Event-Triggered Path Following of Autonomous Vehicles Under False Data Injection Attacks: A Try-Once-Discard Protocol-Based Transmission Scheme

This article is devoted to addressing the path following problem of autonomous vehicles subject to false data injection (FDI) attacks. A novel secure try-once-discard (TOD) protocol-based event-triggered control strategy is developed to achieve the goal of path following. Specifically, a TOD protocol is employed to regulate the data transmission from sensor nodes, aiming to mitigate data collision. Then, a TOD protocol-based event-triggered mechanism (ETM) is designed to reduce the frequency of controller updates, in which the triggering condition is related with the injected attack signal and scheduled outputs induced by the TOD protocol. Furthermore, a unified framework is developed to analyze the dynamic behaviors of autonomous vehicles under the TOD protocol, the protocol-based ETM, and FDI attacks, and some sufficient yet efficient criteria are provided to guarantee the secure path following of autonomous vehicles. Moreover, a codesign method is suggested to determine the triggering matrix, the scheduling matrices, and the controller gain matrix simultaneously. Finally, numerical simulations based on CarSim and Simulink are given to show the validity of theoretical results.