A survey on vehicular communication for cooperative truck platooning application

Platooning is an application where a group of vehicles move one after each other in close proximity, acting jointly as a single physical system. The scope of platooning is to improve safety, reduce fuel consumption, and increase road use efficiency. Even if conceived several decades ago as a concept, based on the new progress in automation and vehicular networking platooning has attracted particular attention in the latest years and is expected to become of common implementation in the next future, at least for trucks.The platoon system is the result of a combination of multiple disciplines, from transportation, to automation, to electronics, to telecommunications. In this survey, we consider the platooning, and more specifically the platooning of trucks, from the point of view of wireless communications. Wireless communications are indeed a key element, since they allow the information to propagate within the convoy with an almost negligible delay and really making all vehicles acting as one. Scope of this paper is to present a comprehensive survey on connected vehicles for the platooning application, starting with an overview of the projects that are driving the development of this technology, followed by a brief overview of the current and upcoming vehicular networking architecture and standards, by a review of the main open issues related to wireless communications applied to platooning, and a discussion of security threats and privacy concerns. The survey will conclude with a discussion of the main areas that we consider still open and that can drive future research directions.(c) 2022 The Author(s). Published by Elsevier Inc. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/)

On the Secure and Resilient Design of Connected Vehicles: Methods and Guidelines

Vehicles have come a long way from being purely mechanical systems to systems that consist of an internal network of more than 100 microcontrollers and systems that communicate with external entities, such as other vehicles, road infrastructure, the manufacturer’s cloud and external applications. This combination of resource constraints, safety-criticality, large attack surface and the fact that millions of people own and use them each day, makes securing vehicles particularly challenging as security practices and methods need to be tailored to meet these requirements.This thesis investigates how security demands should be structured to ease discussions and collaboration between the involved parties and how requirements engineering can be accelerated by introducing generic security requirements. Practitioners are also assisted in choosing appropriate techniques for securing vehicles by identifying and categorising security and resilience techniques suitable for automotive systems. Furthermore, three specific mechanisms for securing automotive systems and providing resilience are designed and evaluated. The first part focuses on cyber security requirements and the identification of suitable techniques based on three different approaches, namely (i) providing a mapping to security levels based on a review of existing security standards and recommendations; (ii) proposing a taxonomy for resilience techniques based on a literature review; and (iii) combining security and resilience techniques to protect automotive assets that have been subject to attacks. The second part presents the design and evaluation of three techniques. First, an extension for an existing freshness mechanism to protect the in-vehicle communication against replay attacks is presented and evaluated. Second, a trust model for Vehicle-to-Vehicle communication is developed with respect to cyber resilience to allow a vehicle to include trust in neighbouring vehicles in its decision-making processes. Third, a framework is presented that enables vehicle manufacturers to protect their fleet by detecting anomalies and security attacks using vehicle trust and the available data in the cloud

PoF: Proof-of-Following for Vehicle Platoons

Cooperative vehicle platooning significantly improves highway safety and fuel efficiency. In this model, a set of vehicles move in line formation and coordinate functions such as acceleration, braking, and steering using a combination of physical sensing and vehicle-to-vehicle (V2V) messaging. The authenticity and integrity of the V2V messages are paramount to highway safety. For this reason, recent V2V and V2X standards support the integration of a PKI. However, a PKI cannot bind a vehicle's digital identity to the vehicle's physical state (location, heading, velocity, etc.). As a result, a vehicle with valid cryptographic credentials can impact the platoon by creating "ghost" vehicles and injecting false state information. In this paper, we seek to provide the missing link between the physical and the digital world in the context of verifying a vehicle's platoon membership. We focus on the property of following, where vehicles follow each other in a close and coordinated manner. We aim at developing a Proof-of-Following (PoF) protocol that enables a candidate vehicle to prove that it follows a verifier within the typical platooning distance. The main idea of the proposed PoF protocol is to draw security from the common, but constantly changing environment experienced by the closely traveling vehicles. We use the large-scale fading effect of ambient RF signals as a common source of randomness to construct a PoF primitive. The correlation of large-scale fading is an ideal candidate for the mobile outdoor environment because it exponentially decays with distance and time. We evaluate our PoF protocol on an experimental platoon of two vehicles in freeway, highway, and urban driving conditions. In such realistic conditions, we demonstrate that the PoF withstands both the pre-recording and following attacks with overwhelming probability.Comment: 19 pages, 24 figures, 1 tabl

A comparative analysis of multi‐criteria decision methods for secure beacon selection in vehicular platoons

Vehicle platoons are a novel transportation technology which not only aims to ensure traffic safety but also create a positive impact on the environment by producing low COurn:x-wiley:ett:media:ett4841:ett4841-math-0001 emissions. Vehicle platoons rely heavily on wireless communication to ensure that vehicles (leader and members) moving at high speed can keep close formation by exchanging beacons containing significant, authentic and accurate information. However, the presence of malicious attackers launching different attacks such as false data injection (FDI) can compromise the security of vehicle platoons by tampering with the beacons. Therefore, to avoid FDI attacks, we relied on multi-criteria decision methods (MCDM)-based methods in order to select the optimum beacon to share authentic and accurate information with the member vehicles. In this study, three MCDM methods including weighted sum model, technique for order of preference by similarity to ideal solution and preference ranking organization method for enrichment of evaluations (PROMETHEE-II) are studied and compared with the aim to enable the platoons to select the optimum beacon for communication. We performed extensive simulations to evaluate the performance of these methods in the presence of three FDI attacker models from four different aspects, that is, safety, stability, environmental, and cyber security. Our results demonstrate that MCDM-based methods can increase network efficiency, but at the cost of a trade-off between safety and cyber security

Security of Vehicular Platooning

Platooning concept involves a group of vehicles acting as a single unit through coordination of movements. While Platooning as an evolving trend in mobility and transportation diminishes the individual and manual driving concerns, it creates new risks. New technologies and passenger’s safety and security further complicate matters and make platooning attractive target for the malicious minds. To improve the security of the vehicular platooning, threats and their potential impacts on vehicular platooning should be identified to protect the system against security risks. Furthermore, algorithms should be proposed to detect intrusions and mitigate the effects in case of attack. This dissertation introduces a new vulnerability in vehicular platooning from the control systems perspective and presents the detection and mitigation algorithms to protect vehicles and passengers in the event of the attack

Cooperative control of autonomous connected vehicles from a Networked Control perspective: Theory and experimental validation

Formation control of autonomous connected vehicles is one of the typical problems addressed in the general context of networked control systems. By leveraging this paradigm, a platoon composed by multiple connected and automated vehicles is represented as one-dimensional network of dynamical agents, in which each agent only uses its neighboring information to locally control its motion, while it aims to achieve certain global coordination with all other agents. Within this theoretical framework, control algorithms are traditionally designed based on an implicit assumption of unlimited bandwidth and perfect communication environments. However, in practice, wireless communication networks, enabling the cooperative driving applications, introduce unavoidable communication impairments such as transmission delay and packet losses that strongly affect the performances of cooperative driving. Moreover, in addition to this problem, wireless communication networks can suffer different security threats. The challenge in the control field is hence to design cooperative control algorithms that are robust to communication impairments and resilient to cyber attacks. The work aim is to tackle and solve these challenges by proposing different properly designed control strategies. They are validated both in analytical, numerical and experimental ways. Obtained results confirm the effectiveness of the strategies in coping with communication impairments and security vulnerabilities

Cryptography and Privacy in Vehicular Communication Networks

Wireless communication technologies can support dynamic networks between vehicles, pedestrians and roadside infrastructure called Vehicular Ad hoc Networks (VANETs). Wireless communication over VANETs allows for several communications scenarios — between vehicles, between vehicles and infrastructure, and between vehicles and pedestrians, among others — collectively known as Vehicle-to-Everything (V2X) communication. Fast wireless communication allows vehicles to communicate over long distances, improving a driver's perception compared to relying on human senses alone. Computerised automated decisions made in response to a wireless message also allow for a lifesaving decision to be much faster than the average human's reaction time can allow. A report by the United Stated Department of Transport shows that applications which use V2X communication, such as Emergency Brake Warning, Left-turn Assist, and Lane-change Assist, can help reduce unimpaired vehicular collisions by as much as 80%. Further, V2X applications like Cooperative Platooning and Emergency Vehicle Path Clearing offer improved fuel efficiency, traffic efficiency, and faster response times for emergency vehicles. For these reasons, V2X communication has garnered significant interest from the automotive industry, the research community and governments in recent years. While V2X communication offers many benefits, unsecured V2X communication can also be exploited by adversaries to increase traffic congestion, track vehicles and people, and even induce vehicular crashes as we show in this thesis. For these reasons, it is necessary to secure VANETs and V2X communication. While security standards for V2X communication exist, their restrictive requirements can make implementing efficient applications difficult. Further, V2X application designers often design applications with little regard to security (incorrectly assuming that the standardised security measures provide adequate security regardless of the underlying application), resulting in applications that violate the security standards imposed restrictions, and leading to applications which are not secure. The Emergency Brake Warning application is one application affected by this disconnect between application designers and V2X security standards. This thesis introduces the uninitiated reader to V2X communication, V2X applications, and V2X security standards while describing the necessary cryptography along the way. Then we discuss the working and limitations of current proposals for the Emergency Brake Warning application before describing EBW-PoF, a novel protocol for the same application, that overcomes these shortcomings. Finally, we discuss EBW-PoF's security, performance, and limitations