{"id":"https://openalex.org/W3135505959","doi":"https://doi.org/10.1109/iv48863.2021.9575549","title":"End-to-end Uncertainty-based Mitigation of Adversarial Attacks to Automated Lane Centering","display_name":"End-to-end Uncertainty-based Mitigation of Adversarial Attacks to Automated Lane Centering","publication_year":2021,"publication_date":"2021-07-11","ids":{"openalex":"https://openalex.org/W3135505959","doi":"https://doi.org/10.1109/iv48863.2021.9575549","mag":"3135505959"},"language":"en","primary_location":{"id":"doi:10.1109/iv48863.2021.9575549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv48863.2021.9575549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.00345","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017515613","display_name":"Ruochen Jiao","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruochen Jiao","raw_affiliation_strings":["Northwestern University, IL, USA","Northwestern University,Department of Electrical and Computer Engineering,IL,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern University, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Northwestern University,Department of Electrical and Computer Engineering,IL,USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070869235","display_name":"Hengyi Liang","orcid":"https://orcid.org/0000-0002-1616-4259"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hengyi Liang","raw_affiliation_strings":["Northwestern University, IL, USA","Northwestern University,Department of Electrical and Computer Engineering,IL,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern University, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Northwestern University,Department of Electrical and Computer Engineering,IL,USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002975277","display_name":"Takami Sato","orcid":"https://orcid.org/0000-0002-4465-5653"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Takami Sato","raw_affiliation_strings":["University of California, Irvine, CA, USA","University of California,Dept. of Computer Science,Irvine,CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"University of California,Dept. of Computer Science,Irvine,CA, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058159511","display_name":"Junjie Shen","orcid":"https://orcid.org/0000-0001-7944-4445"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junjie Shen","raw_affiliation_strings":["University of California, Irvine, CA, USA","University of California,Dept. of Computer Science,Irvine,CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"University of California,Dept. of Computer Science,Irvine,CA, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063270515","display_name":"Qi Alfred Chen","orcid":"https://orcid.org/0000-0003-0316-9285"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qi Alfred Chen","raw_affiliation_strings":["University of California, Irvine, CA, USA","University of California,Dept. of Computer Science,Irvine,CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Irvine, CA, USA","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"University of California,Dept. of Computer Science,Irvine,CA, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020896290","display_name":"Qi Zhu","orcid":"https://orcid.org/0000-0002-7700-4099"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qi Zhu","raw_affiliation_strings":["Northwestern University, IL, USA","Northwestern University,Department of Electrical and Computer Engineering,IL,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern University, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Northwestern University,Department of Electrical and Computer Engineering,IL,USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02678411,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"266","last_page":"273"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9595000147819519,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10645","display_name":"Cardiac Arrest and Resuscitation","score":0.940500020980835,"subfield":{"id":"https://openalex.org/subfields/2711","display_name":"Emergency Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.8969310522079468},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.7360633611679077},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6860971450805664},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5232852101325989},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5069808959960938},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.46450114250183105},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4640347957611084},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.45864301919937134},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.43240252137184143},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3818643093109131},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21979016065597534}],"concepts":[{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.8969310522079468},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.7360633611679077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6860971450805664},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5232852101325989},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5069808959960938},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.46450114250183105},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4640347957611084},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.45864301919937134},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.43240252137184143},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3818643093109131},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21979016065597534},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iv48863.2021.9575549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv48863.2021.9575549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2103.00345","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.00345","pdf_url":"https://arxiv.org/pdf/2103.00345","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3135505959","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2103.00345","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2103.00345","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.00345","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.00345","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.00345","pdf_url":"https://arxiv.org/pdf/2103.00345","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W87635799","https://openalex.org/W1592601589","https://openalex.org/W2041310334","https://openalex.org/W2557519264","https://openalex.org/W2564091245","https://openalex.org/W2611576673","https://openalex.org/W2788820894","https://openalex.org/W2791845676","https://openalex.org/W2796096089","https://openalex.org/W2796347433","https://openalex.org/W2798302089","https://openalex.org/W2808442425","https://openalex.org/W2811294003","https://openalex.org/W2867167548","https://openalex.org/W2884519271","https://openalex.org/W2890038638","https://openalex.org/W2890883923","https://openalex.org/W2891385160","https://openalex.org/W2896583015","https://openalex.org/W2904485400","https://openalex.org/W2950517871","https://openalex.org/W2953303875","https://openalex.org/W2956805085","https://openalex.org/W2963207607","https://openalex.org/W2963833733","https://openalex.org/W2963857521","https://openalex.org/W2964059111","https://openalex.org/W2964175514","https://openalex.org/W2964253222","https://openalex.org/W2981992989","https://openalex.org/W2991016045","https://openalex.org/W2994715219","https://openalex.org/W3021455948","https://openalex.org/W3027099759","https://openalex.org/W3084997033","https://openalex.org/W3090608524","https://openalex.org/W3091360389","https://openalex.org/W3100397002","https://openalex.org/W3102961490","https://openalex.org/W3105806188","https://openalex.org/W3111799874","https://openalex.org/W3119844609","https://openalex.org/W3194478481","https://openalex.org/W6603557143","https://openalex.org/W6617145748","https://openalex.org/W6735443497","https://openalex.org/W6750227808","https://openalex.org/W6752278917","https://openalex.org/W6752760542","https://openalex.org/W6752882886","https://openalex.org/W6755103542","https://openalex.org/W6779764111","https://openalex.org/W6784185420","https://openalex.org/W6787429676","https://openalex.org/W6796161053","https://openalex.org/W6800594836"],"related_works":["https://openalex.org/W3209498200","https://openalex.org/W3188315122","https://openalex.org/W3035751626","https://openalex.org/W3126301759","https://openalex.org/W3011434189","https://openalex.org/W3175953817","https://openalex.org/W2976477529","https://openalex.org/W2603775267","https://openalex.org/W3034214559","https://openalex.org/W3121708586","https://openalex.org/W3098881644","https://openalex.org/W2767191684","https://openalex.org/W3036725378","https://openalex.org/W1421760572","https://openalex.org/W3212148615","https://openalex.org/W3084997033","https://openalex.org/W3101503940","https://openalex.org/W2758551931","https://openalex.org/W3138186039","https://openalex.org/W3156877806"],"abstract_inverted_index":{"In":[0,85,106],"the":[1,55,62,80,95,114,122,139,166,179],"development":[2],"of":[3,97,168],"advanced":[4],"driver-assistance":[5],"systems":[6],"(ADAS)":[7],"and":[8,65,82,103,128,133,151,171],"autonomous":[9,153],"vehicles,":[10],"machine":[11],"learning":[12],"techniques":[13,30],"that":[14,93,160],"are":[15],"based":[16,137],"on":[17,34,79,138],"deep":[18],"neural":[19],"networks":[20],"(DNNs)":[21],"have":[22,42],"been":[23,43],"widely":[24],"used":[25],"for":[26],"vehicle":[27],"perception.":[28],"These":[29],"offer":[31],"significant":[32,59],"improvement":[33,177],"average":[35],"perception":[36,63,83,123],"accuracy":[37],"over":[38,178],"traditional":[39],"methods,":[40],"however":[41],"shown":[44],"to":[45,48,67],"be":[46],"susceptible":[47],"adversarial":[49,75,98,126,169],"attacks,":[50,127],"where":[51],"small":[52],"perturbations":[53],"in":[54,61,119],"input":[56],"may":[57],"cause":[58],"errors":[60],"results":[64,158],"lead":[66],"system":[68,118],"failure.":[69],"Most":[70],"prior":[71],"works":[72],"addressing":[73],"such":[74],"attacks":[76,99],"focus":[77],"only":[78],"sensing":[81],"modules.":[84,105],"this":[86],"work,":[87],"we":[88,108],"propose":[89],"an":[90],"end-to-end":[91],"approach":[92,146,162],"addresses":[94],"impact":[96,167],"throughout":[100],"perception,":[101],"planning,":[102],"control":[104,134],"particular,":[107],"choose":[109],"a":[110,130],"target":[111],"ADAS":[112],"application,":[113],"automated":[115],"lane":[116],"centering":[117],"OpenPilot,":[120],"quantify":[121],"uncertainty":[124,140],"under":[125],"design":[129],"robust":[131],"planning":[132],"module":[135],"accordingly":[136],"analysis.":[141],"We":[142],"evaluate":[143],"our":[144,161],"proposed":[145],"using":[147],"both":[148],"public":[149],"dataset":[150],"production-grade":[152],"driving":[154],"simulator.":[155],"The":[156],"experiment":[157],"demonstrate":[159],"can":[163,172],"effectively":[164],"mitigate":[165],"attack":[170],"achieve":[173],"55%":[174],"~":[175],"90%":[176],"original":[180],"OpenPilot.":[181]},"counts_by_year":[],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}