Controller Area Network Communication Research Articles

Retracted: Optimization and Simulation of Controller Area Network Communication Model Based on Industrial Internet of Things Platform

Retracted: Optimization and Simulation of Controller Area Network Communication Model Based on Industrial Internet of Things Platform

A multidisciplinary detection system for cyber attacks on Powertrain Cyber Physical Systems

With the introduction of external connectivity to modern vehicles, both academic and industry security practitioners addressed the issues related to external communication interfaces exposing internal networks that are used to control the different vehicle’s systems. Despite these issues are considered having little-to-no impact on the functioning of the vehicle itself due to their demand of physical connection, with the advent of cellular connectivity proof-of-concept and demonstrations of remote takeover of the vehicle have been showcased, raising awareness about the risks related to the introduction of external connectivity on the vehicle system. All these remote attacks demonstrated by security researchers exploited several vulnerabilities to gain remote access to the Controller Area Network (CAN), one of the most deployed in-vehicle communication protocol. In these works, the authors demonstrate how to exploit the drive-by-wire features of modern vehicles to jeopardize people inside and outside the vehicle. To address this issue, several researchers designed algorithms to detect the injection of malicious CAN messages. However, these solutions are focused on the only CAN communication, without considering all the other subsystems that can be used by an attacker to hijack the vehicular system. Due to their high complexity, modern vehicle can be seen as Cyber–Physical Systems, in which the physical system (i.e. the mechanics of the vehicle) are controlled via software hosted on microcontrollers that communicate with each other via different communication protocols. Hence, to properly address the cybersecurity of a modern vehicle it is necessary to consider all the different aspects of the system, without focusing on a single one. In this work we investigate the capabilities of a multidisciplinary approach for anomaly detection based for securing the powertrain system of a generic vehicle. The experimental analysis presented in this paper is based on the model of a generic internal combustion engine and a speed controller, communicating via CAN. Four different detection methods from both control theory and computer security are tested against cyber attacks carried out from different contexts. Our threat model is composed by different attack scenarios representative of known cyber-attacks targeting modern vehicles. The experimental evaluation presented in this work highlights the strengths and weaknesses of each detection method against different attack scenarios carried out on the different components of our system. To the best of our knowledge, this is the first paper addressing the cyber security of the connected vehicle with a multidisciplinary approach.

A Digital Watermark Method for In-Vehicle Network Security Enhancement

In recent years, automobiles have become increasingly networked with the development of information and communication technology (ICT). With the enhancement of the connectivity between the electronic control units of the vehicle and the external network, cybersecurity and driving safety issues have also arisen. However, as a traditional in-vehicle network standard, the controller area network (CAN) protocol lacks a network security mechanism design, making it vulnerable to hacker attacks. The current research on the cybersecurity enhancement method for in-vehicle CAN is a multi-objective optimization problem with response time, bandwidth consumption and computational complexity reduction. This study presents an in-vehicle message authentication method based on digital watermark and Huffman coding that are compatible with current CAN bus protocols. Our method not only minimize the delay of message authentication, but also save the storage resources to the greatest extent. Moreover, to tackle the issue of low computing resources, multiple messages can be authenticated at one time. In order to evaluate the performance, we implement our method on CAN communication platform and validate its high accuracy, low latency, and compatibility.

Design and Implementation of SAE J1939 and Modbus Communication Protocols for Electric Vehicle

The charging station has a vital role in the electric vehicle sector. The charging station provides supply (AC or DC) to vehicles as per requirements. The charging station infrastructure includes software and hardware that ensure energy transfer and safety. Communication is mandatory to transmit messages that contain information from the battery management system and charger. This research focuses on implementing the communication between the charger controller and the battery management system. This paper adopts the controller area network (CAN) bus charger communication protocol based on the SAE J1939 standard from the Society of Automotive Engineers. The data are transmitted over a network to facilitate the information that is to be conveyed by an electronic control unit. The vehicle communicates via the battery management system to the charger controller using CAN communication. The charger power modules with AC to DC and DC to DC converters uses Modbus communication protocol. Therefore, this paper integrates CAN bus and Modbus communication protocols and implements the communication between charger and electric vehicle battery management system using a cost-effective Arduino UNO micro-controller. Using the CAN bus module (MCP2515) and Modbus module (MAX485), the distance between the electric vehicle and the charger is increased. Finally, the communication is validated using PCAN View software.

DT-DS: CAN Intrusion Detection with Decision Tree Ensembles

The controller area network (CAN) protocol, used in many modern vehicles for real-time inter-device communications, is known to have cybersecurity vulnerabilities, putting passengers at risk for data exfiltration and control system sabotage. To address this issue, researchers have proposed to utilize security measures based on cryptography and message authentication; unfortunately, such approaches are often too computationally expensive to be deployed in real time on CAN devices. Additionally, they have developed machine learning (ML) techniques to detect anomalies in CAN traffic and thereby prevent attacks. The main disadvantage of existing ML-based techniques is that they either depend on additional computational hardware or they heuristically assume that all communication anomalies are malicious. In this article, we show that tree-based learning ensembles outperform anomaly-based techniques like AutoRegressive Integrated Moving Average (ARIMA) and Z-Score when used to detect attacks that result in increased bus utilization. We evaluated the detection capacity of three tree-based ensembles, Adaboost, gradient boosting, and random forests, and collectively refer to these as DT-DS. We conclude that the decision tree ensemble with Adaboost performs best with an area under curve (AUC) score of 0.999, closely followed by gradient boosting and random forests with 0.997 and 0.991 AUC scores, respectively, when trained using message profiles. We observe that with an increase in the observation window, the DT-DS models present an average AUC score of 0.999, and offer a nearly perfect detection of attacks, at the cost of increased latency in detection of attacked messages. We evaluate the performance of the IDS for Aeronautical Radio, Incorporated– (ARINC) encoded CAN communication traffic in avionic systems, generated using an aerospace testbench, ARINC-825TBv2. The IDS has been evaluated against the active attacks of a state-of-the-art predictive attacker model. Additionally, we observed that the performance of IDS approaches such as ARIMA and Z-Score degrade considerably with a decrease in the size of the observation time window. In contrast, the performance of DT-DS models is consistent, with only an average drop of 0.005 in the AUC score.

Analysis of current attacks on the CAN bus and development of a new solution to detect these types of malicious threats

The majority of modern vehicles have electronic control units (ECUs) in charge of controlling their functions. These ECUs communicate with one another using the CAN (Controller Area Network) communication protocol. This practical bus offers great transfer of data quality by enabling wide propagation that quickly reaches all sections of a vehicle. Unfortunately, this specific protocol places little focus on security, making the CAN bus control system susceptible. This is owing to its ease of physical or remote access and lack of confidentiality. This vulnerability makes it feasible to take control of the vehicle and endanger the safety of the passengers. The main objective of this work is to present the current existing vulnerabilities of the CAN Bus, to discuss a practical demonstration of hacking as well as to propose a technique to fight against these malicious actions, and all this by practical demonstrations on a DACIA Lodgy and Sandero 2014 vehicles.

Design of Unmanned Ship System with Two Engines and Two Propellers

Unmanned ship is a kind of surface robot with integrated technology, which is composed of multiple disciplines, including intelligent remote control, wireless communication, autonomous navigation and obstacle avoidance algorithm.When the unmanned ship is sailing in the water, it is difficult to control its dynamic performance due to the influence of sea conditions. Therefore, the research on the unmanned ship technology has extremely important practical value. In order to improve its maneuverability and control accuracy, an unmanned ship based on two engines and two propellers is proposed. This paper designs an unmanned ship bottom system with two engines and two propellers. The system is mainly composed of two main engines, including two generators and two rudders and propellers. Two of them adopt Controller Area Network communication protocol and are controlled by two Controller Area Network communication interfaces respectively; The two generators adopt RS485 serial port communication protocol and are controlled by two RS485 serial ports respectively; The two-rudder propeller equipment adopt RS485 serial port communication protocol and are controlled by the other two RS485 serial ports respectively.Through the experiment, it is found that the unmanned ship equipped with two engines and two propellers can better control the navigation accuracy of the ship and have high maneuverability.

Automotive Security using CAN

According to today’s upcoming technologies vehicle is one of the important necessity of human being. A vehicle dynamics, economy and comfort are improved by traditional electronic control but some problems comp up and they are very dangerous. Hence in-vehicle networking protocol gives benefits to many faults so we can inhibit problems such as the body wiring complexity, space constraints and some reliability issues. Therefore Alarming statistics of accidents and increased number of vehicles on road demands for an intelligent safety mechanism that helps the driver in handling immediate precarious situations. The Main motivation of this proposed system is to reduce fatal incidents happen in car accident. Controller area network (CAN) has been widely used for in-vehicle network. The demand of data rate of in-vehicle network has risen sharply, while traditional CAN communication cannot support this demand of data rate with limited bandwidth around DC. CAN which connects the ECUs (Electrical Control Units) embedded in the automobiles. The Main motivation of this project is to reduce fatal incidents after a car accident.

A Formal Modeling and Verification Scheme with an RNN-Based Attacker for CAN Communication System Authenticity

To enhance the attack resistance of the Controller Area Network (CAN) system and optimize the communication software design, a comprehensive model that combines a variable attacker with the CAN bus (VACB) is proposed to evaluate the bus communication risk. The VACB model consists of a variable attacker and the CAN bus model. A variable attacker is a visualized generation of the attack traffic based on a recurrent neural network (RNN), which is used to evaluate the anti-attack performance of the CAN bus; the CAN bus model combines the data link layer and the application layer to analyze the anomalies in CAN bus data transmission after the attack message. The simulation results indicate that the transmission accuracy and successful response rate decreased by 1.8% and 4.3% under the constructed variable attacker. The CAN bus’s authenticity was promoted after the developers adopted this model to analyze and optimize the software design. The transmission accuracy and the successful response rate were improved by 2.5% and 5.1%, respectively. Moreover, the model can quantify the risk of potential attacks on the CAN bus, prompting developers to avoid it in early development to reduce the loss caused by system crashes. The comprehensive model can provide theoretical guidance for the timing design of embedded software.

EXT-TAURUM P2T: An Extended Secure CAN-FD Architecture for Road Vehicles

The automobile industry is no longer relying on pure mechanical systems; instead, it benefits from advanced Electronic Control Units (ECUs) in order to provide new and complex functionalities in the effort to move toward fully connected cars. However, connected cars provide a dangerous playground for hackers. Vehicles are becoming increasingly vulnerable to cyber attacks as they come equipped with more connected features and control systems. This situation may expose strategic assets in the automotive value chain. In this scenario, the Controller Area Network (CAN) is the most widely used communication protocol in the automotive domain. However, this protocol lacks encryption and authentication. Consequently, any malicious/hijacked node can cause catastrophic accidents and financial loss. Starting from the analysis of the vulnerability connected to the CAN communication protocol in the automotive domain, this paper proposes EXT-TAURUM P2T a new low-cost secure CAN-FD architecture for the automotive domain implementing secure communication among ECUs, a novel key provisioning strategy, intelligent throughput management, and hardware signature mechanisms. The proposed architecture has been implemented, resorting to a commercial Multi-Protocol Vehicle Interface module, and the obtained results experimentally demonstrate the approach's feasibility.

Electric Vehicle Control System by using Controller Area Network Communication

The Controller Area Network (CAN) communication protocol is designed by Bosch in the 1980s as a doubled wired, differential voltage-based serial communication system for control systems. Electric vehicles, like Gasoline vehicles, require controllers to regulate load operation, where conventional point-to-point communication system gets outcome of huge number of cables in the harness. CAN is used to minimize the amount of cables and enable various controllers to transfer data and accomplish complicated jobs simultaneously. This paper presents the design of a CAN-based control system to be used as a replacement for the existing system and shows the development of four modules as well as a proposed implementation for the complete system. Individual modules will be developed initially and later interfaced to the CAN network with CAN controller modules. All modules are connected with a twisted pair of cables for data transmission with CAN.

Static Analysis of Controller Area Network Communication for Attack Detection

The vulnerability of modern cars increases due to their multiple connections to the environment, which offers the possibility of remote attacks in the worst case with fatal outcome. The controller area network (CAN) is still highly used and includes no security features, so intrusion detection systems are a promising approach to secure the communication. The proposed method monitors the CAN communication and uses static checks to differentiate between normal and attack traffic. This enables reliable and comprehensible attack detection and achieves a detection rate up to 100%, generating zero false alarms for the investigated data sets.

Failure Protection Method for CAN Communication Against EMI Noise Generated by Switched-Mode Power Supplies

This article presents a protection method for controller area network (CAN) communication against electromagnetic interference (EMI) caused by switched-mode power supplies (SMPSs). SMPSs generate EMI noise on the communication lines by switching the power semiconductor devices, which often causes communication failure. Conventional EMI reduction methods, such as EMI filters and shielded cables, generally reduce the converter conducted noise and the noise susceptibility of the communication system. However, depending on the system configuration, these EMI reduction methods are not sufficient to prevent communication failure. To resolve this issue, the authors propose an EMI failure protection method that realizes robust CAN operation. The proposed method eliminates the coincidence between induced noise in the communication lines and the CAN sample timing so that no communication failure occurs. Experimental results verify that the proposed method is effective in interference reduction, and the proposed method is revised for resolving the converter output disturbance due to an undesirable shift of switching timing.

Anomaly Detection for In-Vehicle Network Using CNN-LSTM With Attention Mechanism

With the increasing connectivity between the Electronic Control Units (ECUs) and the outside world, safety and security have become stringent problems. The Controller Area Network (CAN) bus is the most commonly used in-vehicle network protocol, which lacks security mechanisms by design, so it is vulnerable to various attacks. In this paper, we propose a novel intrusion detection model called CNN-LSTM with Attention model (CLAM) for the in-vehicle network, especially CAN. The CLAM model uses one-dimensional convolution (Conv1D) to extract the abstract features of the signal values at each time step and feeds it into the Bidirectional Long Short Term Memory (Bi-LSTM) to extract the time dependence. By combining the attention mechanisms, we calculate the weight of each hidden state output by Bi-LSTM and perform a weighted summation, so that the model focuses only on locally important time steps, which can improve the convergence speed of the model and prediction accuracy. The proposed model uses the bit flip rate to extract continuous signal boundaries in the 64-bit CAN data, so it does not need to parse the CAN communication matrix and is suitable for different vehicles. The extensive evaluation results demonstrate that our proposed CLAM model can effectively detect CAN attacks, with an average F1-score of 0.951 and an error rate of 2.16%. Compared with the work in related research fields, the accuracy of attack detection is improved by 2.5%.

Observer-based event-triggered type-2 fuzzy control for uncertain steer-by-wire systems

This paper addresses the tracking control problem for the uncertain steer-by-wire (SbW) system with the controller area network (CAN) communication and unavailable variables. First, an adaptive interval type-2 fuzzy logic system (IT2 FLS) and sliding mode observer are constructed to estimate the uncertain nonlinearity and unavailable variables of SbW control systems. Further, an event-triggered sliding mode control (ET-SMC) is presented to achieve the transient steering performance of SbW systems while saving CAN communication resources. Much importantly, the dynamic gain and nested technologies are incorporated in this scheme to deal with estimation error and the chattering phenomenon of the sliding mode control system. It is shown that the practical fixed-time stability of the closed-loop system can be guaranteed without the initial condition of tracking errors. Finally, simulations and vehicle experiments are presented to verify the designed scheme.

CAN Controller Design for Diagnosing Automation System Failure

This paper proposes a controller area network (CAN) controller design for monitoring the state of a programmable logic controller (PLC) system and predicting its failure. The PLC system is the main device used in production automation equipment based on a large amount of sensor data. The proposed controller collects and stores the status data of multiple PLCs and sensors, and sends the collected data to the host system through the CAN interface. Then, the host system analyzes the transmitted data and predicts whether the PLC system will fail. Moreover, the host system informs the user of the risk of system failure. The proposed controller is composed of a processor block and CAN communication module. It was tested by connecting a PLC device. Consequently, a diagnostic message was received per a period of 500 ms.

Heuristic study of a full can implementation on a network of digital controllers based on experimental data

Over time, the CAN (Controller Area Network) communication bus has been implemented in different technological sectors, within which, depending on the application, the bus implementation may change. On the other hand, the design and implementation of digital controls based on experimental data is a well-known topic in the automation industry where the acquisition system is of great importance. In this document, a heuristic study of the behavior of a Full CAN network is reported to implement digital controllers in two interconnected control loops. This study takes into account the access time to the bus and the amount of data sent when observing the response to disturbances. The design of two digital controllers is presented based on the parametric identification of two plants: a DC motor with an electromagnetic brake and a pneumatic levitator. Using PSoC® microcontrollers, a Full CAN network is implemented, where the digital controllers exchange data by randomly accessing the bus. A specially designed interface allows visualizing the speed and amount of data transferred under different operating conditions of the control loops. At the document end, the experimental data obtained are discussed.

Optimization and Simulation of Controller Area Network Communication Model Based on Industrial Internet of Things Platform

The Internet of Things (IoT) is an information carrier based on network communication, and it can make all general physical objects which can be independently addressed from an interconnected network. Controller Area Network (CAN) is a kind of serial communication network which can effectively support distributed control or real-time control. This paper proposes the design of an IoT-oriented universal CAN bus. In order to build a complete CAN communication simulation model, message sending and message receiving models are constructed, respectively. The simulation experiment proves that the IoT-oriented network communication model designed in this paper not only has low power consumption, but it can also solve the front-end compatibility problems caused by different communication protocols.

Application of Photovoltaic Off-Grid Inverter in Marine Engineering

Yao, N.; Zhang, Z., and Zhang, Z.Y., 2020. Application of photovoltaic off-grid inverter in marine engineering. In: Al-Tarawneh, O. and Megahed, A. (eds.), Recent Developments of Port, Marine, and Ocean Engineering. Journal of Coastal Research, Special Issue No. 110, pp. 193–196. Coconut Creek (Florida), ISSN 0749-0208.Photovoltaic (PV) power generation systems are more and more widely used in marine ships and marine engineering. In the process of power electronic transmission, off-grid inverters will convert unstable DC power into stable AC output. Based on the PV power generation systems, this paper aims to explore the design and application of PV off-grid inverters in marine engineering. The research results show that off-grid inverters consist of boost modules, filter modules, and inverter module; the hysteresis controller can achieve transmission stability in about 0.04s; the communication protocol of the off-grid inverters used in marine engineering is the controller area network communication, which can effectively support real-time control or distributed control, achieve real-time communication between nodes, and improve transmission reliability and flexibility throughout the local area. The research findings provide a theoretical basis for the efficient use of PV power generation systems in marine engineering.

MAuth-CAN: Masquerade-Attack-Proof Authentication for In-Vehicle Networks

Numerous hacking attempts on modern vehicles have recently demonstrated that an adversary can remotely control a vehicle using vulnerable telematics services. In these attempts, a masquerade attack impersonating some safety-critical electronic control units (ECUs) is usually performed to control a vehicle. In the last decade, several message authentication protocols for controller area network (CAN) have been proposed to protect vehicles from masquerade attacks. However, some message authentication protocols are not enough to protect a vehicle from masquerade attacks by compromised ECUs. Other protocols that are secure against masquerade attacks fill the network capacity of CAN up to 100% or require hardware modifications of the CAN-controller, dedicated hardware used for CAN communications. In this paper, we propose a new authentication protocol, MAuth-CAN , that is secure against masquerade attacks. MAuth-CAN neither fills up to 100% of the network capacity nor requires hardware modifications of a CAN-controller. In addition, we propose a technique that protects ECUs from bus-off attacks, and apply the technique to MAuth-CAN for handling bus-off attacks.