Table 9.

Overview of TARA methods in automotive domain.

Method	Brief Description	Application Scope	Threat Model	Co-Analysis
EVITA [59]	A method in the E-safety Vehicle Intrusion Protected Applications (EVITA) project which provides four evaluation dimensions: safety, privacy, financial, and operational.	Vehicular IT systems	Attack tree	Yes
HEAVENS [60]	A method in the HEAling vulnerabilities to enhance software (HEAVENS) project, which provides a complete evaluation process to propose a systematic approach so that cybersecurity requirements for automotive electrical and electronic systems can be obtained	Automotive Electrical and electronic systems	STRIDE	Yes
FMVEA [61]	FMVEA (Failure Mode, Vulnerabilities and Effects Analysis) extends the FMEA approach with security threat models	Automotive cyber-physical systems	STRIDE	Yes
SAHARA [62]	SAHARA (security-aware hazard analysis and risk assessment) is a method that combines HARA in functional safety and STRIDE threat models	Automotive embedded systems	STRIDE	Yes
SARA [63]	SARA is a systematic TARA framework that includes improved threat models, asset maps, new attack methods, attacker participation in the attack tree, and new driving system metrics	Automated driving system	STRIDELC, Attack tree, Attack map	Yes
CHASSIS [64]	CHASSIS (Combined harm assessment of safety and security) is a safety and security co-analysis method for information systems based on HAZOP guidewords	Automotive cyber-physical systems	HAZOP	Yes
TVRA [65]	TVRA (Threat, Vulnerabilities, and implementation Risks Analysis) is a process-driven threat analysis and risk assessment method proposed by the European Telecommunications Standards Institute (ETSI)	Automotive data/telecommunications networks	Threat tree	No
SINA [66]	SINA (Security in Networked Automotive) is a method to identify security issues for Connected automotive systems	Connected automotive systems	STRIDE, Attack tree	Yes
SGM [67]	SGM (Security Guideword Method) is a safety analysis method using security guide words	Automotive embedded systems	SGM, Attack Tree	Yes

STRIDE(LC) = Spoofing, Tampering, Repudiation, Information Disclosure, Denial of Service, Elevation of Privilege (Linkability, Confusion).