Smart mobility is an imperative facet of smart cities, and the transition of conventional automotive systems to connected and automated vehicles (CAVs) is envisioned as one of the emerging technologies on urban roads. The existing AV mobility environment is perhaps centered around road users and infrastructure, but it does not support future CAV implementation due to its proximity with distinct modules nested in the cyber layer. Therefore, this paper conceptualizes a more sustainable CAVenabled mobility framework that accommodates all cyber-based entities. Further, the key to a thriving autonomous system relies on accurate decision making in real-time, but cyberattacks on these entities can disrupt decision-making capabilities, leading to complicated CAV accidents. Due to the incompetence of the existing accident investigation frameworks to comprehend and handle these accidents, this paper proposes a 5Ws and 1H-based investigation approach to deal with cyberattack-related accidents. Further, this paper develops STRIDE threat modeling to analyze potential threats endured by the cyber-physical system (CPS) of a CAV ecosystem. Also, a stochastic anomaly detection system is proposed to identify the anomalies, abnormal activities, and unusual operations of the automated driving system (ADS) functions during a crash analysis.INDEX TERMS CAV-enabled transport mobility environment, cybersecurity, STRIDE threat modeling, accident investigation.
Automated vehicles are a revolutionary step in mobility, providing a safe and convenient riding experience while keeping the human-driving task minimal to none. Therefore, these intelligent vehicles are equipped with sophisticated perception sensors (e.g., cameras and radars), high-performance computers, artificial intelligence (AI)-driven algorithms, and connectivity with other internet-of-things (IoT) devices. This makes autonomous vehicles (AVs) a special kind of cyber-physical system (CPS) that is moving at speed in highly interactive and dynamic environments (e.g., public roads). Thus, AV is a potential target for cyber attackers to weaponize, compromising safety and mobility on the road. The first step in addressing this problem is to have a robust threat modeling framework that can address the evolving cyber-physical threats, especially to AV applications. In this regard, two areas are studied in this paper: the common practice of threat modeling in automotive and the ISO/SAE 21434 standard, and sensors and machine learning (ML) algorithms for AV perception systems and potential cyber-physical attacks. A comparative threat analysis for an AV perception system with the ISO/SAE 21434 standard and a system-theoretic process analysis for security (STPA-Sec) approach is also demonstrated in this paper. Based on the analysis, this paper proposes a robust threat analysis and risk assessment framework with mathematical modeling to identify cyber-physical threats to AV perception systems that are critical for the driving behaviors and complex interactions of AVs in their operational design domain.
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