AI/ML-based intrusion detection systems (IDSs) and misbehavior detection systems (MDSs) have shown great potential in identifying anomalies in the network traffic of networked autonomous systems. Despite the vast research efforts, practical deployments of such systems in the real world have been limited. Although the safety-critical nature of autonomous systems and the vulnerability of learning-based techniques to adversarial attacks are among the potential reasons, the lack of objective evaluation and feasibility assessment metrics is one key reason behind the limited adoption of these systems in practical settings. This survey aims to address the aforementioned limitation by presenting an in-depth analysis of AI/ML-based IDSs/MDSs and establishing baseline metrics relevant to networked autonomous systems. Furthermore, this work thoroughly surveys recent studies in this domain, highlighting the evaluation metrics and gaps in the current literature. It also presents key findings derived from our analysis of the surveyed papers and proposes guidelines for providing AI/ML-based IDS/MDS solution approaches suitable for vehicular network applications. Our work provides researchers and practitioners with the needed tools to evaluate the feasibility of AI/ML-based IDS/MDS techniques in real-world settings, with the aim of facilitating the practical adoption of such techniques in emerging autonomous vehicular systems.

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