DTP-Attack: 軌道予測に対する決定ベースのブラックボックス敵対的攻撃
DTP-Attack: A decision-based black-box adversarial attack on trajectory prediction
軌道予測システムに対する、勾配情報を必要としない決定ベースのブラックボックス敵対的攻撃フレームワークを提案し、意図誤分類攻撃と精度劣化攻撃の両方を実現した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Jiaxiang Li, Jun Yan, Daniel Watzenig, Huilin Yin
分類: cs.RO
原文アブストラクト
Trajectory prediction systems are critical for autonomous vehicle safety, yet remain vulnerable to adversarial attacks that can cause catastrophic traffic behavior misinterpretations. Existing attack methods require white-box access with gradient information and rely on rigid physical constraints, limiting real-world applicability. We propose DTP-Attack, a decision-based black-box adversarial attack framework tailored for trajectory prediction systems. Our method operates exclusively on binary decision outputs without requiring model internals or gradients, making it practical for real-world scenarios. DTP-Attack employs a novel boundary walking algorithm that navigates adversarial regions without fixed constraints, naturally maintaining trajectory realism through proximity preservation. Unlike existing approaches, our method supports both intention misclassification attacks and prediction accuracy degradation. Extensive evaluation on nuScenes and Apolloscape datasets across state-of-the-art models including Trajectron++ and Grip++ demonstrates superior performance. DTP-Attack achieves 41 - 81% attack success rates for intention misclassification attacks that manipulate perceived driving maneuvers with perturbations below 0.45 m, and increases prediction errors by 1.9 - 4.2 for accuracy degradation. Our method consistently outperforms existing black-box approaches while maintaining high controllability and reliability across diverse scenarios. These results reveal fundamental vulnerabilities in current trajectory prediction systems, highlighting urgent needs for robust defenses in safety-critical autonomous driving applications.
