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Platoons of autonomous vehicles are being investigated as a way to increaseroad capacity and fuel efficiency. Cooperative Adaptive Cruise Control (CACC)is one approach to controlling platoons longitudinal dynamics, which requireswireless communication between vehicles. In the present paper we use a slidingmode observer to detect and estimate cyber-attacks threatening such wirelesscommunication. In particular we prove stability of the observer and robustnessof the detection threshold in the case of event-triggered communication,following a realistic Vehicle-to-Vehicle network protocol.

A Sliding Mode Observer Approach for Attack Detection and Estimation in Autonomous Vehicle Platoons using Event Triggered Communication