Attack detection device, computer readable medium, and attack detection method

A non-transitory computer readable medium storing an attack detection program for causing a computer to execute:

• a process of acquiring respective intermediate values of a plurality of physical quantities during execution of a sensor fusion algorithm that calculates an output by combining the plurality of physical quantities observed by a plurality of sensors of different types, the sensor fusion algorithm calculating the respective intermediate values of the plurality of physical quantities, and changing the output using the respective intermediate values;
• and
• a process of determining whether there is an attack on at least one sensor of the plurality of sensors by comparing each of the respective intermediate values with an intermediate-value threshold value, which is a threshold value.

An attack detection method comprising:

• acquiring respective intermediate values of a plurality of physical quantities during execution of a sensor fusion algorithm that calculates an output by combining the plurality of physical quantities observed by a plurality of sensors of different types, the sensor fusion algorithm calculating the respective intermediate values of the plurality of physical quantities, and changing the output using the respective intermediate values;
• and
• determining whether there is an attack on at least one sensor of the plurality of sensors by comparing each of the respective intermediate values with an intermediate-value threshold value, which is a threshold value.