Controller Area Network Protocol Research Articles

Fault-tolerant communication system based on convolutional code for the control of manipulator robots

This paper presents the development of a convolutional code application for error detection and correction in a communication system. This application is based on an industrial protocol and aims at reconstructing data damaged during transmission. The Controller Area Network (CAN) protocol is used, which is widely used in the automobile industry, as well as in the automation of industrial processes. The application allows us to make a system that presents errors due to hostile conditions in the fault-tolerant industrial environment. These errors appear as corrupted data affecting the robot’s control system. The robot is a 3 Degrees of Freedom (3-DoF) manipulator robot with redundancy in the plane; data transmission takes place between the controller and such a robot. The communication system is assessed in terms of performance when facing transmission faults, comparing the response of the system with and without error correction.

Online reverse engineering of CAN data

These days, most vehicles are equipped with the Controller Area Network (CAN) messaging system. This system enable numerous on-board sensors to share useful data with each other. Clearly, this data can be of high value for other applications within Internet of Things. However, the interpretation of that data is devious due to the CAN protocol. Hence, to give sense to the acquired data, reverse engineering is needed to provide insights of the sensor data of the vehicle. In terms of reverse engineering, this is already an ongoing topic in research. However, no methods already exist to perform this reverse engineering process in an online way. Therefore, this paper presents novel methods to detect and identify signals, both for continuous and discrete signals. The reverse engineering process for continuous signals deals with search space reduction and evaluating correlations between requested signals and obtained references. This paper also introduces a new methodology to generate reference signals by transferring knowledge of different vehicles. In terms of reverse engineering discrete signals, this paper presents a novel method that utilises the user during the process. The results show that our presented methods have a high potential value, but generalisation over a wider variety of vehicles and situations is needed. However, this paper paves a way to a more scalable and usable solution for reverse engineering in future applications.

Securing the internet of vehicles through lightweight block ciphers

In recent years, the automotive industry has made significant investments in the Internet of Things (IoT) paradigm, aiming to develop technologies and services for connected vehicles that focus on user-oriented solutions, providing unique and tailored driving experiences. Nowadays, the vehicles are connected to the car manufacturer network, the road operator networks, and the Internet. Such interconnections are used for infotainment applications and driving assistance services, such as real-time HD-maps, and road safety applications. For these reasons, the concept of the Internet of Vehicles (IoVs) is increasingly emerging and, vehicles become Internet terminals exposed to cyber-attacks. In this context, the main weakness is given by the Controller Area Network (CAN) protocol. This protocol, which governs the in-vehicle network, was designed to reduce transmission error problems and minimize latency times. However, it does not employ any security facility to protect the communication. In particular, one of the main issues of this protocol is that it uses unencrypted communication.Improving the security of this protocol is necessary while preserving its performance in terms of communication efficiency. This paper investigates the possibility of using lightweight block ciphers to secure in-vehicle devices such as microcontrollers, which have constrained hardware and software capabilities. The results obtained have shown that this proposal while guaranteeing a high degree of safety, has a negligible impact on the vehicle’s performance.

Improving CAN bus security by assigning dynamic arbitration IDs

The controller area network (CAN) is one of the most popular intra-vehicular communication protocols in the automotive industry. Due to its simplicity and broadcasting technique, the CAN bus protocols have some vulnerabilities. In the last couple of years, security attacks on vehicles have been increasing significantly. These acute attacks remain undetected by the conventional CAN protocol. In this paper, we propose a method that can prevent many kinds of CAN bus monitoring attacks without any change in the underlying CAN protocol. The experimental results demonstrate that our proposed methodology is useful for preventing as well as defending against attacks on the CAN bus. In the worst-case scenario, the proposed algorithm requires 0.41 s to detect an attack and prevent the attack by dynamically updating the message arbitration ID of a system comprising twelve types of message IDs.

Analysis of asynchronous distributed multi-master parallel genetic algorithm optimization on CAN bus

Industrial optimization problems are usually difficult to solve due to complexity and high number of constraints. Evolutionary algorithms are a conventional method to solve these problems. However, many industrial applications are real-time or we need to find a feasible optima solution in a limited time. Parallel genetic algorithm is a method to utilize properties of the genetic algorithm and parallel processing and implementation of a fast evolutionary algorithm. Controller Area Network (CAN) protocol is widely used in various industries such as automotive, medical, aerospace. In this paper, we implement a multiple-population coarse-grained parallel genetic algorithm on CAN bus to improve speed and performance of the conventional genetic algorithm which is asynchronous distributed multi-master. Evaluation criteria such as speed up, efficiency, serial fraction and reliability are calculated for the proposed parallel processing which is used for optimization problem of five benchmark functions. And finally, this structure is compared with the master–slave model. The proposed structure is created conditions for improving network reliability with very low cost of communication.

Towards holistic secure networking in connected vehicles through securing CAN-bus communication and firmware-over-the-air updating

Abstract With the increasing connectivity in modern vehicle infrastructure, solutions are required to harden the vehicle’s electronic architecture against potential attacks. One of the most important concerns is to ensure vehicle systems take appropriate and safe actions to diminish the probability of cyber-attacks success and mitigate the ramifications of potential unauthorized access. In this work, we present a layered systematic approach to achieve these goals along with a real implementation on an electric motorcycle. The developed secure infrastructure involves secure interconnection mechanisms to ensure trustworthy communications for electronic control nodes; hardware firewall to prevent interference and unauthorized access from untrusted applications/firmware; separated OS instances for different execution environments to provide best possible support for apps with different requirements and to further isolate apps from each other; and finally secure deployment of apps/firmware to ensure that apps are deployed unaltered to the automotive platform. In particular, considering both in-vehicle’s units resource-constraints, in terms of cost and size, and security needs that emerge in open bus-based networks, we introduce a secure technology that helps to prevent cyber-attacks in automotive Controller Area Network (CAN) protocol which is often used in in-vehicle networks. This technology, which we call secure CAN (sCAN), respects standard CAN-bus and realizes security mechanisms implemented in software or hardware, while adding less than 1 ms latency on the communication. sCAN in synergy with on-chip hardware firewalling which controls authorization level of on-chip accesses, and finally, together with securing the deployment of firmware updating over the air, build a fully-layered approach for connected vehicles to protect system assets, such as application and device authenticity, integrity, confidentiality, and availability.

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.

Attacker Identification and Intrusion Detection for In-Vehicle Networks

As the most wide-spread in-vehicle data bus protocol, CAN (Controller Area Network) has attracted more and more attention due to its lack of security protection mechanism. A variety of attacks against CAN bus have emerged, posing serious threat to vehicle safety. Accordingly, some methods have been proposed to detect CAN bus attacks, however, they have certain shortcomings such as additional computing burden and obvious false detection rate. Therefore, using the physical characteristics of voltage signal on CAN bus, we propose an LOF (Local Outlier Factor)-based intrusion detection method, which can greatly reduce the false detection rate as well as improve the detection accuracy. The modification of CAN protocol and the additional computation burden can also be avoided. In addition, to the best of our knowledge, we are the first to implement bus-off intrusion detection on real vehicles.

Study, Build and Analyze CAN 2.0 Network Model Using MATLAB

This research shows designing a model that simulates the performance of CAN 2.0 Protocol (Controller Area Network Protocol) in a seven-node network and a data bus. This model is designed using MATLAB and SimEvents library in Simulink, library (SimEvents) which provides a simulation environment for intermittent events that enables modeling and simulation of any event-based system. This model included simulation of the transmission algorithm used by CAN Protocol, so that data frames are fully integrated and generated on time for some nodes and depending on a given event (whatever) for each other. Thus, all types of messages sent over the real-world network are included. This study presents the building of software model of the network, and the application of several vales of BitRates on the network, and then taking the statistical results and analysis compared to reference values. After drawing diagrams between the priority level of the sent node and the delay time of the message- depending on the values taken from the results of the study-we note that the delay times are significantly increased when the BitRate decreases on the one hand and the priority score decreases on the other hand, which is similar to the real-world network and reference values of the protocol.

PASSENGER GROUND VEHICLE LIVE PARAMETER MONITORING AND GOVERNING USING AUTOMOTIVE IVN PROTOTYPE MODEL

Now a day the ground passenger vehicle safety becomes the most sensitive and major research area. There are many distributed sensors placed inside these vehicle for continually monitoring and actuating various moving and non-moving components of the vehicle. Thus in-vehicle based modern networking bus used to communicate data between various distributed sensor and actuator nodes, This paper describe the novel efficient implementation between Electronic control unit (ECU) and the distinguished CAN (controller area network) protocol utilized across most of the automotive industry, designed and maintained by Robert Boschs. The CAN based ECU system is implemented using three PIC microcontroller boards. The system is explain in simple way to understand the most difficult part of passenger vehicle. Real time system is prototypes and simulates within controlled environment, tested with all the possibilities and presumes conditions focusing towards all the real-world conditions. The system having multiple displays and indicators to indicate various parameters. The observations are analyzed and found satisfactory; the in vehicle network (IVN) is wider and sensitive subject which is studied extensively by most of the automotive abd allied industry. This research paper is the novel resemblance of the in vehicle CAN bus network in prototype presentation.

Performance evaluation of embedded ethernet and Controller Area Network (CAN) in real time control communication system

<span lang="EN-US">Real-time communication is important in control network. In real-time communication, message need to be delivered from source to destination within specification. Embedded Ethernet and Controller Area Network (CAN) protocol can be used in control network to achieve hard real-time communication. For embedded Ethernet protocol, Carrier Sense Multiple Access with Collision Detection (CSMA/CD) is the media access control (MAC) used to control data transmission between nodes in network. Back-off algorithm in CSMA/CD is used to handle packet collisions and retransmission. For CAN protocol, it is communication protocol developed mainly for automotive application. It has priority arbitration to handle collisions and retransmission. In this project, embedded Ethernet network models and CAN network models are developed and simulated in MATLAB Simulink software. Several back-off algorithms, which are Binary Exponential Backoff (BEB), Linear Back-off Algorithm, Exponential-Linear back-off Algorithm and Logarithm Back-off Algorithm are proposed and implemented into Embedded Ethernet network model to evaluate the performance. Both embedded Ethernet and CAN network models are extended to 3 nodes, 10 nodes, and 15 nodes to evaluate performance at different network condition. The performance criteria evaluated and discussed are average delay and jitter of packets. The results show that in network with high number of nodes, Linear Back-off Algorithm and Exponential-Linear back-off Algorithm shows improvement in packets delay and jitter. For CAN network, the packet jitter is relatively low.</span>

Performance Analysis of Security Mechanism for Automotive Controller Area Network

Connectivity of modern cars has led to security issues. A number of contributions have proposed the use of cryptographic algorithms in order to provide automotive Controller Area Network (CAN) security. However, due to CAN protocol characteristics, real time requirements within cryptographic schemes are not guaranteed. In this work, effects of implementing cryptographic approaches have been investigated by proposing a performance analysis methodology of cryptographic algorithm. Until get implanting the proposed method in a real vehicle, a platform based on STMicroelectronics’32F407 (STM32F407) microcontroller board has been deployed to test the proposed methodology. The experiments show that the implementation of a cryptographic algorithm has an impact on clock cycles number and therefore, on real-time performances.

Parallel Control Method Based on the Consensus Algorithm for the Non-Isolated AC/DC Charging Module

A high-power charging station for electric vehicles usually adopts a parallel structure of multiple power modules. However, due to the parameter differences among power modules, a parallel system always has circulating current issues. This paper takes a non-isolated AC/DC charging module as the research object and proposes a current sharing control strategy for multiple power modules based on the consensus algorithm. By constructing a sparse communication network with the CAN (Controller Area Network) protocol and exchanging current information, accurate current sharing among power modules is realized. Firstly, the zero-sequence circulating current issue is analyzed through a parallel model of the three-phase rectifier, with an improved circulating current restraint strategy proposed based on the zero-sequence voltage compensation. Then, the principle of the consensus algorithm is explained, which is applied to the current sharing control of multiple power modules. Finally, the proposal is tested by the designed simulation and experimental cases. From the obtained results, it can be seen that the proposed control strategy can effectively realize accurate current sharing among multiple power modules and well restrain the zero-sequence circulating current at the input side.

VoltageIDS: Low-Level Communication Characteristics for Automotive Intrusion Detection System

The proliferation of computerized functions aimed at enhancing drivers' safety and convenience has increased the number of vehicular attack surfaces accordingly. The fundamental vulnerability is caused by the fact that the controller area network protocol, a de facto standard for in-vehicle networks, does not support message origin authentication. Several methods to resolve this problem have been suggested. However, most of them require modification of the CAN protocol and have their own vulnerabilities. In this paper, we focus on securing in-vehicle CAN networks, proposing a novel automotive intrusion detection system (so-called VoltageIDS). The system leverages the inimitable characteristics of an electrical CAN signal as a fingerprint of the electronic control units. The noteworthy contributions are that VoltageIDS does not require any modification of the current system and has been validated on actual vehicles while driving on the road. VoltageIDS is also the first automotive intrusion detection system capable of distinguishing between errors and the bus-off attack. Our experimental results on a CAN bus prototype and on real vehicles show that VoltageIDS detects intrusions in the in-vehicle CAN network. Moreover, we evaluate VoltageIDS while a vehicle is moving.

An Integrated Self-Diagnosis System for an Autonomous Vehicle Based on an IoT Gateway and Deep Learning

This paper proposes “An Integrated Self-diagnosis System (ISS) for an Autonomous Vehicle based on an Internet of Things (IoT) Gateway and Deep Learning” that collects information from the sensors of an autonomous vehicle, diagnoses itself, and the influence between its parts by using Deep Learning and informs the driver of the result. The ISS consists of three modules. The first In-Vehicle Gateway Module (In-VGM) collects the data from the in-vehicle sensors, consisting of media data like a black box, driving radar, and the control messages of the vehicle, and transfers each of the data collected through each Controller Area Network (CAN), FlexRay, and Media Oriented Systems Transport (MOST) protocols to the on-board diagnostics (OBD) or the actuators. The data collected from the in-vehicle sensors is transferred to the CAN or FlexRay protocol and the media data collected while driving is transferred to the MOST protocol. Various types of messages transferred are transformed into a destination protocol message type. The second Optimized Deep Learning Module (ODLM) creates the Training Dataset on the basis of the data collected from the in-vehicle sensors and reasons the risk of the vehicle parts and consumables and the risk of the other parts influenced by a defective part. It diagnoses the vehicle’s total condition risk. The third Data Processing Module (DPM) is based on Edge Computing and has an Edge Computing based Self-diagnosis Service (ECSS) to improve the self-diagnosis speed and reduce the system overhead, while a V2X based Accident Notification Service (VANS) informs the adjacent vehicles and infrastructures of the self-diagnosis result analyzed by the OBD. This paper improves upon the simultaneous message transmission efficiency through the In-VGM by 15.25% and diminishes the learning error rate of a Neural Network algorithm through the ODLM by about 5.5%. Therefore, in addition, by transferring the self-diagnosis information and by managing the time to replace the car parts of an autonomous driving vehicle safely, this reduces loss of life and overall cost.

Identifying ECUs Using Inimitable Characteristics of Signals in Controller Area Networks

As the functions of vehicles are more computerized for the safety and convenience of drivers, attack surfaces of vehicle are accordingly increasing. Many attack results have shown that an attacker could intentionally control vehicles. Most of them exploit the vulnerability that controller area network (CAN) protocol, a de-facto standard for the in-vehicle networks, does not support message origin authentication. Although a number of methods to resolve this security vulnerability have been suggested, they have their each limitation to be applied into the current system. They have required either the modification of the CAN standard or dramatical communication load increase, which is infeasible in practice. In this paper, we propose a novel identification method, which works in the physical layer of the in-vehicle CAN network. Our method identifies electronic control units (ECUs) using inimitable characteristics of electrical CAN signals enabling detection of a malicious ECU. Unlike previous attempts to address the security problem in the in-vehicle CAN network, our method works by simply adding a monitoring unit to the existing network, making it deployable in current systems and compliant with required CAN standards. Our experimental results show that our method is able to correctly identify ECUs. In case of misclassfication rate for ECU idnetification, our method yields 0.36% in average which is approximate four times lower than the method proposed by P.-S. Murvay et al. This paper is also the first to identify potential attack models that systems should be able to detect.

Impact of Reducing Bit Stuffing Jitter on the Control Performance of a CAN-Based Distributed Furnace System

The Controller Area Network (CAN) protocol is widely used in distributed real-time, resource-constrained embedded systems. CAN uses “Non Return to Zero” (NRZ) coding and employs a bit-stuffing mechanism for clock synchronization. Such a mechanism causes a variation in the CAN frame length which may have a detrimental impact on the control behaviour of safety-critical systems employing this protocol. To address this issue, two techniques known as “byte-based XOR masking” and “software bit stuffing” were developed and achieved a jitter reduction of up to 20% and 40%, respectively, when employed in practical designs. This paper investigates the effectiveness of such techniques in a real-time control application; that is a simple furnace system case study based on a “hardware-in-the-loop” (HIL) testbed facility. The results show that reducing bit stuffing jitter has the potential to improve the control performance of distributed real-time systems employing CAN protocol.

Concept of Power Line Communication solution for Mesh DC Micro grid based on CAN protocol

Recently, technologies related to smart grids have attracted more attention due to increasing the demand for renewable energy. One of the most important foundations of smart grids is commonly communications between energies services demands and responses. Almost all the operations on the grids are based on the communications, such as supervision, protection, and isolation. These operations request different requirements for data transmission. The communication technology needs to have high reliability, low latency, and a minimum throughput to guarantee interaction between elements. To limit wires, power line communication (PLC) is a natural choice to deliver bi-directional data transmission between network components to enable smart controller and management of the grid. This paper proposes a PLC solution as a data transmission method for the mesh type DC microgrid. This solution is designed to take advantage of a robust protocol of automotive network - Control Area Network (CAN). The presented architecture is thus intended to propose a PLC system compatible with CAN-bus to provide a safety protocol for DC microgrid with cost effective approach.

CAN With eXtensible In-Frame Reply: Protocol Definition and Prototype Implementation

Controller area network (CAN) has been the de facto standard in the automotive industry for the past two decades. Recently, CAN with flexible data-rate (CAN FD) has been standardized, which achieves noticeably higher throughput. Further improvements are still possible for CAN, by exploiting its peculiar physical layer to carry out distributed operations among network nodes, implemented as atomic transactions mapped on quasi-conventional frame exchanges. In this paper, a proposal is made for an extension to the CAN protocol, termed CAN with eXtensible in-frame Reply (CAN XR), which enables upper protocol layers to define new custom services devoted to, e.g., network management, application-specific functions, and high-efficiency data transfer. The key point is that CAN XR retains full backward compatibility with CAN, therefore, there is no need to change the protocol specification once again.

Automatic FIBEX Generation for Migration from CAN Message Description Format to Flexray Fibex Format

AbstractRecently, FlexRay was developed to replace the controller area network (CAN) protocol in the chassis network systems to provide high-speed data transmission as well as hardware redundancy for safety. However, FlexRay network design is more complicated than with CAN protocol, which has been an in-vehicle network (IVN) standard for car manufacturers for decades, because the FlexRay has many parameters such as the base cycle or slot lengths. To simplify the FlexRay network design and assist vehicle network designers in configuring a FlexRay network, this paper presents an automatic field bus exchange format (FIBEX) generation method for migration from the CAN message description format such as the DBC format to the FlexRay FIBEX format. The automatic FIBEX generation method is examined by simulating a chassis networking system using a DBC benchmark tool, which demonstrates the feasibility of the system and the reduction in workload for network designers.