Table 8.

Overview of fuzzing in literature by different dimensions.

Literature	Attack Vector	Characteristics	Knowledge Level	Type	Testing Platform
Lee [45]	Bluetooth, CAN	Attacking ECU	■	Mutation	Instruments, real ECU
Fowler [46]	CAN	Reversing engineer, attacking network	■	Mutation	Vehicle simulator, an instrument cluster
Fowler [47]	CAN	Reversing engineer, inject message into ECU	■	Mutation	Display ECU
Werquin [48]	CAN	Reverse engineering	■	Mutation	Instrument Clusters
Radu [49]	CAN, ECU Firmware	Control flow graph, static analysis	☐	Generation	Real ECU
Zhang [50]	CAN	Bit flip rate, generative adversarial network	■	Hybrid	Actual vehicle, IDS
Nishimura [51]	CAN FD	Adaption for CAN FD, test execution time measurement	■	Mutation	Real ECU
Li [52]	SOME/IP	Attach fuzzing mode, structural mutation	🞕	Hybrid	Program from GENIVI/vsomeip
Bayer [53]	UDS	UDS fuzzing	☐	Generation	Simulated ECU
Patki [54]	UDS	UDS fuzzing	☐	Generation	Real ECU
Moukahal [55]	Automotive system	Vulnerability-oriented fuzz, structure-aware mutation	🞕	Hybrid	OpenPilot
Moukahal [56]	Automotive system	Prioritized and targeted concolic execution	🞕	Hybrid	OpenPilot

Hybrid = Generation + Mutation, ■ = Black box, ☐ = White box, 🞕 = Grey box.