SoK: Kicking CAN Down the Road. Systematizing CAN Security Knowledge

arXiv:2510.02960 · cs.CR · Submitted 2025-10-03 · Read on arXiv

cs.CR

Submitted: 2025-10-03

Updated: 2026-09-25

Code: https://github.com/commaai/opendbc

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Controller Area Network — 31× in this paper
• Verification — 10× in this paper · explained in 2 episodes
• Formal Verification — 6× in this paper · explained in 2 episodes
• Highly Replicable — 5× in this paper
• Consistency — 4× in this paper · explained in 3 episodes
• Diagnostic Tools — 3× in this paper · explained in 2 episodes
• MACsec Key Agreement — 3× in this paper
• CAN in Automation — 2× in this paper
• Connectivity Association — 2× in this paper
• Core — 2× in this paper · explained in 2 episodes
• Digital Twin — 2× in this paper · explained in 4 episodes
• Fingerprinting — 2× in this paper · explained in 2 episodes
• In-line Key Agreement — 2× in this paper
• Network and Distributed System Security Symposium — 2× in this paper
• Steering — 2× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Analyzer — 1× in this paper · explained in 1 episode
• CANsec Key Agreement — 1× in this paper
• Connectivity Association Key — 1× in this paper
• Feature Extraction — 1× in this paper · explained in 2 episodes
• IEEE Intelligent Transportation Systems Conference — 1× in this paper
• Integrity Check Value — 1× in this paper
• Key Derivation Function — 1× in this paper
• Key Number — 1× in this paper
• Packet Number — 1× in this paper
• Secure Association Keys — 1× in this paper
• Transactions on Design Automation of Electronic Systems — 1× in this paper
• Transferability — 1× in this paper · explained in 4 episodes

Sources

• A Survey and Comparative Analysis of Security Properties of CAN Authentication Protocols
• State-of-the-Art Survey on In-Vehicle Network Communication (CAN-Bus) Security and Vulnerabilities
• CANShield: Deep Learning-Based Intrusion Detection Framework for Controller Area Networks at the Signal-Level
• CAIBA: Multicast Source Authentication for CAN Through Reactive Bit Flipping

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