Welcome to Multi-Sensor Defense Analysis Platform (MSDAP)

MSDAP is a platform designed to analyze threats of LiDAR attacks in autonomous driving security, developed as an open-source tool. It operates on the AWSIM and Autoware Universe foundation, developed by Autoware Foundation (https://autoware.org/).

Overview

MSDAP provides a comprehensive simulation environment for analyzing and testing LiDAR-based attack scenarios in autonomous driving systems. The platform enables researchers and developers to:

• Simulate various types of LiDAR attacks
• Analyze attack impacts on autonomous driving systems
• Develop and test defense mechanisms
• Evaluate system robustness against attacks

Features

This extension provides the following features:

HFR (High Frequency Removal) Attack Simulation

• Simulates attacks that remove LiDAR point cloud data
• Configurable elimination angle for attack simulation
• Adjustable success rate for attack simulation
• CSV-based success rate matrix configuration

CPI (Chosen Point Injection) Attack Simulation

• Simulates attacks that inject false LiDAR point cloud data
• Configurable injection parameters
• Real-time attack simulation

Visualization

• Real-time visualization of attack effects
• Comparison between attacked and unattacked point clouds

unattacked point cloud

attacked point cloud

Prerequisites

• Ubuntu 22.04 LTS
• ROS 2 Humble
• AWSIM (Driving Simulator)
• Autoware Universe
• Python 3.8 or higher
• Eigen3 library

Installation

1. System Setup

# Install system dependencies
sudo apt update
sudo apt install -y python3-pip python3-colcon-common-extensions

2. Install AWSIM

Follow the official installation guide: https://tier4.github.io/AWSIM/GettingStarted/SetupUnityProject/

3. Install Autoware Universe

Follow the official installation guide: https://tier4.github.io/AWSIM/GettingStarted/QuickStartDemo/

4. Install MSDAP

# Create workspace if it doesn't exist
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

# Clone the repository
git clone [email protected]:Ofurosuki/lidar_attack_simulator.git

# Build the package
cd ~/ros2_ws
colcon build --symlink-install

Usage

1. Environment Setup

# Source ROS2 underlay
source /opt/ros/humble/setup.bash

# Source the ROS2 package
cd ~/ros2_ws
source install/setup.bash

2. Configuration

Edit the launch file parameters in hfr_simulator_launch.py or cpi_simulator_launch.py:

# Example parameters for HFR simulator
hfr_simulator = Node(
    package='attack_simulator',
    executable='hfr_simulator',
    parameters=[
        {'elimination_angle': 20.0},  # Angle in degrees
        {'success_rate_chrono': 0.1},  # Success rate for attack
        {'csv_path': '/path/to/success_rate_matrix.csv'}  # Path to success rate matrix
    ]
)

3. Launch the Simulator

# For HFR attack simulation
ros2 launch attack_simulator hfr_simulator.launch.py

# For CPI attack simulation
ros2 launch attack_simulator cpi_simulator.launch.py

Parameters

HFR Simulator Parameters

• elimination_angle: Angle in degrees for point cloud elimination (default: 20.0)
• success_rate_chrono: Success rate for attack simulation (default: 0.1)
• csv_path: Path to CSV file containing success rate matrix

CPI Simulator Parameters

• injection_rate: Rate of point cloud injection (default: 0.1)
• injection_distance: Distance for point injection (default: 10.0)
• injection_angle: Angle for point injection (default: 30.0)

Troubleshooting

Common Issues

1. Build Errors

   • Ensure all dependencies are installed
   • Check ROS2 environment is properly sourced
   • Verify Eigen3 is installed

2. Runtime Errors

   • Check parameter values in launch files
   • Verify CSV file paths and formats
   • Ensure AWSIM and Autoware are running

3. Visualization Issues

   • Check RViz configuration
   • Verify topic names and types

Contributing

We welcome contributions to MSDAP! Please follow these steps:

1. Fork the repository
2. Create a feature branch
3. Commit your changes
4. Push to the branch
5. Create a Pull Request

Please ensure your code follows the project's coding standards and includes appropriate tests.

License

This project is licensed under the Apache License 2.0 - see the LICENSE file for details.

Contact

For questions and support, please open an issue in the GitHub repository.

Acknowledgments

• Autoware Foundation for AWSIM and Autoware Universe
• All contributors to this project