Consistency control method for intelligent connected vehicle platoon based on dynamic trust evaluation under the zero-trust framework

Coordination control of vehicle platoons has received extensive attention in the research of intelligent connected vehicles. With the increasing complexity of communication environments and the rise in network attacks, the security and reliability of existing coordination control methods based on a fully trusted framework are facing growing challenges. As a result, the zero-trust framework, based on the principle of “never trust, always verify,” has emerged to ensure the security and reliability of communication links between intelligent terminals. However, the impact of the coordination of vehicle platoons under the zero-trust framework still requires further research and exploration. This paper makes the impact of the zero-trust framework on vehicle control explicit by defining the trust level of each vehicle and proposes a platoon control scheme. By integrating communication trust and physical trust between vehicles, the trust level of each vehicle is evaluated. Based on this, a dynamic trust update scheme based on repeated games is proposed to mitigate the impact of selfish behavior on trust evaluation during the trust assessment process, thereby preventing trust distortion. The designed trust values are incorporated into the platoon control objective through the spacing strategy, which is adjusted under the combined influence of trust levels and vehicle speed. This ensures safe and consistent control of the vehicle platoon. The effectiveness and reliability of the proposed method are verified through simulations.