外部干扰和随机DoS攻击下的网联车安全<i>H</i><sub>∞</sub> 队列控制

宋秀兰; 李洋阳; 何德峰

doi:10.16383/j.aas.c230327

外部干扰和随机DoS攻击下的网联车安全H_∞ 队列控制

doi: 10.16383/j.aas.c230327

1.
浙江工业大学信息工程学院杭州 310023

基金项目: 国家自然科学基金(62273307), 浙江省公益性技术应用研究项目(LGF22F030013)资助

详细信息

作者简介:
宋秀兰：浙江工业大学信息工程学院副教授. 主要研究方向为多媒体无线通信, 网联车辆安全队列控制. 本文通信作者. E-mail: songxl2008@zjut.edu.cn

李洋阳：浙江工业大学信息工程学院硕士研究生. 主要研究方向为车辆安全队列控制. E-mail: seanlee1122@163.com

何德峰：浙江工业大学信息工程学院教授. 主要研究方向为智能预测控制, 多智能体分布式估计与协同控制和安全控制理论. E-mail: hdfzj@zjut.edu.cn

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出版历程
- 收稿日期: 2023-06-02
- 录用日期: 2023-11-09
- 网络出版日期: 2023-12-21
- 刊出日期: 2024-02-26

Secure H_∞ Platooning Control for Connected Vehicles Subject to External Disturbance and Random DoS Attacks

1.
College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023

Funds: Supported by National Natural Science Foundation of China (62273307) and Project of Zhejiang Province Public Welfare Technology Application Research (LGF22F030013)

More Information

Author Bio:
SONG Xiu-Lan　Associate professor at the College of Information Engineering, Zhejiang University of Technology. Her research interest covers multi-media wireless communication and secure platooning control for connected ve-hicles. Corresponding author of this paper

LI Yang-Yang　Master student at the College of Information Engineering, Zhejiang University of Technology. His main research interest is secure platooning control for vehicles

HE De-Feng　Professor at the College of Information Engineering, Zhejiang University of Technology. His research interest covers intelligent predictive control, multi-agent distributed estimation and collaborative control, and security control theory

摘要

摘要: 针对网联车队列系统易受到干扰和拒绝服务(Denial of service, DoS)攻击问题, 提出一种外部干扰和随机DoS攻击作用下的网联车安全H_∞队列控制方法. 首先, 采用马尔科夫随机过程, 将网联车随机DoS攻击特性建模为一个随机通信拓扑切换模型, 据此设计网联车安全队列控制协议. 然后, 采用线性矩阵不等式(Linear matrix inequality, LMI)技术计算安全队列控制器参数, 并应用Lyapunov-Krasovskii稳定性理论, 建立在外部扰动和随机DoS攻击下队列系统稳定性充分条件. 在此基础上, 分析得到该队列闭环系统的弦稳定性充分条件. 最后, 通过7辆车组成的队列系统对比仿真实验, 验证该方法的优越性.
- 网联自主车辆 /
- 队列控制 /
- 安全控制 /
- 随机DoS攻击 /
- 稳定性
Abstract: In response to the vulnerability of connected vehicle platoon systems to disturbances and denial of service (DoS) attacks, a secure H_∞ platooning control approach is proposed for connected vehicles subject to external disturbances and random DoS attacks. Utilizing Markov random processes, the characteristics of random DoS attacks on connected vehicles are modeled as a stochastic communication topology switching model, based on which a protocol for secure platooning control is designed. Next, the parameters of the secure queue controller are computed using linear matrix inequality (LMI) techniques, and the Lyapunov-Krasovskii stability theory is applied to establish sufficient conditions for stability of the platoon system under the external disturbances and random DoS attacks. On this basis, the sufficient conditions for the string stability of the closed-loop system of the platoon are obtained. Finally, the superiority of the results presented in this paper is verified through comparative simulation experiments on a platoon system composed of seven vehicles.
- Connected automated vehicles /
- platooning control /
- secure control /
- random DoS attacks /
- stability

HTML全文

图 1 DoS攻击下的网联车队列示意图

Fig. 1 A schematic of a connected vehicle platoon subject to DoS attacks

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图 2 DoS攻击造成的拓扑切换示意图

Fig. 2 A schematic of topologies switching suffered from DoS attacks

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图 3 4种常见的通信拓扑示意图

Fig. 3 Four common communication topology diagrams

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图 4 DoS攻击过程

Fig. 4 Process of DoS attacks

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图 5 车辆速度曲线

Fig. 5 Velocity profiles of vehicles

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图 6 车辆间距误差曲线

Fig. 6 Spacing error profiles of vehicles

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表 1 仿真参数

Table 1 The parameters of simulation

参数	数值	参数	数值
$d_{des} \;({\rm{m} })$	5.00	$k_{p}$	1.7391
$l \;({\rm{s} })$	1.00	$k_{v}$	3.3422
$\tau_{i}\;({\rm{s}})$	0.54	$k_{a}$	2.8996
$\gamma$	1.50	c	1.5200

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表 2 不同强度的DoS攻击实验

Table 2 Experiments of DoS attacks with different intensities

组别	攻击总时长(s)	未受攻击拓扑率$\theta_{1}\;(\%)$	本文方法	文献[6] 方法	文献[9] 方法
实验1	14	82.5	$\surd$	$\surd$	$\surd$
实验2	18	77.5	$\surd$	$\times$	$\surd$
实验3	22	72.5	$\surd$	$\times$	$\times$
实验4	26	67.5	$\times$	$\times$	$\times$

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