Session: 07-01-05: General Dynamics, Vibration, and Control

Paper Number: 114977

114977 - Cyber-Protection of a Wheel Rotational Kinematics Sensor for Agile Mobility 

The modern automobile has become a set of cyber‐physical systems containing interconnected sensors, actuators, and embedded control systems. With this development is increasing concern of the security of these cyber-physical systems to disruptive cyber-attacks and therefore the security of automobiles with cyber-physical systems responsible for vehicle motion and performance has become vital. One such vulnerability is electromagnetic radiation, which has the potential to physically interfere with the operation of cyber-physical components including sensors while bypassing typical methods of intrusion detection, and thus negatively impact vehicle performance. A compromised sensor can give a false reading, damaging reliability of estimates which rely on the sensor’s accurate signal.

Traditionally, cyber‐security issues are considered in relation with software design. However, it is important to estimate and provide cyber security of vehicle mechatronic cyber‐based systems. From this perspective, a model of a new vehicle rotational kinematics sensor previously proposed for agile control of the wheel dynamics with reduced latency is examined in the presence of an electromagnetic cyber‐threat to the sensor’s signal which is a part of the sensor‐actuator mechatronic design. The sensor is an analog Hall Effect-based magnetic sensor with a unique design. Mathematical and computer models of a 4x4 hybrid-electric vehicle and sensors were considered as cyber‐physics systems. This approach allowed to establish an interrelation of agile tire and vehicle dynamics with powertrain cyber‐security.

An analysis of the sensors’ susceptibility to and potential protection from electromagnetic interference is performed in transient terrain conditions when the wheels move from one terrain to another. Simulated electromagnetic interference is applied to the sensor model to examine the effect on the signal, and the impact of the degraded signal on the quality of the tire slippage and instantaneous rolling radius estimation. Computational results compare the performance of the algorithm with the original, unimpaired sensor signal to the signal under attack by electromagnetic interference. To respond to cyber threats that cannot be stopped, survivability mechanisms should be added to a system to maintain its integrity in adverse conditions. For this purpose, the sensor is modeled with shielding applied to protect its reading from external interference. A level of shielding effectiveness needed to maintain reliability of the signal, allowing it to provide a signal of the wheel rotational velocity under threat very close to the signal during the normal operation, is estimated. Dynamic performance of the hybrid-electric vehicle is compared when using the original, corrupted, and shielded sensor signals.

Presenting Author: Vladimir Vantsevich Worcester Polytechnic Institute

Presenting Author Biography: Vladimir Vantsevich is a professor in the Department of Mechanical and Materials Engineering at Worcester Polytechnic Institute (WPI). He serves as co-Director and Principal Investigator of the Autonomous Vehicle Mobility Institute (AVMI). Prior to WPI, he worked as a professor at the University of Alabama at Birmingham and Lawrence Technological University (LTU) in Michigan. Before LTU, Dr. Vantsevich was a professor of Belarusian National Technical University and the Head of Research and Design Group on Multi-Wheel Drive Vehicles that designed and developed mechatronic and mechanical driveline systems for various purpose vehicles in Belarus.

Dr. Vantsevich’s research and engineering area is vehicle mechanical and intelligent mechatronic multi-physics systems, system modeling, design and control. His research and design in autonomous ground vehicles includes but not limited to wheel power distribution optimization to enhance autonomous vehicle terrain mobility, maneuver, and energy efficiency. He originated coupled and interactive dynamics of vehicle systems, agile tire dynamics and related sensors and controls, and virtual drivelines for electric and hybrid vehicles.

Authors:

Jesse Paldan Worcester Polytechnic Institute
Vladimir Vantsevich Worcester Polytechnic Institute
David Gorsich US Army GVSC
Pradeep Vitta Southern Company Services
Lee Moradi Worcester Polytechnic Institute