As technology has evolved, cities have become increasingly smart. Smart mobility is a crucial element in smart cities, and autonomous vehicles are an essential part of smart mobility. However, vulnerabilities in autonomous vehicles can be damaging to quality of life and human safety. For this reason, many security researchers have studied attacks and defenses for autonomous vehicles. However, there has not been systematic research on attacks and defenses for autonomous vehicles. In this survey, we analyzed previously conducted attack and defense studies described in 151 papers from 2008 to 2019 for a systematic and comprehensive investigation of autonomous vehicles. We classified autonomous attacks into the three categories of autonomous control system, autonomous driving systems components, and vehicle-to-everything communications. Defense against such attacks was classified into security architecture, intrusion detection, and anomaly detection. Due to the development of big data and communication technologies, techniques for detecting abnormalities using artificial intelligence and machine learning are gradually being developed. Lastly, we provide implications based on our systemic survey that future research on autonomous attacks and defenses is strongly combined with artificial intelligence and major component of smart cities.

随着技术的发展，城市变得越来越聪明。智能交通是智慧城市中的关键要素，而自动驾驶汽车则是智能交通的重要组成部分。然而，自动驾驶汽车中的漏洞可能会损害生活质量和人类安全。因此，许多安全研究人员研究了自动驾驶汽车的攻击和防御。但是，关于自动驾驶汽车的攻击和防御还没有系统的研究。在这项调查中，我们分析了2008年至2019年151篇论文中描述的先前进行的攻击和防御研究，以对自动驾驶汽车进行系统和全面的调查。我们将自主攻击分为自主控制系统，自主驾驶系统组件和车辆到一切通信三类。防御此类攻击的方法分为安全体系结构，入侵检测和异常检测。由于大数据和通信技术的发展，利用人工智能和机器学习来检测异常的技术正在逐步发展。最后，我们根据系统调查得出的结论是，未来有关自主攻击和防御的研究将与人工智能和智能城市的主要组成部分紧密结合。