Longitudinal and Lateral Synthesize Tracking Strategy for Connected Vehicle Platoon with Cyber Attacks

- In this paper, the problem of tracking control for connected vehicle platoon with cyber attacks and time delays is developed, a longitudinal and lateral synthesize tracking strategy is proposed. Firstly, a leader-follower connected vehicle platoon spacing model is established. Then, an adaptive Kalman filter-based observer is presented to enhance control robustness under cyber attacks by dynamically adjusting sensor weights and predicted values. Furthermore, a sliding window-based adaptive observer is introduced to mitigate vehicle-to-vehicle time delays. Additionally, a longitudinal distributed adaptive backstepping control algorithm and a lateral distributed nonlinear model prediction control algorithm are respectively designed to achieve cooperative platoon control. Finally, experimental results show the stable path tracking, and resilience to cyber attacks during medium-low speed lane changes.