A variety of new features have been added in the present-day vehicles like a pre-crash warning, the vehicle to vehicle communication, semi-autonomous driving systems, telematics, drive by wire. They demand very high bandwidth from in-vehicle networks. Various electronic control units present inside the automotive transmit useful information via automotive multiplexing. Automotive multiplexing allows sharing information among various intelligent modules inside an automotive electronic system. Optimum functionality is achieved by transmitting this data in real time. The high bandwidth and high-speed requirement can be achieved either by using multiple buses or by implementing higher bandwidth. But, by doing so the cost of the network and the complexity of the wiring in the vehicle increases. Another option is to implement higher layer protocol which can reduce the amount of data transferred by using data reduction (DR) techniques, thus reducing the bandwidth usage. The implementation cost is minimal as only the changes are required in the software and not in hardware. In our work, we present a new data reduction algorithm termed as “Comprehensive Data Reduction (CDR)” algorithm. The proposed algorithm is used for minimization of the bus utilization of CAN bus for a future vehicle. The reduction in the busload was efficiently made by compressing the parameters; thus, more number of messages and lower priority messages can be efficiently sent on the CAN bus. The proposed work also presents a performance analysis of proposed algorithm with the boundary of fifteen compression algorithm, and Compression area selection algorithms (Existing Data Reduction Algorithm). The results of the analysis show that proposed CDR algorithm provides better data reduction compared to earlier proposed algorithms. The promising results were obtained in terms of reduction in bus utilization, compression efficiency, and percent peak load of CAN bus. This Reduction in the bus utilization permits to utilize a larger number of network nodes (ECU’s) in the existing system without increasing the overall cost of the system. The proposed algorithm has been developed for automotive environment, but it can also be utilized in any applications where extensive information transmission among various control units is carried out via a multiplexing bus.

Falling asleep while operating a moving vehicle is a contributing factor to the statistics of road related accidents. It has been estimated that 20% of all accidents where a vehicle has been involved are due to sleepiness behind the wheel. To prevent accidents and to save lives are of uttermost importance. In this thesis, given the world’s largest dataset of driver participants, two methods of evaluating driver sleepiness have been evaluated. The first method was based on the creation of epochs from lane departures and KSS, whilst the second method was based solely on the creation of epochs based on KSS. From the epochs, a number of features were extracted from both physiological signals and the car’s controller area network. The most important features were selected via a feature selection step, using sequential forward floating selection. The selected features were trained and evaluated on linear SVM, Gaussian SVM, KNN, random forest and adaboost. The random forest classifier was chosen in all cases when classifying previously unseen data.The results shows that method 1 was prone to overfit. Method 2 proved to be considerably better, and did not suffer from overfitting. The test results regarding method 2 were as follows; sensitivity = 80.3%, specificity = 96.3% and accuracy = 93.5%.The most prominent features overall were found in the EEG and EOG domain together with the sleep/wake predictor feature. However indications have been made that complexities might contribute to the detection of sleepiness as well, especially the Higuchi’s fractal dimension.

In this thesis, an analysis of CAN-bus physical layer implementation in Volvo Wheel Loaders is made. The study addresses questions on how to achieve modular and scalable bus designs from a harness installation viewpoint. Strategies for designing systems to work for a variety of different machine configurations while minimizing part numbers and manual work in factory plants are investigated. Special consideration was taken to the regulating CAN standards to find feasible solutions that fulfills the design requirements in the standards. It was identified that modularity and scalability can be achieved in many ways. As a result of this, different solutions are presented that can be used to promote modularity and scalability of CAN-buses. The solutions are divided into sub solutions and are categorized into topology strategies and termination strategies. By combining different sub solutions when designing a CAN-bus, one can achieve different levels of modularity and scalability in their system.

A ship’s communication system serves as a vital infrastructure to host real-time applications,facilitating the transmission of crucial data, including sensor readings and control commands. Theexpansive dimensions of a ship necessitate a complex network of cables in an analogue hardwiredsetup, stretching from the bridge to the machinery. However, this reliance on multiple cables introduces logistical challenges and vulnerabilities within the system architecture. This thesis establishesa systematic approach for transitioning ship control systems from traditional analogue hardwiredconfigurations to more efficient Controller Area Network (CAN) bus-based systems. CAN is amulti-master communication protocol that enables multiple controllers to communicate with eachother without a host computer, making it particularly suitable for complex environments. While alternative networking options such as Ethernet or wireless networks are available, CAN emerges as acost-effective and robust communication solution suited for maritime environments. The transitionto CAN-based systems not only prolongs the ship’s operational lifespan but can also enhance fuelefficiency and reduce environmental impact. Ensuring a seamless transition requires careful consideration of safety and functionality equivalent to legacy systems. Extensive research into suitablecommunication buses, CAN protocols, and scheduling algorithms is essential. By exploring Controller Area Network with Flexible Data-Rate (CAN FD) as a complement to CAN 2.0, the tool offersmultiple solutions, with the optimal choice contingent upon various parameters. A comprehensive tool has been developed to facilitate the safe migration from hardwired systems to CAN-basedsolutions. This tool enables the mapping of signals to messages, priority assignment using various algorithms, including Audsley’s optimal priority assignment algorithm, and real-time analysis.This work will assist in the transition by presenting diverse solutions, clearly outlining deadlines,identifying potential misses, and recommending the most effective combination of methods.

Tese de mestrado. Mestrado integrado em Engenharia Electrotécnica e de Computadores. Faculdade de Engenharia. Universidade do Porto. 2012

Ce travail s'inscrit dans le cadre de l'évaluation de la sûreté de fonctionnement des systèmes commandés en réseau (SCR). La capacité des systèmes de commandes à compenser les effets de certaines défaillances de composants amène à redéfinir le concept de défaillances du système. La conséquence est que l'évaluation de la fiabilité prévisionnelle du système est dépendante de l'évaluation fonctionnelle et devient impossible avec les méthodes traditionnelles de la sûreté de fonctionnement. Pour surmonter ces difficultés, une approche basée sur la modélisation en vue de la simulation est proposée. Nous avons choisi les Réseaux d'activités stochastiques (SAN) largement connus dans la modélisation des protocoles de communication ainsi que dans les études de la sûreté de fonctionnement. Dans un premier temps, nous avons cherché à identifier l'incidence de deux types de défaillances fugitives : la perte d'un échantillon d'une part et le retard d'un échantillon dans la boucle de régulation d'autre part. Après, nous simulons le comportement en présence des deux types de perturbations simultanément, mettant en évidence des effets cumulatifs. Si on tient compte maintenant du fait que l'origine des pertes ou retards est due à la présence du réseau, il faut l'introduire dans le modèle. On introduit alors dans le modèle global du système la représentation SAN d'un réseau CAN et l'injection des défaillances dans celui-ci. La méthode de Monte Carlo est utilisée pour estimer les indicateurs de sûreté de fonctionnement et on montre l'influence de certains facteurs comme la charge du réseau par exemple. Nous avons proposé une méthode et les outils associés pour approcher cette évaluation par simulation et ainsi apporter une aide à la conception des systèmes satisfaisant à des exigences critiques sur certains paramètres de performance.

Time-Triggered Controller Area Network (TTCAN) is a hybrid communication paradigm with combining both time-triggered and event-triggered traffic scheduling. Different from the standard Controller Area Network (CAN), communication in TTCAN is performed according to a pre-computed, fixed (during system run) schedule that is called as TTCAN System Matrix. Thus, communication performance of TTCAN network is directly related to structure of the system matrix, which makes the design of system matrix a crucial process. The study in this thesis consists of the extended work on the development of a systematic approach for system matrix construction. Methods for periodic message scheduling and an approach for aperiodic message scheduling are proposed with the aim of constructing a feasible system matrix, combining three important aspects: message properties, protocol constraints and system performance requirements in terms of designated performance metrics. Also, system matrix design, analyses and performance evaluation are performed on example message sets with the help of two developed software tools.

Thesis (MEng)--Stellenbosch University, 2014. / ENGLISH ABSTRACT: Within a complex electronic system, sub-system communication forms the backbone of the functionality of any satellite. It allows multiple processors to run simultaneously and data to be shared amongst them. Without it, a single processor would have to control the entire satellite. Not only would such a design then be overly complicated, but the processor would also not have sufficient capacity to service all the components efficiently. Furthermore the detrimental effects that radiation have on integrated circuits are well documented and can be anything from a single bit flip to a complete integrated circuit failure. If not repaired, a failure on a sub-system communication bus could lead to the loss of the entire satellite. Die goal is to create more radiation resistant Controller-Area-Network (CAN) node. Since a full triple modular redundant design will have a large footprint and high power consumption, a combination of techniques will be applied and tested. The goal is to achieve improved footprint utilisation over triple modular redundancy, while still maintaining good resistance to Single Event Upsets (SEU). By applying simulation, it was sufficiently proven that the implementation of the individual techniques used functioned according to expectations. These techniques included error detection and correction using Hamming Codes, single event transient filter and triple modular redundancy. Having applied these mitigation techniques, the footprint of the CAN controller increased by only 116%. Simulation showed that the Error Detection and Correction and Triple Modular Redundancy worked effectively with the CAN controller, and that the CAN controller could function as originally intended. Using radiation testing, the design proved to be more resistant to SEUs than the unmitigated CAN controller. It was thus shown that through using a combination of mitigation techniques, it is possible to develop an optimal design with a high level of resistance against Single Event Upsets, utilizing a smaller footprint than implementing Triple Modular Redundancy. / AFRIKAANSE OPSOMMING: Sub-stelsel kommunikasie vorm die basis van die funksionaliteit in ’n komplekse elektroniese stelsel soos ’n satelliet. Dit skep die vermoë om veelvoudige verwerkers gelyktydig te laat funksioneer en inligting tussen hulle te deel. Sonder sub-stelsel kommunikasie, sal ’n enkele verwerker die hele sateliet moet beheer. Dit sal nie net die hele ontwerp oorkompliseer nie, maar die verwerker sal ook nie genoeg kapisteit hê om al die komponente effektief te diens nie. Die newe-effekte van bestraling op geïntegreerde stroombane is goed gedokumenteer en kan wissel van ’n enkele omgekeerde bis, tot die vernietiging van die geïntegreerde stroombaan. Indien die fout in die kommunikasiestelsel nie herstel word nie, kan dit lei tot die verlies van die hele sateliet. Die doel is om ’n meer bestraling bestande Controller-Area-Network (CAN) nodus te skep. Aangesien ’n volle drie-dubbele-modulêre-oortollige ontwerp ’n baie groot area beslaan en hoë krag verbruik het, gaan ’n kombinasie van versagting tegnieke toegepas en ge-evalueer word. Die doel is om beter area benutting as die drie-dubble-modulêre-oortollige ontwerp te kry, terwyl ’n goeie weerstand teen foute behoue bly. Deur middel van simulasies is voldoende bewyse gelewer dat die implimentasie van die individuele versagting tegnieke soos verwag funktioneer. Hierdie tegnieke sluit in, fout opsporing en regstelling deur middel van Hamming kodes, enkele geval oorgangs verskynsel filter asook drie-dubbele-modulêre-oortollige ontwerp. Nadat versagting meganismes toegepas is, het die area verbruik van die CAN beheerder toegeneem met slegs 116%. Simulasies het bewys dat Fout Opsporing en Regstelling en Drie-Dubbele-Modulêre-Oortollige ontwerp tegnieke binne die CAN beheerder korrek funktioneer, terwyl die CAN beheerder self funktioneer soos dit oorspronklik gefunksioneer het. Deur middel van bestralingstoetse, is dit bewys dat die ontwerp meer bestand is teen foute geïnduseer deur bestraling as die onbeskermde CAN beheerder. Dit is dus bewys dat deur gebruik te maak van verskeie versagting tegnieke dit moontlik is om ’n optimale ontwerp te implimenteer, met ’n hoë weerstand teen foute, maar met ’n laer area verbruik as die van ’n Drie-dubbele-Modulêre-Oortollige ontwerp.

The Android operating system, originally intended for smartphone devices, is now finding its way into cars and other vehicles. While the Android system already implements support for system updates, it is not suitable for use in the automotive domain. It is not compatible with modern automotive standards for diagnostic communication such as ISO 14229: Unified Diagnostic Services (UDS). This means that new tools, procedures and software would be needed to allow an Android device to be updated by a service technician in a repair shop or on the field. A better approach would be to add support for automotive diagnostic communication in Android. This way, the tools and supporting infrastructure that already exist can still be used. We have developed a solution for diagnostic communication on Android that is both modular and compatible with existing automotive standards. By using the standard ISO 13400: Diagnostic communication over Internet Protocol (DoIP), this solution enables both updating the system software on the Android device itself, as well as diagnostic communication with the ECUs on the vehicle’s internal CAN network. Thus, an existing diagnostic port based on a slower communication protocol such as CAN or J1587 could theoretically be replaced completely by the Android device’s Ethernet port. Finally, we have evaluated the performance of our implementation under various settings and conditions. These include varying the maximum size of a diagnostic message, different network settings, downloading software over a Wi-Fi link, and downloading data to multiple devices simultaneously. / Operativsystemet Android, ursprungligen avsett för smartphone-enheter, återfinns numera även i bilar och andra typer av fordon. Även om Android-systemet redan implementerar stöd för system-uppdateringar, är det inte lämpligt att använda i fordonsindustrin. Den är inte kompatibel med moderna fordons-standarder för diagnoskommunikation som t.ex. ISO:14229: Enhetliga diagnostiktjänster (UDS). Detta innebär att det skulle krävas nya verktyg, procedurer och mjukvara för att möjliggöra att en Android-enhet uppdaterades av en service-tekniker i verkstad eller i fält. Ett bättre tillvägagångssätt skulle vara att lägga till support för diagnoskommunikation i Android. På detta sätt skulle redan existerande verktyg och stödjande infrastruktur kunna fortsätta användas. Vi har utvecklat en lösning för diagnoskommunikation i Android som är både modulär och kompatibel med existerande fordonsstandarder. Genom att använda ISO 13400: Diagnostikkommunikation över Internet-protokoll (DoIP) möjliggör denna lösning både uppdatering av systemmjukvaran i själva Android-enheten, samt diagnoskommunikation med övriga styrenheter på fordonets interna CAN-nätverk. Därmed skulle en befintlig diagnosport baserad på ett långsammare kommunikationsprotokoll såsom CAN eller J1587 teoretiskt kunna ersättas helt och hållet med Android-enhetens Ethernet-port. Slutligen har vi testat vår implementations prestanda under varierande inställningar och förhållanden. Dessa inkluderar bland annat att variera den maximala storleken av ett diagnos-meddelande, olika nätverks-inställningar, att uppdatera mjukvaran över en Wi-Fi-länk, samt att uppdatera mjukvaran på flera enheter samtidigt.

<p>The progressive integration of microcontrollers into various domains has transformed traditional mechanical systems into modern cyber-physical systems. However, the beginning of this transformation predated the era of hyper-interconnectedness that characterizes our contemporary world. As such, the principles and visions guiding the design choices of this transformation had not accounted for many of today's security challenges. Many designers had envisioned their systems to operate in an air-gapped-like fashion where few security threats loom. However, with the hyper-connectivity of today's world, many CPS find themselves in uncharted territory for which they are unprepared.</p> <p><br></p> <p>An example of this evolution is the Controller Area Network (CAN). CAN emerged during the transformation of many mechanical systems into cyber-physical systems as a pivotal communication standard, reducing vehicle wiring and enabling efficient data exchange. CAN's features, including noise resistance, decentralization, error handling, and fault confinement mechanisms, made it a widely adopted communication medium not only in transportation but also in diverse applications such as factories, elevators, medical equipment, avionic systems, and naval applications.</p> <p><br></p> <p>The increasing connectivity of modern vehicles through CD players, USB sticks, Bluetooth, and WiFi access has exposed CAN systems to unprecedented security challenges and highlighted the need to bolster their security posture. This dissertation addresses the urgent need to enhance the security of modern cyber-physical systems in the face of emerging threats by proposing a proactive vulnerability identification and defense construction approach and applying it to CAN as a lucid case study. By adopting this proactive approach, vulnerabilities can be systematically identified, and robust defense mechanisms can be constructed to safeguard the resilience of CAN systems.</p> <p><br></p> <p>We focus on developing vulnerability scanning techniques and innovative defense system designs tailored for CAN systems. By systematically identifying vulnerabilities before they are discovered and exploited by external actors, we minimize the risks associated with cyber-attacks, ensuring the longevity and reliability of CAN systems. Furthermore, the defense mechanisms proposed in this research overcome the limitations of existing solutions, providing holistic protection against CAN threats while considering its performance requirements and operational conditions.</p> <p><br></p> <p>It is important to emphasize that while this dissertation focuses on CAN, the techniques and rationale used here could be replicated to secure other cyber-physical systems. Specifically, due to CAN's presence in many cyber-physical systems, it shares many performance and security challenges with those systems, which makes most of the techniques and approaches used here easily transferrable to them. By accentuating the importance of proactive security, this research endeavors to establish a foundational approach to cyber-physical systems security and resiliency. It recognizes the evolving nature of cyber-physical systems and the specific security challenges facing each system in today's hyper-connected world and hence focuses on a single case study. </p>