Abstract
The modern ground vehicle has become a set of systems containing interconnected sensors, actuators, and embedded control systems and therefore the security of vehicles with Intelligent Physical Systems (IPS) responsible for vehicle motion and performance has become vital. Electromagnetic radiation has the potential to physically interfere with the operation of IPS components including sensors while bypassing typical methods of intrusion detection and thus negatively impact vehicle performance. Traditionally, cyber-security issues are considered in relation with software design. However, it is important to estimate and provide cyber security of vehicle mechatronic intelligent and cyber-based systems. From this perspective, a model of a new wheel rotational kinematics sensor is examined in the presence of an electromagnetic cyber-threat to the sensor’s signal. In this paper, an analysis of the sensor’s susceptibility to and potential protection from intentional electromagnetic interference (IEMI) is performed in transient terrain conditions when the wheels move from one terrain to another. A simulated IEMI attack is applied to the sensor model to examine the impact of the degraded signal on the quality of tire slippage and rolling radius estimation. The 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.
