## 2 Related Work
The framework conducts a comprehensive threat analysis for automotive in-vehicle infotainment (IVI) systems and performs a thorough security assessment of the identified threats. However, it does not primarily focus on penetration testing and lacks practical implementation examples. [PERSON] et al. present a cybersecurity testing method which extends the penetration testing execution standard (PTES) from the perspective of testing processes [26]. However, the testing tool developed in this framework only supports in-vehicle CAN bus testing. [PERSON] et al. proposed a comprehensive and implementable test evaluation method based on the professional darkroom [27], but a detailed test process and implementation was not provided. While previous framework has extensively focused on specific in-vehicle systems like controller area network (CAN) bus and in-vehicle infotainment systems, there remains some comprehensive vehicle-wide penetration testing framework. [PERSON] et al. proposed a security evaluation framework for ICVs based on attack chains [28]. The framework focuses on the generation mechanism and steps of attacks, systematically evaluates the current risk level and extent of damage in a targeted manner, and devises appropriate security management measures based on the severity of harm. However, the framework primarily focuses on threat evaluation, with less emphasis on penetration testing. Whether the threat is really harmful needs to be tested and verified. [PERSON] et al. proposed security risk assessment framework for electric vehicles (EVs) [29]. In the framework, the evaluation of vehicle cybersecurity is conducted based on five components: charging station security, information privacy, software security, connected vehicle security, and autonomous driving security. The framework only gives the threat points that need to be concerned about in security evaluation and does not give the process of penetration testing. Although a risk assessment case is given based on the framework, a cybersecurity test platform is not implemented to assist testers in carrying out security assessment. [PERSON] et al. established an automotive penetration testing education platform [30]. It consists of three layers representing different attack points of a vehicle: outer, inner, and core layers. The layer of threats lacks the necessary granularity, and the platform is limited to educational scenarios, rendering it unsuitable for actual penetration testing scenarios. In summary, due to the intricate nature of vehicle architecture, most penetration testing research focuses on specific in-vehicle subsystems. However, in response to the growing demand for vehicle cybersecurity, some researchers have proposed frameworks for evaluating and testing vehicle cybersecurity. Nevertheless, the current security assessment framework primarily emphasizes threat modeling of the entire vehicle and develops risk assessment models based on factors such as severity of damage and likelihood of attack. Nonetheless, TARA represents a theoretical analysis activity applied in the automotive development process's design phase. The conversion of threats into actual exploitable vulnerabilities needs verification through penetration testing. Therefore, research on vehicle penetration testing and test platforms remains highly significant.