Resilient path‐following control of autonomous vehicles subject to intermittent denial‐of‐service attacks

Abstract An autonomous vehicle (AV) is a cyber‐physical system (CPS) incorporating dynamics, perception sensors (e.g. camera and radar), embedded electronic control units (ECUs) and in‐vehicle networking (e.g. CAN, LIN and FlexRay).Achieving path‐following control of an AV to track a desired path is...

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Autores principales:	Yulei Wang, Ning Bian, Lin Zhang, Yanjun Huang, Hong Chen
Formato:	article
Lenguaje:	EN
Publicado:	Wiley 2021
Materias:	Transportation engineering TA1001-1280 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/1e85a239ce654eaf8d7cde0227669813
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spelling	oai:doaj.org-article:1e85a239ce654eaf8d7cde02276698132021-11-11T10:16:46ZResilient path‐following control of autonomous vehicles subject to intermittent denial‐of‐service attacks1751-95781751-956X10.1049/itr2.12114https://doaj.org/article/1e85a239ce654eaf8d7cde02276698132021-12-01T00:00:00Zhttps://doi.org/10.1049/itr2.12114https://doaj.org/toc/1751-956Xhttps://doaj.org/toc/1751-9578Abstract An autonomous vehicle (AV) is a cyber‐physical system (CPS) incorporating dynamics, perception sensors (e.g. camera and radar), embedded electronic control units (ECUs) and in‐vehicle networking (e.g. CAN, LIN and FlexRay).Achieving path‐following control of an AV to track a desired path is therefore a highly non‐linear task that is naturally vulnerable to denial‐of‐service (DoS) attacks. Considering that DoS attacks can inhibit the services of a control system by overwhelming the performance capabilities of the ECUs or the bus, this paper investigates the cyber‐physical system problem of path‐following control for AVs under intermittent DoS attacks. To solve this problem, we propose resilient observer‐based non‐linear control based on the triple‐step approach. The core ideas behind this method are the integrated design of the observer and feedback gains incorporating the DoS duration and the convex design of controller parameters by solving a set of linear matrix inequalities. The proposed control scheme guarantees that the closed‐loop system maintains input‐to‐stable stability, while the error signals theoretically converge to a small neighbourhood of the origin. The effectiveness of the proposed approach is confirmed by the simulation results obtained for a high‐fidelity veDYNA full‐vehicle model with different driving tests and DoS attacks.Yulei WangNing BianLin ZhangYanjun HuangHong ChenWileyarticleTransportation engineeringTA1001-1280Electronic computers. Computer scienceQA75.5-76.95ENIET Intelligent Transport Systems, Vol 15, Iss 12, Pp 1508-1521 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Transportation engineering TA1001-1280 Electronic computers. Computer science QA75.5-76.95
spellingShingle	Transportation engineering TA1001-1280 Electronic computers. Computer science QA75.5-76.95 Yulei Wang Ning Bian Lin Zhang Yanjun Huang Hong Chen Resilient path‐following control of autonomous vehicles subject to intermittent denial‐of‐service attacks
description	Abstract An autonomous vehicle (AV) is a cyber‐physical system (CPS) incorporating dynamics, perception sensors (e.g. camera and radar), embedded electronic control units (ECUs) and in‐vehicle networking (e.g. CAN, LIN and FlexRay).Achieving path‐following control of an AV to track a desired path is therefore a highly non‐linear task that is naturally vulnerable to denial‐of‐service (DoS) attacks. Considering that DoS attacks can inhibit the services of a control system by overwhelming the performance capabilities of the ECUs or the bus, this paper investigates the cyber‐physical system problem of path‐following control for AVs under intermittent DoS attacks. To solve this problem, we propose resilient observer‐based non‐linear control based on the triple‐step approach. The core ideas behind this method are the integrated design of the observer and feedback gains incorporating the DoS duration and the convex design of controller parameters by solving a set of linear matrix inequalities. The proposed control scheme guarantees that the closed‐loop system maintains input‐to‐stable stability, while the error signals theoretically converge to a small neighbourhood of the origin. The effectiveness of the proposed approach is confirmed by the simulation results obtained for a high‐fidelity veDYNA full‐vehicle model with different driving tests and DoS attacks.
format	article
author	Yulei Wang Ning Bian Lin Zhang Yanjun Huang Hong Chen
author_facet	Yulei Wang Ning Bian Lin Zhang Yanjun Huang Hong Chen
author_sort	Yulei Wang
title	Resilient path‐following control of autonomous vehicles subject to intermittent denial‐of‐service attacks
title_short	Resilient path‐following control of autonomous vehicles subject to intermittent denial‐of‐service attacks
title_full	Resilient path‐following control of autonomous vehicles subject to intermittent denial‐of‐service attacks
title_fullStr	Resilient path‐following control of autonomous vehicles subject to intermittent denial‐of‐service attacks
title_full_unstemmed	Resilient path‐following control of autonomous vehicles subject to intermittent denial‐of‐service attacks
title_sort	resilient path‐following control of autonomous vehicles subject to intermittent denial‐of‐service attacks
publisher	Wiley
publishDate	2021
url	https://doaj.org/article/1e85a239ce654eaf8d7cde0227669813
work_keys_str_mv	AT yuleiwang resilientpathfollowingcontrolofautonomousvehiclessubjecttointermittentdenialofserviceattacks AT ningbian resilientpathfollowingcontrolofautonomousvehiclessubjecttointermittentdenialofserviceattacks AT linzhang resilientpathfollowingcontrolofautonomousvehiclessubjecttointermittentdenialofserviceattacks AT yanjunhuang resilientpathfollowingcontrolofautonomousvehiclessubjecttointermittentdenialofserviceattacks AT hongchen resilientpathfollowingcontrolofautonomousvehiclessubjecttointermittentdenialofserviceattacks
_version_	1718439195520794624

Resilient path‐following control of autonomous vehicles subject to intermittent denial‐of‐service attacks

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