Method and apparatus for anomaly detection for individual vehicles in swarm system

A method for detecting anomalies in a swarm system, wherein the method is implemented on a computing device comprising a processor, and a memory storing instructions or programs executable by the processor, and comprises:

• collecting a plurality of first movement data from multiple vehicles that moved as a swarm according to a first scenario, wherein the plurality of first movement data includes positioning data and multi-channel inertial sensor data;
• generating a plurality of first training data corresponding to each of the vehicles based on the positioning data included in the plurality of first movement data, and training a first learning model using the plurality of first training data;
• generating a plurality of second training data corresponding to each of the vehicles based on the multi-channel inertial sensor data included in the plurality of first movement data, and training a plurality of second learning models corresponding to each of the vehicles using the second training data generated for each of the vehicles;
• receiving in real time a plurality of second movement data from the vehicles moving as a swarm according to a second scenario, wherein the plurality of second movement data includes positioning data and multi-channel inertial sensor data;
• generating a plurality of first input data corresponding to each of the vehicles based on the positioning data included in the plurality of second movement data, and inputting the plurality of first input data into the first learning model to detect in real time any abnormal vehicle estimated to be in an abnormal state among the vehicles;
• and
• generating a second input data corresponding to the abnormal vehicle based on the multi-channel inertial sensor data included in the second movement data corresponding to the abnormal vehicle, and inputting the second input data into the second learning model corresponding to the abnormal vehicle to identify the abnormal channel among the multiple channels of the inertial measurement unit of the abnormal vehicle.