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Secure Dynamic Nonlinear Heterogeneous Vehicle Platooning: Denial-of-Service Cyber-Attack Case

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Security in Cyber-Physical Systems

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 339))

Abstract

Connected and Automated Vehicles (CAVs), as a large class of cyber-physical systems, have recently emerged as an effective autonomous driving mechanism in intelligent transportation systems in terms of improvement in safety, fuel economy, road throughput, and driving comfort. This chapter deals with a Secure Distributed Nonlinear Model Predictive Control (Secure–DNMPC) algorithm consisting of (i) detection and (ii) mitigation phases to securely control a string of CAVs, namely vehicle platoons. The approach ensures the desired control performance of a nonlinear heterogeneous platoon equipped by different communication topologies under the premise of the existence of Denial-of-Service (DoS) attacks. The proposed method is also capable of providing safe and secure control of dynamic platoons in which arbitrary vehicles might perform cut-in and/or cut-out maneuvers. Convergence time and stability analysis of the system are also investigated in some cases. Furthermore, to handle DoS attacks modeled by an exceeding time delay in inter-vehicular data transmission, we propose the integration of an Unscented Kalman Filter (UKF) design within the controller resulting in a novel Secure–DNMPC–UKF co-design. This, in essence, estimates the delayed system states and feeds the predicted values to the Secure–DNMPC, which efficiently mitigates the attack effects. Simulation results demonstrate the fruitfulness of the proposed method.

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Notes

  1. 1.

    It should be noted that the acceptable time delay heavily depends on the application. Here, we focus on the automotive control application.

  2. 2.

    Although, this upper bound might be conservative in some cases (such as in the scenario studied in Sect. 5.2), it provides a safe margin for the convergence time of the controller.

  3. 3.

    Note that the jump in the relative spacing error of the third FV (black curve) is due to the DoS attack.

  4. 4.

    This could also be considered as the environment effects on the transmitted signals. Modeling the environment effect with white Gaussian noise in V2V communications is widely used in literature [70, 71].

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Acknowledgments

The authors would like to thank Dr. Yang Zheng (SEAS and CGBC at Harvard University, Cambridge, MA, USA) for the fruitful discussions during this work. Also, the authors would like to thank the support from Natural Sciences and Engineering Research Council (NSERC) of Canada.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada

    Mohammad Hossein Basiri & Sebastian Fischmeister

  2. Department of Systems Design Engineering, University of Waterloo, Waterloo, ON, Canada

    Nasser L. Azad

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  1. Mohammad Hossein Basiri
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Correspondence to Mohammad Hossein Basiri .

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Editors and Affiliations

  1. Department of Computer Science, Electrical and Space Engineering, Luleå University of Technology, Luleå, Sweden

    Ali Ismail Awad

  2. School of Computer Science, University of Nottingham, Nottingham, UK

    Steven Furnell

  3. Systems Research Institute, Polish Academy of Sciences, Warszawa, Poland

    Marcin Paprzycki

  4. Institute of Information Technology and Management, New Delhi, India

    Sudhir Kumar Sharma

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Basiri, M.H., Azad, N.L., Fischmeister, S. (2021). Secure Dynamic Nonlinear Heterogeneous Vehicle Platooning: Denial-of-Service Cyber-Attack Case. In: Awad, A.I., Furnell, S., Paprzycki, M., Sharma, S.K. (eds) Security in Cyber-Physical Systems. Studies in Systems, Decision and Control, vol 339. Springer, Cham. https://doi.org/10.1007/978-3-030-67361-1_10

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