{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:44:46Z","timestamp":1760237086110,"version":"build-2065373602"},"reference-count":32,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2020,2,25]],"date-time":"2020-02-25T00:00:00Z","timestamp":1582588800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61803336"],"award-info":[{"award-number":["61803336"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004731","name":"Zhejiang Provincial Natural Science Foundation","doi-asserted-by":"publisher","award":["LR17F030004"],"award-info":[{"award-number":["LR17F030004"]}],"id":[{"id":"10.13039\/501100004731","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper considers the state estimation problem of intelligent connected vehicle systems under the false data injection attack in wireless monitoring networks. We propose a new secure state estimation method to reconstruct the motion states of the connected vehicles equipped with cooperative adaptive cruise control (CACC) systems. First, the set of CACC models combined with Proportion-Differentiation (PD) controllers are used to represent the longitudinal dynamics of the intelligent connected vehicle systems. Then the notion of sparseness is employed to model the false data injection attack of the wireless networks of the monitoring platform. According to the corrupted data of the vehicles\u2019 states, the compressed sensing principle is used to describe the secure state estimation problem of the connected vehicles. Moreover, the L1 norm optimization problem is solved to reconstruct the motion states of the vehicles based on the orthogonaldecomposition. Finally, the simulation experiments verify that the proposed method can effectively reconstruct the motion states of vehicles for remote monitoring of the intelligent connected vehicle system.<\/jats:p>","DOI":"10.3390\/s20051253","type":"journal-article","created":{"date-parts":[[2020,2,26]],"date-time":"2020-02-26T04:18:29Z","timestamp":1582690709000},"page":"1253","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Secure State Estimation for Motion Monitoring of Intelligent Connected Vehicle Systems"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8802-7010","authenticated-orcid":false,"given":"Xiulan","family":"Song","sequence":"first","affiliation":[{"name":"College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoxin","family":"Lou","sequence":"additional","affiliation":[{"name":"College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junwei","family":"Zhu","sequence":"additional","affiliation":[{"name":"College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8183-2372","authenticated-orcid":false,"given":"Defeng","family":"He","sequence":"additional","affiliation":[{"name":"College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,2,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"285","DOI":"10.1016\/j.trc.2014.09.001","article-title":"Modeling cooperative and autonomous adaptive cruise control dynamic responses using experimental data","volume":"48","author":"Shladover","year":"2014","journal-title":"Trans. Res. Part C"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"263","DOI":"10.1109\/COMST.2015.2410831","article-title":"A survey on platoon-based vehicular cyber-physical systems","volume":"18","author":"Jia","year":"2016","journal-title":"IEEE Commun. Surv. Tutor."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"5246","DOI":"10.1109\/TVT.2019.2907696","article-title":"MME-EKF-based path-tracking control of autonomous vehicles considering input saturation","volume":"68","author":"Hu","year":"2019","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_4","unstructured":"Hu, C., Wang, Z., Qin, Y., Huang, Y., Wang, J., and Wang, R. (2019). Lane keeping control of autonomous vehicles with prescribed performance considering the rollover prevention and input saturation. IEEE Trans. Intell. Trans. Syst., 1\u201313."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"479","DOI":"10.1002\/oca.2489","article-title":"Multi-objective predictive cruise control for connected vehicle systems on urban conditions with InPA-SQP algorithm","volume":"40","author":"He","year":"2019","journal-title":"Optim. Control Appl. Methods"},{"key":"ref_6","first-page":"1","article-title":"Fuel efficiency-oriented platooning control of connected nonlinear vehicles: A distributed economic MPC approach","volume":"21","author":"He","year":"2019","journal-title":"Asian J. Control"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1109\/SURV.2009.090202","article-title":"A survey of inter-vehicle communication protocols and their applications","volume":"11","author":"Willke","year":"2009","journal-title":"IEEE Commun. Surv. Tutor."},{"key":"ref_8","unstructured":"Li, J. (2016). Intelligent Connected Car Information Security White Paper, China Academy of Automotive Engineering, Beijing Institute of Aeronautics and Astronautics."},{"key":"ref_9","unstructured":"Yang, X., Liu, L., and Vaidya, N.H. (2004, January 22\u201326). A vehicle-to-vehicle communication protocol for cooperative collision warning. Proceedings of the 1st Annual International Conference Mobile and Ubiquitous Systems, Networking and Services, Cambridge, MA, USA."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Biron, Z.A., Dey, S., and Pisu, P. (2017, January 24\u201326). Resilient control strategy under denial of service in connected vehicles. Proceedings of the 2017 American Control Conference, Seattle, WA, USA.","DOI":"10.23919\/ACC.2017.7963725"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"3101","DOI":"10.1109\/TC.2013.175","article-title":"Performance and reliability evaluation of BSM broadcasting in DSRC with multi-channel schemes","volume":"63","author":"Yin","year":"2014","journal-title":"IEEE Trans. Comput."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Qin, W.B., Gomez, M.M., and Orosz, G. (2014, January 4\u20136). Stability analysis of connected cruise control with stochastic delays. Proceedings of the American Control Conference, Portland, OR, USA.","DOI":"10.1109\/ACC.2014.6859490"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"369","DOI":"10.1177\/0020294019837997","article-title":"Time-delay feedback cooperative adaptive cruise control of connected vehicles by heterogeneous channel transmission","volume":"52","author":"Song","year":"2019","journal-title":"Meas. Control"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"854","DOI":"10.1109\/TITS.2013.2291493","article-title":"Controller synthesis for string stability of vehicle platoons","volume":"15","author":"Ploeg","year":"2014","journal-title":"IEEE Trans. Intell. Trans. Syst."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"786","DOI":"10.1109\/TCST.2013.2258346","article-title":"Lp string stability of cascaded systems: Application to vehicle platooning","volume":"22","author":"Ploeg","year":"2014","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"488","DOI":"10.1109\/TITS.2014.2349498","article-title":"Graceful degradation of cooperative adaptive cruise control","volume":"16","author":"Ploeg","year":"2015","journal-title":"IEEE Trans. Intell. Trans. Syst."},{"key":"ref_17","first-page":"4268","article-title":"String-stable CACC design and experimental validation","volume":"59","author":"Vugts","year":"2010","journal-title":"Dept. Mech. Eng. Control Syst. Technol. Group Tech. Univ."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"3893","DOI":"10.1109\/TITS.2018.2791484","article-title":"Real-time detection and estimation of denial of service attack in connected vehicle systems","volume":"19","author":"Biron","year":"2018","journal-title":"IEEE Trans. Intell. Trans. Syst."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"126","DOI":"10.1109\/MCOM.2015.7120028","article-title":"Security vulnerabilities of connected vehicle streams and their impact on cooperative driving","volume":"53","author":"Amoozadeh","year":"2015","journal-title":"IEEE Commun. Mag."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Dadras, S., Gerdes, R.M., and Sharma, R. (2018, January 27\u201329). Vehicular platooning in an adversarial environment. Proceedings of the IEEE 2018 Annual American Control Conference, Milwaukee, WI, USA.","DOI":"10.23919\/ACC.2018.8431759"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Liu, J., Ma, D., and Weimerskirch, A. (2017, January 2). A functional do-design towards safe and secure vehicle platooning. Proceedings of the 3rd ACM Workshop on Cyber-Physical System Security, Abu Dhabi, UAE.","DOI":"10.1145\/3055186.3055193"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Alipour-Fanid, A., Dabaghchian, M., and Zeng, K. (2017). Platoon stability and safety analysis of cooperative adaptive cruise control under wireless Rician fading channels and jamming attacks. arXiv.","DOI":"10.1109\/HASE.2017.39"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"148","DOI":"10.1016\/j.aap.2018.09.016","article-title":"Influence of cyber-attacks on longitudinal safety of connected and automated vehicles","volume":"121","author":"Li","year":"2018","journal-title":"Accid. Anal. Prev."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"316","DOI":"10.1109\/9.16422","article-title":"Failure detection and identification","volume":"34","author":"Massoumnia","year":"1989","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_25","unstructured":"Blanke, M., Kinnaert, M., and Lunze, J. (2006). Fault Diagnosis and Fault-Tolerant Control, Springer."},{"key":"ref_26","unstructured":"Qiu, L. (1998). Essentials of Robust Control, Prentice Hall."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1109\/JPROC.2006.887306","article-title":"Foundations of control and estimation over lossy networks","volume":"95","author":"Schenato","year":"2007","journal-title":"Proc. IEEE"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"124","DOI":"10.1016\/j.automatica.2018.09.003","article-title":"Secure Luenberger-like observers for cyber\u2013physical systems under sparse actuator and sensor attacks","volume":"98","author":"Lu","year":"2018","journal-title":"Automatica"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"3420","DOI":"10.1109\/TCYB.2018.2825984","article-title":"Secure estimation for cyber-physical systems via sliding mode","volume":"48","author":"Wu","year":"2018","journal-title":"IEEE Trans. Cybern."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"1454","DOI":"10.1109\/TAC.2014.2303233","article-title":"Secure estimation and control for cyber-physical systems under adversarial attacks","volume":"59","author":"Fawzi","year":"2014","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"399","DOI":"10.1016\/j.automatica.2018.06.010","article-title":"Secure estimation based Kalman filter for cyber\u2013physical systems against sensor attacks","volume":"95","author":"Hwan","year":"2018","journal-title":"Automatica"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"4203","DOI":"10.1109\/TIT.2005.858979","article-title":"Decoding by linear programming","volume":"51","author":"Candes","year":"2005","journal-title":"IEEE Trans. Inf. Theor."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/5\/1253\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T09:01:38Z","timestamp":1760173298000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/5\/1253"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,2,25]]},"references-count":32,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2020,3]]}},"alternative-id":["s20051253"],"URL":"https:\/\/doi.org\/10.3390\/s20051253","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2020,2,25]]}}}