Co-operative Perception (CP) is the crown jewel of next-gen autonomous mobility.

Is the CP-FREEZER m.o generalizable? Partly yes.

The layer targeted is the application layer of cooperative perception protocol (feature-sharing & fusion), not PHY/MAC (DSRC/C-V2X).

Why it generalizes: Exploits fundamental O(M²) behaviour of greedy NMS present in almost every 2-D/3-D detector stack (camera, LiDAR, radar). It requires no specific LiDAR brand or V2V transport; only needs the ability to send BEV tensors accepted by peers.

Thesis:

Until CP standards include runtime-budget enforcement and/or move away from quadratic NMS, the attack remains broadly portable across vendors and sensor modalities.

2508.01062 (PDF) CP-FREEZER: Latency Attacks against Vehicular Cooperative Perception