Intelligent connected vehicles (ICVs) hold a significant strategic position within the national developmental framework, epitomizing a critical technological facet underpinning automotive industry innovations and serving as a nucleus of core national competitiveness. The culmination of ICV development resides in the realization of autonomous driving capabilities, herein termed “autonomous vehicles”. Security ramifications intrinsic to autonomous vehicles bear direct implications for public security, individual safety, and property integrity. However, a comprehensive, methodologically rigorous investigation of these security dimensions remains conspicuously absent. A comprehensive examination of the security threats germane to autonomous vehicles, thus, serves as a compass guiding security fortifications and engendering widespread adoption. By collating pertinent research endeavors from both academia and industry, this study undertakes a methodical and comprehensive analysis of the security issues intrinsic to autonomous driving. Inceptive discourse elaborates on the architectural contours of autonomous vehicles, interlaced with the nuances of their security considerations. Subsequently, embracing a model-centric vantage point, the analysis meticulously delineates nine prospective attack vectors across the tripartite domains of physical inputs, informational inputs, and the driving model itself. Each vector is expounded alongside its associated attack modalities and corresponding security mitigations. Finally, through quantitative analysis of research literature encompassing the last septennium, the prevailing terrain of autonomous vehicle security scholarship is scrutinized, thereby crystallizing latent trajectories for future research endeavors.