Evaluating Cybersecurity Risks of Cooperative Ramp Merging in Mixed Traffic Environments

Connected and Automated Vehicle (CAV) technology has the potential to greatly improve transportation mobility, safety, and energy efficiency. However, ubiquitous vehicular connectivity also opens up the door for cyber-attacks. In this study, we investigate cybersecurity risks of a representative cooperative traffic management application, i.e., highway onramp merging, in a mixed traffic environment. We develop threat models with two trajectory spoofing strategies on CAVs to create traffic congestion, and we also devise an attack-resilient strategy for system defense. Furthermore, we leverage VENTOS, a Veins extension simulator made for CAV applications, to evaluate cybersecurity risks of the attacks and performance of the proposed defense strategy. A comprehensive case study is conducted across different traffic congestion levels, penetration rates of CAVs, and attack ratios. As expected, the results show that the performance of mobility decreases up to 55.19% at the worst case when the attack ratio increases, as does safety and energy. With our proposed mitigation defense algorithm, the system's cyber-attack resiliency is greatly improved.

[1]  P. Alam.  ‘Z’ , 2021, Composites Engineering: An A–Z Guide.

[2]  M. Malajner,et al.  Using RSSI value for distance estimation in wireless sensor networks based on ZigBee , 2008, 2008 15th International Conference on Systems, Signals and Image Processing.

[3]  Bin Han,et al.  COORDINATING RAMP METER OPERATION WITH UPSTREAM INTERSECTION TRAFFIC SIGNAL , 1994 .

[4]  Jakob Erdmann,et al.  SUMO’s Lane-Changing Model , 2015 .

[5]  M. Barth,et al.  Developing a Distributed Consensus-Based Cooperative Adaptive Cruise Control System for Heterogeneous Vehicles with Predecessor Following Topology , 2017 .

[6]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[7]  Wei Liu,et al.  Distance Measurement Model Based on RSSI in WSN , 2010, Wirel. Sens. Netw..

[8]  이현주.  Q. , 2005 .

[9]  Tianyu Huang,et al.  Cooperative decision-making for mixed traffic: A ramp merging example , 2020 .

[10]  Meng Wang,et al.  A Hierarchical Model-Based Optimization Control Approach for Cooperative Merging by Connected Automated Vehicles , 2021, IEEE Transactions on Intelligent Transportation Systems.

[11]  이화영.  X , 1960, Chinese Plants Names Index 2000-2009.

[12]  蕭瓊瑞撰述,et al.  2009 , 2019, The Winning Cars of the Indianapolis 500.

[13]  Ian A. Waitz,et al.  Air pollution and early deaths in the United States. Part I: Quantifying the impact of major sectors in 2005 , 2013 .

[14]  Asad J. Khattak,et al.  Extracting Useful Information from Basic Safety Message Data: An Empirical Study of Driving Volatility Measures and Crash Frequency at Intersections , 2018, 1803.02433.

[15]  Shahrokh Valaee,et al.  Reliable Broadcast of Safety Messages in Vehicular Ad Hoc Networks , 2009, IEEE INFOCOM 2009.

[16]  Guoyuan Wu,et al.  Optimal Control-Based Ramp Merging System for Connected and Automated Electric Vehicles , 2019, ArXiv.

[17]  Alexander Kmentt.  2017 , 2018, The Treaty Prohibiting Nuclear Weapons.

[18]  John B. Kenney,et al.  Dedicated Short-Range Communications (DSRC) Standards in the United States , 2011, Proceedings of the IEEE.

[19]  Khaled Shaaban,et al.  Queue Discharge at Freeway On-Ramps Using Coordinated Operation of a Ramp Meter and an Upstream Traffic Signal , 2020, ANT/EDI40.

[20]  Mani B. Srivastava,et al.  Dynamic fine-grained localization in Ad-Hoc networks of sensors , 2001, MobiCom '01.

[21]  Xinkai Wu,et al.  Modeling and analyzing cyberattack effects on connected automated vehicular platoons , 2020 .

[22]  Andreas A. Malikopoulos,et al.  Automated and Cooperative Vehicle Merging at Highway On-Ramps , 2017, IEEE Transactions on Intelligent Transportation Systems.

[23]  Donggang Liu,et al.  Attack-Resistant Location Estimation in Wireless Sensor Networks , 2008, TSEC.

[24]  Yiheng Feng,et al.  Exposing Congestion Attack on Emerging Connected Vehicle based Traffic Signal Control , 2018, NDSS.

[25]  مسعود رسول آبادی,et al.  2011 , 2012, The Winning Cars of the Indianapolis 500.

[26]  Guoyuan Wu,et al.  Performance Measurement Evaluation Framework and Co-Benefit\/Tradeoff Analysis for Connected and Automated Vehicles (CAV) Applications: A Survey , 2017, IEEE Intelligent Transportation Systems Magazine.

[27]  Mohamed Hadded,et al.  Security attacks impact for collective perception based roadside assistance: A study of a highway on-ramp merging case , 2020, 2020 International Wireless Communications and Mobile Computing (IWCMC).

[28]  Stefan Krauss,et al.  MICROSCOPIC MODELING OF TRAFFIC FLOW: INVESTIGATION OF COLLISION FREE VEHICLE DYNAMICS. , 1998 .

[29]  Kristie B. Hadden,et al.  2020 , 2020, Journal of Surgical Orthopaedic Advances.

[30]  Amir Ghiasi,et al.  A mixed traffic capacity analysis and lane management model for connected automated vehicles: A Markov chain method , 2017 .

[31]  S. Hewitt,et al.  2007 , 2018, Los 25 años de la OMC: Una retrospectiva fotográfica.

[32]  Murat Demirbas,et al.  An RSSI-based scheme for sybil attack detection in wireless sensor networks , 2006, 2006 International Symposium on a World of Wireless, Mobile and Multimedia Networks(WoWMoM'06).

[33]  Oar,et al.  MOVES and Other Mobile Source Emissions Models , 2016 .

[34]  S. Wood.  November 2013 , 2013, Leonardo.

[35]  Robert W. Heath,et al.  Cybersecurity Challenges and Pathways in the Context of Connected Vehicle Systems , 2018 .

[36]  Irmengard Rauch.  1994 , 1994, Semiotica.

[37]  Jairo Giraldo,et al.  Moving Target Defense for Attack Mitigation in Multi-Vehicle Systems , 2019, Proactive and Dynamic Network Defense.

[38]  Alexandre M. Bayen,et al.  On Cybersecurity of Freeway Control Systems: Analysis of Coordinated Ramp Metering Attacks , 2015 .

[39]  Qiang Ni,et al.  Driving with Sharks: Rethinking Connected Vehicles with Vehicle Cybersecurity , 2017, IEEE Vehicular Technology Magazine.

[40]  Moshe Ben-Akiva,et al.  Evaluation of Coordinated and Local Ramp Metering Algorithms Using Microscopic Traffic Simulation , 2004 .

[41]  Rosaldo J. F. Rossetti,et al.  Modeling Mobility with Open Data , 2015 .

[42]  Wenyuan Xu,et al.  Analyzing and Enhancing the Security of Ultrasonic Sensors for Autonomous Vehicles , 2018, IEEE Internet of Things Journal.

[43]  Pavle Bujanovic,et al.  Development of a simulation platform for safety impact analysis considering vehicle dynamics, sensor errors, and communication latencies: Assessing cooperative adaptive cruise control under cyber attack , 2018, Transportation Research Part C: Emerging Technologies.

[44]  L. C. Davis.  Effect of adaptive cruise control systems on mixed traffic flow near an on-ramp , 2005 .

[45]  Xishun Liao,et al.  A Game Theory Based Ramp Merging Strategy for Connected and Automated Vehicles in the Mixed Traffic: A Unity-SUMO Integrated Platform , 2021, ArXiv.