知覚誤差を利用したモーションプランナーへの攻撃
Attacking Motion Planners Using Adversarial Perception Errors
自動運転のプランナーに対し、知覚品質指標では高スコアになるが計画失敗を引き起こす敵対的な知覚誤差を生成する手法を提案し、CARLAシミュレータで有効性を示した。
著者: Jonathan Sadeghi, Nicholas A. Lord, John Redford, Romain Mueller
分類: cs.RO, cs.CR, cs.CV, cs.LG
原文アブストラクト
Autonomous driving (AD) systems are often built and tested in a modular fashion, where the performance of different modules is measured using task-specific metrics. These metrics should be chosen so as to capture the downstream impact of each module and the performance of the system as a whole. For example, high perception quality should enable prediction and planning to be performed safely. Even though this is true in general, we show here that it is possible to construct planner inputs that score very highly on various perception quality metrics but still lead to planning failures. In an analogy to adversarial attacks on image classifiers, we call such inputs \textbf{adversarial perception errors} and show they can be systematically constructed using a simple boundary-attack algorithm. We demonstrate the effectiveness of this algorithm by finding attacks for two different black-box planners in several urban and highway driving scenarios using the CARLA simulator. Finally, we analyse the properties of these attacks and show that they are isolated in the input space of the planner, and discuss their implications for AD system deployment and testing.
