Security issues in Internet of Vehicles (IoV): A comprehensive survey

Nowadays, connected vehicles have a major role in enhancing the driving experience. Connected vehicles in the network share their knowledge with the help of the network known as the Internet of Vehicles (IoV). However, connection through the network comes with risks ranging from privacy concerns to security vulnerabilities in the network. Inside vehicles, many sensors and Electronic Control Units (ECUs) are connected via specific network protocols, known as Intra-Vehicle communications, to assist the driver in tasks such as autonomous driving. Communicating through different protocols results in security openness for attackers to disturb the normal functioning of sensors and ECUs, which sometimes has detrimental effects. Moreover, in IoV, there is active communication between vehicles and other vehicles or road infrastructures alongside the network, known as Inter-Vehicle communications. Inter-Vehicle communications can also be an open vulnerability to intruders. Motivated by the mentioned security problems, many research initiatives have elaborated on building Intrusion Detection Systems (IDS) to detect malicious behavior threatening the confidentiality, integrity, availability, and authenticity of IoV. In this survey, we first provide a structured classification of IoV environment, its components, and the vulnerabilities of inter/intra-vehicle networks. Then, we provide a comprehensive literature review regarding numerous proposed IDS for IoV networks. Further, we discuss IDS criteria with a focus on essential areas that should be taken into account while assessing IoV network security, which can be related to IDS implementation constraints or further privacy requirements.