  The number of Connected and Autonomous Vehicles (CAVs) is increasing rapidly
in various smart transportation services and applications, considering many
benefits to society, people, and the environment. Several research surveys for
CAVs were conducted by primarily focusing on various security threats and
vulnerabilities in the domain of CAVs to classify different types of attacks,
impacts of attacks, attack features, cyber-risk, defense methodologies against
attacks, and safety standards. However, the importance of attack detection and
prevention approaches for CAVs has not been discussed extensively in the
state-of-the-art surveys, and there is a clear gap in the existing literature
on such methodologies to detect new and conventional threats and protect the
CAV systems from unexpected hazards on the road. Some surveys have a limited
discussion on Attacks Detection and Prevention Systems (ADPS), but such surveys
provide only partial coverage of different types of ADPS for CAVs. Furthermore,
there is a scope for discussing security, privacy, and efficiency challenges in
ADPS that can give an overview of important security and performance
attributes.
  This survey paper, therefore, presents the significance of CAVs in the
market, potential challenges in CAVs, key requirements of essential security
and privacy properties, various capabilities of adversaries, possible attacks
in CAVs, and performance evaluation parameters for ADPS. An extensive analysis
is discussed of different ADPS categories for CAVs and state-of-the-art
research works based on each ADPS category that gives the latest findings in
this research domain. This survey also discusses crucial and open security
research problems that are required to be focused on the secure deployment of
CAVs in the market.
