Cooperative Adaptive Predictive Cruise Control for Vehicles with Paillier Homomorphic Encryption
Vehicle cooperative adaptive cruise control(CACC)has become a research hotspot for intelligent transportation sys-tems with its efficient and convenient features,but with the access of vehicles to networks,cyber attacks cause a significant threat to the security of connected vehicle systems.To address the problems of complex traditional scheme ciphertext key to be simultaneously changed during transmitting data,the Paillier homomorphic encryption algorithm is used to encrypt the acceleration,only transmitting the ciphertext.To achieve the control object,this paper designs an integrated tracking signal and ciphertext multiplication operation based on the homomorphism of the Paillier algorithm,so that the acceleration ciphertext directly constructs the tracking signal from the vehicle without decryption.The tracking signal is combined with the distributed model predictive control(MPC),the linear ma-trix inequalities are used to transform the optimization problem of the control strategy,solve the optimal control inputs,and ensure the safety cooperative movement of the vehicle queue.The performance of the control system and effectiveness of the Paillier homo-morphic encryption are verified by MATLAB simulation.
Paillier homomorphic encryptioncybersecuritycooperative adaptive cruise controllinear matrix inequalitymodel predictive control
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