massive rise in the security risks of in-vehicle networks (IVNs). Nevertheless, existing IVN
designs (eg, controller area network) lack cybersecurity consideration. Intrusion detection,
an effective method for defending against cyberattacks on IVNs while providing functional
safety and real-time communication guarantees, aims to address this issue. Therefore, the
necessity of its research has risen. In this paper, an IVN environment is introduced, and the …