Intelligent vehicle network attack security detection system and method

The invention discloses an intelligent vehicle network attack security detection system and method. The method comprises the following steps: establishing a four-degree-of-freedom vehicle model; acquiring position signals Xs and Ys of the vehicle through the combined navigation sensor; according to the established four-degree-of-freedom vehicle model, designing a state estimator through an extended Kalman filtering algorithm, and estimating position signals Xe and Ye of the vehicle; and performing dynamic threshold detection according to the obtained position signal of the vehicle and the position signal of the vehicle estimated by the state estimator, and performing network attack security detection and fault tolerance in real time. According to the invention, warning and fault tolerance can be carried out on sensor faults and network attack security problems, so that the network security of the intelligent vehicle is greatly improved; a high-freedom nonlinear vehicle model is adopted, and a nonlinear state