广西师范大学学报（自然科学版） ›› 2024, Vol. 42 ›› Issue (3): 59-69.doi: 10.16088/j.issn.1001-6600.2023052101

• 研究论文 • 上一篇    下一篇

智能汽车信息物理系统状态估计与执行器攻击重构

陈丽, 唐明珠, 郭胜辉*   

  1. 苏州科技大学 电子与信息工程学院, 江苏 苏州 215009
  • 收稿日期:2023-05-21 修回日期:2023-07-21 发布日期:2024-05-31
  • 通讯作者: 郭胜辉(1983—), 男, 河北邢台人, 苏州科技大学副教授, 博士。E-mail: shguo@usts.edu.cn
  • 基金资助:
    国家自然科学基金(61703296); 江苏省研究生科研与实践创新计划(KYCX22_3274, SJCX22_1583)

Cyber-Physical Systems State Estimation and Actuator Attack Reconstruction of Intelligent Vehicles

CHEN Li, TANG Mingzhu, GUO Shenghui*   

  1. School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou Jiangsu 215009, China
  • Received:2023-05-21 Revised:2023-07-21 Published:2024-05-31

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摘要： 针对含有网络攻击的非线性广义系统形式描述的信息物理系统,本文研究其状态估计和攻击信号重构问题。首先,将广义系统形式上写成一般系统,利用中间变量重构攻击信号,设计出中间变量观测器;而后,通过线性矩阵不等式得出观测器增益矩阵存在的充分条件;最后,利用数值仿真验证所提方法的可行性。仿真分析中,针对智能汽车的车道保持系统进行建模,将车辆动力模型和车辆保持模型转化为动力系统的形式,从信息物理系统的角度出发,研究车辆的安全状态估计问题。当系统含有网络攻击时,利用所提观测器对车道保持系统状态进行估计,结果表明设计的中间变量观测器能够准确地估计系统状态和攻击信号,且误差系统均在4 s内趋于稳定。

关键词: 信息物理系统, 安全状态估计, 中间变量观测器, 攻击重构, 智能汽车

Abstract: The problem of state estimation and attack signal reconstruction for cyber-physical systems of the nonlinear descriptor system type under network attack is investigated. Firstly, the descriptor system is transformed into a general system, and the intermediate variable observer is designed by reconstructing the attack signal with the intermediate variable. Then, sufficient conditions for the existence of the observer gain matrix are obtained by linear matrix inequalities. Finally, the feasibility of the method is verified by numerical simulation. In the simulation analysis, the lane-keeping system of the intelligent vehicle is modeled, and the vehicle dynamic model and the vehicle keeping model are transformed into the form of a dynamic system. From the perspective of cyber-physical systems, the problem of vehicle safety state estimation is studied. When the system contains network attacks, the proposed observer is used to estimate the state of the lane-keeping system. The results show that the designed intermediate variable observer can accurately estimate the system state and attack signal, and the error systems tend to be stable within 4 s.

Key words: cyber-physical systems, state estimation, intermediate variable observer, attack reconstruction, intelligent vehicle

中图分类号:  TP13

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