In this paper, we study how to secure the platooning of autonomous vehicles when an unknown vehicle is under attack and bounded system uncertainties exist. For the attacked vehicle, its position and speed measurements from GPS can be manipulated arbitrarily by a malicious attacker. First, to find out which vehicle is under attack, two detectors are proposed by using the relative measurements (by camera or radar) and the local innovation obtained through measurements from neighboring vehicles. Then, based on the results of the detectors, we design a local state observer for each vehicle by applying a saturation method to the measurement innovation. Moreover, based on the neighbor state estimates provided by the observer, a distributed controller is proposed to achieve the consensus in vehicle speed and keep fixed desired distance between two neighboring vehicles. The estimation error by the observer and the platooning error by the controller are shown to be asymptotically upper bounded under certain conditions. The effectiveness of the proposed methods is also evaluated in numerical simulations.
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