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。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Online monitoring method and system for braking abnormity/attack of automatic driving automobile


    Weitere Titelangaben:

    一种自动驾驶汽车制动异常/攻击在线监测方法及系统


    Beteiligte:
    ZHOU FENGJUN (Autor:in) / HAN BING (Autor:in) / ZHAO XIANHUA (Autor:in) / LI PENGCHAO (Autor:in) / WEI GUOLIANG (Autor:in) / XU YUAN (Autor:in) / LIU LU (Autor:in)

    Erscheinungsdatum :

    09.04.2021


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



    Braking abnormity monitoring method and device and electronic equipment

    LI HUBEN | Europäisches Patentamt | 2022

    Freier Zugriff

    Motorcade cooperative driving abnormity monitoring method and system

    BI QINGXIN / LI WENRUI / PENG RUI et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Vehicle emergency braking abnormity monitoring and closed-loop control method and system

    MA FAYUN / XU DONGCHAO / ZHU YOULONG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Service braking system meeting high-order automatic driving and automobile

    XIE JIAN / FU BIN / LIU YONGHONG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Automatic driving mine card motion state abnormity monitoring and early warning method

    LI FEI / ZHANG CHAOQI / ZHOU TAI et al. | Europäisches Patentamt | 2025

    Freier Zugriff