Survey on cyber security of CAV

With the ever fast developments of technologies in science and engineering, it is believed that CAV (connected and autonomous vehicles) will come into our daily life soon. CAV could be used in many different aspects in our lives such as public transportation and agriculture, and so on. Although CAV will bring huge benefits to our lives and society, issues such as cyber security threats, which may reveal drivers' private information or even pose threat to driver's life, present significant challenges before CAV can be utilised in our society. In computer science, there is a clear category of cyber security attacks while there is no specific survey on cyber security of CAV. This paper overviews different passive and active cyber security attacks which may be faced by CAV. We also present solutions of each of these attacks based on the current state-of-the-art, and discuss future improvements in research on CAV cyber security.