Automotive Functional Safety: Risk Mitigation Control of Path Planning for Autonomous Vehicles towards Sensitive Command Attack Scenarios

doi:10.3901/JME.2024.10.302

Abstract

Abstract: A risk mitigation control strategy for autonomous driving vehicles is proposed based on the state decoupling and real-time model predictive control(MPC) to address the problem of path planning failure and tracking instability resulting from sensitive command attacks. Firstly, the potential risks in the lateral, longitudinal, and heading states are decoupled to design network risk index and network block risk index. These indices quantitatively assess the risk of sensitive command attacks of an autonomous vehicle. Secondly, the network risk index is introduced into the local path planner based on MPC, which real-time modifies the penalty functions and plan the locally optimal reference path with consideration of the dynamic network attack risks. Additionally, a threshold-driven redundant bus switching mechanism is added to the trajectory tracking layer to mitigate the harmful effects of sensitive command attacks on vehicle control ability. Finally, three common scenarios of sensitive command attack sets are used to validate the effectiveness of the proposed strategy. The results show that the proposed strategy can mitigate approximately 31% of sudden speed changes and prevent longitudinal driving risk and lateral instability in the scenarios of acceleration and braking command attacks compared with the non-mitigated scheme. Furthermore, for steering command attacks, the proposed strategy can halt the incorrect steering process and effectively prevent collision accidents.

Key words: intelligent connected vehicles, autonomous driving, path planning, network attack, active safety

CLC Number:

TG156

LIN Chen, WEI Hongqian, JING Wei, ZHANG Youtong. Automotive Functional Safety: Risk Mitigation Control of Path Planning for Autonomous Vehicles towards Sensitive Command Attack Scenarios[J]. Journal of Mechanical Engineering, 2024, 60(10): 302-316.

Add to citation manager EndNote|Reference Manager|ProCite|BibTeX|RefWorks

URL: http://www.cjmenet.com.cn/EN/10.3901/JME.2024.10.302

http://www.cjmenet.com.cn/EN/Y2024/V60/I10/302

References

[1] 郄广，张岩. 智能车与网联技术分析[J]. 移动通信，2020，44(1):80-85. XI Guang，ZHANG Yan. Analysis of Intelligent vehicle and connected technology[J]. Mobile Communications，2020，44(1):80-85.
[2] 冯志杰，何明，李彬，等. 汽车信息安全攻防关键技术研究进展[J]. 信息安全学报，2017，2(2):1-14. FENG Zhijie，HE Ming，LI Bin，et al. Research progress on key technologies of automotive information security attack and defense[J]. Journal of Information Security，2017，2(2):1-14.
[3] 丁达，曹杰. 信息物理融合系统网络安全综述[J]. 信息与控制，2019，48(5):513-521，527. DING Da，CAO Jie. Overview of network security in cyber-physical systems[J]. Information and Control，2019，48(5):513-521，527.
[4] MOHAMMAD S，FAEZEH F，ALIREZA J，et al. Cyber attacks via consumer electronics:Studying the threat of covert malware in smart and autonomous vehicles[J]. IEEE Transactions on Consumer Electronics，2023， 69(4):1.
[5] Keen Security Lab Blog. Car hacking research:Remote attack tesla motors[EB/OL]. [2016-09-19]. https://keenlab.tencent.com.
[6] YANG Diange，JIANG Kun，ZHAO Ding，et al. Intelligent and connected vehicles:Current status and future perspectives[J]. Science China-Technological Sciences，2018，61(10):1446-1471.
[7] ALNABULSI H，ISLAM R. Protecting code injection attacks in intelligent transportation system[C]//Trust Security and Privacy in Computing and Communications. Piscataway:IEEE Press，2019:799-806.
[8] 我国积极探索车联网安全保障体系建设[J]. 信息网络安全，2021，21(9):99. Exploration of vehicle-to-everything security system construction in China[J]. Information Network Security，2021，21(9):99.
[9] WOO S，SEOU L，HYO J，et al. A practical wireless attack on the connected car and security protocol for in-vehicle CAN[J]. IEEE Transactions on Intelligent Transportation Systems，2015，16(2):993-1006.
[10] 吴武飞，李仁发，曾刚，等. 智能网联车网络安全研究综述[J]. 通信学报，2020，41:161-174. WU Wufei，LI Renfa，ZENG Gang，et al. Overview of network security research on intelligent connected vehicles[J]. Journal on Communications，2020，41:161-174.
[11] 孙扬威，戚湧. 基于聚类混合采样与PSO-Stacking的车载CAN入侵检测方法[J]. 计算机工程，2023，49(1):138-145. SUN Yangwei，QI Yong. Intrusion detection method for vehicle CAN based on clustering mixture sampling and PSO-Stacking[J]. Computer Engineering，2023，49(1):138-145.
[12] 王鹏，翟浡琨，李玉峰，等. 基于动态异构冗余架构的车载网络内生安全机制[J]. 电子与信息学报，2023，45(1):272-281. WANG Peng，ZHAI Bokun，LI Yufeng，et al. Endogenous security mechanism for vehicular networks based on dynamic heterogeneous redundant architecture[J]. Journal of Electronics and Information Technology，2023，45(1):272-281.
[13] TIAN Guan，YI Han，NAN Kang，et al. An overview of vehicular cybersecurity for intelligent connected vehicles[J]. Sustainability，2022，14(9):5211.
[14] XU Wenda，PAN Jia，WEI Junqiang，et al. Motion planning under uncertainty for on-road autonomous driving[C]//ICRA 2014:Proceedings of the 2014 IEEE International Conference on Robotics and Automation. Piscataway. NJ:IEEE，2014:2507-2512.
[15] 魏洪乾，王洪荣，赵文强，等. 考虑网络诱导时延的电动汽车主动安全控制策略[J]. 北京理工大学学报，2022，42(8):798-808. WEI Hongqian，WANG Hongrong，ZHAO Wenqiang，et al. Active safety control strategy for electric vehicles considering induced network delay[J]. Journal of Beijing Institute of Technology，2022，42(8):798-808.
[16] YOSHIAKI K，JUSTIN T，GASTON F. Real-time motion planning with applications to autonomous urban driving[J]. IEEE Transactions on Control Systems Technology，2009，17(5):1105-1118.
[17] WANG Hong，HUANG Yanjun，AMIR K，et al. Crash mitigation in motion planning for autonomous vehicles[J]. IEEE Transactions on Intelligent Transportation Systems，2019，20(9):3313-3323.
[18] 吴尚则，秦贵和，刘毅，等. 车载控制器局域网络总线的动态口令身份认证方法[J]. 西安交通大学学报，2017，51(6):97-102. WU Shangze，QIN Guihe，LIU Yi，et al. Dynamic password-based identity authentication method for CAN bus of vehicular controller area network[J]. Journal of Xi'an Jiaotong University，2017，51(6):97-102.
[19] 吴静雯，殷新春，宁建廷. 车载自组网中可追踪可撤销的多授权中心属性基加密方案[J]. 计算机应用，2022，42(6):1695-1701. WU Jingwen，YIN Xinchun，NING Jianting. Traceable and revocable multi-authority attribute-based encryption scheme in vehicular ad-hoc networks[J]. Journal of Computer Applications，2022，42(6):1695-1701.
[20] 罗龙，胡凯文，盛丽，等. 基于鱼群优化的车载自组织网络路由算法[J]. 电子科技大学学报，2021，50(4):488-495. LUO Long，HU Kaiwen，SHENG Li，et al. Fish school optimization based routing algorithm for vehicular adhoc networks[J]. Journal of University of Electronic Science and Technology of China，2021，50(4):488-495.
[21] 宋秀兰，漏小鑫，孟利民，等. 虚假数据注入攻击下网联车辆自适应巡航状态安全估计[J]. 高技术通讯，2021，31(3):249-256. SONG Xiulan，LOU Xiaoxin，MENG Limin，et al. Adaptive cruise control state safety estimation of vehicular networks under false data injection attacks[J]. High Technology Letters，2021，31(3):249-256.
[22] 易星，曹青松，李香芹. 网络攻击下的智能网联汽车路径跟踪鲁棒控制[J]. 机械设计，2023，40(5):36-42. YI Xing，CAO Qingsong，LI Xiangqin. Robust control of intelligent connected vehicle path tracking under network attacks[J]. Mechanical Design，2023，40(5):36-42.
[23] 吴新开，何山，张少伟，等. 一种网络攻击下网联自动车的改进换道模型[J]. 同济大学学报(自然科学版)，2022，50(12):1715-1727. WU Xinkai，HE Shan，ZHANG Shaowei，et al. An improved lane-changing model for connected automated vehicles under network attacks[J]. Journal of Tongji University(Natural Science Edition)，2022，50(12):1715-1727.
[24] 龚建伟. 无人驾驶车辆模型预测控制[M]. 2版. 北京:人民邮电出版社，2020. GONG Jianwei. Model predictive control for autonomous vehicles[M]. 2nd ed. Beijing:Posts and Telecom Press，2020.
[25] 阳鑫，唐小林，杨凯，等. 极限工况下无人驾驶车辆运动规划策略研究[J]. 机械工程学报，2022，58(22):349-359. YANG Xin，TANG Xiaolin，YANG Kai，et al. Motion planning strategy for autonomous vehicles under extreme working conditions[J]. Journal of Mechanical Engineering，2022，58(22):349-359.
[26] 胡勤明，王金刚，张小俊. 五次多项式优化的平行泊车路径规划[J]. 计算机工程与应用，2022，58(14):291-298. HU Qinming，WANG Jingang，ZHANG Xiaojun. Parallel parking path planning using quintic polynomial optimization[J]. Journal of Computer Engineering and Applications，2022，58(14):291-298.
[27] 张海春，姜荣帅，王颉，等. 基于熵的车载CAN总线异常检测研究[J]. 汽车工程，2021，43(10):1543-1548. ZHANG Haichun，JIANG Rongshuai，WANG Jie，et al. Study on abnormal detection of in-vehicle CAN bus based on entropy[J]. Automotive Engineering，2021，43(10):1543-1548.
[28] EIICHI O，SHIGEYUKI H，HOANG D，et al. Bifurcation in vehicle dynamics and robust front wheel steering control[J]. IEEE Transactions on Control Systems Technology，1998，6(3):412-420.