The consensus control for cooperative braking of vehicle platoon under Denial of Service Attack

Connectivity plays a vital role in autonomous vehicle platoons by enabling inter-vehicle and vehicle-to-infrastructure communication through cyber networks. By sharing real-time position and velocity information, such connectivity enhances both platoon stability and overall traffic efficiency. However, these communication networks are vulnerable to cyber-attacks, particularly Denial-of-Service (DoS) attacks, which can severely disrupt information exchange and compromise vehicular safety. This paper solves the consensus control puzzle for vehicle platoons operating under DoS attacks. A mathematical framework is first established to model the impact of DoS-induced communication interruptions. Building upon this, a linear consensus controller integrated with a novel state prediction mechanism is proposed to compensate for the loss of information during DoS events. The stability of our utilized control scheme are rigorously analyzed using Lyapunov methods. Simulation results validate that the proposed approach maintains consensus within the platoon and ensures cooperative braking performance under the serious intermittent DoS attacks.