Symbiotic Analysis of Security Assessment and Penetration Tests Guiding Real L4 Automated City Shuttles

Benyahya, Meriem; Bergerat, Pierre; Collen, Anastasija; Nijdam, Niels Alexander · 2023 · Crossref

DOI: 10.3390/telecom4010012

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Summary

This paper addresses the cybersecurity vulnerabilities of Automated City Shuttles (ACS), a specific class of Connected Automated Vehicles (CAVs) designed for public transportation in smart cities. While CAVs are rapidly evolving, ACSs present unique security challenges due to their high level of connectivity and public exposure, risks that exceed those of personal vehicles. The authors aim to fill a gap in existing literature, which often lacks concrete, non-theoretical cyber attack implementations on ACSs. The study investigates whether the Threat Analysis and Risk Assessment (TARA) methodology from the ISO/SAE 21434 standard is suitable for identifying Level 4 (L4) specific threats and if penetration testing can validate the resilience of mitigations for high-risk scenarios. The researchers conducted a comprehensive security assessment on a real L4 ACS operating in Geneva, Switzerland. The methodology combined a formal risk analysis with practical penetration tests. First, they performed a TARA compliant with ISO/SAE 21434, identifying seven key assets including 3G/4G and GNSS antennas, LiDAR, and cameras. Using the STRIDE threat modeling framework, they identified 27 damage scenarios, rated their impact on safety, finance, operations, and privacy, and analyzed attack paths. They calculated the Aggregated Attack Feasibility Level (AAFL) based on criteria such as time, expertise, equipment, knowledge, and opportunity. Based on these findings, they selected four high-risk, low-cost wireless attack scenarios for penetration testing. These tests were conducted in a black-box environment using affordable Software Defined Radio (SDR) equipment, specifically the BladeRFx40, alongside open-source tools like GNU Radio and YateBTS. The tests targeted the vehicle’s GNSS and 4G connections while it was stationary, simulating attacks accessible to individuals with limited technical expertise. The results demonstrated that the TARA methodology effectively identified critical vulnerabilities, particularly those involving wireless communications. The penetration tests confirmed that attackers could exploit these weaknesses using readily available tools. For instance, the study highlighted scenarios where attackers could impersonate backend servers to send rogue updates, perform Man-in-the-Middle attacks to modify transmitted data, or impersonate 3G/4G antennas to send falsified data. These attacks were rated as having high feasibility and severe impact, potentially compromising the integrity of secure driving functions such as braking and speed limits. The experiments validated that physical security and wireless communication channels are significant entry points for attackers, even without direct physical interaction with the vehicle. The significance of this work lies in its practical demonstration of cybersecurity risks in L4 automated public transport. By combining standardized risk assessment with real-world penetration testing, the authors provide actionable recommendations for mitigating identified weaknesses, emphasizing the need for robust integrity controls, authentication, and cryptography. The study underscores that ACSs require specialized security measures beyond those applied to conventional vehicles, particularly regarding physical security and wireless communication resilience. This research contributes to the broader field by offering a validated framework for assessing and securing the emerging infrastructure of smart city mobility.

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