A Sliding Mode Observer Approach for Attack Detection and Estimation in Autonomous Vehicle Platoons using Event Triggered Communication

Keijzer, Twan; Ferrari, Riccardo

doi:10.1109/cdc40024.2019.9029315

Cited by 26 publications

(29 citation statements)

References 34 publications

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“…Several attempts have been made to detect communication-based attacks. A sliding mode observer is proposed for cyber-attack detection and estimation in the case of event-triggered communication [8]. There is also a growing body of literature that recognises the effectiveness of machine learning based intrusion detection system applied on vehicular platooning [9]- [12].…”

Section: A Literature Reviewmentioning

confidence: 99%

A Communication Security Game on Switched Systems for Autonomous Vehicle Platoons

Sun¹,

Alpcan²,

Rubinstein³

et al. 2021

Preprint

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Vehicle-to-vehicle communication enables autonomous platoons to boost traffic efficiency and safety, while ensuring string stability with a constant spacing policy. However, communication-based controllers are susceptible to a range of cyber-attacks. In this paper, we propose a distributed attack mitigation defense framework with a dual-mode control system reconfiguration scheme to prevent a compromised platoon member from causing collisions via message falsification attacks. In particular, we model it as a switched system consisting of a communication-based cooperative controller and a sensor-based local controller and derive conditions to achieve global uniform exponential stability (GUES) as well as string stability in the sense of platoon operation. The switching decision comes from game-theoretic analysis of the attacker and the defender's interactions. In this framework, the attacker acts as a leader that chooses whether to engage in malicious activities and the defender decides which control system to deploy with the help of an anomaly detector. Imperfect detection reports associate the game with imperfect information. A dedicated state constraint further enhances safety against bounded but aggressive message modifications in which a bounded solution may still violate practical constraint e.g. vehicles nearly crashing. Our formulation uniquely combines switched systems with security games to strategically improve the safety of such autonomous vehicle systems.

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Section: A Literature Reviewmentioning

confidence: 99%

A Communication Security Game on Switched Systems for Autonomous Vehicle Platoons

Sun¹,

Alpcan²,

Rubinstein³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…In section III, an SMO-based attack detection approach will be presented. The used SMO based approach originally only considers attacks to appear in the state equation [7], [11]. In [12], also attacks on part of the output equation are considered.…”

Section: Extended System For Observer Implementationmentioning

confidence: 99%

“…To this end, the system is transformed and extended such that all attacks again appear in the state equation only. In this work the extended system from [12] is used with the observer and detection threshold from [7]. However, here an even broader class of attacks is considered, where all outputs are subject to attacks.…”

Section: Extended System For Observer Implementationmentioning

confidence: 99%

“…In this extended system, part of the attack on the output, ∆y 2 , appears in the state equation. Therefore, if ∆y 1 = 0, the attack can be considered within the original framework of the SMO based attack detection approach [7], [11], [12]. The state of the extended system will then be transformed…”

Section: Extended System For Observer Implementationmentioning

confidence: 99%

“…In previous work by the authors [6], [7] a Sliding Mode Observer (SMO) based cyber-attack detection scheme for CACC platoons was proposed. The cyber-attacks considered in that work, however, were not crafted with malicious intent.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Detection of Network and Sensor Cyber-Attacks in Platoons of Cooperative Autonomous Vehicles: a Sliding-Mode Observer Approach

Keijzer

Ferrari

2021

2021 European Control Conference (ECC)

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Platoons of autonomous vehicles are being investigated as a way to increase road capacity and fuel efficiency. Cooperative Adaptive Cruise Control (CACC) is an approach to achieve such platoons, in which vehicles collaborate using wireless communication. While this collaboration improves performance, it also makes the vehicles vulnerable to cyberattacks. In this paper the performance of a sliding mode observer (SMO) based approach to cyber-attack detection is analysed, considering simultaneous attacks on the communication and local sensors. To this end, the considered cyber-attacks are divided into three classes for which relevant theoretical properties are proven. Furthermore, the harm that attacks within each of these classes can do to the system while avoiding detection is analysed based on simulation examples.

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Security‐aware optimal actuator placement in vehicle platooning

Basiri

Pirani

Azad

et al. 2021

Asian Journal of Control

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Vehicle platooning, as a large class of cyber-physical systems, is prone to be under the risk of cyber attacks. One (or more) external intelligent intruder(s) might attack one (or more) of the vehicles participating in a platoon. This paper proposes a general approach to find an optimal actuator placement strategy according to the Stackelberg game between the attacker and the defender. The game payoff is the energy needed by the attacker to steer the consensus follower-leader dynamics of the system towards his desired direction. The attacker tries to minimize this energy while the defender attempts to maximize it. Thus, based on the defined game and its optimal equilibrium point, the defender(s) selects optimal actuator placement action to face the attacker(s).Both cases of single attacker-single defender and multiple attackers-multiple defenders cases are investigated. Furthermore, we study the effects of different information flow topologies, namely, the unidirectional and bidirectional data transfer structures. Besides, the impacts of increasing the connectivity among the nodes on the security level of the platoon are presented. Simulation results for h-nearest neighbor platoon formations along with experimental results using the scaled cars governed by robotic operating system (ROS) verify the effectiveness of the method.

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A Sliding Mode Observer Approach for Attack Detection and Estimation in Autonomous Vehicle Platoons using Event Triggered Communication

Cited by 26 publications

References 34 publications

A Communication Security Game on Switched Systems for Autonomous Vehicle Platoons

A Communication Security Game on Switched Systems for Autonomous Vehicle Platoons

Detection of Network and Sensor Cyber-Attacks in Platoons of Cooperative Autonomous Vehicles: a Sliding-Mode Observer Approach

Security‐aware optimal actuator placement in vehicle platooning

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