Threat Analysis and Risk Assessment for Connected Vehicles: A Survey

Table 5

Comparison of performance of TARA tools.

Tool	Developer	Function	Quantitative	Difficulty	Output
MTMT	Microsoft	Threat modeling and analysis	✕	Easy	Reports of threat analysis
SecuriCAD	—	Generating a possible attack path and the result of risk assessment	✓	Medium	Risk level/quantitative threat analysis results
GROOVE	—	Modeling the network architecture and generating an attack graph	✕	Medium	Attack graph
OMNeT++	Simulcraft	Performing network attack simulation and threat analysis	✓	Medium	Results of network attack simulation and threat analysis
PTA	PTA technologies	Threat modeling and calculating risk assessment results	✓	Medium	Security level/parameters of the threat model/effectiveness analysis of countermeasures
SeaMonster	SourceForge	Building attack tree models and misoperation model	✕	Easy	Threat models
Threat Dragon	OWASP	Generating potential threats and corresponding mitigations	✕	Easy	List of a potential threat and corresponding mitigations