Graph neural network based abnormal perception information reconstruction and robust autonomous navigation

Abstract

Purpose This paper aims to develop a robust navigation enhancement framework to handle one of the most urgent needs for real applications of autonomous vehicles nowadays, as these corner cases act as the most commonly occurred risks in potential self-driving accidents. Design/methodology/approach In this paper, the main idea is to fully exploit the consistent features among spatio-temporal data and thus detect the anomalies and build residual channels to reconstruct the abnormal information. The authors first develop an anomaly detection algorithm, then followed by a corresponding disturbed information reconstruction network which has strong robustness to address both the nature disturbances and external attacks. Finally, the authors introduce a fully end-to-end resilient navigation performance enhancement framework to improve the driving performance of existing self-driving models under attacks and disturbances. Findings Comparison results on CARLA platform and real experiments demonstrate strong resilience of the authors’ approach which enhances the navigation performance under disturbances and attacks. Originality/value Reliable and resilient navigation performance under various nature disturbances and even external attacks is one of the most urgent needs for real applications of autonomous vehicles nowadays, as these corner cases act as the most commonly occurred risks in potential self-driving accidents. The information reconstruction approach provides a resilient navigation performance enhancement method for existing self-driving models.