Vehicular platooning requires an open-access environment of vehicle communications to enable cooperating connected automated vehicles (CAVs) to share their travel information. However, the open-access environment makes the cooperating platoon CAVs vulnerable to cyberattacks, causing concerns on traffic safety and mobility. So far, due to the lack of analytical models integrating malicious effects of manipulated information into CAV dynamics, we have limited knowledge on CAV platoon performance under cyberattack. It necessities a modeling framework to support a comprehensive analysis of the CAV platoon performance in a capricious travel environment. This study seeks to bridge this critical gap from the following three aspects. First, we review potential safety-related cyberattacks faced by CAVs, related to manipulation of vehicle position, speed, and acceleration. Based on the review, these cyberattacks are categorized into three types: bogus messages, replay/delay, and collusion attack. Second, we develop a generalized vehicle dynamics model that accounts for the cyberattack effects on CAV dynamics. The proposed model, labeled cooperative intelligent driver model (CIDM), integrates the dynamic communication topological structure to enable the analysis of effects of manipulated information on CAV dynamics. The dynamic communication structure is a time-varying function which is determined by the communication range and the distance between two vehicles. Upon the proposed CIDM, the third aspect focuses on simulation analysis of CAV platoon safety and efficiency under cyberattacks, which demonstrate the cyberattack effects at the platoon level. This study contributes to the fundamental understanding of CAV platoon dynamics under cyberattacks and lays a foundation to enhance the cybersecurity of CAV systems.

车辆排需要开放的车辆通信环境，以使相互协作的自动驾驶汽车（CAV）能够共享其旅行信息。但是，开放访问环境使协作的排CAV容易受到网络攻击，从而引起对交通安全性和移动性的担忧。迄今为止，由于缺乏将操纵信息的恶意影响整合到CAV动态中的分析模型，我们对网络攻击下的CAV排性能缺乏了解。它需要一个建模框架来支持在反复无常的旅行环境中对CAV排性能的全面分析。本研究试图从以下三个方面弥合这一重大差距。首先，我们回顾一下CAV面临的与安全相关的网络攻击，这些攻击与操纵车辆位置，速度，和加速。根据审查，这些网络攻击可分为三种类型：虚假消息，重播/延迟和串通攻击。其次，我们开发了一种通用的车辆动力学模型，该模型考虑了网络攻击对CAV动力学的影响。所提出的模型称为协作智能驱动程序模型（CIDM），它集成了动态通信拓扑结构，以能够分析操纵信息对CAV动力学的影响。动态通信结构是随时间变化的函数，它由通信范围和两辆车之间的距离确定。在提出的CIDM的基础上，第三方面的重点是在网络攻击下对CAV排的安全性和效率进行仿真分析，以证明在排级别的网络攻击效果。