The invention relates to an online monitoring method and system for braking abnormity/attack of an automatic driving automobile. The method comprises the following steps: estimating a vehicle running state estimated value and an estimated residual value by utilizing a vehicle kinetic model based on an extended Kalman filtering algorithm; constructing an attack/anomaly detector according to the estimated residual value; inputting the vehicle sensor data into an attack/exception detector, judging whether the attack/exception detector triggers an alarm or not, if so, discarding the vehicle sensor data collected in real time, and converting the current mode of the brake control system into a driver takeover module; if not, judging whether the difference value between the estimated value of the vehicle running state and the actual input value exceeds a critical threshold value or not, if yes, determining that the brake control system is attacked, and converting the current mode of the brake control system into a driver takeover module; and if not, determining that the brake control system is not attacked. The method can determine that the sensor is abnormal or attacked, and isolate the sensor information.
本发明涉及一种自动驾驶汽车制动异常/攻击在线监测方法及系统。该方法包括:基于扩展卡尔曼滤波算法,利用车辆动力学模型估计车辆运行状态估计值以及估计残差值;根据估计残差值构建攻击/异常检测器;将车辆传感器数据输入攻击/异常检测器内,判断攻击/异常检测器是否触发报警,若是,丢弃实时采集的车辆传感器数据,并将制动控制系统的当前模式转换为驾驶员接管模块;若否,判断车辆运行状态估计值与实际输入值的差值是否超出临界阈值,若是,确定制动控制系统受到攻击,并将制动控制系统的当前模式转换为驾驶员接管模块;若否,确定制动控制系统未受到攻击。本发明能够断定出传感器异常或受到攻击,隔离该传感器信息。
Online monitoring method and system for braking abnormity/attack of automatic driving automobile
一种自动驾驶汽车制动异常/攻击在线监测方法及系统
2021-04-09
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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