Intelligent and Connected Vehicle Security
Intelligent and Connected Vehicles (ICVs) are moving into the mainstream of the worldwide automotive industry. A lot of advanced technologies, like artificial intelligence, big data, millimeter wave radar, LiDAR and high-definition camera based real-time environmental perception, etc., are increasin...
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| Main Author: | |
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| Format: | eBook |
| Language: | English |
| Published: |
United Kingdom
River Publishers
2021
Routledge |
| Edition: | 1 |
| Series: | River Publishers Series in Security and Digital Forensics |
| Subjects: | |
| ISBN: | 9781000794076, 1000794075, 9788770223676, 877022367X |
| Online Access: | Get full text |
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Table of Contents:
- Preface xi List of Figures xiii List of Tables xix List of Abbreviations xxi 1 Vehicle Bus Security 1 1.1 Vehicle Bus 1 1.1.1 Overview of Vehicle Bus 1 1.1.2 Categories of Vehicle Bus 2 1.1.2.1 LIN Bus 3 1.1.2.2 CAN Bus 5 1.1.2.3 FlexRay Bus 8 1.1.2.4 MOST Bus 9 1.1.2.5 Automotive Ethernet Bus 11 1.1.3 Threat Analysis of Vehicle Bus 12 1.2 CAN Bus Vulnerability and Analysis 13 1.2.1 CAN Bus Architecture 13 1.2.2 On-Board CAN Bus Access 17 1.2.3 Reverse CAN Bus Communication 19 1.2.4 Analysis of CAN Message Data 21 1.2.5 Fuzz Testing of CAN Bus 22 1.3 Analysis of OBD-II Interface Attack Technology 24 1.3.1 Overview of OBD-II 24 1.3.2 Attack Technique Analysis of OBD Box 26 1.3.2.1 Attack Surface Analysis 27 1.3.2.2 Attack Process Analysis 29 1.3.2.3 Invade Car CAN Bus 35 1.4 Attack Experiment Against Vehicle Bus 35 1.4.1 Control of the Display of Vehicle Dashboard 36 1.4.2 Vehicle Status Tampering via Body Control Module 39 1.4.2.1 Control the Door Lock Switch 40 1.4.2.2 Car Lights and Wiper Attacks 41 1.4.3 CAN Bus Overload via Flood Attack 42 1.5 Experiment of Driving Behaviour Analysis 43 1.5.1 A Novel Scheme About Driving Behaviour Extraction 43 1.5.1.1 Extraction and Processing of Driving Data 44 1.5.1.2 Grade Regulation and Label Design 45 1.5.1.3 Establishment of MTL Network 46 1.5.2 Experimental and Numerical Results 47 1.5.2.1 Volunteer Recruitment and Experiment Route 47 1.5.2.2 Illegal Driver Detection Results 47 1.5.2.3 Legal Driver Identification Results 49 1.5.2.4 Driving Behaviour Evaluation Results 49 2 Intra-Vehicle Communication Security 53 2.1 Basic Introduction to Intra-Vehicle Communication 53 2.1.1 Overview of Intra-Vehicle Communication 53 2.1.2 Module Threat Analysis 54 2.1.2.1 Threat Analysis of Keyless Entry 54 2.1.2.2 Threat Analysis of TPMS 54 2.1.2.3 Threat Analysis of Wi-Fi 55 2.1.2.4 Threat Analysis of Bluetooth 55 2.1.2.5 Threat Analysis of FM 57 2.1.2.6 Threat Analysis of GPS 57 2.2 RKE/PKE Security 58 2.2.1 Overview of RKE 58 2.2.2 Overview of PKE 60 2.2.3 Attack Technique Analysis of RKE/PKE 62 2.2.3.1 Security Technology of RKE/PKE System 62 2.2.3.2 Summary of Common Attacks of RKE/PKE System 64 2.3 TPMS Security 66 2.3.1 Overview of TPMS 66 2.3.2 Attack Technique Analysis of TPMS 70 2.4 On-Board Wi-Fi Security 72 2.4.1 Overview of On-Board Wi-Fi 72 2.4.2 Attack Technique Analysis of On-Board Wi-Fi 74 2.4.2.1 WEP Protocol 74 2.4.2.2 WPA/WPA2 Protocol 76 2.4.2.3 WPA3 Protocol 81 2.5 On-Board Bluetooth Security 82 2.5.1 Overview of On-Board Bluetooth 82 2.5.2 Attack Technique Analysis of On-Board Bluetooth 84 2.5.2.1 Status of Bluetooth Security Mechanism 86 2.6 FM Security 91 2.6.1 Overview of Radio 91 2.6.2 Attack Technique Analysis of FM 93 2.6.2.1 Introduction of FM Radio 94 2.6.2.2 Attack Process of FM Radio 94 2.7 GPS Security 96 2.7.1 Overview of GPS 96 2.7.2 Attack Technique Analysis of GPS 99 2.8 Experiments 101 2.8.1 Attack Experiment Against RKE 101 2.8.1.1 Experimental Environment 101 2.8.1.2 Experimental Method 102 2.8.2 Attack Experiment Against TSP 103 2.8.2.1 TSP Attack Process 104 2.8.2.2 Experimental Results of TSP Attack 105 2.8.3 Attack Experiment Against TPMS 106 2.8.3.1 Structure of TPMS 107 2.8.3.2 Reverse Engineering TPMS Communication Protocols 108 2.8.4 Attack Experiment Against Vehicle Bluetooth via BlueBorne Vulnerability 109 2.8.4.1 What is BlueBorne? 110 2.8.4.2 Process of BlueBorne 111 2.8.5 Attack Experiment Against Road Navigation System 111 2.8.5.1 Goals of Road Navigation System 112 2.8.5.2 Detailed Attacking Process 113 2.8.5.3 Experiments and Results 114 3 Unmanned Driving Security and Navigation Deception 117 3.1 Basic Introduction to Unmanned Driving 117 3.1.1 What is an Unmanned Vehicle? 117 3.1.2 Core Functional Modules of Unmanned Driving 118 3.1.2.1 Perception 119 3.1.2.2 Planning 121 3.1.2.3 Control 123 3.2 Ultrasonic Radar Security 126 3.2.1 Overview of Ultrasonic Radar 126 3.2.2 Basic Principle of Ultrasonic Radar 130 3.2.3 Attack Technique Analysis of Ultrasonic Radar 131 3.2.3.1 Jamming Attack 132 3.2.3.2 Spoofing Attack 133 3.3 Millimeter Wave Radar Security 133 3.3.1 Overview of Millimeter Wave Radar 133 3.3.2 Basic Principle of Millimeter Wave Radar 135 3.3.2.1 Ranging Principle 136 3.3.2.2 Velocity Measuring Principle 137 3.3.2.3 Target Recognition 138 3.3.3 Attack Technique Analysis of Millimeter Wave Radar 138 3.3.3.1 Jamming Attack 139 3.3.3.2 Spoofing Attack 139 3.3.3.3 Relay Attack 140 3.4 Hi-Definition Camera Security 140 3.4.1 Overview of Hi-Definition Camera 140 3.4.2 Basic Principle of Hi-Definition Camera 143 3.4.3 Attack Technique Analysis of Hi-Definition Camera 144 3.4.3.1 Blinding Attack 145 3.5 LiDAR Security 145 3.5.1 Overview of LiDAR 145 3.5.2 Basic Principle of LiDAR 147 3.5.3 Attack Technique Analysis of LiDAR 151 3.5.3.1 Relay Attack 151 3.5.3.2 Spoofing Attack 152 3.6 Experiments 152 3.6.1 Attack Experiment Against Ultrasonic Radar 152 3.6.1.1 Jamming Attack 153 3.6.1.2 Spoofing Attack 154 3.6.2 Attack Experiment Against Millimeter Wave Radar 155 3.6.2.1 Jamming Attack 155 3.6.3 Attack Experiment Against Hi-Definition Camera 157 3.6.3.1 Blinding Attack 157 3.6.4 Attack Experiment Against LiDAR 160 3.6.4.1 Relay Attack 160 3.6.4.2 Spoofing Attack 162 Bibliography 167 Index 169 About the Authors 171
- Title Page List of Figures List of Tables List of Abbreviations Preface Table of Contents 1. Vehicle Bus Security 2. Intra-Vehicle Communication Security 3. Unmanned Driving Security and Navigation Deception Bibliography Index About the Authors
- 3.1.1 What is an Unmanned Vehicle? -- 3.1.2 Core Functional Modules of Unmanned Driving -- 3.1.2.1 Perception -- 3.1.2.2 Planning -- 3.1.2.3 Control -- 3.2 Ultrasonic Radar Security -- 3.2.1 Overview of Ultrasonic Radar -- 3.2.2 Basic Principle of Ultrasonic Radar -- 3.2.3 Attack Technique Analysis of Ultrasonic Radar -- 3.2.3.1 Jamming Attack -- 3.2.3.2 Spoofing Attack -- 3.3 Millimeter Wave Radar Security -- 3.3.1 Overview of Millimeter Wave Radar -- 3.3.2 Basic Principle of Millimeter Wave Radar -- 3.3.2.1 Ranging Principle -- 3.3.2.2 Velocity Measuring Principle -- 3.3.2.3 Target Recognition -- 3.3.3 Attack Technique Analysis of Millimeter Wave Radar -- 3.3.3.1 Jamming Attack -- 3.3.3.2 Spoofing Attack -- 3.3.3.3 Relay Attack -- 3.4 Hi-Definition Camera Security -- 3.4.1 Overview of Hi-Definition Camera -- 3.4.2 Basic Principle of Hi-Definition Camera -- 3.4.3 Attack Technique Analysis of Hi-Definition Camera -- 3.4.3.1 Blinding Attack -- 3.5 LiDAR Security -- 3.5.1 Overview of LiDAR -- 3.5.2 Basic Principle of LiDAR -- 3.5.3 Attack Technique Analysis of LiDAR -- 3.5.3.1 Relay Attack -- 3.5.3.2 Spoofing Attack -- 3.6 Experiments -- 3.6.1 Attack Experiment Against Ultrasonic Radar -- 3.6.1.1 Jamming Attack -- 3.6.1.2 Spoofing Attack -- 3.6.2 Attack Experiment Against Millimeter Wave Radar -- 3.6.2.1 Jamming Attack -- 3.6.3 Attack Experiment Against Hi-Definition Camera -- 3.6.3.1 Blinding Attack -- 3.6.4 Attack Experiment Against LiDAR -- 3.6.4.1 Relay Attack -- 3.6.4.2 Spoofing Attack -- Bibliography -- Index -- About the Authors
- Cover -- Half Title -- Series -- Title -- Copyright -- Contents -- Preface -- List of Figures -- List of Tables -- List of Abbreviations -- 1 Vehicle Bus Security -- 1.1 Vehicle Bus -- 1.1.1 Overview of Vehicle Bus -- 1.1.2 Categories of Vehicle Bus -- 1.1.2.1 LIN Bus -- 1.1.2.2 CAN Bus -- 1.1.2.3 FlexRay Bus -- 1.1.2.4 MOST Bus -- 1.1.2.5 Automotive Ethernet Bus -- 1.1.3 Threat Analysis of Vehicle Bus -- 1.2 CAN Bus Vulnerability and Analysis -- 1.2.1 CAN Bus Architecture -- 1.2.2 On-Board CAN Bus Access -- 1.2.3 Reverse CAN Bus Communication -- 1.2.4 Analysis of CAN Message Data -- 1.2.5 Fuzz Testing of CAN Bus -- 1.3 Analysis of OBD-II Interface Attack Technology -- 1.3.1 Overview of OBD-II -- 1.3.2 Attack Technique Analysis of OBD Box -- 1.3.2.1 Attack Surface Analysis -- 1.3.2.2 Attack Process Analysis -- 1.3.2.3 Invade Car CAN Bus -- 1.4 Attack Experiment Against Vehicle Bus -- 1.4.1 Control of the Display of Vehicle Dashboard -- 1.4.2 Vehicle Status Tampering via Body Control Module -- 1.4.2.1 Control the Door Lock Switch -- 1.4.2.2 Car Lights and Wiper Attacks -- 1.4.3 CAN Bus Overload via Flood Attack -- 1.5 Experiment of Driving Behaviour Analysis -- 1.5.1 A Novel Scheme About Driving Behaviour Extraction -- 1.5.1.1 Extraction and Processing of Driving Data -- 1.5.1.2 Grade Regulation and Label Design -- 1.5.1.3 Establishment of MTL Network -- 1.5.2 Experimental and Numerical Results -- 1.5.2.1 Volunteer Recruitment and Experiment Route -- 1.5.2.2 Illegal Driver Detection Results -- 1.5.2.3 Legal Driver Identification Results -- 1.5.2.4 Driving Behaviour Evaluation Results -- 2 Intra-Vehicle Communication Security -- 2.1 Basic Introduction to Intra-Vehicle Communication -- 2.1.1 Overview of Intra-Vehicle Communication -- 2.1.2 Module Threat Analysis -- 2.1.2.1 Threat Analysis of Keyless Entry -- 2.1.2.2 Threat Analysis of TPMS
- 2.1.2.3 Threat Analysis of Wi-Fi -- 2.1.2.4 Threat Analysis of Bluetooth -- 2.1.2.5 Threat Analysis of FM -- 2.1.2.6 Threat Analysis of GPS -- 2.2 RKE/PKE Security -- 2.2.1 Overview of RKE -- 2.2.2 Overview of PKE -- 2.2.3 Attack Technique Analysis of RKE/PKE -- 2.2.3.1 Security Technology of RKE/PKE System -- 2.2.3.2 Summary of Common Attacks of RKE/PKE System -- 2.3 TPMS Security -- 2.3.1 Overview of TPMS -- 2.3.2 Attack Technique Analysis of TPMS -- 2.4 On-Board Wi-Fi Security -- 2.4.1 Overview of On-Board Wi-Fi -- 2.4.2 Attack Technique Analysis of On-Board Wi-Fi -- 2.4.2.1 WEP Protocol -- 2.4.2.2 WPA/WPA2 Protocol -- 2.4.2.3 WPA3 Protocol -- 2.5 On-Board Bluetooth Security -- 2.5.1 Overview of On-Board Bluetooth -- 2.5.2 Attack Technique Analysis of On-Board Bluetooth -- 2.5.2.1 Status of Bluetooth Security Mechanism -- 2.6 FM Security -- 2.6.1 Overview of Radio -- 2.6.2 Attack Technique Analysis of FM -- 2.6.2.1 Introduction of FM Radio -- 2.6.2.2 Attack Process of FM Radio -- 2.7 GPS Security -- 2.7.1 Overview of GPS -- 2.7.2 Attack Technique Analysis of GPS -- 2.8 Experiments -- 2.8.1 Attack Experiment Against RKE -- 2.8.1.1 Experimental Environment -- 2.8.1.2 Experimental Method -- 2.8.2 Attack Experiment Against TSP -- 2.8.2.1 TSP Attack Process -- 2.8.2.2 Experimental Results of TSP Attack -- 2.8.3 Attack Experiment Against TPMS -- 2.8.3.1 Structure of TPMS -- 2.8.3.2 Reverse Engineering TPMS Communication Protocols -- 2.8.4 Attack Experiment Against Vehicle Bluetooth via BlueBorne Vulnerability -- 2.8.4.1 What is BlueBorne? -- 2.8.4.2 Process of Blue Borne -- 2.8.5 Attack Experiment Against Road Navigation System -- 2.8.5.1 Goals of Road Navigation System -- 2.8.5.2 Detailed Attacking Process -- 2.8.5.3 Experiments and Results -- 3 Unmanned Driving Security and Navigation Deception -- 3.1 Basic Introduction to Unmanned Driving