# Threat Analysis and Risk Assessment (TARA) Analysis of an Autonomous Emergency Braking (AEB) System
## 1 Introduction  
Road accidents continue to be a major cause of fatalities and serious injuries globally, driven by increasing traffic density and distractions while driving. To combat this critical issue, it is vital to develop and implement technological solutions that significantly enhance vehicle safety. Among the most promising advancements in this domain is the autonomous emergency braking AEB system, which is designed to automatically prevent or mitigate collisions, thereby reducing the risk of accidents and saving lives. To ensure reliability and security in AEB systems, thorough validation is required to ensure that every single component operates correctly under diverse conditions. These systems rely on the complex interaction of advanced sensors, data fusion algorithms, decision-making processes, and actuator controls. Given the stringent reliability standards and the growing architecturalcomplexity of AEB systems, sophisticated testing methodologies--such as functional testing, HIL simulations, and scenario-based evaluations--are essential. These methodologies are crucial for identifying and addressing potential vulnerabilities before vehicles are brought to the market, thereby ensuring the reliability of AEB systems. Moreover, tire slip control is another critical topic in vehicle dynamic control, being the basis of systems, including the AEB system, as shown by [PERSON] et al. [1]. Another typical application in research regards platooning techniques, as demonstrated by [PERSON] et al. [2], which underline the need for a more secure and standard-compliant solution, particularly in the context of AEB, which is crucial when taking into account the challenges coming from smart intersections, as discussed by [PERSON] et al. [3]. As AEB systems increasingly integrate with other automotive technologies, they face heightened exposure to cyber threats, making cybersecurity a paramount concern. It is imperative to implement robust cybersecurity measures to protect data integrity, ensure secure communications, and enable real-time threat detection. An integrated approach that combines comprehensive testing protocols with advanced cybersecurity measures is essential for ensuring the safety and resilience of AEB systems in contemporary vehicles. To standardize quality and security assessments for manufactured vehicles, the International Organization for Standardization ISO and the Society of Automotive Engineers SAE have proposed several standards. Notably, ISO/SAE 21434 [4] provides a comprehensive framework for cybersecurity and quality checks aimed at original equipment manufacturers (OEMs) and suppliers. Additionally, ISO 24089 [5] enhances this framework by emphasizing information-sharing and impact analysis, thereby strengthening the overall security posture. The importance of AEB systems is further highlighted by their alignment with these standards, which collectively facilitate a thorough evaluation of systems' architecture and hardware security. This paper analyzes the critical components of typical AEB systems in accordance with the ISO/SAE 21434 standard. To deepen the understanding of their functionality and security, an architecture is developed to identify threats, as outlined by ISO 21434, and the STRIDE methodology is applied to assess these vulnerabilities. The primary contributions of the present paper are outlined as follows:  
1. Analysis of AEB Architecture Components: this work provides an extensive examination of the essential components that constitute a typical AEB architecture. 2. Security Evaluation of AEB Architectures Utilizing ISO/SAE 21434: The ISO/SAE 21434 standard, a recognized cybersecurity framework specifically tailored for automotive systems, is implemented to perform a thorough security evaluation of AEB architectures. By applying this structured methodology, the rigor of the security assessment is enhanced, providing actionable insights for improving AEB system resilience. 3.