Systematic Assessment of Cyber-Physical Security of Lane Keeping Control System for Autonomous Vehicles

In this article, a systematic assessment of cyber-physical security is proposed for the lane keeping control (LKC) system of autonomous vehicles, which, to our knowledge, has not been attempted before. The generalized methodology of impact analysis of typical cyber-attacks is developed, including novel evaluation metrics from the perspectives of safety and performance of the LKC system and innovative index-based resilience and security criteria. Specifically, we propose a security criterion in terms of tracking performance, comfort and vehicle stability, which are the most critical metrics to evaluate the safety and security of an LKC system. Hardware-in-the-Loop (HiL) experimental results show that the proposed evaluation metrics is effective to analyze the impact of the cyber-attacks on commercial LKC system of Dongfeng Motor comprehensively. The conclusions can serve as guidelines for attack detection, diagnosis, and countermeasures.