Safe and Secure Control of Connected and Automated Vehicles: An Event-Triggered Control Approach using Trust-Aware Robust Control Barrier Functions

Abstract

We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to safely navigate through a conflict area (e.g., traffic intersections, merging roadways, roundabouts). Previous studies have shown that such a network can be targeted by adversarial attacks causing traffic jams or safety violations resulting in collisions. We focus on attacks targeting the V2X communication network used to share vehicle data and consider as well uncertainties due to noise in sensor measurements and communication channels. To combat these, motivated by recent work on the safe control of CAVs, we propose a trust-aware robust event-triggered decentralized control and coordination framework that can provably guarantee safety. We maintain a trust metric for each vehicle in the network computed based on their behavior and used to balance the tradeoff between conservativeness (when deeming every vehicle as untrustworthy) while guaranteeing safety and performance. It is important to highlight that our framework is invariant to the specific choice of the trust framework. Based on this framework, we propose an attack detection and mitigation scheme which has twofold benefits: (i) the trust framework is immune to false positives, and (ii) it provably guarantees safety against false positive cases which may arise from a poor choice of trust framework. We use extensive simulations in SUMO and CARLA to validate the theoretical guarantees and demonstrate the efficacy of our proposed scheme to detect and mitigate adversarial attacks. The code for the simulated scenarios can be found in this \href{https://github.com/SabbirAhmad26/Trust_based_CBF}{\textit{\underline{link}}}.