Vehicle Formation Control in the Zero-trust Framework Based on the Artificial Potential Field Method

Cooperative driving of multiple vehicles is a critical application scenario for future 5G networked autonomous driving technology, significantly enhancing traffic safety and efficiency. This paper investigates a vehicle formation control method in a zero-trust framework. Considering the constraints of highway environments and the longitudinal and lateral safety distances of the vehicle platoon. The artificial potential field method is utilized to establish a potential field model for the platoon environment, enabling distance decision-making for the vehicle platoon. By integrating the trust degree between vehicle nodes, dynamic control of vehicle spacing is achieved. Finally, through simulation experiments, the proposed vehicle formation control method in a zero-trust framework can maintain safe distances within vehicle platoons of varying trust value, ensuring the safety and stability of the vehicle platoon.