An exponential type control design for autonomous vehicle platoon systems

Vehicle platooning, as a large class of cyber-physical systems, is prone to be under the risk of cyber attacks. One (or more) external intelligent intruder(s) might attack one (or more) of the vehicles participating in a platoon. This paper proposes a general approach to find an optimal actuator placement strategy according to the Stackelberg game between the attacker and the defender. The game payoff is the energy needed by the attacker to steer the consensus follower-leader dynamics of the system towards his desired direction. The attacker tries to minimize this energy while the defender attempts to maximize it. Thus, based on the defined game and its optimal equilibrium point, the defender(s) selects optimal actuator placement action to face the attacker(s).Both cases of single attacker-single defender and multiple attackers-multiple defenders cases are investigated. Furthermore, we study the effects of different information flow topologies, namely, the unidirectional and bidirectional data transfer structures. Besides, the impacts of increasing the connectivity among the nodes on the security level of the platoon are presented. Simulation results for h-nearest neighbor platoon formations along with experimental results using the scaled cars governed by robotic operating system (ROS) verify the effectiveness of the method.

Section: Related Workmentioning

confidence: 99%

Security‐aware optimal actuator placement in vehicle platooning

Basiri

Pirani

Azad

et al. 2021

“…The effectiveness of the proposed method is verified by Carsim‐Simulink co‐simulation and hardware‐in‐the‐loop experiment. The controller designed based on the UK equation and other control methods (such as optimal control and fuzzy control) has also achieved good control performance in previous works [25–33]. It should be noted that system performance and control cost are two conflicting indexes but the current robust constraint‐follow control has few adjustable parameters and seldom considers the trade‐off between control cost and system performance to optimize.…”

Section: Introductionmentioning

confidence: 99%

Optimal robust vehicle motion control under equality and inequality constraints

Zhang

Song

Yang

et al. 2022

In this paper, a new robust controller is proposed to improve the motion control performance of an autonomous four‐wheel steering vehicle. The vehicle is subject to time‐varying uncertainties caused by parameter perturbation and unmodeled disturbance. First of all, the vehicle motion control problem is modeled as a constraint‐following problem with the goal to drive the vehicle system to follow the given constraints. For safety reasons, inequality constraints are imposed on the lateral displacement of the vehicle. Next, the diffeomorphism mapping method is used to deal with the inequality constraints in the vehicle motion control, and the constrained lateral displacement space is mapped to an unbounded space. On this basis, a new multi‐parameter robust constraint‐following control is designed. Based on Lyapunov stability theory, the approximate constraint tracking performance of the path tracking system is proved. In order to make a trade‐off between the system performance and control cost, a multi‐parameter optimization problem is established, and the optimal robust controller is obtained. Last, the main theoretical results are verified by the Carsim‐Simulink co‐simulations.

“…From a viewpoint of control systems, the goal of CACC is to form a platoon of CAVs and maintain an optimal spacing policy (e.g., in terms of the relative distance and velocity between vehicles). Many CACC strategies have been proposed to achieve the goal, and some well overview of CACC has been presented in, for example, previous studies [1][2][3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Bidirectional asymmetric delay feedback for cooperative adaptive cruise control of vehicle platoons with unreliable communication

Song

Wei

Chen

et al. 2021

This paper considers the cooperative adaptive cruise control (CACC) problem of vehicle platoons under unreliable vehicle-to-everything (V2X) communication network. A bidirectional asymmetric delay feedback CACC method is presented to cope with the time delay and packet dropout induced by the unreliable network. The concept of equivalent delays is used to compensate the packet dropout of the network with the bidirectional communication topology. Using the asymmetric PD structure and the longitudinal models with varying time delay, the CACC controller of the platoon in a centralized mode is computed by solving linear matrix inequalities. To guarantee string stability of the platoon with the controller under the unreliable network, some sufficient conditions on the parameters of the controller and the time delay and packet dropout are derived. Furthermore, the upper bound of the time delay is estimated to satisfy string stability of the platoon. Finally, the presented method is verified by some comparative experiments of a sevencar platoon with representative traffic scenarios and communication topologies.