# Emerging Threats in Deep Learning-Based Autonomous Driving: A Comprehensive Survey

arXiv: https://arxiv.org/abs/2210.11237 · HTML: https://mlsanity.com/paper/2210.11237/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 154 of its 242 references that are in the map.
- First posted on arXiv 19 Oct 2022.

## Builds on (most cited first, 30 of 154)

- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Towards Deep Learning Models Resistant to Adversarial Attacks](https://mlsanity.com/paper/1706.06083/) (2017)
- [Intriguing properties of neural networks](https://mlsanity.com/paper/1312.6199/) (2013)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Playing Atari with Deep Reinforcement Learning](https://mlsanity.com/paper/1312.5602/) (2013)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Advances and Open Problems in Federated Learning](https://mlsanity.com/paper/1912.04977/) (2019)
- [Towards Evaluating the Robustness of Neural Networks](https://mlsanity.com/paper/1608.04644/) (2016)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [Pyramid Scene Parsing Network](https://mlsanity.com/paper/1612.01105/) (2016)
- [Membership Inference Attacks against Machine Learning Models](https://mlsanity.com/paper/1610.05820/) (2016)
- [Asynchronous Methods for Deep Reinforcement Learning](https://mlsanity.com/paper/1602.01783/) (2016)
- [Adversarial examples in the physical world](https://mlsanity.com/paper/1607.02533/) (2016)
- [Generative Adversarial Imitation Learning](https://mlsanity.com/paper/1606.03476/) (2016)
- [Federated Learning: Challenges, Methods, and Future Directions](https://mlsanity.com/paper/1908.07873/) (2019)
- [Federated Learning: Strategies for Improving Communication Efficiency](https://mlsanity.com/paper/1610.05492/) (2016)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [Obfuscated Gradients Give a False Sense of Security: Circumventing Defenses to Adversarial Examples](https://mlsanity.com/paper/1802.00420/) (2018)
- [BadNets: Identifying Vulnerabilities in the Machine Learning Model Supply Chain](https://mlsanity.com/paper/1708.06733/) (2017)
- [YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectors](https://mlsanity.com/paper/2207.02696/) (2022)
- [PointRCNN: 3D Object Proposal Generation and Detection from Point Cloud](https://mlsanity.com/paper/1812.04244/) (2018)
- [Practical Black-Box Attacks against Machine Learning](https://mlsanity.com/paper/1602.02697/) (2016)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [Universal adversarial perturbations](https://mlsanity.com/paper/1610.08401/) (2016)
- [How To Backdoor Federated Learning](https://mlsanity.com/paper/1807.00459/) (2018)

## Built on by (most cited first, 3 of 3)

- [Compensating for Sensing Failures via Delegation in Human-AI Hybrid Systems](https://mlsanity.com/paper/2303.01300/) (2023)
- [Optimizing Delegation in Collaborative Human-AI Hybrid Teams](https://mlsanity.com/paper/2402.05605/) (2024)
- [Multi-Agent Embodied Autonomous Driving (MAEAD): From V2X Information Exchange to Shared World Models](https://mlsanity.com/paper/2606.13840/) (2026)

## Abstract (arXiv)

Since the 2004 DARPA Grand Challenge, the autonomous driving technology has witnessed nearly two decades of rapid development. Particularly, in recent years, with the application of new sensors and deep learning technologies extending to the autonomous field, the development of autonomous driving technology has continued to make breakthroughs. Thus, many carmakers and high-tech giants dedicated to research and system development of autonomous driving. However, as the foundation of autonomous driving, the deep learning technology faces many new security risks. The academic community has proposed deep learning countermeasures against the adversarial examples and AI backdoor, and has introduced them into the autonomous driving field for verification. Deep learning security matters to autonomous driving system security, and then matters to personal safety, which is an issue that deserves attention and research.This paper provides an summary of the concepts, developments and recent research in deep learning security technologies in autonomous driving. Firstly, we briefly introduce the deep learning framework and pipeline in the autonomous driving system, which mainly include the deep learning technologies and algorithms commonly used in this field. Moreover, we focus on the potential security threats of the deep learning based autonomous driving system in each functional layer in turn. We reviews the development of deep learning attack technologies to autonomous driving, investigates the State-of-the-Art algorithms, and reveals the potential risks. At last, we provides an outlook on deep learning security in the autonomous driving field and proposes recommendations for building a safe and trustworthy autonomous driving system.