Secure Distributed Platooning Control Of Automated Vehicles Over Vehicular Ad-Hoc Networks Under Cyber Attacks

Networked fleet cooperative control is an important technical means to improve traffic safety,alleviate traffic congestion and improve traffic pollution in intelligent transportation system.The control purpose is to make the vehicles follow each other and maintain a specific predetermined vehicle spacing between the front and rear vehicles.Because the distributed cooperative control of the network connected fleet needs to carry out the information interaction between vehicles through the communication network,it is bound to be limited by various network communications,and may even be affected by network attacks.At the same time,in the real network environment,communication resources are often limited,so it is necessary to establish an efficient data transmission mechanism to reduce the communication burden.To sum up,it is a very meaningful and challenging issue how to realize the distributed security cooperative control of the network connected fleet in the network attack environment and reduce the data traffic at the same time.In this paper,the influence of network attack and event triggered communication strategy is considered,and the distributed security control of networked fleet is studied.Specifically,it includes the following aspects.(1)In this paper,a fully distributed elastic control method for networked fleet under denial of service(DOS)attack is proposed.Firstly,considering the impact of Do S attack,the adaptive law is designed for the control gain,so that the control design does not use any global information.Secondly,using Lyapunov stability analysis method,the sufficient conditions to ensure the stability of the fleet control system are given,and the influence of Do S attack duration and frequency on the stability of the networked fleet system is revealed.(2)In this paper,a distributed elastic control method of event triggering for networked fleet under DOS attack is proposed.Firstly,considering the impact of Do S attack and limited communication resources,an event triggered communication mechanism is designed,and then a distributed elastic control protocol for networked fleet is proposed.The proposed event trigger mechanism designs two trigger conditions for each following vehicle to schedule information transmission: one in V2 V network channel(sensor to controller),and the other in vehicle network channel(controller to actuator).In order to deal with DOS attacks,the estimated value of the observer is used as the combined state in the trigger function.Theoretical analysis shows that under DOS attack,the following vehicle can maintain a constant distance between vehicles and track the speed of the pilot vehicle at the same time.(3)Under the attack of false data injection(FDI),this paper proposes a distributed elastic control method of event triggered network connected fleet.Firstly,in order to reduce the burden of communication resources,an event triggering mechanism is designed.Then,considering the impact of false injection attack,a distributed flexible control strategy for networked fleet is proposed by designing neural network functions to approximate the forged acceleration/deceleration instructions.Through Lyapunov theory analysis,the sufficient conditions for the bounded stability of the networked fleet system are obtained.The effectiveness of the practical method is verified by experimental simulation.