This paper focuses on the detection of cyber-attack on a communication channel and simultaneous radar health monitoring for a connected vehicle. A semi-autonomous adaptive cruise control (SA-ACC) vehicle is considered which has wireless communication with its immediately preceding vehicle to operate at small time-gap distances without creating string instability. However, the reliability of the wireless connectivity is critical for ensuring safe vehicle operation. The presence of two unknown inputs related to both sensor failure and cyber-attack seemingly poses a difficult estimation challenge. The dynamic system is first represented in descriptor system form. An observer with estimation error dynamics decoupled from the cyber-attack signal is developed. The performance of the observer is extensively evaluated in simulations. The estimation system is able to detect either a fault in the velocity measurement radar channel or a cyber-attack. Also, the proposed observer-based controller achieves resilient SA-ACC system under the cyber-attacks. The fundamental estimation algorithm developed herein can be extended in the future to enable cyber-attack detection in more complex connected vehicle architectures.
|Original language||English (US)|
|Title of host publication||Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing|
|Publisher||American Society of Mechanical Engineers (ASME)|
|State||Published - 2019|
|Event||ASME 2019 Dynamic Systems and Control Conference, DSCC 2019 - Park City, United States|
Duration: Oct 8 2019 → Oct 11 2019
|Name||ASME 2019 Dynamic Systems and Control Conference, DSCC 2019|
|Conference||ASME 2019 Dynamic Systems and Control Conference, DSCC 2019|
|Period||10/8/19 → 10/11/19|
Bibliographical noteFunding Information:
This research was supported in part by a research grant from the National Science Foundation (NSF Grant PFI-1631133).
Copyright © 2019 ASME.
Copyright 2020 Elsevier B.V., All rights reserved.
- Connected vehicle
- Resilient control
- Sensor fault