This research investigates the impact of Denial of Service (DoS) attacks, specifically Internet Control Message Protocol (ICMP) flood attacks, on Autonomous Driving (AD) systems, focusing on their control modules. Two experimental setups were created: the first involved an ICMP flood attack on a Raspberry Pi running an AD software stack, and the second examined the effects of single and double ICMP flood attacks on a Global Navigation Satellite System Real-Time Kinematic (GNSS-RTK) device for high-accuracy localization of an autonomous vehicle that is available on the market. The results indicate a moderate impact of DoS attacks on the AD stack, where the increase in median computation time was marginal, suggesting a degree of resilience to these types of attacks. In contrast, the GNSS device demonstrated significant vulnerability: during DoS attacks, the sample rate dropped drastically to approximately 50% and 5% of the nominal rate for single and double attacker configurations, respectively. Additionally, the longest observed time increments were in the range of seconds during the attacks. These results underscore the vulnerability of AD systems to DoS attacks and the critical need for robust cybersecurity measures. This work provides valuable insights into the design requirements of AD software stacks and highlights that external hardware and modules can be significant attack surfaces.

翻译：本研究探讨了拒绝服务攻击，特别是互联网控制消息协议洪水攻击，对自动驾驶系统控制模块的影响。研究建立了两种实验配置：第一种针对运行自动驾驶软件栈的树莓派实施ICMP洪水攻击；第二种则考察了单次与双重ICMP洪水攻击对市售自动驾驶车辆高精度定位设备——全球导航卫星系统实时动态定位装置的影响。实验结果表明：DoS攻击对自动驾驶软件栈的影响较为有限，其中位计算时间仅出现边际增长，表明该系统对此类攻击具有一定韧性。与之形成鲜明对比的是，GNSS设备表现出显著脆弱性：在DoS攻击期间，样本率分别骤降至标称值的约50%（单攻击者配置）和5%（双攻击者配置）。此外，攻击过程中观测到的最长时间增量达到秒级。这些发现揭示了自动驾驶系统面临DoS攻击的脆弱性，并凸显了实施强健网络安全措施的迫切需求。本研究为自动驾驶软件栈的设计要求提供了重要参考，同时指出外部硬件与模块可能构成关键攻击面。