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

Abstract

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

CLC Number:

TP273

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.

Figures/Tables 9

Fig.1

Fig.2

Table 1

Settings parameters"

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

Table 1

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

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Security-oriented cooperative adaptive predictive cruise control for connected and automated vehicular platoons under DoS attacks

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