A survey of network intrusion detection systems for controller area network

Modern vehicles are complex safety critical cyber physical systems, that are connected to the outside world, with all security implications that brings. To enhance vehicle security several network intrusion detection systems (NIDS) have been proposed for the CAN bus, the predominant type of in-vehicle network. The in-vehicle CAN bus, however, is a challenging place to do intrusion detection as messages provide very little information; interpreting them requires specific knowledge about the implementation that is not readily available. In this paper we collect how existing solutions address this challenge by providing an organized inventory of frame based CAN NIDS proposed in literature, categorizing them based on what information they extract from the network and how they build their model.