Abstract
This paper considers the state estimation problem of intelligent connected vehicle systems under the false data injection attack in wireless monitoring networks. We propose a new secure state estimation method to reconstruct the motion states of the connected vehicles equipped with cooperative adaptive cruise control (CACC) systems. First, the set of CACC models combined with Proportion-Differentiation (PD) controllers are used to represent the longitudinal dynamics of the intelligent connected vehicle systems. Then the notion of sparseness is employed to model the false data injection attack of the wireless networks of the monitoring platform. According to the corrupted data of the vehicles’ states, the compressed sensing principle is used to describe the secure state estimation problem of the connected vehicles. Moreover, the L1 norm optimization problem is solved to reconstruct the motion states of the vehicles based on the orthogonaldecomposition. Finally, the simulation experiments verify that the proposed method can effectively reconstruct the motion states of vehicles for remote monitoring of the intelligent connected vehicle system.
Highlights
With the rapid increase in the number of road vehicles, the problems of traffic congestion, exhaust emissions and safety are becoming more and more serious in big cities and/or urban areas [1,2]
Aiming at the problem of secure state estimation of intelligent connected vehicle systems under the attack of false data injection in the wireless monitoring networks, this paper proposes a secure the attack of false data injection in the wireless monitoring networks, this paper proposes a secure state estimation method to reconstruct the motion states of the connected and networked vehicles state estimation method to reconstruct the motion states of the connected and networked vehicles equipped with cooperative adaptive cruise control (CACC) systems
The simulation scene here considers a group of four heterogeneous vehicles running in a single lane, where all vehicles are equipped with the PD-type CACC controllers
Summary
With the rapid increase in the number of road vehicles, the problems of traffic congestion, exhaust emissions and safety are becoming more and more serious in big cities and/or urban areas [1,2]. Ploeg et al [16] considered the communication delay problem of IoV and achieved the stability of the intelligent connected vehicle systems using CACC approaches [12,13]. In July 2015, the "white hat hackers" Miller and Wallacek demonstrated how to "hijack" remote command methods by invading Chrysler Uconnect vehicle systems when driving, and eventually caused a "roll over" [8] This remote cyber-attack event has made many scholars investigate the cyber-security problem in the field of intelligent connected vehicle system with various embedded CACC systems. Alipour-Fanid et al [22] conducted a comprehensive analysis of stability and safety for vehicle strings over wireless Rician fading channels under jamming attacks They showed that fading channels degrade the performance of CACC systems through rich simulation experiments under various attacked scenarios.
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