Threat Analysis and Risk Assessment for Connected Vehicles: A Survey

Table 6

Attack-defense mapping methods.

Attack-defense mapping methods	Brief description	Characteristics
Attack-defense tree approach	It adds corresponding countermeasures to the attack tree.	It is systematic and intuitive. The validity and objectivity of the defending nodes need to be verified.
Game-theoretic approach	It reflects the strategies adopted by attackers and defenders.	The mitigations are tightly related to the risks. It assumes that the players’ actions are rational, which is not always possible.
Feedback-based approach	It iterates and compares the mitigations by reevaluating the risk levels to find the appropriate mitigation.	It is an effective method to design the mitigations, but the process often contains heavy computation and requires semiautomated software.
Designed-rule-based approach	It performs mapping with a designed table.	The mapping process is efficient and easy, but the designed table should be clear and precise.
Benefit-cost assessment approach	It performs mapping from the benefit-cost perspective.	It balances benefit and cost. The estimate of benefit and cost needs to be precise enough.