Exploring Lidar Resilience: A Review of Spoofing Threats in Autonomous Driving

Mihir Nemana, Kana Nagai, Samer Khanafseh, and Boris Pervan

Peer Reviewed

Abstract:	Autonomous Driving Systems heavily rely on Lidar for tasks like mapping, localization, and object detection, especially in GNSS-denied environments. However, these systems remain vulnerable to cyberattacks, including spoofing and interference, due to Lidar’s inherent limitations. This paper highlights the need for resilience in safety critical applications where navigation integrity and continuity needs to be maintained even under adversarial conditions. We survey Lidar vulnerabilities, explore spoofing attack mechanisms, and outline future work on mitigation strategies, such as spoofing detection and system augmentation, to enhance the reliability of these systems. Index Terms—Integrity, Continuity, Autonomous Driving Vehicles, Lidar, Spoofing, Resiliency
Published in:	2025 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 28 - 1, 2025 Salt Lake Marriott Downtown at City Creek Salt Lake City, UT
Pages:	870 - 877
Cite this article:	Nemana, Mihir, Nagai, Kana, Khanafseh, Samer, Pervan, Boris, "Exploring Lidar Resilience: A Review of Spoofing Threats in Autonomous Driving," 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS), Salt Lake City, UT, April 2025, pp. 870-877.
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