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Advances in automobiles have led to the increased usage of electronic control units (ECUs). A modern vehicle contains 50 to 70 ECUs, each of which is responsible for automatic safety and comfort functions such as anti-lock breaking system (ABS) and adaptive cruise control (ACC). To improve the safety and comfort of the drivers, ECUs communicate with one another in an in-vehicle control network and in an inter-vehicle network. In the inter-vehicle network, ECUs can collect the real-time traffic information such as traffic congestion information and collision warnings from the neighbor vehicles. However, in process of collecting the information over the air and interacting with one another, ECUs in the in-vehicle network are exposed to a number of cyber attacks targeting the automatic safety and comfort functions. Also, as the in-vehicle control network transfers the information among distributed ECUs via a shared …