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Cooperative Adaptive Cruise Control (CACC) is a technology that allows groupsof vehicles to form in automated, tightly-coupled platoons. CACC schemesexploit Vehicle-to-Vehicle (V2V) wireless communications to exchangeinformation between vehicles. However, the use of communication networks bringssecurity concerns as it exposes network access points that the adversary canexploit to disrupt the vehicles' operation and even cause crashes. In thismanuscript, we present a sensitivity analysis of CACC schemes against a classof resource-limited attacks. We present a modelling framework that allows us tosystematically compute outer ellipsoidal approximations of reachable setsinduced by attacks. We use the size of these sets as a security metric toquantify the potential damage of attacks affecting different signals in aCACC-controlled vehicle and study how two key system parameters change thismetric. We carry out a sensitivity analysis for two different controllerimplementations (as given the available sensors there is an infinite number ofrealizations of the same controller) and show how different controllerrealizations can significantly affect the impact of attacks. We presentextensive simulation experiments to illustrate the results.

Impact Sensitivity Analysis of Cooperative Adaptive Cruise Control Against Resource-Limited Adversaries