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The number of Connected and Autonomous Vehicles (CAVs) is increasing rapidlyin various smart transportation services and applications, considering manybenefits to society, people, and the environment. Several research surveys forCAVs were conducted by primarily focusing on various security threats andvulnerabilities in the domain of CAVs to classify different types of attacks,impacts of attacks, attack features, cyber-risk, defense methodologies againstattacks, and safety standards. However, the importance of attack detection andprevention approaches for CAVs has not been discussed extensively in thestate-of-the-art surveys, and there is a clear gap in the existing literatureon such methodologies to detect new and conventional threats and protect theCAV systems from unexpected hazards on the road. Some surveys have a limiteddiscussion on Attacks Detection and Prevention Systems (ADPS), but such surveysprovide only partial coverage of different types of ADPS for CAVs. Furthermore,there is a scope for discussing security, privacy, and efficiency challenges inADPS that can give an overview of important security and performanceattributes.  This survey paper, therefore, presents the significance of CAVs in themarket, potential challenges in CAVs, key requirements of essential securityand privacy properties, various capabilities of adversaries, possible attacksin CAVs, and performance evaluation parameters for ADPS. An extensive analysisis discussed of different ADPS categories for CAVs and state-of-the-artresearch works based on each ADPS category that gives the latest findings inthis research domain. This survey also discusses crucial and open securityresearch problems that are required to be focused on the secure deployment ofCAVs in the market.

A Systematic Survey of Attack Detection and Prevention in Connected and Autonomous Vehicles