<p>This study addresses the challenge of detecting replay attacks within the stable states in vehicular platoons. In accordance with the zonotopic set-membership filtering algorithm, the detection of attacks is conducted by evaluating the presence of an intersection between the prediction set and the measurement set. In the stable state of the vehicle platoon, replay attacks may potentially bypass attack detectors based on the set-membership filtering algorithm. To address the replay attack false negative issue, a watermark design scheme based on Markovian-Bernoulli processes is proposed, and the impacts of this watermark design on system performance and attack detection capability are discussed. By addressing pertinent optimization problems, effective parameters selection for the watermark is achieved, striking a balance between security and control performance. The effectiveness of this method is validated through numerical simulations.</p>