## 2 Literature Review
### Relation between Cybersecurity and Safety in AHS
The dynamic nature of the CPS portion, such as a complex environment, necessitates a unique approach (i.e., considering cybersecurity and safety). Most data exchange methods, according to [17], are incapable of grasping high-dynamic scenarios in which several parties (i.e., vendors) cooperate to achieve a shared purpose, particularly where privacy is factored in. The same authors suggested a solution based on establishing a dynamic trust zone in which decisions are automatically made through identifying flows, evaluating them, and deciding whether to allow the flow or not [17]. Yet, this strategy increases concern about data protection and confidentiality in a multivendor setting. An additional RoT model is introduced in [13], where a heterogeneous and static environment is built to manage confidentiality problems such as key delivery instead of handling each individual variable. This is considered the most effective way to avoid confidentiality issues. The protection of GPS positions against malicious attacks is one of the main concerns in AHS. Haulage trucks depend on GPS-derived positional coordinates, which are supplemented by a detailed map. In an essential feature in automated AVs, these driverless devices select the shortest routes to reach new locations even without prior knowledge, which gives rise to vulnerability from malware attacks. [PERSON] et al. [9] demonstrated a number of realistic GPS attacks that were presented under two categories: spoofing and jamming. One of the most frequent GPS attacks is to deviate the correct location of the victims to an incorrect position (i.e., spoofing) by fabricating a spurious signal. Nulling, another advanced attacking mechanism, aims to cancel GPS signals by encrypting negative signals that could be used to launch stealthy attacks. Authors in [18] suggested a recent attack strategy that utilizes selected fake locations to direct the AHT into a predefined area, using Google Maps, for example. Unfortunately, the inefficient protection of GPS data can lead to catastrophic truck collisions, which is another safety concern in the AHS. Furthermore, since the distinction between industrial and IT networks is becoming blurred, a need for a coordinated approach becomes evident. As shown in [19], applying a defense-in-depth strategy to the industrial fields is emphasized since we now have the capability of mounting new threats that were not inherent in OT. These tactics aim to improve the overall system's CIA security triad (i.e., confidentiality, integrity, and availability). This can be accomplished by enabling the implementation of solutions such as RoT introduced in [13], which was previously addressed. Meanwhile, when applying security strategies, antiviruses, patch management technology support, and security compliance, these strategies should take into consideration the distinctions between IT and OT environments. Such strategies are deemed to be effective when we put the environment we are working under into perspective. In our situation, for example, we physically secure the autonomous truck in the beginning, and then the wireless communications on the truck. Afterwards, we ensure secure tower communications and finally the network backbone. Autopilots rely extensively on computer vision and Artificial Intelligence (AI) techniques since a vehicle perceives visual data very differently than a person does. Cameras are critical in autonomous trucks for a variety of tasks, including lane detection, obstacle detection, parking, and sign recognition [9; 10], which raises another security risk. A blurred camera's performance breaks a safety standard, increasing the likelihood of fatal accidents triggered by camera attacks. A typical attack involves the use of a laser matrix to blind cameras at a close range of less than half a meter, for a few seconds, inflicting irreversible damage and thereby ruining the autonomous procedures. Optical features are the camera's weak point, as physical attacks can hinder the existence of a completely secure camera system.