Kodai Hirai, Waseda University; Yuna Tanaka and Kazuki Nomoto, Waseda University/Deloitte Tohmatsu Cyber LLC; Ryunosuke Kobayashi and Go Tsuruoka, Waseda University; Tatsuya Mori, Waseda University/NICT/RIKEN AIP
V2X communication enhances autonomous driving by extending perception beyond onboard sensors, but its security vulnerabilities pose serious risks. While prior studies have focused on individual modules like networking or perception, this study introduces V2X-SAFE, a framework for end-to-end, system-level security evaluations using a full-stack platform based on Autoware and AWSIM. Unlike existing tools, V2X-SAFE supports integrated autonomy, V2X communication, attack simulation, and evaluation. We examine two scenarios: intersection assistance and sudden obstacle detection, focusing on the impact of communication delay and packet loss from typical V2X attacks. Results show that while V2X improves early detection, security threats can significantly degrade system performance, and system-level failures do not always align with component-level metrics, underscoring the need for holistic evaluation.
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