Vehicle digital forensics includes the process of collecting and analysing digital data stored in vehicles to find evidence related to traffic accidents or crime scenes. Through this process, we can reconstruct digital events by recognizing various information such as driver behaviour, driving patterns, vehicle destinations, and smartphones connected to a vehicle. Recently, many vehicle digital forensic studies have been conducted, but few of them have dealt with Android-based infotainment (or audio video navigation, AVN) systems. While many AVN systems adopt Android as the operating system, digital forensics of Android-based AVN systems is not easy. This is because Android-based AVN systems support various storage devices and data formats and have various data sources, making consistent data collection or analysis difficult. In this article, we perform digital forensics on four AVN systems: two Android 4.2.2 Jellybean-based and two Android 4.4.2 KitKat-based, aiming to develop a data acquisition and analysis method appropriate for each Android version. As a data collection method for the AVN system forensics, logical data acquisition is performed on the Jellybean-based systems and physical data acquisition on the KitKat-based systems. For the collected data, we identify and analyse Bluetooth data, navigation data, and system logs individually. Next, we investigate the differences in the storage structure and file location of major digital artefacts depending on the Android versions and show the limitations of the individual data analysis. Finally, we construct a timeline for the driver’s activities by integrating and analysing the diverse artefacts which consist of Bluetooth data, navigation data, and system logs.