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Connected vehicles are generally equipped with many (dozens of, or even hundreds of) electronic and intelligent devices so that drivers can gain a more comfortable driving experience. Despite their numerous benefits, these technological developments have also created serious safety/security concerns. This article recapitulates the diversified attack surfaces of connected vehicles related to the technological developments from the perspective of the in-vehicle network. For each of the attacks, we discuss the rationale and the concrete methods presented in the literature. In particular, we illustrate how to launch successful attacks through the controlled area network (CAN) bus, electronic control units (ECUs), and in-vehicle infotainment system. The article also suggests some feasible solutions to the attacks demonstrated by the community. Considering the fact that vehicles are safety- critical, more practical and …