Survey of Model-Based Security Testing Approaches in the Automotive Domain

Modern connected or autonomous vehicles (AVs) are highly complex cyber-physical systems. As a result of the high number of different technologies and connectivity features involved, testing these systems to identify security vulnerabilities is a big challenge. Security testing techniques, such as penetration testing, are often manual methods that are applied comparatively late in the vehicle development process. Thus, vulnerabilities are only detected late or after development, leading to higher costs and more patching effort. To reduce the amount of testing resources in general and enable early and automated testing, model-based testing methods have been established in several domains, such as information technology and the automotive domain. The transfer of model-based testing approaches to automotive security testing could help to detect vulnerabilities earlier than other, manual methods by automatically generating, executing, or simulating security tests. In this study, we review the literature on model-based test approaches in the automotive domain. First, we consider security-independent approaches to obtain an overview of applied models, formalisms, test selection criteria, and test generation techniques. In addition, we investigate, whether and how model-based approaches are applied for automotive security testing. Overall, we identified 63 publications related to model-based testing and 29 publications with regard to model-based security testing. The aim of this study is to provide an overview and direct comparison between these approaches. In this manner, the state of model-based security testing in the automotive domain, current challenges, and potential research areas are determined.