Integrating the Safety Control Against Cyber-Attacks on the Global Information in Coupled Map Car-Following Model Under Connected Vehicles Platoon Environment

The connected vehicles (CVs) technology mainly relies on the traffic cyber physical systems (T-CPS) to realize the interconnection between CVs. However, the vulnerability of open CVs environment gives illegal attackers an opportunity. Obviously, CVs are susceptible to unlawful cyber-attacks (CAs) from infiltrating malicious messages. Accordingly, underlying cybersecurity threats can cause information exchange errors and communication failures between CVs. For example, attackers can spread false messages that interfere with normal communication between CVs, which results in CVs receiving incorrect traffic information to affect their decisions and actions. In addition, attackers can also apply denial of service (DoS) attack to overload the communication network, causing communication failures and network congestion between CVs. Therefore, a new coupled map car-following model is established by integrating the safety control against CAs on the global information (called for CAGI-CM model) under CVs platoon environment. In terms of cybernetics, the necessary conditions are obtained for the smooth operation of the CVs platoon with CAs, and the value of compensating coefficient corresponding to different attacks intensity are observed according to the Bode diagrams. Moreover, the traffic dynamics are investigated for different types of CAs including the decreased or magnified headway and velocity information, replay or delay acceleration and deceleration through numerical simulation. The simulation results reveal that the control term incorporating the effect of delayed headway and safety distance can successfully alleviate the negative influences of CAs on CVs platoon operations to guarantee traffic security and stability.