## 5 Autonomous Vehicle Vulnerabilities
### Hardware Vulnerabilities: Onboard Diagnostic Port (OBD)  
The onboard diagnostic (OBD) port, a critical component in modern vehicles, provides a critical gateway to gathering diagnostic information. These vital data include an array of performance metrics and potential system faults, which the port communicates directly to the electronic control unit (ECU) via the controller area network (CAN) bus. Typically, the OBD port interface is a compact device akin to a standard USB drive, usually situated beneath the dashboard near the driver's seat. This interface can be connected to external computational devices, either via physical tethering or wireless connectivity, facilitating bidirectional data transfer between the vehicle's ECU and the connected device.  
This communication system can have various applications. For example, it can be used to orchestrate cars as discussed in [73] or to analyze the effects of an onboard unit on the driving behavior of cars in connected vehicle flow, as detailed in [74]. With the emergence of advanced technologies, the OBD port can also be leveraged for more sophisticated tasks, such as suppressing selfish node attack motivation in vehicular ad hoc networks through deep reinforcement learning and blockchain, as proposed in [75], or assessing the trust level of a driverless car using deep learning techniques, as investigated by [76]. These innovative applications highlight the critical role of the OBD port in enhancing the functionality and safety of autonomous vehicles.  
[PERSON] et al. [77], in their work, illustrated the vulnerabilities inherent in this system by successfully breaching multiple automobile models through the OBD port. The potential consequences of such breaches are severe, extending to remote control of the vehicles, highlighting the urgent need for robust security measures within OBD port systems.  
Once an external device is linked to the OBD, it gains the ability to send and receive data to and from the vehicle's ECUs. Such an open connection can be exploited to introduce malicious payloads into vehicle networks. This threat was further underscored by [PERSON]'s research [78], which demonstrated the feasibility of manipulating data packets to initiate such attacks. In addition to posing a direct threat to vehicle operations, such vulnerabilitiesalso carry potential ramifications for intellectual property theft. Criminal organizations could leverage these security gaps to steal proprietary information relating to suppliers' and original equipment manufacturers' (OEM) production processes. This not only enables the production of counterfeit parts but also breaches driver privacy by exposing sensitive information such as driving habits.  
In response to these threats, countermeasures have been proposed by various researchers. [PERSON] et al. [79] introduced a defense mechanism that combines the seed key protocol with a two-way authentication method and a timer method. This approach seeks to enhance security by making the seed and key values more difficult to decrypt. Likewise, [PERSON] and [PERSON] [80] proposed the use of cryptographic techniques to authenticate messages on the CAN, thus limiting the transmission of unauthorized data.  
However, despite these efforts, a comprehensive and foolproof solution to secure OBD port systems remains elusive. This area of research is still in its first steps and requires further in-depth investigation. This is particularly true in the context of emotionally intelligent autonomous vehicles, where ensuring the security of the OBD port system is fundamental to maintaining the operational integrity of these vehicles and protecting the privacy of their users.