An Analytical Framework for Modeling and Synthesizing Malicious Attacks on ACC Vehicles

Abstract

While emerging adaptive cruise control (ACC) technologies are making their way into more vehicles, they also expose a vulnerability to potential malicious cyberattacks. Previous research has typically focused on constant or stochastic attacks without explicitly addressing their malicious and covert characteristics. As a result, these attacks may inadvertently benefit the compromised vehicles, inconsistent with real-world scenarios. In contrast, we establish an analytical framework to model and synthesize a range of candidate attacks, offering a physical interpretation from the attacker's standpoint. Specifically, we introduce a mathematical framework that describes mixed traffic scenarios, comprising ACC vehicles and human-driven vehicles (HDVs), grounded in car-following dynamics. Within this framework, we synthesize and integrate a class of false data injection attacks into ACC sensor measurements, influencing traffic flow dynamics. As a first-of-its-kind study, this work provides an analytical characterization of attacks, emphasizing their malicious and stealthy attributes while explicitly accounting for vehicle driving behavior, thereby yielding a set of candidate attacks with physical interpretability. To demonstrate the modeling process, we perform a series of numerical simulations to holistically assess the effects of attacks on car-following dynamics, traffic efficiency, and vehicular fuel consumption. The primary findings indicate that strategically synthesized candidate attacks can cause significant disruptions to the traffic flow while altering the driving behavior of ACC vehicles in a subtle fashion to remain stealthy, which is supported by a series of analytical results.