We propose a novel neural network architecture for detecting intrusions on the CAN bus. The Controller Area Network (CAN) is the standard communication method between the Electronic Control Units (ECUs) of automobiles. However, CAN lacks security mechanisms and it has recently been shown that it can be attacked remotely. Hence, it is desirable to monitor CAN traffic to detect intrusions. In order to detect both, known and unknown intrusion scenarios, we consider a novel unsupervised learning approach which we call CANet. To our knowledge, this is the first deep learning based intrusion detection system (IDS) that takes individual CAN messages with different IDs and evaluates them in the moment they are received. This is a significant advancement because messages with different IDs are typically sent at different times and with different frequencies. Our method is evaluated on real and synthetic CAN data. For reproducibility of the method, our synthetic data is publicly available. A comparison with previous machine learning based methods shows that CANet outperforms them by a significant margin.
Ben-Gurion University of the Negev（内盖夫本-古里安大学）；Politehnica University of Timisoara（蒂米什瓦拉理工大学）
The Controller Area Network (CAN) is used for communication between in-vehicle devices. The CAN bus has been shown to be vulnerable to remote attacks. To harden vehicles against such attacks, vehicle manufacturers have divided in-vehicle networks into sub-networks, logically isolating critical devices. However, attackers may still have physical access to various sub-networks where they can connect a malicious device. This threat has not been adequately addressed, as methods proposed to determine physical intrusion points have shown weak results, emphasizing the need to develop more advanced te…
Data for controlling a vehicle is exchanged among Electronic Control Units (ECUs) via in-vehicle network protocols such as the Controller Area Network (CAN) protocol. Since these protocols are designed for an isolated network, the protocols do not encrypt data nor authenticate messages. Intrusion Detection Systems (IDSs) are developed to secure the CAN protocol by detecting abnormal deviations in physical properties. For instance, a voltage-based IDS (VIDS) exploits voltage characteristics of each ECU to detect an intrusion. An ECU with VIDS must be connected to the CAN bus using extra wires t…
University of Maryland, Baltimore County（马里兰大学巴尔的摩县分校）；Tennessee State University（田纳西州立大学）；General Motors Corporation（通用汽车公司）
The national highway traffic safety administration (NHTSA) identified cybersecurity of the automobile systems are more critical than the security of other information systems. Researchers already demonstrated remote attacks on critical vehicular electronic control units (ECUs) using controller area network (CAN). Besides, existing intrusion detection systems (IDSs) often propose to tackle a specific type of attack, which may leave a system vulnerable to numerous other types of attacks. A generalizable IDS that can identify a wide range of attacks within the shortest possible time has more prac…
Modern vehicles are complex safety critical cyber physical systems, that are connected to the outside world, with all security implications that brings. To enhance vehicle security several network intrusion detection systems (NIDS) have been proposed for the CAN bus, the predominant type of in-vehicle network. The in-vehicle CAN bus, however, is a challenging place to do intrusion detection as messages provide very little information; interpreting them requires specific knowledge about the implementation that is not readily available. In this technical report we collect how existing solutions …
A Controller Area Network (CAN) bus in the vehicles is an efficient standard bus enabling communication between all Electronic Control Units (ECU). However, CAN bus is not enough to protect itself because of lack of security features. To detect suspicious network connections effectively, the intrusion detection system (IDS) is strongly required. Unlike the traditional IDS for Internet, there are small number of known attack signatures for vehicle networks. Also, IDS for vehicle requires high accuracy because any false-positive error can seriously affect the safety of the driver. To solve this …
Today's vehicles are complex distributed embedded systems that are increasingly being connected to various external systems. Unfortunately, this increased connectivity makes the vehicles vulnerable to security attacks that can be catastrophic. In this work, we present a novel Intrusion Detection System (IDS) called INDRA that utilizes a Gated Recurrent Unit (GRU) based recurrent autoencoder to detect anomalies in Controller Area Network (CAN) bus-based automotive embedded systems. We evaluate our proposed framework under different attack scenarios and also compare it with the best known prior …
High-end vehicles have been furnished with a number of electronic control units (ECUs), which provide upgrading functions to enhance the driving experience. The controller area network (CAN) is a well-known protocol that connects these ECUs because of its modesty and efficiency. However, the CAN bus is vulnerable to various types of attacks. Although the intrusion detection system (IDS) is proposed to address the security problem of the CAN bus, most previous studies only provide alerts when attacks occur without knowing the specific type of attack. Moreover, an IDS is designed for a specific …
College of Computer Science and Technology, Zhejiang University（浙江大学计算机科学与技术学院）
As the number of cyber-attacks is increasing, cybersecurity is evolving to a key concern for any business. Artificial Intelligence (AI) and Machine Learning (ML) (in particular Deep Learning - DL) can be leveraged as key enabling technologies for cyber-defense, since they can contribute in threat detection and can even provide recommended actions to cyber analysts. A partnership of industry, academia, and government on a global scale is necessary in order to advance the adoption of AI/ML to cybersecurity and create efficient cyber defense systems. In this paper, we are concerned with the inves…
Due to the rising number of sophisticated customer functionalities, electronic control units (ECUs) are increasingly integrated into modern automotive systems. However, the high connectivity between the in-vehicle and the external networks paves the way for hackers who could exploit in-vehicle network protocols' vulnerabilities. Among these protocols, the Controller Area Network (CAN), known as the most widely used in-vehicle networking technology, lacks encryption and authentication mechanisms, making the communications delivered by distributed ECUs insecure. Inspired by the outstanding perfo…
Dozens of Electronic Control Units (ECUs) can be found on modern vehicles for safety and driving assistance. These ECUs also introduce new security vulnerabilities as recent attacks have been reported by plugging the in-vehicle system or through wireless access. In this paper, we focus on the security of the Controller Area Network (CAN), which is a standard for communication among ECUs. CAN bus by design does not have sufficient security features to protect it from insider or outsider attacks. Intrusion detection system (IDS) is one of the most effective ways to enhance vehicle security on th…
Recently, there has been an interest in improving the resources available in Intrusion Detection System (IDS) techniques. In this sense, several studies related to cybersecurity show that the environment invasions and information kidnapping are increasingly recurrent and complex. The criticality of the business involving operations in an environment using computing resources does not allow the vulnerability of the information. Cybersecurity has taken on a dimension within the universe of indispensable technology in corporations, and the prevention of risks of invasions into the environment is …
ARINC 429 is the most common data bus in use today in civil avionics. However, the protocol lacks any form of source authentication. A technician with physical access to the bus is able to replace a transmitter by a rogue device, and the receivers will accept its malicious data as they have no method of verifying the authenticity of messages. Updating the protocol would close off security loopholes in new aircraft but would require thousands of airplanes to be modified. For the interim, until the protocol is replaced, we propose the first intrusion detection system that utilizes a hardware fin…
Research Group on Intelligent Engineering and Computing for Advanced Innovation and Development (GECAD), Porto School of Engineering (ISEP)（波尔图工程学院（ISEP）智能工程与先进创新开发计算研究组（GECAD））
Cybersecurity has been a concern for quite a while now. In the latest years, cyberattacks have been increasing in size and complexity, fueled by significant advances in technology. Nowadays, there is an unavoidable necessity of protecting systems and data crucial for business continuity. Hence, many intrusion detection systems have been created in an attempt to mitigate these threats and contribute to a timelier detection. This work proposes an interpretable and explainable hybrid intrusion detection system, which makes use of artificial intelligence methods to achieve better and more long-las…
In this era of internet, E-Business and e-commerce applications are using Databases as their integral part. These Databases irrespective of the technology used are vulnerable to SQL injection attacks. These Attacks are considered very dangerous as well as very easy to use for attackers and intruders. In this paper, we are proposing a new approach to detect intrusion from attackers by using SQL injection. The main idea of our proposed solution is to create trusted user profiles fetched from the Queries submitted by authorized users by using association rules. After that we will use a hybrid (an…
Previous research works have endorsed the use of delays and clock skews for detecting intrusions or fingerprinting ECUs on the CAN bus. Similar techniques have been also proposed for establishing a time-covert cryptographic authentication channel, in this way cleverly removing the need for cryptographic material inside the limited payload of CAN frames. The main shortcoming of such works is the limited security level that can be achieved under normal CAN-bus traffic. In this work we endeavour to test the limits of the achievable security level by relying on optimization algorithms for scheduli…
Attackers demonstrated the use of remote access to the in-vehicle network of connected vehicles to launch cyber-attacks and remotely take control of these vehicles. Machine-learning-based Intrusion Detection Systems (IDSs) techniques have been proposed for the detection of such attacks. The evaluation of some of these IDS demonstrated their efficacy in terms of accuracy in detecting message injections but was performed offline, which limits the confidence in their use for real-time protection scenarios. This paper evaluates four architecture designs for real-time IDS for connected vehicles usi…
Communication between sensors, actors and Programmable Logic Controllers (PLCs) in industrial systems moves from two-wire field buses to IP-based protocols such as Modbus/TCP. This increases the attack surface because the IP-based network is often reachable from everywhere within the company. Thus, centralized defenses, e.g. at the perimeter of the network do not offer sufficient protection. Rather, decentralized defenses, where each part of the network protects itself, are needed. Network Intrusion Detection Systems (IDSs) monitor the network and report suspicious activity. They usually run o…
With the development of autonomous vehicle technology, the controller area network (CAN) bus has become the de facto standard for an in-vehicle communication system because of its simplicity and efficiency. However, without any encryption and authentication mechanisms, the in-vehicle network using the CAN protocol is susceptible to a wide range of attacks. Many studies, which are mostly based on machine learning, have proposed installing an intrusion detection system (IDS) for anomaly detection in the CAN bus system. Although machine learning methods have many advantages for IDS, previous mode…
Securing the Digital World: Protecting smart infrastructures and digital industries with Artificial Intelligence (AI)-enabled malware and intrusion detection
The concept of Industry 4.0 brings a disruption into the processing industry. It is characterised by a high degree of intercommunication, embedded computation, resulting in a decentralised and distributed handling of data. Additionally, cloud-storage and Software-as-a-Service (SaaS) approaches enhance a centralised storage and handling of data. This often takes place in third-party networks. Furthermore, Industry 4.0 is driven by novel business cases. Lot sizes of one, customer individual production, observation of process state and progress in real-time and remote maintenance, just to name a …
University of Kentucky（肯塔基大学）；Oak Ridge National Laboratory（橡树岭国家实验室）
Modern vehicles are complex cyber-physical systems made of hundreds of electronic control units (ECUs) that communicate over controller area networks (CANs). This inherited complexity has expanded the CAN attack surface which is vulnerable to message injection attacks. These injections change the overall timing characteristics of messages on the bus, and thus, to detect these malicious messages, time-based intrusion detection systems (IDSs) have been proposed. However, time-based IDSs are usually trained and tested on low-fidelity datasets with unrealistic, labeled attacks. This makes difficul…
Towards Ultra-Low Latency: Binarized Neural Network Architectures for In-Vehicle Network Intrusion Detection
Faculty of Information Technology and Security（信息科技与安全学院）；ITMO University（ITMO大学）；Laboratory of Computer Security Problems（计算机安全问题实验室）；St. Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS)（俄罗斯科学院圣彼得堡联邦科研中心（SPC RAS））
The rapid proliferation of wireless networks and mobile computing applications has changed the landscape of network security,the wireless networks have changed the way business, organizations work and offered a new range of possibilities and flexibilities; It is clear that wireless solutions are transforming the way we work and live. Employees are able to keep in touch with their e-mail, calendar and employer from mobile devices, but on the other hands they introduced a new security threats appeared. While an attacker needs physical access to a wired network in order to gain access to the netw…
The digitisation of industry provides a plethora of novel applications that increase flexibility and reduce setup and maintenance time as well as cost. Furthermore, novel use cases are created by the digitisation of industry, commonly known as Industry 4.0 or the Industrial Internet of Things, applications make use of communication and computation technology that is becoming available. This enables novel business use cases, such as the digital twin, customer individual production, and data market places. However, the inter-connectivity such use cases rely on also significantly increases the at…
The CAN Bus is crucial to the efficiency, and safety of modern vehicle infrastructure. Electronic Control Units (ECUs) exchange data across a shared bus, dropping messages whenever errors occur. If an ECU generates enough errors, their transmitter is put in a bus-off state, turning it off. Previous work abuses this process to disable ECUs, but is trivial to detect through the multiple errors transmitted over the bus. We propose a novel attack, undetectable by prior intrusion detection systems, which disables ECUs within a single message without generating any errors on the bus. Performing this…
MIL-STD-1553, a standard that defines a communication bus for interconnected devices, is widely used in military and aerospace avionic platforms. Due to its lack of security mechanisms, MIL-STD-1553 is exposed to cyber threats. The methods previously proposed to address these threats are very limited, resulting in the need for more advanced techniques. Inspired by the defense in depth principle, we propose AnoMili, a novel protection system for the MIL-STD-1553 bus, which consists of: (i) a physical intrusion detection mechanism that detects unauthorized devices connected to the 1553 bus, even…
This paper presents a new masquerade attack called the cloaking attack and provides formal analyses for clock skew-based Intrusion Detection Systems (IDSs) that detect masquerade attacks in the Controller Area Network (CAN) in automobiles. In the cloaking attack, the adversary manipulates the message inter-transmission times of spoofed messages by adding delays so as to emulate a desired clock skew and avoid detection. In order to predict and characterize the impact of the cloaking attack in terms of the attack success probability on a given CAN bus and IDS, we develop formal models for two cl…
With the rapid development of Internet and the sharp increase of network crime, network security has become very important and received a lot of attention. We model security issues as stochastic systems. This allows us to find weaknesses in existing security systems and propose new solutions. Exploring the vulnerabilities of existing security tools can prevent cyber-attacks from taking advantages of the system weaknesses. We propose a hybrid network security scheme including intrusion detection systems (IDSs) and honeypots scattered throughout the network. This combines the advantages of two s…
TNO（荷兰应用科学研究组织）；Budapest University of Technology and Economics（布达佩斯技术与经济大学）
Multiple attacks have shown that in-vehicle networks have vulnerabilities which can be exploited. Securing the Controller Area Network (CAN) for modern vehicles has become a necessary task for car manufacturers. Some attacks inject potentially large amount of fake messages into the CAN network; however, such attacks are relatively easy to detect. In more sophisticated attacks, the original messages are modified, making the detection a more complex problem. In this paper, we present a novel machine learning based intrusion detection method for CAN networks. We focus on detecting message modific…
LiPar: A Lightweight Parallel Learning Model for Practical In-Vehicle Network Intrusion Detection
School of Computer Science and Technology, Harbin Institute of Technology（计算机科学与技术学院，哈尔滨工业大学）；Shandong Inspur Database Technology Co., Ltd（山东 Inspur 数据库技术有限公司）
Mawlana Bhashani Science and Technology University（毛拉纳·巴沙尼科学技术大学）；Deakin University（迪肯大学）
The Controller Area Network (CAN) bus works as an important protocol in the real-time In-Vehicle Network (IVN) systems for its simple, suitable, and robust architecture. The risk of IVN devices has still been insecure and vulnerable due to the complex data-intensive architectures which greatly increase the accessibility to unauthorized networks and the possibility of various types of cyberattacks. Therefore, the detection of cyberattacks in IVN devices has become a growing interest. With the rapid development of IVNs and evolving threat types, the traditional machine learning-based IDS has to …
Abertay University（阿伯泰大学）；Naval Academy Research Institute（海军学院研究院）；Middlesex University（密德萨斯大学）；University of Strathclyde（思克莱德大学）
As the world moves towards being increasingly dependent on computers and automation, building secure applications, systems and networks are some of the main challenges faced in the current decade. The number of threats that individuals and businesses face is rising exponentially due to the increasing complexity of networks and services of modern networks. To alleviate the impact of these threats, researchers have proposed numerous solutions for anomaly detection; however, current tools often fail to adapt to ever-changing architectures, associated threats and zero-day attacks. This manuscript …
Detecting Masquerade Attacks in Controller Area Networks Using Graph Machine Learning
Department of Computer Science（计算机科学系）；Computer Science and Mathematics Division（计算机科学与数学 division）；University of Texas at El Paso（德克萨斯大学埃尔帕索分校）；Oak Ridge National Laboratory（奥克岭国家实验室）
Solarillion Foundation（索拉里永基金会）；SSN College of Engineering（SSN工程学院）
Smartphones contain information that is more sensitive and personal than those found on computers and laptops. With an increase in the versatility of smartphone functionality, more data has become vulnerable and exposed to attackers. Successful mobile malware attacks could steal a user's location, photos, or even banking information. Due to a lack of post-attack strategies firms also risk going out of business due to data theft. Thus, there is a need besides just detecting malware intrusion in smartphones but to also identify the data that has been stolen to assess, aid in recovery and prevent…
MIDS: Detecting Stealthy Masquerade and Tampering Attacks on CAN Bus via Bidirectional Mamba
Institute of Information Engineering, Chinese Academy of Sciences（信息工程研究所，中国科学院）；School of Cyber Security, University of Chinese Academy of Sciences（中国科学院大学网络安全学院）；Zhongguancun Laboratory（中关村实验室）
The progression of innovation and technology and ease of inter-connectivity among networks has allowed us to evolve towards one of the promising areas, the Internet of Vehicles. Nowadays, modern vehicles are connected to a range of networks, including intra-vehicle networks and external networks. However, a primary challenge in the automotive industry is to make the vehicle safe and reliable; particularly with the loopholes in the existing traditional protocols, cyber-attacks on the vehicle network are rising drastically. Practically every vehicle uses the universal Controller Area Network (CA…
