A Comprehensive Resilient Control Strategy for CBTC Systems Through Train-to-Train Communications Under Malicious Attacks

In recent years, intelligent transportation systems and automatic train control technologies have been developed rapidly. The communication-based train control (CBTC) system through train-to-train communications is very important in the intelligent transportation system and it uses wireless communication links to transmit the train control commands. However, the CBTC system is sensitive to information security attacks. Therefore, a comprehensive resilient control strategy is proposed for the CBTC system under Denial of Service (DoS) attacks. As a cyber physical system, the CBTC system includes two layers. In the communication layer, a strongly robust train-to-train communication topology is proposed which adopts a bidirectional communication strategy and a three times communication protocol to achieve the goal of resisting multi-channel DoS attacks. In the physical layer, an observer-based distributed intrusion detection method is firstly proposed to detect the attack. Further, a resilient control method based on a distributed state observer of the leader train is proposed to avoid triggering the train safety protection mechanism frequently. Finally, simulation results prove that the proposed comprehensive resilient control algorithm is effective in the CBTC system.