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Modern vehicle is considered as a system vulnerable to attacks because it is connected to the outside world via a wireless interface. Although, connectivity provides more convenience and features to the passengers, however, it also becomes a pathway for the attackers targeting in-vehicle networks. Research in vehicle security is getting attention as in-vehicle attacks can impact human life safety as modern vehicle is connected to the outside world. Controller area network (CAN) is used as a legacy protocol for in-vehicle communication, However, CAN suffers from vulnerabilities due to lack of authentication, as the information about sender is missing in CAN message. In this paper, a new CAN intrusion detection system (IDS) is proposed, the CAN messages are converted to temporal graphs and CAN intrusion is detected using machine learning algorithms. Seven graph-based properties are extracted and used as features for detecting intrusions utilizing two machine learning algorithms which are support vector machine (SVM) & k-nearest neighbors (KNN). The performance of the IDS was evaluated over three CAN bus attacks are denial of service (DoS), fuzzy & spoofing attacks on real vehicular CAN bus dataset. The experimental results showed that using graph-based features, an accuracy of 97.92% & 97.99% was achieved using SVM & KNN algorithms respectively, which is better than using traditional machine learning CAN bus features.