CN-121985409-A - Distributed co-location method and system for non-convex topology and DOS attack

CN121985409ACN 121985409 ACN121985409 ACN 121985409ACN-121985409-A

Abstract

The embodiment of the specification provides a distributed co-location method and system for non-convex topology and DOS attack, wherein the method comprises the steps of obtaining a plurality of communicable vehicles which are closest to a vehicle to be located, obtaining symbolized barycentric coordinates of the vehicle to be located relative to the plurality of communicable vehicles, iteratively updating current position information of the vehicle to be located based on last position information of the vehicle to be located and current position information of the plurality of communicable vehicles when a communication link is normal, obtaining position compensation based on the influence condition of the DOS attack on the communication link when the communication link is subjected to the DOS attack, and iteratively updating the current position information of the vehicle to be located based on the position compensation. The embodiment of the specification can provide reliable position sensing support for intelligent motorcades in a high-dynamic and weak communication guarantee environment.

Inventors

DENG HENG
LI DUHAO
LIU XUDONG
ZHANG LIGUO

Assignees

北京工业大学

Dates

Publication Date: 20260505
Application Date: 20260212

Claims (10)

1. A distributed co-location method facing non-convex topology and DOS attack is characterized by comprising the following steps: Acquiring a plurality of communicable vehicles closest to a vehicle to be positioned, wherein the communicable vehicles are not collinear; based on the relative distance between the vehicle to be positioned and each communicable vehicle and the relative distance between any two communicable vehicles, symbolic barycenter coordinates of the vehicle to be positioned relative to a plurality of communicable vehicles are obtained; When the communication links between the vehicle to be positioned and a plurality of communicable vehicles are normal, iteratively updating the current position information of the vehicle to be positioned based on the last position information of the vehicle to be positioned, the symbolized barycentric coordinates and the current position information of the plurality of communicable vehicles; when a communication link between the vehicle to be positioned and at least one communicable vehicle is subjected to DoS attack, position compensation is obtained based on the influence condition of the DoS attack on the communication link; And iteratively updating the current position information of the vehicle to be positioned based on the position compensation, the last position information of the vehicle to be positioned, the symbolized barycenter coordinates and the current position information of a plurality of communicable vehicles.
2. The method of claim 1, wherein the deriving a symbolic barycentric coordinate of the vehicle to be positioned relative to a plurality of communicable vehicles based on a relative distance between the vehicle to be positioned and each communicable vehicle, and a relative distance between any two communicable vehicles, further comprises: Obtaining an original barycenter coordinate of the vehicle to be positioned relative to each communicable vehicle based on the relative distance between the vehicle to be positioned and each communicable vehicle and the relative distance between any two communicable vehicles; Combining to obtain a symbol combination corresponding to the vehicle to be positioned according to the positive and negative attributes of each original barycentric coordinate; Matching the symbol combination corresponding to the vehicle to be positioned with the known symbol combination, and successfully obtaining a symbol coefficient vector of the vehicle to be positioned; Normalizing each original barycentric coordinate to obtain the geometric weight of the vehicle to be positioned relative to each communicable vehicle; And synthesizing the sign coefficient vector of the vehicle to be positioned and the geometric weight of the vehicle to be positioned relative to each communicable vehicle to obtain the sign barycenter coordinates of the vehicle to be positioned relative to a plurality of communicable vehicles.
3. The method according to claim 2, wherein when the symbol combination corresponding to the vehicle to be positioned matches the known symbol combination, the matching is unsuccessful: If the original barycentric coordinates of the vehicle to be positioned relative to one communicable vehicle are 0, judging whether the original barycentric coordinates of the vehicle to be positioned relative to other communicable vehicles are less than or equal to 1; if yes, the symbol coefficient vector of the vehicle to be positioned is an A1 vector; if not, an original barycentric coordinate is larger than 1, and the symbol coefficient vector of the vehicle to be positioned is obtained as an A2 vector or an A3 vector according to the magnitude relation between the original barycentric coordinate and other remaining barycentric coordinates; If the absolute value of the original barycentric coordinates of the vehicle to be positioned relative to one communicable vehicle is 1 and the absolute values of the original barycentric coordinates of the vehicle to be positioned relative to other communicable vehicles are not 0, judging whether a parallelogram condition is satisfied or not based on the relative distance between the vehicle to be positioned and each communicable vehicle and the relative distance between any two communicable vehicles; If yes, obtaining a symbol coefficient vector of the vehicle to be positioned as a B1 vector; If not, obtaining a symbol coefficient vector of the vehicle to be positioned as a B2 vector or a B3 vector based on the square of the relative distance between the vehicle to be positioned and each communicable vehicle.
4. The method of claim 1, wherein iteratively updating the current location information of the vehicle to be located based on the previous location information of the vehicle to be located, the symbolized barycentric coordinates, and the current location information of a plurality of the communicable vehicles further comprises: Iteratively updating the current position information of the vehicle to be positioned by the following formula: ; Wherein, the For the current position information of the vehicle to be positioned, For the last position information of the vehicle to be positioned, As a result of the damping factor, For symbolized barycentric coordinates of the vehicle to be positioned relative to any communicable vehicle, R characterizes any one of the communicable vehicles as current location information of the communicable vehicle.
5. The method of claim 1, wherein deriving the location compensation based on the effect of the DoS attack on the communication link further comprises: predicting the predicted position information of the vehicle to be positioned according to the historical position information of the vehicle to be positioned; Based on the blocking proportion of the communication link by the DoS attack, nonlinear self-adaptive compensation weight is obtained; and based on the compensation weight, the last position information of the vehicle to be positioned, and the predicted position information of the vehicle to be positioned, the position compensation is obtained.
6. The method of claim 5, wherein obtaining location compensation based on the compensation weight for the last location information of the vehicle to be located, the predicted location information of the vehicle to be located, further comprises: the position compensation is calculated by the following formula: ; Wherein, the For the purpose of the position compensation, In order to compensate for the weight, For the predicted position information of the vehicle to be positioned, Is the last position information of the vehicle to be positioned.
7. The method of claim 6, wherein iteratively updating the current location information of the vehicle to be located based on the location compensation, the symbolic barycentric coordinates, and the current location information of the plurality of communicable vehicles further comprises: Iteratively updating the current position information of the vehicle to be positioned by the following formula: ; Wherein, the For the current position information of the vehicle to be positioned, For the last position information of the vehicle to be positioned, As a result of the damping factor, For symbolized barycentric coordinates of the vehicle to be positioned relative to any communicable vehicle, Characterizing the state of the communication link, if the communication link is blocked by a DoS attack, 0, If the communication link is not blocked by DoS attack, Is a number of 1, and is not limited by the specification, For current location information between communicable vehicles, r characterizes any communicable vehicle, For position compensation.
8. A distributed co-location system oriented to a non-convex topology and DOS attack, the system comprising: the acquisition module is used for acquiring a plurality of communicable vehicles with the closest distance between the vehicle to be positioned; The determining module is used for obtaining symbolized barycenter coordinates of the vehicle to be positioned relative to a plurality of communicable vehicles based on the relative distance between the vehicle to be positioned and each communicable vehicle and the relative distance between any two communicable vehicles; The normal updating module is used for iteratively updating the current position information of the vehicle to be positioned based on the last position information of the vehicle to be positioned and the current position information of the plurality of communicable vehicles when the communication links between the vehicle to be positioned and the plurality of communicable vehicles are normal; The attack module is used for obtaining position compensation based on the influence condition of DoS attack on the communication link when the communication link between the vehicle to be positioned and at least one communicable vehicle is subjected to DoS attack; And the attack updating module is used for iteratively updating the current position information of the vehicle to be positioned based on the position compensation, the last position information of the vehicle to be positioned, the symbolized barycenter coordinates and the current position information of a plurality of communicable vehicles.
9. A computer device comprising a memory, a processor, and a computer program stored on the memory, characterized in that the computer program, when being executed by the processor, implements the steps of the method according to any of claims 1-7.
10. A computer readable storage medium having stored thereon a computer program, which, when run by a processor of a computer device, implements the steps of the method of any of claims 1-7.

Description

Distributed co-location method and system for non-convex topology and DOS attack Technical Field The embodiment of the specification relates to the technical field of vehicle cooperative sensing and positioning in an intelligent traffic system, in particular to a distributed cooperative positioning method and system for non-convex topology and DOS attack. Background In the development of the internet of vehicles and a cooperative intelligent transportation system, multiple vehicles share state information through vehicle-to-vehicle communication to realize cooperative sensing and positioning, and the intelligent transportation system is a core technology for improving the reliability and safety of an automatic driving system. However, in an actual dynamic road environment, vehicle co-location faces two serious challenges, namely, a communication network security threat, especially a periodically initiated denial of service attack, which causes interruption, delay or loss of key state information transmission by actively blocking a communication link between vehicles, so as to seriously destroy an information fusion foundation of a co-location system, possibly causing location failure or estimation divergence, and a dynamic complex space topology, wherein vehicles possibly form arbitrary space distribution in the driving process, and a traditional positioning method based on barycentric coordinates generally requires that a vehicle to be positioned must be located in a convex hull formed by neighboring vehicles (especially a leader vehicle serving as an anchor point), and the strong assumption cannot be satisfied in an actual dynamic vehicle team, so that the application range of the algorithm is greatly limited. Currently, the mainstream methods can be divided into the following categories for distributed multi-vehicle co-location. One type is a distributed estimation method based on filtering theory, such as distributed kalman filtering and its variants, and such a method generally assumes that a communication link is stable and noise characteristics are known, and lacks an effective online compensation and recovery mechanism for bursty and periodic communication interruption caused by DoS attack. The other is a positioning method based on graph optimization or multilateral measurement, which performs well in static or slowly-varying networks, but has high calculation complexity and difficult guarantee of real-time performance under the complex scene of coupling dynamic topology and communication attack. In recent years, the distributed iterative positioning method based on the barycentric coordinates is widely focused on advantages of small communication traffic, no need of a central node and the like. The classical distributed iterative positioning algorithm and its modified version can realize the position estimation of the whole fleet with only a small number of anchor vehicles of known positions by representing the global position of the vehicle as a weighted sum of several neighbor positions. However, the existing methods based on barycentric coordinates still have significant drawbacks in coping with the two challenges, namely, firstly, in terms of topological adaptability, most of the existing methods strictly limit that a non-anchor vehicle must be located inside a convex hull formed by anchor points, or can only deal with specific non-convex situations, and lack a set of general symbol coefficient systematic solving and updating mechanisms capable of handling that the vehicle is located at any position outside the convex hull (including the edge situations such as a connecting line or a specific parallel configuration). Secondly, in terms of robustness against attacks, most of the existing studies assume ideal communication or consider only random packet loss, and lack a targeted defense strategy for purposeful and periodic DoS attacks. During the attack period, the vehicle cannot acquire the latest state of the neighbor, so that iterative update is stopped, and errors cannot be converged. Few researches introduce event triggering or finite memory filtering to deal with attacks, but the historical data time sequence correlation of vehicle motion is not fully utilized to conduct intelligent prediction and compensation, the recovery speed in the attack intermittent period is slow, and the overall positioning continuity is poor. Therefore, an innovative distributed co-location method is urgently needed, which can solve the problems of complex spatial distribution of vehicle dynamics and DoS attack resistance, and thus provide reliable location-aware support for intelligent motorcades in high-dynamic and weak communication guarantee environments. Disclosure of Invention The embodiment of the specification aims to provide a distributed co-location method and system for non-convex topology and DOS attack so as to provide reliable location-aware support for intelligent motorcades in a high-dynamic and w