Embedded Software System has now become an integral part of automotive network architecture. It is based on the interconnection of several microcontrollers called Electronic Control Unit (ECU) by various buses especially the Controller Area Network (CAN). These ECUs are currently connected to the outside world as shown by mobile communication systems, on-board navigation or entertainment. Also, they are the basis of advanced driver assistance systems (ADAS) which represents a reduced driver’s stress load or an active information safety system. At this stage, internal and external communications pass through the same hardware support and are isolated by rules defined by the software. This represents significant security limitations that can open the door for hackers to break into the internal components of vehicles. The objectives of this article are part of an approach aimed at exposing two types of attacks on the CAN bus. These attacks show how an ADAS-equipped vehicle gives attackers the ability to take control of its critical modules. We conducted a number of experiments on a test bench and also on a real car to estimate its vulnerabilities to possible attacks.