Intelligent Traffic Systems (ITS) are currently evolving in the form of a cooperative ITS or connected vehicles. Both forms use the data communications between Vehicle-to-Vehicle (V2V), Vehicle-to-Infrastructure (V2I/I2V) and other on-road entities, and are accelerating the adoption of self-driving cars. The development of cyber-physical systems containing advanced sensors, sub-systems, and smart driving assistance applications over the past decade is equipping unmanned aerial and road vehicles with autonomous decision-making capabilities. The level of autonomy depends upon the make-up and degree of sensor sophistication and the vehicle’s operational applications. As a result, self-driving cars are being compromised perceived as a serious threat. Therefore, analyzing the threats and attacks on self-driving cars and ITSs, and their corresponding countermeasures to reduce those threats and attacks are needed. For this reason, some survey papers compiling potential attacks on VANETs, ITSs and self-driving cars, and their detection mechanisms are available in the current literature. However, up to our knowledge, they have not covered the real attacks already happened in self-driving cars. To bridge this research gap, in this paper, we analyze the attacks that already targeted self-driving cars and extensively present potential cyber-attacks and their impacts on those cars along with their vulnerabilities. For recently reported attacks, we describe the possible mitigation strategies taken by the manufacturers and governments. This survey includes recent works on how a self-driving car can ensure resilient operation even under ongoing cyber-attack. We also provide further research directions to improve the security issues associated with self-driving cars.

中文翻译：

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对自动驾驶汽车的攻击及其对策：调查

智能交通系统 (ITS) 目前正在以协作式 ITS 或联网车辆的形式发展。这两种形式都使用车对车 (V2V)、车对基础设施 (V2I/I2V) 和其他道路实体之间的数据通信，并正在加速自动驾驶汽车的普及。在过去十年中，包含先进传感器、子系统和智能驾驶辅助应用程序的网络物理系统的发展正在为无人机和道路车辆配备自主决策能力。自主程度取决于传感器的构成和复杂程度以及车辆的操作应用。因此，自动驾驶汽车被认为是一种严重的威胁。因此，分析对自动驾驶汽车和 ITS 的威胁和攻击，需要相应的对策来减少这些威胁和攻击。出于这个原因，一些调查论文汇编了对 VANET、ITS 和自动驾驶汽车的潜在攻击及其检测机制，可在当前文献中找到。然而，据我们所知，他们还没有涵盖在自动驾驶汽车中已经发生的真实攻击。为了弥补这一研究空白，在本文中，我们分析了已经针对自动驾驶汽车的攻击，并广泛呈现了潜在的网络攻击及其对这些汽车的影响及其漏洞。对于最近报告的攻击，我们描述了制造商和政府可能采取的缓解策略。这项调查包括最近关于自动驾驶汽车如何即使在持续的网络攻击下也能确保弹性运行的研究。