CN110015296B - Vehicle self-adaptive variable speed cruise process control method based on homomorphic encryption - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
A vehicle self-adaptive variable speed cruise process control method based on homomorphic encryption is characterized in that a three-order state space disturbance expansion mathematical model in the vehicle self-adaptive variable speed cruise process is established according to control requirements of data storage and cloud computing safety in the vehicle self-adaptive variable speed cruise control field, a vehicle distance controller gain vector is calculated through a MatLab command function lqr, the gain vector and the current state quantity are encrypted in real time and then uploaded to a cloud terminal for storage, a ciphertext is multiplied at the cloud terminal and then transmitted back to a vehicle, the vehicle distance control quantity in the vehicle self-adaptive variable speed cruise process is decrypted and obtained, and vehicle self-adaptive statistical variable speed cruise control under vehicle safety data storage and system calculation quantity reduction is achieved. The control method has the advantages of simple understanding, less parameter setting, strong universality and small online calculation pressure, so that the storage and calculation pressure of the vehicle self-adaptive variable speed cruise system is reduced, and the information safety of the system is ensured.
Description
Technical Field
The invention belongs to the field of intelligent networked automobile automatic cruise control, and relates to a vehicle self-adaptive variable speed cruise process control method based on homomorphic encryption.
Background
The vehicle self-adaptive cruise control utilizes wireless communication and corresponding functional modules to acquire information around and self of a vehicle, adjusts the acceleration and deceleration of the vehicle, realizes efficient, safe and comfortable running of the vehicle, and is a basic control method for automatically driving the vehicle. In the running process of the vehicle, along with the change of the acceleration and deceleration of the front vehicle, the vehicle is automatically controlled to keep a certain relative safe distance with the front vehicle, so that the working intensity of a driver can be relieved, the traffic flow density of a road can be improved, and the active safety of the vehicle in the running process is enhanced. The current vehicle self-adaptive cruise system integrates a mobile communication network and a wireless sensing network, and in the development and application process of the huge network system, how to calculate and store massive data information in a standard, reasonable, safe and efficient manner is a key point in the current vehicle autonomous control and intelligent research field. With the continuous development of cloud computing technology, mass data storage and high-speed computing are applied in different fields, including car networking systems. However, most of the vehicle state information in the current cloud storage is stored in a plaintext form, no security protection mechanism is provided, once the vehicle state information is maliciously damaged by an attacker, data leakage occurs at a low rate, and serious traffic accidents are caused at a high rate, and the most common solution to the problem is to encrypt the data. The homomorphic encryption technology can realize the encryption of data and simultaneously carry out distributed parallel computation and query on ciphertext information, thereby having wide application prospect in the cloud environment of the Internet of vehicles system. The current homomorphic encryption technology only considers the homomorphic encryption of addition and multiplication of integers or the fully homomorphic encryption with high complexity, which are difficult to be put into practical application; in addition, the driving behavior of the driver in the front vehicle is highly subjective and uncertain, and the real-time and accuracy requirements for the control of the adaptive variable speed cruise process of the vehicle are high, so that the control method of the adaptive variable speed cruise process of the vehicle based on homomorphic encryption still needs to be studied and discussed in great detail to meet the current requirements for various complex traffic conditions and network safety problems, and the control of the adaptive variable speed cruise process of the vehicle under the conditions of safe system data storage and system calculation is reduced.
Disclosure of Invention
In order to overcome the defects that the system is large in on-line calculation amount and difficult in data storage in the conventional vehicle self-adaptive variable speed cruise process, the invention provides a vehicle self-adaptive variable speed cruise process control method based on homomorphic encryption, which is intuitive to understand, efficient and safe, by means of cloud computing.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a vehicle adaptive variable speed cruise process control method based on homomorphic encryption comprises the following steps:
1) establishing a state space disturbance expansion mathematical model of the vehicle self-adaptive speed change cruise process, and referring to formula (1):
wherein the variable t represents time; x is the number of1(t)、x2(t) and x3(t) respectively representing the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle at the time t; u (t) represents a command acceleration of the host vehicle at time t; w (t) represents the actual acceleration of the preceding vehicle at time t; the parameters h and sigma are respectively a headway time and a time constant; considering model equation (1), a state row vector x (t) ═ x of the vehicle adaptive shift cruise process is defined1(t) x2(t) x3(t)]TWhere the symbol T represents the transpose of the vector; at x (t), x1(t)、x2(t) and x3The point "·" on (t) denotes the derivative;
2) giving 4 parameters R greater than zero1、R2、R3And R4Defining a gain coefficient k of a controller during the adaptive speed-changing cruise process of the vehicle1、k2And k3(ii) a Let the row vector K be [ K ]1k2k3]For the gain vector, it will be calculated by the MatLab command function lqr, see equation (2):
K＝lqr(A,B,Q,R4) (2)
wherein the amplification matrix
And
3) selecting two prime numbers p and q which are larger than zero, and calculating n as p multiplied by q, wherein the public key of the vehicle self-adaptive variable speed cruise encryption system is p, and the private key is n; for an arbitrary value x in the plaintext space, a cryptographic value is calculated, see equation (3):
X＝smod((x+sign(x)×rand×p),n) (3)
wherein the function
m is a rational number, k is a positive prime number, mod is a normal modulo operation, rand returns a random positive integer, sign (x) is a sign taking function; the distance error x between the front vehicle and the vehicle at the current moment is calculated1(t) relative velocity x2(t) acceleration x of vehicle3(t) and three controller gain coefficients k1、k2And k3After the precision is unified, the integer is formed, that is, X ═ I (X) ═ X × 10eWhere e is the number of bits after the x decimal point, the notation I (x) denotes an integer arithmetic function on the coefficient x; recording decimal points of six coefficients as e1, e2, e3, e4, e5 and e6 respectively, then encrypting the six values after the integers by using a formula (3), and obtaining a ciphertext X after the encryption1、X2、X3、K1、K2、K3；
4) And storing the encrypted vehicle information in a cloud server, and multiplying the ciphertext by cloud computing to obtain three groups of values
U1＝X1×K1、U2＝X2×K2、U3＝X3×K3(4)
5) And the vehicle system receives and decrypts the three groups of ciphertext information transmitted back from the cloud, and the three groups of ciphertext information are shown in the formulas (5) to (7):
u1(t)＝D(U1)＝smod(U1,p)×10-(e1+e2)(5)
u2(t)＝D(U2)＝smod(U2,p)×10-(e3+e4)(6)
u3(t)＝D(U3)＝smod(U3,p)×10-(e5+e6)(7)
wherein symbol D represents a decryption operation; calculating the control quantity u (t) of the adaptive variable speed cruising process of the vehicle in real time, and referring to an equation (8):
u(t)＝-(u1(t)+u2(t)+u3(t)) (8)
driving the host vehicle to track the motion state of the front vehicle; and in the next control period, returning to the step 3) to measure the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle on line, and repeating the steps in such a cycle to realize the vehicle self-adaptive variable speed cruise process control under the conditions that the vehicle safely stores data and the calculation amount of the system is reduced.
The technical conception of the invention is as follows: aiming at the control requirements of data storage and cloud computing safety in the field of vehicle adaptive variable speed cruise control, a three-order state space disturbance expansion mathematical model in the vehicle adaptive variable speed cruise process is established, a gain vector of an inter-vehicle distance controller is computed through a MatLab command function lqr, the gain vector and the current state quantity are encrypted in real time and then uploaded to a cloud terminal for storage, a ciphertext is multiplied at the cloud terminal and then transmitted back to a vehicle, and then the inter-vehicle distance control quantity in the vehicle adaptive variable speed cruise process is decrypted and obtained, so that vehicle adaptive variable speed cruise control under the conditions of vehicle safety storage data and system calculation quantity reduction is achieved.
The main execution part of the invention runs and implements on the vehicle automatic driving control computer, and the cloud storage and the calculation part are also simulated by the computer. The implementation process of the method can be divided into the following three stages:
1. setting parameters: the method comprises model parameters and controller parameters, wherein the model parameters are imported into a model parameter import interface, and the model car head time interval h, the time constant sigma and the expected relative car distance deviation y are inputrAnd keys p, q; in the controller parameter setting, the parameter R is input1、R2、R3And R4After the input parameters are confirmed, the control computer sends the setting data into a computer storage unit RAM for storage; parameter R1、R2、R3And R4The value-taking rule of (1): r1、R2、R3And R4Is a positive number greater than zero; the value rules of the parameters p and q are as follows: plaintext space ZpP is not more than x, ciphertext space ZnX | | | x ≦ n }, so p is taken as large as possible.
2. Off-line debugging: click "debug" in configuration interface "The button and the cruise control system enter the off-line simulation debugging stage of the controller to adjust the parameter R of the controller1、R2、R3And R4Observing the inter-vehicle distance control effect in the self-adaptive speed-changing cruising process of the vehicle, and determining a group of parameters which can well realize the inter-vehicle distance control in the self-adaptive speed-changing cruising process of the vehicle; actual debug parameter R1、R2、R3And R4When the vehicle is in use, the comprehensive performance among the response capability, the adjustment time and the vehicle command acceleration output of each state in the self-adaptive speed change cruising process of the vehicle is balanced;
3. and (3) online operation: starting a CPU of a main control computer to read model parameters and controller parameters, measuring the distance error, the relative speed and the vehicle acceleration of a front vehicle and a vehicle on line at the current moment, encrypting the controller parameters and the vehicle state quantity and uploading the parameters to a cloud end; the cloud receives the encrypted data, stores the encrypted data, performs multiplication calculation, and returns the result to the rear vehicle; the rear vehicle decrypts the ciphertext and calculates the inter-vehicle distance control quantity in the self-adaptive variable speed cruising process of the vehicle in real time to drive the vehicle to track the motion state of the front vehicle; and in the next control period, the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle are measured again on line, and the self-adaptive variable speed cruise control of the vehicle under the conditions of safely storing data of the vehicle and reducing the calculation amount of the system is realized in such a cycle.
The invention has the following beneficial effects: 1. the vehicle adaptive speed-changing cruise process controller has few adjustment parameters, simple design, easy understanding, simple and convenient online implementation and strong practicability; 2. the cloud is considered to be adopted for data storage, and meanwhile, a homomorphic encryption algorithm is also considered to be introduced, so that the storage and calculation pressure of the vehicle self-adaptive variable speed cruise system is reduced, and the information safety problem of the system is also ensured.
Drawings
Fig. 1 is a curve of change between an actual inter-vehicle distance and an ideal inter-vehicle distance in inter-vehicle distance control in a vehicle adaptive speed change cruise process based on homomorphic encryption, wherein a solid line is the actual inter-vehicle distance change curve, and a dotted line is the ideal inter-vehicle distance change curve.
Fig. 2 is a speed variation curve of a host vehicle and a preceding vehicle in the inter-vehicle distance control during the vehicle adaptive speed change cruise process based on homomorphic encryption, wherein a solid line is the speed variation curve of the host vehicle, and a dotted line is the speed variation curve of the preceding vehicle.
Fig. 3 is a graph of acceleration variation curves of a host vehicle and a preceding vehicle in the inter-vehicle distance control during the vehicle adaptive speed change cruise process based on homomorphic encryption, wherein a solid line is the acceleration variation curve of the host vehicle, and a dotted line is the acceleration variation curve of the preceding vehicle.
Detailed Description
The method of the present invention is described in further detail below with reference to the accompanying drawings.
Referring to fig. 1 to 3, a vehicle adaptive variable speed cruise process control method based on homomorphic encryption comprises the following steps:
1) establishing a state space disturbance expansion mathematical model of the vehicle self-adaptive speed change cruise process, and referring to formula (1):
wherein the variable t represents time; x is the number of1(t)、x2(t) and x3(t) respectively representing the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle at the time t; u (t) represents a command acceleration of the host vehicle at time t; w (t) represents the actual acceleration of the preceding vehicle at time t; the parameters h and sigma are respectively a headway time and a time constant; considering model equation (1), a state row vector x (t) ═ x of the vehicle adaptive shift cruise process is defined1(t) x2(t) x3(t)]TWhere the symbol T represents the transpose of the vector; at x (t), x1(t)、x2(t) and x3The point "·" on (t) denotes the derivative;
2) giving 4 parameters R greater than zero1、R2、R3And R4Defining a gain coefficient k of a controller during the adaptive speed-changing cruise process of the vehicle1、k2And k3(ii) a Let the row vector K be [ K ]1k2k3]For the gain vector, it will be calculated by the MatLab command function lqr, see equation (2):
K＝lqr(A,B,Q,R4) (2)
wherein the amplification matrix
And
3) selecting two prime numbers p and q which are larger than zero, and calculating n as p multiplied by q, wherein the public key of the vehicle self-adaptive variable speed cruise encryption system is p, and the private key is n; for an arbitrary value x in the plaintext space, a cryptographic value is calculated, see equation (3):
X＝smod((x+sign(x)×rand×p),n) (3)
wherein the function
m is a rational number, k is a positive prime number, mod is a normal modulo operation, rand returns a random positive integer, sign (x) is a sign taking function; the distance error x between the front vehicle and the vehicle at the current moment is calculated1(t) relative velocity x2(t) acceleration x of vehicle3(t) and three controller gain coefficients k1、k2And k3After the precision is unified, the integer is formed, that is, X ═ I (X) ═ X × 10eWhere e is the number of bits after the x decimal point, the notation I (x) denotes an integer arithmetic function on the coefficient x; recording decimal points of six coefficients as e1, e2, e3, e4, e5 and e6 respectively, then encrypting the six values after the integers by using a formula (3), and obtaining a ciphertext X after the encryption1、X2、X3、K1、K2、K3；
4) And storing the encrypted vehicle information in a cloud server, and multiplying the ciphertext by cloud computing to obtain three groups of values
U1＝X1×K1、U2＝X2×K2、U3＝X3×K3(4)
5) And the vehicle system receives and decrypts the three groups of ciphertext information transmitted back from the cloud, and the three groups of ciphertext information are shown in the formulas (5) to (7):
u1(t)＝D(U1)＝smod(U1,p)×10-(e1+e2)(5)
u2(t)＝D(U2)＝smod(U2,p)×10-(e3+e4)(6)
u3(t)＝D(U3)＝smod(U3,p)×10-(e5+e6)(7)
wherein symbol D represents a decryption operation; calculating the control quantity u (t) of the adaptive variable speed cruising process of the vehicle in real time, and referring to an equation (8):
u(t)＝-(u1(t)+u2(t)+u3(t))(8)
driving the host vehicle to track the motion state of the front vehicle; and in the next control period, returning to the step 3) to measure the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle on line, and repeating the steps in such a cycle to realize the vehicle self-adaptive variable speed cruise process control under the conditions that the vehicle safely stores data and the calculation amount of the system is reduced.
The embodiment is a vehicle distance control process in a vehicle self-adaptive speed change cruise process, and the specific operation process is as follows:
1. in a parameter setting interface, inputting parameters of a vehicle self-adaptive variable speed cruise distance control model, as follows: the headway h is 0.2, the time constant sigma is 0.1 and the expected relative headway deviation y r0, and a controller parameter R1、R2、R3And R4；
2. Clicking a debugging button on a configuration interface to enter a debugging interface, starting a CPU (central processing unit) of a main control computer to call a pre-programmed controller calculation program to solve the inter-vehicle distance control gain K, wherein the specific calculation process is as follows:
2.1) according to a given parameter R1、R2、R3And R4Calculating the gain K of the inter-vehicle distance controller in the cruising process by using the equation (2);
2.2) according to equation (2) and parameter R1、R2、R3And R4Value and regulating gaugeThen, the debugging parameters are obtained by comprehensively considering the response capability of the inter-vehicle distance control during the self-adaptive variable speed cruising process of the vehicle, the performance between the adjusting time and the command acceleration output of the vehicle, and the debugging parameters are obtained to obtain R1＝10、R2＝10、R3＝1、R4＝1；
2.3) parameter R obtained by debugging1、R2、R3And R4Value calculation controller gain vector K [ -39.8375-15.07253.2553-11.1803]Storing the calculation result into a computer storage unit RAM;
3. clicking a 'running' button in a configuration interface, starting a CPU (central processing unit) of a main control computer to read model parameters and controller parameters, calculating the inter-vehicle distance control quantity in the self-adaptive variable speed cruising process of the vehicle in real time by measuring the inter-vehicle distance error, the relative speed and the acceleration of the vehicle at the current moment on line, and driving the vehicle to track the motion state of the vehicle in front; and in the next control period, the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle are measured on line again, and the vehicle distance control in the vehicle self-adaptive variable speed cruising process with high real-time performance and accuracy is realized in such a cycle.
The actual control effect is shown in fig. 1, fig. 2 and fig. 3, fig. 1 is a curve of variation between the actual inter-vehicle distance and the ideal inter-vehicle distance in the inter-vehicle distance control in the adaptive speed-changing cruise process of the vehicle, wherein a solid line is the actual inter-vehicle distance variation curve, and a dotted line is the ideal inter-vehicle distance variation curve; FIG. 2 is a speed variation curve of a vehicle and a preceding vehicle in inter-vehicle distance control during adaptive variable speed cruising of a vehicle, wherein a solid line is the speed variation curve of the vehicle, and a dotted line is the speed variation curve of the preceding vehicle; fig. 3 is an acceleration variation curve of the vehicle and the preceding vehicle in the inter-vehicle distance control during the adaptive speed-changing cruise process of the vehicle, wherein a solid line is the acceleration variation curve of the vehicle, and a dotted line is the acceleration variation curve of the preceding vehicle.
The excellent vehicle distance control effect during the adaptive variable speed cruising process shown by the example of the invention is explained above. It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that any modifications made within the spirit of the invention and the scope of the appended claims fall within the scope of the invention.
Claims (1)
1. A vehicle adaptive variable speed cruise process control method based on homomorphic encryption is characterized by comprising the following steps:
1) establishing a state space disturbance expansion mathematical model of the vehicle self-adaptive speed change cruise process, and referring to formula (1):
wherein the variable t represents time; x is the number of1(t)、x2(t) and x3(t) respectively representing the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle at the time t; u (t) represents a command acceleration of the host vehicle at time t; w (t) represents the actual acceleration of the preceding vehicle at time t; the parameters h and sigma are respectively a headway time and a time constant; considering model equation (1), a state row vector x (t) ═ x of the vehicle adaptive shift cruise process is defined1(t) x2(t) x3(t)]TWhere the symbol T represents the transpose of the vector; at x (t), x1(t)、x2(t) and x3The point "·" on (t) denotes the derivative;
2) giving 4 parameters R greater than zero1、R2、R3And R4Defining a gain coefficient k of a controller during the adaptive speed-changing cruise process of the vehicle1、k2And k3(ii) a Let the row vector K be [ K ]1k2k3]For the gain vector, it will be calculated by the MatLab command function lqr, see equation (2):
K＝lqr(A,B,Q,R4) (2)
wherein the amplification matrix
And
3) selecting two prime numbers p and q which are larger than zero, and calculating n as p multiplied by q, wherein the public key of the vehicle self-adaptive variable speed cruise encryption system is p, and the private key is n; for an arbitrary value x in the plaintext space, a cryptographic value is calculated, see equation (3):
X＝smod((x+sign(x)×rand×p),n) (3)
wherein the function
m is a rational number, k is a positive prime number, mod is a normal modulo operation, rand returns a random positive integer, sign (x) is a sign taking function;
the distance error x between the front vehicle and the vehicle at the current moment is calculated1(t) relative velocity x2(t) acceleration x of vehicle3(t) and three controller gain coefficients k1、k2And k3After the precision is unified, the integer is formed, that is, X ═ I (X) ═ X × 10eWhere e is the number of bits after the x decimal point, the notation I (x) denotes an integer arithmetic function on the coefficient x; recording decimal points of six coefficients as e1, e2, e3, e4, e5 and e6 respectively, then encrypting the six values after the integers by using a formula (3), and obtaining a ciphertext X after the encryption1、X2、X3、K1、K2、K3；
4) And storing the encrypted vehicle information in a cloud server, and multiplying the ciphertext by cloud computing to obtain three groups of values
U1＝X1×K1、U2＝X2×K2、U3＝X3×K3(4)
5) And the vehicle system receives and decrypts the three groups of ciphertext information transmitted back from the cloud, and the three groups of ciphertext information are shown in the formulas (5) to (7):
u1(t)＝D(U1)＝smod(U1,p)×10-(e1+e2)(5)
u2(t)＝D(U2)＝smod(U2,p)×10-(e3+e4)(6)
u3(t)＝D(U3)＝smod(U3,p)×10-(e5+e6)(7)
wherein symbol D represents a decryption operation; calculating the control quantity u (t) of the adaptive variable speed cruising process of the vehicle in real time, and referring to an equation (8):
u(t)＝-(u1(t)+u2(t)+u3(t)) (8)
driving the host vehicle to track the motion state of the front vehicle; and in the next control period, returning to the step 3) to measure the distance error, the relative speed and the vehicle acceleration of the front vehicle and the vehicle on line, and repeating the steps in such a cycle to realize the vehicle self-adaptive variable speed cruise process control under the conditions that the vehicle safely stores data and the calculation amount of the system is reduced.
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