Security is crucial for cyber-physical systems, such as a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a road network safely. In this paper, we tackle the security of a cooperating network of CAVs in conflict areas by identifying the critical adversarial objectives from the point of view of uncooperative/malicious agents from our preliminary study, which are (i) safety violations resulting in collisions, and (ii) traffic jams. We utilize a trust framework (and our work doesn't depend on the specific choice of trust/reputation framework) to propose a resilient control and coordination framework that mitigates the effects of such agents and guarantees safe coordination. A class of attacks that can be used to achieve the adversarial objectives is Sybil attacks, which we use to validate our proposed framework through simulation studies. Besides that, we propose an attack detection and mitigation scheme using the trust framework. The simulation results demonstrate that our proposed scheme can detect fake CAVs during a Sybil attack, guarantee safe coordination, and mitigate their effects.

本文探讨了利用安全框架保障联网自动驾驶汽车网络的安全，通过识别攻击者的关键对策，提出了一个依靠信任框架的控制方案，能够保障安全协调。同时，还提出了Sybil攻击的检测和缓解方案，模拟结果表明，我们的方案能够检测Sybil攻击并有效缓解其影响。

面向连接和自动化车辆的信任感知鲁棒控制与协同