@article{RenWWQL20,
title={The Security of Autonomous Driving: Threats, Defenses, and Future Directions},
author={Kui Ren and
	Qian Wang and
	Cong Wang and
	Zhan Qin and
	Xiaodong Lin},
journal={Proceedings of the {IEEE}},
volume={8},
number={2},
pages ={357--372},
year={2020}
}