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Vehicular controller area networks (CANs) are susceptible to masquerade attacks by malicious adversaries. In masquerade attacks, adversaries silence a targeted ID and then send malicious frames with forged content at the expected timing of benign frames. As masquerade attacks could seriously harm vehicle functionality and are the stealthiest attacks to detect in CAN, recent work has devoted attention to compare frameworks for detecting masquerade attacks in CAN. However, most existing works report offline evaluations using CAN logs already collected using simulations that do not comply with the domain's real-time constraints. Here we contribute to advance the state of the art by presenting a comparative evaluation of four different non-deep learning (DL)-based unsupervised online intrusion detection systems (IDS) for masquerade attacks in CAN. Our approach differs from existing comparative evaluations in that we analyze the effect of controlling streaming data conditions in a sliding window setting. In doing so, we use realistic masquerade attacks being replayed from the ROAD dataset. We show that although evaluated IDS are not effective at detecting every attack type, the method that relies on detecting changes in the hierarchical structure of clusters of time series produces the best results at the expense of higher computational overhead. We discuss limitations, open challenges, and how the evaluated methods can be used for practical unsupervised online CAN IDS for masquerade attacks.

Modern cyberattacks in cyber-physical systems (CPS) rapidly evolve and cannot be deterred effectively with most current methods which focused on characterizing past threats. Adaptive anomaly detection (AAD) is among the most promising techniques to detect evolving cyberattacks focused on fast data processing and model adaptation. AAD has been researched in the literature extensively; however, to the best of our knowledge, our work is the first systematic literature review (SLR) on the current research within this field. We present a comprehensive SLR, gathering 397 relevant papers and systematically analyzing 65 of them (47 research and 18 survey papers) on AAD in CPS studies from 2013 to 2023 (November). We introduce a novel taxonomy considering attack types, CPS application, learning paradigm, data management, and algorithms. Our analysis indicates, among other findings, that reviewed works focused on a single aspect of adaptation (either data processing or model adaptation) but rarely in both at the same time. We aim to help researchers to advance the state of the art and help practitioners to become familiar with recent progress in this field. We identify the limitations of the state of the art and provide recommendations for future research directions.

This investigation presents a data-driven Long-short Term Memory (LSTM) battery model for predicting State of Charge (SOC) for a lithium-ion battery (LiFePO4) during Electric Vehicle (EV) operation. The LSTM builds and updates a model using multivariate inputs that include physical properties, voltage, current, and temperature during operation. The goal of training is to accurately predict future SOC from multiple training examples using an online learning scheme. Initial results demonstrate excellent prediction with a Root Mean Square Error (RMSE) ranging from 0.372 < RMSE < 0.534 which outperforms results from literature that utilized other neural network algorithms.

Although ubiquitous in modern vehicles, Controller Area Networks (CANs) lack basic security properties and are easily exploitable. A rapidly growing field of CAN security research has emerged that seeks to detect intrusions or anomalies on CANs. Producing vehicular CAN data with a variety of intrusions is a difficult task for most researchers as it requires expensive assets and deep expertise. To illuminate this task, we introduce the first comprehensive guide to the existing open CAN intrusion detection system (IDS) datasets. We categorize attacks on CANs including fabrication (adding frames, e.g., flooding or targeting and ID), suspension (removing an ID's frames), and masquerade attacks (spoofed frames sent in lieu of suspended ones). We provide a quality analysis of each dataset; an enumeration of each datasets' attacks, benefits, and drawbacks; categorization as real vs. simulated CAN data and real vs. simulated attacks; whether the data is raw CAN data or signal-translated; number of vehicles/CANs; quantity in terms of time; and finally a suggested use case of each dataset. State-of-the-art public CAN IDS datasets are limited to real fabrication (simple message injection) attacks and simulated attacks often in synthetic data, lacking fidelity. In general, the physical effects of attacks on the vehicle are not verified in the available datasets. Only one dataset provides signal-translated data but is missing a corresponding \"raw\" binary version. This issue pigeon-holes CAN IDS research into testing on limited and often inappropriate data (usually with attacks that are too easily detectable to truly test the method). The scarcity of appropriate data has stymied comparability and reproducibility of results for researchers. As our primary contribution, we present the Real ORNL Automotive Dynamometer (ROAD) CAN IDS dataset, consisting of over 3.5 hours of one vehicle's CAN data. ROAD contains ambient data recorded during a diverse set of activities, and attacks of increasing stealth with multiple variants and instances of real (i.e. non-simulated) fuzzing, fabrication, unique advanced attacks, and simulated masquerade attacks. To facilitate a benchmark for CAN IDS methods that require signal-translated inputs, we also provide the signal time series format for many of the CAN captures. Our contributions aim to facilitate appropriate benchmarking and needed comparability in the CAN IDS research field.

Evaluating anomaly detection in multivariate time series (MTS) requires careful consideration of temporal dependencies, particularly when detecting subsequence anomalies common in fault detection scenarios. While time series cross-validation (TSCV) techniques aim to preserve temporal ordering during model evaluation, their impact on classifier performance remains underexplored. This study systematically investigates the effect of TSCV strategy on the precision-recall characteristics of classifiers trained to detect fault-like anomalies in MTS datasets. We compare walk-forward (WF) and sliding window (SW) methods across a range of validation partition configurations and classifier types, including shallow learners and deep learning (DL) classifiers. Results show that SW consistently yields higher median AUC-PR scores and reduced fold-to-fold performance variance, particularly for deep architectures sensitive to localized temporal continuity. Furthermore, we find that classifier generalization is sensitive to the number and structure of temporal partitions, with overlapping windows preserving fault signatures more effectively at lower fold counts. A classifier-level stratified analysis reveals that certain algorithms, such as random forests (RF), maintain stable performance across validation schemes, whereas others exhibit marked sensitivity. This study demonstrates that TSCV design in benchmarking anomaly detection models on streaming time series and provide guidance for selecting evaluation strategies in temporally structured learning environments.

Modern cyberattacks in cyber-physical systems (CPS) rapidly evolve and cannot be deterred effectively with most current methods which focused on characterizing past threats. Adaptive anomaly detection (AAD) is among the most promising techniques to detect evolving cyberattacks focused on fast data processing and model adaptation. AAD has been researched in the literature extensively; however, to the best of our knowledge, our work is the first systematic literature review (SLR) on the current research within this field. We present a comprehensive SLR, gathering 397 relevant papers and systematically analyzing 65 of them (47 research and 18 survey papers) on AAD in CPS studies from 2013 to 2023 (November). We introduce a novel taxonomy considering attack types, CPS application, learning paradigm, data management, and algorithms. Our analysis indicates, among other findings, that reviewed works focused on a single aspect of adaptation (either data processing or model adaptation) but rarely in both at the same time. We aim to help researchers to advance the state of the art and help practitioners to become familiar with recent progress in this field. We identify the limitations of the state of the art and provide recommendations for future research directions.