Sensor-based anti-hacking prevention in platooning vehicles

1. A system for determining authenticity of a signal received by an associated following vehicle from an associated leading vehicle of a platooning vehicle pair comprising the associated leading and following vehicles cooperatively travelling as a platoon along an associated roadway, the system comprising:

a platoon control unit configured to be disposed in the associated following vehicle of the platooning vehicle pair, the platoon control unit comprising:

a processor;

a non-transient memory device operatively coupled with the processor; and

logic stored in the non-transient memory and executable by the processor to determine authenticity of signals;

a communication receiver operatively coupled with the platoon control unit, the communication receiver being operable to:

receive a deceleration command signal from the associated leading vehicle of the platooning vehicle pair, the deceleration command signal comprising deceleration command data selectively usable by the associated following vehicle to effect a deceleration operation of the associated following vehicle; and

receive a first verification signal from the associated leading vehicle of the platooning vehicle pair, the first verification signal comprising first verification data representative of an encryption in accordance with an encryption algorithm by an associated platoon control unit of the associated leading vehicle of:

the deceleration command data;

physical characteristic data representative of a physical length characteristic of the associated leading vehicle; and

leading vehicle global position data representative of a position of the associated leading vehicle;

a global position sensor (GPS) receiver operatively coupled with the platoon control unit, the GPS receiver being operable to:

receive a global position signal from an associated source of global position information, the global position signal comprising following vehicle global position data, the following vehicle global position data being representative of a position of the associated following vehicle; and

a sensor operatively coupled with the platoon control unit and being configured to be disposed in the associated following vehicle, the sensor being operable to:

sense a relative position between the associated following vehicle and the associated leading vehicle; and

generate relative distance data representative of the sensed relative position between the associated following vehicle and the associated leading vehicle,

wherein the logic of the platoon control unit is executable by the processor to generate collective operational command data in accordance with a predetermined combination of the following vehicle global position data, the relative distance data, and the deceleration command data,

wherein the logic of the platoon control unit is executable by the processor to selectively determine authenticity of the deceleration command signal in accordance with a result of a comparison between the collective operational command data and the first verification data.

2. The system according to claim 1 , wherein the logic of the platoon control unit is executable by the processor to:

determine the deceleration command signal authentic in accordance with a matching result of the comparison between the collective operational command data and the first verification data; or

determine the deceleration command signal inauthentic in accordance with a mis-matching result of the comparison between the collective operational command data and the first verification data.

3. The system according to claim 2 , wherein the platoon control unit is operative to generate a deceleration demand signal responsive to determining the deceleration command signal authentic, the deceleration demand signal being used by the associated following vehicle to manage participation in the platoon together with the associated leading vehicle by initiating a deceleration in accordance with the deceleration command data received from the associated leading vehicle.

4. The system according to claim 2 , wherein

the logic of the platoon control unit is executable by the processor to generate collective operational command data in accordance with a predetermined sum combination of the global position data, the relative distance data, and the deceleration command data.

5. The system according to claim 4 , wherein

the logic of the platoon control unit is executable by the processor to generate the collective operational command data in accordance with a predetermined weighted sum combination of the following vehicle global position data, the relative distance data, and the deceleration command data.

6. The system according to claim 2 , wherein

the logic of the platoon control unit is executable by the processor to generate second verification data in accordance with a weighted sum combination of the following vehicle global position data with second deceleration command data of the associated following vehicle and physical characteristic data representative of a physical length characteristic of the associated following vehicle.

7. The system according to claim 6 , further comprising:

a transmitter operatively coupled with the platoon control unit, the transmitter being operable to:

convert the second verification data into a second verification signal;

convert the second deceleration command data of the associated following vehicle into a second deceleration command signal;

transmit the second verification signal from the associated following vehicle of the platooning vehicle pair; and

transmit the second deceleration command signal from the associated following vehicle of the platooning vehicle pair.

8. A method for determining authenticity of a signal received by an associated following vehicle from an associated leading vehicle of a platooning vehicle pair comprising the associated leading and following vehicles cooperatively travelling as a platoon along an associated roadway, the method comprising:

providing a platoon control unit in the associated following vehicle of the platooning vehicle pair, the platoon control unit comprising a processor, a non-transient memory device operatively coupled with the processor, and logic stored in the non-transient memory and executable by the processor to determine authenticity of signals;

receiving by an associated communication receiver operatively coupled with the platoon control unit:

a deceleration command signal from the associated leading vehicle of the platooning vehicle pair, the deceleration command signal comprising deceleration command data selectively usable by the associated following vehicle to effect a deceleration operation of the associated following vehicle; and

a first verification signal from the associated leading vehicle of the platooning vehicle pair, the first verification signal comprising first verification data representative of an encryption in accordance with an encryption algorithm by an associated platoon control unit of:

the associated leading vehicle of the deceleration command data;

physical characteristic data representative of a physical length characteristic of the associated leading vehicle; and

leading vehicle global position data representative of a position of the associated leading vehicle;

receiving by an associated global position sensor (GPS) receiver operatively coupled with the platoon control unit:

a global position signal from an associated source of global position information, the global position signal comprising following vehicle global position data, the following vehicle global position data being representative of a position of the associated following vehicle;

using an associated sensor operatively coupled with the platoon control unit and being configured to be disposed in the associated following vehicle:

sensing a relative position between the associated following vehicle and the associated leading vehicle; and

generating relative distance data representative of the sensed relative position between the associated following vehicle and the associated leading vehicle; and

executing the logic of the platoon control unit by the processor to:

generate collective operational command data in accordance with a predetermined combination of the following vehicle global position data, the relative distance data, and the deceleration command data; and

selectively determine authenticity of the deceleration command signal in accordance with a result of a comparison between the collective operational command data and the first verification data.

9. The method according to claim 8 , further comprising executing the logic of the platoon control unit by the processor to:

determine the deceleration command signal authentic in accordance with a matching result of the comparison between the collective operational command data and the first verification data; or

determine the deceleration command signal inauthentic in accordance with a mis-matching result of the comparison between the collective operational command data and the first verification data.

10. The method according to claim 9 , further comprising:

operating the platoon control unit to generate a deceleration demand signal responsive to determining the deceleration command signal authentic, the deceleration demand signal being used by the associated following vehicle to manage participation in the platoon together with the associated leading vehicle by initiating a deceleration in accordance with the deceleration command data received from the associated leading vehicle.

11. The method according to claim 9 , further comprising:

executing the logic of the platoon control unit by the processor to generate collective operational command data in accordance with a predetermined sum combination of the global position data, the relative distance data, and the deceleration command data.

12. The method according to claim 11 , further comprising:

executing the logic of the platoon control unit by the processor to generate collective operational command data in accordance with a predetermined weighted sum combination of the following vehicle global position data, the relative distance data, and the deceleration command data.

13. The method according to claim 9 , further comprising:

executing the logic of the platoon control unit by the processor to generate second verification data in accordance with a weighted sum combination of the following vehicle global position data with second deceleration command data of the associated following vehicle and physical characteristic data representative of a physical length characteristic of the associated following vehicle.

14. The method according to claim 13 , further comprising:

converting, by a transmitter operatively coupled with the platoon control unit, the second verification data into a second verification signal;

converting, by the transmitter, the second deceleration command data of the associated following vehicle into a second deceleration command signal;

transmitting, by the transmitter, the second verification signal from the associated following vehicle of the platooning vehicle pair; and

transmitting, by the transmitter, the second deceleration command signal from the associated following vehicle of the platooning vehicle pair.

15. A system for determining authenticity of a signal received by an associated following vehicle from an associated leading vehicle of a platooning vehicle pair comprising the associated leading and following vehicles cooperatively travelling as a platoon along an associated roadway, the system comprising:

a platoon control unit configured to be disposed in the associated following vehicle of the platooning vehicle pair, the platoon control unit comprising:

a processor;

a non-transient memory device operatively coupled with the processor; and

logic stored in the non-transient memory and executable by the processor to determine authenticity of signals;

a first sensor operatively coupled with the platoon control unit and being configured to be disposed in the associated following vehicle, the first sensor being operable to:

receive a first key verification signal from the associated leading vehicle of the platooning vehicle pair, the first key verification signal comprising first key verification data representative of a first encoding scheme selected by an associated platoon control unit of the associated leading vehicle used in generating by the associated leading vehicle an encoded deceleration command signal in accordance with the selected first encoding scheme; and

a second sensor operatively coupled with the platoon control unit and being configured to be disposed in the associated following vehicle, the second sensor being operable to:

receive the encoded deceleration command signal from the associated leading vehicle of the platooning vehicle pair, the encoded deceleration command signal comprising proffered deceleration command data selectively usable by the associated following vehicle to effect a deceleration operation of the associated following vehicle,

wherein the logic of the platoon control unit is executable by the processor to select a first decoding scheme in accordance with the first key verification data from the first key verification signal,

wherein the logic of the platoon control unit is executable by the processor to apply the selected first decoding scheme to the proffered deceleration command data of the encoded deceleration command signal to obtain potential deceleration command data,

wherein the logic of the platoon control unit is executable by the processor to selectively determine the potential deceleration command data to be authentic deceleration command data usable by the associated following vehicle to effect the deceleration operation in accordance with the potential deceleration command data having a substantially constant value within bounds of a predetermined threshold criteria over a predetermined time period.

16. The system according to claim 15 , wherein the logic of the platoon control unit is executable by the processor to selectively:

to be inauthentic deceleration command data not usable by the associated following vehicle to effect the deceleration operation in accordance with the potential deceleration command data having a substantially non-constant value within the bounds of the predetermined threshold criteria over the predetermined time period.

17. The system according to claim 15 , wherein the logic of the platoon control unit is executable by the processor to:

select a first decoding profile as the first decoding scheme in accordance with the first key verification data from the first key verification signal; and

apply the selected first decoding scheme by subtracting the first decoding profile from the encoded deceleration command signal to obtain the potential deceleration command data.

18. The system according to claim 17 , wherein the logic of the platoon control unit is executable by the processor to select the first decoding profile from among a plurality of predetermined decoding waveforms in accordance with the first key verification data from the first key verification signal.

19. A method for determining authenticity of a signal received by an associated following vehicle from an associated leading vehicle of a platooning vehicle pair comprising the associated leading and following vehicles cooperatively travelling as a platoon along an associated roadway, the method comprising:

providing a platoon control unit in the associated following vehicle of the platooning vehicle pair, the platoon control unit comprising a processor, a non-transient memory device operatively coupled with the processor, and logic stored in the non-transient memory and executable by the processor to determine authenticity of signals;

receiving by a first sensor operatively coupled with the platoon control unit a first key verification signal from the associated leading vehicle of the platooning vehicle pair, the first key verification signal comprising first key verification data representative of a first encoding scheme selected by an associated platoon control unit of the associated leading vehicle used in generating by the associated leading vehicle an encoded deceleration command signal in accordance with the selected first encoding scheme; and

receiving by a second sensor operatively coupled with the platoon control unit the encoded deceleration command signal from the associated leading vehicle of the platooning vehicle pair, the encoded deceleration command signal comprising proffered deceleration command data selectively usable by the associated following vehicle to effect a deceleration operation of the associated following vehicle;

executing the logic of the platoon control unit by the processor to select a first decoding scheme in accordance with the first key verification data from the first key verification signal;

executing the logic of the platoon control unit by the processor to apply the selected first decoding scheme to the proffered deceleration command data of the encoded deceleration command signal to obtain potential deceleration command data; and

executing the logic of the platoon control unit by the processor to selectively determine the potential deceleration command data to be authentic deceleration command data usable by the associated following vehicle to effect the deceleration operation in accordance with the potential deceleration command data having a substantially constant value within bounds of a predetermined threshold criteria over a predetermined time period.

20. The method according to claim 19 , further comprising executing the logic of the platoon control unit by the processor to selectively:

determine the potential deceleration command data to be inauthentic deceleration command data not usable by the associated following vehicle to effect the deceleration operation in accordance with the potential deceleration command data having a substantially non-constant value within the bounds of the predetermined threshold criteria over the predetermined time period.

21. The method according to claim 19 , further comprising:

executing the logic of the platoon control unit by the processor to select a first decoding profile as the first decoding scheme in accordance with the first key verification data from the first key verification signal; and

executing the logic of the platoon control unit by the processor to apply the selected first decoding scheme by subtracting the first decoding profile from the encoded deceleration command signal to obtain the potential deceleration command data.

22. The method according to claim 21 , further comprising executing the logic of the platoon control unit by the processor to select the first decoding profile from among a plurality of predetermined decoding waveforms in accordance with the first key verification data from the first key verification signal.