Autonomous vehicles (AVs) have promised to drastically improve the convenience of driving by releasing the burden of drivers and reducing traffic accidents with more precise control. With the fast development of artificial intelligence and significant advancements of the Internet of Things technologies, we have witnessed the steady progress of autonomous driving over the recent years. As promising as it is, the march of autonomous driving technologies also faces new challenges, among which security is the top concern. In this article, we give a systematic study on the security threats surrounding autonomous driving, from the angles of perception, navigation, and control. In addition to the in-depth overview of these threats, we also summarize the corresponding defense strategies. Furthermore, we discuss future research directions about the new security threats, especially those related to deep-learning-based self-driving vehicles. By providing the security guidelines at this early stage, we aim to promote new techniques and designs related to AVs from both academia and industry and boost the development of secure autonomous driving.

中文翻译：

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自动驾驶的安全性：威胁、防御和未来方向

自动驾驶汽车 (AV) 承诺通过减轻驾驶员的负担并以更精确的控制减少交通事故，从而大大提高驾驶的便利性。近年来，随着人工智能的快速发展和物联网技术的显着进步，我们见证了自动驾驶的稳步发展。尽管前景广阔，但自动驾驶技术的进军也面临着新的挑战，其中安全性是重中之重。在本文中，我们从感知、导航和控制的角度对围绕自动驾驶的安全威胁进行了系统研究。除了对这些威胁的深入概述，我们还总结了相应的防御策略。此外，我们讨论了有关新安全威胁的未来研究方向，尤其是与基于深度学习的自动驾驶汽车相关的威胁。通过在早期提供安全指南，我们旨在促进学术界和工业界与 AV 相关的新技术和设计，并推动安全自动驾驶的发展。