论文标题
瓜托托：用于自动驾驶的分散运行时保护系统
Guardauto: A Decentralized Runtime Protection System for Autonomous Driving
论文作者
论文摘要
由于攻击表面广泛且缺乏运行时的保护，因此潜在的安全和保障威胁阻碍了自动驾驶汽车的现实生活。尽管已经努力减轻一些特定的攻击，但在保护自动驾驶系统方面，很少有作品。本文提出了一个称为“瓜托托”的分散自我保护框架，以保护自动驾驶系统免受运行时威胁。首先，瓜托托（Guardauto）提出了一个隔离模型，以将自动驾驶系统解除并用一组分区分离其组件。其次，瓜托托为每个目标组件提供了自我保护机制，该机制结合了不同的方法来监视目标执行并相应地计划自适应动作。第三，在局部自我保护机制之间提供合作，以确定影响多个组件的级联故障的情况下的根本原因。已经在开源自动驾驶系统自动保健上实施和评估了原型。结果表明，瓜托托可以有效地减轻运行时故障和攻击，并以可接受的性能开销保护控制系统。
Due to the broad attack surface and the lack of runtime protection, potential safety and security threats hinder the real-life adoption of autonomous vehicles. Although efforts have been made to mitigate some specific attacks, there are few works on the protection of the self-driving system. This paper presents a decentralized self-protection framework called Guardauto to protect the self-driving system against runtime threats. First, Guardauto proposes an isolation model to decouple the self-driving system and isolate its components with a set of partitions. Second, Guardauto provides self-protection mechanisms for each target component, which combines different methods to monitor the target execution and plan adaption actions accordingly. Third, Guardauto provides cooperation among local self-protection mechanisms to identify the root-cause component in the case of cascading failures affecting multiple components. A prototype has been implemented and evaluated on the open-source autonomous driving system Autoware. Results show that Guardauto could effectively mitigate runtime failures and attacks, and protect the control system with acceptable performance overhead.
