A Hierarchical Control Framework for Cooperative Adaptive Cruise Control Considering FDI Attacks and Loop Delay Analysis

Cooperative Adaptive Cruise Control (CACC) systems based on real-time vehicle-to-vehicle (V2V) communication are pivotal for enhancing traffic efficiency and safety in vehicular network environments. However, the adoption of open communication channels renders these systems more susceptible to attacks, particularly false data injection (FDI) attacks, which manipulate vehicle states and disrupt platoon stability. Firstly, the system delay under FDI attacks is meticulously analyzed based on the concept of multi-link loop delay, and its upper bound is derived. Then, a hierarchical control framework resilient to cyberattacks is proposed to address loop delays and implement FDI compensation control. The upper layer develops a model predictive controller (MPC) for decision-making and planning under uncertainties. The lower layer employs an H_∞ controller combined with a linear quadratic regulator (LQR) to mitigate the effects of loop delays and provide reliable acceleration tracking control. Finally, the effectiveness of the proposed method is validated through comprehensive hardware-in-the-loop testing.