WIP: Evaluation of Threats and Impacts of HD Map Tampering Attacks in Autonomous...
summary
Systematic threat cataloging and end-to-end simulation show that lane-width expansion by 0.5 m increments in an Autoware + AWSIM environment causes planning and control to fail: simulated vehicle crosses into the oncoming lane. Baseline lane width is 3.0 m, vehicle width 1.895 m, and a deviation threshold 0.5 m is exceeded for all tested expansions. Results use Autoware + AWSIM simulation and highlight need for map verification and cryptographic update validation.
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