US 12,141,274 B2
Physics-based approach for attack detection and localization in closed-loop controls for autonomous vehicles
Marcio Juliato, Portland, OR (US); Shabbir Ahmed, Beaverton, OR (US); Manoj Sastry, Portland, OR (US); Liuyang L. Yang, Vancouver, WA (US); Vuk Lesi, Cornelius, OR (US); and Li Zhao, Beaverton, OR (US)
Assigned to Intel Corporation, Santa Clara, CA (US)
Filed by Intel Corporation, Santa Clara, CA (US)
Filed on Jun. 7, 2022, as Appl. No. 17/834,446.
Application 17/834,446 is a continuation of application No. 16/021,409, filed on Jun. 28, 2018, granted, now 11,354,406, issued on Jun. 7, 2022.
Prior Publication US 2022/0300607 A1, Sep. 22, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. H04L 9/40 (2022.01); G06F 21/55 (2013.01); H04W 4/38 (2018.01); H04W 4/48 (2018.01); H04W 12/122 (2021.01)
CPC G06F 21/552 (2013.01) [G06F 21/554 (2013.01); H04L 63/1416 (2013.01); H04L 63/1458 (2013.01); H04L 63/1466 (2013.01); H04L 63/1483 (2013.01); H04W 4/38 (2018.02); H04W 4/48 (2018.02); H04W 12/122 (2021.01); G06F 2221/034 (2013.01)] 23 Claims
OG exemplary drawing
 
1. An apparatus comprising:
controller state hardware circuitry to receive sensor data and one or more actuation commands, wherein the controller state hardware circuitry is to generate a first residual signal, corresponding to a controller state for an Autonomous Driving System (ADS) component, based on comparison of a predicted controller state model and a previous controller state;
physical process state hardware circuitry to receive the sensor data and the one or more actuation commands, wherein the physical process state hardware circuitry is to generate a second residual signal, corresponding to a physical process state for the ADS component, based on comparison of a predicted physical process state model and a previous physical process state; and
memory, coupled to detector hardware circuitry, to store information corresponding to a normal operation of the ADS component,
wherein the detector hardware circuitry is to generate an intrusion detection signal to indicate a location and a type of a detected intrusion based on comparison of the stored information with results of pattern analysis to be applied to the first residual signal and the second residual signal, wherein the intrusion detection signal is to indicate the type of the detected intrusion as an internal attack or an external attack, wherein the internal attack is to indicate that an attacker is able to modify the sensor data or the one or more actuation commands before the one or more actuation commands are executed or consumed by a control unit of the ADS component, wherein the physical process state hardware circuitry is to predict a vehicle speed for a next time instant based on a vehicle speed value, a vehicle acceleration value, and one or more physical properties of a vehicle, wherein the predicted physical process state model is to be generated based on a physical model of the ADS component and the one or more physical properties of the vehicle.