Cooperative Adaptive Cruise Control for Vehicles Under False Data Injection Attacks

This paper studies the problem of vehicle cooperative adaptive cruise control (CACC) under false data injection attacks on vehicle communications, and an intrusion detection mechanism is designed. When a vehicle is detected to be attacked in CACC, the vehicle will switch from CACC mode to ACC mode. Firstly, the vehicle dynamics model including the acceleration disturbance of the preceding vehicle is established. Then, based on the relative distance, relative velocity and relative acceleration, the quadratic multi-objective optimization performance index function and multi-parameter constraint conditions are established under model predictive control (MPC) framework, and the vehicle predictive control optimization proposition is constructed to obtain the optimal control quantity. Furthermore, the false data injection attack model is set up and an intrusion detection mechanism is presented. Finally, the effectiveness of the intrusion detection mechanism is verified by comparative simulation.