Evading Voltage-Based Intrusion Detection on Automotive CAN

The controller area network (CAN) is widely adopted in modern automobiles to enable communications among in-vehicle electronic control units (ECUs). Lacking mainstream network security capabilities due to resource constraints, the CAN is susceptible to the ECU masquerade attack in which a compromised (attacker) ECU impersonates an uncompromised (victim) ECU and spoofs the latter's CAN messages. A cost-effective state-of-the-art defense against such attacks is the CAN bus voltage-based intrusion detection system (VIDS), which identifies the source of each message using its voltage fingerprint on the bus. Since the voltage fingerprint emanates from an ECU's hardware characteristics, an attacker ECU by itself cannot controllably modify it. As such, VIDS has been proved effective in detecting masquerade attacks that each involve a single attacker.