Adaptive secure lateral control of autonomous electric vehicles under denial-of-service attacks

In this paper, the adaptive lateral control problem is considered for autonomous electric vehicles under denial-of-service (DoS) attacks. Autonomous electric vehicles require high-precision position and pose information for the lateral control, which can be obtained from the global positioning system (GPS). However, this kind of sensors is easily susceptible to malicious DoS attacks. To mitigate the performance degradation caused by DoS attacks on GPS, a state observer is designed based on the measurements of inertial measurement units (IMUs), such that the position and pose information of vehicles can be estimated. Then, by adopting the observer states and backstepping technique, a novel adaptive secure switching control scheme is proposed. Subsequently, a stability condition is derived, which guarantees that the tracking errors converge to a compact set, and the attack effects on system dynamic performance are weakened. The stability condition also reveals the relationships among the attack durations, design parameters, and tracking errors, which can be used to guide the selection of design parameters. Simulation results are provided to validate the effectiveness and robustness of the proposed control scheme.