A process control method for vehicle adaptive variable speed cruise based on homomorphic encryption
A process control and homomorphic encryption technology, applied in the direction of control devices, etc., can solve the problems of difficult data storage and large amount of online calculation of the system, and achieve the effect of less adjustment parameters and simple design
Active Publication Date: 2020-10-27
ZHEJIANG UNIV OF TECH
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[0003] In order to overcome the shortcomings of large amount of online calculation and difficult data storage in the existing vehicle adaptive variable speed cruising process, the present invention relies on cloud computing to provide an intuitive, efficient and safe vehicle adaptive variable speed cruising process based on homomorphic encryption Control Method
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[0033] The method of the present invention will be described in further detail below in conjunction with the accompanying drawings.
[0034] refer to Figure 1 ~ Figure 3 , a vehicle adaptive variable speed cruise control method based on homomorphic encryption, the control method includes the following steps:
[0035] 1) Establish the extended mathematical model of state space disturbance in the vehicle adaptive variable speed cruise process, see formula (1):
[0036]
[0037] Among them, the variable t represents time; x 1 (t), x 2 (t) and x 3 (t) respectively represent the distance error between the vehicle in front and the vehicle at time t, the relative speed and the acceleration of the vehicle; u(t) represents the command acceleration of the vehicle at time t; w(t) represents the actual speed of the vehicle in front at time t Acceleration; parameters h and σ are headway and time constant respectively; considering model formula (1), define the state column vector x(...
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The invention discloses a vehicle self-adaptive variable speed cruise process control method based on homomorphic encryption. Aiming at the data storage and cloud computing security control requirements in the field of vehicle self-adaptive variable speed cruise control, a third order state space disturbance expansion mathematical model of the vehicle self-adaptive variable speed cruise process isestablished, a gain vector of a vehicle separation distance controller is calculated by a MatLab command function lqr, the gain vector and the current state quantity are encrypted in real time and then uploaded to a cloud end for storage, ciphertext is multiplied in the cloud end and transmitted back to a vehicle, then the vehicle self-adaptive variable speed cruise process vehicle separation distance control quantity is deciphered and obtained, and self-adaptive variable speed cruise control is realized to store data safely and decrease the system calculation amount. The vehicle self-adaptive variable speed cruise process control method has the advantages of being simple in understanding, less in parameter setting, strong in generality and less in online calculation pressure, storage andcalculation pressure of a vehicle self-adaptive variable speed cruise system are reduced, and security of system information is also ensured.
Description
technical field [0001] The invention belongs to the field of automatic cruising control of intelligent networked vehicles, and relates to a process control method for adaptive variable speed cruising of vehicles based on homomorphic encryption. Background technique [0002] Vehicle adaptive cruise control uses wireless communication and corresponding functional modules to obtain the information around the vehicle and itself, adjust the acceleration and deceleration of the vehicle itself, and realize efficient, safe and comfortable driving of the vehicle. It is a basic control method for autonomous vehicles. During the driving process of the vehicle, with the change of the acceleration and deceleration of the vehicle in front, the automatic control of the vehicle and the vehicle in front maintains a certain relative safety distance, which can not only reduce the driver's work intensity, but also increase the traffic flow density of the road and enhance the safety of the vehicl...
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IPC IPC(8): B60W30/14B60W50/00
CPCB60W30/143B60W50/00B60W2050/0031
Inventor 何德峰鲁良叶宋秀兰余世明朱俊威张文安仇翔
Owner ZHEJIANG UNIV OF TECH