汽车功能安全:面向敏感指令攻击场景的自主驾驶车辆路径规划风险缓解控制

Translated title of the contribution: Automotive Functional Safety: Risk Mitigation Control of Path Planning for Autonomous Vehicles towards Sensitive Command Attack Scenarios

Chen Lin, Hongqian Wei*, Wei Jing, Youtong Zhang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

A risk mitigation control strategy for autonomous driving vehicles is proposed based on the state decoupling and real-time model predictive control(MPC) to address the problem of path planning failure and tracking instability resulting from sensitive command attacks. Firstly, the potential risks in the lateral, longitudinal, and heading states are decoupled to design network risk index and network block risk index. These indices quantitatively assess the risk of sensitive command attacks of an autonomous vehicle. Secondly, the network risk index is introduced into the local path planner based on MPC, which real-time modifies the penalty functions and plan the locally optimal reference path with consideration of the dynamic network attack risks. Additionally, a threshold-driven redundant bus switching mechanism is added to the trajectory tracking layer to mitigate the harmful effects of sensitive command attacks on vehicle control ability. Finally, three common scenarios of sensitive command attack sets are used to validate the effectiveness of the proposed strategy. The results show that the proposed strategy can mitigate approximately 31% of sudden speed changes and prevent longitudinal driving risk and lateral instability in the scenarios of acceleration and braking command attacks compared with the non-mitigated scheme. Furthermore, for steering command attacks, the proposed strategy can halt the incorrect steering process and effectively prevent collision accidents.

Translated title of the contributionAutomotive Functional Safety: Risk Mitigation Control of Path Planning for Autonomous Vehicles towards Sensitive Command Attack Scenarios
Original languageChinese (Traditional)
Pages (from-to)302-316
Number of pages15
JournalJixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering
Volume60
Issue number10
DOIs
Publication statusPublished - May 2024

Cite this