Systems and methods for intrusion detection in vehicle systems
A vehicle control system (VCS) for a vehicle may include an in-vehicle bus and an intrusion detection system (IDS). The IDS may: calculate a planned output of the vehicle based on a message of a message stream received from at least one electronic control unit (ECU) coupled to the in-vehicle bus, calculate a reachable set based on an uncertainty metric, and identify an intrusion of the VCS based on a comparison of the planned output and the reachable set.
1. A vehicle control system (VCS) for a vehicle, the VCS comprising:
an in-vehicle bus; and
an intrusion detection system (IDS) configured to:
calculate a planned output of the vehicle based on a message of a message stream received from at least one electronic control unit (ECU) coupled to the in-vehicle bus;
calculate a reachable set based on an uncertainty metric; and
identify an intrusion of the VCS based on a comparison of the planned output and the reachable set.
2. The VCS of claim 1 , wherein the comparison of the planned output and the reachable set comprises determining if the planned output exceeds the reachable set.
3. The VCS of claim 1 , wherein the planned output includes one or more trajectories of the vehicle.
4. The VCS of claim 3 , wherein the IDS is configured to identify the intrusion if the one or more trajectories extends outside of the reachable set.
5. The VCS of claim 1 , wherein the IDS is further configured to determine a source of the intrusion in response to identifying the intrusion.
6. The VCS of claim 1 , wherein the IDS is further configured to determine a criticality of the intrusion in response to identifying the intrusion.
7. The VCS of claim 6 , wherein the criticality of the intrusion is determined based on a safety model.
8. The VCS of claim 1 , wherein the IDS is further configured to filter out one or more perception values or one or more actuation values from the message stream.
9. The VCS of claim 1 , wherein the IDS is further configured to, based on a determined criticality of the intrusion:
control the VCS to perform an emergency maneuver; or
cause a handover of control of the vehicle to a driver.
10. The VCS of claim 9 , wherein the IDS is further configured to determine the criticality of the intrusion based on a safety model.
11. The VCS of claim 1 , wherein the message is perception data from at least one of the one more ECUs.
12. The VCS of claim 1 , wherein the uncertainty metric is a-priori uncertainty information corresponding to one or more of the at least one ECUs.
13. The VCS of claim 1 , wherein the IDS is implemented in another ECU coupled to the in-vehicle bus.
14. The VCS of claim 1 , further comprising a plurality of ECUs, wherein the IDS is implemented in a distributed configuration in at least two of the plurality of ECUs.
15. At least one non-transitory computer-readable medium including a set of instructions that, in response to being executed at an electronic control unit (ECU) among a plurality of ECUs connected to an in-vehicle bus of a vehicle control system (VCS), cause the respective ECU to:
calculate a planned output of a vehicle based on a message of a message stream received from at least one of the plurality of ECU via the in-vehicle bus;
calculate a reachable set based on an uncertainty metric; and
identify an intrusion of the VCS based on a comparison of the planned output and the reachable set.
16. The medium of claim 15 , wherein the comparison of the planned output and the reachable set comprises determining if the planned output exceeds the reachable set.
17. The medium of claim 15 , wherein the planned output includes one or more trajectories of the vehicle.
18. The medium of claim 17 , wherein the intrusion is identified if the one or more trajectories extends outside of the reachable set.
19. The medium of claim 15 , further comprising determining a source of the intrusion in response to identifying the intrusion.
20. The medium of claim 15 , further comprising determining a criticality of the intrusion in response to identifying the intrusion.
21. The medium of claim 15 , wherein the uncertainty metric is a-priori uncertainty information corresponding to one or more of the at least one ECUs.
22. An intrusion detection method of a control system of a vehicle, the method comprising:
calculating a planned output of the vehicle based on a message of a message stream received from at least one electronic control unit (ECU) coupled to an in-vehicle bus;
calculating a reachable set based on an uncertainty metric; and
comparing the planned output and the reachable set to identify an intrusion of the control system.
23. The method of claim 22 , wherein the comparison of the planned output and the reachable set comprises determining if the planned output exceeds the reachable set.
24. The method of claim 22 , wherein the planned output includes one or more trajectories of the vehicle, the intrusion being identified if the one or more trajectories extends outside of the reachable set.