BCTF自动驾驶-WriteUp

百家 作者:Chamd5安全团队 2021-08-08 08:16:49

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, (416416), 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, (120))
    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(1.00.10.01, setpoint=5)
        self.speed_pid.sample_time = 0.01
        self.speed_pid.output_limits = (-11)
        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,
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    "speed"20.000622211363908
  },
  {
    "timestamp"17.55,
    "latitude"37.789978992087,
    "longitude"-122.397569993,
    "altitude"10.1177978516,
    "roll"359.983001709,
    "pitch"0.00222520320676267,
    "yaw"359.907745361328,
    "speed"20.000614723196836
  },
  {
    "timestamp"17.6,
    "latitude"37.789978948458,
    "longitude"-122.397558637,
    "altitude"10.1177978516,
    "roll"359.983001709,
    "pitch"0.00223093805834651,
    "yaw"359.907501220703,
    "speed"20.00060724159069
  },
  {
    "timestamp"17.65,
    "latitude"37.789978904827,
    "longitude"-122.39754728,
    "altitude"10.1177978516,
    "roll"359.983001709,
    "pitch"0.00223053386434913,
    "yaw"359.9072265625,
    "speed"20.000590217249567
  },
  {
    "timestamp"17.7,
    "latitude"37.789978861195,
    "longitude"-122.397535923,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223054806701839,
    "yaw"359.906982421875,
    "speed"20.000582736452376
  },
  {
    "timestamp"17.75,
    "latitude"37.789978817562,
    "longitude"-122.397524566,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223427941091359,
    "yaw"359.906707763672,
    "speed"20.000563805009875
  },
  {
    "timestamp"17.8,
    "latitude"37.789978773927,
    "longitude"-122.397513209,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.0022313327062875,
    "yaw"359.906463623047,
    "speed"20.000546787760037
  },
  {
    "timestamp"17.85,
    "latitude"37.789978730292,
    "longitude"-122.397501852,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223175506107509,
    "yaw"359.906219482422,
    "speed"20.000529770361204
  },
  {
    "timestamp"17.9,
    "latitude"37.789978686656,
    "longitude"-122.397490495,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223246612586081,
    "yaw"359.905944824219,
    "speed"20.00050893293071
  },
  {
    "timestamp"17.95,
    "latitude"37.789978643019,
    "longitude"-122.397479139,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223644892685115,
    "yaw"359.905700683594,
    "speed"20.000484287047968
  },
  {
    "timestamp"18.0,
    "latitude"37.789978599381,
    "longitude"-122.397467782,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223346636630595,
    "yaw"359.905426025391,
    "speed"20.000459635483754
  },
  {
    "timestamp"18.05,
    "latitude"37.789978555743,
    "longitude"-122.397456425,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223336229100823,
    "yaw"359.905181884766,
    "speed"20.000434990379066
  },
  {
    "timestamp"18.1,
    "latitude"37.789978512240,
    "longitude"-122.397445069,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00222995225340128,
    "yaw"359.904907226563,
    "speed"20.000421783557872
  },
  {
    "timestamp"18.15,
    "latitude"37.789978469287,
    "longitude"-122.397433712,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223004445433617,
    "yaw"359.904663085938,
    "speed"20.000408583901635
  },
  {
    "timestamp"18.2,
    "latitude"37.789978426332,
    "longitude"-122.397422355,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223068031482399,
    "yaw"359.904388427734,
    "speed"20.000393470604145
  },
  {
    "timestamp"18.25,
    "latitude"37.789978383377,
    "longitude"-122.397410999,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223187124356627,
    "yaw"359.904144287109,
    "speed"20.000378363887325
  },
  {
    "timestamp"18.3,
    "latitude"37.789978340420,
    "longitude"-122.397399642,
    "altitude"10.1177988052,
    "roll"359.983032227,
    "pitch"0.00223335647024214,
    "yaw"359.903869628906,
    "speed"20.00036325140071
  },
  {
    "timestamp"18.35,
    "latitude"37.789978297462,
    "longitude"-122.397388285,
    "altitude"10.1177988052,
    "roll"359.983032227,
    "pitch"0.00223472039215267,
    "yaw"359.903625488281,
    "speed"20.000348143906695
  },
  {
    "timestamp"18.4,
    "latitude"37.789978254504,
    "longitude"-122.397376928,
    "altitude"10.1177988052,
    "roll"359.983032227,
    "pitch"0.00223277066834271,
    "yaw"359.903350830078,
    "speed"20.00033303212198
  },
  {
    "timestamp"18.45,
    "latitude"37.789978211544,
    "longitude"-122.397365572,
    "altitude"10.1177988052,
    "roll"359.983032227,
    "pitch"0.00223416718654335,
    "yaw"359.903106689453,
    "speed"20.000317926640882
  },
  {
    "timestamp"18.5,
    "latitude"37.789978168583,
    "longitude"-122.397354215,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223243981599808,
    "yaw"359.90283203125,
    "speed"20.000306631533466
  },
  {
    "timestamp"18.55,
    "latitude"37.789978125621,
    "longitude"-122.397342859,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223423959687352,
    "yaw"359.902587890625,
    "speed"20.000289619836064
  },
  {
    "timestamp"18.6,
    "latitude"37.789978082659,
    "longitude"-122.397331502,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223296275362372,
    "yaw"359.902313232422,
    "speed"20.00027260210313
  },
  {
    "timestamp"18.65,
    "latitude"37.789978039696,
    "longitude"-122.397320146,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223173177801073,
    "yaw"359.902069091797,
    "speed"20.00025940602324
  },
  {
    "timestamp"18.7,
    "latitude"37.789977996731,
    "longitude"-122.397308789,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223068334162235,
    "yaw"359.901824951172,
    "speed"20.000246210273435
  },
  {
    "timestamp"18.75,
    "latitude"37.789977953766,
    "longitude"-122.397297432,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00222984119318426,
    "yaw"359.901550292969,
    "speed"20.00023300875237
  },
  {
    "timestamp"18.8,
    "latitude"37.789977910799,
    "longitude"-122.397286076,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00222929939627647,
    "yaw"359.901306152344,
    "speed"20.000219814006428
  },
  {
    "timestamp"18.85,
    "latitude"37.789977867831,
    "longitude"-122.397274719,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.0022323455195874,
    "yaw"359.901031494141,
    "speed"20.000202798826777
  },
  {
    "timestamp"18.9,
    "latitude"37.789977824862,
    "longitude"-122.397263363,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223184167407453,
    "yaw"359.900787353516,
    "speed"20.000195326964043
  },
  {
    "timestamp"18.95,
    "latitude"37.789977782167,
    "longitude"-122.397252006,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.0022346309851855,
    "yaw"359.900512695313,
    "speed"20.000187848356497
  },
  {
    "timestamp"19.0,
    "latitude"37.789977739884,
    "longitude"-122.39724065,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223374646157026,
    "yaw"359.900268554688,
    "speed"20.000180377352777
  },
  {
    "timestamp"19.05,
    "latitude"37.789977697599,
    "longitude"-122.397229293,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223588570952415,
    "yaw"359.899993896484,
    "speed"20.000176714847136
  },
  {
    "timestamp"19.1,
    "latitude"37.789977655314,
    "longitude"-122.397217937,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223418907262385,
    "yaw"359.899749755859,
    "speed"20.000167337372304
  },
  {
    "timestamp"19.15,
    "latitude"37.789977613027,
    "longitude"-122.39720658,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223207916133106,
    "yaw"359.899475097656,
    "speed"20.000159861004608
  },
  {
    "timestamp"19.2,
    "latitude"37.789977570739,
    "longitude"-122.397195224,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223633414134383,
    "yaw"359.899230957031,
    "speed"20.000156206284306
  },
  {
    "timestamp"19.25,
    "latitude"37.789977528450,
    "longitude"-122.397183867,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223689968697727,
    "yaw"359.898956298828,
    "speed"20.00015254549959
  },
  {
    "timestamp"19.3,
    "latitude"37.789977486160,
    "longitude"-122.397172511,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223388220183551,
    "yaw"359.898712158203,
    "speed"20.000148891744697
  },
  {
    "timestamp"19.35,
    "latitude"37.789977443869,
    "longitude"-122.397161154,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223375926725566,
    "yaw"359.8984375,
    "speed"20.000139509821096
  },
  {
    "timestamp"19.4,
    "latitude"37.789977401577,
    "longitude"-122.397149798,
    "altitude"10.1177988052,
    "roll"359.983032227,
    "pitch"0.00223662261851132,
    "yaw"359.898193359375,
    "speed"20.000132041827225
  },
  {
    "timestamp"19.45,
    "latitude"37.789977359283,
    "longitude"-122.397138441,
    "altitude"10.1177988052,
    "roll"359.983032227,
    "pitch"0.00223557627759874,
    "yaw"359.897918701172,
    "speed"20.000124567003667
  },
  {
    "timestamp"19.5,
    "latitude"37.789977316989,
    "longitude"-122.397127085,
    "altitude"10.1177988052,
    "roll"359.983032227,
    "pitch"0.00223398604430258,
    "yaw"359.897674560547,
    "speed"20.000117099719166
  },
  {
    "timestamp"19.55,
    "latitude"37.789977274693,
    "longitude"-122.397115728,
    "altitude"10.1177988052,
    "roll"359.983032227,
    "pitch"0.00223206309601665,
    "yaw"359.897399902344,
    "speed"20.00010962682543
  },
  {
    "timestamp"19.6,
    "latitude"37.789977232397,
    "longitude"-122.397104372,
    "altitude"10.1177988052,
    "roll"359.983032227,
    "pitch"0.0022332591470331,
    "yaw"359.897155761719,
    "speed"20.0001040678841
  },
  {
    "timestamp"19.65,
    "latitude"37.789977190099,
    "longitude"-122.397093015,
    "altitude"10.1177988052,
    "roll"359.983032227,
    "pitch"0.00223139091394842,
    "yaw"359.896881103516,
    "speed"20.000098502868916
  },
  {
    "timestamp"19.7,
    "latitude"37.789977147800,
    "longitude"-122.397081658,
    "altitude"10.1177988052,
    "roll"359.983032227,
    "pitch"0.00222964980639517,
    "yaw"359.896636962891,
    "speed"20.000092944927516
  },
  {
    "timestamp"19.75,
    "latitude"37.789977105500,
    "longitude"-122.397070302,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00222856434993446,
    "yaw"359.896362304688,
    "speed"20.000089289384828
  },
  {
    "timestamp"19.8,
    "latitude"37.789977063474,
    "longitude"-122.397058945,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223132572136819,
    "yaw"359.896118164063,
    "speed"20.000083732672547
  },
  {
    "timestamp"19.85,
    "latitude"37.789977021860,
    "longitude"-122.397047589,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00222804327495396,
    "yaw"359.895874023438,
    "speed"20.00007817617314
  },
  {
    "timestamp"19.9,
    "latitude"37.789976980244,
    "longitude"-122.397036232,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00222878437489271,
    "yaw"359.895599365234,
    "speed"20.000074520861027
  },
  {
    "timestamp"19.95,
    "latitude"37.789976938628,
    "longitude"-122.397024876,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00223023095168173,
    "yaw"359.895355224609,
    "speed"20.00007087268931
  },
  {
    "timestamp"20.0,
    "latitude"37.789935007395,
    "longitude"-122.397013519,
    "altitude"10.1177978516,
    "roll"359.983032227,
    "pitch"0.00222910335287452,
    "yaw"359.895080566406,
    "speed"20.000069125585753
  }
]

GPS Spoofing: GPS is all you got

解题过程
gps.py

f = open('gps.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])
    pos.append( [la, lo, al, ti] )

rate = (0.0107700551979-0.000017) / 0.0107700551979
print rate
for i in range(len(pos) - 1):
  pos[1 + i][0] = rate*(pos[1+i][0] - pos[0][0]) + pos[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\": %.13f,\n' % pos[i][0])
  f.write('    \"longitude\": %.12f,\n' % pos[i][1])
  f.write('    \"altitude\": %.13f\n' % pos[i][2])
  if i == len(pos) - 1:
    f.write('  }\n')
  else:
    f.write('  },\n')
f.write(']')
f.close()

gps_new.json

[
  {
    "timestamp"0.0,
    "latitude"37.7899753693032,
    "longitude"-122.397121279501,
    "altitude"10.1277933120720
  },
  {
    "timestamp"0.05,
    "latitude"37.7899754265434,
    "longitude"-122.397132214792,
    "altitude"10.1244440078730
  },
  {
    "timestamp"0.1,
    "latitude"37.7899755414654,
    "longitude"-122.397143236731,
    "altitude"10.1220254898070
  },
  {
    "timestamp"0.15,
    "latitude"37.7899757143859,
    "longitude"-122.397154347742,
    "altitude"10.1203002929680
  },
  {
    "timestamp"0.2,
    "latitude"37.7899759458176,
    "longitude"-122.397165532403,
    "altitude"10.1192083358760
  },
  {
    "timestamp"0.25,
    "latitude"37.7899762360459,
    "longitude"-122.397176773210,
    "altitude"10.1185302734370
  },
  {
    "timestamp"0.3,
    "latitude"37.7899765851408,
    "longitude"-122.397188054742,
    "altitude"10.1180019378660
  },
  {
    "timestamp"0.35,
    "latitude"37.7899769933924,
    "longitude"-122.397199366426,
    "altitude"10.1177244186400
  },
  {
    "timestamp"0.4,
    "latitude"37.7899774602113,
    "longitude"-122.397210697351,
    "altitude"10.1174736022940
  },
  {
    "timestamp"0.45,
    "latitude"37.7899779856691,
    "longitude"-122.397222042486,
    "altitude"10.1173887252800
  },
  {
    "timestamp"0.5,
    "latitude"37.7899785698098,
    "longitude"-122.397233396459,
    "altitude"10.1173906326290
  },
  {
    "timestamp"0.55,
    "latitude"37.7899792122478,
    "longitude"-122.397244755808,
    "altitude"10.1174354553220
  },
  {
    "timestamp"0.6,
    "latitude"37.7899799127243,
    "longitude"-122.397256118452,
    "altitude"10.1174955368040
  },
  {
    "timestamp"0.65,
    "latitude"37.7899806712363,
    "longitude"-122.397267480749,
    "altitude"10.1174316406200
  },
  {
    "timestamp"0.7,
    "latitude"37.7899814876491,
    "longitude"-122.397278843740,
    "altitude"10.1174421310420
  },
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    "altitude"10.1176176071160
  },
  {
    "timestamp"6.7,
    "latitude"37.7904824464103,
    "longitude"-122.398641752020,
    "altitude"10.1176366806000
  },
  {
    "timestamp"6.75,
    "latitude"37.7904898692140,
    "longitude"-122.398653110385,
    "altitude"10.1176633834830
  },
  {
    "timestamp"6.8,
    "latitude"37.7904973437199,
    "longitude"-122.398664468751,
    "altitude"10.1176910400390
  },
  {
    "timestamp"6.85,
    "latitude"37.7905048699274,
    "longitude"-122.398675827289,
    "altitude"10.1177148818900
  },
  {
    "timestamp"6.9,
    "latitude"37.7905124478357,
    "longitude"-122.398687185828,
    "altitude"10.1177368164060
  },
  {
    "timestamp"6.95,
    "latitude"37.7905200774373,
    "longitude"-122.398698543154,
    "altitude"10.1176271438590
  },
  {
    "timestamp"7.0,
    "latitude"37.7905277587251,
    "longitude"-122.398709899266,
    "altitude"10.1174707412700
  },
  {
    "timestamp"7.05,
    "latitude"37.7905354916931,
    "longitude"-122.398721254426,
    "altitude"10.1173086166380
  },
  {
    "timestamp"7.1,
    "latitude"37.7905432763353,
    "longitude"-122.398732608632,
    "altitude"10.1171607971190
  },
  {
    "timestamp"7.15,
    "latitude"37.7905511126414,
    "longitude"-122.398743961019,
    "altitude"10.1169099807730
  },
  {
    "timestamp"7.2,
    "latitude"37.7905590006064,
    "longitude"-122.398755312626,
    "altitude"10.1167659759520
  },
  {
    "timestamp"7.25,
    "latitude"37.7905669402349,
    "longitude"-122.398766665403,
    "altitude"10.1168107986400
  },
  {
    "timestamp"7.3,
    "latitude"37.7905749315314,
    "longitude"-122.398778019220,
    "altitude"10.1169395446770
  },
  {
    "timestamp"7.35,
    "latitude"37.7905829744989,
    "longitude"-122.398789373859,
    "altitude"10.1170969009390
  },
  {
    "timestamp"7.4,
    "latitude"37.7905910691405,
    "longitude"-122.398800729322,
    "altitude"10.1172485351560
  },
  {
    "timestamp"7.45,
    "latitude"37.7905992150465,
    "longitude"-122.398812085439,
    "altitude"10.1173830032340
  },
  {
    "timestamp"7.5,
    "latitude"37.7906074119440,
    "longitude"-122.398823442120,
    "altitude"10.1174917221060
  },
  {
    "timestamp"7.55,
    "latitude"37.7906156598279,
    "longitude"-122.398834797979,
    "altitude"10.1174545288080
  },
  {
    "timestamp"7.6,
    "latitude"37.7906239586991,
    "longitude"-122.398846154271,
    "altitude"10.1174764633170
  },
  {
    "timestamp"7.65,
    "latitude"37.7906323085531,
    "longitude"-122.398857509869,
    "altitude"10.1173954010000
  },
  {
    "timestamp"7.7,
    "latitude"37.7906407093911,
    "longitude"-122.398868865945,
    "altitude"10.1174020767210
  },
  {
    "timestamp"7.75,
    "latitude"37.7906491612148,
    "longitude"-122.398880222540,
    "altitude"10.1174488067620
  },
  {
    "timestamp"7.8,
    "latitude"37.7906576640255,
    "longitude"-122.398891579612,
    "altitude"10.1175098419180
  },
  {
    "timestamp"7.85,
    "latitude"37.7906662178243,
    "longitude"-122.398902937117,
    "altitude"10.1175699234000
  },
  {
    "timestamp"7.9,
    "latitude"37.7906748226116,
    "longitude"-122.398914294925,
    "altitude"10.1176242828360
  },
  {
    "timestamp"7.95,
    "latitude"37.7906834783813,
    "longitude"-122.398925651737,
    "altitude"10.1175432205000
  },
  {
    "timestamp"8.0,
    "latitude"37.7906921851336,
    "longitude"-122.398937008809,
    "altitude"10.1175346374510
  },
  {
    "timestamp"8.05,
    "latitude"37.7907009428628,
    "longitude"-122.398948364971,
    "altitude"10.1174345016470
  },
  {
    "timestamp"8.1,
    "latitude"37.7907097515698,
    "longitude"-122.398959721523,
    "altitude"10.1174268722530
  },
  {
    "timestamp"8.15,
    "latitude"37.7907186112557,
    "longitude"-122.398971078508,
    "altitude"10.1174640655510
  },
  {
    "timestamp"8.2,
    "latitude"37.7907275219209,
    "longitude"-122.398982435797,
    "altitude"10.1175184249870
  },
  {
    "timestamp"8.25,
    "latitude"37.7907364830171,
    "longitude"-122.398993793480,
    "altitude"10.1175756454460
  },
  {
    "timestamp"8.3,
    "latitude"37.7907454944005,
    "longitude"-122.399005150081,
    "altitude"10.1175012588500
  },
  {
    "timestamp"8.35,
    "latitude"37.7907545560716,
    "longitude"-122.399016507029,
    "altitude"10.1175012588500
  },
  {
    "timestamp"8.4,
    "latitude"37.7907636680312,
    "longitude"-122.399027864323,
    "altitude"10.1175327301020
  },
  {
    "timestamp"8.45,
    "latitude"37.7907728302797,
    "longitude"-122.399039221921,
    "altitude"10.1175765991210
  },
  {
    "timestamp"8.5,
    "latitude"37.7907820428170,
    "longitude"-122.399050579735,
    "altitude"10.1176214218100
  },
  {
    "timestamp"8.55,
    "latitude"37.7907913056367,
    "longitude"-122.399061936466,
    "altitude"10.1175374984740
  },
  {
    "timestamp"8.6,
    "latitude"37.7908006187389,
    "longitude"-122.399073293457,
    "altitude"10.1175270080560
  },
  {
    "timestamp"8.65,
    "latitude"37.7908099821174,
    "longitude"-122.399084649452,
    "altitude"10.1174268722530
  },
  {
    "timestamp"8.7,
    "latitude"37.7908193957730,
    "longitude"-122.399096005794,
    "altitude"10.1174201965330
  },
  {
    "timestamp"8.75,
    "latitude"37.7908288597004,
    "longitude"-122.399107361312,
    "altitude"10.1173334121700
  },
  {
    "timestamp"8.8,
    "latitude"37.7908383739004,
    "longitude"-122.399118717220,
    "altitude"10.1173448562620
  },
  {
    "timestamp"8.85,
    "latitude"37.7908479383745,
    "longitude"-122.399130073648,
    "altitude"10.1174001693720
  },
  {
    "timestamp"8.9,
    "latitude"37.7908575531238,
    "longitude"-122.399141430466,
    "altitude"10.1174697875970
  },
  {
    "timestamp"8.95,
    "latitude"37.7908672181426,
    "longitude"-122.399152786418,
    "altitude"10.1174125671380
  },
  {
    "timestamp"9.0,
    "latitude"37.7908769334252,
    "longitude"-122.399164141460,
    "altitude"10.1173057556150
  },
  {
    "timestamp"9.05,
    "latitude"37.7908866985547,
    "longitude"-122.399175495704,
    "altitude"10.1171846389770
  },
  {
    "timestamp"9.1,
    "latitude"37.7908965132520,
    "longitude"-122.399186849321,
    "altitude"10.1170701980590
  },
  {
    "timestamp"9.15,
    "latitude"37.7909063775135,
    "longitude"-122.399198202441,
    "altitude"10.1169719696040
  },
  {
    "timestamp"9.2,
    "latitude"37.7909162913360,
    "longitude"-122.399209555128,
    "altitude"10.1168909072870
  },
  {
    "timestamp"9.25,
    "latitude"37.7909262547167,
    "longitude"-122.399220907511,
    "altitude"10.1168279647820
  },
  {
    "timestamp"9.3,
    "latitude"37.7909362676598,
    "longitude"-122.399232260890,
    "altitude"10.1169061660760
  },
  {
    "timestamp"9.35,
    "latitude"37.7909463301693,
    "longitude"-122.399243615310,
    "altitude"10.1170415878290
  },
  {
    "timestamp"9.4,
    "latitude"37.7909564422487,
    "longitude"-122.399254970596,
    "altitude"10.1171903610220
  },
  {
    "timestamp"9.45,
    "latitude"37.7909666038942,
    "longitude"-122.399266325384,
    "altitude"10.1172027587890
  },
  {
    "timestamp"9.5,
    "latitude"37.7909768151018,
    "longitude"-122.399277679587,
    "altitude"10.1171512603700
  },
  {
    "timestamp"9.55,
    "latitude"37.7909870758744,
    "longitude"-122.399289034569,
    "altitude"10.1171989440910
  },
  {
    "timestamp"9.6,
    "latitude"37.7909973862150,
    "longitude"-122.399300390375,
    "altitude"10.1172876358030
  },
  {
    "timestamp"9.65,
    "latitude"37.7910077461262,
    "longitude"-122.399311746896,
    "altitude"10.1173849105830
  },
  {
    "timestamp"9.7,
    "latitude"37.7910181556101,
    "longitude"-122.399323104023,
    "altitude"10.1174783706660
  },
  {
    "timestamp"9.75,
    "latitude"37.7910286146679,
    "longitude"-122.399334461617,
    "altitude"10.1175584793090
  },
  {
    "timestamp"9.8,
    "latitude"37.7910391233006,
    "longitude"-122.399345819621,
    "altitude"10.1176233291620
  },
  {
    "timestamp"9.85,
    "latitude"37.7910496808222,
    "longitude"-122.399357177957,
    "altitude"10.1176738739010
  },
  {
    "timestamp"9.9,
    "latitude"37.7910602872266,
    "longitude"-122.399368535295,
    "altitude"10.1175851821890
  },
  {
    "timestamp"9.95,
    "latitude"37.7910709425141,
    "longitude"-122.399379892916,
    "altitude"10.1175680160520
  },
  {
    "timestamp"10.0,
    "latitude"37.7910816466851,
    "longitude"-122.399391250861,
    "altitude"10.1175842285150
  },
  {
    "timestamp"10.05,
    "latitude"37.7910923997403,
    "longitude"-122.399402609105,
    "altitude"10.1176166534420
  }
]


Adventure

Basic

解题思路
5

Expensive Sensor

解题思路
LIDAR

Google it

解题思路
330-320直接的某个数字,都尝试一下

Try it

解题思路
LGSVL

Lane Detection

Lane Detection: free drawing

解题思路

GPS Spoofing

GPS Spoofing: GPS is all you got

解题思路
gps.py

f = open('gps.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])
    pos.append( [la, lo, al, ti] )

rate = (0.0107700551979-0.000017) / 0.0107700551979
print rate
for i in range(len(pos) - 1):
  pos[1 + i][0] = rate*(pos[1+i][0] - pos[0][0]) + pos[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\": %.13f,\n' % pos[i][0])
  f.write('    \"longitude\": %.12f,\n' % pos[i][1])
  f.write('    \"altitude\": %.13f\n' % pos[i][2])
  if i == len(pos) - 1:
    f.write('  }\n')
  else:
    f.write('  },\n')
f.write(']')
f.close()

gps_new.json

[
  {
    "timestamp"0.0,
    "latitude"37.7899753693032,
    "longitude"-122.397121279501,
    "altitude"10.1277933120720
  },
  {
    "timestamp"0.05,
    "latitude"37.7899754265434,
    "longitude"-122.397132214792,
    "altitude"10.1244440078730
  },
  {
    "timestamp"0.1,
    "latitude"37.7899755414654,
    "longitude"-122.397143236731,
    "altitude"10.1220254898070
  },
  {
    "timestamp"0.15,
    "latitude"37.7899757143859,
    "longitude"-122.397154347742,
    "altitude"10.1203002929680
  },
  {
    "timestamp"0.2,
    "latitude"37.7899759458176,
    "longitude"-122.397165532403,
    "altitude"10.1192083358760
  },
  {
    "timestamp"0.25,
    "latitude"37.7899762360459,
    "longitude"-122.397176773210,
    "altitude"10.1185302734370
  },
  {
    "timestamp"0.3,
    "latitude"37.7899765851408,
    "longitude"-122.397188054742,
    "altitude"10.1180019378660
  },
  {
    "timestamp"0.35,
    "latitude"37.7899769933924,
    "longitude"-122.397199366426,
    "altitude"10.1177244186400
  },
  {
    "timestamp"0.4,
    "latitude"37.7899774602113,
    "longitude"-122.397210697351,
    "altitude"10.1174736022940
  },
  {
    "timestamp"0.45,
    "latitude"37.7899779856691,
    "longitude"-122.397222042486,
    "altitude"10.1173887252800
  },
  {
    "timestamp"0.5,
    "latitude"37.7899785698098,
    "longitude"-122.397233396459,
    "altitude"10.1173906326290
  },
  {
    "timestamp"0.55,
    "latitude"37.7899792122478,
    "longitude"-122.397244755808,
    "altitude"10.1174354553220
  },
  {
    "timestamp"0.6,
    "latitude"37.7899799127243,
    "longitude"-122.397256118452,
    "altitude"10.1174955368040
  },
  {
    "timestamp"0.65,
    "latitude"37.7899806712363,
    "longitude"-122.397267480749,
    "altitude"10.1174316406200
  },
  {
    "timestamp"0.7,
    "latitude"37.7899814876491,
    "longitude"-122.397278843740,
    "altitude"10.1174421310420
  },
  {
    "timestamp"0.75,
    "latitude"37.7899823615452,
    "longitude"-122.397290205868,
    "altitude"10.1173601150510
  },
  {
    "timestamp"0.8,
    "latitude"37.7899832927887,
    "longitude"-122.397301568517,
    "altitude"10.1173706054680
  },
  {
    "timestamp"0.85,
    "latitude"37.7899842815179,
    "longitude"-122.397312931512,
    "altitude"10.1174211502070
  },
  {
    "timestamp"0.9,
    "latitude"37.7899853275968,
    "longitude"-122.397324295028,
    "altitude"10.1174869537350
  },
  {
    "timestamp"0.95,
    "latitude"37.7899864310199,
    "longitude"-122.397335657677,
    "altitude"10.1174249649040
  },
  {
    "timestamp"1.0,
    "latitude"37.7899875917800,
    "longitude"-122.397347019113,
    "altitude"10.1173143386840
  },
  {
    "timestamp"1.05,
    "latitude"37.7899888098787,
    "longitude"-122.397358381069,
    "altitude"10.1173133850090
  },
  {
    "timestamp"1.1,
    "latitude"37.7899900847674,
    "longitude"-122.397369743377,
    "altitude"10.1173658370970
  },
  {
    "timestamp"1.15,
    "latitude"37.7899914163023,
    "longitude"-122.397381104645,
    "altitude"10.1173114776610
  },
  {
    "timestamp"1.2,
    "latitude"37.7899928044823,
    "longitude"-122.397392465914,
    "altitude"10.1173410415640
  },
  {
    "timestamp"1.25,
    "latitude"37.7899942493082,
    "longitude"-122.397403827529,
    "altitude"10.1174039840690
  },
  {
    "timestamp"1.3,
    "latitude"37.7899957507807,
    "longitude"-122.397415189491,
    "altitude"10.1174774169920
  },
  {
    "timestamp"1.35,
    "latitude"37.7899973088924,
    "longitude"-122.397426550240,
    "altitude"10.1174201965330
  },
  {
    "timestamp"1.4,
    "latitude"37.7899989236441,
    "longitude"-122.397437911336,
    "altitude"10.1174364089960
  },
  {
    "timestamp"1.45,
    "latitude"37.7900005950354,
    "longitude"-122.397449272604,
    "altitude"10.1174831390380
  },
  {
    "timestamp"1.5,
    "latitude"37.7900023230663,
    "longitude"-122.397460634047,
    "altitude"10.1175384521480
  },
  {
    "timestamp"1.55,
    "latitude"37.7900041077364,
    "longitude"-122.397471995662,
    "altitude"10.1175937652580
  },
  {
    "timestamp"1.6,
    "latitude"37.7900059490447,
    "longitude"-122.397483357278,
    "altitude"10.1176424026480
  },
  {
    "timestamp"1.65,
    "latitude"37.7900078469830,
    "longitude"-122.397494717507,
    "altitude"10.1175565719600
  },
  {
    "timestamp"1.7,
    "latitude"37.7900098015504,
    "longitude"-122.397506077736,
    "altitude"10.1175432205000
  },
  {
    "timestamp"1.75,
    "latitude"37.7900118127473,
    "longitude"-122.397517438312,
    "altitude"10.1175651550290
  },
  {
    "timestamp"1.8,
    "latitude"37.7900138805727,
    "longitude"-122.397528798888,
    "altitude"10.1175994873040
  },
  {
    "timestamp"1.85,
    "latitude"37.7900160043389,
    "longitude"-122.397540159470,
    "altitude"10.1176385879510
  },
  {
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]

Lane Detection: dirty road patch

解题思路
1111

Lane Detection: targeted attack

解题思路
答案和上一题一样


后面还有很多贴补下了,感兴趣的可以加入团队学习。

end


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