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Cybersecurity is increasingly important for the safety and reliability of autonomous vehicles. The controller area network (CAN) is the most widely used in-vehicle network for automotive safety-critical applications. Enhancing the cybersecurity ability of CAN while considering the real-time, schedulability, and cost constraints becomes an urgent issue. To address this problem, a real-time, and schedulability analysis-guaranteed security mechanism [identification hopping CAN (IDH-CAN)] is proposed in this paper, which aims to improve the security performance of CAN under the constraints of automotive real-time applications. In order to support the operation of the IDH-CAN mechanism, an IDH-CAN controller is also designed and implemented on a field-programmable gate array, which can work as a hardware firewall in the data link layer of CAN to isolate cyberattacks from the physical layer. Meanwhile, to maximize …