DoS攻击下网联车队安全协同自适应预测巡航控制

doi:10.13229/j.cnki.jdxbgxb.20230063

摘要/Abstract

摘要：

针对受约束网联车队受到加速度拒绝服务（DoS）攻击的情况，提出一种新的安全协同自适应预测巡航控制算法。首先，结合运动学特征设计加速度估计器以缓解DoS攻击对巡航控制器的影响，再设计特定的综合轨迹信号以灵活表示网联车队的各种交通工况。其次，采用滚动时域优化原理和分布式模型预测控制（MPC）框架，提出满足安全约束的车辆队列安全协同自适应预测巡航控制策略。在此基础上，采用线性矩阵不等式方法，给出在安全约束和加速度DoS攻击下的队列稳定性和弦稳定性的充分条件。最后，通过典型交通场景仿真验证本文算法的有效性。

关键词: 控制科学与工程, 协同自适应巡航控制, 模型预测控制, 安全控制, 拒绝服务攻击

Abstract:

A new security-oriented cooperative adaptive predictive cruise control （CAPCC） algorithm is presented for connected and automated vehicle （CAV） platoons subject to constraints and Denial of Service （DoS） attacks of predecessors' acceleration. Firstly， using the kinematic characteristics， the acceleration estimator is designed to alleviate the effect of DoS attacks on cruise controllers. Then the synthetical trajectory signals are designed to flexibly represent various traffic situations of CAV platoons. Secondly， by adopting the receding horizon optimization principle， the secure CAPCC scheme of the vehicle platoon with satisfactions of the safety constraints is formulated in the framework of distributed model predictive control. Moreover， some sufficient conditions in the form of linear matrix inequalities are obtained to ensure stability and string stability of the platoon in the presence of safety constraints and the acceleration DoS attacks. Finally， some simulation experiments in representative traffic scenarios verify the effectiveness of the presented algorithm.

Key words: control science and engineering, collaborative adaptive cruise control, model predictive control, security control, denial of service attack

中图分类号:

TP273

宋秀兰,柴伟豪,何德峰,应颂翔. DoS攻击下网联车队安全协同自适应预测巡航控制[J]. 吉林大学学报(工学版), 2024, 54(11): 3406-3416.

Xiu-lan SONG,Wei-hao CHAI,De-feng HE,Song-xiang YING. Security-oriented cooperative adaptive predictive cruise control for connected and automated vehicular platoons under DoS attacks[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(11): 3406-3416.

图/表 9

图1

图2

表1

参数设置"

参数	值
初始速度 $v i (0)$ （i=0，1，2，3，4）/（m·s^-1）	15
初始加速度 $a i 0$ （i=0，1，2，3，4）/（m·s^-2）	0
车头时距 h_i （i=1，2，3，4）/s	1.0
采样间隔 T_s /s	0.1
DoS攻击周期 T/s	5.0
控制约束 $u ?$ /（m·s^-2）	5
性能约束δ/m	5
安全距离 $r i$ （i=1，2，3，4）	2.0
松弛因子β	0.6

表1

图3

图4

图5

图6

图7

图8

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