V2X环境下自动驾驶如何应对消息延迟与伪造，实现安全可靠的动态路径规划。
MORPH-U: Multi-Objective Resilient Motion Planning for V2X-Enabled Autonomous Driving in High-Uncertainty Environments via Simulation
- 融合车载传感器与V2X信息构建动态地图，异常时触发混合A*重规划。
- 多目标优化平衡轨迹跟踪、安全距离、响应速度与平滑性，提升综合性能。
- 引入轻量级容错机制，有效抵御恶意消息攻击，适合高不确定性场景应用。
V2X可预警视线外的危险，但也带来延迟、丢失甚至伪造等不确定性；同时地图可能在行驶中变化，迫使车辆在严格实时约束下重规划。本文研究如何使运动规划与低层控制对这类不确定、事件驱动的更新保持鲁棒。提出MORPH-U，一个基于CARLA的闭环系统，将激光雷达/雷达/摄像头与V2X（CAM/DENM）融合生成局部动态地图（LDM），当验证后的危险或地图变更影响原路径时触发混合A*重规划。通过多目标优化框架权衡轨迹跟踪误差、安全裕度（最小TTC）、响应速度和平滑性，并利用帕累托前沿分析选择运行点。为防止错误的V2X触发不安全重规划，MORPH-U引入轻量级拜占庭式接受门：结合多数表决与车载传感器否决机制。在动态CARLA场景实验中表明，V2X增强的LDM提升了下游安全性，帕累托调优实现了可控的精度-舒适度权衡，该门控机制在饱和虚假DENM注入（攻击概率 $p_{\text{attack}}=1.0$）下有效阻止了误重规划。
原文摘要 · Abstract (English)
V2X can warn an autonomous vehicle about hazards beyond line-of-sight, but it also brings uncertainty: messages may be delayed, dropped, or even forged. Meanwhile, map knowledge may change during a trip, forcing the vehicle to replan under tight real-time budgets. This paper studies how to make motion planning and low-level control robust to such uncertain, event-driven updates. We present MORPH-U, a CARLA-based closed-loop stack that fuses LiDAR/radar/camera with V2X (CAM/DENM) into a Local Dynamic Map (LDM) and triggers Hybrid-A* replanning when validated hazards or map changes affect the planned route. We expose the planning/control trade-offs via a multi-objective formulation over tracking error, safety margin (minimum TTC), responsiveness, and smoothness, and select operating points using Pareto-frontier analysis. To avoid unsafe replanning from faulty V2X triggers, MORPH-U adds a lightweight Byzantine-inspired acceptance gate that combines a quorum rule with an on-board sensor veto. Experiments in dynamic CARLA scenarios show that V2X-augmented LDM improves downstream safety, Pareto tuning provides controllable accuracy-comfort trade-offs, and the gate prevents replanning under saturated false-DENM injection ($p_{\text{attack}}=1.0$).
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。