Ensuring Secure Platooning of Constrained Intelligent and Connected Vehicles Against Byzantine Attacks:A Distributed MPC Framework

This study investigates resilient platoon control for constrained intelligent and connected vehicles(ICVs)against F-local Byzantine attacks.We introduce a resilient distributed model-predictive platooning control framework for such ICVs.This framework seamlessly integrates the predesigned optimal control with distributed model predictive control(DMPC)optimization and introduces a unique distributed attack detector to ensure the reliability of the transmitted information among vehicles.Notably,our strategy uses previously broadcasted information and a specialized convex set,termed the“resilience set”,to identify unreliable data.This approach significantly eases graph robustness prerequisites,requiring only an(F+1)-robust graph,in contrast to the established mean sequence reduced algorithms,which require a minimum(2F+1)-robust graph.Additionally,we introduce a verification algorithm to restore trust in vehicles under minor attacks,further reducing communication network robustness.Our analysis demonstrates the recursive feasibility of the DMPC optimization.Furthermore,the proposed method achieves exceptional control performance by minimizing the discrepancies between the DMPC control inputs and predesigned platoon control inputs,while ensuring constraint compliance and cybersecurity.Simulation results verify the effectiveness of our theoretical findings.

Heterogeneous Task Allocation Model and Algorithm for Intelligent Connected Vehicles

With the development of vehicles towards intelligence and connectivity,vehicular data is diversifying and growing dramatically.A task allocation model and algorithm for heterogeneous Intelligent Connected Vehicle(ICV)applications are proposed for the dispersed computing network composed of heterogeneous task vehicles and Network Computing Points(NCPs).Considering the amount of task data and the idle resources of NCPs,a computing resource scheduling model for NCPs is established.Taking the heterogeneous task execution delay threshold as a constraint,the optimization problem is described as the problem of maximizing the utilization of computing resources by NCPs.The proposed problem is proven to be NP-hard by using the method of reduction to a 0-1 knapsack problem.A many-to-many matching algorithm based on resource preferences is proposed.The algorithm first establishes the mutual preference lists based on the adaptability of the task requirements and the resources provided by NCPs.This enables the filtering out of un-schedulable NCPs in the initial stage of matching,reducing the solution space dimension.To solve the matching problem between ICVs and NCPs,a new manyto-many matching algorithm is proposed to obtain a unique and stable optimal matching result.The simulation results demonstrate that the proposed scheme can improve the resource utilization of NCPs by an average of 9.6%compared to the reference scheme,and the total performance can be improved by up to 15.9%.

Design and Implementation of a Battery Big Data Platform Through Intelligent Connected Electric Vehicles

The development of a battery management algorithm is highly dependent on high-quality battery operation data,especially the data in extreme conditions such as low temperatures.The data in faults are also essential for failure and safety management research.This study developed a battery big data platform to realize vehicle operation,energy interaction and data management.First,we developed an electric vehicle with vehicle navigation and position detection and designed an environmental cabin that allows the vehicle to operate autonomously.Second,charging and heating systems based on wireless energy transfer were developed and equipped on the vehicle to investigate optimal charging and heating methods of the batteries in the vehicle.Third,the data transmission network was designed,a real-time monitoring interface was developed,and the self-developed battery management system was used to measure,collect,upload,and store battery operation data in real time.Finally,experimental validation was performed on the platform.Results demonstrate the efficiency and reliability of the platform.Battery state of charge estimation is used as an example to illustrate the availability of battery operation data.

Intelligent Network-Connected New Energy Vehicle Technology and Application Under the Dual-Carbon Strategy

In responding to the“dual carbon”strategy,intelligent networked new energy vehicle technology plays a crucial role.This type of vehicle combines the advantages of new energy technology and intelligent network technology,effectively reduces carbon emissions in the transportation sector,improves energy utilization efficiency,and contributes to the green transportation system through intelligent transportation management and collaborative work between vehicles,making significant contributions.This article aims to explore the development of intelligent network-connected new energy vehicle technology and applications under the dual-carbon strategy and lay the foundation for the future development direction of the automotive industry.

Cloud Control System Architectures,Technologies and Applications on Intelligent and Connected Vehicles:a Review

The electrification of vehicle helps to improve its operation efficiency and safety.Due to fast development of network,sensors,as well as computing technology,it becomes realizable to have vehicles driving autonomously.To achieve autonomous driving,several steps,including environment perception,path-planning,and dynamic control,need to be done.However,vehicles equipped with on-board sensors still have limitations in acquiring necessary environmental data for optimal driving decisions.Intelligent and connected vehicles(ICV)cloud control system(CCS)has been introduced as a new concept as it is a potentially synthetic solution for high level automated driving to improve safety and optimize traffic flow in intelligent transportation.This paper systematically investigated the concept of cloud control system from cloud related applications on ICVs,and cloud control system architecture design,as well as its core technologies development.Based on the analysis,the challenges and suggestions on cloud control system development have been addressed.

Big Wave of the Intelligent Connected Vehicles

Internet of things is deemed as the one of the great revolution after the age of Industrial Revolution.With the development of the communication technology,more and more entities are connected to the communication network and become one of the elements in the network.Over recent decades,in the area of intelligent transportation,pedestrian and transport infrastructure are connected to the communication network to improve the driving safety and traffic efficiency which is known as the ICV(Intelligent Connected Vehicle).This paper summarizes the global ICV progresses in the past decades and the latest activities of ICV in China,and introduces various aspects regarding the recent development of the ICV,including industry development,spectrum and standard,at the same time.

Intelligent back-looking distance driver model and stability analysis for connected and automated vehicles

The connected and automated vehicles(CAVs)technologies provide more information to drivers in the car-following(CF)process.Unlike the human-driven vehicles(HVs),which only considers information in front,the CAVs circumstance allows them to obtain information in front and behind,enhancing vehicles perception ability.This paper proposes an intelligent back-looking distance driver model(IBDM)considering the desired distance of the following vehicle in homogeneous CAVs environment.Based on intelligent driver model(IDM),the IBDM integrates behind information of vehicles as a control term.The stability condition against a small perturbation is analyzed using linear stability theory in the homogeneous traffic flow.To validate the theoretical analysis,simulations are carried out on a single lane under the open boundary condition,and compared with the IDM not considering the following vehicle and the extended IDM considering the information of vehicle preceding and next preceding.Six scenarios are designed to evaluate the results under different disturbance strength,disturbance location,and initial platoon space distance.The results reveal that the IBDM has an advantage over IDM and the extended IDM in control of CAVs car-following process in maintaining string stability,and the stability improves by increasing the proportion of the new item.

汽车安全性测评规程现状及趋势展望

在汽车产业电动化和智能化进程中,汽车安全测试评价技术也从单纯被动安全向主被动安全融合方向延伸和扩展。本文从车内乘员保护、车外弱势道路使用者保护与主动安全三方面,深入对比分析了全球主流汽车安全测评规程的差异,总结了针对各测评工况的车辆安全开发技术要点,探讨了新能源与智能网联汽车安全测评规程的发展趋势。研究认为,主流汽车安全测评规程在被动安全评价方面越来越严格,主动安全测评工况比重在逐步增加,未来测评规程的发展重心将集中于主被动安全融合及针对复杂工况的虚拟测评两方面。此外,针对新能源汽车的电池安全测试已相对完善,未来研究重点可向电控系统测试、底盘稳定性测试和充换电设施与配套设备统一标准化认证等方向拓展;而构建合理、可靠的智能网联汽车OTA(over the air)测试、HMI(human machine interface)安全性和舒适性等测评方法,在中长期内将成为行业关注的重难点问题,且可借助自动驾驶模拟器等工具搭建虚实结合的复合测评体系。

车控操作系统实时性/安全性保障技术

电子控制技术为智能网联汽车的高速发展持续赋能,车控操作系统是保障汽车电子控制软件安全、高效、实时运行的基石。随着智能网联汽车向集中式、端云融合式电子电气架构发展,车载硬件演化为多核异构处理器、弹性计算平台,车控软件向面向服务的软件架构转变,车控操作系统的架构、关键技术等也随之发展。综述了智能网联汽车用车控操作系统的发展历程与现状,对任务调度、实时性/安全性保障、形式化表征与验等基础理论和关键技术进行深入分析,阐述现有车控操作系统的技术挑战与发展趋势,为智能网联汽车的车控操作系统发展提供参考。

中国智能网联车险之现实困境与创新路径

在智慧交通新时代,智能网联车险面临着新的机遇和挑战。本文分析了国内外智能网联车险的发展现状和特征;从智能网联汽车衍生的新兴风险、车险市场经营管理面临的挑战、车险产品和服务的创新需求三方面,探讨了智能网联车险发展的现实困境。基于国外智能网联车险模式的经验借鉴,提出政府、监管部门、保险公司与科技公司合作共赢,进一步完善智能网联车险相关法律体系,创新监管模式,完善车险生态环境,提供优质车险产品与服务等政策建议。

异质交通流环境下无信号T形交叉口控制策略

针对无信号控制T形交叉口,提出一种异质交通流环境下交叉口的分级限速控制模型.根据异质交通流的车辆运行特性提出分级限速的概念,并建立交叉口的车辆信息矩阵.构建以车流通过冲突区域时间最短为优化目标,以保证冲突车辆安全行驶的时间间隔为约束条件的线性规划模型.通过MATLAB搭建仿真平台对所提出的模型有效性进行试验验证.结果表明:在混合行驶的交通环境下,当车辆到达率为0.30~0.50时,本研究所提模型可以在传统控制模型的基础上提升交叉口通行能力约20%;分级限速控制模型下智能网联车辆渗透率达到0.90时,最多可以增加交叉口约17%的通行能力;所提模型能有效提高道路资源利用效率,保证主路运行通畅的情况下大幅降低支路车辆延误.

城市道路网联混驾车辆分阶段动态轨迹控制方法

随着城市的进步和不断发展,智能驾驶车辆逐渐代替路段中的部分人工驾驶车辆,但在未来较长时间内人工驾驶车辆并不会被完全取代,此时出现网联车与人工驾驶车辆的混驾环境,即目前以及未来时间内我们面临的驾驶环境。网联车与人工驾驶车辆驾驶行为在路段内相互干扰,造成混合车流行驶效率低下。为减弱2种车辆间的相互作用,提出一种分离混驾环境下网联车和人工驾驶车辆的分阶段动态车道引导算法(dynamic lane guidance algorithm for separating CAVs and HDVs in mixed traffic environment,SCHME)。通过该算法分离在交叉口上游路段的混合流车辆集合,调整智能驾驶车辆的行驶路线并进行实时动态更新,在满足运动学约束收敛的条件下,人工驾驶车辆根据网联车的动态路线进行相应调整,实现在每辆车广义安全损失成本最小的情况下提高路段内混驾环境下车辆运行效率。通过MATLAB模拟车辆在进入交叉口前的车辆运行状态,结果表明,SCHME算法可在广义安全损失成本最小的情况下提高路段内平均车辆通行效率(17.29%),同时当车辆优化数组越大,车辆集合距离交叉口越远时,智能驾驶车辆渗透率越低,每辆车的道路广义安全损失成本越低。

智能网联环境下信号交叉口车辆轨迹重构模型

车辆轨迹数据提供了大量的时空交通流信息,可用于各类交通研究.传统车辆轨迹模型多以人工驾驶环境为研究对象,普遍未考虑由常规车(RV)、网联人工驾驶车(CV)以及智能网联车(CAV)组成的混合交通流的影响.为解决该问题,构建智能网联环境下信号交叉口全样本车辆轨迹重构模型.首先,介绍并分析智能网联环境下城市道路交叉口处车辆组成及排队通过情况;然后,构建城市道路混合交通流轨迹数量估计模型,并针对前后车的排队情况提出虚拟车的概念,用于估计不同车辆的交通状态;最后,设计数值仿真实验分析交通流密度和网联车渗透率对模型的影响,并基于NGSIM数据进行实例验证.结果表明:轨迹重构模型的数量误差和位置误差均随着交通流密度和网联车渗透率的增大而减小,如交通流密度由20 veh/km增大至50 veh/km的过程中,模型数量误差和位置误差均呈现下降趋势,且最大误差分别不超过6.88%和8.02 m;与网联人工驾驶车渗透率相比,智能网联车的渗透率对模型结果影响更大.

考虑时延和多前车反馈的智能网联汽车跟驰模型

针对智能网联环境下传感器感知和车车通信(vehicle to vehicle,V2V)都存在时延的问题,提出一种考虑双时延和多前车反馈(dual delay multiple look-ahead full velocity difference,DD-MLFVD)的智能网联汽车跟驰模型.根据智能网联汽车感知特性引入双时延信息,结合多前车速度差和期望速度信息提出DD-MLFVD模型.通过微小扰动法求解DD-MLFVD模型的临界稳定性条件,同时结合模型参数研究前车数量和时延大小对模型稳定域的影响.利用直道场景对模型进行仿真分析,着重研究变扰动和变时延场景下DD-MLFVD对交通流的稳定效果.结果表明:面对复杂扰动影响,DD-MLFVD模型能够较好吸收扰动,可提升交通流的稳定性.

面向实践与创新能力提升的车辆工程专业自动控制原理课程改革与实践

在汽车智能网联化发展背景下,为满足社会对车辆工程专业高素质人才需求。该文针对目前自动控制原理课程在教学过程中存在的缺乏实践与创新能力培养问题进行分析,并对课程教学内容、教学方式等进行改革与实践。将团队最新的科研成果融入教学当中,通过理论教学与科研相结合、理论研究与实践并重的启发式培养模式,达到提高学生实践与创新能力的目的,使学生能充分运用理论知识分析解决车辆工程领域控制类问题。

驾驶行为分类方法及量化评估综述

对驾驶行为分类方法及量化评估进行综述,首先阐述了驾驶行为的涵义及表征方法,然后将驾驶行为分类方法划分为基于统计特性的分类方法、基于机器学习的分类方法、混合式(组合、集成)分类方法三大类,并对不同的驾驶行为分类方法的代表算法、优点及局限性等进行系统归纳和总结,其次,从多个维度对驾驶行为的量化评估研究进行系统介绍,最后介绍了驾驶行为分类及量化评估研究成果在多个领域的应用现状及前景展望。

融入智能网联汽车的混行交通流混沌特性

为了研究混行交通流混沌特性、辨析影响混行车队混沌程度的因素,在传统交通流理论基础上,利用Cao方法和改进的Cao方法确定混行交通流延迟时间和嵌入维数,对混行交通流序列进行相空间重构并通过计算最大Lyapunov指数判定其混沌特性.对混行交通流中智能网联汽车(intelligent connected vehicle,ICV)协同自适应巡航(cooperative adaptive cruise control,CACC)车辆比例及延迟时间关键参数进行影响分析.结果表明:在跟驰过程中车头间距序列的最大Lyapunov指数小于0时,混行交通流存在混沌;CACC车辆比例增加能够减弱混沌的时间区域,比如当CACC车辆比例达到0.6时,跟驰系统趋于稳定;CACC车辆的延迟时间对混沌的影响显著,保持低通信延迟才能发挥CACC车辆的作用,从而有效抑制混沌.

基于优化动力学模型的路径跟踪控制研究

针对一般路径跟踪模型预测控制器在高速大曲率工况下适应性差的问题,提出了一种基于优化动力学模型的自适应预测时域控制策略。首先,为解决经典动力学模型在较高侧向加速度工况下精度不足的问题,建立了包含侧倾转向和变形转向特性的优化模型,实现了车辆状态的较高精度预测;其次,为解决高速大曲率工况下固定预测时域控制效果不佳的问题,提出了基于二维高斯函数的自适应预测时域策略,以低算法复杂度实现了预瞄距离的实时调整;最后,通过CarSim/Simulink联合仿真实验验证了控制器在双移线道路上的控制效果,结果表明,横向位置峰值误差降低45.1%,横摆角峰值误差降低72.4%,设计的控制器对极限工况有更好的适应性。

利用激光点云的智能网联汽车自主换道横向避障

通过智能网联汽车自主换道横向避障设计,提高车辆自主驾驶安全性能,提出基于激光点云的智能网联汽车自主换道横向避障方法,构建基于全激光雷达的无人驾驶系统的汽车行驶环境激光点云数据采集模型,通过激光雷达激光点云图像检测方法实现对智能网汽车行驶环境感知。结合障碍物检测、车道线检测、可行驶区域检测的方法,分析智能网联下汽车换道障碍物和车道的相关性特征量,通过激光点云的自主寻优方法寻找边界点直到搜索路径达到阈值,再结合直线道路模型和车道线连续性原则实现对汽车自主换道横向避障规划设计。仿真结果表明,采用该方法进行汽车自主环控避障,在5 s时达到收敛状态,障碍物坐标识别误差距离低于0.7,并且该方法的识别精度达到了0.970以上,提高了车道信息的感知能力,准确高效地估计可行驶区域,提高车辆避障能力。

考虑CAV自主停车行为的混合交通均衡配流模型

为了评估网联自动驾驶汽车(CAV)的自主停车行为对交通系统效率的影响,建立了CAV通勤流、人工驾驶汽车(HDV)通勤流、CAV自主停车流3类交通流混行下的交通均衡配流模型.通过引入CAV停车需求内生变量,考虑CAV对路段通行能力的提升效应,从而定量描述CAV停车需求分布以及3类交通流在路段上混行的拥挤效应.分别采用用户均衡、随机用户均衡原则描述CAV、HDV出行者的路径选择行为,采用Logit离散选择模型描述自主停车CAV的停车场选择行为,由此建立多用户混合交通均衡条件以及等价的变分不等式(VI)模型.由于模型中CAV自主停车需求为未知的内生变量,提出一种改进的相继加权平均法求解该模型.最后,通过算例验证了混合交通均衡配流模型及求解算法的有效性.