LiDAR Spoofing Attacks builds on the relay attack and exploit the system's light pulse mechanism to manipulate perceived object distances in ITS. By injecting counterfeit signals and controlling parameters like delay and pulse sequences, attackers can create illusions of objects at varying distances. This technique can deceive the vehicle's sensors, presenting significant vulnerabilities in the safety and functionality of ITS.

LiDAR Relaying Attack is an extension of the replay attack. The attack aims to to relay the original signal sent from the target vehicle's LiDAR from a different position, creating fake echos. This can make real objects appear closer or further than their actual locations. A relay attack is most likely to be executed from the road side, where an attacker might receive LiDAR signals from vehicles and relay them to another vehicle located elsewhere.

LiDAR Replay Attacks captures legitimate LiDAR signals and re-transmits them to deceive the system.

LiDAR systems emit light pulses and measures their reflection time for vehicle environment perception. The earlier LiDAR receives the signal, the closer the object will appear. The primary goal of LiDAR attacks is to introduce noise, create fake echos, or generate fake objects.