Among automated driving technologies, adaptive cruise control (ACC), which controls the distance between vehicles and their relative speed, is becoming popular. Cooperative ACC (CACC) uses vehicle-to-vehicle communication and sensors to control the distance between vehicles. Recently, cyber attacks against automated driving systems have been a focus, in which information on pedestrians or preceding vehicles obtained from LiDAR and sensors is disguised. Such cyber attacks enable attackers to obtain accurate information on preceding vehicles and pedestrians. This can result in accidents. The purpose of this study is to develop a filtering function to reduce the impact of cyber attacks using available information. The contribution lies in proposing a filtering function for situations in which sensor offsets and communication delays arise owing to cyber attacks.

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