Motion control systems, such as traditional Electronic Stability Control (ESC) systems, in autonomous vehicles rely on sensors. One of these sensor types are gyroscopes. In our research we found a resonance frequency of an automotive grade MEMS gyroscope when exposing the gyroscope to audible sound frequencies. As this caused the yaw rate to be altered we further analyzed the ESC system’s reaction on an altered yaw rate. This caused a system error that was indicated by error codes and an active warning light. Last but not least we describe improvements that can enhance the ESC system’s availability.

The Effect Of Sound On The Gyroscopes In Your Car

Research on the security of sensors used in air, sea, and road vehicles has increased over the past years. However, previous work frequently focuses on sensors that detect the vehicle’s surroundings, like LiDAR, RADAR, or cameras. While a successful attack could have an equally severe impact, motion control sensors are investigated to a lesser degree, and security research on them often treats only one of the vehicle types (air, sea, road). The same aspect also applies to mitigations proposed in some of the papers. We close this gap by providing a broad overview and comparing research on demonstrated attacks and defenses. The present survey is the first to cover demonstrated attacks on vehicle motion control sensors of air, sea and road vehicles. Moreover, for the identified issues, demonstrated mitigations and countermeasures for the attacks are referenced. Further, we discuss possible adjustments required to transfer a countermeasure that is demonstrated for one vehicle type to the other two. Additionally, all attacks and countermeasures are summarized in tabular or graphical representation. The covered sensors include rotation, acceleration, gyroscopic, pressure sensors, Inertial Measurement Units, and sensors used to determine the position of a vehicle. 

Survey of Air, Sea, and Road Vehicles Research for Motion Control Security

Several advanced driver assistance systems require a reliable angle of the steering wheel as input for their control-loop cycle. This research investigates attacks on the steering wheel angle sensor with electromagnetic fields. We present measurement data showing that an angle of 160 ° or larger can be injected into the steering wheel angle sensor using a Helmholz coil. Further, this paper describes the reaction of the steering system on this manipulation. The most interesting observations were full use of an injected steering wheel angle by the receiving system if the injection started before the vehicle was started. Additionally, we describe the failure detection in the electric stability control and discuss existing compensating measures as well as possible mitigation measures.

Steering Your Car With Electromagnetic Fields

Research on the security of sensors used in air, sea, and road vehicles has increased over the past years. However, previous work frequently focuses on sensors that detect the vehicle’s surroundings, like LiDAR, RADAR, or cameras. While a successful attack could have an equally severe impact, motion control sensors are investigated to a lesser degree, and security research on them often treats only one of the vehicle types (air, sea, road). The same aspect also applies to mitigations proposed in some of the papers. We close this gap by providing a broad overview and comparing research on demonstrated attacks and defenses. The present survey is the first to cover demonstrated attacks on vehicle motion control sensors of air, sea and road vehicles. Moreover, for the identified issues, demonstrated mitigations and countermeasures for the attacks are referenced. Further, we discuss possible adjustments required to transfer a countermeasure that is demonstrated for one vehicle type to the other two. Additionally, all attacks and countermeasures are summarized in tabular or graphical representation. The covered sensors include rotation, acceleration, gyroscopic, pressure sensors, Inertial Measurement Units, and sensors used to determine the position of a vehicle.

Angular velocity can be measured by a gyroscope, which provides essential information to determine the heading direction of a vehicle. In particular, the z-axis of a gyroscope represents the vehicle’s rotation, information that is used to determine the current location. However, it is known that the current gyroscopes that are designed based on MEMS (Micro-Electromechanical Systems) have a vulnerability by which the gyroscope measurements can be damaged. When an acoustic signal with a resonant frequency of the MEMS gyroscope is injected, the MEMS gyroscope would incorrectly measure yaw rates. For this reason, it is important to protect the yaw rate from an acoustic signal injection attack to maintain the safety of the vehicle system. In this paper, we propose a recovery method for damaged yaw rates based on measurements from an accelerometer. Our method enables a vehicle to maintain its current location even if the signal injection attack attempts to manipulate its yaw rate measurement. In addition, we present the evaluation results showing that our method is able to properly estimate yaw rates based on x-axis and y-axis measurements of an accelerometer. 

Recovering Yaw Rate from Signal Injection Attack to Protect RV's Direction

Modern vehicles and in particular automated or autonomous vehicles utilize data gained from wheel speed sensors for various functionalities like determining current speed or electronic stability control. The wheel speed is derived from a multitude of hall sensors. By generating an electromagnetic field with a fitting frequency it is possible to change the wheel speed sensor's interpretation of wheel speed. The braking system and electronic stability control would then base their actions on incorrect data possibly leading to a dangerous situation. In this research, we investigate practical feasibility and impact of such attacks. For this, an audio amplifier and a Helmholtz coil were used to emit electromagnetic fields with varying frequencies. We then analyse the effect of a single manipulated wheel speed sensor on the electronic stability control used in modern vehicles (using a hardware-in-the-loop setup). We finally describe consequences and possible countermeasure for the upcoming autonomous and highly automated vehicles.

On The Manipulation of Wheel Speed Sensors and Their Impact in Autonomous Vehicles

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On The Manipulation of Wheel Speed Sensors and Their Impact in Autonomous Vehicles

The Effect Of Sound On The Gyroscopes In Your Car