Cyber-Physical Security of Vehicles: Zero Dynamics Attacks Against Vehicle's Lateral Dynamics

TL;DR

This paper investigates zero dynamics cyber-attacks on vehicle lateral control systems, analyzing their impact and proposing security measures to protect vehicle stability during maneuvers.

Contribution

It introduces the concept of zero dynamics attacks on vehicle lateral dynamics and evaluates their effects through simulations, offering new insights into vehicle cyber-security.

Findings

Zero dynamics attacks can remain undetected while compromising vehicle lateral stability.

Simulations show significant performance degradation under attack scenarios.

Recommendations are provided for enhancing vehicle lateral dynamics security.

Abstract

Modern vehicles have evolved from mechanical systems to complex and connected ones controlled by numerous digital computers interconnected through internal networks. While this development has improved their efficiency and safety, it also brings new potential risks, particularly cyber-attacks. Several studies have explored the security of vehicle dynamics against such threats. Among these dynamics, the vehicle's lateral dynamics are crucial for maintaining stability and control during turns and maneuvers, making them a key focus of research. However, only a few recent studies have specifically investigated the security of lateral dynamics. This paper explores the potential for zero dynamics attacks on the vehicle's lateral dynamics, where the attacker can remain undetected by leaving no trace on the system's outputs. Three scenarios are studied: when the output includes yaw rate, lateral acceleration, and their combination. These two critical measurements of a vehicle's lateral motion are accessible through the inertial measurement units (IMU) in every vehicle. For each scenario, the impact of zero dynamics attacks on system performance is analyzed and illustrated through simulations. Finally, the paper provides recommendations for securing vehicles' lateral dynamics against such attacks.