Table 8.

Representative guideline table of all existing VN datasets.

Dataset	Attack type	Area type	Simulator	Supervised	Documentation
VeReMi	Multi-attacks	Congested highways, free-flowing traffic	Sumo, Veins, Omnet++	Supervised	Clear
VeReMi Extension	Multi-attacks	Urban	Sumo, Veins, Omnet++	Supervised	Clear
NGSIM	No attacks	Highway, Uban	-	Supervised	Clear
PeMS	No attacks	Urban Area Freeways	PeMS Tool	Unsupervised	Unclear
highD	No attacks	highways	-	Supervised	Clear
Warrigal	No attacks	Urban	-	Unsupervised	Unclear
DeepSense 6G	No attacks	Urban	-	Unsupervised	Clear
VDoS-LRS	One attack	Rural	-	supervised	Not available
Iqbal’s Dataset	Multi-attacks	Urban	Sumo, Veins, Omnet++	Supervised	Not available
VDDD	One attack	Highway	Sumo, Veins, Omnet++	Supervised	Not available
Synthetic	Multi-attacks	Urban	NS-3	Supervised	Not available
Car-Hacking	Multi-attacks	-	Raspberry Pi3	Supervised	Clear
OTIDS	Multi-attacks		Raspberry Pi and Arduino	Unsupervised	Clear
Survival	Multi-attacks	-	-	Supervised	Clear
SynCAN	Multi-attacks		-	Unsupervised	Clear
TU/e v2	Multi-attacks	-	two Arduino boards	Unsupervised	Clear
ORNL	Multi-attacks	-		Supervised	Clear
CrySyS	Multi-attacks	Highway	CAN Log Infector tool	Unsupervised	Clear
SIMPLE	Multi-attacks	Highway	TivaC microcontroller, SN65HVD230 CAN transceiver	Supervised	Clear
Bi	Multi-attacks	country roads, highways, and congested city roads	Raspberry Pi	Unsupervised	Not available