Resilient control strategy and attack detection on platooning of smart vehicles under DoS attack

Intent on the smart vehicles of a platoon to follow their correct routes, they must exchange their state information with each other based on a communication graph. Meanwhile, malicious factors like Denial-of-Service (DoS) attacks, one of the major types of cyber-attacks, can affect vehicles and divert them from their correct routes. Also, spreading the erroneous data induced by a DoS attack from the attacked agent gradually destabilizes the platoon. Therefore, preserving all vehicles' safety is a vital issue for the platoon. In this paper, in the first step, detection and measurement of the DoS attack modeled by a time-varying delay are conducted by exploiting two incremental counters through a DoS detection and measurement algorithm. Also, supplementary to this, a novel vehicular resilient control strategy based on switching systems is proposed to retrieve the attacked agent to the leader-follower consensus. In the end, the capability of the proposed algorithms will be indicated by presenting an illustrative case study.