Intelligent connected vehicle has the characteristics of CPS

vulnerable to the adverse impact of network attack in operation

then resulting in abnormal communication data interaction

and reducing driving safety. The path following dynamics model of intelligent connected vehicle and 2-DOF vehicle handling dynamics model are established. The information architecture for path following control system of vehicles is analyzed. Considering that there is a network attack in the system response

the state space equation of continuous system was discretized. A recursive state estimator based on linear quadratic estimation is designed. The influence of network attack on path following of intelligent connected vehicle

and the effect and robustness of state estimator on control for path following of vehicle under network attack are simulated. The results show that network attack will make the path following effect of intelligent connected vehicle worse. The state estimator can effectively improve the negative influence of network attack on vehicle tracking control. The state estimator shows good robustness with the difference of network attack degree λ and initial value of covariance P. This study can ensure the reliable interaction of data and information for intelligent connected vehicle under network attack

which is beneficial to improve the tracking performance of intelligent connected vehicle.