Survey of Air, Sea, and Road Vehicles Research for Motion Control Security

Research on the security of sensors used in air, sea, and road vehicles has increased over the past years. However, previous work frequently focuses on sensors that detect the vehicle’s surroundings, like LiDAR, RADAR, or cameras. While a successful attack could have an equally severe impact, motion control sensors are investigated to a lesser degree, and security research on them often treats only one of the vehicle types (air, sea, road). The same aspect also applies to mitigations proposed in some of the papers. We close this gap by providing a broad overview and comparing research on demonstrated attacks and defenses. The present survey is the first to cover demonstrated attacks on vehicle motion control sensors of air, sea and road vehicles. Moreover, for the identified issues, demonstrated mitigations and countermeasures for the attacks are referenced. Further, we discuss possible adjustments required to transfer a countermeasure that is demonstrated for one vehicle type to the other two. Additionally, all attacks and countermeasures are summarized in tabular or graphical representation. The covered sensors include rotation, acceleration, gyroscopic, pressure sensors, Inertial Measurement Units, and sensors used to determine the position of a vehicle.