CAN Protocol Research Articles

A Systematic Review on Security Attacks and Countermeasures in Automotive Ethernet

In the past years, the automotive industry has experienced a technological revolution driven by the increasing demand of connectivity and data to develop driver-assistance systems and autonomous vehicles, and improve the mobility experience. To provide higher bandwidth in in-vehicle communication networks, carmakers are choosing Ethernet technology, which becomes Automotive Ethernet (AE) when applied in in-vehicle communication networks. However, with the rise of vehicle connectivity, the cybersecurity of vehicle systems has become a primary concern for the automotive industry. To address this issue, we conducted a systematic review, deeply analyzing the impact of AE on security and safety, and comparing it with the current in-vehicle communication solutions like Controller Area Network protocol. We retrieved the key security attacks and mitigations proposed in the current literature to highlight their significance, including a mapping between the regulation UNECE WP.29 R155 and the retrieved answers. We found that the industry has only implemented some automotive-dedicated Ethernet solutions to date. In the near future, the vehicle and road ecosystems may require more exclusive automotive solutions to meet specific constraints such as low latency. Our results can provide a comprehensive baseline, both for industry and academia, for the current and future development of AE.

CANAttack: Assessing Vulnerabilities within Controller Area Network.

Current vehicles include electronic features that provide ease and convenience to drivers. These electronic features or nodes rely on in-vehicle communication protocols to ensure functionality. One of the most-widely adopted in-vehicle protocols on the market today is the Controller Area Network, popularly referred to as the CAN bus. The CAN bus is utilized in various modern, sophisticated vehicles. However, as the sophistication levels of vehicles continue to increase, we now see a high rise in attacks against them. These attacks range from simple to more-complex variants, which could have detrimental effects when carried out successfully. Therefore, there is a need to carry out an assessment of the security vulnerabilities that could be exploited within the CAN bus. In this research, we conducted a security vulnerability analysis on the CAN bus protocol by proposing an attack scenario on a CAN bus simulation that exploits the arbitration feature extensively. This feature determines which message is sent via the bus in the event that two or more nodes attempt to send a message at the same time. It achieves this by prioritizing messages with lower identifiers. Our analysis revealed that an attacker can spoof a message ID to gain high priority, continuously injecting messages with the spoofed ID. As a result, this prevents the transmission of legitimate messages, impacting the vehicle's operations. We identified significant risks in the CAN protocol, including spoofing, injection, and Denial of Service. Furthermore, we examined the latency of the CAN-enabled system under attack, finding that the compromised node (the attacker's device) consistently achieved the lowest latency due to message arbitration. This demonstrates the potential for an attacker to take control of the bus, injecting messages without contention, thereby disrupting the normal operations of the vehicle, which could potentially compromise safety.

Security assessment of in-vehicle communication protocols

As the automotive industry has progressed in recent years, in-vehicle networks have also changed. In contrast to traditional vehicles, modern vehicles communicate through connecting interfaces, Electronic Control Units (ECUs), sensors, and gateways over different communication channels called buses. While LIN, CAN, FlexRay, MOST, and Automotive Ethernet protocols facilitate vehicle communication, they expose vehicles to various security risks. Electronics in vehicles must be advanced to improve passenger safety, comfort, and vehicle performance. However, security issues must also be addressed to ensure vehicle resilience. This paper presents an in-depth and comprehensive analysis of the security issues associated with in-vehicle network protocols. We examine the feasibility, severity, and potential consequences of these security issues, which can be used to better understand the risks and vulnerabilities within in-vehicle networks. Furthermore, the paper examines existing solutions that aim to mitigate the identified attacks, including intrusion detection systems (IDSs), firewalls, authentication, and schedulers, while evaluating their effectiveness and drawbacks. Hence, we enable automotive security engineers to comprehend the current state of security measures used to protect in-vehicle networks and identify areas where further research is needed to develop more effective and tailored security solutions. Finally, the paper provides recommendations for future research and the development of security solutions that researchers can use to guide their research efforts for in-vehicle network security.

Design and implementation of a wireless CAN module for marine engines using ZigBee protocol

AbstractThis paper describes the design and implementation of a wireless control area network (CAN bus) protocol for communication between the smart NOx (nitrogen oxide) sensor on diesel engines and the engine control unit (ECU). In this research, the approach taken is based on a case study of Wärtsilä's smart NOx sensor on a W4L20 diesel engine with the objective of replacing the wired CAN protocol with a wireless CAN communication node. In the current setup, the smart NOx sensor is connected to the engine control unit (ECU) with a wired CAN bus connection. The XBee module, which uses the ZigBee (IEEE 802.15.4) technology was used in the design and implementation of the wireless CAN prototype. With the emergence of 5G networks and the era of IoT, the topic of wireless industrial automation becomes essential in the modern industry. In addition to the great advantages and opportunities that the use of wireless nodes has in automation systems, there are many real challenges. The practical design challenges have been addressed in this paper.

G-IDCS: Graph-Based Intrusion Detection and Classification System for CAN Protocol

G-IDCS: Graph-Based Intrusion Detection and Classification System for CAN Protocol

Exploitation of an Industrial Low-Bandwidth Communication Line for Modulation-Level Synchronization of Voltage Source Converters

Parallelization of power electronic converter units is a way to meet the high current requirements of modern electrification applications. In case of voltage source converters, parallel operation can be attained only if the voltages of all the units are equal. In the current state of the art, this voltage synchronization can be achieved at the fundamental frequency, but not at modulation frequency, hence requiring bulky filters to limit circulating currents; this lowers the system performance in terms of cost, volume, weight and sustainability. In this paper, the authors propose a novel approach to synchronization, acting directly at the modulation frequency level, thus removing the need for any filter. This technique relies on the natural parasitic inductance and resistance of the wiring among parallel units. Specifically, this paper presents the first of two synchronization stages required to reach the sub-nanosecond synchronization necessary to completely remove the filters. At start-up, a low-bandwidth industrial communication line, based on the CAN protocol, is exploited to guarantee that the error in the synchronization of PWM signals among all the parallel units is lower than 0.1%. This limits the initial circulating current, supporting the subsequent control stage that achieves sub-nanosecond synchronization. The proposed concept is validated by experiments using a commercial MCU unit with an unadorned CAN peripheral.

Design and Simulation of Controller Area Network Module Using Verilog HDL

Abstract: Controller Area Network or CAN protocol is a method of communication between various electronic devices. It has significant use in the industry of automobiles. It defines a standard for efficient and reliable communication between sensor, actuator, controller, and other nodes in real-time applications. This provides a mechanism which is incorporated in the hardware and the software by which different electronic modules can communicate with each other using a common cable. CAN protocol is a message-based protocol, not an address-based protocol. All nodes in the system receive every message transmitted on the bus (and will acknowledge if the message was properly received). It is up to each node in the system to decide whether the message received should be immediately discarded or kept to be processed. The main aim is to design, development, and implementation of a CAN module using Verilog HDL. The intent is to show that the designed CAN module can replace a standalone CAN controller which occupies extra space in the system. Also implementing the CAN with the help of custom RAM is aimed at removing the need for FPGA specific RAM. The proposed design of CAN module is an integration of lower-level modules. The desired Verilog implementation of CAN module can help in simulating different systems at the design level instead of using physical ICs. The design includes a simple scheme that aims in reduction of circuit complexity and chances of hardware failure without requiring any extra logic circuitry.

A SiC MOSFET Isolated DC/DC Converter for a Hybrid Vehicle

This article deals with development of a DC/DC converter for use as a device for charging the traction storage batteries of an unmanned vehicle with a solid-oxide fuel cell stack. A phase shift controlled 8 kW full-bridge DC/DC converter was modeled, developed, manufactured, and tested within the frame of a research work. The device operation principle is described. The device control system developed on the basis of the Cortex ARM STM32F407VGT6 controller uses original software. The software supports the converter operation in an automatic mode by receiving, from the central processor device, operation mode setting commands (including the current, voltage, and power setpoints) and transmitting the remote measurement data (input and output circuit voltages, and the power switches and housing temperatures). Communication with the vehicle central processor is performed using the CAN protocol as per the SAE J1939 standard. The CAN is a standard serial communication protocol (its support for real-time distributed control with multiplexing allows information to be exchanged between various vehicle components). The classic CAN frame format allows data transmission rates up to 1 Mbps and payloads up to 8 bytes per frame. However, the recently introduced format (a CAN flexible data transmission rate frame format) allows higher data transmission rates and payloads higher and longer than these ordinary values. The transmission rate in the developed converter is 250 kbps. The converter operates in the input voltage range from 180 to 250 V and output voltage range from 500 to 800 V. The output current limit is 10 A. The converter efficiency was estimated to be 93%.

A Review on Conformance Testing of CAN and LIN Protocols

Abstract: Serial Communication protocols are CAN and LIN. CAN and LIN Conformance test is about testing the process, product or a service that meets the requirements of a specification of CAN and LIN protocols. CAN protocol enable faster communication between electronic devices and modules in vehicles while it reduces the amount of wiring necessity. The LIN protocol serves an important role in providing low-cost feature expansion in modern vehicles. LIN nodes are typically bundled in the clusters, each with a master that interfaces with the CAN bus. These CAN and LIN protocols are interconnected to each other through gateways. Gateways are the one which exchange the messages between CAN and LIN. Without CAN and LIN protocols, automation of the industry would be more difficult

CAN FD Data Link Layer with Message Authentication Using Secure Hash Algorithm (SHA-256)

Abstract: CAN stands for Controller Area Network. CAN is the major protocol used in Automobile industry. Through the CAN protocol, all the critical electronics devices exchange the messages to smoothly perform the actions within the automobiles/vehicles. As the technology is the integral part of our life, the vehicles also connected to the networks through the SW clouds or IoT applications. When any system is exposed to network, there exists the scope for cyber attack.As the vehicles use the classical CAN protocol for all the node to node communication using CAN messages, the CAN message field is the interesting part to study & improvise. If the CAN message field is protected using Cryptography, then any attacks will change the CAN messages. But it is not possible to change the authentication filed as per the changed message since only the authorized nodes will have the proper keys or Hashes (based on the Algorithm used). So, the receiver node will neglect the messages which fails with Authentication. As the receiving node discards the message which fails in the authentication, that node will be protected although any of the messages it received might be compromised.

Automising the CAN Communication System Using Raspberry-Pi

Abstract: This Project is set an objective of developing and improvement of communication system of Electrical parameters control in EV system withaccuracy the use of latest controller Raspberry-pi and CAN module, today’straction control unit TCU has CAN communication platform, which communicates with all accessories e.g., Cluster, Vehicle control unit, Battery management system BMS, CAN plays vital role in vehicle network management for program flashing. The focus of this project to check effectiveness CAN protocol in TCU withrespect to e-motor functions to have commandcontrol and atomize its functions andacknowledge the status and error from the TCU, an addition to that managing the all data received from the system in a cloud management is to be performed here with example of electric motor and illuminating devices. Cloud data storage will be help full forindustries and owner of object in securities. Adding CAN bus with Raspberry-pi for many applications is the aim of this project by addingnecessary futures.

Reversing Kia Motors Head Unit to discover and exploit software vulnerabilities

Modern vehicles resemble four-wheels computers connected to the Internet via their In-Vehicle Infotainment (IVI) systems. As with PCs in the past, cars, being connected to the Internet can be potentially vulnerable. The IVI system of a car is part of the intra-vehicle network and can be the entry-point of offensive cybersecurity attacks. The intra-vehicle network, based on the CAN protocol, is vulnerable by design: messages are exchanged in clear. Thus, the uncontrolled access to the CAN bus may have serious impact on the vehicle itself and its passengers. In this paper, we present a vulnerability assessment, through a reverse engineering process, of Kia vehicles IVI system. In particular, we focused on reverse engineer the Kia IVI system to discover vulnerabilities that may allow an attacker to compromise the IVI functionalities and inject CAN frames into the CAN bus to alter the behaviour of (part of) the vehicle. By reverse engineering the IVI, we identified four important vulnerabilities that affect all Kia vehicles that embed the studied IVI. Finally, we show how an attacker can easily control the IVI and inject CAN bus frames by means of a Metasploit module that we wrote.

Real-Time Analysis and Research of Vehicle CAN

Abstract The real-time evaluation method of CAN bus is studied. The event-triggered CAN protocol has no limitation on the worst transmission time of information. Based on the study of ratio monotone analysis (RMA), a single step recursive relation equation is deduced. Using LabWindows /CVI design and analysis software, the research method is applied to offline realtime analysis of CAN bus information of a certain vehicle. The results show that this method is of great significance to the real-time evaluation of CAN bus.

The use of RS-485 and CAN interfaces for connecting sensors in climate control systems of greenhouse complexes

Purpose of this article is to demonstrate the features of the use of existing connection interfaces for the functioning of climate control systems of agricultural complexes. The article contains the author's classification of the characteristics of the connection interfaces. The two most suitable interfaces are considered. The article compares RS-485 and CAN protocols. Key differences between CAN and RS-485 for use in agricultural complexes are shown. A test sample of a system containing 3 sensors was presented.

CAN Tx Frame Implementation using Verilog

This article discusses the concept of CAN protocol and its implementation in verilog language. Initially the CAN protocol description is given in brief with the block diagram, later its design, implementation in verilog code is presented. The CAN transmission (Tx) data Frame is realized using verilog code, this is achieved by defining individual sub-blocks verilog codes and combining these to get the CAN transmission of data frame. In the year 1986, CAN data link layer protocol was introduced in SAE conference. In 1993, CAN protocol and high speed physical layer were internationally accredited as ISO 11898. As on today it has 11898-1 to 4 standard documents. The CAN 1.0, 2.0 versions were initially had fixed data rate for the entire frame. In 2012, CAN-FD (Flexible data rate) protocol was introduced. This will allow data phase a second higher bit rate, along with this restriction of 8 bytes is extended up to 64 bytes.In this paper CAN Tx data frame is realized using Xilinx 14.7 version using verilog language.

Vehicle Speed Control and Accident Prevention System in Smog Zone

The air quality index (AQI) is a proportion of what air contamination means for one’s wellbeing inside a brief timeframe. The higher the AQI esteem, the more noteworthy the degree of air contamination. In a smog zone, the air pollutants can be detected with an air quality detector that will provide information about invisible toxic pollutant matters present in the air. This paper is concentrated on vehicle collision avoidance in smog places. For instance in the road, the driver suffers from unclear vision because PM (Particulate Matter) enters his/her eyes which leads to vehicle collision. A vehicle collision avoidance system with a microcontroller and onboard sensors in the smog zone is developed. It mainly focuses on the digital driver-vehicle interface implementation by using CAN protocol. The framework of CAN lessens wiring by and large. In this system, information like humidity, temperature, and distance is obtained. The humidity module measures both the temperature and humidity content and an the ultrasonic sensor is adjusted to gauge the distance between the object and vehicle, if a hindrance is identified inside 300cm from the vehicle, the alarm gives a signal to the driver. Once an individual vehicle enters the smog zone, it lowers the speed.

A Fault Modeling Based Runtime Diagnostic Mechanism for Vehicular Distributed Control Systems

This paper presents a study about a runtime mechanism to monitor the performance degradation in intra-vehicular networks. The proposed mechanism focuses on the integration of fault modeling in communication protocols, as non-functional requirements (NFR), using aspect-oriented modeling (AOM), to model the performance degradation generated by faults, linking test and design phases of distributed control systems. A case study analyzing the mechanism performance in both CAN and CAN-FD protocols was conducted considering the NFR specification related to fault disturbances. In order to evaluate and simulate the mechanism under real fault scenarios, an active suspension control system was considered as an example of a critical control system and faults were injected using the hardware Vector VH6501 (CAN disturbance interface). The network performance analysis was made based on the software Vector CANoe considering different network busloads and CAN/CAN-FD rates between 1 to 4 Mbps. Results show that the mechanism efficiently detects anomalous events on performance with short response time with busloads up to 30%. The performed experiments show better performance on CAN-FD registering lower average jitter during fault injection in all busloads tested scenarios.

Automated Reverse Engineering of CAN Protocols

Automated Reverse Engineering of CAN Protocols

CAN Implementation and Performance for Raman Laser Spectrometer (RLS) Instrument on Exomars 2020 Mission

The use of CAN bus in space applications has increased during the last fifteen years. The need of standardizing not only the physical and link layers but also the higher layers protocol to meet spacecraft specific constraints or requirements, such as bus redundancy management, node monitoring and synchronization, has aroused. Therefore, a Working Group on CAN bus was stablished by ESA in collaboration with European Industry and Space Agencies, whose effort gave as result the publication of ECSS-E-ST-50-15C in 2015. This standard defines CAN protocol extensions for space use and specifies the optional use of the CANopen standard as higher layer to be used over CAN bus. The ExoMars Mission was chosen as spreadhead for the application of this standard. The present paper provides an experience report on this novel standardized use of CAN/CANopen in Space, in particular in the Raman Laser Spectrometer (RLS) that will be boarded into the Rover of ExoMars 2020. Even though RLS makes use of considerably long science telemetries (up to around 2Mbytes) CAN has been designated as its only data interface. We report on software, hardware and data transmission performances, as well as brief description on redundancy and synchronisation of this CAN implementation.

Higway Criuse Control System for Vehicles using Low Power RF and Can Protocol

Nowadays mishaps are happening much of the time, causing destruction of numerous individuals by committing unassuming errors while driving (in school zone, slopes region, and roadways). In any case, once in a while it may not be conceivable to see the billboards put by the Highway Department to caution the drivers in such sort of spots and there is an opportunity for mishap. The headway in the processor innovation and microcontrollers has opened another framework intended to forestall the mishaps caused because of carelessness of drivers in observing rush hour gridlock flags close by the street and different abnormalities on the streets. So to suggest the driver about the zones and to consequently keep up the speed is cultivated by methods for low power RF innovation. The primary target is to plan an Electronic Display controller implied for vehicle's speed control and screens the zones, which runs on an implanted framework and can be hand crafted to fit into a vehicle's dashboard to show data on the vehicle. This framework whenever received by some state can successfully diminish the quantity of street mishaps brought about by speeding vehicles losing control of the vehicle at speed breakers or by driver's carelessness towards traffic signals. This paper presents another structure to control the speed of the vehicles at clumsy zones and security zone places for fixed time. The undertaking is made out of two separate units: Zone status transmitter unit, Electronic Display and Control unit. When the street sign is gotten from the zones, the vehicle's Electronic Display Controller Unit cautions the driver, to lessen the speed as indicated by the zone; it hangs tight for driver's reaction and diminishes the speed of vehicle consequently with CAN Protocol.