Replay Attack Detection in a Platoon of Connected Vehicles with Cooperative Adaptive Cruise Control

Using emerging wireless communication technologies, vehicles can exchange information among each other with the aim of cooperation to improve safety, efficiency and fuel economy of the transportation system. This advancement in technology highlights challenges in designing control systems that are able to deal with an unreliable and a compromised network while guaranteeing stability, safety and reliability of the vehicles: network failures and cyber-attacks could cause loss in performances, vehicle collisions or loss of lives. In this paper, we focus in detecting replay attack in a connected vehicle system under Cooperative Adaptive Cruise Control (CACC) where one of the vehicle is affected by a malicious agent which wants to compromise the safety and the performance of the platoon. A decentralized diagnosis algorithm based on noisy control signal methodology and cross correlator is proposed to detect the replay attack. The effectiveness of the overall online algorithm scheme is verified via simulation results, which show that the noisy control signal is not affecting significantly the behavior of the vehicle platoon and that the detection algorithm is able to detect the replay attack even though a tuning of some parameter is needed.