Controller Area Network Application Research Articles

Multi-classification in-vehicle intrusion detection system using packet- and sequence-level characteristics from time-embedded transformer with autoencoder

In recent years, the increased application of controller area network (CAN) protocols has made it the de facto standard for communication between electronic control units (ECUs) in the automotive and transportation fields. This widely used protocol was designed as a reliable and straightforward broadcast-based protocol that connects ECUs without considering security concerns such as node authentication or traffic encryption. Despite its efficiency, this tradeoff makes the CAN bus vulnerable to attacks. Implementing intrusion detection systems (IDSs) based on machine learning (ML) can address these security challenges effectively. However, existing ML-based IDSs have limited classification capabilities, lack adaptability and time sensitivity, incomprehensive analysis, and produce high false-negative rates (FNR), while attack schemes are becoming increasingly complex, resulting in insufficient capability of intrusion detection in real-time and insufficient ability to offer reliable protection. Therefore, our study proposes a novel in-vehicle IDS for multiclass classification using both packet- and sequence-level characteristics extracted from an autoencoder and a variant transformer (Time-embedded Transformer) with an improved position encoding mechanism, which analyses CAN traffic in-depth from various perspectives to overcome the existing challenges above. Both standard (Car-Hacking) and advanced (ROAD) datasets are used to evaluate the capabilities of our proposed IDS. The evaluation results demonstrated 100 % detection accuracy and 0 % FNR for both the Car-Hacking and ROAD Masquerade datasets, which also peaked at the highest F1 score for the ROAD Fabrication dataset, emphasizing superior intrusion detection to minimize FNR of the proposed model with high adaptability through its multi-dimensional analysis at packet- and sequence-level.

Analysis and Design of Drivetrain Control for the AEV With Network-Induced Compounding-Construction Loop Delays

This paper presents a robust predictive control scheme with a graphic-based delay boundary analysis to mitigate the electric vehicle (EV) drivetrain oscillating issues, subject to the multi-channel compounding-construction loop delays. The application of Controller Area Network (CAN) in autonomous electric vehicles (AEVs) inevitably induces multi-channel compounding-construction loop delays into the control loop. The in-deep analyzing and understanding of the network-induced loop delays is critical for the electrified powertrain and its motion control. This study aims to guarantee, explicitly, the motion stability of AEV drivetrains as safe-critical and hard real-time applications. Firstly, a graphic-based constructional representation approach is presented for modeling of the compounding-construction loop delays. To resolve the upper bound of the compounding-construction loop delays further, a mathematic expression of delay boundary-envelopment analysis is derived. Secondly, based on the reasonable upper bound, Taylor series expansion is applied to make the system model with nonlinear uncertainties caused by the network-induced loop delays represent in the form of the convex polytope. Then, with the convex polytope of the drivetrain system model, a robust model predictive control (RMPC) approach is developed to enhance the system robustness against the unexpected network-induced delays. To attenuate the online calculation burden, a scheme combining off-line design and on-line synthesis is provided. Finally, the satisfactory motion control performance in both the co-simulations (Matlab&Carsim) and bench experimental tests can strongly verify the effectiveness of the proposed approaches.

Application of Controller Area Network (CAN) bus anomaly detection based on time series prediction

Electronization and intelligentization are gradually becoming the basic characteristics of modern automobiles. With the continuous deepening of intelligent network integration, automotive information security has become increasingly prominent. The in-vehicle network system is responsible for controlling the state of intelligent connected vehicles and significantly affecting driving safety. This research focuses on one deep learning technique based on time series prediction, namely long short-term memory (LSTM). An anomaly detection algorithm based on two data formats is proposed to detect the abnormal behavior of the controller area network (CAN) bus under tampering attacks. Five forms of loss functions are proposed and used to compare the test results to determine the final one. The evaluation indicates that the anomaly detection algorithm based on LSTM algorithm has a lower false positive rate and a higher detection rate using the chosen loss function.

Tractor CAN bus interface tools and application development for real-time data analysis

Embedded electronic controllers connected via controller area network (CAN) are used extensively in modern off-road machinery to broadcast machine information for on-board processes and diagnostics. A variety of tools are commercially available to monitor and record CAN data for research and commercial uses. Some plug-and-play options are easy to set up but have limited customization. Others are more complex to configure but can be used to create fully customized and deployable real-time software applications. Several CAN data tools and software packages were evaluated to monitor and record machine and engine data. A proof-of-concept application was created with Matlab Vehicle Network Toolbox for real-time monitoring of diesel engine speed and load, and generation of a cumulative speed/load histogram based on SAE J1939 parameters. This study investigated four hardware and software CAN tool configurations that could be used for tractor CAN bus data acquisition. This study is not intended to be an exhaustive evaluation of all available CAN tools or their capabilities, rather it was intended to present information on several readily available hardware and software platforms and a method for creating a stand-alone custom application as a proof-of-concept for tractor CAN data analysis. The custom application developed will facilitate in-cab decision making for improved tractor management during field operations.

Reliable Integrated ASC and DYC Control of All-Wheel-Independent-Drive Electric Vehicles Over CAN Using a Co-Design Methodology

This paper deals with the negative effects of the in-vehicle network on the integrated anti-slip control (ASC) and direct yaw-moment control (DYC) of all-wheel-independent-drive electric vehicles (AWID-EVs). In the integrated control design of the modern AWID-EVs, increasing control components, e.g., sensors, controllers, and actuators, are usually connected via an in-vehicle network, such as a controller area network (CAN), rather than the traditional point-to-point communication. However, the application of CAN would also bring about unexpected problems, e.g., signal asynchrony, multiple-package transmission, and signal delay, which may degrade the control performance and even destroy the stability of the system. This paper presents a co-design methodology to deal with all these challenges caused by CAN and guarantees a satisfactory vehicle dynamics performance. First, a hierarchical structure is designed for the integrated ASC and DYC control of AWID-EVs over CAN, and an active torque distribution strategy based on a well-known maximum transmissible torque estimation approach is adopted. Then, a scheduling-based communication idea is introduced to deal with all these problems caused by CAN. Third, a Lyapunov-based pole assignment theory is applied to estimate the parameter values in the scheduling design and to guarantee the satisfactory dynamic performance of the control system. A generalized linear quadratic regulator controller is designed for the system synthesis to ensure the tracking control of the vehicle. Finally, simulations and preliminary hardware-in-loop tests indicate that the proposed co-design methodology can deal with the negative effects of the in-vehicle network and ensure reliable vehicle dynamics performance.

Speed Synchronization Control for Integrated Automotive Motor-Transmission Powertrains Over CAN Through a Co-Design Methodology

This paper deals with the speed synchronization controller design for networked integrated motor-transmission (IMT) powertrains via controller area network (CAN). It is well known that, in current implementations, CAN has been widely used in the control system design of automotive powertrains. However, on the other hand, the application of CAN would not only lead to network-induced delays but also bring about protocol constrains, e.g., data package capability and utilization ratio limitation, which would deteriorate the system and make the controller design a challenging problem. This paper is to provide a co-design methodology that can cope with all these problems and ensure satisfactory control effect for the speed synchronization control of IMT powertrain systems. First, a networked IMT powertrain system using CAN as underlying network is presented and the dynamic model for the speed synchronization control is derived. Second, the network-induced delay model is introduced and improved considering data packet capability and utilization ratio limitation. The control-orient discrete-time model is also derived based on the improved delay model. Third, a co-design methodology using sliding mode controller and offline priority scheduling based on Lyapunov stability criterion is proposed. The results of simulations and tests show the effectiveness of the proposed co-design methodology.

A new error handling algorithm for controller area network in networked control system

An effective error handling mechanism plays an important role to ensure the reliability and robustness of the application of controller area network (CAN) in controlling dynamic systems. This paper addresses a new online error handling approach or named per-sample-error-counting (PSeC) technique that tends to replace native error handling protocol in controller area network (CAN). The mechanism is designed to manage transmission errors of both sensor and control data in networked control system (NCS) used in controlling dynamic system such that the stability of the feedback system is preserved. A new parameter denoted as maximum allowable number of error burst (MAEB) is introduced in which MAEB is selected based on available bandwidth of the CAN network. MAEB serves as the maximum number of attempt of re-transmission of erroneous data per sample which allows the maximum transmission period to be known and guaranteed for time-critical control system. The efficacy of the proposed method is verified by applying the algorithm on the fourth order inverted pendulum system simulated on Matlab/Truetime simulator and the performance is benchmarked with the existing CAN error management protocol. The simulation run under various systems conditions demonstrate that the proposed method results in superior system performance in handling data transmission error as well as meeting control system requirement.

Design and Verification of a Media Redundancy Management Driver for a CAN Star Topology

Some of the severe dependability limitations of Controller Area Network (CAN) can be overcome by replacing its bus topology with a star topology. Thus, a replicated star topology with advanced error-containment and fault-tolerance mechanisms for CAN, called ReCANcentrate, has been proposed. Its two hubs are coupled with each other and create a single logical broadcast domain. This allows each node to easily manage the replicated star by means of a software driver, called reCANdrv, that abstracts away the details of this replication. The goal of reCANdrv is to manage the star's media redundancy transparently for a CAN application, allowing it to exchange information through the star while tolerating faults. This paper describes the design of reCANdrv, the specification as properties of reCANdrv's correct redundancy management, and the verification of these properties by means of model checking.

A Cloud-Based Design of Smart Car Information Services

Although modern Smart Car technologies are growing rapidly, there are many challenges to be addressed. The limited processing capabilities of the contemporary in-car computers in smart cars may cause bottlenecks in smart control. The content in smart car applications can hardly be extended. In addition, the traditional software installation approach that is used in smart cars is neither economical nor convenient. To address these issues in smart cars, this paper presents a Cloud-based Information Integration Platform that has the ability to improve flexibility and enhance the value of smart cars. In this work, the architecture of the Cloud-based Information Integration Platform was designed based on new technologies such as Cloud computing, Web Services, and Controller Area Network Applications. This service-oriented solution has a vertically integrated architecture that uses full information gathering and service driven synergies. To achieve the smart control and information sharing in smart cars, we also designed a Smart Car Information Service as the user interface to implement smart car applications through customized business processes. This fills the information processing gap between the smart car and cloud computing. The proposed platform can be used for different usage scenarios, such as car diagnosis, car repair facilitation, etc.

Modelagem e simulação de redes de comunicação baseadas no protocolo CAN - Controller Area Network

Uma grande tendência na área industrial tem sido a aplicação de tecnologias de redes de comunicação, como o protocolo CAN (Controller Area Network), como solução em sistemas de controle distribuído. O maior desafio no desenvolvimento de sistemas distribuídos baseados em redes industriais é o efeito dos atrasos de comunicação da rede no desempenho do sistema de controle. Este fato tem norteado o desenvolvimento de modelos e ferramentas de simulação para calcular esses atrasos, analisar o desempenho e simular o comportamento temporal desses sistemas. Sob este contexto, apresenta-se o desenvolvimento de um modelo matemático e de um modelo com Redes de Petri Coloridas para simulação de sistemas de controle distribuído baseados no protocolo CAN. Os modelos desenvolvidos apresentaram grande flexibilidade e potencial de aplicação, permitindo a obtenção de diversos parâmetros relacionados ao desempenho da rede e do sistema distribuído. Além disso, um caso de estudo referente à simulação de um sistema distribuído com rede CAN para um robô móvel permitiu evidenciar que os modelos desenvolvidos podem ser utilizados para a análise de qualquer aplicação de sistemas de controle distribuído com redes CAN.

Pc-Based Can-Bus Experimental Platform for Autonomous Underwater Vehicles

Autonomous underwater vehicles (AUVs) have many scientific, military and commercial applications. Typical AUV development requires critical system design and many costly underwater trials during which system specifications can be validated. Modelling and simulation provide a cost-effective method for carrying out preliminary component or system testing and verification. Controller area network (CAN) was originally developed by Bosch for use in automobiles has become an international standard. Although CAN was developed as a vehicle network standard, the majority of CAN applications exist outside of the automotive industry. One of the great advantages of CAN-bus architecture is the modularity. This paper introduces a PC-based CAN-bus experimental platform for AUV system simulation and performance evaluation. The implementation and consideration on the hardware-in-the-loop experimental platform are presented. The genetic algorithm (GA) scheduling approach is introduced in realizing CAN-bus real-time periodic message transmission. The mathematical models of the AUV are introduced in real-time mathematical simulation. The related timing analysis and simulation results are given and they showed the applicability and availability of the experimental platform.

A dynamic precedence queue mechanism to assign efficient bandwidth in controller area networks

This paper presents a dynamic precedence queue mechanism to resolve unexpected transmission delay of a lower priority transaction in a controller area network (CAN)-based system that keeps a fixed priority in data transactions. The mechanism is implemented in the upper sublayer of the data link layer (DLL), which is fully compatible with the original medium access control layer protocol of the CAN. Thus, the mechanism can be implemented dynamically while the data transactions are continuing without any hardware modification. The CAN protocol was originally developed to be used in the automotive industry and was recently applied for a broader class of automated factories. Even though the CAN is able to satisfy most real-time requirements found in automated environments, it is not able to enforce either a fair subdivision of the network bandwidth among the stations or a satisfactory distribution of the access delays in message transmissions. The proposed solution provides a superset of the CAN logical link layer control, which can coexist with older CAN applications. Through real experiments, effectiveness of the proposed mechanism has been verified.

Real-time design in a distributed control network application layer environment

The use of communication networks in time-critical control applications presents designers with special problems in the determination of response times for communicating distributed tasks. Application layers have been developed to allow designers to abstract away from the implementation details of the network protocol but little effort has gone into the problem of attempting to define real-time bounds for tasks, at design time, in a generalised application layer environment. In this paper, using a `structured analysis' design approach, a real-time distributed application can be mapped to an application layer of a control network and guaranteed to meet its real-time requirements. The CAN (Controller Area Network) along with the CAN Application Layer (CAL) has been chosen as the experimental network. CAN is a popular control network used extensively in automotive and automation environments. The `CAN Messaging Service' (CMS) elements of CAL are carefully selected to implement the `distributed' information flows and event flows produced by the `structured design' methodology. A real-time analysis approach for CAL's CMS service elements is developed. Intelligent use of CALs inhibit times allow modelling of an event-driven system with properties inherent to a periodic system. Combining the worst-case computational, queuing and transmission delays, the response time for each distributed task can then be evaluated. This allows `fine tuning' of the distributed tasks until they can be guaranteed to meet their deadlines.

A Distributed Real-Time Architecture for a Mobile Robot

This paper presents an architecture for a prototype of an autonomous robot and its associated programming environment. The goal of the robot is to provide a general platform for research in distributed architectures for real-time control and mobile computing. The robot architecture is built around the CAN (Controller Area Network). The associated programming environment is based on RT-Linux extended with CAN Application Layer protocol (CAL) in order to provide high level distributed programming facilities. This paper briefly describes the robot hardware architecture and application, and concentrates on the implementation of the distributed programming environment on RT-Linux and the application software on top of CA1.

Fieldbus application in the hierarchical automation structure of a biotechnological pilot plant

The development of biochemical engineering towards integrated bioprocesses has influenced the demands of the applied control environment. In particular, in research applications, where the automation structure often has to be flexibly adapted to different plant conditions, new communication techniques like fieldbus networks are required to handle the huge flow of information. In the pilot plant of GBF we use a CAN (Controller Area Network)-based fieldbus network to interconnect the decentralized process control computers under real-time conditions. In this contribution, the implementation and the performance of the CAN fieldbus in a hierarchical automation concept is outlined. While some bioreactors and downstream devices are connected to the network directly via AD/DA converter by a so-called mini-module, additional reactors are automated with decentralized process computers which act as bus nodes with full functionality. The CAN application layer (CAL) enables an open communication from CAN-modules of different manufacturers. The CAN-message specifications (CMS) allows for the description of the data transfer between the individual user programs via a client/server model. In addition, a database is available, where all objects in the network - representing measured, controlled, or on-line calculated variables — are specified. The experience gained with the presented application has shown that the use of a CAN fieldbus in connection with higher protocol layers offers a flexible and transparent functionality for integrating bioprocesses into a plant-wide information network while good real time characteristics are maintained. The installation of the fieldbus and the database has led to a minimum cable expenditure, a better user acceptance of control facilities, and an increased service effective in the pilot plant.