research-article

A review on safety failures, security attacks, and available countermeasures for autonomous vehicles

Authors:

Giedre Sabaliauskaite,

Fengjun ZhouAuthors Info & Claims

Volume 90, Issue C

https://doi.org/10.1016/j.adhoc.2018.12.006

Published: 01 July 2019 Publication History

Abstract

Autonomous vehicles (AVs) attract a lot of attention recently. They are expected to assist/replace the human drivers in maneuvering the vehicle, thereby reducing the likelihood of road accidents caused by human error, as a means to improve the road traffic safety. However, AVs have their inherent safety and security challenges, which have to be addressed before they are ready for wide adoption. This paper presents an overview of recent research on AV safety failures and security attacks, as well as the available safety and security countermeasures.

References

[1]

National Highway Traffic Safety Administration, Traffic safety facts, a brief statistical summary: critical reasons for crashes investigated in the national motor vehicle crash causation survey, National Center for Statistics and Analysis U.S. Department of Transportation, Washington, D.C, 2016.

[2]

National Highway Traffic Safety Administration, 2016 Fatal motor vehicle crashes: overview, National Center for Statistics and Analysis U.S. Department of Transportation, Washington, D.C, 2017.

[3]

D.J. Fagnant, K. Kockelman, Preparing a nation for autonomous vehicles: opportunities, barriers and policy recommendations, Transp. Res. Part A 77 (Supplement C) (2015) 167–181,.

[4]

J.M. Anderson, K. Nidhi, K.D. Stanley, P. Sorensen, C. Samaras, O.A. Oluwatola, Autonomous Vehicle Technology: A Guide for Policymakers, Rand Corporation, 2014.

[5]

B. Schoettle, M. Sivak, A survey of public opinion about autonomous and self-driving vehicles in the US, the UK, and Australia (2014).

[6]

K. Sjoberg, P. Andres, T. Buburuzan, A. Brakemeier, Cooperative intelligent transport systems in europe: current deployment status and outlook, IEEE Veh. Technol. Mag. 12 (2) (2017) 89–97,.

[7]

J. Cui, G. Sabaliauskaite, US²: an unified safety and security analysis method for autonomous vehicles, IEEE FICC, Singapore, 2018,.

[8]

J. Cui, G. Sabaliauskaite, On the alignment of safety and security for autonomous vehicles, IARIA CYBER, Barcelona, Spain, 2017.

[9]

M.H. Eiza, Q. Ni, Driving with sharks: rethinking connected vehicles with vehicle cybersecurity, IEEE Veh. Technol. Mag. 12 (2) (2017) 45–51,.

[10]

H. Hasrouny, A.E. Samhat, C. Bassil, A. Laouiti, Vanet security challenges and solutions: a survey, Veh. Commun. 7 (2017) 7–20,.

[11]

R.S. Raw, M. Kumar, N. Singh, Security challenges, issues and their solutions for Vanet, Int. J. Netw. Secur. Its Appl. 5 (5) (2013) 95,.

[12]

W. Liang, Z. Li, H. Zhang, S. Wang, R. Bie, Vehicular ad hoc networks: architectures, research issues, methodologies, challenges, and trends, Int. J. Distrib. Sens. Netw. 11 (8) (2015) 745303,.

Digital Library

[13]

R. Mishra, A. Singh, R. Kumar, Vanet security: Issues, challenges and solutions, International Conference on Electrical, Electronics, and Optimization Techniques (ICEEOT), IEEE, 2016, pp. 1050–1055,.

[14]

A. Vaibhav, D. Shukla, S. Das, S. Sahana, P. Johri, Security challenges, authentication, application and trust models for vehicular Ad Hoc network-a survey, Int. J. Wirel. Microw. Technol. 3 (2017) 36–48,.

[15]

N. Lu, N. Cheng, N. Zhang, X. Shen, J.W. Mark, Connected vehicles: solutions and challenges, IEEE Internet Things J. 1 (4) (2014) 289–299,.

[16]

E.B. Hamida, H. Noura, W. Znaidi, Security of cooperative intelligent transport systems: standards, threats analysis and cryptographic countermeasures, Electronics (Basel) 4 (3) (2015) 380–423.

[17]

J. Petit, S.E. Shladover, Potential cyberattacks on automated vehicles, IEEE Trans. Intell. Transp. Syst. 16 (2) (2015) 546–556,.

Digital Library

[18]

S. Parkinson, P. Ward, K. Wilson, J. Miller, Cyber threats facing autonomous and connected vehicles: future challenges, IEEE Trans. Intell. Transp. Syst. 18 (11) (2017) 2898–2915,.

Digital Library

[19]

Society of Automotive Engineers (SAE), SAE-J3016: Taxonomy and definitions for terms related to driving automation systems for on-Road motor vehicles, 2016.

[20]

C. Wei, V2x Communication in Europe from research projects towards standardization and field testing of vehicle communication technology, Comput. Netw. 55 (14) (2011) 3103–3119,.

Digital Library

[21]

F. Zhang, D. Clarke, A. Knoll, Vehicle detection based on lidar and camera fusion, International Conference on Intelligent Transportation Systems (ITSC), IEEE, 2014, pp. 1620–1625,.

[22]

M. Zhao, A. Mammeri, A. Boukerche, Distance measurement system for smart vehicles, 7th International Conference on New Technologies, Mobility and Security (NTMS), IEEE, 2015, pp. 1–5,.

[23]

Y. Toor, P. Muhlethaler, A. Laouiti, Vehicle Ad Hoc networks: applications and related technical issues, Commun. Surv. Tuts. 10 (3) (2008),.

Digital Library

[24]

E.C. Eze, S. Zhang, E. Liu, Vehicular ad hoc networks (vanets): current state, challenges, potentials and way forward, 20th International Conference on Automation and Computing (ICAC), IEEE, Philadelphia, PA, USA, 2014, pp. 176–181,.

[25]

G. Dimitrakopoulos, P. Demestichas, Intelligent transportation systems, IEEE Veh. Technol. Mag. 5 (1) (2010) 77–84,.

[26]

M. Alam, J. Ferreira, J. Fonseca, Introduction to intelligent transportation systems, in: M. Alam, J. Ferreira, J. Fonseca (Eds.), Intelligent Transportation Systems: Dependable Vehicular Communications for Improved Road Safety, Springer International Publishing, Cham, 2016, pp. 1–17,.

[27]

P. Bhavsar, P. Das, M. Paugh, K. Dey, M. Chowdhury, Risk analysis of autonomous vehicles in mixed traffic streams, Transp. Res. Record (2625) (2017) 51–61,.

[28]

G.S. Aoude, V.R. Desaraju, L.H. Stephens, J.P. How, Driver behavior classification at intersections and validation on large naturalistic data set, IEEE Trans. Intell. Transp. Syst. 13 (2) (2012) 724–736,.

Digital Library

[29]

N.H. traffic Safety Administration, Pedestrians, Traffic Safety Facts 2014 Data, Report No. DOT HS 812 270, Washington, DC: National Highway Traffic Safety Administration, 2016.

[30]

N.H. traffic Safety Administration, Bicyclists and Other Cyclists, Traffic Safety Facts 2014 Data, Report No. DOT HS 812 282, Washington, DC: National Highway Traffic Safety Administration, 2016.

[31]

N.H. traffic Safety Administration, Traffic Safety Facts 2015, Report No. DOT HS 812 384, Washington, DC: National Highway Traffic Safety Administration, 2015.

[32]

L. Chen, C. Chen, R. Ewing, C.E. McKnight, R. Srinivasan, M. Roe, Safety countermeasures and crash reduction in new york city experience and lessons learned, Accid. Anal. Prev. 50 (2013) 312–322,.

[33]

Z. Yang, Y. Zhang, O. Grembek, Combining traffic efficiency and traffic safety in countermeasure selection to improve pedestrian safety at two-way stop controlled intersections, Transp. Res. Part A 91 (2016) 286–301,.

[34]

H. Huang, X. Wang, G. Hu, Traffic safety in china: challenges and countermeasures, Accid. Anal. Prev. 95 (2016) 305–307.

[35]

L. Sasidharan, E.T. Donnell, Application of propensity scores and potential outcomes to estimate effectiveness of traffic safety countermeasures: exploratory analysis using intersection lighting data, Accid. Anal. Prev. 50 (2013) 539–553,.

[36]

V.V. Dixit, S. Chand, D.J. Nair, Autonomous vehicles: disengagements, accidents and reaction times, PLoS ONE 11 (12) (2016) e0168054,.

[37]

M. Hülsen, J.M. Zöllner, C. Weiss, Traffic intersection situation description ontology for advanced driver assistance, 2011 IEEE Intelligent Vehicles Symposium (IV), 2011, pp. 993–999,.

[38]

K. Kolody, D. Perez-Bravo, J. Zhao, T. Neuman, Highway Safety Manual User Guide, Technical Report, 2014.

[39]

P.K. Edara, C. Sun, S. Breslow, et al., Evaluation of J-Turn Intersection Design Performance in Missouri, Technical Report, Mid-America Transportation Center, University of Nebraska-Lincoln, 2013.

[40]

J. Reid, L. Sutherland, Parsons-Brinckerhoff, B. Ray, et al., Median U-Turn Informational Guide, Technical Report, 2014.

[41]

A. Fayish, F. Gross, Safety effectiveness of leading pedestrian intervals evaluated by a before-after study with comparison groups, Transp. Res. Record (2198) (2010) 15–22.

[42]

W.C. Partners, Beyond the headlights: adas and autonomous sensing, WCP Rep. (2016).

[43]

K. Chitnis, M. Mody, P. Swami, R. Sivaraj, C. Ghone, M. G Biju, B. Narayanan, Y. Dutt, A. Dubey, Enabling functional safety asil compliance for autonomous driving software systems, Auton. Veh. Mach. 2017 (2017) 35–40,.

[44]

M. Rezaei, R. Sabzevari, Multisensor data fusion strategies for advanced driver assistance systems, I-Tech Education and Publishing, 2009.

[45]

M. Aeberhard, N. Kaempchen, High-level sensor data fusion architecture for vehicle surround environment perception, Proc. 8th Int. Workshop Intell. Transp, 2011.

[46]

A. Goebel, R. Mader, O. Tripon, Performance and freedom from interference-a contradiction in embedded automotive multi-core applications?, Proceedings of 30th International Conference on Architecture of Computing Systems, ARCS, VDE, Vienna, Austria, 2017, pp. 1–9.

[47]

A. Kane, O. Chowdhury, A. Datta, P. Koopman, A case study on runtime monitoring of an autonomous research vehicle (arv) system, 6th Intenational Conference on Runtime Verification, RV,Vienna, Austria, 2015, pp. 102–117,.

[48]

P. Koopman, M. Wagner, Challenges in autonomous vehicle testing and validation, SAE Int. J. Transp. Saf. 4 (1) (2016) 15–24.

[49]

C.G. Keller, T. Dang, H. Fritz, A. Joos, C. Rabe, D.M. Gavrila, Active pedestrian safety by automatic braking and evasive steering, IEEE Trans. Intell. Transp. Syst. 12 (4) (2011) 1292–1304,.

Digital Library

[50]

Y. Luo, J. Remillard, D. Hoetzer, Pedestrian detection in near-infrared night vision system, IEEE Intelligent Vehicles Symposium (IV), La Jolla, CA, 2010,.

[51]

W.T. Prasetyo, P. Santoso, R. Lim, Adaptive cars headlamps system with image processing and lighting angle control, Proceedings of Second International Conference on Electrical Systems, Technology and Information 2015 (ICESTI 2015), Springer, 2016, pp. 415–422,.

[52]

M. Edirisinghe, Y. Dilhani, K. Kangara, Performance capabilities and detection efficiency of vehicle backup proximity sensors for narrow objects, Int. Lett. Chem. Phys.Astron. 52 (2015) 134–146.

[53]

D.G. Kidd, A. Brethwaite, Visibility of children behind 2010–2013 model year passenger vehicles using glances, mirrors, and backup cameras and parking sensors, Accid. Anal. Prev. 66 (2014) 158–167,.

[54]

V. Milanés, S.E. Shladover, J. Spring, C. Nowakowski, H. Kawazoe, M. Nakamura, Cooperative adaptive cruise control in real traffic situations, IEEE Trans. Intell. Transp. Syst. 15 (1) (2014) 296–305,.

Digital Library

[55]

R.N. Mahajan, A. Patil, Lane departure warning system, Int. J. Eng. Tech.Res. 3 (1) (2015) 120–123.

[56]

T. Lin, H. Rivano, F. Le Mouël, A survey of smart parking solutions, IEEE Trans. Intell. Transp. Syst. 18 (12) (2017) 3229–3253,.

[57]

R.M. Ishtiaq Roufa, H. Mustafaa, S.O. Travis Taylora, W. Xua, M. Gruteserb, W. Trappeb, I. Seskarb, Security and privacy vulnerabilities of in-car wireless networks: A tire pressure monitoring system case study, 19th USENIX Security Symposium,Washington, DC, 2010.

[58]

N.K. Arzumanyan, M.A. Smirnova, M.N. Smirnov, Synthesis and modeling of anti-lock braking system, 2015 International Conference on “Stability and Control Processes” in Memory of VI Zubov (SCP), IEEE, Saint-Petersburg, Russia, 2015, pp. 552–554,.

[59]

R.H. Grzebieta, D. Young, A. McIntosh, M.R. Bambach, B. Frechede, G. Tan, T. Achilles, Rollover crashworthiness: the final frontier for vehicle passive safety, J. Australas. Coll. Road Saf. 20 (2) (2009) 46–55.

[60]

U. Seiffert, L. Wech, Automotive Safety Handbook, 2003.

[61]

G. Underwood, E. Van Loon, K. Humphrey, How conspicuity influences drivers attention and manoeuvring decisions, Increasing Motorcycle Conspicuity (2017) 67.

[62]

A.M. Malla, R.K. Sahu, Security attacks with an effective solution for dos attacks in Vanet, Int. J. Comput. Appl. 66 (22) (2013),.

[63]

R.G. Engoulou, M. Bellache, S. Pierre, A. Quintero, Vanet security surveys, Comput. Commun. 44 (Supplement C) (2014) 1–13,.

[64]

S.S. Manvi, S. Tangade, A survey on authentication schemes in vanets for secured communication, Veh. Commun. 9 (Supplement C) (2017) 19–30,.

[65]

L.B. Othmane, H. Weffers, M.M. Mohamad, M. Wolf, A Survey of Security and Privacy in Connected Vehicles, Wireless Sensor and Mobile Ad-Hoc Networks, Springer, 2015, pp. 217–247,.

[66]

M. Raya, J.-P. Hubaux, Securing vehicular Ad Hoc networks, J. Comput. Secur. 15 (1) (2007) 39–68.

[67]

M.N. Mejri, J. Ben-Othman, M. Hamdi, Survey on Vanet security challenges and possible cryptographic solutions, Veh. Commun. 1 (2) (2014) 53–66,.

Digital Library

[68]

M. Rahbari, M.A.J. Jamali, Efficient detection of sybil attack based on cryptography in vanet, CoRR abs/1112.2257 (2011).

[69]

N. Vighnesh, N. Kavita, S.R. Urs, S. Sampalli, A novel sender authentication scheme based on hash chain for vehicular ad-hoc networks, IEEE Symposium on Wireless Technology and Applications (ISWTA), Langkawi, Malaysia, 2011, pp. 96–101,.

[70]

H. Lu, J. Li, M. Guizani, A novel id-based authentication framework with adaptive privacy preservation for vanets, Computing, Communications and Applications Conference (ComComAp), 2012, IEEE, HongKong, China, 2012, pp. 345–350,.

[71]

K.-A. Shim, Cpas: an efficient conditional privacy-preserving authentication scheme for vehicular sensor networks, IEEE Trans. Veh. Technol. 61 (4) (2012) 1874–1883,.

[72]

N.B. Bhavesh, S. Maity, R.C. Hansdah, A protocol for authentication with multiple levels of anonymity (amla) in vanets, 27th International Conference on Advanced Information Networking and Applications Workshops (WAINA), IEEE, Barcelona, Spain, 2013, pp. 462–469,.

Digital Library

[73]

T. Zhou, R.R. Choudhury, P. Ning, K. Chakrabarty, P2dapsybil Attacks detection in vehicular Ad hoc networks, IEEE J. Sel. Areas Commun. 29 (3) (2011) 582–594,.

Digital Library

[74]

J. Li, H. Lu, M. Guizani, Acpn: a novel authentication framework with conditional privacy-preservation and non-repudiation for vanets, IEEE Trans. Parallel Distrib. Syst. 26 (4) (2015) 938–948,.

Digital Library

[75]

C. Zhang, X. Lin, R. Lu, P.-H. Ho, X. Shen, An efficient message authentication scheme for vehicular communications, IEEE Trans. Veh. Technol. 57 (6) (2008) 3357–3368,.

[76]

S.-J. Horng, S.-F. Tzeng, Y. Pan, P. Fan, X. Wang, T. Li, M.K. Khan, B-specs+: batch verification for secure pseudonymous authentication in Vanet, IEEE Trans. Inf. Foren. Secur. 8 (11) (2013) 1860–1875,.

Digital Library

[77]

J. Sun, C. Zhang, Y. Zhang, Y. Fang, An identity-based security system for user privacy in vehicular ad hoc networks, IEEE Trans. Parallel Distrib. Syst. 21 (9) (2010) 1227–1239,.

Digital Library

[78]

L. Zhang, Q. Wu, A. Solanas, J. Domingo-Ferrer, A scalable robust authentication protocol for secure vehicular communications, IEEE Trans. Veh. Technol. 59 (4) (2010) 1606–1617,.

[79]

A. Wasef, X. Shen, Emap: expedite message authentication protocol for vehicular Ad Hoc networks, IEEE Trans. Mob. Comput. 12 (1) (2013) 78–89,.

Digital Library

[80]

S.-H. Seo, J. Won, S. Sultana, E. Bertino, Effective key management in dynamic wireless sensor networks, IEEE Trans. Inf. Foren. Secur. 10 (2) (2015) 371–383,.

Digital Library

[81]

J.-L. Huang, L.-Y. Yeh, H.-Y. Chien, Abaka: an anonymous batch authenticated and key agreement scheme for value-added services in vehicular ad hoc networks, IEEE Trans. Veh. Technol. 60 (1) (2011) 248–262,.

[82]

Y. Hao, Y. Cheng, C. Zhou, W. Song, A distributed key management framework with cooperative message authentication in vanets, IEEE J. Sel. Areas Commun. 29 (3) (2011) 616–629,.

Digital Library

[83]

L. Song, Q. Han, J. Liu, Investigate key management and authentication models in Vanets, International Conference on Electronics, Communications and Control (ICECC), IEEE, 2011, pp. 1516–1519,.

[84]

M.L. Psiaki, T.E. Humphreys, Gnss spoofing and detection, Proc. IEEE 104 (6) (2016) 1258–1270,.

[85]

A. Studer, F. Bai, B. Bellur, A. Perrig, Flexible, extensible, and efficient vanet authentication, J. Commun. Netw. 11 (6) (2009) 574–588,.

[86]

R. Engoulou, Sécurisation des VANETS par la méthode de réputation des noeuds, Ph.D. thesis, École Polytechnique de Montréal, 2013.

[87]

M.-C. Chuang, J.-F. Lee, Team: trust-extended authentication mechanism for vehicular ad hoc networks, IEEE Syst. J. 8 (3) (2014) 749–758,.

[88]

G. Guette, C. Bryce, Using tpms to secure vehicular ad-hoc networks (vanets), IFIP International Workshop on Information Security Theory and Practices, Springer, Berlin, Heidelberg, 2008, pp. 106–116,.

[89]

D. Shrivastava, A. Pandey, A study of sybil and temporal attacks in vehicular ad hoc networks: types, challenges, and impacts, Int. J. Comput. Appl. Technol. Res. 3 (2014) 284–291,.

[90]

K. Rabieh, M.M. Mahmoud, T.N. Guo, M. Younis, Cross-layer scheme for detecting large-scale colluding sybil attack in vanets, IEEE ICC, London, UK, 2015, pp. 7298–7303,.

[91]

C. Kumar Karn, C. Prakash Gupta, A survey on vanets security attacks and sybil attack detection, Int. J. Sens. Wirel.Commun. Control 6 (1) (2016) 45–62,.

[92]

B. Mokhtar, M. Azab, Survey on security issues in vehicular ad hoc networks, Alex. Eng. J. 54 (4) (2015) 1115–1126,.

[93]

X. Lin, X. Li, Achieving efficient cooperative message authentication in vehicular ad hoc networks, IEEE Trans. Veh. Technol. 62 (7) (2013) 3339–3348,.

[94]

Y. Hao, T. Han, Y. Cheng, A cooperative message authentication protocol in vanets, IEEE GLOBECOM, Anaheim,CA,USA, 2012, pp. 5562–5566,.

[95]

W. Shen, L. Liu, X. Cao, Y. Hao, Y. Cheng, Cooperative message authentication in vehicular cyber-physical systems, IEEE Trans. Emerg. Top. Comput. 1 (1) (2013) 84–97,.

[96]

T. Dimitriou, E.A. Alrashed, M.H. Karaata, A. Hamdan, Imposter detection for replication attacks in mobile sensor networks, Comput. Netw. 108 (2016) 210–222,.

[97]

G. Samara, Y. Al-Raba’nah, Security issues in vehicular ad hoc networks (Vanet): a survey, CoRR abs/1712.04263 (2017).

[98]

L. Mokdad, J. Ben-Othman, A.T. Nguyen, Djavan: detecting jamming attacks in vehicle ad hoc networks, Perform. Eval. 87 (2015) 47–59,.

Digital Library

[99]

D. Shukla, A. Vaibhav, S. Das, P. Johri, Security and attack analysis for vehicular ad hoc network: A survey, International Conference on Computing, Communication and Automation (ICCCA), IEEE, GREATER NOIDA, India, 2016, pp. 625–630,.

[100]

K.D. Thilak, A. Amuthan, Dos attack on vanet routing and possible defending solutions-a survey, International Conference on Information Communication and Embedded Systems (ICICES), IEEE, 2016, pp. 1–7,.

[101]

L. He, W.T. Zhu, Mitigating dos attacks against signature-based authentication in vanets, IEEE International Conference on Computer Science and Automation Engineering (CSAE), Zhangjiajie, China, 3, 2012, pp. 261–265,.

[102]

K. Verma, H. Hasbullah, A. Kumar, Prevention of dos attacks in vanet, Wirel. Pers. Commun. 73 (1) (2013) 95–126,.

Digital Library

[103]

S.M. Safi, A. Movaghar, M. Mohammadizadeh, A novel approach for avoiding wormhole attacks in vanet, Second International Workshop on Computer Science and Engineering, WCSE, 2, IEEE, 2009, pp. 160–165,.

Digital Library

[104]

A. Benslimane, H. Nguyen-Minh, Jamming attack model and detection method for beacons under multichannel operation in vehicular networks, IEEE Trans. Veh. Technol. 66 (7) (2017) 6475–6488,.

[105]

F. Sakiz, S. Sen, A survey of attacks and detection mechanisms on intelligent transportation systems: Vanets and iov, Ad Hoc Netw. 61 (2017) 33–50,.

Digital Library

[106]

I.A. Sumra, H.B. Hasbullah, J.-l.B. AbManan, Attacks on security goals (confidentiality, integrity, availability) in Vanet: a survey, Vehicular Ad-Hoc Networks for Smart Cities, Springer, 2015, pp. 51–61,.

[107]

M. Shabbir, M.A. Khan, U.S. Khan, N.A. Saqib, Detection and prevention of distributed denial of service attacks in vanets, International Conference on Computational Science and Computational Intelligence (CSCI), IEEE, Las Vegas, Nevada, 2016, pp. 970–974,.

[108]

A.-S.K. Pathan, Security of self-organizing networks: MANET, WSN, WMN, VANET, CRC press, 2016.

[109]

J.T. Isaac, S. Zeadally, J.S. Camara, Security attacks and solutions for vehicular Ad Hoc networks, IET Commun. 4 (7) (2010) 894–903.

[110]

W. Li, H. Song, Art: an attack-resistant trust management scheme for securing vehicular ad hoc networks, IEEE Trans. Intell. Transp. Syst. 17 (4) (2016) 960–969,.

Digital Library

[111]

C. Ponikwar, H.-J. Hof, Overview on security approaches in intelligent transportation systems, arXiv preprint arXiv:1509.01552 (2015).

[112]

X. Zhu, S. Jiang, L. Wang, H. Li, Efficient privacy-preserving authentication for vehicular ad hoc networks, IEEE Trans. Veh. Technol. 63 (2) (2014) 907–919,.

[113]

L. Dolberg, J. Francis, T. Engel, Tracking spoofed locations in crowdsourced vehicular applications, IEEE Network Operations and Management Symposium (NOMS), Krakow, Poland, 2014, pp. 1–9.

[114]

K. Pll, H. Federrath, A privacy aware and efficient security infrastructure for vehicular ad hoc networks, Comput. Stand. Interfaces 30 (6) (2008) 390–397,.

Digital Library

[115]

M. Abuelela, S. Olariu, K. Ibrahim, A secure and privacy aware data dissemination for the notification of traffic incidents, 69th Vehicular Technology Conference, VTC Spring, IEEE, 2009, pp. 1–5,.

[116]

W. Whyte, A. Weimerskirch, V. Kumar, T. Hehn, A security credential management system for v2v communications, IEEE Vehicular Networking Conference (VNC), 2013, pp. 1–8.

[117]

X. Lin, X. Sun, X. Wang, C. Zhang, P.-H. Ho, X. Shen, Tsvc: timed efficient and secure vehicular communications with privacy preserving, IEEE Trans. Wirel. Commun. 7 (12) (2008) 4987–4998,.

Digital Library

[118]

T. Chim, S. Yiu, L.C. Hui, V.O. Li, Specs: secure and privacy enhancing communications schemes for vanets, Ad Hoc Netw. 9 (2) (2011) 189–203.

[119]

F.M. Salem, M.H. Ibrahim, I. Ibrahim, Non-interactive authentication scheme providing privacy among drivers in vehicle-to-vehicle networks, International Conference on Networking and Services (ICNS), IEEE, 2010, pp. 156–161,.

Digital Library

[120]

M. Amoozadeh, A. Raghuramu, C.-N. Chuah, D. Ghosal, H.M. Zhang, J. Rowe, K. Levitt, Security vulnerabilities of connected vehicle streams and their impact on cooperative driving, IEEE Commun. Mag. 53 (6) (2015) 126–132,.

Digital Library

[121]

M. Whaiduzzaman, M. Sookhak, A. Gani, R. Buyya, A survey on vehicular cloud computing, J. Netw. Comput. Appl. 40 (2014) 325–344,.

[122]

G. Yan, D.B. Rawat, B.B. Bista, L. Chen, Location Security in Vehicular Wireless Networks, Security, Privacy, Trust, and Resource Management in Mobile and Wireless Communications, IGI Global, 2014, pp. 108–133,.

[123]

L. Bariah, D. Shehada, E. Salahat, C.Y. Yeun, Recent advances in vanet security: a survey, 82nd Vehicular Technology Conference (VTC Fall), IEEE, Boston, MA, 2015, pp. 1–7,.

[124]

V.L. Thing, J. Wu, Autonomous vehicle security: a taxonomy of attacks and defences, IEEE CPSCom, ChengDu, China, 2016,.

[125]

S.C. Stubberud, K.A. Kramer, Threat assessment for GPS navigation, IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA) Proceedings, Alberobello, Italy, 2014, pp. 287–292,.

[126]

M. Thomas, J. Norton, A. Jones, A. Hopper, N. Ward, P. Cannon, N. Ackroyd, P. Cruddace, M. Unwin, Global navigation space systems: reliance and vulnerabilities, R. Acad. Eng. Lond. (2011).

[127]

P.Y. Montgomery, T.E. Humphreys, B.M. Ledvina, A multi-antenna defense: receiver-autonomous GPS spoofing detection, Inside GNSS 4 (2) (2009) 40–46.

[128]

M.L. Psiaki, B.W. O’Hanlon, J.A. Bhatti, D.P. Shepard, T.E. Humphreys, Gps spoofing detection via dual-receiver correlation of military signals, IEEE Trans. Aerosp. Electron. Syst. 49 (4) (2013) 2250–2267,.

[129]

J. Magiera, R. Katulski, Detection and mitigation of GPS spoofing based on antenna array processing, J. Appl. Res. Technol. 13 (1) (2015) 45–57,.

[130]

B. Anouar, B. Mohammed, G. Abderrahim, B. Mohammed, Vehicular navigation spoofing detection based on V2Icalibration, 4th IEEE International Colloquium on Information Science and Technology (CiSt), 2016, pp. 847–849,.

[131]

B.M. Ledvina, W.J. Bencze, B. Galusha, I. Miller, An in-line anti-spoofing device for legacy civil GPSreceivers, Proceedings of the 2010 international technical meeting of the Institute of Navigation, 2010, pp. 698–712.

[132]

N.O. Tippenhauer, C. Pöpper, K.B. Rasmussen, S. Capkun, On the requirements for successful GPS spoofing attacks, Proceedings of the 18th ACM conference on Computer and communications security, ACM, Chicago, IL, USA, 2011, pp. 75–86,.

Digital Library

[133]

D. Jwo, F. Chung, K. Yu, Gps/ins integration accuracy enhancement using the interacting multiple model nonlinear filters, J. Appl. Res. Technol. 11 (4) (2013) 496–509,.

[134]

M. Meuer, A. Konovaltsev, M. Cuntz, C. Hättich, Robust joint multi-antenna spoofing detection and attitude estimation using direction assisted multiple hypotheses raim, Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS), American Institute of Navigation (ion. org), Nashville, TN, USA, 2012.

[135]

D.P. Shepard, T.E. Humphreys, A.A. Fansler, Evaluation of the vulnerability of phasor measurement units to GPS spoofing attacks, Int. J. Crit. Infrastruct. Prot. 5 (3) (2012) 146–153,.

[136]

A. Jafarnia-Jahromi, A. Broumandan, J. Nielsen, G. Lachapelle, Gps vulnerability to spoofing threats and a review of antispoofing techniques, Int. J. Navig.Obs. 2012 (2012),.

[137]

S.C. Stubberud, K.A. Kramer, Analysis of fuzzy evidence accrual security approach to GPS systems, 10th International Conference on Communications (COMM), IEEE, Bucharest, Romania, 2014, pp. 1–6,.

[138]

C. Dixon, C. Hill, M. Dumville, D. Lowe, Gnss vulnerabilities: testing the truth, Coord. Mag. (2012).

[139]

G.P. Hancke, Security of Embedded Location Systems, Springer New York, New York, NY, pp. 267–286. 10.1007/978-1-4614-7915-4_11.

[140]

J. Petit, B. Stottelaar, M. Feiri, F. Kargl, Remote attacks on automated vehicles sensors: experiments on camera and lidar, Black Hat Europe 11 (2015) 2015.

[141]

T. Zhang, H. Antunes, S. Aggarwal, Defending connected vehicles against malware: challenges and a solution framework., IEEE Internet Things J. 1 (1) (2014) 10–21.

[142]

M. Müter, A. Groll, F.C. Freiling, A structured approach to anomaly detection for in-vehicle networks, International Conference on Information Assurance and Security (IAS), IEEE, Atlanta, GA, USA, 2010, pp. 92–98,.

[143]

M. Müter, N. Asaj, Entropy-based anomaly detection for in-vehicle networks, IEEE Intelligent Vehicles Symposium (IV), Baden-Baden, Germany, 2011, pp. 1110–1115,.

[144]

K.M.A. Alheeti, A. Gruebler, K.D. McDonald-Maier, An intrusion detection system against malicious attacks on the communication network of driverless cars, IEEE Consumer Communications and Networking Conference (CCNC), Las Vegas, NV, USA, 2015, pp. 916–921,.

[145]

K.M.A. Alheeti, K. McDonald-Maier, Hybrid intrusion detection in connected self-driving vehicles, International Conference on Automation and Computing (ICAC), IEEE, Colchester,UK, 2016, pp. 456–461,.

[146]

C. Miller, C. Valasek, A survey of remote automotive attack surfaces, Black Hat USA 2014 (2014).

[147]

H.M. Song, H.R. Kim, H.K. Kim, Intrusion detection system based on the analysis of time intervals of can messages for in-vehicle network, International Conference on Information Networking (ICOIN), IEEE, Kota kinabalu, Malaysia, 2016, pp. 63–68,.

Digital Library

[148]

M. Salem, M. Crowley, S. Fischmeister, Anomaly detection using inter-arrival curves for real-time systems, 28th Euromicro Conference on Real-Time Systems (ECRTS), IEEE, Toulouse, France, 2016, pp. 97–106,.

[149]

A. Humayed, B. Luo, Using id-hopping to defend against targeted dos on can, Proceedings of the 1st International Workshop on Safe Control of Connected and Autonomous Vehicles, SCAV’17, ACM, New York, NY, USA, 2017, pp. 19–26,.

Digital Library

[150]

A. Van Herrewege, D. Singelee, I. Verbauwhede, Canauth-a simple, backward compatible broadcast authentication protocol for can bus, ECRYPT Workshop on Lightweight Cryptography, 2011, 2011.

[151]

M. Wolf, T. Gendrullis, Design, implementation, and evaluation of a vehicular hardware security module, International Conference on Information Security and Cryptology, Springer, Seoul, South Korea, 2011, pp. 302–318,.

Digital Library

[152]

B. Groza, S. Murvay, A. Van Herrewege, I. Verbauwhede, Libra-can: a lightweight broadcast authentication protocol for controller area networks, International Conference on Cryptology and Network Security, Springer, 2012, pp. 185–200,.

[153]

O. Hartkopp, R.M. SCHILLING, Message authenticated can, Escar Conference, Berlin, Germany, 2012.

[154]

C.-W. Lin, A. Sangiovanni-Vincentelli, Cyber-security for the controller area network (can) communication protocol, International Conference on Cyber Security (CyberSecurity), IEEE, Washington,DC,USA, 2012, pp. 1–7,.

Digital Library

[155]

P. Mundhenk, S. Steinhorst, M. Lukasiewycz, S.A. Fahmy, S. Chakraborty, Lightweight authentication for secure automotive networks, Proceedings of the 2015 Design, Automation & Test in Europe Conference & Exhibition, EDA Consortium, Grenoble, France, 2015, pp. 285–288.

[156]

S. Woo, H.J. Jo, D.H. Lee, A practical wireless attack on the connected car and security protocol for in-vehicle can, IEEE Trans. Intell. Transp. Syst. 16 (2) (2015) 993–1006,.

Digital Library

[157]

H. Schweppe, Y. Roudier, Security and privacy for in-vehicle networks, International Workshop on Vehicular Communications, Sensing, and Computing (VCSC), IEEE, Seoul, South Korea, 2012, pp. 12–17,.

[158]

M. Maurer, J.C. Gerdes, B. Lenz, H. Winner, et al., Autonomous driving, Springer, 2016.

[159]

L. Pan, X. Zheng, H. Chen, T. Luan, H. Bootwala, L. Batten, Cyber security attacks to modern vehicular systems, J. Inf. Secur. Appl. 36 (2017) 90–100,.

Digital Library

[160]

D.J. Glancy, Privacy in autonomous vehicles, Santa Clara L. Rev. 52 (2012) 1171.

[161]

The Guardian, Self-driving uber kills Arizona woman in first fatal crash involving pedestrian, 2018.

[162]

S. Jafarnejad, L. Codeca, W. Bronzi, R. Frank, T. Engel, A car hacking experiment: when connectivity meets vulnerability, IEEE Globecom Workshops (GC Wkshps), San Dieg, CA, USA, 2015, pp. 1–6,.

[163]

M. Amjad, A. Ahmad, M.H. Rehmani, T. Umer, A review of evs charging: from the perspective of energy optimization, optimization approaches, and charging techniques, Transp. Res. Part D 62 (2018) 386–417,.

[164]

V.T. Kilari, S. Misra, G. Xue, Revocable anonymity based authentication for vehicle to grid (v2g) communications, IEEE International Conference on Smart Grid Communications (SmartGridComm), Sydney, Australia, 2016,.

[165]

S. Mousavian, M. Erol-Kantarci, L. Wu, T. Ortmeyer, A risk-based optimization model for electric vehicle infrastructure response to cyber attacks, IEEE Trans. Smart Grid 9 (6) (2018) 6160–6169,.

[166]

L. Piètre-Cambacédès, M. Bouissou, Cross-fertilization between safety and security engineering, Reliab. Eng. Syst. Saf. 110 (Supplement C) (2013) 110–126,.

[167]

interACT prject, Designing cooperative interaction of automated vehicles with other road users in the mixed traffic environments, 2018.

Cited By

Ravi NKrishna CKoren I(2024)Mix-Zones as an Effective Privacy Enhancing Technique in Mobile and Vehicular Ad-hoc NetworksACM Computing Surveys10.1145/365957656:12(1-33)Online publication date: 22-Apr-2024
https://dl.acm.org/doi/10.1145/3659576
Li YHuang CLiu QZheng XSun K(2024)Integrating security in hazard analysis using STPA-Sec and GSPNComputers and Security10.1016/j.cose.2024.103890142:COnline publication date: 1-Jul-2024
https://dl.acm.org/doi/10.1016/j.cose.2024.103890
Sultana RGrover JTripathi MSachdev MTaneja S(2024)Detecting Sybil Attacks in VANET: Exploring Feature Diversity and Deep Learning Algorithms with Insights into Sybil Node AssociationsJournal of Network and Systems Management10.1007/s10922-024-09827-732:3Online publication date: 23-May-2024
https://dl.acm.org/doi/10.1007/s10922-024-09827-7
Show More Cited By

Index Terms

A review on safety failures, security attacks, and available countermeasures for autonomous vehicles

Index terms have been assigned to the content through auto-classification.

Recommendations

Detection of Potholes and Speed Breaker for Autonomous Vehicles
Abstract
As it is now the generation of autonomous vehicles, Every automotive company is aiming to build an autonomous vehicle, so an application to detect potholes and speed breakers is really necessary because poor road conditions are a constant concern ...
Autonomous Vehicles Empty Cruising Impact on Parking Dynamics
IWCTS '23: Proceedings of the 16th ACM SIGSPATIAL International Workshop on Computational Transportation Science

As development and utilization of autonomous vehicles is gaining momentum, it is expected to be decades of mixed environment where autonomous and human-driven vehicles will co-exist. Autonomous vehicles' ability to perform empty cruising can impact the ...
Active Safety in Autonomous Land Vehicle
PEITS '08: Proceedings of the 2008 Workshop on Power Electronics and Intelligent Transportation System

In this paper, active safety is divided into four stages, which are perception enhancement, driving warning, assistant driving, and autonomous driving. The autonomous driving stage which synthesized all the other stages is emphasized. The relationship ...

Comments

Please enable JavaScript to view thecomments powered by Disqus.

Information & Contributors

Information

Published In

cover image Ad Hoc Networks

Ad Hoc Networks Volume 90, Issue C

Jul 2019

141 pages

ISSN:1570-8705

Issue’s Table of Contents

Elsevier B.V.

Publisher

Elsevier Science Publishers B. V.

Netherlands

Publication History

Published: 01 July 2019

Author Tags

Qualifiers

Research-article

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

22
Total Citations
View Citations
0
Total Downloads

Downloads (Last 12 months)0
Downloads (Last 6 weeks)0

Reflects downloads up to 03 Oct 2024

Other Metrics

View Author Metrics

Citations

Cited By

Ravi NKrishna CKoren I(2024)Mix-Zones as an Effective Privacy Enhancing Technique in Mobile and Vehicular Ad-hoc NetworksACM Computing Surveys10.1145/365957656:12(1-33)Online publication date: 22-Apr-2024
https://dl.acm.org/doi/10.1145/3659576
Li YHuang CLiu QZheng XSun K(2024)Integrating security in hazard analysis using STPA-Sec and GSPNComputers and Security10.1016/j.cose.2024.103890142:COnline publication date: 1-Jul-2024
https://dl.acm.org/doi/10.1016/j.cose.2024.103890
Sultana RGrover JTripathi MSachdev MTaneja S(2024)Detecting Sybil Attacks in VANET: Exploring Feature Diversity and Deep Learning Algorithms with Insights into Sybil Node AssociationsJournal of Network and Systems Management10.1007/s10922-024-09827-732:3Online publication date: 23-May-2024
https://dl.acm.org/doi/10.1007/s10922-024-09827-7
Lin SChen FXi LWang GXi RSun YZhu H(2024)TM-fuzzer: fuzzing autonomous driving systems through traffic managementAutomated Software Engineering10.1007/s10515-024-00461-w31:2Online publication date: 1-Nov-2024
https://dl.acm.org/doi/10.1007/s10515-024-00461-w
Xu HHe PRen JWan YLiu ZLiu HTang JKrause ABrunskill ECho KEngelhardt BSabato SScarlett J(2023)Probabilistic categorical adversarial attack and adversarial trainingProceedings of the 40th International Conference on Machine Learning10.5555/3618408.3620008(38428-38442)Online publication date: 23-Jul-2023
https://dl.acm.org/doi/10.5555/3618408.3620008
Alsulami AAl-Haija QAlturki BAlqahtani AAlsini R(2023)Security strategy for autonomous vehicle cyber-physical systems using transfer learningJournal of Cloud Computing: Advances, Systems and Applications10.1186/s13677-023-00564-x12:1Online publication date: 20-Dec-2023
https://dl.acm.org/doi/10.1186/s13677-023-00564-x
Tang SZhang ZZhang YZhou JGuo YLiu SGuo SLi YMa LXue YLiu Y(2023)A Survey on Automated Driving System Testing: Landscapes and TrendsACM Transactions on Software Engineering and Methodology10.1145/357964232:5(1-62)Online publication date: 24-Jul-2023
https://dl.acm.org/doi/10.1145/3579642
Viola RMartín ÁZorrilla MMontalbán JAngueira PMuntean G(2023)A Survey on Virtual Network Functions for Media Streaming: Solutions and Future ChallengesACM Computing Surveys10.1145/356782655:11(1-37)Online publication date: 9-Feb-2023
https://dl.acm.org/doi/10.1145/3567826
Khan RMehmood AMaple CCurran KSong H(2023)Performance Analysis of Blockchain-Enabled Security and Privacy Algorithms in Connected and Autonomous Vehicles: A Comprehensive ReviewIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2023.334135825:6(4773-4784)Online publication date: 21-Dec-2023
https://dl.acm.org/doi/10.1109/TITS.2023.3341358
Lodhi SKumar NPandey P(2023)Autonomous vehicular overtaking maneuverVehicular Communications10.1016/j.vehcom.2023.10062342:COnline publication date: 1-Aug-2023
https://dl.acm.org/doi/10.1016/j.vehcom.2023.100623
Show More Cited By

View Options

View options

Get Access

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

Media

Figures

Other

Tables

View Issue’s Table of Contents