Cooperative Adaptive Cruise Control (CACC) is considered as a key enabling technology to automatically regulate the inter-vehicle distances in a vehicle string, and improve the traffic throughput efficiency. In the existing CACC systems, the coupling between wireless communication uncertainty, and system states is not well modeled. In this paper, we integrate the jamming attacks, and wireless channel fading effects into the CACC state space equations such that it effectively captures the coupling impact. Then, we propose a novel time domain approach to analyze the mean string stability (MSS) of such a model. Based on the proposed model, we analyze the impact of the jammer's location on the string stability. We derive a sufficient condition for the packet successful delivery probability which indicates that the jammer has a higher probability to destabilize the string when it is closer to the first vehicle following the lead vehicle. We also propose a methodology to compute the upper, and lower bounds of the inter-vehicle distance trajectories between the lead vehicle, and its follower. Furthermore, string safety is investigated by numerically estimating the collision probability across the string. We conduct comprehensive Monte Carlo simulations to evaluate the stability, and safety of the string in various scenarios. We identify that string stability, and safety are highly influenced by the jamming attacks signal, and jammer's location. We show the consistency between the main results achieved by MSS analysis, and the Monte Carlo simulations.

中文翻译：

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干扰攻击对车辆协同自适应巡航控制系统的影响

协同自适应巡航控制（CACC）被认为是自动调节车辆串中车辆间距离，提高交通吞吐量效率的关键使能技术。在现有的 CACC 系统中，无线通信不确定性和系统状态之间的耦合没有很好地建模。在本文中，我们将干扰攻击和无线信道衰落效应集成到 CACC 状态空间方程中，使其有效地捕获耦合影响。然后，我们提出了一种新的时域方法来分析这种模型的平均字符串稳定性（MSS）。基于所提出的模型，我们分析了干扰器的位置对串稳定性的影响。我们推导出数据包成功传递概率的充分条件，这表明当干扰器更接近跟随领先车辆的第一辆车时，干扰器有更高的概率破坏字符串的稳定性。我们还提出了一种方法来计算领先车辆与其跟随者之间的车辆间距离轨迹的上下界。此外，通过数值估计整个字符串的碰撞概率来研究字符串的安全性。我们进行了全面的蒙特卡罗模拟，以评估弦在各种情况下的稳定性和安全性。我们发现，干扰攻击信号和干扰器的位置对字符串的稳定性和安全性有很大影响。我们展示了 MSS 分析获得的主要结果与蒙特卡罗模拟之间的一致性。