Resilient Event-Triggered Control of Connected Automated Vehicles Under Cyber Attacks

Dear Editor, This letter contributes to designing a resilient event-triggered controller for connected automated vehicles under cyber attacks, including denial-of-service (DoS) and deception attacks. To characterize the effect of DoS attacks, the effective intervals of the attack are redivided based on the sampling period. Then, a resilient distributed event-triggering mechanism is proposed to compensate for the sabotage of DoS attacks and reduce the amount of transmitted data. Since the communication channel transmits the data only at the trigger instant, deception attacks may occur at this instant and be transmitted to each vehicle in superposition with the normal signal. Therefore, we construct stochastic models satisfying Bernoulli distribution to describe the false information injected by the attackers. Based on the above framework, an attack-resilient control strategy is proposed to resist the impact of cyber attacks. Then, sufficient conditions are established to achieve stability of vehicular platoons, and a co-design strategy regarding the control gain and triggering parameter matrices is given. Finally, the simulation results are provided to substantiate the effectiveness of the proposed method.