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The controller area network (CAN) bus facilitates communication between a vehicle's microcontrollers, known as electronic control units (ECUs). Developed in 1983, the CAN bus is exceedingly robust—and exceedingly insecure. The CAN bus lacks conventional security controls (e.g., authentication, authorization, access control, encryption—to name a few). Significant research work has focused on improving automotive security; however, it has been challenging to add security to the CAN bus ex post facto.The automotive intrusion detection system (IDS) has been popularized in the literature as a relatively low-cost, low-effort security improvement for the CAN bus. Unfortunately, would-be IDS designers are often confronted with a shortage of adequate datasets to facilitate IDS development and evaluation. For intrusion detection systems built from machine learning models, the dataset shortage is particularly …