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Design and Analysis of Resilient Vehicular Platoon Systems over Wireless Networks

Tingyu Shui, Walid Saad

TL;DR

This work addresses clock synchronization in vehicular platoons connected via wireless V2V links under synchronization disruption attacks. It proposes a diffusion-based re-synchronization mechanism and introduces temporal conditional mean exceedance (TCME) as a resilience metric to quantify recovery from delays. By deriving conditions on V2V delay variance and the diffusion parameter, the approach demonstrates improved reliability and feasible recovery against large delay fluctuations, outperforming a traditional reliable design. The results indicate that resilience can be achieved with significant improvements in safety margins and recovery speed, suggesting practical applicability in congested networks with limited bandwidth.

Abstract

Connected vehicular platoons provide a promising solution to improve traffic efficiency and ensure road safety. Vehicles in a platoon utilize on-board sensors and wireless vehicle-to-vehicle (V2V) links to share traffic information for cooperative adaptive cruise control. To process real-time control and alert information, there is a need to ensure clock synchronization among the platoon's vehicles. However, adversaries can jeopardize the operation of the platoon by attacking the local clocks of vehicles, leading to clock offsets with the platoon's reference clock. In this paper, a novel framework is proposed for analyzing the resilience of vehicular platoons that are connected using V2V links. In particular, a resilient design based on a diffusion protocol is proposed to re-synchronize the attacked vehicle through wireless V2V links thereby mitigating the impact of variance of the transmission delay during recovery. Then, a novel metric named temporal conditional mean exceedance is defined and analyzed in order to characterize the resilience of the platoon. Subsequently, the conditions pertaining to the V2V links and recovery time needed for a resilient design are derived. Numerical results show that the proposed resilient design is feasible in face of a nine-fold increase in the variance of transmission delay compared to a baseline designed for reliability. Moreover, the proposed approach improves the reliability, defined as the probability of meeting a desired clock offset error requirement, by 45% compared to the baseline.

Design and Analysis of Resilient Vehicular Platoon Systems over Wireless Networks

TL;DR

This work addresses clock synchronization in vehicular platoons connected via wireless V2V links under synchronization disruption attacks. It proposes a diffusion-based re-synchronization mechanism and introduces temporal conditional mean exceedance (TCME) as a resilience metric to quantify recovery from delays. By deriving conditions on V2V delay variance and the diffusion parameter, the approach demonstrates improved reliability and feasible recovery against large delay fluctuations, outperforming a traditional reliable design. The results indicate that resilience can be achieved with significant improvements in safety margins and recovery speed, suggesting practical applicability in congested networks with limited bandwidth.

Abstract

Connected vehicular platoons provide a promising solution to improve traffic efficiency and ensure road safety. Vehicles in a platoon utilize on-board sensors and wireless vehicle-to-vehicle (V2V) links to share traffic information for cooperative adaptive cruise control. To process real-time control and alert information, there is a need to ensure clock synchronization among the platoon's vehicles. However, adversaries can jeopardize the operation of the platoon by attacking the local clocks of vehicles, leading to clock offsets with the platoon's reference clock. In this paper, a novel framework is proposed for analyzing the resilience of vehicular platoons that are connected using V2V links. In particular, a resilient design based on a diffusion protocol is proposed to re-synchronize the attacked vehicle through wireless V2V links thereby mitigating the impact of variance of the transmission delay during recovery. Then, a novel metric named temporal conditional mean exceedance is defined and analyzed in order to characterize the resilience of the platoon. Subsequently, the conditions pertaining to the V2V links and recovery time needed for a resilient design are derived. Numerical results show that the proposed resilient design is feasible in face of a nine-fold increase in the variance of transmission delay compared to a baseline designed for reliability. Moreover, the proposed approach improves the reliability, defined as the probability of meeting a desired clock offset error requirement, by 45% compared to the baseline.
Paper Structure (10 sections, 4 theorems, 16 equations, 4 figures, 1 table)

This paper contains 10 sections, 4 theorems, 16 equations, 4 figures, 1 table.

Table of Contents

  1. Introduction
  2. System model
  3. Diffusion Strategy
  4. Wireless Communication Model
  5. Risk of Collision Measurement
  6. Resilience Analysis
  7. Clock Offset Analysis
  8. Temporal Conditional Mean Exceedance
  9. Simulation Results and Analysis
  10. Conclusion

Key Result

Lemma 1

The expectation and variance of the transmission delay $\tau_{i}^{l}$ of the V2V link between vehicle $i-1$ and vehicle $i$ is given by: where $f_{i}(\gamma) = \frac{\mathrm{d} F_{i}(\gamma)}{\mathrm{d}\gamma}$ and $F_{i}(\gamma) = 1 - \sum_{k=1}^m (-1)^{k+1} {\binom{n}{m}} \operatorname{exp} \left( - k \eta \gamma \frac{d_{i-1,i}^{\alpha}}{P_{i-1} } B N_0 \right) \mathcal{L}^2_{I_{i,\Phi_1}^{l}}

Figures (4)

  • Figure 1: A PF model where vehicles can only receive information from its predecessor. After cyber-attack, vehicle $i$ is working with clock offset to the platoon reference clock.
  • Figure 2: Validation of approximation of $\xi_i^l$ into normal distribution.
  • Figure 3: Feasible region of resilient design and reliable design of $p=0.75$ and $p = 0.85$ at time slot $l = 10$.
  • Figure 4: Performance after attack for both resilient and reliable design.

Theorems & Definitions (7)

  • Lemma 1
  • proof
  • Lemma 2
  • proof
  • Theorem 1
  • proof
  • Corollary 1