Performance Comparison of Timing-Based Anomaly Detectors for Controller Area Network: A Reproducible Study

Abstract

This work presents an experimental evaluation of the detection performance of eight different algorithms for anomaly detection on the Controller Area Network (CAN) bus of modern vehicles based on the analysis of the timing or frequency of CAN messages. This work solves the current limitations of related scientific literature, which is based on a private dataset and lacks open implementations and a detailed description of the detection algorithms. These drawbacks prevent the reproducibility of published results, making it impossible to compare a novel proposal against related work, thus hindering the advancement of science. This article solves these issues by publicly releasing implementations and labeled datasets and by describing unbiased experimental comparisons.