国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

Vehicle Cooperative Adaptive Cruise Control (CACC) has become a research hotspot for intelligent transportation systems with its efficient and convenient features, but with the access of vehicles to the network, cyber attacks pose a great threat to the security of connected vehicle systems. To address the problem that the traditional scheme is more cumbersome and the ciphertext key can still be tampered with when transmitting data at the same time, the Paillier homomorphic encryption algorithm is used to encrypt the acceleration and transmit only the ciphertext. In order to achieve control objectives, an integrated tracking signal is designed and the ciphertext multiplication operation is designed based on the homomorphism of the Paillier algorithm, so that the acceleration ciphertext can be used di-rectly to construct the tracking signal from the vehicle without decryption. The tracking signal is combined with distributed model predictive control (MPC), and linear matrix inequalities are used to transform the optimization problem of the control strategy to solve for the optimal control inputs to ensure the safe co-movement of the vehicle queue. The performance metrics of the control system and the effectiveness of Paillier homomorphic encryption are verified by MATLAB simulation.