“…As advancement in the network, consensus-based vehicle control algorithms [ 17 ] and CAN-based communication for navigation assistance, electronic payment, and traffic updates [ 29 ] were also proposed. While using such modern sensors and communication protocols, we might be prone to vulnerabilities such as Sybil attacks, blackhole attacks, wormhole attacks, grey hole attacks, DoS attacks, DDoS attacks, GPS spoofing, jamming, malware attacks in the cyber aspect and spoofing, jamming, acoustic quieting, relay attack in sensors and cameras [ 30 ].…”