Detecting Malicious Behavior In Cooperative Autonomous RC Cars
G. Tombakaitė (TU Delft - Mechanical Engineering)
Riccardo Ferrari – Mentor (TU Delft - Team Jan-Willem van Wingerden)
T. Keijzer – Mentor (TU Delft - Team Jan-Willem van Wingerden)
S. Wahls – Graduation committee member (TU Delft - Team Raf Van de Plas)
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Abstract
Sensors are used all around us in various industries, for instance: agricultural, medical,aerospace and automotive. It is important for these industries to have reliable sensor data because the functionality of technologies depends on it. In this work, the industry of inter-est is automotive, specifically in the field of Cooperative Adaptive Cruise Control (CACC). The control of vehicles depends on measurement data from radars, which are carried by each vehicle in a platoon. If these measurements are faulty, it could affect CACC and cause a crash. This work models the Radio Control (RC) vehicle, implements CACC and aims to identify such faults in the radar measurement data before they could impact the behavior of the platoon. The results are obtained in simulation, comprising the mathematical model of the vehicles, the implemented CACC controller and a virtual radar exposed to 4 different faults, with which the chosen method for fault detection is evaluated. The results of the CACC operating in ideal conditions and with faulty measurement data are depicted. The work ends with analysing the results and concluding, whether the chosen method is capable of identifying the faulty measurement data.