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The controller area network (CAN) protocol is all but synonymous with the terms “automotive network" or “in-vehicle network." Nearly all modern vehicles leverage one or more controller area networks to facilitate intra-vehicle communications. Unfortunately, the CAN bus is inherently insecure and severely resource-constrained. As such, researchers, industry experts, and legislators have been hard-pressed to improve the security of the CAN bus. Automotive intrusion detection has been propounded in the literature as a lightweight CAN bus security solution. Automotive intrusion detection systems (IDSs) can solve many of the resource-related challenges of CAN bus security; unfortunately, they still fall short in terms of practicability. An IDS capable of successfully detecting attacks will inevitably raise some false positives. When it comes to in-vehicle networks, even a relatively low false positive rate, e.g., 0.0001 …