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Cooperative Adaptive Cruise Control (CACC) is considered as a key enablingtechnology to automatically regulate the inter-vehicle distances in a vehicleplatoon to improve traffic efficiency while maintaining safety. Although thewireless communication and physical processes in the existing CACC systems areintegrated in one control framework, the coupling between wirelesscommunication reliability and system states is not well modeled. Furthermore,the research on the impact of jamming attacks on the system stability andsafety is largely open. In this paper, we conduct a comprehensive analysis onthe stability and safety of the platoon under the wireless Rician fadingchannel model and jamming attacks. The effect of Rician fading and jamming onthe communication reliability is incorporated in the modeling of stringdynamics such that it captures its state dependency. Time-domain definition ofstring stability is utilized to delineate the impact of Rician fading andjamming on the CACC system's functionality and string stability. Attacker'spossible locations at which it can destabilize the string is further studiedbased on the proposed model. From the safety perspective, reachable states(i.e., inter-vehicle distances) of the CACC system under unreliable wirelessfading channels and jamming attacks is studied. Safety verification isinvestigated by examining the inter-vehicle distance trajectories. We propose amethodology to compute the upper and lower bounds of the trajectories ofinter-vehicle distances between the lead vehicle and its follower. We conductextensive simulations to evaluate the system stability and safety under jammingattacks in different scenarios. We identify that channel fading can degrade theperformance of the CACC system, and the platoon's safety is highly sensitive tojamming attacks.

Platoon Stability and Safety Analysis of Cooperative Adaptive Cruise Control under Wireless Rician Fading Channels and Jamming Attacks