stern

Affiliation

Department of Civil
Environmental
and Geo- Engineering, University of Minnesota, Minneapolis, MN, USA

Publication Topics

Biography

Raphael E. Stern (Member, IEEE) received the B.Sc., M.Sc., and Ph.D. degrees in civil engineering from the University of Illinois at Urbana–Champaign in 2013, 2015, and 2018, respectively. He was a Visiting Researcher with the Institute for Pure and Applied Mathematics, UCLA. He is a Visiting Researcher with the Institute for Software Integrated Systems, Vanderbilt University. His research interests include traffic control and estimation with autonomous vehicles in the flow. He was a recipient of the Dwight David Eisenhower Graduate Fellowship from the Federal Highway Administration.(Based on document published on 23 June 2020).
Publications
36
Citations
576
Publications by Year
20162025
Co-Authors:
Show All Co-Authors (43)
Author's Published Works

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Detecting Subtle Cyberattacks on Adaptive Cruise Control Vehicles: A Machine Learning Approach

Tianyi Li;Mingfeng Shang;Shian Wang;Raphael Stern

IEEE Open Journal of Intelligent Transportation Systems
Year: 2025 | Volume: 6 | Journal Article |
With the emergence of vehicles featuring advanced driver-assistance systems like adaptive cruise control (ACC) and additional automated driving functionalities, there has arisen a heightened potential for cyberattacks targeting these automated vehicles (AVs). While overt attacks that lead to collisions are more conspicuous, subtle attacks that slightly modify driving behaviors can cause widespread...Show More

Detecting Subtle Cyberattacks on Adaptive Cruise Control Vehicles: A Machine Learning Approach

Tianyi Li;Mingfeng Shang;Shian Wang;Raphael Stern

Year: 2025 | Volume: 6 | Journal Article |

A Customizable Neural Network Based Framework for Autonomous Vehicle Control with Human-Guided Learning

Tianyi Li;Shian Wang;Mingfeng Shang;Seongjin Choi;Raphael Stern

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)
Year: 2024 | Conference Paper |
This study introduces a novel control framework for adaptive cruise control (ACC) in autonomous vehicles (AVs), utilizing Long Short-Term Memory (LSTM) networks and physics-informed constraints. The LSTM component captures complex vehicle dynamics and temporal dependencies, while physics constraints ensure realistic operational limits. This framework supports customization of control objectives, a...Show More

A Customizable Neural Network Based Framework for Autonomous Vehicle Control with Human-Guided Learning

Tianyi Li;Shian Wang;Mingfeng Shang;Seongjin Choi;Raphael Stern

Year: 2024 | Conference Paper |

Analysis and Applications of Population Flows in a Networked SEIRS Epidemic Process

Brooks A. Butler;Raphael Stern;Philip E. Paré

IEEE Transactions on Network Science and Engineering
Year: 2024 | Volume: 11, Issue: 6 | Journal Article |
Transportation networks play a critical part in the spread of infectious diseases between populations. In this work, we define a networked susceptible-exposed-infected-recovered epidemic process with loss of immunity over time (SEIRS) that explicitly models the flow of individuals between sub-populations, which serves as the propagating mechanism for infection. We provide sufficient conditions for...Show More

Analysis and Applications of Population Flows in a Networked SEIRS Epidemic Process

Brooks A. Butler;Raphael Stern;Philip E. Paré

Year: 2024 | Volume: 11, Issue: 6 | Journal Article |

Analytical Characterization of Cyberattacks on Adaptive Cruise Control Vehicles

Shian Wang;Mingfeng Shang;Raphael Stern

IEEE Transactions on Intelligent Transportation Systems
Year: 2024 | Volume: 25, Issue: 11 | Journal Article |
Cited by: Papers (5)
While automated vehicles (AVs) are expected to revolutionize future transportation systems, emerging AV technologies also open the door for malicious actors to compromise intelligent vehicles. As the first generation of AVs, adaptive cruise control (ACC) vehicles are particularly vulnerable to cyberattacks. Although recent efforts have been made to understand the impact of attacks on transportatio...Show More

Analytical Characterization of Cyberattacks on Adaptive Cruise Control Vehicles

Shian Wang;Mingfeng Shang;Raphael Stern

Year: 2024 | Volume: 25, Issue: 11 | Journal Article |

Interaction-aware model predictive control for automated vehicles in mixed-autonomy traffic

Mingfeng Shang;Shian Wang;Tianyi Li;Raphael Stern

2024 IEEE Intelligent Vehicles Symposium (IV)
Year: 2024 | Conference Paper |
Cited by: Papers (3)
Automated vehicles (AVs) hold the potential to significantly improve traffic flow, reducing travel time, energy consumption, and emissions. However, until AVs achieve high market penetration rates, navigating the transition to mixed-autonomy traffic — comprising both AVs and human-driven vehicles (HVs) — presents substantial challenges. While numerous studies have concentrated on AV control within...Show More

Interaction-aware model predictive control for automated vehicles in mixed-autonomy traffic

Mingfeng Shang;Shian Wang;Tianyi Li;Raphael Stern

Year: 2024 | Conference Paper |

Can cyberattacks on adaptive cruise control vehicles be effectively detected?

Tianyi Li;Shian Wang;Mingfeng Shang;Raphael Stern

2024 IEEE Intelligent Vehicles Symposium (IV)
Year: 2024 | Conference Paper |
Cited by: Papers (3)
Automated Vehicles (AVs), particularly those with Adaptive Cruise Control (ACC), are increasingly integral to intelligent transportation systems, but they bring new cybersecurity challenges. This study explores the subtleties of cyberattacks targeting ACC vehicles, specifically through false data injection, and assesses their impact on traffic dynamics. We innovatively adapt and implement strategi...Show More

Can cyberattacks on adaptive cruise control vehicles be effectively detected?

Tianyi Li;Shian Wang;Mingfeng Shang;Raphael Stern

Year: 2024 | Conference Paper |

The Electric Vehicle Model (EVM): A Novel Car-Following Model for Electric Adaptive Cruise Control Vehicles

Arian Zare;Mingfeng Shang;Xingan David Kan;Raphael Stern

2024 Forum for Innovative Sustainable Transportation Systems (FISTS)
Year: 2024 | Conference Paper |
Cited by: Papers (1)
Electric vehicle (EV) adoption is accelerating across the automotive industry. The first generation of electrified vehicles with driver assistance features like adaptive cruise control (ACC) are now commercially available. While studies have highlighted the sustainability benefits of EVs, recent research suggests these EVs may impact traffic flow differently than traditional internal combustion en...Show More

The Electric Vehicle Model (EVM): A Novel Car-Following Model for Electric Adaptive Cruise Control Vehicles

Arian Zare;Mingfeng Shang;Xingan David Kan;Raphael Stern

Year: 2024 | Conference Paper |

A Two-Condition Continuous Asymmetric Car-Following Model for Adaptive Cruise Control Vehicles

Mingfeng Shang;Shian Wang;Raphael Stern

IEEE Transactions on Intelligent Vehicles
Year: 2024 | Volume: 9, Issue: 2 | Journal Article |
Cited by: Papers (5)
Adaptive cruise control (ACC) vehicles have the potential to impact traffic flow dynamics. To better understand the impacts of ACC vehicles on traffic flow, an accurate microscopic car-following model for ACC vehicles is essential. Most of the ACC car-following models utilize a continuous function to describe vehicle acceleration and braking, e.g., the optimal velocity relative velocity (OVRV) mod...Show More

A Two-Condition Continuous Asymmetric Car-Following Model for Adaptive Cruise Control Vehicles

Mingfeng Shang;Shian Wang;Raphael Stern

Year: 2024 | Volume: 9, Issue: 2 | Journal Article |

Modeling Car-Following Behavior of Electric Adaptive Cruise Control Vehicles Using Experimental Testbed Data

Arian Zare;Mingfeng Shang;Xingan David Kan;Raphael Stern

2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
Automated vehicles (AVs) have the potential to revolutionize the transportation industry. While extensive research has been conducted to explore the benefits of AVs on traffic flow, commercially available adaptive cruise control (ACC) vehicles with advanced driver assistance features have been shown adverse effects on traffic flow. As vehicle automation advances, electric vehicles (EVs) equipped w...Show More

Modeling Car-Following Behavior of Electric Adaptive Cruise Control Vehicles Using Experimental Testbed Data

Arian Zare;Mingfeng Shang;Xingan David Kan;Raphael Stern

Year: 2023 | Conference Paper |

Capacity implications of personalized adaptive cruise control

Mingfeng Shang;Shian Wang;Raphael Stern

2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)
Year: 2023 | Conference Paper |
Cited by: Papers (3)
With the emergence, advancement, and development of automated vehicle (AV) technologies, adaptive cruise control (ACC) is becoming increasingly relevant in commercially available vehicles. While fully automated vehicles promise numerous benefits, recent studies suggest that ACC vehicles may have adverse effects on traffic flow. Although considerable research has been devoted to investigating the e...Show More

Capacity implications of personalized adaptive cruise control

Mingfeng Shang;Shian Wang;Raphael Stern

Year: 2023 | Conference Paper |

Impacts of mixed autonomy traffic flow with adaptive cruise control vehicles on fuel consumption and emissions

Mingfeng Shang;Raphael Stern

2023 8th International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
The first generation of automated vehicles has already begun to appear on our roads in the form of adaptive cruise control (ACC). Although studies have found that ACC vehicles may theoretically improve traffic flow, recent findings show that commercially-available ACC vehicles may instead deteriorate traffic conditions. However, it is still unclear how ACC vehicles and more advanced AVs in the tra...Show More

Impacts of mixed autonomy traffic flow with adaptive cruise control vehicles on fuel consumption and emissions

Mingfeng Shang;Raphael Stern

Year: 2023 | Conference Paper |

Exploring Energy Impacts of Cyberattacks on Adaptive Cruise Control Vehicles

Tianyi Li;Benjamin Rosenblad;Shian Wang;Mingfeng Shang;Raphael Stern

2023 IEEE Intelligent Vehicles Symposium (IV)
Year: 2023 | Conference Paper |
Cited by: Papers (8)
The emergence of automated vehicles (AVs) with driver-assist features, such as adaptive cruise control (ACC) and other automated driving capabilities, promises a bright future for transportation systems. However, these emerging features also introduce the possibility of cyberattacks. A select number of ACC vehicles could be compromised to drive abnormally, causing a network-wide impact on congesti...Show More

Exploring Energy Impacts of Cyberattacks on Adaptive Cruise Control Vehicles

Tianyi Li;Benjamin Rosenblad;Shian Wang;Mingfeng Shang;Raphael Stern

Year: 2023 | Conference Paper |

A Network Traffic Model for the Control of Autonomous Vehicles Acting as Moving Bottlenecks

Zhexian Li;Michael W. Levin;Xu Qu;Raphael Stern

IEEE Transactions on Intelligent Transportation Systems
Year: 2023 | Volume: 24, Issue: 9 | Journal Article |
Cited by: Papers (3)
In this work we present a traffic model to simulate network-level traffic evolution under the impact of controlled autonomous vehicles acting as moving bottlenecks. We first extend the Newell-Daganzo method to track the trajectories of moving bottlenecks and calculate the cumulative number of vehicles passing each moving bottleneck. By integrating the solutions to the cumulative number of vehicles...Show More

A Network Traffic Model for the Control of Autonomous Vehicles Acting as Moving Bottlenecks

Zhexian Li;Michael W. Levin;Xu Qu;Raphael Stern

Year: 2023 | Volume: 24, Issue: 9 | Journal Article |

New frontiers of freeway traffic control and estimation

M. L. Delle Monache;C. Pasquale;M. Barreau;R. Stern

2022 IEEE 61st Conference on Decision and Control (CDC)
Year: 2022 | Conference Paper |
Cited by: Papers (6)
This article provides an overview of the classical and new techniques in traffic flow control and estimations. The overview begins with a description of the most used traffic flow models for estimation and control. Then, it shifts towards using those models for traffic flow estimation using physics-informed machine learning techniques. Lastly, it focuses on traffic flow control describing the most...Show More

New frontiers of freeway traffic control and estimation

M. L. Delle Monache;C. Pasquale;M. Barreau;R. Stern

Year: 2022 | Conference Paper |

Modeling Adaptive Cruise Control Vehicles: A Continuous Asymmetric Car-Following Perspective

Mingfeng Shang;Shian Wang;Raphael Stern

2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)
Year: 2022 | Conference Paper |
Cited by: Papers (3)
Adaptive cruise control (ACC) vehicles are the first generation of automated vehicles. Studying the traffic impacts of commercially available ACC vehicles is an initial and crucial step before fully automated vehicles become widely available in the market. Many studies focus on modeling the behavior of ACC vehicles with a microscopic car-following model where a single continuous function has been ...Show More

Modeling Adaptive Cruise Control Vehicles: A Continuous Asymmetric Car-Following Perspective

Mingfeng Shang;Shian Wang;Raphael Stern

Year: 2022 | Conference Paper |

Detecting Stealthy Cyberattacks on Automated Vehicles via Generative Adversarial Networks

Tianyi Li;Mingfeng Shang;Shian Wang;Matthew Filippelli;Raphael Stern

2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)
Year: 2022 | Conference Paper |
Cited by: Papers (16)
The emergence of vehicles with driver-assist features, including adaptive cruise control (ACC) or other automated driving capabilities, introduces the possibility of cyberattacks where a select number of automated vehicles (AVs) are compromised to drive with adversarial controls. While obvious attacks that force vehicles to crash may be easily detectable, more subtle attacks are harder to detect a...Show More

Detecting Stealthy Cyberattacks on Automated Vehicles via Generative Adversarial Networks

Tianyi Li;Mingfeng Shang;Shian Wang;Matthew Filippelli;Raphael Stern

Year: 2022 | Conference Paper |

Smoothing Nonlinear Mixed Traffic with Autonomous Vehicles: Control Design

Shian Wang;Mingfeng Shang;Michael W. Levin;Raphael Stern

2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)
Year: 2022 | Conference Paper |
Cited by: Papers (4)
Stop-and-go waves are easily caused by unstable traffic due to the collective behavior of human drivers, resulting in higher fuel consumption and emissions. In this article, we aim to smooth unstable mixed traffic flow in the presence of both autonomous vehicles (AVs) and human-driven vehicles (HVs), via feedback control of AVs. Unlike prior studies focused on analyzing head-to-tail string stabili...Show More

Smoothing Nonlinear Mixed Traffic with Autonomous Vehicles: Control Design

Shian Wang;Mingfeng Shang;Michael W. Levin;Raphael Stern

Year: 2022 | Conference Paper |

Robustness of vehicle identification via trajectory dynamics to noisy measurements and malicious attacks

Tianyi Li;Raphael Stern

2022 2nd Workshop on Data-Driven and Intelligent Cyber-Physical Systems for Smart Cities Workshop (DI-CPS)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
The possibility of using infrastructure-based sensors to identify individual vehicles, and then actuate transportation control infrastructure in response to their individual dynamics will enable to next generation of traffic infrastructure control. However, any such system to identify individual vehicles in the flow will be prone to faulty data or worse, cyberattacks where a malicious actor intent...Show More

Robustness of vehicle identification via trajectory dynamics to noisy measurements and malicious attacks

Tianyi Li;Raphael Stern

Year: 2022 | Conference Paper |

A Novel Asymmetric Car Following Model for Driver-Assist Enabled Vehicle Dynamics

Mingfeng Shang;Benjamin Rosenblad;Raphael Stern

IEEE Transactions on Intelligent Transportation Systems
Year: 2022 | Volume: 23, Issue: 9 | Journal Article |
Cited by: Papers (29)
Adaptive cruise control (ACC) vehicles are proving to be the first generation of driver-assist enabled vehicles. In order to study the impacts of ACC vehicles on string stability and traffic flow characteristics, accurately calibrating microscopic car following models is crucial to simulate inter-vehicle dynamics. While many car following models have been used to simulate car following behavior, a...Show More

A Novel Asymmetric Car Following Model for Driver-Assist Enabled Vehicle Dynamics

Mingfeng Shang;Benjamin Rosenblad;Raphael Stern

Year: 2022 | Volume: 23, Issue: 9 | Journal Article |

Optimal Control of Autonomous Vehicles for Traffic Smoothing

Shian Wang;Raphael Stern;Michael W. Levin

IEEE Transactions on Intelligent Transportation Systems
Year: 2022 | Volume: 23, Issue: 4 | Journal Article |
Cited by: Papers (38)
Uniform traffic flow has been shown to be unstable in certain flow regimes due to collective behaviors of human drivers, resulting in the well-observed stop-and-go waves. These traffic waves can arise even in the absence of merges, bottlenecks, or lane changing, and may lead to higher vehicle fuel consumption and emissions. In this article, we aim to smooth unstable traffic flow via optimal contro...Show More

Optimal Control of Autonomous Vehicles for Traffic Smoothing

Shian Wang;Raphael Stern;Michael W. Levin

Year: 2022 | Volume: 23, Issue: 4 | Journal Article |

Capturing the Effects of Transportation on the Spread of COVID-19 With a Multi-Networked SEIR Model

Damir Vrabac;Mingfeng Shang;Brooks Butler;Joseph Pham;Raphael Stern;Philip E. Paré

IEEE Control Systems Letters
Year: 2022 | Volume: 6 | Journal Article |
Cited by: Papers (23)
In this letter we present a deterministic discrete-time networked SEIR model that includes a number of transportation networks, and present assumptions under which it is well defined. We analyze the limiting behavior of the model and present necessary and sufficient conditions for estimating the spreading parameters from data. We illustrate these results via simulation and with real COVID-19 data ...Show More

Capturing the Effects of Transportation on the Spread of COVID-19 With a Multi-Networked SEIR Model

Damir Vrabac;Mingfeng Shang;Brooks Butler;Joseph Pham;Raphael Stern;Philip E. Paré

Year: 2022 | Volume: 6 | Journal Article |

The Effect of Population Flow on Epidemic Spread: Analysis and Control

Brooks Butler;Ciyuan Zhang;Ian Walter;Nishant Nair;Raphael Stern;Philip E. Paré

2021 60th IEEE Conference on Decision and Control (CDC)
Year: 2021 | Conference Paper |
Cited by: Papers (4)
In this paper, we present a discrete-time networked SEIR model using population flow, its derivation, and assumptions under which this model is well defined. We identify properties of the system’s equilibria, namely the healthy states. We show that the set of healthy states is asymptotically stable, and that the value of the equilibria becomes equal across all sub-populations as a result of the ne...Show More

The Effect of Population Flow on Epidemic Spread: Analysis and Control

Brooks Butler;Ciyuan Zhang;Ian Walter;Nishant Nair;Raphael Stern;Philip E. Paré

Year: 2021 | Conference Paper |

Classification of adaptive cruise control vehicle type based on car following trajectories

Tianyi Li;Raphael Stern

2021 IEEE International Intelligent Transportation Systems Conference (ITSC)
Year: 2021 | Conference Paper |
Cited by: Papers (6)
The emergence of vehicles with driver-assist features or other automated driving capabilities has been shown to dramatically alter traffic dynamics at the aggregate level. These new traffic flow dynamics usher in the possibility for specialized traffic control based on the types of vehicles with differing car following dynamics and the resulting shift and macroscopic traffic flow behavior. To enab...Show More

Classification of adaptive cruise control vehicle type based on car following trajectories

Tianyi Li;Raphael Stern

Year: 2021 | Conference Paper |

A hybrid fundamental diagram for modeling mixed human and automated traffic flow

Mingfeng Shang;Raphael Stern

2021 7th International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS)
Year: 2021 | Conference Paper |
Cited by: Papers (2)
Automated and partially automated vehicles will substantially change the way traffic flows, even at low market penetration rates. While the primary tool for analysis of mixed human-piloted and automated traffic has been microscopic simulation, the use of macroscopic traffic simulation allows for larger-scale simulations. With that in mind we propose a simple numerical method to estimate the compos...Show More

A hybrid fundamental diagram for modeling mixed human and automated traffic flow

Mingfeng Shang;Raphael Stern

Year: 2021 | Conference Paper |

Modeling oscillatory car following using deep reinforcement learning based car following models

John Nguyen;Raphael Stern

2021 7th International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS)
Year: 2021 | Conference Paper |
Cited by: Papers (2)
In this work, we use reinforcement learning (RL) to train a car following model for vehicle jerk. The learned model is specifically trained for car following in low-speed oscillatory driving conditions such as stop-and-go traffic typical in congested urban centers. This driving is of particular interest since it is difficult to model and substantially contributes to urban air pollution. The propos...Show More

Modeling oscillatory car following using deep reinforcement learning based car following models

John Nguyen;Raphael Stern

Year: 2021 | Conference Paper |

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