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Robust control strategy for platoon of connected and autonomous vehicles considering falsified information injected through communication links
| 题名： | Robust control strategy for platoon of connected and autonomous vehicles considering falsified information injected through communication links |
| 正文语种： | eng |
| 作者： | Anye Zhou;Jian Wang;Srinivas Peeta |
| 作者单位： | School of Civil and Environmental Engineering Georgia Institute of Technology Atlanta GA USA;Jiangsu Key Laboratory of Urban ITS Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies School of Transportation Southeast University Nanjing China;School of Civil and Environmental Engineering Georgia Institute of Technology Atlanta GA USA |
| 关键词： | Connected and autonomous vehicle; control barrier function; falsified information injection; platoon control; robust control; state observer |
| 摘要： | Connected and Autonomous Vehicles (CAVs) in a platoon can exchange real-time information using Vehicle-to-Vehicle (V2V) communication technology to enhance platoon control performance. However, the V2V communication technology also provides opportunities for cyber-attacks, where falsified information can be injected into vehicle controllers to disrupt the platoon operation and even induce vehicle collisions. To address this problem, this study proposes a robust platoon control strategy for CAVs to mitigate the impacts of the falsified information to maneuver the CAV platoon to achieve consensus safely. The proposed control strategy consists of three components: (i) a H_∞ robust control law, which consistently negates the disturbance induced by falsified information; (ⅱ) a state observer which estimates the vehicle states and disturbance induced by falsified information and inputs the estimated results into the H_∞ robust control law to compute a synthesized control decision; and (ⅲ) a control decision regulator which applies a Control Barrier Function-based Quadratic Programming (CBF-QP) to regulate the control decision computed by the H_∞ robust control law to avoid actuator saturation issue and ensure safe spacing for each vehicle in the platoon. Numerical experiments demonstrate that the proposed control strategy can effectively drive the CAV platoon to the desired consensus safely and efficiently under the impacts of falsified information injection. |
| 出版年： | 2023 |
| 期刊名称： | Journal of Intelligent Transportation Systems |
| 卷： | 27 |
| 期： | 1/6 |
| 页码： | 735-751 |
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