Cyber Attack Detection in Platoon-Based Vehicular Networked Control Systems

This paper is concerned with cyber attack detection problem in a platoon-based vehicular networked control system. In such a system, the information among vehicles is transmitted through a shared wireless communication network and also each vehicle has access to its own information measured by local sensors. These kind of systems are highly vulnerable to cyber attacks and therefore, cyber-security issues need to be properly addressed to ensure the safety of the systems. Among various cyber-security aspects, reliable attack detection is of utmost importance as the ability to detect cyber attacks in a timely manner can reduce the damage to the systems. Therefore, we present a cyber attack detection algorithm that is capable of detecting attacks violating both measurements and control command data. This algorithm is based on an ellipsoidal set-membership filtering approach which consists of two sets: prediction ellipsoid set and an estimation ellipsoid set calculated through updating the prediction ellipsoid set with the measurement data. The detection method depends on the existence of intersection between these two sets computed by the filter. Simulation results for some possible cyber attacks are provided to demonstrate the effectiveness of the proposed method.