Event-triggered cooperative control of vehicle platoons in vehicular ad hoc networks

This paper is concerned with the distributed attack detection and recovery in a vehicle platooning control system, wherein inter-vehicle information is propagated via a wireless communication network. An active adversary may launch malicious cyber attacks to compromise both sensor measurements and control command data due to the openness of the wireless communication. First, a distributed attack detection algorithm is developed to identify any of those attacks. The core of the algorithm lies in that each designed filter can provide two ellipsoidal sets: a state prediction set and a state estimation set. Whether a filter can detect the occurrence of such an attack is determined by the existence of intersection between these two sets. Second, two recovery mechanisms are put forward, through which the adversarial effects of cyber attacks can be mitigated in a timely manner. The recovery mechanisms depend on reliable modifications of the attacked signals required for the computation of the two ellipsoidal sets. Finally, simulation is provided to validate the effectiveness of the proposed method in both detection and recovery phases.

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“…Recompute u i f f,k and u i k by (9) and (8), respectively. 3) Recalculate the center of the state prediction ellipsoid by (14) with the new…”

Section: Step 4 Recovery Mechanismmentioning

confidence: 99%

Distributed Cyber Attacks Detection and Recovery Mechanism for Vehicle Platooning

Mousavinejad

Yang

Han

et al. 2020

IEEE Trans. Intell. Transport. Syst.

127

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“…According to (1) and (2), two distributed self-triggered control strategies were designed. In Zhang et al ( 2016 ), Dolk et al ( 2017 ), Wei et al ( 2017 ), Wen et al ( 2018 ), Chu et al ( 2019 ), and Li Z. et al ( 2019 ), an event-triggered control strategy was designed. Compared with these, the self-triggered control strategy further reduces the continuous detection of adjacent vehicles.…”

Section: Introductionmentioning

confidence: 99%

Self-Triggered Consensus of Vehicle Platoon System With Time-Varying Topology

Wang

Guo

et al. 2020

Front. Neurorobot.

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This paper focuses on the consensus problem of a vehicle platoon system with time-varying topology via self-triggered control. Unlike traditional control methods, a more secure event-triggered controller considering the safe distance was designed for the vehicle platoon system. Then, a Lyapunov function was designed to prove the stability of the platoon system. Furthermore, based on the new event-triggered function, a more energy efficient self-triggered control strategy was designed by using the Taylor formula. The new self-triggered control strategy can directly calculate the next trigger according to the state information of the last trigger. It avoids continuous calculation and measurement of vehicles. Finally, the effectiveness of the proposed two self-triggered control strategies were verified by numerical simulation experiments.

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“…[28,29]. Otherwise, the differences of the layout of networks or the location of the control and the type of communication type between vehicles [30,31] are also included. e purpose of this paper is the development of a centralized control algorithm between the U-turn vehicle streams and incoming vehicle streams in the middle of road section (Figure 1).…”

Section: Introductionmentioning

confidence: 99%

Cooperative U-Turn Merging Behaviors and Their Impacts on Road Traffic in CVIS Environment

Sun

et al. 2020

Journal of Advanced Transportation

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U-turn behavior of vehicle is one of the main causes of urban traffic congestion and accidents. A collaborative U-turn merging control algorithm is studied with collision avoidance and delay minimization for vehicles under Cooperative Vehicle Infrastructure System (CVIS) environment. Two control strategies, zip merging and platoon merging control, are proposed. e applicability of these two strategies is compared from the perspective of efficiency and driving comfort. e cellular automaton simulation system composed of a two-way four-lane traffic flow with a U-turn facility in middle of road is established with cooperative control algorithm imbedded. e influence of cooperative U-turn merging behaviors on traffic performance is evaluated by analyzing the arrival rates of main lane and U-turn vehicles and their relationship between one another. e simulation results show that the arrival rate of vehicles on target lane has a great impact on traffic delay. e cooperative control can improve the traffic flow only in the condition that the arrival rate of vehicles on target lane is less than 0.7. It provides some practical references for transportation agencies to meet efficiency requirements of the U-turn section when they apply cooperative control strategy.

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Event-triggered cooperative control of vehicle platoons in vehicular ad hoc networks

Cited by 56 publications

References 45 publications

Distributed Cyber Attacks Detection and Recovery Mechanism for Vehicle Platooning

Distributed Cyber Attacks Detection and Recovery Mechanism for Vehicle Platooning

Self-Triggered Consensus of Vehicle Platoon System With Time-Varying Topology

Cooperative U-Turn Merging Behaviors and Their Impacts on Road Traffic in CVIS Environment

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