Biblio

The fast-evolving Intelligent Transportation Systems (ITS) are crucial in the 21st century, promising answers to congestion and accidents that bother people worldwide. ITS applications such as Connected and Autonomous Vehicle (CAVs) update and broadcasts road incident event messages, and this requires significant data to be transmitted between vehicles for a decision to be made in real-time. However, broadcasting trusted incident messages such as accident alerts between vehicles pose a challenge for CAVs. Most of the existing-trust solutions are based on the vehicle's direct interaction base reputation and the psychological approaches to evaluate the trustworthiness of the received messages. This paper provides a scheme for improving trust in the received incident alert messages for real-time decision-making to detect malicious alerts between CAVs using direct and indirect interactions. This paper applies artificial intelligence and statistical data classification for decision-making on the received messages. The model is trained based on the US Department of Technology Safety Pilot Deployment Model (SPMD). An Autonomous Decision-making Trust Scheme (ADmTS) that incorporates a machine learning algorithm and a local trust manager for decision-making has been developed. The experiment showed that the trained model could make correct predictions such as 98% and 0.55% standard deviation accuracy in predicting false alerts on the 25% malicious data

The concept of a connected vehicle refers to the linking of vehicles to each other and to other things. Today, developments in the Internet of Things (IoT) and 5G have made a significant contribution to connected vehicle technology. In addition to many positive contributions, connected vehicle technology also brings with it many security-related problems. In this study, a digital signature algorithm based on elliptic curve cryptography is proposed to verify the message and identity sent to the vehicles. In the proposed model, with the anonymous identification given to the vehicle by the central unit, the vehicle is prevented from being detected by other vehicles and third parties. Thus, even if the personal data produced in the vehicles is shared, it cannot be found which vehicle it belongs to.

In this paper, the distributed security control problem of connected vehicle systems (CVSs) is investigated under denial of service (DoS) attacks and uncertain dynamics. DoS attacks usually block communication channels, resulting in the vehicle inability to receive data from the neighbors. In severe cases, it will affect the control performance of CVSs and even cause vehicle collision and life threats. In order to keep the vehicle platoon stable when the DoS attacks happen, we introduce a random characteristic to describe the impact of the packet loss behavior caused by them. Dependent on the length of the lost packets, we propose a security platoon control protocol to deal with it. Furthermore, the security platoon control problem of CVSs is transformed into a stable problem of Markov jump systems (MJSs) with uncertain parameters. Next, the Lyapunov function method and linear matrix inequations (LMI) are used to analyze the internal stability and design controller. Finally, several simulation results are presented to illustrate the effectiveness of the proposed method.

Modern connected vehicles are equipped with a large number of sensors, which enable a wide range of services that can improve overall traffic safety and efficiency. However, remote access to connected vehicles also introduces new security issues affecting both inter and intra-vehicle communications. In fact, existing intra-vehicle communication systems, such as Controller Area Network (CAN), lack security features, such as encryption and secure authentication for Electronic Control Units (ECUs). Instead, Original Equipment Manufacturers (OEMs) seek security through obscurity by keeping secret the proprietary format with which they encode the information. Recently, it has been shown that the reuse of CAN frame IDs can be exploited to perform CAN bus reverse engineering without physical access to the vehicle, thus raising further security concerns in a connected environment. This work investigates whether anonymizing the frames of each newly released vehicle is sufficient to prevent CAN bus reverse engineering based on frame ID matching. The results show that, by adopting Machine Learning techniques, anonymized CAN frames can still be fingerprinted and identified in an unknown vehicle with an accuracy of up to 80 %.

A novel secure physical layer key generation method for Connected and Autonomous Vehicles (CAVs) against an attacker is proposed under fading and Additive White Gaussian Noise (AWGN). In the proposed method, a random sequence key is added to the demodulated sequence to generate a unique pre-shared key (PSK) to enhance security. Extensive computer simulation results proved that an attacker cannot extract the same legitimate PSK generated by the received vehicle even if identical fading and AWGN parameters are used both for the legitimate vehicle and attacker.

The proliferation of autonomous and connected vehicles on our roads is increasingly felt. However, the problems related to the optimization of the energy consumed, to the safety, and to the security of these do not cease to arise on the tables of debates bringing together the various stakeholders. By focusing on the security aspect of such systems, we can realize that there is a family of problems that must be investigated as soon as possible. In particular, those that may manifest as the system expands. Therefore, this work aims to model and simulate the behavior of a system of autonomous and connected vehicles in the face of a malware invasion. In order to achieve the set objective, we propose a model to our system which is inspired by those used in epidimology, such as SI, SIR, SIER, etc. This being adapted to our case study, stochastic processes are defined in order to characterize its dynamics. After having fixed the values of the various parameters, as well as those of the initial conditions, we run 100 simulations of our system. After which we visualize the results got, we analyze them, and we give some interpretations. We end by outlining the lessons and recommendations drawn from the results.

Vehicular crowdsensing (VCS) is a subset of crowd-sensing where data collection is outsourced to group vehicles. Here, an entity interested in collecting data from a set of Places of Sensing Interest (PsI), advertises a set of sensing tasks, and the associated rewards. Vehicles attracted by the offered rewards deviate from their ongoing trajectories to visit and collect from one or more PsI. In this win-to-win scenario, vehicles reach their final destination with the extra reward, and the entity obtains the desired samples. Unfortunately, the efficiency of VCS can be undermined by the Sybil attack, in which an attacker can benefit from the injection of false vehicle identities. In this paper, we present a case study and analyze the effects of such an attack. We also propose a defense mechanism based on generative adversarial neural networks (GANs). We discuss GANs' advantages, and drawbacks in the context of VCS, and new trends in GANs' training that make them suitable for VCS.

Intelligent transportation systems, such as connected vehicles, are able to establish real-time, optimized and collision-free communication with the surrounding ecosystem. Introducing the internet of things (IoT) in connected vehicles relies on deployment of massive scale sensors, actuators, electronic control units (ECUs) and antennas with embedded software and communication technologies. Combined with the lack of designed-in security for sensors and ECUs, this creates challenges for security engineers and architects to identify, understand and analyze threats so that actions can be taken to protect the system assets. This paper proposes a novel STRIDE-based threat model for IoT sensors in connected vehicle networks aimed at addressing these challenges. Using a reference architecture of a connected vehicle, we identify system assets in connected vehicle sub-systems such as devices and peripherals that mostly involve sensors. Moreover, we provide a prioritized set of security recommendations, with consideration to the feasibility and deployment challenges, which enables practical applicability of the developed threat model to help specify security requirements to protect critical assets within the sensor network.

Vehicular networks have been considered as a hopeful technology to enhance road safety, which is a crossing area of Internet of Things (IoT) and Intelligent Transportation Systems (ITS). Current Internet architecture using the TCP/IP model and based on host-to-host is limited when it comes to vehicular communications which are characterized by high speed and dynamic topology. Thus, using Named Data Networking (NDN) in connected vehicles may tackle the issues faced with the TCP/IP model. In this paper, we investigate the security concerns of applying NDN in vehicular environments and discuss the remaining challenges in order to guide researchers in this field to choose their future research direction.

Intelligent networked vehicles are rapidly developing in intelligence and networking. The communication architecture is becoming more complex, external interfaces are richer, and data types are more complex. Different from the information security of the traditional Internet of Things, the scenarios that need to be met for the security of the Internet of Vehicles are more diverse and the security needs to be more stable. Based on the security technology of traditional Internet of Things, password application is the main protection method to ensure the privacy and non-repudiation of data communication. This article mainly elaborates the application of security protection methods using password-related protection technologies in car-side scenarios and summarizes the security protection recommendations of contemporary connected vehicles in combination with the secure communication architecture of the Internet of Vehicles.

The intelligent connected vehicle industry has entered a period of opportunity, industry data is accumulating rapidly, and the formulation of industry standards to regulate big data management and application is imminent. As the basis of data security, data classification has received unprecedented attention. By combing through the research and development status of data classification in various industries, this article combines industry characteristics and re-examines the framework of industry data classification from the aspects of information security and data assetization, and tries to find the balance point between data security and data value. The intelligent networked automobile industry provides support for big data applications, this article combines the characteristics of the connected vehicle industry, re-examines the data characteristics of the intelligent connected vehicle industry from the 2 aspects as information security and data assetization, and eventually proposes a scene-based hierarchical framework. The framework includes the complete classification process, model, and quantifiable parameters, which provides a solution and theoretical endorsement for the construction of a big data automatic classification system for the intelligent connected vehicle industry and safe data open applications.

The need to achieve a suitable level of security in Cyber-Physical Systems (CPS) presents a major challenge for engineers. The unpredictable communication of highly constrained, but safety-relevant systems in a heterogeneous environment, significantly impacts the number and severity of vulnerabilities. Consequently, if security-related weaknesses can successfully be exploited by attackers, the functionality of critical infrastructure could be denied or malfunction. This might consequently threaten life or leak sensitive information. A toolkit to quantitatively express security is essential for security engineers in order to define security-enhancing measurements. For this purpose, security scoring frameworks, like the established Common Vulnerability Scoring System can be used. However, existing security scoring frameworks may not be able to handle the proposed challenges and characteristics of CPS. Therefore, in this work, we aim to elaborate a security scoring system that is tailored to the needs of CPS. In detail, we analyze security on a System-of-Systems level, while considering multiple attacks, as well as potential side effects to other security-related objects. The positive effects of integrated mitigation concepts should also be abbreviated by our proposed security score. Additionally, we generate the security score for interacting AUTOSAR platforms in a highly-connected Vehicle-to-everything (V2x) environment. We refer to this highly relevant use case scenario to underline the benefits of our proposed scoring framework and to prove its effectiveness in CPS.

Connected vehicles as a promising concept of Intelligent Transportation System (ITS), are a potential solution to address some of the existing challenges of emission, traffic congestion as well as fuel consumption. To achieve these goals, connectivity among vehicles through the wireless communication network is essential. However, vehicular communication networks endure from reliability and security issues. Cyber-attacks with purposes of disrupting the performance of the connected vehicles, lead to catastrophic collision and traffic congestion. In this study, we consider a platoon of connected vehicles equipped with Cooperative Adaptive Cruise Control (CACC) which are subjected to a specific type of cyber-attack namely "False Data Injection" attack. We developed a novel method to model the attack with ghost vehicles injected into the connected vehicles network to disrupt the performance of the whole system. To aid the analysis, we use a Partial Differential Equation (PDE) model. Furthermore, we present a PDE model-based diagnostics scheme capable of detecting the false data injection attack and isolating the injection point of the attack in the platoon system. The proposed scheme is designed based on a PDE observer with measured velocity and acceleration feedback. Lyapunov stability theory has been utilized to verify the analytically convergence of the observer under no attack scenario. Eventually, the effectiveness of the proposed algorithm is evaluated with simulation study.

Intelligent Transportation Systems (ITS) play a vital role in the development of smart cities. They enable various road safety and efficiency applications such as optimized traffic management, collision avoidance, and pollution control through the collection and evaluation of traffic data from Road Side Units (RSUs) and connected vehicles in real time. However, these systems are highly vulnerable to data corruption attacks which can seriously influence their decision-making abilities. Traditional attack detection schemes do not account for attackers' sophisticated and evolving strategies and ignore the ITS's constraints on security resources. In this paper, we devise a security game model that allows the defense mechanism deployed in the ITS to optimize the distribution of available resources for attack detection while considering mixed attack strategies, according to which the attacker targets multiple RSUs in a distributed fashion. In our security game, the utility of the ITS is quantified in terms of detection rate, attack damage, and the relevance of the information transmitted by the RSUs. The proposed approach will enable the ITS to mitigate the impact of attacks and increase its resiliency. The results show that our approach reduces the attack impact by at least 20% compared to the one that fairly allocates security resources to RSUs indifferently to attackers' strategies.

Improved safety, high mobility and environmental concerns in transportation systems across the world and the corresponding developments in information and communication technologies continue to drive attention towards Intelligent Transportation Systems (ITS). This is evident in advanced driver-assistance systems such as lane departure warning, adaptive cruise control and collision avoidance. However, in connected and autonomous vehicles, the efficient functionality of these applications depends largely on the ability of a vehicle to accurately predict it operating parameters such as location and speed. The ability to predict the immediate future/next location (or speed) of a vehicle or its ability to predict neighbors help in guaranteeing integrity, availability and accountability, thus boosting safety and resiliency of the Vehicular Network for Mobile Cyber Physical Systems (VCPS). In this paper, we proposed a secure movement-prediction for connected vehicles by using Kalman filter. Specifically, Kalman filter predicts the locations and speeds of individual vehicles with reference to already observed and known information such posted legal speed limit, geographic/road location, direction etc. The aim is to achieve resilience through the predicted and exchanged information between connected moving vehicles in an adaptive manner. By being able to predict their future locations, the following vehicle is able to adjust its position more accurately to avoid collision and to ensure optimal information exchange among vehicles.

In the paper, our research of abnormal bus data analysis of intelligent and connected vehicle aims to detect the abnormal data rapidly and accurately generated by the hackers who send malicious commands to attack vehicles through three patterns, including remote non-contact, short-range non-contact and contact. The research routine is as follows: Take the bus data of 10 different brands of intelligent and connected vehicles through the real vehicle experiments as the research foundation, set up the optimized neural network, collect 1000 sets of the normal bus data of 15 kinds of driving scenarios and the other 300 groups covering the abnormal bus data generated by attacking the three systems which are most common in the intelligent and connected vehicles as the training set. In the end after repeated amendments, with 0.5 seconds per detection, the intrusion detection system has been attained in which for the controlling system the abnormal bus data is detected at the accuracy rate of 96% and the normal data is detected at the accuracy rate of 90%, for the body system the abnormal one is 87% and the normal one is 80%, for the entertainment system the abnormal one is 80% and the normal one is 65%.

The use of Electric Vehicle (EV) is growing rapidly due to its environmental benefits. However, the major problem of these vehicles is their limited battery, the lack of charging stations and the re-charge time. Introducing Information and Communication Technologies, in the field of EV, will improve energy efficiency, energy consumption predictions, availability of charging stations, etc. The Internet of Vehicles based only on Electric Vehicles (IoEV) is a complex system. It is composed of vehicles, humans, sensors, road infrastructure and charging stations. All these entities communicate using several communication technologies (ZigBee, 802.11p, cellular networks, etc). IoEV is therefore vulnerable to significant attacks such as DoS, false data injection, modification. Hence, security is a crucial factor for the development and the wide deployment of Internet of Electric Vehicles (IoEV). In this paper, we present an overview of security issues of the IoEV architecture and we highlight open issues that make the IoEV security a challenging research area in the future.

The Internet of Vehicles (IoV) will connect not only mobile devices with vehicles, but it will also connect vehicles with each other, and with smart offices, buildings, homes, theaters, shopping malls, and cities. The IoV facilitates optimal and reliable communication services to connected vehicles in smart cities. The backbone of connected vehicles communication is the critical V2X infrastructures deployment. The spectrum utilization depends on the demand by the end users and the development of infrastructure that includes efficient automation techniques together with the Internet of Things (IoT). The infrastructure enables us to build smart environments for spectrum utilization, which we refer to as Smart Spectrum Utilization (SSU). This paper presents an integrated system consisting of SSU with IoV. However, the tasks of securing IoV and protecting it from cyber attacks present considerable challenges. This paper introduces an IoV security system using deep learning approach to develop secure applications and reliable services. Deep learning composed of unsupervised learning and supervised learning, could optimize the IoV security system. The deep learning methodology is applied to monitor security threats. Results from simulations show that the monitoring accuracy of the proposed security system is superior to that of the traditional system.

Significant developments have taken place over the past few years in the area of vehicular communication systems in the ITS environment. It is vital that, in these environments, security is considered in design and implementation since compromised vulnerabilities in one vehicle can be propagated to other vehicles, especially given that V2X communication is through an ad-hoc type network. Recently, many standardisation organisations have been working on creating international standards related to vehicular communication security and the so-called Internet of Vehicles (IoV). This paper presents a discussion of current V2X communications cyber security issues and standardisation approaches being considered by standardisation bodies such as the ISO, the ITU, the IEEE, and the ETSI.

With the transformation of connected vehicles into the Internet of Vehicles (IoV), the time is now ripe for paving the way for the next generation of connected vehicles with novel applications and innovative security measures. The connected vehicles are experiencing prenominal growth in the auto industry, but are still studded with many security and privacy vulnerabilities. Today's IoV applications are part of cyber physical communication systems that collect useful information from thousands of smart sensors associated with the connected vehicles. The technology advancement has paved the way for connected vehicles to share significant information among drivers, auto manufacturers, auto insurance companies and operational and maintenance service providers for various applications. The critical issues in engineering the IoV applications are effective to use of the available spectrum and effective allocation of good channels an opportunistic manner to establish connectivity among vehicles, and the effective utilization of the infrastructure under various traffic conditions. Security and privacy in information sharing are the main concerns in a connected vehicle communication network. Blockchain technology facilitates secured communication among users in a connected vehicles network. Originally, blockchain technology was developed and employed with the cryptocurrency. Bitcoin, to provide increased trust, reliability, and security among users based on peer-to-peer networks for transaction sharing. In this paper, we propose to integrate blockchain technology into ad hoc vehicular networking so that the vehicles can share network resources with increased trust, reliability, and security using distributed access control system and can benefit a wider scope of scalable IoV applications scenarios for decision making. The proposed architecture is the faithful environment for information sharing among connected vehicles. Blockchain technology allows multiple copies of data storage at the distribution cloud. Distributed access control system is significantly more secure than a traditional centralized system. This paper also describes how important of ad hoc vehicular networking in human life, possibilities in real-world implementation and its future trends. The ad hoc vehicular networking may become one of the most trendy networking concepts in the future that has the perspective to bring out much ease human beneficial and secured applications.

To increase security and to offer user experiences according to the requirements of a hyper-connected world, modern vehicles are integrating complex electronic systems, being transformed into systems of Cyber-Physical Systems (CPS). While a great diversity of heterogeneous hardware and software components must work together and control in real-time crucial functionalities, cybersecurity for the automotive sector is still in its infancy. This paper provides an analysis of the most common vulnerabilities and risks of connected vehicles, using a real example based on industrial and market-ready technologies. Several components have been implemented to inject and simulate multiple attacks, which enable security services and mitigation actions to be developed and validated.

Vehicles are becoming increasingly connected to the outside world. We can connect our devices to the vehicle's infotainment system and internet is being added as a functionality. Therefore, security is a major concern as the attack surface has become much larger than before. Consequently, attackers are creating malware that can infect vehicles and perform life-threatening activities. For example, a malware can compromise vehicle ECUs and cause unexpected consequences. Hence, ensuring the security of connected vehicle software and networks is extremely important to gain consumer confidence and foster the growth of this emerging market. In this paper, we propose a characterization of vehicle malware and a security architecture to protect vehicle from these malware. The architecture uses multiple computational platforms and makes use of the virtualization technique to limit the attack surface. There is a real-time operating system to control critical vehicle functionalities and multiple other operating systems for non-critical functionalities (infotainment, telematics, etc.). The security architecture also describes groups of components for the operating systems to prevent malicious activities and perform policing (monitor, detect, and control). We believe this work will help automakers guard their systems against malware and provide a clear guideline for future research.

Security is a critical issue for new car generation targeting intelligent transportation systems (ITS), involving autonomous and connected vehicles. In this work we designed a low cost CAN probe and defined analysis tools in order to build attack scenarios. We reuse some threats identified by a previous work. Future researches will address new security protocols.

In this paper we consider connected and autonomous vehicles (CAV) in a traffic network as moving waves defined by their frequency and phase. This outlook allows us to develop a multi-layer decentralized control strategy that achieves the following desirable behaviors: (1) safe spacing between vehicles traveling down the same road, (2) coordinated safe crossing at intersections of conflicting flows, (3) smooth velocity profiles when traversing adjacent intersections. The approach consist of using the Kuramoto equation to synchronize the phase and frequency of agents in the network. The output of this layer serves as the reference trajectory for a back-stepping controller that interfaces the first-order dynamics of the phase-domain layer and the second order dynamics of the vehicle. We show the performance of the strategy for a single intersection and a small urban grid network. The literature has focused on solving the intersection coordination problem in both a centralized and decentralized manner. Some authors have even used the Kuramoto equation to achieve synchronization of traffic lights. Our proposed strategy falls in the rubric of a decentralized approach, but unlike previous work, it defines the vehicles as the oscillating agents, and leverages their inter-connectivity to achieve network-wide synchronization. In this way, it combines the benefits of coordinating the crossing of vehicles at individual intersections and synchronizing flow from adjacent junctions.

With geographic message dissemination, connected vehicles can be served with traffic information in their proximity, thereby positively impacting road safety, traffic management, or routing. Since such messages are typically relevant in a small geographic area, servers only distribute messages to affected vehicles for efficiency reasons. One main challenge is to maintain scalability of the server infrastructure when collecting location updates from vehicles and determining the relevant group of vehicles when messages are distributed to a geographic relevance area, while at the same time respecting the individual user's privacy in accordance with legal regulations. In this paper, we present a framework for geographic message dissemination following the privacy-by-design and privacy-by-default principles, without having to accept efficiency drawbacks compared to conventional server-client based approaches.