Skip to main content

A Machine Learning Based Approach to Detect Cyber-Attacks on Connected and Autonomous Vehicles (CAVs)

  • Chapter
  • First Online:
Wireless Networks

Abstract

Connected and Autonomous Vehicles (CAVs) are gaining more interest and are growing steadily in recent years. They will surely become the backbone of next generation intelligent vehicles offering safe travels, comfort, reduced pollution, with many other beneficial features. However, with CAVs being equipped with high levels of automation and connectivity also opens several attack points or vulnerable points for adversaries to conduct attacks. Such security issues need to be addressed before commercialising CAVs. In this research paper, the focus is to develop a few machine learning models using different machine learning algorithms and evaluate them using defined evaluation criterions to identify and recommend the best suitable model for detecting attacks in CAVs. In addition, this paper also defines different terms related to CAVs such as CAV, CAV cyber security, CAV architecture and different vulnerabilities and risks present in the CAN bus. The paper then describes the different attacks possible on CAVs and the corresponding mitigation methods and detection techniques.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Brake (2021) Connected and autonomous vehicles. https://www.brake.org.uk/get-involved/take-action/mybrake/knowledge-centre/vehicles/connected-and-autonomous-vehicles. Accessed 02 May 2022

  2. Sun X, Yu FR, Zhang P (2022) A survey on cyber-security of connected and autonomous vehicles (CAVs). IEEE Trans Intell Transp Syst 23(7):6240–6259

    Article  Google Scholar 

  3. Greenberg A (2015) Wireless communication between cars could be a security risk. Available at: https://slate.com/technology/2015/10/wireless-communication-between-cars-could-be-asecurity-risk.html (Accessed: 14 June 2023)

  4. He Q (2021) A machine learning-based anomaly detection framework for connected and autonomous vehicles cyber security. Mathematics 8:1311

    Article  Google Scholar 

  5. Chakraborty S et al (2016) Automotive cyber-physical systems: a tutorial introduction. IEEE Des Test 33(4):92–108

    Article  Google Scholar 

  6. Lyu N, Duan Z, Xie L, Wu C (2017) Driving experience on the effectiveness of advanced driving assistant systems. In: Proceedings of the 4th international conference on transportation information and safety, pp 987–992

    Google Scholar 

  7. Tsiropoulou EE, Baras JS, Papavassiliou S, Sinha S (2017) Rfid-based smart parking management system. Cyber Phys Syst 3(4):22–41

    Article  Google Scholar 

  8. Anon (2014) Consommation en Europe: 2009–2014 Les Annees Qui Ont Tout Change. http://observatoirecetelem.com

  9. Jones L (2017) Driverless cars: when and where? Automotive autonomous vehicles. Eng Technol 12(2):36–40

    Article  Google Scholar 

  10. Fan H et al (2018) Baidu apollo em motion planner. http://arxiv.org/abs/1807.08048

  11. Cottam BJ (2018) Transportation planning for connected autonomous vehicles: how it all fits together. Transp Res Rec 2672:12–19

    Article  Google Scholar 

  12. Kuang X, Zhao F, Hao H, Liu Z (2018) Intelligent connected vehicles: the industrial practices and impacts on automotive value-chains in china. Asia Pacif Bus Rev 24(1):1–21

    Article  Google Scholar 

  13. Anon (2017) Japan plans test site for self-driving cars. http://asia.nikkei.com/Tech-Science/Tech/Japan-plans-test-site-for-self-driving-cars. Accessed 21 June 2022

  14. Locke J (2020) What is connected vehicle technology and what are the use cases? https://www.digi.com/blog/post/what-is-connected-vehicle-technology-and-use-cases. Accessed 18 June 2022

  15. Nikitas A, Michakopoulou K, Njoya ET, Karampatzakis D (2020) Artificial intelligence, transport and the smart city: definitions and dimensions of a new mobility era. Sustainability 12(7):2789

    Article  Google Scholar 

  16. Qayyum A, Usama M, Qadir J, Al Fuqaha A (2020) Securing connected and autonomous vehicles: challenges posed by adversarial machine learning and the way forward. IEEE Commun Surv Tutor 22(2):998–1026

    Article  Google Scholar 

  17. Shladover SE, Nawakowski C, Lu XY, Ferlis R (2015) Cooperative adaptive cruise control: definitions and operating concepts. Transp Res Rec 2489(1):145–152

    Article  Google Scholar 

  18. Stazswezki R, Estl H (2013) Making cars safer through technology innovation, Dallas. Accessed 17 June 2022

    Google Scholar 

  19. Jonsson E, Kleberger P, Olovsson T (2011) Security aspects of the in-vehicle network in the connected car. In: IEEE intelligent vehicle symposium (IV), pp 528–533

    Google Scholar 

  20. Koscher K, Czeskis A, et al. (2010) Experimental security analysis of a modern automobile. In: IEEE symposium on security and privacy (SP), pp 447–462

    Google Scholar 

  21. Martin (2022) CAN bus explained: a simple intro. https://www.csselectronics.com/pages/can-bus-simple-intro-tutorial. Accessed 15 July 2022

  22. Bouzima S, Braham R (2019) An anomaly detector for CAN bus networks in autonomous cars based on neural networks. In: Proceedings of the 2019 international conference on wireless and mobile computing, networking and communications (WiMob), pp 1–6

    Google Scholar 

  23. Carsten P, Andel TR, Yampolskiy M, McDonald JT (2015) In-vehicle networks: attacks, vulnerabilities, and proposed solutions. In: CISR ‘15: proceedings of the 10th annual cyber and information security research conference, vol 1, pp 1–8

    Google Scholar 

  24. Knight A (2016) Understanding electronic control units (ECUs) in connected automobiles and how they can be hacked. https://cybersecurity.att.com/blogs/security-essentials/understanding-electronic-control-units-ecus-in-connected-automobiles-and-how-they-can-be-hacked. Accessed 13 July 2022

  25. GOV.UK (2017) The key principles of vehicle cyber security for connected and automated vehicles. https://www.gov.uk/government/publications/principles-of-cyber-security-for-connected-and-automated-vehicles. Accessed 13 July 2022

  26. ENISA (2019) Cyber security and resilience of smart cars. http://www.enisa.europa.eu/publications/cyber-security-and-resilience-of-smart-cars. Accessed 17 July 2022

  27. NHTSA (2020) Cyber security best practices for the safety of modern vehicles. https://www.nhtsa.gov/sites/nhtsa.gov/files/documents/vehicle_cybersecurity_best_practices_01072021.pdf. Accessed 14 July 2022

  28. Huld A (2022) China internet of vehicles—new guidelines set framework for industry standards. https://www.china-briefing.com/news/china-internet-of-vehicles-new-guidelines-set-framework-for-industry-standards/. Accessed 13 July 2022

  29. Kumar S, Mann KS (2019) Prevention of DoS attacks by detection of multiple malicious nodes in VANETs. In: Proceedings of the 2019 international conference on automation, computational and technology management, pp 89–94

    Google Scholar 

  30. Appathurai A, Mangoran G, Chilamkurti N (2018) Trusted FPGA-based transport traffic inject, impersonate (I2) attacks beaconing in the internet of vehicles. IET Netw 8(2):106–115

    Google Scholar 

  31. Mondal A, Jana M (2019) Detection of fabrication, replay and suppression attack in VANET-a database approach. Proceed Conf Adv Comput Commun Elect Paradigm 1(18):38–42

    Google Scholar 

  32. Verma A, Saha R, Kumar G, Kim TH (2021) The security perspectives of vehicular networks: A taxonomical analysis of attacks and solutions, applied Sciences, 11(10):4682. https://doi.org/10.3390/app11104682

  33. Albouq SS, Fredericks EM (2017) Lightweight detection and isolation of black hole attacks in connected vehicles. In: Proceedings of the 2017 IEEE 37th international conference on distributed computing systems workshops (ICDCSW), pp 97–104

    Google Scholar 

  34. Purohit K, Dimri S, Jasola S (2017) Mitigation and performance analysis of routing protocols under black-hole attack in vehicular ad-hoc network (VANET). Wireless Pers Commun 97:5099–5114

    Article  Google Scholar 

  35. Shukla RM, Sengupta S (2018) Analysis and detection of outliers due to data falsification attacks in vehicular traffic prediction application. In: Proceedings of the 2018 9th IEEE annual ubiquitous computing, electronics and mobile communication conference (UEMCON), pp 688–694

    Google Scholar 

  36. Kamal M et al (2021) GPS location spoofing attack detection for enhancing the security of autonomous vehicles. In: Proceedings of the 2021 IEEE 94th vehicular technology conference (VTC2021-Fall), pp 1–7

    Google Scholar 

  37. El-Rewini Z et al (2020) Cybersecurity attacks in vehicular sensors. IEEE Sens J 20(22):13752–13767

    Article  Google Scholar 

  38. Hill C (2022) A brief introduction to the SAE J1939 protocol. https://copperhilltech.com/a-brief-introduction-to-the-sa-j1939-protocol/. Accessed 19 July 2022

  39. Brooks RR, Sander S, Deng J, Taiber J (2009) Automobile security concerns. IEEE Vehicul Technol Mag 4(2):52–64

    Article  Google Scholar 

  40. Higgins KJ (2009) Permanent denial-of-service attack sabotages hardware. https://www.darkreading.com/permanent-denial-of-service-attack-sabotages-hardware/d/d-id/1129499. Accessed 20 July 2022

  41. Jeong DR et al (2019) Razzer: finding kernel race bugs through fuzzing. In: Proceedings of the 2019 IEEE symposium on security and privacy (SP), pp 754–768

    Google Scholar 

  42. Arif M, Wang G, Balas VE (2018) Secure VANETs: trusted communication scheme between vehicles and infrastructure based on fog computing. Stud Inform Control 27(2):235–246

    Article  Google Scholar 

  43. Liang W et al (2019) TBRS: a trust based recommendation scheme for vehicular CPS network. Fut Gen Comput Syst 92:383–398

    Article  Google Scholar 

  44. Wu Y et al (2018) Secrecy-driven resource management for vehicular computation offloading networks. IEEE Netw 32(3):84–91

    Article  Google Scholar 

  45. Luo YB, Wang BS, Cai GL (2014) Effectiveness of port hopping as a moving target defense, In: 2014 7th International Conference on Security Technology, Hainan, China, 7–10. https://doi.org/10.1109/SecTech.2014.9

  46. Limbasiya T, Das D (2018) Secure and effective geo-data transmission scheme for vehicle-to-vehicle communication. In: Proceedings of the 2018 IEEE SmartWorld, ubiquitous intelligence and computing, advanced and trusted computing, scalable computing and communications, cloud and big data computing, internet of people and smart city innovation, pp 389–396

    Google Scholar 

  47. Hegde N, Manvi SS (2019) Hash based integrity verification for vehicular cloud environment. In: Proceedings of the 2019 IEEE international conference on cloud computing in emerging markets (CCEM), pp 75–79

    Google Scholar 

  48. Sutrala AK et al (2020) On the design of conditional privacy preserving batch verification-based authentication scheme for internet of vehicles deployment. IEEE Trans Vehicul Technol 69(5):5535–5548

    Article  Google Scholar 

  49. Biron A, Merco R, Pisu P (2018) Replay attack detection in a platoon of connected vehicles with cooperative adaptive cruise control. In: 2018 Annual American Control Conference (ACC), pp. 5582–5587

    Google Scholar 

  50. Sánchez HS, Rotondo D, Vidal ML, Quevedo J (2019) Frequency-based detection of replay attacks: application to a quadrotor UAV. In: Proceedings of the 2019 8th international conference on systems and control (ICSC), pp 289–294

    Google Scholar 

  51. Panda N, Pattanayak K (2018) Energy aware detection and prevention of black hole attack in MANET. Int J Eng Technol 7(26):135–140

    Google Scholar 

  52. Hassan Z, Mehmood A, Maple C, Khan MA, Aldegheishem A (2020) Intelligent detection of black hole attacks for secure communication in autonomous and connected vehicles. IEEE Access 8:199618–199628

    Article  Google Scholar 

  53. Qiu Y, Liu Y, Li X, Chen J (2020) A novel location privacy-preserving approach based on blockchain. Sensors 20(12):3519

    Article  Google Scholar 

  54. Zhou Y, Zhang D (2019) Double mix-zone for location privacy in VANET. In: ICIT 2019: proceedings of the 2019 7th international conference on information technology: IoT and Smart City, pp 322–327

    Google Scholar 

  55. Petit J, Stottelaar B, Feiri M (2015) Remote attacks on automated vehicles sensors: experiments on camera and LiDAR. Black Hat Europe

    Google Scholar 

  56. Parkinson S, Ward P, Wilson K, Miller J (2017) Cyber threats facing autonomous and connected vehicles: future challenges. IEEE Trans Intell Transp Syst 18(11):2898–2915

    Article  Google Scholar 

  57. Shao F, Wu Y (2018) The TPMS module in the vehicle positioning and safety warning system. Int Conf Appl Techn Cyber Sec Intell 842:1307–1314

    Google Scholar 

  58. Alam MSU, Iqbal S, Zulkernine M, Liem C (2019) Securing vehicle ECU communications and stored data. In: Proceedings of the ICC 2019—2019 IEEE international conference on communications (ICC), pp 1–6

    Google Scholar 

  59. Lenard T, Bolboacă R, Genge B, Haller P (2020) MixCAN: mixed and backward-compatible data authentication scheme for controller area networks. In: IFIP networking conference, pp 395–403

    Google Scholar 

  60. Shenfield A, Day D, Ayesh A (2018) Intelligent intrusion detection systems using artificial neural networks. ICT Express 4(2):95–99

    Article  Google Scholar 

  61. Levi M, Allouche Y, Kontorovich A (2018) Advanced analytics for connected car cybersecurity. In: Proceedings of the 2018 IEEE 87th vehicular technology conference (VTC Spring), pp 1–7

    Google Scholar 

  62. Salman N, Bresch M (2017) Design and implementation of an intrusion detection system (IDS) for in-vehicle networks. https://publications.lib.chalmers.se/records/fulltext/251871/251871.pdf. Accessed 4 Oct 2022

  63. Song HM, Kim HR, Kim HK (2016) Intrusion detection system based on the analysis of time intervals of CAN messages for in-vehicle network. In: Proceedings of the 2016 international conference on information networking (ICOIN), pp 63–68

    Google Scholar 

  64. Bi Z, Xu G, Xu G, Tian M, Jiang R, Zhang S (2022) Intrusion detection method for In-vehicle CAN bus based on message and time transfer matrix, security and communication networks, Article ID 2554280, 19. https://doi.org/10.1155/2022/2554280

  65. Rajbahadur GK, Malton AJ, Walenstein A, Hassan AE (2018) A survey of anomaly detection for connected vehicle cybersecurity and safety. In: IEEE intelligent vehicles symposium (IV), pp 421–426

    Google Scholar 

  66. Eunbi S, Song HM, Kim HK (2018) GIDS: GAN based intrusion detection system for in-vehicle network. In: Proceedings of the 2018 16th annual conference on privacy, security and trust (PST)

    Google Scholar 

  67. Anon (2013) Ann dependency (graph). https://commons.wikimedia.org/wiki/File:Ann_dependency_(graph).svg. Accessed 12 Aug 2022

  68. Boeira F, Asplund M, Barcellos M (2019) Decentralized proof of location in vehicular Ad Hoc networks, Comput Commun 147:98–110. Available at: https://doi.org/10.1016/J.COMCOM.2019.07.024

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Umair B. Chaudhry .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this chapter

Check for updates. Verify currency and authenticity via CrossMark

Cite this chapter

Nazaruddin, S.A., Chaudhry, U.B. (2023). A Machine Learning Based Approach to Detect Cyber-Attacks on Connected and Autonomous Vehicles (CAVs). In: Jahankhani, H., El Hajjar, A. (eds) Wireless Networks . Advanced Sciences and Technologies for Security Applications. Springer, Cham. https://doi.org/10.1007/978-3-031-33631-7_6

Download citation

Publish with us

Policies and ethics