String Stability Analysis of Cooperative Adaptive Cruise Control under Jamming Attacks

Abstract

Cooperative Adaptive Cruise Control (CACC) is considered as a key enabling technology to automatically regulate the intervehicle distances in a vehicle platoon to improve traffic efficiency while maintaining safety. Although the wireless communication and physical processes in the existing CACC systems are integrated in one control framework, the coupling between wireless communication reliability and system states is not well modeled. Furthermore, the research on the impact of jamming attacks on the system stability and safety is largely open. In this paper, we conduct a comprehensive analysis on the stability and safety of the platoon under the wireless Rician fading channel model and jamming attacks. The effect of Rician fading and jamming on the communication reliability is incorporated in the modeling of string dynamics such that it captures its state dependency. Time-domain definition of string stability is utilized to delineate the impact of Rician fading and jamming on the CACC system's functionality and string stability. Attacker's possible locations at which it can destabilize the string is further studied based on the proposed model. From the safety perspective, reachable states (i.e., inter-vehicle distances) of the CACC system under unreliable wireless fading channels and jamming attacks is studied. Safety verification is investigated by examining the inter-vehicle distance trajectories. We propose a methodology to compute the upper and lower bounds of the trajectories of inter-vehicle distances between the lead vehicle and its follower. We conduct extensive simulations to evaluate the system stability and safety under jamming attacks in different scenarios. We identify that channel fading can degrade the performance of the CACC system, and the platoon's safety is highly sensitive to jamming attacks. The best location to launch the jamming attack to destabilize the platoon is above the second vehicle in the platoon. The platoon is more vulnerable to jamming attacks when the lead vehicle is decelerating.

Secure State Estimation for Motion Monitoring of Intelligent Connected Vehicle Systems

“…There are many kinds of cyber-attack such as denial of service (DoS), interference attack, false data injection attack and so on [21][22][23]. In this section we consider the false data injection attack.…”

“…Following the method in [21], the safe inter-vehicle distance is greatly shortened. 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.…”

Survey on Misbehavior Detection in Cooperative Intelligent Transportation Systems

“…In Section III-D, we discuss the attacks that are still possible in the context of proactive security. This covers both general cITS and a specific example application, cooperative adaptive cruise control (CACC) [8], [9], [10], [11]. This application is a primary example of new developments in the field of cITS, which has recently gained the interest of the security community.…”

Distributed Cyber Attacks Detection and Recovery Mechanism for Vehicle Platooning

“…From a technological perspective, an adversary can perpetrate DoS attacks through disrupting the radio frequencies on wireless communication channels, which leads to congestion of those channels. Platoon behavior under DoS attacks is investigated in [23], where a drone flying above the platoon, namely the adversary, disrupts the platoon by using its limited power. It is shown that the best possible location to carry out an attack with a huge adverse impact is above the second vehicle and the impact decreases when the adversary moves down in the string.…”