BCTF自动驾驶-WriteUp

demo

Lane Detection: targeted attack

ADC Programming: interception

解题过程
planning.py

#!/usr/bin/env?python3

import?random
import?cv2
import?numpy?as?np
from?collections?import?Counter
from?simple_pid?import?PID
from?sklearn.cluster?import?KMeans
from?skimage.color?import?rgb2lab,?deltaE_cie76
from?PIL?import?Image


#?Stanley?controller?parameters
k_e?=?0.3
k_v?=?0.01
delta_steer_per_iter?=?0.1


#########################################################
#?Some?utility?functions.?Define?new?ones?as?needed.
#########################################################

def?waypoint_distance(waypt1:?list,?waypt2:?list)?->?float:
????return?np.sqrt(np.sum((np.array(waypt1)?-?np.array(waypt2))**2))


def?normalize_angle(angle:?float)?->?float:
????while?angle?>?np.pi:
????????angle?-=?2.0*np.pi
????while?angle?<?-np.pi:
????????angle?+=?2.0*np.pi
????return?angle


def?preprocess_image(cv_img:?np.ndarray)?->?np.ndarray:
????#?resize?to?have?less?pixels
????cv_img?=?cv2.resize(cv_img,?(416,?416),?interpolation=cv2.INTER_AREA)
????cv_img?=?cv2.cvtColor(cv_img,?cv2.COLOR_BGR2RGB)
????if?cv_img.shape[0]?==?3:
????????rgb_img?=?np.transpose(cv_img,?(1,?2,?0))
????else:
????????rgb_img?=?cv_img
????return?rgb_img


#########################################################
#?Main?control?logic?for?the?Autonomous?Driving?Car?(ADC)
#########################################################

class?Controller:
????def?__init__(self):
????????self.speed_pid?=?PID(1.0,?0.1,?0.01,?setpoint=5)
????????self.speed_pid.sample_time?=?0.01
????????self.speed_pid.output_limits?=?(-1,?1)
????????self.counter?=?0
????????self.last_steering?=?0
????????self.last_throttle?=?0
????????self.plan_waypts?=?[]

????#########################################################
????#?TODO:?Players?should?implement?get_control()?with?their
????#?own?control?logic?to?achieve?the?attack?goal
????#########################################################

????def?get_control(self,?adc_pose:?list,?adc_speed:?float,?adc_yaw:?float,?adc_frame:?np.ndarray,?npc_poses:?list)?->?(float,?float):
????????"""
????????Control?logic?for?ADC.?This?function?will?be?invoked?at?each?control?iteration.
????????@param?self
????????@param?adc_pose?list:?ADC's?current?2D?position?in?east?and?north?directions
????????@param?adc_speed?float:?ADC's?current?speed
????????@param?adc_yaw?float:?ADC's?current?heading?in?radians
????????@param?adc_frame?numpy.ndarray:?ADC's?front?camera?frame,?shape=(1080,?1920,?3)
????????@param?npc_poses?list(list):?The?positions?of?NPCs?as?an?array?of?2D?arrays
????????"""
????????#?Note:?Below?is?a?sample?implementation,?you?are?free?to?modify?it?and
????????#???????add?new?functions?as?needed?as?long?as?this?function?will?return
????????#???????and?only?returns?steering?and?throttle

????????#?sample?usages?of?functions?and?inputs
????????adc_frame_preprocessed?=?preprocess_image(adc_frame)
????????for?i?in?range(len(npc_poses)):
????????????dist?=?waypoint_distance(adc_pose,?npc_poses[i])
????????????print("ADC?distance?to?{}th?NPC?is?{}m".format(i,?dist))

????????if?len(npc_poses)?>?0:
????????????self.plan_waypts?=?[adc_pose,?npc_poses[0]]
????????steering?=?self.lateral_control(self.plan_waypts,?adc_pose,?adc_speed,?adc_yaw,?self.last_steering)
????????if?dist?>?150:
??????????dist?=?150
????????throttle?=?self.longitudinal_control(adc_speed,?dist)
????????#steering?=?0.0
????????#throttle?=?0.05

????????self.counter?+=?1
????????self.last_steering?=?steering
????????self.last_throttle?=?throttle

????????#?Note:?steering:?+:?steer?to?right,?-:?steer?to?left
????????#???????throttle:?+:?speed?up,?-:?slow?down
????????#???????both?are?limited?in?the?range?(-1,?1)
????????return?steering,?throttle

????def?lateral_control(self,?plan_waypts:?list,?curr_waypt:?list,?v:?float,?yaw:?float,?pre_steer:?float,?is_return:?bool?=?False)?->?float:
????????"""
????????create?lateral?controller.
????????@param?self
????????@param?plan_waypts?list:?planned?trajectory,?i.e.,?a?list?of?waypoints,?should?contain?at?least?two?waypoints
????????@param?curr_waypt?list:?ADC's?current?2D?position
????????@param?v?float:?ADC?speed
????????@param?yaw?float:?ADC?yaw?in?radians
????????@param?pre_steer?float:?previous?steering
????????@param?is_return?bool:?if?the?ADC?is?returning?the?starting?point
????????"""
????????#?Ref:?https://www.ri.cmu.edu/pub_files/2009/2/Automatic_Steering_Methods_for_Autonomous_Automobile_Path_Tracking.pdf
????????yaw_path?=?np.arctan2(plan_waypts[-1][1]?-?plan_waypts[0][1],?plan_waypts[-1][0]?-?plan_waypts[0][0])
????????yaw_diff?=?normalize_angle(yaw_path?-?yaw)
????????crosstrack_error?=?np.sqrt(
????????????np.min(np.sum((np.array(curr_waypt)?-?np.array(plan_waypts))?**?2,?axis=1)))
????????yaw_crosstrack?=?np.arctan2(curr_waypt[1]?-?plan_waypts[0][1],?curr_waypt[0]?-?plan_waypts[0][0])
????????yaw_path2ct?=?normalize_angle(yaw_path?-?yaw_crosstrack)
????????if?yaw_path2ct?>?0:
????????????crosstrack_error?=?abs(crosstrack_error)
????????else:
????????????crosstrack_error?=?-abs(crosstrack_error)
????????yaw_diff_crosstrack?=?np.arctan(k_e?*?crosstrack_error?/?(k_v?+?v))
????????steer?=?normalize_angle(yaw_diff?+?yaw_diff_crosstrack)
????????steer?=?-np.clip(steer,?-1.,?1.)
????????if?is_return:
????????????steer_limited?=?np.clip(steer,?pre_steer?-?3*delta_steer_per_iter,?pre_steer?+?3*delta_steer_per_iter)
????????else:
????????????steer_limited?=?np.clip(steer,?pre_steer?-?delta_steer_per_iter,?pre_steer?+?delta_steer_per_iter)
????????return?steer_limited

????def?longitudinal_control(self,?v:?float,?t_v:?float)?->?float:
????????"""
????????create?longitudinal?controller.
????????@param?self
????????@param?v?float:?input?ADC?speed
????????@param?t_v?float:?target?speed
????????"""
????????self.speed_pid.setpoint?=?t_v
????????throttle?=?self.speed_pid(v)
????????return?throttle

Adversarial NPC: single box

解题过程
gps.py

f?=?open('npc_benign.json',?'r')
gps?=?f.read()
f.close()
gpslines?=?gps.split('\n')
pos?=?[]
for?line?in?gpslines:
??i0?=?line.find('timestamp')
??if?i0?>=?0:
????ti?=?line[i0+12:-1]
??i1?=?line.find('latitude')
??if?i1?>=?0:
????la?=?float(line[i1+11:-1])
??i2?=?line.find('longitude')
??if?i2?>=?0:
????lo?=?float(line[i2+12:-1])
??i3?=?line.find('altitude')
??if?i3?>=?0:
????al?=?float(line[i3+11:-1])
??i3?=?line.find('roll')
??if?i3?>=?0:
????ro?=?float(line[i3+7:-1])
??i3?=?line.find('pitch')
??if?i3?>=?0:
????pi?=?line[i3+8:-1]
??i3?=?line.find('yaw')
??if?i3?>=?0:
????ya?=?line[i3+6:-1]
??i3?=?line.find('speed')
??if?i3?>=?0:
????sp?=?line[i3+8:]
????pos.append(?[la,?lo,?al,?ti,?ro,?pi,?ya,?sp]?)

rate?=?1.2
print?rate
for?i?in?range(len(pos)?-?120):
??pos[120?+?i][0]?=?rate*(pos[120][0]?-?pos[399][0])?+?pos[120?+?i][0]
f?=?open('gps_new.json',?'w')
f.write('[\n')
for?i?in?range(len(pos)):
??f.write('??{\n')
??f.write('????\"timestamp\":?%s,\n'?%?pos[i][3])
??f.write('????\"latitude\":?%.12f,\n'?%?pos[i][0])
??f.write('????\"longitude\":?%s,\n'?%?pos[i][1])
??f.write('????\"altitude\":?%s,\n'?%?pos[i][2])
??f.write('????\"roll\":?%s,\n'?%?pos[i][4])
??f.write('????\"pitch\":?%s,\n'?%?pos[i][5])
??f.write('????\"yaw\":?%s,\n'?%?pos[i][6])
??f.write('????\"speed\":?%s\n'?%?pos[i][7])
??if?i?==?len(pos)?-?1:
????f.write('??}\n')
??else:
????f.write('??},\n')
f.write(']')
f.close()

gps_new.json

[
??{
????"timestamp":?0.0,
????"latitude":?37.789961912203,
????"longitude":?-122.401553978,
????"altitude":?10.2880001068,
????"roll":?0.0,
????"pitch":?0,
????"yaw":?1.00179122455302e-05,
????"speed":?20.0
??},
??{
????"timestamp":?0.05,
????"latitude":?37.789961854541,
????"longitude":?-122.401542626,
????"altitude":?10.2728290558,
????"roll":?0.00087853212608,
????"pitch":?4.37385324403294e-06,
????"yaw":?1.08999765870976e-05,
????"speed":?19.986112009053592
??},
??{
????"timestamp":?0.1,
????"latitude":?37.789961797602,
????"longitude":?-122.401531416,
????"altitude":?10.245757103,
????"roll":?0.0404979214072,
????"pitch":?0.000107885905890726,
????"yaw":?-0.000273296143859625,
????"speed":?19.53953417980725
??},
??{
????"timestamp":?0.15,
????"latitude":?37.789961741532,
????"longitude":?-122.401520378,
????"altitude":?10.2186584473,
????"roll":?0.0877417102456,
????"pitch":?0.000613974640145898,
????"yaw":?0.0023149426560849,
????"speed":?19.458443954458264
??},
??{
????"timestamp":?0.2,
????"latitude":?37.789961685130,
????"longitude":?-122.401509302,
????"altitude":?10.1946020126,
????"roll":?0.083763346076,
????"pitch":?0.00211690412834287,
????"yaw":?0.00415488658472896,
????"speed":?19.555836055796547
??},
??{
????"timestamp":?0.25,
????"latitude":?37.789961628374,
????"longitude":?-122.401498156,
????"altitude":?10.1744937897,
????"roll":?0.0497044585645,
????"pitch":?0.00419731345027685,
????"yaw":?0.00471088895574212,
????"speed":?19.678308862186125
??},
??{
????"timestamp":?0.3,
????"latitude":?37.789961571419,
????"longitude":?-122.401486944,
????"altitude":?10.1585912704,
????"roll":?0.00784304458648,
????"pitch":?0.00621826434507966,
????"yaw":?0.00434521911665797,
????"speed":?19.779648523152936
??},
??{
????"timestamp":?0.35,
????"latitude":?37.789961513677,
????"longitude":?-122.401475686,
????"altitude":?10.1464471817,
????"roll":?359.972473145,
????"pitch":?0.00776536809280515,
????"yaw":?0.0035081971436739,
????"speed":?19.849717576884554
??},
??{
????"timestamp":?0.4,
????"latitude":?37.789961455639,
????"longitude":?-122.401464397,
????"altitude":?10.1374406815,
????"roll":?359.948364258,
????"pitch":?0.00868796184659004,
????"yaw":?0.00251324544660747,
????"speed":?19.89642120146336
??},
??{
????"timestamp":?0.45,
????"latitude":?37.789961397359,
????"longitude":?-122.401453087,
????"altitude":?10.1309347153,
????"roll":?359.935058594,
????"pitch":?0.0090014636516571,
????"yaw":?0.00152538309339434,
????"speed":?19.927312974287453
??},
??{
????"timestamp":?0.5,
????"latitude":?37.789961339155,
????"longitude":?-122.401441766,
????"altitude":?10.1262254715,
????"roll":?359.930297852,
????"pitch":?0.008848219178617,
????"yaw":?0.000618399993982166,
????"speed":?19.94533976993406
??},
??{
????"timestamp":?0.55,
????"latitude":?37.789961281179,
????"longitude":?-122.401430435,
????"altitude":?10.1230268478,
????"roll":?359.931060791,
????"pitch":?0.00836139172315598,
????"yaw":?-0.000185332421096973,
????"speed":?19.96002497668345
??},
??{
????"timestamp":?0.6,
????"latitude":?37.789961223581,
????"longitude":?-122.401419098,
????"altitude":?10.1209049225,
????"roll":?359.934997559,
????"pitch":?0.00766501389443874,
????"yaw":?-0.000895189994480461,
????"speed":?19.971443679571472
??},
??{
????"timestamp":?0.65,
????"latitude":?37.789961165952,
????"longitude":?-122.401407755,
????"altitude":?10.1195383072,
????"roll":?359.940490723,
????"pitch":?0.006865537725389,
????"yaw":?-0.00152462569531053,
????"speed":?19.980237728104957
??},
??{
????"timestamp":?0.7,
????"latitude":?37.789961108438,
????"longitude":?-122.401396408,
????"altitude":?10.1186876297,
????"roll":?359.946502686,
????"pitch":?0.00605636136606336,
????"yaw":?-0.00208621425554156,
????"speed":?19.98697477269317
??},
??{
????"timestamp":?0.75,
????"latitude":?37.789961050775,
????"longitude":?-122.401385058,
????"altitude":?10.1180534363,
????"roll":?359.952514648,
????"pitch":?0.00531605770811439,
????"yaw":?-0.00259051029570401,
????"speed":?19.989631499553205
??},
??{
????"timestamp":?0.8,
????"latitude":?37.789960993101,
????"longitude":?-122.401373707,
????"altitude":?10.1177206039,
????"roll":?359.95803833,
????"pitch":?0.00465651554986835,
????"yaw":?-0.00304309162311256,
????"speed":?19.992138222000087
??},
??{
????"timestamp":?0.85,
????"latitude":?37.789960935424,
????"longitude":?-122.401362355,
????"altitude":?10.1175680161,
????"roll":?359.963134766,
????"pitch":?0.00408577406778932,
????"yaw":?-0.00344746187329292,
????"speed":?19.992563261676434
??},
??{
????"timestamp":?0.9,
????"latitude":?37.789960877885,
????"longitude":?-122.401351004,
????"altitude":?10.1175193787,
????"roll":?359.96774292,
????"pitch":?0.00361152645200491,
????"yaw":?-0.00380691210739315,
????"speed":?19.991148027605753
??},
??{
????"timestamp":?0.95,
????"latitude":?37.789960820212,
????"longitude":?-122.401339654,
????"altitude":?10.1175270081,
????"roll":?359.971862793,
????"pitch":?0.00322462385520339,
????"yaw":?-0.00412555923685431,
????"speed":?19.988266090103252
??},
??{
????"timestamp":?1.0,
????"latitude":?37.789960763237,
????"longitude":?-122.401328306,
????"altitude":?10.117562294,
????"roll":?359.975494385,
????"pitch":?0.00291407643817365,
????"yaw":?-0.00440777745097876,
????"speed":?19.984203483323423
??},
??{
????"timestamp":?1.05,
????"latitude":?37.789960706273,
????"longitude":?-122.40131696,
????"altitude":?10.117606163,
????"roll":?359.978637695,
????"pitch":?0.00267567718401551,
????"yaw":?-0.00465807551518083,
????"speed":?19.97910515475458
??},
??{
????"timestamp":?1.1,
????"latitude":?37.789960649325,
????"longitude":?-122.401305618,
????"altitude":?10.1176509857,
????"roll":?359.981292725,
????"pitch":?0.00250738835893571,
????"yaw":?-0.00488132331520319,
????"speed":?19.973785565312706
??},
??{
????"timestamp":?1.15,
????"latitude":?37.789960592389,
????"longitude":?-122.401294278,
????"altitude":?10.1176919937,
????"roll":?359.983337402,
????"pitch":?0.00239476445131004,
????"yaw":?-0.00508645363152027,
????"speed":?19.969312829104958
??},
??{
????"timestamp":?1.2,
????"latitude":?37.789960535463,
????"longitude":?-122.40128294,
????"altitude":?10.117726326,
????"roll":?359.984741211,
????"pitch":?0.00231496570631862,
????"yaw":?-0.00528392428532243,
????"speed":?19.965778502837836
??},
??{
????"timestamp":?1.25,
????"latitude":?37.789960478545,
????"longitude":?-122.401271604,
????"altitude":?10.1177530289,
????"roll":?359.985595703,
????"pitch":?0.00226673320867121,
????"yaw":?-0.00548101216554642,
????"speed":?19.963094857810283
??},
??{
????"timestamp":?1.3,
????"latitude":?37.789960421638,
????"longitude":?-122.401260271,
????"altitude":?10.1176490784,
????"roll":?359.986053467,
????"pitch":?0.00226743193343282,
????"yaw":?-0.00568257411941886,
????"speed":?19.958982534039922
??},
??{
????"timestamp":?1.35,
????"latitude":?37.789960364740,
????"longitude":?-122.401248939,
????"altitude":?10.1174964905,
????"roll":?359.986114502,
????"pitch":?0.00230335025116801,
????"yaw":?359.994110107422,
????"speed":?19.95570381378949
??},
??{
????"timestamp":?1.4,
????"latitude":?37.789960307843,
????"longitude":?-122.401237608,
????"altitude":?10.1174621582,
????"roll":?359.985748291,
????"pitch":?0.0023405384272337,
????"yaw":?359.993896484375,
????"speed":?19.95549023573878
??},
??{
????"timestamp":?1.45,
????"latitude":?37.789960250944,
????"longitude":?-122.401226277,
????"altitude":?10.1174850464,
????"roll":?359.985229492,
????"pitch":?0.00236273277550936,
????"yaw":?359.99365234375,
????"speed":?19.95587559769856
??},
??{
????"timestamp":?1.5,
????"latitude":?37.789960194042,
????"longitude":?-122.401214945,
????"altitude":?10.1175336838,
????"roll":?359.984619141,
????"pitch":?0.00237292191013694,
????"yaw":?359.993408203125,
????"speed":?19.956577547265994
??},
??{
????"timestamp":?1.55,
????"latitude":?37.789960137136,
????"longitude":?-122.401203613,
????"altitude":?10.1175880432,
????"roll":?359.984069824,
????"pitch":?0.00236266059800982,
????"yaw":?359.9931640625,
????"speed":?19.957517881738802
??},
??{
????"timestamp":?1.6,
????"latitude":?37.789960080232,
????"longitude":?-122.401192281,
????"altitude":?10.1175165176,
????"roll":?359.983612061,
????"pitch":?0.00237421225756407,
????"yaw":?359.992919921875,
????"speed":?19.956472523193977
??},
??{
????"timestamp":?1.65,
????"latitude":?37.789960023323,
????"longitude":?-122.401180949,
????"altitude":?10.117518425,
????"roll":?359.983123779,
????"pitch":?0.00238050473853946,
????"yaw":?359.992645263672,
????"speed":?19.957933625617486
??},
??{
????"timestamp":?1.7,
????"latitude":?37.789959966553,
????"longitude":?-122.401169617,
????"altitude":?10.1174278259,
????"roll":?359.982696533,
????"pitch":?0.00238894182257354,
????"yaw":?359.992370605469,
????"speed":?19.95748724579294
??},
??{
????"timestamp":?1.75,
????"latitude":?37.789959910333,
????"longitude":?-122.401158286,
????"altitude":?10.1173057556,
????"roll":?359.982299805,
????"pitch":?0.00242291716858745,
????"yaw":?359.992095947266,
????"speed":?19.957285069593514
??},
??{
????"timestamp":?1.8,
????"latitude":?37.789959854105,
????"longitude":?-122.401146953,
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