通信学报 ›› 2020, Vol. 41 ›› Issue (6): 161-174.doi: 10.11959/j.issn.1000-436x.2020130
吴武飞1,李仁发2,曾刚3,谢勇4,谢国琪2
修回日期:
2020-05-22
出版日期:
2020-06-25
发布日期:
2020-07-04
作者简介:
吴武飞(1986- ),男,江西安义人,博士,南昌大学讲师,主要研究方向为嵌入式计算、CPS、车载网络安全技术|李仁发(1957- ),男,湖南郴州人,博士,湖南大学教授、博士生导师,主要研究方向为计算机体系结构、嵌入式计算、CPS、物联网|曾刚(1970- ),男,湖南常德人,博士,名古屋大学助理教授,主要研究方向为能耗计算、实时嵌入系统设计|谢勇(1985- ),男,湖南衡阳人,博士,厦门理工学院副教授,主要研究方向为嵌入式系统、CPS、车内网络的设计和优化|谢国琪(1983- ),男,湖南宁乡人,博士,湖南大学副教授,主要研究方向为嵌入式与信息物理系统、并行与分布式系统、安全关键系统
基金资助:
Wufei WU1,Renfa LI2,Gang ZENG3,Yong XIE4,Guoqi XIE2
Revised:
2020-05-22
Online:
2020-06-25
Published:
2020-07-04
Supported by:
摘要:
针对汽车的网络攻击不仅会造成隐私泄露和经济损失,严重情况下还会危及生命安全,甚至上升为国家公共安全问题,因此智能网联车网络安全问题已成为当前研究的热点。首先,对智能网联车中车载网络的结构现状和特点进行了介绍,阐述了车载网络安全面临的设计约束和挑战。其次,结合车载网络当前面临的功能安全和信息安全问题,综述了近年来车载网络安全方面国内外最新研究进展。最后,从车载网络结构的特点出发,从标准建设、功能安全和信息安全3个方面,围绕智能网联车网络信息安全问题指出了一些重要的研究方向和建议。
中图分类号:
吴武飞,李仁发,曾刚,谢勇,谢国琪. 智能网联车网络安全研究综述[J]. 通信学报, 2020, 41(6): 161-174.
Wufei WU,Renfa LI,Gang ZENG,Yong XIE,Guoqi XIE. Survey of the intelligent and connected vehicle cybersecurity[J]. Journal on Communications, 2020, 41(6): 161-174.
表1
面向智能网联汽车的主流车载网络协议比较分析"
主流车载网络协议 | 最高带宽 | 最大数据负载/B | 最小响应时间 | 实现技术 | 触发方式 | 最长总线/m | 支持节点数/个 | 节点成本 | 可扩展性 | 扩展协议 |
LIN | 1~20 kbit/s | 8 | 12.8 ms | 主从 | 轮询 | 40 | 16 | 低 | 高 | 无 |
CAN | 10 kbit/s~1 Mbit/s | 8 | 130 us | CSMA/CR | ET | 40 | 128 | 中等 | 高 | FTT-CAN[ |
FlexRay | 10 Mbit/s | 254 | 65 us | TDMA+CSMA | ET/TT | 未定 | >16 | 中等 | 中等 | 最新规范为V3.0.1[ |
MOST | 150 Mbit/s | 3072 | 333 us | TDMA | TT | 未定 | 64 | 高 | 低 | MOST50[ |
Ethernet | 1 Gbit/s | 1500 | 12 us(1 GB)、120 us(100 MB) | CSMA | ET/TT | 100 | 无特定 | 低 | 高 | Ethernet AVB[ |
表3
近10年来针对汽车的网络攻击分析与比较"
攻击方式 | 文献 | 时间 | 攻击入口 | 攻击模型 | 造成影响 | CIA威胁 |
直接物理接入攻击 | 文献[ | 2011年 | CAN非法接入,OBD端口 | 帧嗅听,消息重放 | 控制车窗、警示灯开关、安全气囊系统失效等 | 完整性、机密性 |
文献[ | 2010年 | OBD端口 | 帧嗅听,消息重放、伪装, DoS攻击 | 控制车身、广播、引擎等功能模块,使CAN失效 | 完整性、机密性、可用性 | |
文献[ | 2015年 | OBD端口 | 帧嗅听,消息重放、伪装, DoS攻击 | 实现无线接入攻击,控制雨刷、引擎等功能模块 | 完整性、机密性、可用性 | |
文献[ | 2018年 | USB | 逻辑缺陷 | 车载娱乐系统 | 保密性 | |
近距离无线攻击 | 文献[ | 2015年 | 蓝牙 | 帧嗅听,消息重放、伪装 | 对汽车实现完整控制 | 完整性、机密性 |
文献[ | 2010年 | 胎压监测系统(TMPS,tire pressure monitoring system) | 嗅听,消息重放、伪装 | 对汽车造成安全威胁 | 完整性、机密性 | |
远程无线攻击 | 文献[ | 2019年 | 远程无线 | 消息重放、伪装 | 对一辆行驶中的汽车进行了远程控制刹车攻击 | 完整性、机密性 |
文献[ | 2016年 | 数字蜂窝、Wi-Fi | 通过安卓手机远程控制 | 实现车身远程非法控制 | 完整性、机密性 | |
文献[ | 2017年 | Wi-Fi | 通过Wi-Fi接入 | 实现了远程对车载CAN的接入,汽车功能控制 | 完整性、机密性 | |
文献[ | 2020年 | Wi-Fi | Wi-Fi 协议栈漏洞利用 | 用户隐私数据泄露,威胁汽车功能安全系统运行 | 保密性、完整性 |
表4
车载网络安全增强技术比较与分析"
技术 | 应用范围 | 代表性文献及技术 | 信息安全性保障 | 特点及挑战 |
数据加密 | 数据链路层 | 轻量级AES[ | 安全性、完整性、正确性 | 对网络消息传输安全性和完整性、正确性的增强,主要面临安全性与计算资源之间的平衡问题 |
消息认证 | 物理层、数据链路层 | TESLA[ | 正确性 | 对网络消息传输的正确性的增强保护,主要面临网络带宽带来的设计约束问题 |
入侵检测 | 物理层、数据链路层、应用层 | 一类SVM[ | 可用性、完整性 | 对网络可用性和完整性的增强保护,当前主要挑战是提高检测精准度和稳健性,降低误报率和检测响应时间 |
[1] | 郄广, 张岩 . 智能车与网联技术分析[J]. 移动通信, 2020,44(1): 80-85. |
QIE G , ZHANG Y . Intelligent connected vehicle:a survey of the technical analysis[J]. Mobile Communications, 2020,44(1): 80-85. | |
[2] | 方凯正, 朱成, 刘頔 . 5G技术在汽车产业中的创新应用研究[J]. 科技与创新, 2020(6): 148-149. |
FANG K Z , ZHU C , LIU D . Research on the innovative application of 5G technology in automobile industry[J]. Science and Technology &Innovation, 2020(6): 148-149. | |
[3] | 李克强, 戴一凡, 李升波 ,等. 智能网联汽车(ICV)技术的发展现状及趋势[J]. 汽车安全与节能学报, 2017,8(1): 1-14. |
LI K Q , DAI Y F , LI S B ,et al. State-of-the-art and technical trends of intelligent and connected vehicles[J]. Journal of Automotive Safety and Energy, 2017,8(1): 1-14. | |
[4] | 中国汽车工程学会. 智能网联汽车信息安全白皮书[R].(2017-10-17)[2019-11-18]. |
China Society of Automotive Engineering. White paper on intelligent network automobile information security[R].(2017-10-17)[201911-18]. | |
[5] | 荀毅杰, 刘家佳, 赵静 . 智能网联汽车的安全威胁研究[J]. 物联网学报, 2019,3(4): 72-81. |
XUN Y J , LIU J J , ZHAO J . Research on security threat of intelligent connected vehicle[J]. Chinese Journal on Internet of Things, 2019,3(4): 72-81. | |
[6] | 李岩松 . 复杂网络环境下智能网联汽车安全威胁分析与远程入侵研究[D]. 西安:西安电子科技大学, 2019. |
LI Y S . Analysis of safety threats and remote invasion of intelligent and connected vehicle in complex network environment[D]. Xi’an:Xidian University, 2019. | |
[7] | JADHAV S , KSHIRSAGAR D . A survey on security in automotive networks[C]// International Conference on Computing Communication Control and Automation. Piscataway:IEEE Press, 2018: 1324-1330. |
[8] | YANG D , JIANG K , ZHAO D ,et al. Intelligent and connected vehicles:Current status and future perspectives[J]. Science China-Technological Sciences, 2018,61(10): 1446-1471. |
[9] | ALNABULSI H , ISLAM R . Protecting code injection attacks in intelligent transportation system[C]// Trust Security and Privacy in Computing and Communications. Piscataway:IEEE Press, 2019: 799-806. |
[10] | 苗圩 . 苗圩:发展智能网联汽车的六大重点工作[J]. 汽车纵横, 2017(7): 21-23. |
MIAO W . Miao wei:the development of intelligent network car six key work[J]. Automotive crossbar, 2017(7): 21-23. | |
[11] | DIBAEI M , ZHENG X , JIANG K ,et al. An overview of attacks and defences on intelligent connected vehicles[J]. arXiv Preprint,arXiv:1907.07455, 2019 |
[12] | 吴武飞 . 新一代汽车网络入侵检测及安全增强设计研究[D]. 长沙:湖南大学, 2018. |
WU W F . Research on intrusion detection and cybersecurity enhancement design for new in-vehicle network environment[D]. Changsha:Hunan University, 2018. | |
[13] | SHAW R , JACKMAN B . An introduction to FlexRay as an industrial network[C]// International Symposium on Industrial Electronics. Piscataway:IEEE Press, 2008: 1849-1854. |
[14] | THIELE D , ERNST R . Formal worst-case timing analysis of ethernet TSN’s burst-limiting shaper[C]// Conference on Design,Automation &Test in Europe. Piscataway:IEEE Press, 2016: 187-192. |
[15] | ISO. Road vehicle-interchange of digital information-controller area network (CAN) for high-speed communication[S].ISO 11898,(2015-12-01)[2019-11-18]. |
[16] | RUFF M , . Evolution of local interconnect network (LIN) solutions[C]// Vehicular Technology Conference. Piscataway:IEEE Press, 2003: 3382-3389. |
[17] | ALMEIDA L , PEDREIRAS P , FONSECA J A G . The FTT-CAN protocol:why and how[J]. IEEE Transactions on Industrial Electronics, 2002,49(6): 1189-1201. |
[18] | FIJAKOWSKI B T . Time triggered controller area networking[M]. Netherlands: SpringerPress, 2011: 69-72. |
[19] | WOO S , JO H J , KIM I S ,et al. A practical security architecture for in-vehicle CAN-FD[J]. IEEE Transactions on Intelligent Transportation Systems, 2016,17(8): 2248-2261. |
[20] | ALDERISI G , IANNIZZOTTO G , PATTI G ,et al. Prioritization-based bandwidth allocation for MOST networks[C]// Emerging Technologies and Factory Automation. Piscataway:IEEE Press, 2013: 1-4. |
[21] | POFERL S , BECHT M , DE P ,et al. 150 Mbit/s MOST,the next generation automotive infotainment system[C]// International Conference on Transparent Optical Networks. Piscataway:IEEE Press, 2010: 1-2. |
[22] | CAO J , CUIJPERS P J L , BRIL R J ,et al. Tight worst-case response-time analysis for ethernet AVB using eligible intervals[C]// IEEE World Conference on Factory Communication Systems. Piscataway:IEEE Press, 2016: 1-8. |
[23] | KERMIA O . Schedulability analysis and efficient scheduling of rate constrained messages in the TTEthernet protocol[J]. Software Practice& Experience, 2017: 1485-1499. |
[24] | 魏学哲, 孙泽昌, 陈觉晓 . 汽车网络分类方法及其主流协议发展趋势[J]. 同济大学学报(自然科学版), 2004(6): 762-766. |
WE X Z , SUN Z C , CHEN J X . Automobile network classification method and its mainstream protocol development trend[J]. Journal of Tongji University (Natural Science Edition), 2004(6): 762-766. | |
[25] | 罗峰, 苏剑, 袁大宏 . 汽车网络与总线标准[J]. 汽车工程, 2003(4): 372-376. |
LUO F , SU J , YUAN D H . Automotive network and bus standard[J]. Automotive Engineering, 2003(4): 372-376. | |
[26] | 刘冬冬, 张天宏, 陈建 ,等. TTP/C协议的关键特性研究[J]. 计算机测量与控制, 2012,20(10): 2769-2772. |
LIU D D , ZHANG T H , CHEN J ,et al. TTP/C protocol key features study[J]. Computer Measurement & Control, 2012,20(10): 2769-2772. | |
[27] | 车联网网络安全委员会. 车联网网络安全白皮书[R].(2017-09-02)[2019-11-18]. |
Internet of Vehicles Network Security Committee. White paper on Internet of vehicles network security[R].(2017-09-02)[2019-11-18]. | |
[28] | CHECKOWAY S , MCCOY D , KANTOR B ,et al. Comprehensive experimental analyses of automotive attack surfaces[C]// Usenix Conference on Security. Berkeley:USENIX Association, 2011:6. |
[29] | KOSCHER K , CZESKIS A , ROESNER F ,et al. Experimental security analysis of a modern automobile[C]// 2010 IEEE Symposium on Security and Privacy. Piscataway:IEEE Press, 2010: 447-462. |
[30] | WOO S , JO H J , DONG H L . A practical wireless attack on the connected car and security protocol for in-vehicle CAN[J]. IEEE Transactions on Intelligent Transportation Systems, 2015,16(2): 993-1006. |
[31] | KEENLAB. A review of safety studies on multiple BMW models[R].(2018-05-22)[2019-11-18]. |
[32] | FOSTER I , PRUDHOMME A , KOSCHER K ,et al. Fast and vulnerable:a story of telematic failures[C]// Usenix Conference on Offensive Technologies. Berkeley:USENIX Association, 2015: 1-9. |
[33] | ROUF I , MILLER R , MUSTAFA H ,et al. Security and privacy vulnerabilities of in-car wireless networks:a tire pressure monitoring system case study[C]// 19th Usenix Security Symposium. Berkeley:USENIX Association, 2010: 11-13. |
[34] | KHAN Z , CHOWDHURY M , ISLAM M ,et al. In-vehicle false information attack detection and mitigation framework using machine learning and software defined networking[J]. arXiv Preprint,arXiv:1906.10203, 2019 |
[35] | TAYLOR A , LEBLANC S , JAPKOWICZ N ,et al. Anomaly detection in automobile control network data with long short-term memory networks[C]// IEEE International Conference on Data Science & Advanced Analytics. Piscataway:IEEE Press, 2016: 130-139. |
[36] | KEENLAB. CAR hacking research:remote attack tesla motors[R].(2016-09-19)[2019-11-18]. |
[37] | KEENLAB. The exploitation of Wi-Fi protocol stack vulnerability on Tesla model S[R].(2020-01-02)[2020-05-22]. |
[38] | TAO Y , KONG L , WEI X ,et al. Resisting relay attacks on vehicular passive keyless entry and start systems[C]// International Conference on Fuzzy Systems & Knowledge Discovery. Piscataway:IEEE Press, 2012: 2232-2236. |
[39] | CHO K T , KANG G S . Error handling of in-vehicle networks makes them vulnerable[C]// ACM Sigsac Conference on Computer and Communications Security. New York:ACM Press, 2016: 1044-1055. |
[40] | SUN J , IQBAL S , ARABI N S ,et al. A classification of attacks to in-vehicle components (IVCs)[J]. Vehicular Communications, 2020(25): 1-16. |
[41] | POP T , ELES P , PENG Z . Schedulability analysis for distributed heterogeneous time/event triggered real-time systems[C]// Euromicro Conference on Real-Time Systems. Piscataway:IEEE Press, 2003: 257-266. |
[42] | DAVIS R I , CUCU G L , BERTOGNA M ,et al. A review of priority assignment in real-time systems[J]. Journal of Systems Architecture, 2016(65): 64-82. |
[43] | DAVIS R I , BURNS A , BRIL R J ,et al. Controller area network (CAN) schedulability analysis:refuted,revisited and revised[J]. Real-Time Systems, 2007,35(3): 239-272. |
[44] | XIE G , ZENG G , LI Z ,et al. Adaptive dynamic scheduling on multifunctional mixed-criticality automotive cyber-physical systems[J]. IEEE Transactions on Vehicular Technology, 2017,66(8): 6676-6692. |
[45] | XIE G , CHEN Y , LIU Y ,et al. Minimizing development cost with reliability goal for automotive functional safety during design phase[J]. IEEE Transactions on Reliability, 2017,PP(99):1. |
[46] | XIE G , ZENG G , LIU Y ,et al. Fast functional safety verification for distributed automotive applications during early design phase[J]. IEEE Transactions on Industrial Electronics, 2017,PP(99):1. |
[47] | XIE Y , LIU L , LI R ,et al. Security-aware signal packing algorithm for CAN-based automotive cyber-physical systems[J]. IEEE/CAA Journal of Automatica Sinica, 2015,2(4): 422-430. |
[48] | XIE Y , ZENG G , KURACHI R ,et al. Security/timing-aware design space exploration of CAN FD for automotive cyber-physical systems[J]. IEEE Transactions on Industrial Informatics, 2018,15(2): 1094-1104. |
[49] | PIRYADARSHINI I . Introduction on cyber security[M]. New York: John Wiley & SonsPress, 2019. |
[50] | WI W , LI R , XIE G ,et al. A survey of intrusion detection for in-vehicle networks[J]. IEEE Transactions on Intelligent Transportation Systems, 2020,21(3): 919-933. |
[51] | LEE H , GEUM Y . Development of the scenario-based technology roadmap considering layer heterogeneity:an approach using CIA and AHP[J]. Technological Forecasting and Social Change, 2017: 12-24. |
[52] | PENG C , ZENG H . Response time analysis of digraph real-time tasks scheduled with static priority:generalization,approximation,and improvement[J]. Real-Time Systems, 2017(1): 1-41. |
[53] | CHEN G , GUAN N , LIU D ,et al. Utilization-based scheduling of flexible mixed-criticality real-time tasks[J]. IEEE Transactions on Computers, 2018PP(99):1. |
[54] | XIE G , ZENG G , KURACHI R ,et al. WCRT analysis of CAN messages in gateway-integrated in-vehicle networks[J]. IEEE Transactions on Vehicular Technology, 2017,66(11): 9623-9637. |
[55] | DAVIS R I , ALTMEYER S , REINEKE J ,et al. Response-time analysis for fixed-priority systems with a write-back cache[J]. Real-Time Systems, 2018,54(4): 912-963. |
[56] | CHANG W , SAMARJIT C . Resource-aware automotive control systems design:a cyber-physical systems approach[J]. Foundations &Trends? in Electronic Design Automation, 2016,10(4): 249-369. |
[57] | VATANPAVAR K , FARUAUE M A . ACQUA:adaptive and cooperative quality-aware control for automotive cyber-physical systems[C]// 2017 IEEE/ACM International Conference on Computer Aided Design. Piscataway:IEEE Press, 2017: 193-200. |
[58] | LUO F , HOU S . Cyberattacks and countermeasures for intelligent and connected vehicles[J]. SAE International Journal of Passenger Cars-Electronic and Electrical Systems, 2019,12(1): 55-66. |
[59] | GURGENS S , ZELLE D . A hardware based solution for freshness of secure onboard communication in vehicles[C]// Computer Security. Berlin:Springer, 2018: 53-68. |
[60] | SARPM. Secure message authentication protocol for CAN[D]. Ankar:Middle East Technical University, 2020. |
[61] | WANG E , XU W , SASTRY S ,et al. Hardware module-based message authentication in intra-vehicle networks[C]// 2017 ACM/IEEE 8th International Conference on Cyber-Physical Systems. Piscataway:IEEE Press, 2017: 207-216. |
[62] | SIDDIQUI A S , PLUSQUELLIC Y G , SAQIB F ,et al. Secure communication over CANbus[C]// International Midwest Symposium on Circuits and Systems. Piscataway:IEEE Press, 2017: 1264-1267. |
[63] | GU Z , HAN G , ZENG H ,et al. Security-aware mapping and scheduling with hardware co-processors for FlexRay-based distributed embedded systems[J]. IEEE Transactions on Parallel & Distributed Systems, 2016,27(10): 3044-3057. |
[64] | HERREWEGE A V , SINGELEE D , VERBAUWHEDE I . CANAuth-a simple,backward compatible broadcast authentication protocol for CAN bus[C]// ECRYPT Workshop on Lightweight Cryptography.[S.n.:s.l]. 2011: 299-235. |
[65] | JO H J , KIM J H , CHOI H Y ,et al. MAuth-CAN:masquerade-attack-proof authentication for in-vehicle networks[J]. IEEE Transactions on Vehicular Technology, 2020,69(2): 2204-2218. |
[66] | KANG K D . A practical and lightweight source authentication protocol using one-way hash chain in can[D]. Daegu:Daegu Gyeongbuk Institute of Science & Technology, 2017. |
[67] | CHO K , SHIN K G . Fingerprinting electronic control units for vehicle intrusion detection[C]// Usenix Security Symposium. Berkely:USENIX Association, 2016: 911-927. |
[68] | HALDER S , CONTI M , DAS S K ,et al. COIDS:a clock offset based intrusion detection system for controller area networks[C]// International Conference of Distributed Computing and Networking. New York:ACM Press, 2020: 1-10. |
[69] | 李飞, 王超 . 基于关联规则挖掘的车载网络入侵检测技术研究[J]. 数据挖掘, 2017,7(3): 65-69. |
LI F , WANG C . Research on vehicle network intrusion detection technology based on association rule mining[J]. Data Mining, 2017,7(3): 65-69. | |
[70] | LEE H , JEONG S , KIM H K ,et al. OTIDS:a novel intrusion detection system for in-vehicle network by using remote frame[C]// Conference on Privacy Security and Trust. Piscataway:IEEE Press, 2017: 57-66. |
[71] | 曾凡 . 网联汽车入侵检测系统的研究与实现[D]. 成都:电子科技大学, 2018. |
ZENG F . Research and implementation of networked vehicle intrusion detection system[D]. Chengdu:University of Electronic Science and Technology, 2018. | |
[72] | 李飞, 廖租奇, 张鹏飞 . 一种基于时钟偏移的车载网络入侵检测方法及系统:CN201811137466.0[P].(2019-01-22)[2019-11-18]. |
LI F , LIAO Z Q , ZHANG P F . A method and system of on-board network intrusion detection based on clock offset:CN201811137466.0[P].(2019-01-22)[2019-11-18]. | |
[73] | 关亚东 . 车内 CAN 总线入侵检测算法研究[D]. 黑龙江:哈尔滨工业大学, 2019. |
GUAN Y D . Research on incar CAN bus intrusion detection algorithm[D]. Heilongjiang:Harbin Institute of Technology, 2019. | |
[74] | 秦洪懋, 闫梦如, 冀浩杰 ,等. 一种基于报文序列预测的车载网络入侵检测方法:CN201910499446.6[P].(2019-08-20)[2019-11-18]. |
QIN H M , YAN M R , JI H J ,et al. A vehicle-mounted network intrusion detection method based on message sequence prediction:CN201910499446.6[J].(2019-08-20)[2019-11-18]. | |
[75] | CHO K , SHIN K G . Viden:attacker identification on in-vehicle networks[C]// Computer and Communications Security. New York:ACM Press, 2017: 1109-1123. |
[76] | SONG H M , KIM H R , KIM H K . Intrusion detection system based on the analysis of time intervals of CAN messages for in-vehicle network[C]// International Conference on Information Networking. Piscataway:IEEE Press, 2016: 63-68. |
[77] | YANG Y , DUAN Z , TEHRANIPOOR M . Identify a spoofing attack on an in-vehicle CAN bus based on the deep features of an ECU fingerprint signal[J]. Smart Cities, 2020,3(1): 17-30. |
[78] | NING J , LIU J . An experimental study towards attacker identification in automotive networks[C]// 2019 IEEE Global Communications Conference. Piscataway:IEEE Press, 2019: 1-6. |
[79] | WANG E , XU W , SASTRY S ,et al. Hardware module-based message authentication in intra-vehicle networks[C]// 2017 ACM/IEEE 8th International Conference on Cyber-Physical Systems. Piscataway:IEEE Press, 2017: 207-216. |
[80] | VAN W F , WANG Y , KHOJANDI A ,et al. Real-time sensor anomaly detection and identification in automated vehicles[J]. IEEE Transactions on Intelligent Transportation Systems, 2020,21(3): 1264-1276. |
[81] | MARCHETTI M , STABILI D , GUIDO A ,et al. Evaluation of anomaly detection for in-vehicle networks through information-theoretic algorithms[C]// IEEE International Forum on Research and Technologies for Society and Industry Leveraging a Better Tomorrow. Piscataway:IEEE Press, 2016: 1-6. |
[82] | MUTER M , ASAJ N . Entropy-based anomaly detection for in-vehicle networks[C]// IEEE Intelligent Vehicles Symposium. Piscataway:IEEE Press, 2011: 1110-1115. |
[83] | WU W F , HUANG Y , KURACHI R ,et al. Sliding window optimized information entropy analysis method for intrusion detection on in-vehicle networks[J]. IEEE Access, 2018(6): 45233-45245. |
[84] | 于赫, 秦贵和, 孙铭会 ,等. 车载CAN总线网络安全问题及异常检测方法[J]. 吉林大学学报(工学版), 2016,46(4): 1246-1253. |
YU H , QIN G H , SUN M H ,et al. Cyber security and anomaly detection method for in-vehicle CAN[J]. Journal of Jilin University (Engineering Edition), 2016,46(4): 1246-1253. | |
[85] | 闫鑫 . 基于Renyi信息熵的CAN总线异常检测方法[D]. 吉林:吉林大学, 2017. |
YAN X . CAN bus anomaly detection method based on Renyi information entropy[D]. Jilin:Jilin University, 2017. | |
[86] | 吴玲云, 秦贵和, 于赫 . 基于随机森林的车载 CAN 总线异常检测方法[J]. 吉林大学学报(理学版), 2018,56(3): 663-668. |
WU L Y , QIN G H , YU H . Random forest based vehicle CAN bus anomaly detection method[J]. Journal of Jilin University (Science Edition), 2018,56(3): 663-668. | |
[87] | JEON B , JU H , JUNG B ,et al. A study on traffic characteristics for anomaly detection of Ethernet-based IVN[C]// International Conference on Information and Communication Technology Convergence. Piscataway:IEEE Press, 2019: 951-953. |
[88] | MOUSAVINEJAD E , YANG F , HAN Q ,et al. Distributed cyber attacks detection and recovery mechanism for vehicle platooning[J]. IEEE Transactions on Intelligent Transportation Systems, 2019,PP(99):1. 1-14. |
[89] | TAYLOR A , LEBLANC S , JAPKOWICZ N ,et al. Anomaly detection in automobile control network data with long short-term memory networks[C]// IEEE International Conference on Data Science and Advanced Analytics. Piscataway:IEEE Press, 2016: 130-139. |
[90] | ANDREAS T . Anomaly detection in recordings from in-vehicle networks[J]. Big Data and Applications, 2014(3): 23-29. |
[91] | KANG M , KANG J . A novel intrusion detection method using deep neural network for in-vehicle network security[C]// Vehicular Technology Conference. Piscataway:IEEE Press, 2016: 1-5. |
[92] | CASILLO M , COPPOLA S , DE S M ,et al. Embedded intrusion detection system for detecting attacks over CAN-BUS[C]// 2019 4th International Conference on System Reliability and Safety. Piscataway:IEEE Press, 2019: 136-141. |
[93] | DOSOVITSKIY A , ROS G , CODEVILLA F ,et al. CARLA:an open urban driving simulator[J]. arXiv Preprint,arXiv:1711.03938, 2017 |
[94] | ISO. Road vehicles-functional safety:ISO 26262[S].(2018-12-01)[2019-11-18]. |
[95] | SAE. Cybersecurity guidebook for cyber-physical vehicle systems,standard:J3061_201601[S].(2016-01-01)[2019-11-18]. |
[96] | VU D H , AOKI T . Faithfully formalizing OSEK/VDX operating system specification[C]// Symposium on Information & Communication Technology. New York:ACM Press, 2012: 13-20. |
[97] | AUTOSAR. Specification of operating system,release 4.1.technical report[R].(2017-12-03)[2019-11-18]. |
[98] | AUTOMOTIVE SIG . The SPICE user group,automotive SPICE process assessment model v2.5 and process reference model v4.5[R].(2010-09-05)[2019-11-18]. |
[99] | ISO. Road vehicles-safety of the intended functionality:PD ISO/PAS 21448[S].(2019-02-15)[2019-11-18]. |
[100] | 全国信息安全标准化技术委员会. 汽车电子网络安全标准化白皮书[R].(2018-04-16)[2019-11-18]. |
National Information Security Standardization Technical Committee. White paper on automotive electronic network security standardization[R].(2018-04-16)[2019-11-18]. |
[1] | 赵仕祺, 黄小红, 钟志港. 基于信誉的域间路由选择机制的研究与实现[J]. 通信学报, 2023, 44(6): 47-56. |
[2] | 谢人超, 文雯, 唐琴琴, 刘云龙, 谢高畅, 黄韬. 轨道交通移动边缘计算网络安全综述[J]. 通信学报, 2023, 44(4): 201-215. |
[3] | 徐明, 张保俊, 伍益明, 应晨铎, 郑宁. 面向网络攻击和隐私保护的多智能体系统分布式共识算法[J]. 通信学报, 2023, 44(3): 117-127. |
[4] | 康海燕, 龙墨澜. 基于吸收马尔可夫链攻击图的网络攻击分析方法研究[J]. 通信学报, 2023, 44(2): 122-135. |
[5] | 郭渊博, 李勇飞, 陈庆礼, 方晨, 胡阳阳. 融合Focal Loss的网络威胁情报实体抽取[J]. 通信学报, 2022, 43(7): 85-92. |
[6] | 张红斌, 尹彦, 赵冬梅, 刘滨. 基于威胁情报的网络安全态势感知模型[J]. 通信学报, 2021, 42(6): 182-194. |
[7] | 张腾飞, 余顺争. 移动设备加密流量的用户信息探测研究展望[J]. 通信学报, 2021, 42(2): 154-167. |
[8] | 程旭, 王莹莹, 张年杰, 付章杰, 陈北京, 赵国英. 基于空间感知的多级损失目标跟踪对抗攻击方法[J]. 通信学报, 2021, 42(11): 242-254. |
[9] | 黄韬, 刘江, 汪硕, 张晨, 刘韵洁. 未来网络技术与发展趋势综述[J]. 通信学报, 2021, 42(1): 130-150. |
[10] | 罗智勇,杨旭,刘嘉辉,许瑞. 基于贝叶斯攻击图的网络入侵意图分析模型[J]. 通信学报, 2020, 41(9): 160-169. |
[11] | 李涛,郭渊博,琚安康. 融合对抗主动学习的网络安全知识三元组抽取[J]. 通信学报, 2020, 41(10): 80-91. |
[12] | 周翰逊,陈晨,冯润泽,熊俊坤,潘宏,郭薇. 基于值导数GRU的移动恶意软件流量检测方法[J]. 通信学报, 2020, 41(1): 102-113. |
[13] | 蒋侣,张恒巍,王晋东. 基于信号博弈的移动目标防御最优策略选取方法[J]. 通信学报, 2019, 40(6): 128-137. |
[14] | 罗智勇, 杨旭, 孙广路, 谢志强, 刘嘉辉. 基于马尔可夫的有限自动机入侵容忍系统模型[J]. 通信学报, 2019, 40(10): 79-89. |
[15] | 黄世锐,张恒巍,王晋东,窦睿彧. 基于定性微分博弈的网络安全威胁预警方法[J]. 通信学报, 2018, 39(8): 29-36. |
阅读次数 | ||||||
全文 |
|
|||||
摘要 |
|
|||||
|