A Sliding Mode Observer Approach for Attack Detection and Estimation in Autonomous Vehicle Platoons using Event Triggered Communication

TL;DR

This paper introduces a sliding mode observer method to detect and estimate cyber-attacks in autonomous vehicle platoons, ensuring stability and robustness under event-triggered communication protocols.

Contribution

It presents a novel sliding mode observer approach specifically designed for attack detection in vehicle platoons with event-triggered communication, validated through stability and robustness analysis.

Findings

Proves stability of the observer under attack scenarios.

Demonstrates robustness of detection thresholds with event-triggered communication.

Validates approach within a realistic V2V network protocol.

Abstract

Platoons of autonomous vehicles are being investigated as a way to increase road capacity and fuel efficiency. Cooperative Adaptive Cruise Control (CACC) is one approach to controlling platoons longitudinal dynamics, which requires wireless communication between vehicles. In the present paper we use a sliding mode observer to detect and estimate cyber-attacks threatening such wireless communication. In particular we prove stability of the observer and robustness of the detection threshold in the case of event-triggered communication, following a realistic Vehicle-to-Vehicle network protocol.