Design of Resilient Supervisory Control for Autonomous Connected Vehicles Approaching Unsignalized Intersection in presence of Cyber-Attacks

Abstract

The aim of this paper is to ensure safety in a distributed dynamical system, modeled as a Discrete Events Systems (DES), whose feedback control is compromised by a malicious attacker hijacking the system communication channel, being able to insert or remove sensor reading and/or actuation requests. Our focus is autonomous connected vehicle applications and the synthesis of a supervisor that is robust against a large class attacks. Specifically, we model DES supervisors for managing the interactions among self-driving cars when negotiating access to a traffic junction in the presence of an attacker who can manipulate the outputs from the sensors of the system before they can reach the supervisory controller itself. We propose different supervisor solutions to assess the resilience of the intersection crossing and we disclose the best suitable one for the appraised automotive application, as well as its effectiveness.