Distributed Cyber Attacks Detection and Recovery Mechanism for Vehicle Platooning

This paper is concerned with the distributed attack detection and recovery in a vehicle platooning control system, wherein inter-vehicle information is propagated via a wireless communication network. An active adversary may launch malicious cyber attacks to compromise both sensor measurements and control command data due to the openness of the wireless communication. First, a distributed attack detection algorithm is developed to identify any of those attacks. The core of the algorithm lies in that each designed filter can provide two ellipsoidal sets: a state prediction set and a state estimation set. Whether a filter can detect the occurrence of such an attack is determined by the existence of intersection between these two sets. Second, two recovery mechanisms are put forward, through which the adversarial effects of cyber attacks can be mitigated in a timely manner. The recovery mechanisms depend on reliable modifications of the attacked signals required for the computation of the two ellipsoidal sets. Finally, simulation is provided to validate the effectiveness of the proposed method in both detection and recovery phases.