Detecting and responding to vehicle sensor data inaccuracies

Abstract

Sensor data captured by multiple vehicle sensors may be analyzed and compared to detect sensor attacks and/or other sensor anomalies. Vehicle systems described herein may determine overlapping regions in the fields of view of multiple sensors of a vehicle, including sensors of the same or different modalities. The sensor outputs from the overlapping regions may be compared to determine when a sensor output is unexpected based on the outputs of overlapping sensors. When an unexpected sensor output is detected, the vehicle systems may analyze the sensor data to determine whether the cause of the unexpected sensor output is benign or a potential malicious attack on a sensor or group of sensors. The vehicle systems also may determine and perform responses of the vehicle to various sensor anomalies, including controlling the vehicle to avoid potential threats and/or capturing additional sensor data relating to the causes of the sensor anomalies.