Research Article

Systematic assessment of cyber-physical security of lane keeping control system for autonomous vehicles

¹ Department of Control Science and Engineering, Tongji University, Shanghai, 200092, China
² Clean Energy Automotive Engineering Center, Tongji University, Shanghai, 201804, China
³ Dongfeng Technical Center, Dongfeng Motor Corporation, Wuhan, 430056, China

^* Corresponding author (email: guoll21@tongji.edu.cn)

Received: 15 March 2023
Revised: 5 June 2023
Accepted: 17 August 2023

Abstract

In this article, a systematic assessment of cyber-physical security is developed for the lane-keeping control (LKC) system of autonomous vehicles (AVs), which has not been attempted before. A novel impact analysis methodology for typical cyber-attacks is proposed with new evaluation metrics from the viewpoint of safety and performance and innovative index-based resilience and security criteria. Specifically, a security criterion is investigated by tracking performance, comfort and vehicle stability to evaluate the safety and security of the vehicle LKC system. Hardware-in-the-Loop (HiL) experimental results show that the proposed evaluation metrics are effective in analyzing the impact of cyber-attacks on the commercial LKC system of Dongfeng Motor comprehensively. Finally, the conclusion provides guidelines for attack detection, diagnosis, and countermeasures for AVs.