Edge-based Event-triggered Platooning Control of Heterogeneous Connected Automated Vehicles Under Replay Attacks

This paper investigates the problem of secure platooning control of heterogeneous connected automated vehicles under replay attacks. An edge-based dynamic event-triggered mechanism (DETM) is developed to relieve the vehicle-to-vehicle communication burden among the connected platoon. Different from the widely used constant time headway policies, a refined constant time headway (RCTH) policy that leverages the relative velocity between adjacent vehicles is adopted to enhance platooning safety while preserving traffic efficiency. To deal with the discrepancy of vehicle dynamic parameters, heterogeneity compensators are developed for each platoon member to estimate the platoon leader's state. By virtue of the switching system theory, the desired parameters of heterogeneity compensators are designed and the tolerable condition of replay attacks is also established. Furthermore, sufficient design criteria are derived to obtain the local compensator-based controller gains under the proposed edge-based DETM and RCTH policy. It is further proved that Zeno freeness of the proposed edge-based DETMs is excluded. Finally, co-simulations of Matlab/Simulink and CarSim are carried out to verify the efficacy of the derived results.