Distributed Adaptive Platoon Secure Control on Unmanned Vehicles System for Lane Change Under Compound Attacks

This article concentrates on the distributed adaptive secure control on lane change maneuver of interconnected unmanned vehicular platoon (IUVP) system which is established base on vehicular ad-hoc network (VANET) technology, while the whole system exposed to compound cyber attacks, including Denial-of-Service (DoS) attack and replay attack. Firstly, with a VANET based information flow communication topology, an IUVP system including longitudinal and lateral dynamics is considered in this paper. Then a distributed secure platoon lane change control scheme is designed by using recursive method to guarantee the stability and robustness of the whole systems under compound attacks. An event triggered mechanism is designed to save communication bandwidth. The stability of the whole system is then verified via rigorous mathematical proof. Finally, the IUVP system is tested by utilizing MATLAB-Simulation of Urban Mobility (SUMO) joint simulation platform, the feasibility of the proposed strategy in relative realistic environment is confirmed, and provide the root mean square error to evaluate the safety control performance of the system.