Cooperative Adaptive Cruise Control And Secure State Estimation Of Conneced Vehicles

Cooperative Adaptive cruise control?CACC?system is an important part of Advanced Driving Assistance Systems.It uses V2V communication and on-board sensors to sense the information such as the surrounding environment of the vehicle,and uses these data to calculate the ideal acceleration of the vehicle and then the actuator controls throttle opening and brake pressure to adjust vehicle acceleration automatically,thereby effectively improving driving safety and road throughput.In V2V communication,there are some problems such as network delay in wireless network propagation.Considering these issues and designing the controller can effectively meet vehicle stability.In addition,considering that the remote monitoring network of the CACC system may be under artificially attacked,a state estimation algorithm needs to be designed to ensure the normal operation of the remote monitoring platform.Therefore,it is of great significance to conduct research on the CACC system and state estimation under cyber attacks.On the basis of reviewing and summarizing relevant literature at home and abroad,the paper considers the network delay problem in V2V wireless communication in the collaborative adaptive cruise control system and the attack problem in the remote monitoring network.Linear matrix inequality and compressed sensing are used,conducting on the intelligent networked vehicle queue control and state estimation under cyber attack.The main research work of this thesis is listed as follows:?1?Considering the network delay of the CACC system,a CACC controller design method is proposed to solve the problem of continuous variation of transmission delay of vehicle queues under heterogeneous networks.This method uses a linear matrix inequality to design a CACC controller.At the same time,because of the existence of a non-linear matrix in the controller design process,the problem of converting a non-linear matrix to a linear matrix is solved.Since each vehicle uses only the front vehicle information,the controller is discrete in nature.In addition,by designing a linear matrix inequality condition,the string stability of the vehicle queue cruise control system can still be guaranteed in the presence of actuators and heterogeneous wireless network transmission delays.Finally,the effectiveness of the algorithm is verified by simulation.Even if the vehicle queue system is in a heterogeneous network,it can still guarantee stability.?2?Considering the actual vehicle air resistance and internal vehicle resistance,Carsim software was used to model the transmission and braking systems of the vehicle in combination with Simulink.Finally,a vehicle queue system was established based on these models to verify the CACC controller's effectiveness,robustness and security.Finally,it is verified by simulation that the designed CACC controller satisfies vehicle queue stability and vehicle queue string stability in both homogeneous vehicle queue systems and heterogeneous vehicle queue systems.?3?Considering the problem of remotely monitoring network attacks under the CACC system implemented by the above controller,a method based on state estimation is proposed to reconstruct the motion state of the intelligent networked vehicle.This method uses the corrupted state data to reconstruct the vehicle state.Using the principle of compressed sensing,in the case of ensuring that the amount of attacked state is less than half of the total state amount,the concept of sparsity is used to model false data injection attacks in the wireless network of remote monitoring platform.The state reconstruction problem is transformed into L₁ norm optimization problem.Finally,simulation verification under typical working conditions shows that the method can effectively reconstruct the motion state of the intelligent networked vehicle system,and improve the resilience of the intelligent networked vehicle remote monitoring platform against network attacks.