  The Adaptive Cruise Control (ACC) system automatically adjusts the vehicle
speed to maintain a safe distance between the vehicle and the lead (ahead)
vehicle. The controller's decision to accelerate or decelerate is computed
using the target speed of the vehicle and the difference between the vehicle's
distance to the lead vehicle and the safe distance from that vehicle. Spoofing
the vehicle speed communicated through the Controller Area Network (CAN) of the
vehicle impacts negatively the capability of the ACC
(Proportional-Integral-Derivative variant) to prevent crashes with the lead
vehicle. The paper reports about extending the ACC with a real-time Intrusion
Detection System (IDS) capable of detecting speed spoofing attacks with
reasonable response time and detection rate, and simulating the proposed
extension using the CARLA simulation platform. The results of the simulation
are: (1) spoofing the vehicle speed can foil the ACC to falsely accelerate,
causing accidents, and (2) extending ACC with ML-based IDS to trigger the
brakes when an accident is imminent may mitigate the problem. The findings
suggest exploring the capabilities of ML-based IDS to support the resilience
mechanisms in mitigating cyber-attacks on vehicles.
