Despite their prevalence and indispensability in the perception modules of autonomous vehicles, cameras have shown susceptibility to numerous attacks. Among them, the phantom spoofing attack is of significant concern. In such attacks, malefactors employ electronic display devices like projectors and display monitors to generate deceptive objects, thereby duping the object detectors in autonomous vehicles. However, existing detection methodologies are narrowly focused on a single device category, ignoring the multitude of devices that could be leveraged for attacks. Furthermore, the artificial modality-based solution presently in use lacks efficacious fusion mechanisms. In response to these limitations, we propose PhaDe, a practical deep learning-based system adept at detecting phantom spoofing attacks from a variety of and even unfamiliar attack devices. Our approach introduces two image processing techniques to construct artificial modalities and further advances a multi-head self-attention MSA-based fusion module for more versatile integration of disparate modalities. To boost the generalization capacity of our system against novel, unseen attacks, we incorporate two representation-level losses to align feature distributions from various domains. Evaluations conducted on our own dataset, encompassing fake objects from several device types, attest to the efficacy of our system. Our results indicate an accuracy of 98.80% on familiar domains and a detection success rate of 94.03% on unfamiliar domains. Additionally, PhaDe demonstrates a swift response time, fulfilling the practicality requisites.

Among the foremost contributors to compromised driving safety is the abrupt emergence of obstacles or pedestrians within drivers’ non-line-of-sight regions. Previous investigations into non-line-of-sight imaging have predominantly depended on costly apparatus or have been confined to controlled laboratory settings (e.g., extensive planar reflectors and regulated illumination). Consequently, these technological approaches prove impractical within intricate driving environments. In this paper, we introduce a shadow based non-line-of-sight moving obstacle detection system devised to augment Advanced Driver Assistance Systems (ADAS), ensuring adequate time for safe response and halting. Our approach incorporates a shadow signal discriminator tailored to evaluate faint shadows generated by moving obstacles, such as pedestrians within blind spots. Note that we merely use commercial onboard sensors and our system is robust to various lighting scenarios and planar reflectors. We comprehensively assess our methodology's adaptability by employing datasets acquired from real-world driving scenarios encompassing diverse road surfaces and lighting conditions. The results substantiate the system's efficacy in detecting pedestrians in motion within NLOS regions, showcasing an impressive detection range of 22 meters. This proficiency enables the system to pre-emptively forewarn the ADAS, facilitating the maintenance of a safe distance from the pedestrian.

One of the most serious factors compromising driving safety is when people in drivers' non-line-of-sight areas rush out suddenly. Existing studies on non-line-of-sight imaging rely on expensive equipment or are limited to severe laboratory conditions (e.g., massive planar reflectors and controlled illumination), rendering these technologies inapplicable in complex driving scenarios. In this paper, we propose a non-line-of-sight moving obstacle detection system Ghost-Probe, which can provide an advanced driver assistance system (ADAS) with sufficient time to respond and stop safely. We design a shadow signal discriminator to assess the weak shadows created by a moving obstacle, such as pedestrians in the blind area, while simultaneously filtering out the impacts of other complicated illumination. Note that we merely use commercial monocular cameras and our system is robust to a wide range of lighting scenarios and planar reflectors. We evaluate the generalizability of our approach using the datasets collected in real-world driving scenarios with a variety of road surface and lighting circumstances. The results indicate that our system can detect the moving pedestrian in the non-line-of-sight area at a distance of 20 meters and offer the ADAS system advance warning to keep a safe distance.