SoK: How Sensor Attacks Disrupt Autonomous Vehicles: An End-to-end Analysis, Challenges, and Missed Threats

arXiv:2509.11120 · cs.CR · Submitted 2025-09-14 · Read on arXiv

cs.CR

Submitted: 2025-09-14

Updated: 2026-09-07

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Adversarial Attacks — 21× in this paper · explained in 1 episode
• Robustness — 17× in this paper · explained in 5 episodes
• Consistency — 9× in this paper · explained in 3 episodes
• Conference on Computer Vision and Pattern Recognition — 7× in this paper
• Adversarial Examples — 5× in this paper · explained in 2 episodes
• Point Clouds — 5× in this paper · explained in 2 episodes
• IEEE Symposium on Security and Privacy — 4× in this paper
• Adversarial Training — 3× in this paper · explained in 1 episode
• Benchmarking — 3× in this paper · explained in 3 episodes
• Core — 3× in this paper · explained in 2 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Calibration — 2× in this paper · explained in 7 episodes
• Fingerprinting — 2× in this paper · explained in 2 episodes
• Generalizability — 2× in this paper · explained in 6 episodes
• Global Navigation Satellite System — 2× in this paper
• International Conference on Robotics and Automation — 2× in this paper
• Multi-agent Collaboration — 2× in this paper · explained in 2 episodes
• Optical Flow — 2× in this paper · explained in 2 episodes
• Temporal consistency — 2× in this paper · explained in 2 episodes
• ACM Conference on Computer and Communications Security — 1× in this paper
• Adversarial Defense — 1× in this paper · explained in 1 episode
• Attention Mechanism — 1× in this paper · explained in 3 episodes
• Commentary — 1× in this paper · explained in 2 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 6 episodes
• Formal Verification — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Hypergraph — 1× in this paper · explained in 2 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Modular Architecture — 1× in this paper · explained in 4 episodes
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Network and Distributed Systems Security — 1× in this paper
• Redundancy — 1× in this paper · explained in 2 episodes
• Self-Distillation — 1× in this paper · explained in 7 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Systematic Error Propagation Graph — 1× in this paper
• Systematization of Knowledge (SoK) — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• SoK: On the Semantic AI Security in Autonomous Driving
• SoK: Security of the Image Processing Pipeline for Camera-based Sensing in Autonomous Vehicles
• Exploiting Physical Dynamics to Detect Actuator and Sensor Attacks in Mobile Robots
• FlyTrap: Physical Distance-Pulling Attack Towards Camera-based Autonomous Target Tracking Systems
• Prepared for the Worst: A Learning-Based Adversarial Attack for Resilience Analysis of the ICP Algorithm
• Security-Aware Sensor Fusion with MATE: the Multi-Agent Trust Estimator
• MARS: Defending Unmanned Aerial Vehicles From Attacks on Inertial Sensors with Model-based Anomaly Detection and Recovery
• AB3DMOT: A Baseline for 3D Multi-Object Tracking and New Evaluation Metrics

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