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There is a strong demand for the security of Controller Area Network (CAN), a major in-vehicle network. A number of methods to detect unauthorized data transmission, such as anomaly detection and misuse detection, have already been proposed. However, all of them have no capability of preventing unauthorized data transmission itself. In this paper, we propose a novel method that realizes the prevention as well as detection. Our method can be effectively implemented with minimal changes in the current architecture of Electronic Control Unit. The method works even in a CAN with multiple buses interconnected by gateways.