Research On Adaptive Coordinated Safety Control Of Intelligent Connected Vehicle

Connected and Autonomous Vehicles incorporate many different technologies to enable driverless,safe,and efficient transportation.Connection mechanisms support communication between vehicles and infrastructure,sharing of data such as position,and speed of movement,etc.Developing increasing autonomous and connected vehicles inevitably requires an increase in computing resources.However,as with all connected computing infrastructures increasing the level of computational functionality and connectivity increases the exposure of potential vulnerabilities,which can increase the likelihood of future attacks.Control design can play an important role in providing both resilience and robustness to vehicular networks.The main contents of this paper are as follows:We develops a resilient cooperative platoon control protocol for vehicle following systems under unreliable switching communication networks with cyber composite attacks,which includes actuator and sensors attacks,as well as denial of service(DoS)attacks.In this framework,to avoid vehicular collisions,a novel resilient distributed adaptive control algorithm is designed by exploiting relative neighborhood information.First,a switching resilient turning mechanism with controller parameter updating laws is introduced into platoon controller architecture,which can compensate sensor and actuator attacks.Second,a topology-dependent analysis shows that cooperative leader-following platoon objective is achieved under some sufficient conditions,then the robust stability of the closed-loop coordination tracking error system is built.Then this paper investigates the distributed secure platoon control problem for nonlinear homogeneous multi-vehicle systems with DoS attack phenomena,external disturbances and dead-zone non-linearity.To address this problem,we propose an embedded control scheme by constructing the signal generator and reference-tracking controller.Moreover,non-affine form of the multi-vehicle system is transformed into the corresponding affine form by utilizing the implicit function theorem.Then,using undirected communication topologies and neighbouring vehicles’ state information,an adaptive fuzzy controller with corresponding parameter-updated laws for each vehicle is designed.Furthermore,all closed-loop signals remain bounded,and the objective of vehicle platoon coordination is ensured in the presence of DoS attacks and unknown dead-zone inputs.To address malicious attacks on the actuator signals of the follower vehicles and sensor attacks on the output neighborhood synchronization error measurements,we developed a novel distributed adaptive output feedback platoon control protocols.Furthermore,state tracking errors for each vehicle are uniform ultimate boundedness,and the objective of vehicle platoon coordination is ensured in the presence of sensor and actuator attacks.Finally,a simulation study of a vehicle platoon is introduced to demonstrate the effectiveness of the proposed method.