Safeguard Vehicle Platooning Based on Resilient Control Against False Data Injection Attacks

This paper investigates secure control for homogeneous vehicle platoons in the presence of false data injection attacks with low communication and computation costs. We consider a scenario where each vehicle within the platoon transmits a local state vector to multiple neighboring vehicles. By leveraging these shared vectors from both preceding and following vehicles, we propose a novel and effective resilient controller for vehicle platoons against node/communication link attacks. More specifically, each vehicle determines the local state deviation vectors from neighboring vehicles. It then eliminates the vectors that are farthest from the origin, with the number of removed vectors equivalent to the maximum number of attacks. This approach offers a considerable advantage by mitigating the effects of abnormality and manipulation, making it robust against arbitrary information tampering within a pre-defined upper boundary for manipulated broadcast information. Importantly, we establish specific conditions for the proposed resilient design to guarantee the internal stability of the vehicle platoon under attacks. Extensive simulations and experiments involving four TurtleBot3s are conducted to demonstrate the effectiveness of the proposed resilient controller.