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The modern automobile is a network—specifically, a controller area network (CAN)—of computers. Automotive computers manage the engine (e.g., fuel injection), the transmission (e.g., automatic shifting), the vehicle speed (e.g., cruise control), and many, many more systems. Therefore, a vehicle’s CAN bus is safety critical; by design, it is robust, reliable, and error tolerant. Unfortunately, it is not secure; it was developed in the 1980s, and, at that time, it was a closed system—no Internet access. The modern automobile is not a closed system, yet the CAN bus remains insecure. Automotive researchers are gravitating toward intrusion detection as one possible solution to the problem of automotive [in]security. To build and evaluate an intrusion detection system (IDS), however, researchers need adequate training and testing data.

In this paper, we investigate and evaluate the following automotive intrusion detection …