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Modern smart vehicles have a Controller Area Network (CAN) that supports intra-vehicle communication between intelligent Electronic Control Units (ECUs). The CAN is known to be vulnerable to various cyber attacks. In this paper, we propose a unified framework that can detect multiple types of cyber attacks (viz., Denial of Service, Fuzzy, Impersonation) affecting the CAN. Specifically, we construct a feature by observing the timing information of CAN packets exchanged over the CAN bus network over partitioned time windows to construct a low dimensional representation of the entire CAN network as a time series latent space. Then, we apply a two tier anomaly based intrusion detection model that keeps track of short term and long term memory of deviations in the initial time series latent space, to create a 'stateful latent space'. Then, we learn the boundaries of the benign stateful latent space that specify the attack detection criterion. To find hyper-parameters of our proposed model, we formulate a preference based multi-objective optimization problem that optimizes security objectives tailored for a network-wide time series anomaly based intrusion detector by balancing trade-offs between false alarm count, time to detection, and missed detection rate. We use real benign and attack datasets collected from a Kia Soul vehicle to validate our framework and show how our performance outperforms existing works.
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Change Point Models for Real-time V2I Cyber Attack Detection in a Connected Vehicle Environment
Connected vehicle (CV) systems are cognizant of potential cyber attacks because of increasing connectivity between its different components such as vehicles, roadside infrastructure and traffic management centers. However, it is a challenge to detect security threats in real-time and develop appropriate/effective countermeasures for a CV system because of the dynamic behavior of such attacks, high computational power requirement and a historical data requirement for training detection models. To address these challenges, statistical models, especially change point models, have potentials for real-time anomaly detections. Thus, the objective of this study is to investigate the efficacy of two change point models, Expectation Maximization (EM) and two forms of Cumulative Summation (CUSUM) algorithms (i.e., typical and adaptive), for real-time V2I cyber attack detection in a CV Environment. To prove the efficacy of these models, we evaluated these two models for three different type of cyber attack, denial of service (DOS), impersonation, and false information, using basic safety messages (BSMs) generated from CVs through simulation. Results from numerical analysis revealed that EM, CUSUM, and adaptive CUSUM could detect these cyber attacks, DOS, impersonation, and false information, with an accuracy of (99\%, 100\%, 100\%), (98\%, 100\%, 100\%), and (100\%, 98\%, 100\%) respectively.
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- Award ID(s):
- 1719501
- PAR ID:
- 10092198
- Date Published:
- Journal Name:
- Transportation Research Board Annual Meeting 2019
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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