This work presents an experimental evaluation of the detection performance of eight different algorithms for anomaly detection on the Controller Area Network (CAN) bus of modern vehicles based on the analysis of the timing or frequency of CAN messages. This work solves the current limitations of related scientific literature, that is based on private dataset, lacks of open implementations, and detailed description of the detection algorithms. These drawback prevent the reproducibility of published results, and makes it impossible to compare a novel proposal against related work, thus hindering the advancement of science. This paper solves these issues by publicly releasing implementations, labeled datasets and by describing an unbiased experimental comparisons.

翻译：本研究对基于控制器局域网（CAN）总线消息时序或频率分析的八种不同异常检测算法的检测性能进行了实验评估。本工作解决了当前相关科学文献的局限性，这些文献基于私有数据集，缺乏公开实现，且对检测算法的描述不够详细。这些缺陷阻碍了已发表结果的可复现性，并使得新提出的方案无法与现有工作进行对比，从而制约了科学的进步。本文通过公开提供实现代码、标注数据集，并描述无偏见的实验比较，解决了上述问题。