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SUNRISE Safety Assurance Framework

UC4.2 – Truck low-speed connected perception cyber-security

In Use Case 4.2, the SUNRISE SAF is tested for truck low-speed connected perception cyber-testing. The SUT is a connected perception AD subsystem that is compromised by cyber-security threats. The main aim is to combine in a simulation environment several aspects simultaneously (physical environment, perception, V2X connectivity) and study the effects of physical or remotely executed cyber threats on collective environment awareness.

There are two functional scenarios defined from T7.1 for assessing the connected perception cyber-security performance in use case 4.2. The first is the “distorted camera input” scenario, whereas the second one is the “CPM message attacked” scenario.

Use case overview

UC4.2 builds on top of the CCAM system of UC4.1 and the perception system of UC1.3, and deals with a connected perception AD subsystem that is compromised by cyber-security attacks.

Objectives

In virtual simulation, combine several aspects simultaneously (environment, perception, V2X connectivity, cyber-attacks) and study the effects of remotely executed cyber attacks on collective environment awareness.

SAF blocks demonstrated

Safety case setup

Two partners spoof the Road Side Unit (RSU) camera and falsify Cooperative Perception Messages (CPMs) while controlling a virtual truck in a parking manoeuvre in a CARLA simulation. A virtual camera-based RSU module is assumed to provide information about the scene through CPMs. Considered pass/fail criteria are similar to the truck parking system of UC4.1.

Test environments

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Safety case building

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Test scenarios selected

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Key take aways

‘Execute’ sub-block:

  • New scenario execution mechanism to support cyber-attack triggering event
  • Co-simulation setup integrating virtual RSU and CPM spoofing made possible in CARLA: a) custom camera sensor spoofing (exploiting light mechanisms offered by CARLA simulator) to interfere with the quality of the raw sensor datal b) ghost object spoofing on the virtual scene

    • ‘Test’ evaluate sub-block:

  • Safety evaluation based on joint cyber-security and safety case requirements are designed based on ISO/SAE 21434 and ISO/TS 5083