The invention relates to an
attack detection and elastic control method for a multi-vehicle cooperative
system. The method comprises the following steps: step 1, initializing; step 2, prediction: at the moment t, according to the state
ellipsoid set epsilon t and the
shape matrix Qt, solving a prediction
ellipsoid set epsilon t + 1t; step 3, inter-vehicle communication
attack detection: judging whether inter-vehicle communication is attacked at the moment t, if not, executing the step 4, and otherwise, executing the step 6; step 4, measurement updating: at the t + 1 moment, solving a minimum
ellipsoid set # imgabs0 # and measuring and updating an ellipsoid set epsilon t + 1; step 5, sensor
attack detection: at the t + 1 moment, judging whether the sensor is attacked according to an intersection set of epsilon t + 1t and # imgabs1 #, if the intersection set is empty, executing the step 6, otherwise, executing the step 2; step 6, elastic control: according to the
attack response, respectively replacing the attacked ellipsoid sets, and respectively carrying out measurement updating and prediction processes at the t + 1 moment; and step 7, repeating the steps 2-6 until the end. Compared with the prior art, the method has the advantages of reducing
network attack influence and the like.