Cyber Attack Detection Based on Finite-Time H ∞ Filter in Platoon-Based Connected Vehicle Systems

Aiming at the issue of being susceptible to noise interference when detecting cyber-attacks in vehicle platooning, a detection method utilizing ellipsoid detector based on finite-time H_∞ filter is proposed. Firstly, a finite-time H∞ filter is designed for vehicle longitudinal dynamics model with Unknown-ButBounded (UBB) noises, which can provide accurate state estimation for vehicles without depending on precise system model or statistical characteristics of the noise. Moreover, it ensures that the filter error remains within finite-time bounds and satisfies the specified H ∞ performance index to further improve the dynamic performance of the filter. Based on this, an ellipsoid detector is designed for detecting cyber-attacks in vehicle platoon. Then, the above issues are transformed into optimization problem based on linear matrix inequality, from which the filter parameters and the boundary of ellipsoid detector are obtained. Finally, the simulation results show that the designed detector has strong robustness to UBB noises and can effectively distinguish the cyber-attacks from external disturbances, and the detection sensitivity of small attack signal is better than that of χ² detector with Kalman filter.