Authenticity of LiDAR Points in Autonomous Vehicle “Certified Control” Architecture

A typical AV architecture is shown in Figure 1. The sensors send their data to a controller, which does the complex work of perception and control, often using machine learning. The controller then sends its chosen action to the actuators, which physically execute the action. In this setup, each of the three components is in the “trusted base.” This means that, were any single component to be infiltrated, the entire system would be compromised. This is concerning, especially due to the complexity of the controller. The controller may be internet-connected or otherwise particularly susceptible to malicious infiltration, so it is preferable to exclude it from the trusted base. 1The development of the certified control architecture, described here, is in no part ours. We attribute [2] for this concepts in this section.