# Aspects of Cyber Security in Autonomous and Connected Vehicles
## 5 Attacks on Autonomous and Connected Vehicle
### Attacks on Safety Systems  
Safety systems are designed to avoid road accidents or reduce the risk after an accident. The main components of these systems are sensors, ECU, and actuators. These principal components are more vulnerable to attacks [50]. Authors in [51], designed a model to attack a frequency-modulated continuous wave (FMCW) radar. That system uses one modulation scheme such as fast chirp modulation and rough radar. This system is a cable for spoofing the distance and velocity measured by the targeted vehicle. To spoof the distance, it uses delay and to spoof velocity it uses compensation of phase. This system used software-defined radio and demonstrated two real-life situations to spoof the target vehicle. Authors in [52], showed the way of hacking an ABS that leads to a disruptive attack and spoofing attack. Attackers can interrupt the magnetic field of the ABS by placing an electromagnetic actuator between the ABS wheel speed sensor (WSS) that interrupts the output of the wheel speed sensor which may lead to misbehavior of the entire ABS. Authors in [53], showed the way to approach an eavesdropping attack on the tire pressure monitor sensor (TPMS). This attack leads an attacker to know the location of the vehicle and they can spoof the pressure readings then the driver can stop the vehicle to check the pressure which may lead to physical attacks or robbery. Authors in [54], explained location spoofing leads a driver to follow the map as per the hacker's desire. Few systems in the vehicle are global positioning system (GPS) dependent, if the GPS is hacked it may be easy for the hackers to hack the remaining dependent systems in the vehicle. Lidars are one of the most important sensors in safety systems to sense external environmental situations. Authors in [55], explained the replay attack where attackers can record the signals from the lidar. After some time, they will reuse the signals to insert some malware or unwanted things to interrupt the lidar operation to detect the objects which  
Figure 5: The types of approaches for vehicle diagnostics. are not present. Authors in [18], explained the relay attack which is an extended version of the replay attack. Here attackers receive the signals from the lidar. The received signals are sent to the receiver at a different location which leads to the interruption of the lidar. Authors in [56], explained the blinding attack on the lidar. attackers create this attack by injecting light of the same wavelength as the pulses of the lidar. This leads to the instability of the lidar, and it will not provide accurate services to the automobile. Authors in [34], explained the denial of service (DoS) attack on the lidar. Attackers create a large number of objects using jamming or spoofing. If the number of objects increases that may lead to instability of the lidar. Ultrasonic sensors are used in safety systems to detect nearby objects by generating ultrasonic waves. Authors in [57], explained blind spot exploitation attacks and sensor interference attacks on the ultrasonic sensor. In the case of a blind spot exploitation attack, the sensor has vulnerabilities. It cannot detect a thin object which helps the attackers to keep the thin objects while reversing the vehicle. In case of a sensor interference attack, attackers place another ultrasonic sensor to interrupt the vehicle's ultrasonic sensor. Cameras are another major sensor used to sense the surroundings to alert the driver regarding that safety. Authors in [18], explained the blinding attack on the camera. Attackers use strong light beams to interrupt the cameras if the light beams fall on the camera continuously which may lead to emergency braking. Authors in [44; 45], described the phantom attacks on ADAS features. ADAS are integrated into the modern vehicle for full automation or semi-automation. For operation, they need to sense the surrounding environment with the help of sensors such as cameras to take necessary actions such as taking a diversion and applying breaks.