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Attack Tree Analysis for commaai/openpilot

Objective: Remotely Cause Unintended Vehicle Control (Acceleration, Braking, Steering)

Attack Tree Visualization

Goal: Remotely Cause Unintended Vehicle Control (Acceleration, Braking, Steering)

└── 1. Manipulate openpilot's Control Outputs [HIGH RISK] ├── 1.1 Compromise openpilot Software [HIGH RISK] │ ├── 1.1.1 Exploit Software Vulnerabilities in openpilot Code [HIGH RISK] │ │ ├── 1.1.1.1 Buffer Overflow in a C/C++ Component (e.g., visiond, controlsd) │ │ │ └── 1.1.1.1.1 Inject Malicious Code via Crafted Input (e.g., corrupted video frame, manipulated sensor data) [CRITICAL] │ │ ├── 1.1.1.2 Integer Overflow/Underflow in a C/C++ Component │ │ │ └── 1.1.1.2.1 Cause Unexpected Behavior/Crash, Potentially Leading to Code Execution [CRITICAL] │ │ ├── 1.1.1.3 Logic Error in Python Components (e.g., plannerd) │ │ │ └── 1.1.1.3.1 Manipulate Decision-Making Logic to Favor Malicious Actions [CRITICAL] │ │ ├── 1.1.1.5 Improper Input Validation │ │ │ └── 1.1.1.5.1 Inject malicious data into openpilot processes. [CRITICAL] │ │ └── 1.1.1.6 Deserialization Vulnerability (if custom serialization is used) │ │ └── 1.1.1.6.1 Inject Malicious Objects to Execute Arbitrary Code [CRITICAL] │ └── 1.1.2 Supply Malicious Updates/Models │ ├── 1.1.2.1 Compromise Update Server (or Man-in-the-Middle Attack on Update Process) [HIGH RISK] │ │ └── 1.1.2.1.1 Distribute a Backdoored Version of openpilot [CRITICAL] │ ├── 1.1.2.2 Bypass Code Signing/Verification (if implemented) │ │ └── 1.1.2.2.1 Install a Malicious Update Without Detection [CRITICAL] └── 1.2 Spoof Sensor Data to openpilot [HIGH RISK] ├── 1.2.1 Compromise Communication Channel Between Sensors and openpilot Hardware [HIGH RISK] │ ├── 1.2.1.1 Man-in-the-Middle Attack on CAN Bus (if openpilot receives CAN data directly) │ │ └── 1.2.1.1.1 Inject False CAN Messages (e.g., incorrect speed, steering angle) [CRITICAL] │ ├── 1.2.1.2 Compromise Camera Feed (if accessible remotely) │ │ └── 1.2.1.2.1 Inject Synthetic Video Frames to Deceive openpilot's Vision System [CRITICAL] │ └── 1.2.1.3 Compromise Radar/Lidar Data Stream (if accessible remotely) │ └── 1.2.1.3.1 Inject False Obstacle Data or Modify Existing Data [CRITICAL] └── 1.2.2 Exploit Weaknesses in Sensor Fusion Algorithms └── 1.2.2.1 Craft Input Data that Exploits Known Limitations or Biases in the Fusion Process └── 1.2.2.1.1 Cause openpilot to Misinterpret the Environment (e.g., "hallucinate" obstacles) [CRITICAL] └── 1.3 Inject malicious messages into openpilot's messaging system. [HIGH RISK] └── 1.3.1 Exploit vulnerabilities in messaging system. └── 1.3.1.1 Send crafted messages to internal openpilot processes. └── 1.3.1.1.1 Bypass message validation and filtering. [CRITICAL] └── 1.3.1.1.1.1 Inject commands that directly control vehicle actuators. [CRITICAL] └── 1.4 Tamper with configuration files. └── 1.4.1 Gain unauthorized access to the device's file system. └── 1.4.1.1 Modify configuration files to alter openpilot's behavior. [CRITICAL] └── 1.4.1.1.1 Change parameters to make the system more aggressive or disable safety features. [CRITICAL]

Attack Tree Path: 1. Manipulate openpilot's Control Outputs [HIGH RISK]

  • This is the overarching goal and encompasses all sub-paths. It represents the ultimate objective of the attacker.

Attack Tree Path: 1.1 Compromise openpilot Software [HIGH RISK]

  • Description: Directly attacking the openpilot software itself to gain control.
  • Sub-Vectors:
    • 1.1.1 Exploit Software Vulnerabilities in openpilot Code [HIGH RISK]
      • Description: Leveraging coding errors to inject malicious code or manipulate program behavior.
      • Specific Vulnerabilities:
        • 1.1.1.1.1 Inject Malicious Code via Crafted Input (Buffer Overflow) [CRITICAL]
          • Likelihood: Medium
          • Impact: Critical
          • Effort: High
          • Skill Level: Advanced
          • Detection Difficulty: Medium (with IDS), Hard (without)
          • Details: Exploiting a buffer overflow vulnerability in a C/C++ component (like visiond or controlsd) by providing carefully crafted input (e.g., a corrupted video frame or manipulated sensor data) that overwrites memory and allows the attacker to execute arbitrary code.
        • 1.1.1.2.1 Cause Unexpected Behavior/Crash (Integer Overflow/Underflow) [CRITICAL]
          • Likelihood: Medium
          • Impact: Critical
          • Effort: High
          • Skill Level: Advanced
          • Detection Difficulty: Medium (with crash monitoring), Hard (without)
          • Details: Causing an integer overflow or underflow in a C/C++ component, leading to unexpected program behavior, crashes, and potentially opening the door for code execution.
        • 1.1.1.3.1 Manipulate Decision-Making Logic (Logic Error) [CRITICAL]
          • Likelihood: Medium
          • Impact: High
          • Effort: Medium
          • Skill Level: Intermediate
          • Detection Difficulty: Hard
          • Details: Exploiting a logic error in a Python component (like plannerd) to alter the decision-making process of openpilot, causing it to favor malicious actions (e.g., ignoring a stop sign).
        • 1.1.1.5.1 Inject malicious data into openpilot processes. [CRITICAL]
          • Likelihood: Medium
          • Impact: High
          • Effort: Medium
          • Skill Level: Intermediate
          • Detection Difficulty: Medium
          • Details: Exploiting a lack of proper input validation to inject malicious data that can disrupt or control openpilot processes.
        • 1.1.1.6.1 Inject Malicious Objects (Deserialization) [CRITICAL]
          • Likelihood: Low (depends on serialization usage)
          • Impact: Critical
          • Effort: High
          • Skill Level: Advanced
          • Detection Difficulty: Medium (with strong input validation), Hard (without)
          • Details: If openpilot uses custom object serialization, exploiting a deserialization vulnerability to inject malicious objects that execute arbitrary code upon deserialization.
    • 1.1.2 Supply Malicious Updates/Models
      • Description: Tricking openpilot into installing a compromised version of the software or a poisoned machine learning model.
      • Specific Vulnerabilities:
        • 1.1.2.1.1 Distribute a Backdoored Version of openpilot [CRITICAL]
          • Likelihood: Low
          • Impact: Critical
          • Effort: Very High
          • Skill Level: Expert
          • Detection Difficulty: Very Hard (with code signing)
          • Details: Compromising the update server or performing a Man-in-the-Middle attack on the update process to distribute a backdoored version of openpilot to users.
        • 1.1.2.2.1 Install a Malicious Update Without Detection [CRITICAL]
          • Likelihood: Very Low (with strong code signing)
          • Impact: Critical
          • Effort: Very High
          • Skill Level: Expert
          • Detection Difficulty: Very Hard
          • Details: Bypassing code signing or verification mechanisms to install a malicious update without being detected.

Attack Tree Path: 1.2 Spoof Sensor Data to openpilot [HIGH RISK]

  • Description: Providing false sensor data to openpilot to deceive it about the vehicle's environment.
  • Sub-Vectors:
    • 1.2.1 Compromise Communication Channel Between Sensors and openpilot Hardware [HIGH RISK]
      • Description: Intercepting and modifying the data flowing from sensors to the openpilot hardware.
      • Specific Vulnerabilities:
        • 1.2.1.1.1 Inject False CAN Messages [CRITICAL]
          • Likelihood: Low (requires network access)
          • Impact: Critical
          • Effort: High
          • Skill Level: Advanced
          • Detection Difficulty: Hard (requires CAN traffic monitoring)
          • Details: Performing a Man-in-the-Middle attack on the CAN bus (if openpilot receives CAN data directly) to inject false CAN messages, such as incorrect speed, steering angle, or other sensor readings.
        • 1.2.1.2.1 Inject Synthetic Video Frames [CRITICAL]
          • Likelihood: Low (requires network access and video stream manipulation)
          • Impact: Critical
          • Effort: High
          • Skill Level: Advanced
          • Detection Difficulty: Hard (requires sophisticated image analysis)
          • Details: Compromising the camera feed (if accessible remotely) and injecting synthetic video frames to deceive openpilot's vision system.
        • 1.2.1.3.1 Inject False Obstacle Data or Modify Existing Data [CRITICAL]
          • Likelihood: Low (requires network access and specialized knowledge)
          • Impact: Critical
          • Effort: High
          • Skill Level: Advanced
          • Detection Difficulty: Hard (requires sophisticated data stream analysis)
          • Details: Compromising the radar or lidar data stream (if accessible remotely) to inject false obstacle data or modify existing data, causing openpilot to misinterpret the environment.
    • 1.2.2 Exploit Weaknesses in Sensor Fusion Algorithms
      • 1.2.2.1.1 Cause openpilot to Misinterpret the Environment (e.g., "hallucinate" obstacles) [CRITICAL]
        • Likelihood: Low
        • Impact: High
        • Effort: Very High
        • Skill Level: Expert
        • Detection Difficulty: Very Hard
        • Details: Crafting specific input data patterns that exploit known limitations or biases within openpilot's sensor fusion algorithms. This would cause a misinterpretation of the environment, potentially leading to dangerous actions.

Attack Tree Path: 1.3 Inject malicious messages into openpilot's messaging system. [HIGH RISK]

  • Description: Sending crafted messages to internal openpilot processes to directly influence its behavior.
    • 1.3.1.1.1 Bypass message validation and filtering. [CRITICAL]
      • Likelihood: Medium
      • Impact: Critical
      • Effort: High
      • Skill Level: Advanced
      • Detection Difficulty: Medium
      • Details: Exploiting vulnerabilities in the messaging system to bypass security checks.
    • 1.3.1.1.1.1 Inject commands that directly control vehicle actuators. [CRITICAL]
      • Likelihood: Medium
      • Impact: Critical
      • Effort: High
      • Skill Level: Advanced
      • Detection Difficulty: Medium
      • Details: Sending crafted messages that are interpreted as direct commands to control the vehicle's actuators (steering, acceleration, braking), bypassing normal control logic.

Attack Tree Path: 1.4 Tamper with configuration files.

* **1.4.1.1.1 Change parameters to make the system more aggressive or disable safety features. [CRITICAL]**
    *   *Likelihood:* Low
    *   *Impact:* High
    *   *Effort:* Medium
    *   *Skill Level:* Intermediate
    *   *Detection Difficulty:* Medium
    *   *Details:* Gaining unauthorized access to configuration files and modifying them to alter openpilot's behavior, potentially disabling safety features or making the system more aggressive.