Study on Penetration Testing Platform Oriented to CAN Bus Embedded System

An asynchronous FIFO is a classic circuit device used for caching data and accommodating the frequency of asynchronous signals. With the continuous improvement of technology, the advantages of this device in real-time transmission, multi-core processing, and data acquisition have become more apparent. As a result, the original structure has been optimized and extended using algorithm and design techniques to achieve greater efficiency and applicability in various academic and industrial applications. This article discusses several methods for optimizing FIFO in different aspects and examines how an unlocked FIFO queue is applied in a CAN bus data acquisition system, as well as its use in data hybrid framing technology. The findings show that FIFO performs exceptionally well as a cache structure, particularly in situations involving large amounts of data acquisition and real-time procession. The various optimization techniques discussed in this article include using pipeline registers, implementing a dual-clock FIFO, and employing Gray-code-based pointers. These techniques can increase the speed and reduce the power consumption of FIFO, thereby improving its overall efficiency. In addition, the article introduces the unlocked FIFO queue, which provides more flexibility than conventional locked FIFOs. Unlocked FIFO queues allow multiple cores to access the buffer simultaneously, which makes them ideal for high-performance systems. Finally, the article explores the application of FIFO in CAN bus data acquisition systems, where it is utilized as a buffer between the bus and other devices. Additionally, the use of FIFO in data hybrid framing technology is discussed, where it is essential for maintaining the integrity of the data stream.

Current vehicles include electronic features that provide ease and convenience to drivers. These electronic features or nodes rely on in-vehicle communication protocols to ensure functionality. One of the most-widely adopted in-vehicle protocols on the market today is the Controller Area Network, popularly referred to as the CAN bus. The CAN bus is utilized in various modern, sophisticated vehicles. However, as the sophistication levels of vehicles continue to increase, we now see a high rise in attacks against them. These attacks range from simple to more-complex variants, which could have detrimental effects when carried out successfully. Therefore, there is a need to carry out an assessment of the security vulnerabilities that could be exploited within the CAN bus. In this research, we conducted a security vulnerability analysis on the CAN bus protocol by proposing an attack scenario on a CAN bus simulation that exploits the arbitration feature extensively. This feature determines which message is sent via the bus in the event that two or more nodes attempt to send a message at the same time. It achieves this by prioritizing messages with lower identifiers. Our analysis revealed that an attacker can spoof a message ID to gain high priority, continuously injecting messages with the spoofed ID. As a result, this prevents the transmission of legitimate messages, impacting the vehicle's operations. We identified significant risks in the CAN protocol, including spoofing, injection, and Denial of Service. Furthermore, we examined the latency of the CAN-enabled system under attack, finding that the compromised node (the attacker's device) consistently achieved the lowest latency due to message arbitration. This demonstrates the potential for an attacker to take control of the bus, injecting messages without contention, thereby disrupting the normal operations of the vehicle, which could potentially compromise safety.

During the design of IVECO ISG hybrid electric vehicles (HEVs), the ISG electrical propelling system was inserted into the Duling IVECO vehicle. Thus the controller of ISG electrical propelling system constructed the distributed control system with the other controller. However, field bus is one of key techniques in the distributed control system. Firstly, CAN communication protocol for ISG controller based on the SAE J1939 CAN bus protocol was presented, then the hardware and software of ISG controller was designed in modular.

Since the aging population increasing and the acceleration of the life pace, more intelligent robots have been developed for health monitoring and home security. In this paper, we proposed a framework of indoor security information interactive system basing on Internet and GSM/GPRS hybrid network. On hardware, the system consists of several sub-systems: industrial computer, GSM/GPRS module, ultrasonic module, infrared module, photoelectric sensor module, motor driver and controller, video server module, environment detection module, CAN bus data acquisition card and CCD camera. We also achieved a network architecture on software including client, local server and robot console. A robot system is developed to verify the feasibility and efficiency of this architecture. The experiment results proved that the system can meet our expectations.

This paper firstly introduces the basic information of CAN bus and the general method of CAN testing and points out that application layer protocol is hard to test. Secondly, this paper adapts the method of capturing, analyzing, constructing and sending CAN bus data packet to analyze certain oil system software interface protocol. Then, this paper proves this method can be usde to test the accuracy of the software interface and conduct the further software interface testing.At last,this paper points out the application suggest of this method.

According to this analysis, we designed a scenario on lower extremity rehabilitation robot communication system based on CAN bus and efficiently solved the problems of low signal processing, computing power and data transfer rate ability for the traditional means of communication of RS232 and RS485.The research deals with the characteristics of communication systems and topological structure, and specifically, with CAN bus protocol design and hardware and software implementation aspects of Communication System designing for some robot sensor.

Knowledge of the longitudinal road gradient can be used by Advanced Cruise Control (ACC) and automatic transmission control systems to provide more accurate longitudinal velocity control. This paper presents a method of estimating the longitudinal road gradient just using the available vehicle CAN bus data. This method ensures that no extra sensors need to be added to the vehicle, and therefore there is no added cost to the vehicle. The gradient estimation algorithm is developed combining vehicle modelling techniques and parameter estimation methods. A simple longitudinal acceleration vehicle model is derived using standard vehicle model equations. The unknown longitudinal gradient parameter is then estimated using the data available on the CAN bus.

This paper is based on the Beidou satellite navigation system for heavy trucks weighing dynamic monitoring of a system overload, overload monitoring paper discusses the principle of overload monitoring systems, methods, and each unit of software and hardware components. Monitoring system to collect by pasting on a heavy-duty truck suspension strain gauge load data of the vehicle by AD analog to digital conversion process to the MCU information via CAN bus, MPU6050 to correct the inclination of the vehicle due to the load variation caused Beidou satellite module the position of vehicle, data collection can be saved to the system's EEPROM can be transmitted to the relevant regulatory authorities, to prevent overloading of trucks, vehicle driving safety effectively protected. Experimental tests proved that the strain gauge on the vehicle can have a load deformation when the measured vehicle load changes, via CAN bus data information is displayed on the LCD screen, satellite packets can be updated in real time, can be carried out on the vehicle monitoring system .

<div class="section abstract"><div class="htmlview paragraph">An experimental campaign based on the harness and Event Data Recorder (EDR) of a production vehicle (Toyota Auris 2007, Generation 02EDR) was setup for laboratory experiments. The experiments involved triggering non-deployment events in the EDR by hitting the Airbag Control Module (ACM) with a pendulum style impactor with different pendulum weight, in frontal and rear directions and at different initial angles. The ACM was hit in three different conditions: ACM fixed, ACM free to move and ACM launched towards impactor. The wheel speed sensors were emulated with the same 7/14 <i>mA</i> pulses such that the vehicle was simulated to be moving with a ramping up and down speed during the impact. This was done such that the EDR data has vehicle speed in both its pre and post-crash data. The Bosch Crash Data Retrieval (CDR) tool was used to download the EDR data. Data from these experiments is shown and discussed. An in-house built sniffer was utilized to filter and store the relevant CAN bus data. Such data provides additional information such as the four wheel speeds rather than just one vehicle speed available in the EDR data and at a much faster data rate. It was noted that the vehicle speed is the average of the front wheel speeds even if the front wheel speeds are very different from each other (indicating loss of traction with ground or slip/skid).</div></div>

This paper introduces the regional selective interlock protection system based on CAN bus, and elaborates the circuit design of micro-controller using enhanced 80c51 microcontroller from Philips as core CPU and CAN controller interface, includes the hardware and the software design of CAN node. The microcontroller as slave computers connects in series to ripping signal return, follows the instructions from host computer to Start up and lock-up control Protection Equipment. These parallel slave computers through CAN bus communicates with host computer in real-time. The software design provides the program design of CAN communication initializing, sending and receiving frame diagram.

There is great significance to deliver as much as possible valid data by making full use of CAN bus network limited bandwidth in the case of fixed baud rate for network. Because the CAN network data transmission efficiency optimization method (SONEC) can improve the efficiency of data transmission network based on CAN bus; by using this method the author studied the bus network scalability, and found that the use of the constructing network method can significantly improve the scalability performance of bus network. A CAN bus example as the research object is used for contrast analysis to prove the analysis validity. The method studied above has the important significance to CAN bus network structure.

In this paper, a SCADA (supervisor control and data acquisition) system HMI (human machine interface) software was been implemented based on a driver system which consisted by double generators and double motors. This software was been implemented by NI Labview based on the CAN bus. Meanwhile the dynamical monitoring and alarm are implemented. The data collected for the HMI include the collecting data of bus voltage and current; the speed; the temperature on IGBT, bearing and winding. The generator and the motor controller running status and the fault status are also been sent to the HMI. The command sent to the double generators and the double motors are including start/stop, speed, bus voltage, PID parameters to DSP (speed circle Kp and Ki, Kp and Ki in D axis for current circle), etc. The main works focus on the design of CAN communication protocol; multichannel CAN bus control implemented in Labview; bit data and different byte data combination and unpack. In practical engineering application, this system can absolutely realize automatic supervision and control process efficiently and reliably.

A Control and Measurement system has been implemented based on a driver system which consisted by double generators and double motors. Our experiment based on 1 Generator and 1 Motor. The experimental data show that the system can continuously and steadily running in 300KW power output. This software was been implemented by NI Labview based on the CAN bus. Meanwhile the dynamical monitoring and alarm are implemented. The data collected for the HMI are include the collecting data of bus voltage and current; the speed; the temperature on IGBT, bearing and winding. The generator and the motor controller running status and the fault status are also been sent to the HMI. The command sent to the double generators and the double motors are include start/stop, speed, bus voltage, PID parameters to DSP (speed circle Kp and Ki, Kp and Ki in D axis for current circle ), etc. The main works focus on the design of CAN communication protocol; multichannel CAN bus control implemented in Labview; bit data and different byte data combination and unpack. In practical engineering application, this system can absolutely realize automatic supervision and control process efficiently and reliably.

Embry Riddle Aeronautical University is part of EcoCar: The NeXt Challenge, an advanced vehicle competition run by Argonne National Labs and sponsored by General Motors and the Department of Energy. The competition tasks 16 schools around the country with designing and implementing the most efficient vehicle architecture. As part of the EcoCar Challenge, Embry Riddle Aeronautical University is working on developing a controls strategy for a Plug in Hybrid Electric Vehicle. The control system is designed to optimize efficiency and consumer acceptability by allowing the EcoEagles to control each of the cars sub-systems. Control is done using CAN bus communication that utilizes National Instruments (NI) single board reconfigurable input / output (sbRIO) real time hardware. The EcoEagles powertrain architecture includes GM’s two-mode hybrid electric transmission which contains two 55kW electric motors, a 1.3 liter turbo diesel engine running on B20 biodiesel, and a 12.8 kWh lithium-ion battery pack produced by A123 Systems. Each component has a control module that interfaces directly with the subsystems and hardware on the vehicle. These controllers are: the Traction Power Inverter Module (TPIM), the Engine Control Module (ECM), and the Battery Pack Control Module (BPCM). Vehicle control and communication between these modules is managed by the EcoEagles, two controllers called the Supervisory Control Unit (SCU) and the Gateway (GW). The purpose of the gateway is to control the flow of CAN communication between modules and to isolate the ECM and BPCM from the vehicle to avoid data interference. Communication is done on two separate CAN buses, the Power Train Expansion Bus (PTEB), and the High Speed Bus (HS). The controls diagram can be seen in Figure 1. The paper will go into detail on shift strategy and engine operation where optimization was used to maintain efficient operation of the engine. The paper will also describe the control strategy that was developed using coupled LabVIEW Statecharts [1] with CAN messaging inputs from all of the control modules in order to maintain safe efficient operation.

This paper proposes an intelligent lighting control system based on CAN. Compared with the traditional lighting control system, it overcomes the effect of relatively scattered control and disadvantages of poor management, poor real-time and low degree of automation. In explaining the overall design of intelligent lighting system framework and communication protocols based on CAN bus communication, it analyzes the real time capability and puts forward the optimization scheme. It also proposes an implementation of SJA1000 CAN communication modules to achieve application to intelligent lighting system.