Signal Reconstruction of Output Attacks on Autonomous Vehicles

This paper mainly studies the problem of vehicle attack signal estimation when autonomous vehicles contain network attacks and multiple autonomous vehicles communicate with each other. This paper first selects the appropriate vehicle dynamics model and vehicle lane-keeping model to model the vehicle. Then, considering the network attack of the vehicle and the mutual influence of multiple autonomous vehicles, the subsystem model is established, and the subsystem is converted into the form of the whole system. Then, the intermediate variable observer is designed for the whole system, and the output attack signal is reconstructed using the system state estimated by the observer. Finally, an example of two autonomous vehicles communicating with each other is used for simulation analysis to verify the feasibility of the proposed method.