The invention relates to the technical field of unmanned vehicles, in particular to a V2V communication vehicle queue driving method capable of resisting malicious data attacks, which comprises the following steps: constructing a vehicle dynamics model, and constructing a V2V communication model for realizing information transmission between vehicles based on the model; receiving data measured by other vehicle sensors based on a V2V communication model, and detecting the received data through an attack detection model; if the attack detection model detects that the current vehicle is not attacked, the current vehicle is controlled based on the queue driving controller; and if the attack detection model detects that the current vehicle is attacked, the current vehicle is switched to a standby adaptive cruise controller for control. According to the method, the Kalman filtering is used for vehicle state estimation and data detection, so that the calculation efficiency and the system expandability are ensured while the precision, the real-time performance and the anti-interference capability are improved.
本发明涉及无人驾驶车辆技术领域,特别涉及一种能抵抗恶意数据攻击的V2V通信车辆队列行驶的方法,包括构建整车动力学模型,并基于该模型构建实现车辆之间的信息传输的V2V通信模型;基于V2V通信模型接收来自其他车辆传感器测量的数据,并通过攻击检测模型对接收的数据进行检测;若攻击检测模型检测当前车辆未被攻击,则当前车辆基于队列行驶控制器进行控制;若攻击检测模型检测当前车辆被攻击,则当前车辆切换备用的自适应巡航控制器进行控制。本发明使用卡尔曼滤波进行车辆状态估计和数据检测,在提高精度、实时性和抗干扰能力的同时,保证了计算效率和系统可扩展性。
V2V communication vehicle queue driving method capable of resisting malicious data attack
一种能抵抗恶意数据攻击的V2V通信车辆队列行驶的方法
2024-09-24
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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