Autonomous Driving Security: A Comprehensive Threat Model of Attacks and Mitigation Strategies

Autonomous vehicles (AVs) are envisioned to enhance safety and efficiency on the road, increase productivity, and positively impact the urban transportation system. Due to recent developments in autonomous driving (AD) technology, AVs have started moving on the road. However, this promising technology has many unique security challenges that have the potential to cause traffic accidents. Though some researchers have exploited and addressed specific security issues in AD, there is a lack of a systematic approach to designing security solutions using a comprehensive threat model. A threat model analyzes and identifies potential threats and vulnerabilities. It also identifies the attacker model and proposes mitigation strategies based on known security solutions. As an emerging cyber-physical system, the AD system requires a well-designed threat model to understand the security threats and design solutions. This paper explores security issues in the AD system and analyzes the threat model using the STRIDE threat modeling process. We posit that our threat model-based analysis will help improve AVs' security and guide researchers toward developing secure AVs.