Intelligent electric vehicle trajectory tracking control method under network attack

Abstract

The invention discloses an intelligent electric vehicle trajectory tracking control method under network attacks, and relates to automobile intelligent safety and automatic driving. The method comprises the following steps: 1, establishing a dynamic model accurately representing an intelligent electric vehicle behavior mechanism; 2, designing a multi-sensor information fusion network attack detection method based on an extended Kalman filtering principle; 3, designing an objective function and a constraint condition of a model prediction controller based on network attack detection, and controlling deviation of a tracking expected trajectory of the vehicle under network attack to be as small as possible; when the intelligent electric vehicle is subjected to network attack in a normal driving process, a network attack detection module is used for carrying out network attack detection, and when a sensor is detected to be subjected to the network attack, the sensor subjected to the network attack is shielded and state estimation is carried out by using information of the sensor not subjected to the network attack; through vehicle body state information estimated by a network attack detection module and trajectory tracking control of a model prediction controller, effective trajectory tracking control is still carried out when a sensor is subjected to network attack, and safe driving is ensured.

Description

technical field [0001] The invention relates to automobile intelligent safety and automatic driving, in particular to a trajectory tracking control method of an intelligent electric vehicle under network attack. Background technique [0002] With the development of social economy, intelligent electric vehicles have developed rapidly and are widely used in various fields. Lateral control is one of the core technologies of smart electric vehicles, which aims at how to design control laws to make smart electric vehicles drive accurately and smoothly following a pre-planned reference path. The research method of trajectory tracking of intelligent electric vehicles is usually to plan an ideal reference trajectory according to the state information of the vehicle and the surrounding environment information, and then track and control the ideal reference trajectory through lateral and longitudinal control of the intelligent electric vehicle. Literature 1 (Hongyan Guo, Dongpu Cao, ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the control problem of intelligent electric vehicles being interfered by network attacks during trajectory tracking, and to provide a trajectory tracking control method for intelligent electric vehicles under network attacks to ensure the safe driving of vehicles, which can make intelligent electric vehicles suffer from network attacks. Effective trajectory tracking control can still be carried out during network attacks

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