Hybrid Control as a Proxy for Detection and Mitigation of Sensor Attacks in Cooperative Driving

Abstract

We propose a real-time hybrid controller scheme to detect and mitigate False-Data Injection (FDI) attacks on Cooperative Adaptive Cruise Control (CACC). Our method uses sensor redundancy to create equivalent controller realizations, each driven by distinct sensor subsets but producing identical control inputs when no attack occurs. By comparing control signals and measurements via majority voting, the scheme identifies compromised sensors in real-time and switches to a healthy controller. The hybrid controller uses attack-dependent flow and jump sets, and resets compromised controllers' states. Simulation results demonstrate the effectiveness of this approach.

6 pages, submitted to the IFAC World Congress 2026