Modern cars have become quite complex and heavily connected. Today, diverse services offer infotainment services, electric power-assisted steering, assisted driving, automated toll payment and traffic-sharing information. Thanks to recent technologies, which made it possible to enable these services. Unfortunately, these technologies also enlarge the attack surface. This survey covers the main security and privacy issues and reviews recent research on these issues. It summarizes requirements of modern cars and classifies threats and solutions based on the underlying technologies. To the best of our knowledge, this is the first survey offering such an overall view.