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Multi-sensor fusion has been widely used by autonomous vehicles (AVs) to integrate the perception results from different sensing modalities including LiDAR, camera and radar. Despite the rapid development of multi-sensor fusion systems in autonomous driving, their vulnerability to malicious attacks have not been well studied. Although some prior works have studied the attacks against the perception systems of AVs, they only consider a single sensing modality or a camera-LiDAR fusion system, which can not attack the sensor fusion system based on LiDAR, camera, and radar. To fill this research gap, in this paper, we present the first study on the vulnerability of multi-sensor fusion systems that employ LiDAR, camera, and radar. Specifically, we propose a novel attack method that can simultaneously attack all three types of sensing modalities using a single type of adversarial object. The adversarial object can be easily fabricated at low cost, and the proposed attack can be easily performed with high stealthiness and flexibility in practice. Extensive experiments based on a real-world AV testbed show that the proposed attack can continuously hide a target vehicle from the perception system of a victim AV using only two small adversarial objects. 

Recent years have witnessed increasing concerns towards unfair decisions made by machine learning algorithms. To improve fairness in model decisions, various fairness notions have been proposed and many fairness-aware methods are developed. However, most of existing definitions and methods focus only on single-label classification. Fairness for multi-label classification, where each instance is associated with more than one labels, is still yet to establish. To fill this gap, we study fairness-aware multi-label classification in this paper. We start by extending Demographic Parity (DP) and Equalized Opportunity (EOp), two popular fairness notions, to multi-label classification scenarios. Through a systematic study, we show that on multi-label data, because of unevenly distributed labels, EOp usually fails to construct a reliable estimate on labels with few instances. We then propose a new framework named Similarity s-induced Fairness (sγ -SimFair). This new framework utilizes data that have similar labels when estimating fairness on a particular label group for better stability, and can unify DP and EOp. Theoretical analysis and experimental results on real-world datasets together demonstrate the advantage of sγ -SimFair over existing methods on multi-label classification tasks.