Adaptive cruise control (ACC) is a critical function of the advanced driver assistance system (ADAS) and plays an essential role in autonomous vehicles. In detail, ACC is responsible for maintaining a safe distance from vehicles ahead by controlling acceleration and braking. However, with the increasing number of vehicles connected to the Internet, the reliability of ACC is facing more challenges as it becomes more vulnerable to cyber attacks. Among the various types of cyber attacks, false data injection attacks and replay attacks pose the most significant threat to ACC. In this thesis, we propose a Kalman-filter-based detector to defend against these attacks. The detector combines the Chi-squared (χ²) test and cumulative sum control chart (CUSUM) to distinguish abnormal sensor data. T...[ Read more ]

Adaptive cruise control (ACC) is a critical function of the advanced driver assistance system (ADAS) and plays an essential role in autonomous vehicles. In detail, ACC is responsible for maintaining a safe distance from vehicles ahead by controlling acceleration and braking. However, with the increasing number of vehicles connected to the Internet, the reliability of ACC is facing more challenges as it becomes more vulnerable to cyber attacks. Among the various types of cyber attacks, false data injection attacks and replay attacks pose the most significant threat to ACC. In this thesis, we propose a Kalman-filter-based detector to defend against these attacks. The detector combines the Chi-squared (χ²) test and cumulative sum control chart (CUSUM) to distinguish abnormal sensor data. To address the issue of the χ² detector’s limited sensitivity to replay attacks, we propose a method integrating a velocity planner as a watermark maker into ACC, while maintaining driving comfort. We evaluate the effectiveness of the proposed detection method by implementing it in a real-time simulation platform of autonomous vehicles under both types of attacks. The results show that the method achieves a high level of detection performance.