{"id":"https://openalex.org/W3162448362","doi":"https://doi.org/10.1109/tits.2021.3077015","title":"Detection and Isolation of Sensor Attacks for Autonomous Vehicles: Framework, Algorithms, and Validation","display_name":"Detection and Isolation of Sensor Attacks for Autonomous Vehicles: Framework, Algorithms, and Validation","publication_year":2021,"publication_date":"2021-05-13","ids":{"openalex":"https://openalex.org/W3162448362","doi":"https://doi.org/10.1109/tits.2021.3077015","mag":"3162448362"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2021.3077015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3077015","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043106548","display_name":"Yuanzhe Wang","orcid":"https://orcid.org/0000-0002-1683-4849"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yuanzhe Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-1683-4849","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101602811","display_name":"Qipeng Liu","orcid":"https://orcid.org/0000-0002-6546-3773"},"institutions":[{"id":"https://openalex.org/I108688024","display_name":"Qingdao University","ror":"https://ror.org/021cj6z65","country_code":"CN","type":"education","lineage":["https://openalex.org/I108688024"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qipeng Liu","raw_affiliation_strings":["School of Automation, Qingdao University, Qingdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Qingdao University, Qingdao, China","institution_ids":["https://openalex.org/I108688024"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084463571","display_name":"Ehsan Mihankhah","orcid":"https://orcid.org/0000-0001-9516-0039"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ehsan Mihankhah","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-9516-0039","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072073374","display_name":"Chen Lv","orcid":"https://orcid.org/0000-0001-6897-4512"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chen Lv","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6897-4512","affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103232173","display_name":"Danwei Wang","orcid":"https://orcid.org/0000-0003-3400-0079"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-3400-0079","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.6332,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":{"value":0.9725496,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"23","issue":"7","first_page":"8247","last_page":"8259"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10400","display_name":"Network Security and Intrusion Detection","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9850000143051147,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7171404957771301},{"id":"https://openalex.org/keywords/cusum","display_name":"CUSUM","score":0.7107104659080505},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.5825703740119934},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5727169513702393},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5589472651481628},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.557492196559906},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5307288765907288},{"id":"https://openalex.org/keywords/wireless-sensor-network","display_name":"Wireless sensor network","score":0.47678306698799133},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.4592054486274719},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.4527263641357422},{"id":"https://openalex.org/keywords/discriminator","display_name":"Discriminator","score":0.44852110743522644},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39484497904777527},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3238186836242676},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2931143045425415}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7171404957771301},{"id":"https://openalex.org/C178518018","wikidata":"https://www.wikidata.org/wiki/Q1024555","display_name":"CUSUM","level":2,"score":0.7107104659080505},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.5825703740119934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5727169513702393},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5589472651481628},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.557492196559906},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5307288765907288},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.47678306698799133},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.4592054486274719},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.4527263641357422},{"id":"https://openalex.org/C2779803651","wikidata":"https://www.wikidata.org/wiki/Q5282088","display_name":"Discriminator","level":3,"score":0.44852110743522644},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39484497904777527},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3238186836242676},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2931143045425415},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2021.3077015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2021.3077015","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1921864689","https://openalex.org/W2030140501","https://openalex.org/W2099005886","https://openalex.org/W2554060840","https://openalex.org/W2593182419","https://openalex.org/W2611814963","https://openalex.org/W2736278935","https://openalex.org/W2762057607","https://openalex.org/W2765404027","https://openalex.org/W2792608682","https://openalex.org/W2803355698","https://openalex.org/W2897476383","https://openalex.org/W2899948687","https://openalex.org/W2945434604","https://openalex.org/W2954526432","https://openalex.org/W2959364614","https://openalex.org/W2962853428","https://openalex.org/W2967079395","https://openalex.org/W2969886037","https://openalex.org/W2971859948","https://openalex.org/W2975666822","https://openalex.org/W2983192835","https://openalex.org/W2989918996","https://openalex.org/W2990173361","https://openalex.org/W3003239157","https://openalex.org/W3026911476","https://openalex.org/W3098881644","https://openalex.org/W6721630048"],"related_works":["https://openalex.org/W2056974159","https://openalex.org/W2753583628","https://openalex.org/W2138199368","https://openalex.org/W1788036421","https://openalex.org/W4384561785","https://openalex.org/W1972553508","https://openalex.org/W4293202849","https://openalex.org/W2792838696","https://openalex.org/W2162299404","https://openalex.org/W2103062922"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,32,42,64,101,115,124,128,132,138,142,146,165,169,179],"cyber-security":[4],"problem":[5],"for":[6],"autonomous":[7],"vehicles":[8],"under":[9],"sensor":[10,22,46,78,129,150],"attacks.":[11],"In":[12],"particular,":[13],"a":[14,82,91,171],"model-based":[15],"framework":[16,188],"is":[17,48,51,71,81,111,155,175],"proposed":[18,187],"which":[19,58,80,157],"can":[20],"detect":[21,123],"attacks":[23],"and":[24,90,104],"identify":[25,178],"their":[26],"sources":[27],"in":[28,76],"order":[29],"to":[30,52,73,99,113,122,137,177],"achieve":[31],"secure":[33],"localization":[34],"of":[35,41,57,63,68,84,127,141,167,185],"self-driving":[36],"vehicles.":[37],"To":[38,144],"ensure":[39],"robustness":[40],"vehicle":[43,102,194],"against":[44],"cyber-attacks,":[45],"redundancy":[47],"introduced,":[49],"that":[50],"deploy":[53],"multiple":[54,149,161],"sensors,":[55],"each":[56,77,108],"provides":[59],"real-time":[60],"pose":[61,134],"observations":[62,159],"vehicle.":[65,143],"A":[66],"bank":[67],"attack":[69],"detectors":[70],"developed":[72,176],"capture":[74],"anomalies":[75],"measurement,":[79],"combination":[83],"an":[85,152],"extended":[86],"Kalman":[87],"filter":[88],"(EKF)":[89],"cumulative":[92],"sum":[93],"(CUSUM)":[94],"discriminator.":[95],"EKFs":[96],"are":[97],"employed":[98],"estimate":[100],"position":[103],"orientation":[105],"recursively,":[106],"while":[107],"CUSUM":[109],"discriminator":[110],"designed":[112],"analyze":[114],"residual":[116],"generated":[117],"by":[118],"its":[119],"combined":[120],"EKF":[121],"possible":[125],"deviation":[126],"measurement":[130],"from":[131,160],"expected":[133],"derived":[135],"according":[136],"mathematical":[139],"model":[140],"monitor":[145],"inconsistency":[147],"amongst":[148],"measurements,":[151],"auxiliary":[153],"detector":[154],"introduced":[156],"fuses":[158],"sensors.":[162],"Based":[163],"on":[164,192],"results":[166],"all":[168],"detectors,":[170],"rule-based":[172],"isolation":[173],"scheme":[174],"source":[180],"anomalous":[181],"sensor.":[182],"The":[183],"effectiveness":[184],"our":[186],"has":[189],"been":[190],"demonstrated":[191],"real":[193],"data.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}