The invention discloses a lane-changing scene automatic driving strategy and system considering adversarial attack, and the method comprises the steps: obtaining the state information of an automatic driving vehicle at the current moment, and the behavior modes of other vehicles in the same scene with the automatic driving vehicle, and enabling the state information and the behavior modes to serve as adversarial agents; performing Markov game on the automatic driving vehicle and the antagonistic agent to obtain an execution action of the automatic driving vehicle; determining a decision result of the vehicle based on the output execution action; selecting a corresponding waypoint according to the decision result, the current running speed and the distance to the front vehicle; and based on the waypoint, generating a driving track of the vehicle by using a PID controller and outputting corresponding motion control information. According to the method, the lane changing operation is completed under the condition that the automatic driving vehicle is attacked, and the vehicle decision is detected by generating a plurality of antagonistic agents; retraining the autonomous vehicle to defend against adversarial attacks and enhance the robustness of its decision; the two steps are repeated to enhance the robustness of the system.
本发明公开了一种考虑对抗攻击的换道场景自动驾驶策略及系统,包括:获取自动驾驶车辆当前时刻的状态信息,以及与自动驾驶车辆处于同一场景的其他车辆的行为模式,作为对抗性智能体;对自动驾驶车辆与对抗性智能体进行马尔可夫博弈,得到自动驾驶车辆执行动作;基于输出的执行动作确定车辆的决策结果;根据决策结果、当前运行速度和与前车的距离,选择对应的航点;基于航点,利用PID控制器生成车辆的行驶轨迹并输出对应的运动控制信息。本发明实现在自动驾驶车辆被攻击的情况下完成换道操作,通过生成多个对抗性智能体以检测车辆决策;重新训练自动驾驶车辆以防御对抗性攻击并增强其决策的鲁棒性;重复这两个步骤以增强系统鲁棒性。
Lane changing scene automatic driving strategy and system considering adversarial attack
一种考虑对抗攻击的换道场景自动驾驶策略及系统
2024-11-22
Patent
Electronic Resource
Chinese
IPC: | 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 |
Automatic accurate lane changing system and lane changing method for double-vehicle scene
European Patent Office | 2023
|Dangerous lane changing scene generalization generation method and system for automatic driving test
European Patent Office | 2023
|European Patent Office | 2024
|Intelligent lane changing method for automatic driving scene, related device, medium and program
European Patent Office | 2023
|Automatic driving lane changing method for conical barrel road closure scene and vehicle
European Patent Office | 2024
|