Attack Detection and Defense System Using an Unknown Input Observer for Cooperative Adaptive Cruise Control Systems

Yudai Yamamoto,Toshimitsu Ushio,Naomi Kuze

doi:10.1109/access.2021.3124547

Yudai Yamamoto, Toshimitsu Ushio + Show 1 more

Open Access

https://doi.org/10.1109/access.2021.3124547

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Abstract

Cooperative adaptive cruise control (CACC) is a technology for the automated control of platoons of vehicles. CACC controls the behavior of vehicles based on information that is shared among the vehicles through vehicle-to-vehicle (V2V) communication. However, cyberattacks on V2V communication can degrade the control performance and may cause serious accidents such as vehicle collisions; therefore, it is important to improve the resilience against such attacks. In this paper, we propose a novel attack detection and defense mechanism for CACC. Our approach is based on an unknown input observer (UIO), which estimates vehicle states by treating the unreliable information obtained through V2V communication as unknown inputs. Attacks on V2V communication are detected from the estimated states. When an attack is detected, the control method is switched to a secure method. Through simulation experiments, we show that the proposed mechanism can detect attacks immediately and accurately, allowing the stability of the platoon to be maintained.

Highlights

A DVANCES in information and control technologies have led to the development of intelligent transportation systems (ITSs)
We propose an attack detection and defense mechanism using a unknown input observer (UIO) to improve the resilience of platoons with Cooperative adaptive cruise control (CACC) against attacks on V2V communications
To improve the resilience of platoons using CACC against cyberattacks on V2V communications, we propose an attack detection and defense mechanism

Summary

INTRODUCTION

A DVANCES in information and control technologies have led to the development of intelligent transportation systems (ITSs). We propose an attack detection and defense mechanism using a UIO to improve the resilience of platoons with CACC against attacks on V2V communications. To protect platoons from attacks on V2V communications, we propose an attack detection and defense mechanism using UIOs for platoons with CACC. The input estimator on each vehicle uses a UIO to estimate the state of the preceding vehicle without relying on unreliable communication data, which results in immediate and accurate attack detection. In the proposed attack defense mechanism, when an attack is detected, the input switcher sends inputs calculated based on the state estimation results of the input estimator, which protects the vehicle against the attack. Because this system is observable, the convergence rate can be adjusted by setting the pole configuration and J

ATTACK DETECTION MECHANISM

DEFENSE MECHANISM

SIMULATION AND DISCUSSION

CONCLUSION