Active Probing Signal-Based Attack Detection Method for Autonomous Vehicular Systems

This paper addresses an active probing signal-based attack detection method for autonomous vehicular systems. Employing active probing signals for attack detection may become a common method for detecting replay attacks performed using prerecorded sensor data. Conventional replay attack detection methods usually operate by injecting active probing signals into the control inputs and simultaneously checking whether the effect appears on the output signals. When active probing signals are used in vehicular systems, they may change the vehicle acceleration and steering angle. The tracking performance can degrade; inspired by this issue, we develop an attack detection method employing disturbance observers. The attack detection method compensates for the effect of active probing signals and detects malicious attacks, including replay attacks. To validate the effectiveness of the proposed method, several simulations are carried out.