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Vehicle-to-vehicle communication enables autonomous platoons to boost trafficefficiency and safety, while ensuring string stability with a constant spacingpolicy. However, communication-based controllers are susceptible to a range ofcyber-attacks. In this paper, we propose a distributed attack mitigationdefense framework with a dual-mode control system reconfiguration scheme toprevent a compromised platoon member from causing collisions via messagefalsification attacks. In particular, we model it as a switched systemconsisting of a communication-based cooperative controller and a sensor-basedlocal controller and derive conditions to achieve global uniform exponentialstability (GUES) as well as string stability in the sense of platoon operation.The switching decision comes from game-theoretic analysis of the attacker andthe defender's interactions. In this framework, the attacker acts as a leaderthat chooses whether to engage in malicious activities and the defender decideswhich control system to deploy with the help of an anomaly detector. Imperfectdetection reports associate the game with imperfect information. A dedicatedstate constraint further enhances safety against bounded but aggressive messagemodifications in which a bounded solution may still violate practicalconstraint e.g. vehicles nearly crashing. Our formulation uniquely combinesswitched systems with security games to strategically improve the safety ofsuch autonomous vehicle systems.

A Communication Security Game on Switched Systems for Autonomous Vehicle Platoons