  Autonomous systems such as self-driving cars rely on sensors to perceive the
surrounding world. Measures must be taken against attacks on sensors, which
have been a hot topic in the last few years. For that goal one must first
evaluate how sensor attacks affect the system, i.e. which part or whole of the
system will fail if some of the built-in sensors are compromised, or will keep
safe, etc. Among the relevant safety standards, ISO/PAS 21448 addresses the
safety of road vehicles taking into account the performance limitations of
sensors, but leaves security aspects out of scope. On the other hand, ISO/SAE
21434 addresses the security perspective during the development process of
vehicular systems, but not specific threats such as sensor attacks. As a result
the safety of autonomous systems under sensor attack is yet to be addressed. In
this paper we propose a framework that combines safety analysis for scenario
identification, and scenario-based simulation with sensor attack models
embedded. Given an autonomous system model, we identify hazard scenarios caused
by sensor attacks, and evaluate the performance limitations in the scenarios.
We report on a prototype simulator for autonomous vehicles with radar, cameras
and LiDAR along with attack models against the sensors. Our experiments show
that our framework can evaluate how the system safety changes as parameters of
the attacks and the sensors vary.
