DOI: 10.5281/zenodo.16529952
title: Longitudinal traces of platoon simulation with and without cyber-attacks and network latency

description: Longitudinal traces of platoon simulation with and without cyber-attacks and network latency

This dataset contains simulation results from the FORESEEN project, focusing on Vehicle-to-Vehicle (V2V) and Vehicle-to-Edge (V2E) communication scenarios in platoon formations under various attack conditions.

Overview

The dataset consists of simulation data from Connected and Automated Vehicle (CAV) platoons using Cooperative Adaptive Cruise Control (CACC) systems. The simulations model a 10-vehicle platoon (1 leader + 9 followers) under different attack scenarios affecting both sensors and actuators.

Directory Structure

├── README.md              # This file
├── manual.txt             # Detailed technical documentation
├── echarts.min.js         # Visualization library
├── launch.sh             # Batch processing script
├── utils/                # Analysis and visualization tools
│   ├── build.sh          # Installs the data vis. tools in the various folders
│   ├── build_stats.py    
│   ├── graphs_template.html 
│   ├── install_graphs.sh 
│   └── make_index.py  
├── v2v/                  # Vehicle-to-Vehicle scenarios
│   ├── Attack_First_Part-1/     # Sensor attacks on Car1 (modes 1,2,3)
│   ├── Attack_First_Part-2/     # Actuator attacks on Car1 (modes 4,5)
│   ├── Attack_Leader/           # Sensor attacks on Leader (modes 1,2,3)
│   ├── Attack_Middle_Part-1/    # Sensor attacks on Car4 (modes 1,2,3)
│   ├── Attack_Middle_Part-2/    # Actuator attacks on Car4 (modes 4,5)
│   ├── No_Attack/              # Baseline scenarios without attacks
│   └── stats.csv               # Aggregated statistics across all scenarios
└── v2e/                  # Vehicle-to-Edge scenarios (centralized control via edge computing)
    ├── Attack_First_Part-1/
    ├── Attack_First_Part-2/
    ├── Attack_Leader/
    ├── Attack_Middle_Part-1/
    ├── Attack_Middle_Part-2/
    ├── No_Attack/
    └── stats.csv

Simulation Scenarios

Attack Types

The dataset includes six main scenario categories:





No_Attack: Baseline simulations with nominal system behavior




Attack_Leader: Sensor attacks (modes 1-3) targeting the platoon leader




Attack_First_Part-1: Sensor attacks (modes 1-3) on Car1 (first follower)




Attack_First_Part-2: Actuator attacks (modes 4-5) on Car1




Attack_Middle_Part-1: Sensor attacks (modes 1-3) on Car4 (middle vehicle)




Attack_Middle_Part-2: Actuator attacks (modes 4-5) on Car4



Attack Modes





Mode 0: No attack




Mode 1: Low-frequency sinusoidal attack on sensors




Mode 2: High-frequency sinusoidal attack on sensors




Mode 3: Combined low and high-frequency attacks on sensors




Mode 4: Multiplicative attack on actuator (acceleration amplification)




Mode 5: Additive attack on actuator (acceleration offset)



Data Structure

Individual Simulation Folders

Each scenario folder contains multiple simulation runs with different parameter combinations. Each simulation folder includes:





results.csv: Raw simulation data with time-series measurements




config.mm.json: Simulation configuration parameters




objectives.json: Simulation objectives and metrics




index.html: Interactive visualization of results (when processed)



CSV Data Format

The results.csv files contain time-series data with the following columns:

Time and Leader Data: - time: Simulation timestamp (seconds) - {Leader}.LeaderInstance.position_x: Leader X position (meters) - {Leader}.LeaderInstance.speed: Leader velocity (m/s) - {Leader}.LeaderInstance.acceleration: Leader acceleration (m/s²) - {Leader}.LeaderInstance.real_x: True leader position (unaffected by sensor attacks) - {Leader}.LeaderInstance.real_v: True leader velocity - {Leader}.LeaderInstance.real_a: True leader acceleration

Follower Vehicle Data (Car1-Car9): For each follower vehicle i (1-9): - {Cari}.CarInstance_i.position_x: Reported X position (meters) - {Cari}.CarInstance_i.speed: Reported velocity (m/s) - {Cari}.CarInstance_i.acceleration: Reported acceleration (m/s²) - {Cari}.CarInstance_i.real_x: True X position (unaffected by sensor attacks) - {Cari}.CarInstance_i.real_v: True velocity - {Cari}.CarInstance_i.real_a: True acceleration

Network/CACC Data: - {Network}.MecInstance.platoon_0_i_des_acc: Desired acceleration for vehicle i computed by CACC

Statistical Analysis

The stats.csv files contain aggregated safety metrics:





Run name: Scenario identifier




Folder: Path to simulation data




d01-d89: Safety status for each vehicle pair (Leader-Car1, Car1-Car2, etc.)




OVERALL: Worst-case safety status across all vehicles



Safety status categories: - OK: Safe following distance maintained - TOO FAR: Distance > 18m (inefficient) - TOO CLOSE: Distance 10-12m (potentially unsafe) - VIOLATION: Distance < 10m (unsafe) - COLLISION: Distance ≤ 4m (collision)

Key Parameters

For more precise information check the manual.pdf.

Vehicle Dynamics





Platoon size: 10 vehicles (1 leader + 9 followers)




Vehicle length: 4 meters each




Target following distance: 14 meters




Starting sequence: Each vehicle starts 4 seconds after the previous one



Network Characteristics





Uplink delay: 8 or 10ms (average)




Downlink delay: 3 or 5ms (average)




Communication protocol: V2V (distributed) or V2E (centralized edge computing) depending on scenario



Leader Behavior





Operational modes:









Mode 0: Constant acceleration (10s) + sinusoidal




Mode 1: Linear acceleration (8s) + sinusoidal




Mode 2: Periodic sprint cycles








Acceleration values: 1.7-2.0 m/s²




Deceleration values: -1.5 to -1.7 m/s²



Usage

Viewing Individual Results

Each batch of simulations is provided with a table of contents stored in the index.html, it’s useful to sort through the various parameters.

Each processed simulation folder contains an index.html file that provides: - Interactive time-series plots of vehicle positions, velocities, and accelerations - Real vs. reported sensor values comparison - Following distance analysis - Configuration parameter tables

To view the interactive visualizations (index.html), you must start a local web server using the provided launch.sh script. Opening the HTML files directly will prevent the JavaScript visualizations from working correctly due to browser security restrictions. You may consult the table of contents without starting the web server; although the hyperlinks will be broken.

Run:

./launch.sh

Then follow the instructions printed in the terminal to access the results in your browser.

The aforementioned files have been generated through utils/build.sh.

Technical Details

For detailed technical specifications, control algorithms, and parameter descriptions, refer to manual.pdf.

License

The data and programs in this archive are released under the Creative Commons Attribution 4.0 International; except for the Apache ECharts which is released under the Apache License Version 2.0.

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Acknowledgment

This study received funding from the European Union - Next- GenerationEU - National Recovery and Resilience Plan (NRRP) - MISSION 4 COMPONENT 2, INVESTMENT N. 1.1, CALL PRIN 2022 PNRR D.D. 1409 14-09-2022 - (FORESEEN) CUP N.P2022WYAEW and from the Italian Ministry of University and Research (MUR) in the framework of the Crosslab and FoReLab projects (Departments of Excellence).