Consensus Control For Self-Driving Vehicles Against Denial-of-Service Attacks

Vehicle queue adaptive collaborative control in a wireless communication environment can solve some key problems in multi-vehicle road transportation,such as alleviating traffic congestion,improving driving safety and realizing energy saving and emission reduction.The self-driving vehicles(SDVs)in the procession can effectively reduce the fuel consumption of each vehicle in the procession and increase the road capacity.According to the related research,when the vehicles are running in the parade with proper spacing,the average fuel saving of each vehicle is more than 10%.Unmanned vehicle formation control can not only increase the number of vehicles passing the road section in unit time,avoid traffic accidents,reduce emissions,but also save resources.At the same time,in the multi-vehicle coordinated control problem based on the vehicle network,the traffic accidents often lead to a serious threat to the passengers’ lives.In order to avoid traffic accidents,the research on lane change trajectory planning and tracking control of autonomous vehicles has been paid more and more attention.Through the research of vehicle lane change trajectory planning and tracking control technology,we can effectively improve vehicle safety performance,reduce traffic accidents,improve road traffic safety and reliability.So this paper studies the distance control and trajectory tracking control of transportation system.Firstly,the graph theory of unmanned vehicle is described in detail,which provides a new idea for the following research.Secondly,the dynamic model of unmanned vehicle is briefly introduced and described.The event-driven method used in this paper is explained,and its working principle is described.In order to improve the quality of communication between SDVs and reduce the communication load,this paper proposes an intelligent unmanned vehicle scheduling mechanism based on event triggering.In addition,the historical state information is introduced into the triggering condition to obtain better control effect.By using the event triggering method to constrain the communication band,the vehicle network can maintain the stability under the limited communication band and realize the vehicle cooperative control.On this basis,this paper studies the DoS attacks faced by unmanned vehicles in data communication and proposes the corresponding control strategies.The event mechanism is used to reduce the redundant information transfer between UAVs,and the delay factor is introduced into the communication network.This paper uses Lyapunov function to build a car network model based on the Lyapunov function,analyzes the performance of the car network model under a DoS attack,and puts forward a car network model based on Lyapunov function to realize the robustness of car network model under DoS attack.