Points Removal and LiDAR Diagnostics. This demo illustrates when IEMI attack results in Point Removal effects, anomalies in temperature and voltage readings will be observed in the LiDAR diagnostic interface.

2. LiDAR Power-off

These demos can assist in understanding Sec.4.3.2 and Sec.6.5 in the paper

2.1 VLP-16 Power-off

poweroff_outdoor_VLP16_anonymous.mp4

LiDAR Power-off attack against VLP-16 LiDAR. This demo showcases the results of LiDAR Power-off on the VLP-16 LiDAR. When the attack is on, the LiDAR is shut down and the communication is cut off. When we stop the attack, the LiDAR remains power-off. Then we reboot the LiDAR, and after a period of time (around 35 seconds in this demo), the LiDAR resumes normal operation.

Attack Freq: 1153MHz

2.2 RS-M1 Power-off

poweroff_indoor_RSM1.mp4

LiDAR Power-off attack against RS-M1 LiDAR. This demo showcases the results of LiDAR Power-off on theRS-M1 LiDAR. When the attack is on, the LiDAR is shut down and the communication is cut off. When we stop the attack, the LiDAR remains power-off. Then we reboot the LiDAR, and after a period of time (around 6 seconds in this demo), the LiDAR resumes normal operation.

Attack Freq: 2200MHz

3.Points Injection

3.1 Random Points Injection (VLP-16)

This demo can assist in understanding Sec.6.6 in the paper

Random Points Injection on VLP-16 LiDAR. This demo showcases the results of random points injection on the VLP-16 LiDAR. We can inject over 16,000 fake points when the rotation speed of VLP-16 is set to 600 RPM.

VLP16-points.mov

3.2 Random Points Injection (RS-16)

This demo can assist in understanding Sec.6.6 in the paper

Random Points Injection on RS-16 LiDAR. This demo showcases the results of random points injection on the RS-16 LiDAR. we can inject various patterns into RS-16.

RS16-Points.mov

3.3 Controllable Points Injection (VLP-16)

This demo can assist in understanding Sec.6.6 in the paper

Controllable Points Injection on VLP-16 LiDAR. This demo showcases the results of controllable points injection on the VLP-16 LiDAR. We can inject a "pedestrian" into the VLP-16.

VLP16-Ped.mp4

3.4 Controllable Points Injection (RS-16)

This demo can assist in understanding Sec.6.6 in the paper

Controllable Points Injection on RS-16 LiDAR. This demo showcases the results of controllable points injection on the RS-16 LiDAR. We can inject a "pedestrian" into the RS-16.

RS16-Ped.mov

4.IEMI Attacks on Five LiDARs

The Five LiDARs Under Test.

4.1 VLP-16

This demo can assist in understanding Sec.4.2 in the paper

Frequency Sweep on VLP-16 LiDAR. This demo showcases the results of frequency sweep on the VLP-16 LiDAR, featuring varying degrees of Points Interference and Points Removal.

Freq. range: 500MHz -3000MHz.

Frequency_Sweep_VLP-16.mp4

4.2 RS-16

This demo can assist in understanding Sec.6.2 in the paper

Frequency Sweep on RS-16 LiDAR. This demo showcases the results of frequency sweep on the RS-16 LiDAR, featuring varying degrees of Points Interference and Points Removal.

Freq. range: 600MHz -2000MHz.

Freq_Sweep_RS16.mp4

4.3 RS-Bpearl

This demo can assist in understanding Sec.6.2 in the paper

Attack on RS-Bpearl LiDAR. This demo showcases the results of the IEMI on the RS-Bpearl LiDAR. Through frequency sweep between 500MHz and 3500MHz, we find IEMI can induce Points Removal on RS-Bpearl.

Freq. range: 2200MHz.

Frequency_Sweep_RS-Bpearl.mp4

4.4 RS-M1

This demo can assist in understanding Sec.6.2 in the paper

Attack on RS-M1 LiDAR. This demo showcases the Points Interference and Points Removal on the RS-M1 LiDAR. .

Freq. range: 2300MHz -2440MHz.

Freq_Sweep_RSM1.mp4

4.5 RS-M1P

This demo can assist in understanding Sec.6.2 in the paper

Frequency Sweep on RS-M1P LiDAR. This demo showcases the results of frequency sweep on the RS-M1P LiDAR, featuring varying degrees of Points Interference and Points Removal.

Freq. range: 700MHz -2300MHz.

Freq_Sweep_RSM1P.mp4

5.Experiments on Moving Vehicle

This demo can assist in understanding Sec.6.7 in the paper

5.1 Scenario A：Tailgating Attack

Taigating_Attack.mp4

5.1 Scenario B：Roadside Attack

Roadside_Attack.mp4

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PhantomLiDAR

1. Points Removal and Diagnostics

2. LiDAR Power-off

2.1 VLP-16 Power-off

2.2 RS-M1 Power-off

3.Points Injection

3.1 Random Points Injection (VLP-16)

3.2 Random Points Injection (RS-16)

3.3 Controllable Points Injection (VLP-16)

3.4 Controllable Points Injection (RS-16)

4.IEMI Attacks on Five LiDARs

4.1 VLP-16

4.2 RS-16

4.3 RS-Bpearl

4.4 RS-M1

4.5 RS-M1P

5.Experiments on Moving Vehicle

5.1 Scenario A：Tailgating Attack

5.1 Scenario B：Roadside Attack