A Novel Cyber-Secure Algorithm in Cooperative Vehicles Platoon

This paper studies the problem of secure and resilient distributed cooperative control for autonomous vehicles under false data injection attacks on the vehicular communication net-work. We propose a model-based scheme to detect unknown data falsification attacks using the predicted traj ectory in a distributed nonlinear model predictive control problem. First, as a local agent, each autonomous vehicle stores the information received from its neighboring vehicles to clarify anomalies. The recorded data is investigated over a temporal moving observation window which contains different prediction sequences of the distributed nonlinear model predictive control problem in the previous times. In the next step, a cumulative sum discriminator is employed to compare the predicted values from the observation window and measured values. Then, a recovery mechanism is designed to ful-fill secure control of the connected automated vehicular platoons. Finally, a comparative simulation demonstrates the effectiveness and capability of the proposed strategies.