Analysis and Design of Direct Yaw-Moment Control for Distributed Drive Electric Vehicles Considering Replay Attacks

In this paper, the lateral motion control problem of distributed drive electric vehicles (DDEVs) under the coupling effects of large random attack-induced delays is studied. The external interface assembled in intelligent connected vehicles (ICVs) makes the in-vehicle controller area network (CAN) more vulnerable to cyber-attack, which negatively impact real-time control performance and stability. Based on the notion of multi-hop loop delay, the delay composition of direct yaw-moment control (DYC) under replay attack is analyzed in detail and its upper bound formula is derived based on reasonable analysis. Furthermore, the polytopic inclusion technique based on Tylor series expansion is used to describe network uncertainty, and a delay-tolerant linear quadratic regulator (LQR) method based on $H_{\infty}$ is adopted for robust tracking control. Finally, simulation results based on hardware-in-loop (HIL) experiment indicate that proposed analysis and control scheme can deal with the negative effects of replay attack and ensure reliable vehicle dynamics performance.