Security analysis and adaptive false data injection against multi-sensor fusion localization for autonomous driving

Linqing Hu, Junqi Zhang, Jie Zhang, Shaoyin Cheng, Yuyi Wang, Weiming Zhang, Nenghai Yu

Abstract: Highlights•Designed a new error analysis model for ESKF-based MSF in autonomous vehicles.•Discovered a linear error-combination vulnerability exploitable in ESKF systems.•Proposed an energy-efficient attack strategy using constrained optimization.•Achieved 9% less energy usage in simulations and 18% less in real-world datasets.•Validated method effectiveness in an autonomous vehicle with end-to-end testing.