Can You Trust Autonomous Vehicles: Contactless Attacks against Sensors of Self-Driving Vehicles Who Are We Jianhao Liu Wenyuan Xu Director Qihoo 360 SKY-GO Vehicle Cyber Security Team Professor Zhejiang University University of South Carolina Chen Yan Ph.D. Student USSLab Zhejiang University 2 Roadmap • Autonomous Vehicles • Hacking Sensors • Our Attacks – Ultrasonic sensors – MMW radars – Cameras • Discussion 3 The Car Hacking History - Car ===> CAN bus hacking - Connected car ===> Telematics hacking - Autonomous car ===> Automatic system hacking 4 What is Autonomous Vehicle? Source: Michael Aeberhard, BMW Group Research and Technology 5 Sensors in automated driving system Scenario Assessment Sensors Human-Machine Interface Driving Function V2X Source:Michael Aeberhard, BMW Group Research and Technology 6 Sensors for Self-Driving Radar LiDAR Cameras Works in low light & poor weather, but lower resolution. Emits light, so darkness not an issue. Some weather limitation. Senses reflected light, limited when dark. Sees colour, so can be used to read signs, signals, etc. Ultrasonic Sensors Limited to proximity, low speed manoeuvres. Source: Texas Instruments 7 How to Hack Sensors? Sensors Automated System Control Ultrasonic Sensors Jamming Spoofing MMW Radars Jamming HMI Display Spoofing Cameras Blinding 8 Tesla: A Tragic Loss • First fatal crash while using Autopilot on May 7, 2016. • Reliability of sensors. Source: The New York Times First Tesla Accident in China Caused by Autopilot 9 Existing Sensors on Tesla Model S One MMW Radar A Medium range Radar is mounted in the front grill. One camera A forward looking camera is mounted on the windshield under the rear view mirror. 12 ultrasonic sensors Ultrasonic sensors are located near the front and rear bumpers. 10 HMI Display Mistake – Demo on Tesla 11 Control Mistake – Demo on Tesla 12 Attacking Ultrasonic Sensors On Tesla, Audi, Volkswagen, and Ford 13 Ultrasonic Sensor What is ultrasonic sensor? • Measures distance • Proximity sensor (< 2m) • Applications – Parking assistance – Parking space detection – Self parking – Tesla’s summon 14 Misuse 1: The car doesn’t stop while it should. Why doesn’t the car stop?? Oh NOOO!!! Hey! Mind the glass!!! 15 Misuse1: The car doesn’t stop while it should. 16 Misuse 2: The car stops while it shouldn’t. Is it cursed?! Why the car can’t park in?? 17 How do ultrasonic sensors work? • Emit ultrasound and receive echoes • Piezoelectric Effect • Measure the propagation time (Time of Flight) : propagation time of echoes • Calculate the distance : velocity of sound in air Electrical signal Ultrasonic Sensor Distance 18 Attacking ultrasonic sensors Attacks: • Jamming – generates ultrasonic noises – denial of service • Spoofing – crafts fake ultrasonic echo pulses – alters distance • Quieting – diminishes original ultrasonic echoes – hides obstacles Equipment: • Ultrasonic transducers ($0.4) – emit ultrasound • Signal suppliers – generate excitation signals – Arduino ($24.95) – Signal generator (~$20) 19 Jamming Attack • Basic Idea: – Injecting ultrasonic noises – At resonant frequency (40 – 50 kHz) – Causing Denial of Service • Tested ultrasonic sensors: – In laboratories: 8 models of stand-alone ultrasonic sensors – Outdoors: Tesla, Audi, Volkswagen, Ford 20