We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause safety violations resulting in collisions and traffic jams. In addition, uncooperative (but not necessarily adversarial) CAVs can also induce similar adversarial effects on the traffic network. We propose a decentralized resilient control and coordination scheme that mitigates the effects of adversarial attacks and uncooperative CAVs by utilizing a trust framework. Our trust-aware scheme can guarantee safe collision free coordination and mitigate traffic jams. Simulation results validate the theoretical guarantee of our proposed scheme, and demonstrate that it can effectively mitigate adversarial effects across different traffic scenarios.

翻译：针对网联式自动驾驶车辆（CAVs）在冲突区域协同导航中的安全问题，本文指出Sybil攻击等敌对攻击可能导致碰撞与交通拥堵等安全违规行为，同时不合作（非必然敌对）的CAVs也会对交通网络产生类似的负面影响。我们提出一种分布式弹性控制与协同方案，通过引入信任框架来削弱敌对攻击与不合作CAVs的影响。该面向信任的方案能够保证安全无碰撞的协同运行，并缓解交通拥堵。仿真结果验证了所提方案的理论保障性，并证明其在不同交通场景下均可有效抑制敌对效应。