Security-Aware CAN-FD Message Packing in Intelligent Automotive Cyber–Physical Systems

Controller area network with flexible data-rate (CAN-FD) has received great attention in automotive cyber–physical systems (ACPSs) due to its high bandwidth and long payload. However, CAN-FD adopts a broadcast message transmission mechanism and lacks security protection, making it extremely vulnerable to cyberattacks. CAN-FD message packing (packing signals into messages) with low bandwidth occupancy (utilization) under security constraints is the prerequisite for running intelligent applications in ACPS. In this work, we implement a two-stage CAN-FD message packing solution to reduce bandwidth utilization and improve signal acceptance rate under security constraints. The first stage solves the message packing problem of minimizing bus bandwidth utilization under security constraints. The second stage aims at improving the signal acceptance rate by repacking signals. Experimental results show that the first stage reduces average bus bandwidth utilization by 135% compared with the unpacking solution, and the second stage improves the average signal acceptance rate by 5% than existing advanced methods.