Resilient Platooning Control of Connected Automated Vehicles in the Presence of Cyber-attacks

Abstract

This paper considers the problem of platooning control of connected automated vehicles under cyber-attacks. Specifically, the attacker aims to prevent the follower vehicle from maintaining a pre-defined safe distance from its immediate predecessor by manipulating the measurement of the on-board radar and inserting bounded injections into the communication links and actuators of the follower vehicles. A novel distributed resilient control is proposed which does not require any assumptions on the number of attacks. It is shown that by appropriately designing the information being exchanged between the vehicles, the resilient control ensures that the follower vehicles converge to the leader vehicle’s velocity and constant distance between the vehicles in presence of any number of attacks. Furthermore, the proposed resilient control also enables attack detection and identification in real-time and distributed manner. A Numerical example demonstrates the effectiveness of the proposed strategy.