Connected and autonomous vehicles (CAVs) consist of a number of networked computer components, called Electronic Control Units (ECUs). Scalable service-Oriented MiddlewarE over IP (SOME/IP) is a communication middleware standardized used to exchange various services between disjoint applications on distinct ECUs. However, it presents lack of authentication and confidentiality features. In this paper, we propose a centralized security architecture for SOME/IP automotive services. First, we present a lightweight symmetric cryptography based session key agreement scheme between each ECU and the manufacturer data center, which uses a random nonce, concatenation operator, a simple hash function and a keyedhash message authentication code (HMAC). Then, we define the security parameters between the different ECUs for the invehicle Ethernet-based communications. We propose the use of DTLS using pre-shared keys (DTLS-PSK) in order to secure the transmission of SOME/IP messages,