ETSI TR 102 893 V1.2.1 (2017-03)

Intelligent Transport Systems (ITS); Security; Threat, Vulnerability and Risk Analysis (TVRA)

RTR/ITS-0050018

General Information

• Status: Published
• Publication Date: 30-Mar-2017
• Technical Committee: ITS WG5 - Security
• Current Stage: 12 - Completion
• Due Date: 07-Apr-2017
• Completion Date: 31-Mar-2017

Standards Content (Sample)

TECHNICAL REPORT
Intelligent Transport Systems (ITS);
Security;
Threat, Vulnerability and Risk Analysis (TVRA)

2 ETSI TR 102 893 V1.2.1 (2017-03)

Reference
RTR/ITS-0050018
Keywords
authentication, authorization, confidentiality,
security
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3 ETSI TR 102 893 V1.2.1 (2017-03)
Contents
Intellectual Property Rights . 6
Foreword . 6
Modal verbs terminology . 6
1 Scope . 7
2 References . 7
2.1 Normative references . 7
2.2 Informative references . 7
3 Definitions and abbreviations . 8
3.1 Definitions . 8
3.2 Abbreviations . 8
4 The TVRA Method . 9
5 The ETSI Intelligent Transport System . 10
5.1 ITS architecture . 10
5.1.1 General . 10
5.1.2 Summary of ITS applications . 11
6 ITS Security Objectives. 14
6.1 Confidentiality . 14
6.2 Integrity . 14
6.3 Availability . 15
6.4 Accountability . 15
6.5 Authenticity . 15
7 ITS Functional Security classes . 15
7.1 Confidentiality . 15
7.2 Integrity . 16
7.3 Availability . 17
7.4 Accountability . 17
7.5 Authenticity . 17
8 ITS Target of Evaluation (ToE) . 18
8.1 General . 18
8.2 Assumptions on the ToE . 19
8.3 Assumptions on the ToE environment . 19
9 ITS system assets . 20
9.1 ITS station functional models . 20
9.2 Functional assets . 21
9.2.1 ITS-S (Vehicle) . 21
9.2.1.0 General . 21
9.2.1.1 Protocol Control . 22
9.2.1.1.1 General description . 22
9.2.1.1.2 Vehicle to ITS infrastructure . 22
9.2.1.1.3 Vehicle to vehicle . 22
9.2.1.2 Service Control . 22
9.2.1.3 ITS Applications . 22
9.2.1.4 Sensor Monitor . 23
9.2.1.5 Vehicle System Control . 23
9.2.2 ITS-S (Roadside) . 24
9.2.2.0 General . 24
9.2.2.1 Protocol Control . 24
9.2.2.1.1 General description . 24
9.2.2.1.2 RSU to vehicle . 24
9.2.2.1.3 RSU to ITS network . 24
9.2.2.2 Service Control . 24
9.2.2.3 ITS Applications . 25
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9.2.2.4 Sensor Monitor . 25
9.2.2.5 Display Control . 26
9.3 Data assets . 26
9.3.1 ITS-S (Vehicle) . 26
9.3.1.1 Local Dynamic Map . 26
9.3.1.2 Local Vehicle Information . 27
9.3.1.3 Service Profile . 27
9.3.2 ITS-S (Roadside) . 27
9.3.2.1 Local Dynamic Map (LDM) . 27
9.3.2.2 Local Station Information . 28
9.3.2.3 Service Profile . 28
10 ITS threat analysis . 28
10.1 Attack interfaces and threat agents . 28
10.1.1 Attack interfaces and threat agents for ITS-S (Vehicle) ToE . 28
10.1.2 Attack interfaces and threat agents for ITS-S (Roadside) ToE . 29
10.2 Vulnerabilities and threats . 30
10.2.1 Threats to all ITS stations . 30
10.2.2 Availability . 30
10.2.2.1 General threats to availability . 30
10.2.3 Integrity . 31
10.2.3.1 General threats to integrity . 31
10.2.4 Authenticity . 31
10.2.4.1 General threats to authenticity. 31
10.2.5 Confidentiality . 32
10.2.5.1 General threats to confidentiality . 32
10.2.6 General threats to accountability . 32
10.2.7 Vulnerabilities and threats . 33
10.2.7.1 Determining system vulnerabilities . 33
10.2.7.2 Threats and vulnerabilities within an ITS-S (Vehicle) . 34
10.2.7.3 Threats and vulnerabilities within an ITS-S (Roadside) . 41
10.3 Security risks in an ITS system . 46
10.3.0 Introduction. 46
10.3.1 Risks in an ITS-S (Vehicle) . 47
10.3.2 Risks in an ITS-S (Roadside) . 48
11 Countermeasures . 49
11.1 List of Countermeasures . 49
11.2 Evaluation of Countermeasures . 50
11.3 Countermeasure Analysis . 51
11.3.1 Reduce frequency of beaconing and other repeated messages . 51
11.3.2 Add source identification (IP address equivalent) in V2V messages . 51
11.3.3 Limit message traffic to V2I/I2V when infrastructure is available and implement message flow
control and station registration. 52
11.3.4 Implement frequency agility within the 5,9 GHz band . 53
11.3.5 Implement ITS G5A as a CDMA/spread-spectrum system . 53
rd
11.3.6 Integrate 3 Generation mobile technology into ITS G5A communications . 54
11.3.7 Digitally sign each message using a Kerberos/PKI-like token system . 55
11.3.7.0 General . 55
11.3.7.1 Kerberos-like solution . 55
11.3.7.1.1 General requirements . 55
11.3.7.1.2 Countermeasure analysis . 56
11.3.7.2 PKI-like solution . 56
11.3.7.2.1 General requirements . 56
11.3.7.2.2 Countermeasure analysis . 57
11.3.8 Include a non-cryptographic checksum of the message in each message sent . 57
11.3.9 Remove requirements for message relay in the ITS BSA . 58
11.3.10 Include an authoritative identity in each message and authenticate it . 58
11.3.11 Use broadcast time (Universal Coordinated Time - UTC - or GNSS) to timestamp all messages . 59
11.3.12 Include a sequence number in each new message . 60
11.3.13 Use INS or existing dead-reckoning methods (with regular - but possibly infrequent - GNSS
corrections) to provide positional data . 61
11.3.14 Implement differential monitoring on the GNSS system to identify unusual changes in position . 61
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5 ETSI TR 102 893 V1.2.1 (2017-03)
11.3.15 Encrypt the transmission of personal and private data . 62
11.3.16 Implement a Privilege Management Infrastructure (PMI) . 63
11.3.17 Software authenticity and integrity are certified before it is installed . 64
11.3.18 Use a pseudonym that cannot be linked to the true identity of either the user or the user's vehicle . 64
11.3.19 Maintain an audit log of the type and content of each message sent to and from an ITS-S . 65
11.3.20 Perform plausibility tests on incoming messages . 66
11.3.21 Provide remote deactivation of misbehaving ITS-S (Vehicle) . 67
11.3.22 Use hardware-based identity and protection of software on an ITS-S . 67
11.4 Countermeasure Set . 68
11.4.0 Introduction. 68
11.4.1 ITS Countermeasure Set . 69
11.4.1.1 Countermeasures to Denial of Service (DoS) and availability threats . 69
11.4.1.2 Countermeasures to integrity threats . 71
11.4.1.3 Countermeasures to confidentiality and privacy threats. 71
11.4.1.4 Countermeasures to non-repudiation and accountability threats . 72
11.4.2 Residual risk . 72
Annex A: Cost - Benefit analysis of the selected countermeasures . 73
Annex B: GeoNetworking Risk Assessment . 77
B.1 Introduction . 77
B.2 GeoNetworking Model . 77
B.3 Packet Structure . 78
B.4 Target of Evaluation . 78
B.4.1 General . 78
B.4.2 Assumptions . 78
B.4.3 Assets . 79
B.4.3.1 Data Assets . 79
B.4.4 GeoNetworking Threat Analysis . 79
B.4.4.1 General Assumptions . 79
B.4.4.2 Attacks . 79
B.4.4.2.1 General . 79
B.4.4.2.2 Availability. 79
B.4.4.2.3 Integrity . 79
B.4.4.2.4 Confidentiality . 80
B.4.4.2.5 Privacy . 80
B.4.4.3 Security Risks of GeoNetworking . 80
B.4.5 Countermeasures . 81
B.4.5.1 General . 81
B.4.5.2 Security Design Premise . 81
B.4.5.3 List of Countermeasures . 81
B.4.5.3.1 Overview . 81
B.4.5.3.2 C1: Consistency check, incoming plausibility check and global misbehavior detection . 82
B.4.5.3.3 C2: Restrict maximum range and maximum number of hops a packet is routed . 83
B.4.5.3.4 C3: Restrict frequency to send messages . 84
B.4.5.3.5 C4: Verify (forwarding ITS-S) packet payload on demand . 84
B.4.5.3.6 C5: Optionally encrypt packet payload in an end-to-end manner . 85
B.4.5.3.7 C6: Always sign (original sender and forwarding ITS-S) common header and verify (forwarding
and final receiver ITS-S) common header on demand . 85
B.4.5.4 Further Countermeasures . 86
B.4.6 Incentive Schemes . 86
B.4.7 Security Performance . 87
B.4.7.1 General . 87
B.4.7.2 Confidentiality (Countermeasure C5) . 87
B.4.7.3 Integrity (Countermeasures C4 and C6) . 87
B.4.7.4 Confidentiality + Integrity (Countermeasures C4, C5 and C6) . 87
History . 88

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6 ETSI TR 102 893 V1.2.1 (2017-03)
Intellectual Property Rights
IPRs essential or potentially essential to the present document may have been declared to ETSI. The information
pertaining to these essential IPRs, if any, is publicly available for ETSI members and non-members, and can be found
in ETSI SR 000 314: "Intellectual Property Rights (IPRs); Essential, or potentially Essential, IPRs notified to ETSI in
respect of ETSI standards", which is available from the ETSI Secretariat. Latest updates are available on the ETSI Web
server (https://ipr.etsi.org/).
Pursuant to the ETSI IPR Policy, no investigation, including IPR searches, has been carried out by ETSI. No guarantee
can be given as to the existence of other IPRs not referenced in ETSI SR 000 314 (or the updates on the ETSI Web
server) which are, or may be, or may become, essential to the present document.
Foreword
This Technical Report (TR) has been produced by ETSI Technical Committee Intelligent Transport Systems (ITS).
Modal verbs terminology
In the present document "should", "should not", "may", "need not", "will", "will not", "can" and "cannot" are to be
interpreted as described in clause 3.2 of the ETSI Drafting Rules (Verbal forms for the expression of provisions).
"must" and "must not" are NOT allowed in ETSI deliverables except when used in direct citation.
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7 ETSI TR 102 893 V1.2.1 (2017-03)
1 Scope
The present document summarizes the results of a Threat, Vulnerability and Risk Analysis (TVRA) of 5,9 GHz radio
communications in an Intelligent Transport System (ITS). The analysis considers vehicle-to-vehicle and
vehicle-to-roadside network infrastructure communications services in the ITS Basic Set of Applications (BSA) [i.3]
operating in a fully deployed ITS.
The present document was prepared using the TVRA method described in ETSI TS 102 165-1 [i.1].
NOTE: Whilst the present document is a technical report it identifies requirements for future work. In all cases
these requirements are considered indicative pending their ratification in formal ETSI Technical
Specifications within the ETSI ITS Work Programme.
2 References
2.1 Normative references
Normative references are not applicable in the present document.
2.2 Informative references
References are either specific (identified by date of publication and/or edition number or version number) or
non-specific. For specific references, only the cited version applies. For non-specific references, the latest version of the
referenced document (including any amendments) applies.
NOTE: While any hyperlinks included in this clause were valid at the time of publication, ETSI cannot guarantee
their long term validity.
The following referenced documents are not necessary for the application of the present document but they assist the
user with regard to a particular subject area.
[i.1] ETSI TS 102 165-1: "Telecommunications and Internet converged Services and Protocols for
Advanced Networking (TISPAN); Methods and protocols; Part 1: Method and proforma for
Threat, Risk, Vulnerability Analysis".
[i.2] ETSI TS 102 731: "Intelligent Transport Systems (ITS); Security; Security Services and
Architecture".
[i.3] ETSI TR 102 638: "Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of
Applications; Definitions".
[i.4] IEEE 802.11TM: "IEEE Standard for Information Technology - Telecommunications and
Information Exchange Between Systems - Local and Metropolitan Area Networks - Specific
Requirements - Part 11: Wireless LAN Medium Access Control (MAC) and Physical Layer (PHY)
Specifications".
[i.5] Recommendation ITU-T X.509: "Information technology - Open Systems Interconnection - The
Directory: Public-key and attribute certificate frameworks".
[i.6] IETF RFC 4120: "The Kerberos Network Authentication Service (V5)".
NOTE: Available at http://tools.ietf.org/html/rfc4120.
[i.7] ETSI TS 102 636-4-1: "Intelligent Transport System (ITS); Vehicular communications;
GeoNetworking; Part 4: Geographical addressing and forwarding for point-to-point and point-to-
multipoint communications; Sub-part 1: Media-Independent Functionality".
[i.8] ETSI TS 102 940: "Intelligent Transport Systems (ITS); Security; ITS communications security
architecture and security management".
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8 ETSI TR 102 893 V1.2.1 (2017-03)
[i.9] ETSI TR 102 863: "Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of
Applications; Local Dynamic Map (LDM); Rationale for and guidance on standardization".
[i.10] ETSI EN 302 636-4-1: "Intelligent Transport Systems (ITS); Vehicular Communications;
GeoNetworking; Part 4: Geographical addressing and forwarding for point-to-point and
point-to-multipoint communications; Sub-part 1: Media-Independent Functionality".
[i.11] Risk analysis study of ITS communication architecture, R Moalla, H Labiod, B Lonc, N Simoni,
IEEE Network of the Future conference, 2012.
3 Definitions and abbreviations
3.1 Definitions
For the purposes of the present document, the following terms and definitions apply:
beaconing: network layer service which retransmits requested information
end user: functional agent directly representing the human user of the ITS or the ITS service provider
geo-addressing: network layer service that enables the addressing a specific geographic region
ITS application: entity that defines and implements an ITS use case or a set of ITS use cases
ITS use case: specific scenario in which ITS messages are exchanged
ITS user: any ITS application or functional agent sending, receiving or accessing ITS-related information
local dynamic map: dynamically maintained information on driving and environmental conditions in the vicinity of the
ITS-S
restricted local ITS station data: data to be shared only with authorized parties
unrestricted local ITS station data: data that may be shared without requiring authorization from the recipient
3.2 Abbreviations
For the purposes of the present document, the following abbreviations apply:
AA Attribute Authority
AC Attribute Certificate
BSA Basic Set of Applications
CA Co-operative Awareness
CAM Cooperative Awareness Message
CCM Counter with CBC-MAC
CDMA Code Division Multiple Access
CN Co-operative Navigation
CS Communities Services
CSM Co-operative Speed Management
DENM Decentralized Environmental Notification Message
DNM Decentralized environmental Notification Message
ECDSA Elliptic Curve Digital Signature Algorithm
ECIES Elliptic Curve Integrated Encryption Scheme
FA Functional Asset
FM Frequency Modulation
GAC GeoAnycast
GBC GeoBroadcast
GNSS Global Navigation Satellite System
GUC GeoUnicast
HMAC Hashed Message Authentication Code
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9 ETSI TR 102 893 V1.2.1 (2017-03)
HMI Human-Machine Interface
I2V Infrastructure to Vehicle
IAAA Identification, Authentication, Authorization, Accountability
INS Inertial Navigation System
IP Internet Protocol
ITS Intelligent Transport System
ITS-S ITS Station
LBS Location Based Services
LCM Life Cycle Management
LDM Local Dynamic Map
OS Operating System
PKI Public Keying Infrastructure
PMI Privilege Management Infrastructure
RHW Road Hazard Warning
RSU Road Side Unit
SAML Security Assertion Markup Language
SFR Security Functional Requirement
SHB Single-Hop Broadcast
SoA Source of Authority
SSP Service Specific Permissions
ToE Target of Evaluation
TSB Topologically-Scoped Broadcast
TTP Trusted Third Party
TVRA Threat, Vulnerability and Risk Analysis
UTC Universal Coordinated Time
V2I Vehicle to Infrastructure
V2V Vehicle to Vehicle
VIN Vehicle Identification Number
4 The TVRA Method
Without an understanding of the threats posed to a system it is impossible to select or devise appropriate measures to
counter these threats. The ETSI Threat, Vulnerability and Risk Analysis (TVRA) [i.1] is used to identify risks to a
system by isolating the vulnerabilities of the system, assessing the likelihood of a malicious attack on that vulnerability
and determining the impact that such an attack will have on the system.
The TVRA method process consists of the following steps:
1) Identification of the Target of Evaluation (TOE) resulting in a high level description of the main assets of the
TOE and the TOE environment and a specification of the goal, purpose and scope of the TVRA.
2) Identification of the objectives resulting in a high level statement of the security aims and issues to be
resolved.
3) Identification of the functional security requirements, derived from the objectives from step 2.
4) Inventory of the assets as refinements of the high level asset descriptions from step 1 and additional assets as a
result of steps 2 and 3.
5) Identification and classification of the vulnerabilities in the system, the threats that can exploit them, and the
unwanted incidents that may result.
6) Quantifying the occurrence likelihood and impact of the threats.
7) Establishment of the risks.
8) Identification of countermeasures framework (conceptual) resulting in a list of alternative security services and
capabilities needed to reduce the risk.
9) Countermeasure cost-benefit analysis (including security requirements cost-benefit analysis depending on the
scope and purpose of the TVRA) to identify the best fit security services and capabilities amongst alternatives
from step 8.
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10) Specification of detailed requirements for the security services and capabilities from step 9.
The present document summarizes the results from each of these steps in the analysis of the ETSI Intelligent Transport
System (ITS) standards.
5 The ETSI Intelligent Transport System
5.1 ITS architecture
5.1.1 General
The ITS security architecture is defined in ETSI TS 102 940 [i.8] and covers both the Communication Architecture and
the architecture of the ITS-S itself. ETSI TR 102 638 [i.3] defines the basic set of ITS applications which it divides into
groups according to the functionality provided which is further analysed in ETSI TR 102 863 [i.9] and transformed into
a detail classification of ITS applications in ETSI TS 102 940 [i.8]. For ease of reading and for further risk analysis the
relevant tables from ETSI TS 102 940 [i.8] are copied here.
Table 1: ITS application classes
Applications Class Application Use case
Active road safety Driving assistance - Co-operative Awareness (CA) Emergency vehicle warning
Slow vehicle indication
Across traffic turn collision risk warning
Merging Traffic Turn Collision Risk
Warning
Co-operative merging assistance
Intersection collision warning
Co-operative forward collision warning
Lane Change Manoeuvre
Driving assistance - Road Hazard Warning (RHW) Emergency electronic brake lights
Wrong way driving warning
(infrastructure based)
Stationary vehicle - accident
Stationary vehicle - vehicle problem
Traffic condition warning
Signal violation warning
Roadwork warning
Decentralized floating car data -
Hazardous location
Decentralized floating car data -
Precipitations
Decentralized floating car data - Road
adhesion
Decentralized floating car data -
Visibility
Decentralized floating car data - Wind
Vulnerable road user Warning
Pre-crash sensing warning
Co-operative glare reduction
Cooperative traffic Co-operative Speed Management (CSM) Regulatory/contextual speed limits
efficiency notification
Curve Warning
Traffic light optimal speed advisory
Co-operative Navigation (CN) Traffic information and recommended
itinerary
Public transport information
In-vehicle signage
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Applications Class Application Use case
Co-operative local Location Based Services (LBS) Point of Interest notification
services
Automatic access control and parking
management
ITS local electronic commerce
Media downloading
Global internet Communities Services (CS) Insurance and financial services
services
Fleet management
Loading zone management
Theft related services/After theft vehicle
recovery
ITS station Life Cycle Management (LCM) Vehicle software/data provisioning and
update
Vehicle and RSU data calibration
Transport related electronic financial transactions
(road tolls)
5.1.2 Summary of ITS applications
In order to define security classes the communication patterns of the different applications also need to be considered.
Table 2 summarizes the communication behavior of each application.
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12 ETSI TR 102 893 V1.2.1 (2017-03)
Table 2: ITS applications communication behavior
Use case Addressing Hops Frequency Direction Session
Emergency vehicle warning Broadcast Single High V2V/V2I No
Slow vehicle indication Broadcast Single High V2V No
Across traffic turn collision risk warning Broadcast Single High V2V No
Merging Traffic Turn Collision Risk Warning Broadcast Single High V2V/I2V No
Co-operative merging assistance Broadcast Single High V2V/I2V No
Intersection collision warning Broadcast Single High V2V/I2V No
Co-operative forward collision warning Broadcast Single High V2V No
Lane Change Manoeuvre Broadcast Single High V2V No
Emergency electronic brake lights Broadcast Multi Low V2V No
Wrong way driving warning (infrastructure based) Broadcast Single Low I2V No
Stationary vehicle - accident Broadcast Multi Low V2V/V2I No
Stationary vehicle - vehicle problem Broadcast Multi Low V2V/V2I No
Traffic condition warning Broadcast Multi Low V2V/I2V No
Signal violation warning Broadcast Single High I2V No
Roadwork warning Broadcast Multi Low I2V No
Decentralized floating car data - Hazardous location Broadcast Multi Low V2V/I2V No
Decentralized floating car data - Precipitations Broadcast Multi Low V2V No
Decentralized floating car data - Road adhesion Broadcast Multi Low V2V No
Decentralized floating car data - Visibility Broadcast Multi Low V2V No
Decentralized floating car data - Wind Broadcast Multi Low V2V No
Vulnerable road user Warning Broadcast Single Low V2V/I2V No
Pre-crash sensing warning Indication Broadcast Single High V2V No
Data exchange Unicast Single High V2V Yes
Co-operative glare reduction Broadcast Single Low V2V/I2V No
Regulatory/contextual speed limits notification Broadcast Single Low I2V No
Curve Warning Broadcast Single Medium I2V No
Traffic light optimal speed advisory Broadcast Multi Medium I2V No
Traffic information and Advertisement Broadcast Single Low I2V No
recommended itinerary Service Unicast/Multicast Multi Medium I2V Yes
Advertisement Broadcast Single Low I2V No
Public transport information
Service Multicast Multi Medium I2V Yes
In-vehicle signage Broadcast Single Medium I2V No
Advertisement Broadcast Single Low I2V No
Point of Interest notification
Service Multicast Single Low I2V Yes
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Use case Addressing Hops Frequency Direction Session
Automatic access control and Advertisement Broadcast Single Low I2V No
parking management
Service Unicast Single Low I2V/V2I Yes
ITS local electronic commerce Unicast Single Low I2V/V2I Yes
Media downloading Unicast Single Low I2V/V2I Yes
Insurance and financial services Unicast Single Low I2V/V2I Yes
Fleet management Unicast Single Low I2V/V2I Yes
Loading zone management Unicast/Multicast Single Low I2V/V2I Yes
Theft related services/After theft vehicle recovery Unicast Multi Low I2V/V2I Yes
Vehicle software/data provisioning and update Unicast Single Low I2V/V2I Yes
Vehicle and RSU data calibration Unicast Single Low I2V/V2I Yes

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14 ETSI TR 102 893 V1.2.1 (2017
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