Document Type : Original Research Paper

Authors

• M. Barootkar ¹
• M. Barootkar ²

¹ Department of Computer Engineering, Faculty of Computer Engineering, Technical and Vocational University (TVU), Tehran, Iran.

² Department of Computer Engineering, Technical and Vocational University (TVU), Tehran, Iran.

Abstract

Background and Objectives: While intelligent vehicle teleoperation systems prioritize operational performance, their vulnerability to cyber-physical attacks—such as sensor spoofing and latency exploitation—remains a critical unsolved challenge. Existing solutions predominantly focus on attack prevention, leaving systems defenseless during active attacks that threaten stability and collision avoidance. This study addresses the unmet need for real-time resilience by introducing an adaptive control framework that dynamically mitigates attack-induced disruptions without relying on predefined vehicle models.
Methods: We propose a novel adaptive LQR-based optimal controller that compensates for multi-vector attacks (e.g., false data injection, GPS spoofing) by estimating disturbed signals in real time. Unlike static models, our data-driven approach eliminates dependency on fixed dynamics. A rigorous case study evaluates performance under simultaneous command injection and DoS attacks, measuring trajectory deviation and recovery time.
Results: The framework achieves ≤12% trajectory deviation (35% improvement over benchmarks) and 40% faster recovery from destabilizing attacks. It outperforms conventional controllers by adapting to model uncertainties and multi-vector threats without prior knowledge of system parameters.
Conclusion: This work pioneers a model-agnostic, real-time resilience paradigm for teleoperated vehicles, merging human oversight with autonomous adaptability. Beyond immediate safety gains, it underscores the necessity of embedding cybersecurity-aware control mechanisms in connected vehicles, shifting from passive prevention to active threat mitigation.

Keywords

• Cyberattack
• Intelligent Vehicle
• Teleoperation
• Control Strategy

Main Subjects

• Control

Open Access

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Publisher

Shahid Rajaee Teacher Training University