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Intelligent Connected Vehicle (ICV) is a typical automotive cyber-physical system (ACPS), which integrates sensing, computing, networks, and control functions. The functional safety-critical characteristics of ACPS determine that its automotive electronic system needs to meet confidentiality, integrity, and system availability. The development of the complexity and connectivity of modern automobiles has caused a massive rise in the security risks of the in-vehicle networks (IVNs), which poses great challenges for the safety guarantee of ACPS. Nevertheless, existing IVN designs lack cybersecurity consideration. Therefore, cybersecurity enhancement technology for in-vehicle networks has become a current research hotpot. In this chapter, the characteristics of intelligent connected vehicles and current in-vehicle network architecture are introduced, and the attack model and vulnerabilities of the current in-vehicle …