A Security Protection Method for In-Vehicle Millimeter Wave Radar Network Based on Digital Watermarking Technology

As a sensor with mature holographic sensing technology and low cost, millimeter wave radar has been widely used in blind spot detection (BSD) and adaptive cruise control (ACC) of autonomous vehicles. Millimeter wave radar receives vehicle speed and angular velocity information from controller area network (CAN) bus, and sends sensor sensing information to CAN bus constantly. This operation principle brings security threats to autonomous vehicles; attackers could transmit false information to electronic control units (ECUs) and in-vehicle sensors. This paper proposes a security method based on digital watermarking. In this method, the redundant bits of CAN bus communication data are embedded into the digital watermarking information; the digital watermarking is extracted and checked at the end of receiving data to judge whether the data is complete or tampered with. We simulate this method on embedded devices; results show that the method can prevents tamper attacks effectively.