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Results for “Controller area network (CAN)”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1982

NASA Deep Space Network Operations Scheduling

The functioning of the Deep Space Network Operations Scheduling, Jet Propulsion Laboratory, CA is reviewed. The primary objectives of the Operations Scheduling are: to schedule the worldwide global allocation of ground communications, tracking facilities, and equipment; and to provide deep space telecommunications for command, tracking, telemetry, and control in support of flight mission operations and tests. Elements of the earth set are Deep Space Stations (DSS) which provide the telecommunications link between the earth and spacecraft; NASA Communications Network; Network Data Processing Area; Network Operations Control Area which provides operational direction to the DSS; Mission Control and Computing systems; and Mission Support areas which provide flight control of the spacecraft. Elements of the space set include mission priorities and requirements which determine the spacecraft queue for allocating network resources. Scheduling is discussed in terms of long-range (3 years), mid-range (8 weeks), and short-range (2 weeks).

Enari, D. M.↗
DOE OSTI2021

From CAN to ROS: A Monitoring and Data Recording Bridge

The Controller Area Network (CAN) bus protocol is used in modern vehicles for sharing messages between several control units within a vehicle. CAN bus messages are encoded with unknown scheme and decoding these messages provide unlimited access to valuable information that is used in many autonomous vehicles applications. This paper proposes a ROS based package (CAN-to-ROS) for monitoring, recording, and real-time and offline decoding of CAN bus messages. The package is developed in the ROS framework to add modularity and ease of integration with other software, and it is written in C++ to guarantee speed of the execution during run-time. For realtime decoding of CAN bus data, CAN-to-ROS package used in conjunction with other library called Libpanda that provide access to CAN bus message from a vehicle. The package was evaluated and tested on a Raspberry Pi with real CAN bus data from a Toyota RAV4. The results confirm the capabilities of CAN-to-ROS package and resulted in using the package in other research projects.

Elmadani, Safwan↗
NASA NTRS2009

Modular Battery Charge Controller

A new approach to masterless, distributed, digital-charge control for batteries requiring charge control has been developed and implemented. This approach is required in battery chemistries that need cell-level charge control for safety and is characterized by the use of one controller per cell, resulting in redundant sensors for critical components, such as voltage, temperature, and current. The charge controllers in a given battery interact in a masterless fashion for the purpose of cell balancing, charge control, and state-of-charge estimation. This makes the battery system invariably fault-tolerant. The solution to the single-fault failure, due to the use of a single charge controller (CC), was solved by implementing one CC per cell and linking them via an isolated communication bus [e.g., controller area network (CAN)] in a masterless fashion so that the failure of one or more CCs will not impact the remaining functional CCs. Each micro-controller-based CC digitizes the cell voltage (V(sub cell)), two cell temperatures, and the voltage across the switch (V); the latter variable is used in conjunction with V(sub cell) to estimate the bypass current for a given bypass resistor. Furthermore, CC1 digitizes the battery current (I1) and battery voltage (V(sub batt) and CC5 digitizes a second battery current (I2). As a result, redundant readings are taken for temperature, battery current, and battery voltage through the summation of the individual cell voltages given that each CC knows the voltage of the other cells. For the purpose of cell balancing, each CC periodically and independently transmits its cell voltage and stores the received cell voltage of the other cells in an array. The position in the array depends on the identifier (ID) of the transmitting CC. After eight cell voltage receptions, the array is checked to see if one or more cells did not transmit. If one or more transmissions are missing, the missing cell(s) is (are) eliminated from cell-balancing calculations. The cell-balancing algorithm is based on the error between the cell s voltage and the other cells and is categorized into four zones of operation. The algorithm is executed every second and, if cell balancing is activated, the error variable is set to a negative low value. The largest error between the cell and the other cells is found and the zone of operation determined. If the error is zero or negative, then the cell is at the lowest voltage and no balancing action is needed. If the error is less than a predetermined negative value, a Cell Bad Flag is set. If the error is positive, then cell balancing is needed, but a hysteretic zone is added to prevent the bypass circuit from triggering repeatedly near zero error. This approach keeps the cells within a predetermined voltage range.

Button, Robert↗
DOE OSTI2021

Lightweight LSTM for CAN Signal Decoding

This paper describes an approach to identify undecoded Controller Area Network (CAN) data from one vehicle, based on the data similarity to previously decoded CAN data from another vehicle. Modern vehicles communicate data and signals from on-board sensors and controllers through the CAN bus. Networked sensors contain information such as wheel speeds, fuel gauges, turn signals, and radar signals. In the effort to use this information and make cars safer through human-in-the-loop CPS, signals on the CAN bus such as wheel speed and radar can be used to support the driver. However, data from the CAN bus are encoded and in some cases compressed, and different car manufacturers use different encoding schemes to represent data on the CAN bus. With hundreds of messages and thousands of possible encoding schemes to consider, it is laborious to identify the unique bits and encoding schemes that represent signals on each vehicle. In this study, we propose a method for training a Long Short-Term Memory (LSTM) neural network on known radar signals from one vehicle manufacturer, a Toyota, and successfully apply the network to identify the encoding for radar signals on a different vehicle, a Honda. By augmenting the training dataset with varied encoding bit boundaries, a small and lightweight LSTM network can learn to recognize radar data across different encoding schemes. The results are an improvement on exhaustive-search algorithms and other methods previously used in the search for such signals.

Ngo, Paul↗
DOE OSTI2023

WiP Abstract: Edge-Based Privacy of Naturalistic Driving Data Collection

Collecting large driving datasets is important for data-driven transportation research and studied in naturalistic driving [3]. Due to the standard implementation of a Controller Area Network (CAN) bus for a vehicle’s inter-module communication, many off-the-shelf devices can easily transform a vehicle into a rich data collection utility [2]. Vehicles with Adaptive Cruise Control (ACC) are an example of a feature resulting in emergent traffic behavior when scaled [4]. While these utilities were designed with particular data use cases, data may be publicly shared to benefit other researchers through online tools like CyVerse [1]. However, such data should only be shared when any private information is removed. This private information may exist as a set of GPS coordinates, since the start and end points of a trip may designate a driver’s place of residence or work. When considering larger continuously-collected data sets with a focus on naturalistic driving, many drivers are needed to make data collection feasible. Removal of private information becomes much more of a challenge since every driver may uniquely define their geographic privacy. This project aims to build upon the foundation of libpanda [2] by adding features of edge-based data privacy enforcement. In it’s current form, libpanda uses a GPS in conjunction with a CAN interface to record data. Libpanda feature s a set of startup and shutdown scripts to perform automatic data collection and upload. With additional support hardware on a Raspberry Pi, the Pi can maintain power on vehicle shutdown to automatically upload data before shutdown.

Bunting, Matt↗
DOE OSTI2026

Firmware Tampering Detection in Heavy-Duty Vehicles through J1939 CAN Analysis

Modern heavy-duty vehicles rely on complex networks of Electronic Control Units (ECUs) that communicate using the J1939 protocol. While this system makes it easier to update and configure vehicle components, it also opens the door to serious cybersecurity risks if not properly secured. This work investigates the potential for firmware tampering through the J1939 communication protocol, which enables ECU configuration and reprogramming over the Controller Area Network (CAN) bus. By monitoring CAN traffic during legitimate maintenance operations and reverse-engineering OEM diagnostic software, we identified common and proprietary J1939 message identifiers, authentication patterns, and vulnerabilities within Unified Diagnostic Services (UDS). These findings demonstrate that inadequate authentication mechanisms can allow malicious actors to alter ECU firmware or disable safety functions, posing severe operational and safety risks. Our analysis contributes to the development of vehicle intrusion detection systems capable of recognizing abnormal reprogramming activity and future firmware fingerprinting methods to verify software integrity across ECUs. This work highlights the importance of standardizing secure firmware authentication across manufacturers to strengthen cyber resilience in heavy-duty vehicle systems.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2022

Strym: A Python Package for Real-time CAN Data Logging, Analysis and Visualization to Work with USB-CAN Interface

In this report, we describe a data analysis tool developed for decoding and analyzing vehicle data obtained from a passenger vehicle’s onboard controller area network (CAN) bus. The tool developed in this paper provides a timeseries framework to perform domain-specific analysis at scale when interpreting data from a vehicle or a collection of vehicles in light of how to design intelligent vehicle applications. The tool, called Strym, exploits the CAN bus mechanism of modern vehicles to capture data using commercially available CAN-to-USB hardware Comma.ai Panda devices, managed through open-source software Libpanda. Strym permits the decoding of vendor-specific CAN messages in a vehicle-agnostic manner. Through this, a researcher can characterize data throughput, assess data quality, and perform analyses. Such analyses are useful in a number of research such as studying human driving behavior in mixed-autonomy, new driver models, rare-event detection, traffic flow estimation, and custom control of vehicles.

Performance evaluation, Smart cities, Intelligent ↗
DOE OSTI2020

On the Performance of Detecting Injection of Fabricated Messages into the CAN Bus

There have been several public demonstrations of attacks on connected vehicles showing the ability of an attacker to take control of a targeted vehicle by injecting messages into their Controller Area Network (CAN) bus. In this article, using injected speed reading and Revolutions Per Minute (RPM) reading messages in in-motion vehicle, we examine the ability of the Pearson correlation and the unsupervised learning methods k-means clustering and Hidden Markov Model (HMM) to differentiate ’no-attack’ and ’under-attack’ states of the given vehicle. We found that the Pearson correlation distinguishes the two states, the k-means clustering method has an acceptable accuracy but high false positive rate and HMM detects attacks with acceptable detection rate but has a high false positive in detecting attacks from speed readings when there is no attack. The accuracy of these unsupervised learning methods are comparable to the ones of the supervised learning methods used by CAN bus Intrusion Detection System (IDS) suppliers. In addition, the article shows that studying CAN anomaly detection techniques using off-vehicle test facilities may not properly evaluate the performance of the detection techniques. Finally, the results suggest using other features besides the data content of the CAN messages and integrate knowledge about how the Electronic Control Units (ECUs) collaborate in building effective techniques for the detection of injection of fabricated message attacks.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

A methodology to develop multi-physics dynamic fuel cell system models validated with vehicle realistic drive cycle data

Fuel cell (FC) technology has been identified as a technically attractive solution to decarbonize the transportation sector, especially for heavy-duty vehicles. In this context, the industry and the scientific community are in need of advanced fuel cell systems (FCS) models that are able to replicate real -world operating conditions. Due to the scarcity of said models in the open literature, this study aimed to develop a comprehensive methodology to calibrate and validate multi -physics dynamic FCS models. Therefore, the key contribution of this paper is the detailed description of the calibration process for each component and the calibration order. The specific focus here was to accurately describe the behavior of the FC stack as well as the cathode, anode, and cooling circuits of the balance of plant. The model was calibrated with the aid of experimental data from a Toyota Mirai FC electric vehicle, which was predominantly retrieved from the vehicle's Controller Area Network (CAN) bus system thereby negating the need for major intrusion into the powertrain system. The validation process was deemed successful with the model being able to truthfully replicate the characteristics of the FC vehicle operated on the World-wide harmonized Light duty Test Cycle (WLTC) 3b and US06 driving cycle. The time -resolved physical parameters such as the cathode pressure, mass flow, or the FC stack temperature were captured with high fidelity, while the overall performance parameters such as the H2 consumption in the stack and the system, and the compressor energy consumption were predicted accurately with a deviation lower than 0.47%, 1.75% and 1.89% with respect to the experimental data, respectively.

Lopez-Juarez, Marcos↗
DOE OSTI2025

Enhancing Automotive Intrusion Detection Through Multi-Modal Fusion: A CAN FD-LiDAR Approach

As vehicles become smarter and more autonomous, they increasingly depend on advanced sensors and communication technologies to operate securely. However, such growing dependence on technology—whether it’s CAN (Controller Area Network) for internal communication or LiDAR (Light Detection and Ranging) for sensing the world around them—also expands the attack surface for the types of cyber attacks. Traditional intrusion detection systems (IDS) typically monitor these systems in isolation, limiting their ability to detect sophisticated, crosssystem attacks. To address this, we propose a multi-modal fusion approach that combines real-world CAN FD signals (from the HCRL dataset) with LiDAR features (from the nuScenes dataset) to enhance attack detection. Our method employs a twostage ensemble approach. Calibrated XGBoost and LightGBM models initially process CAN FD (Fuzzing Data) and LiDAR data independently, detecting timing anomalies and space abnormalities. They are subsequently logarithmically combined with a logistic regression meta-model along with 17 engineered features capturing cross-modal behavior, prediction conflicts, and nonlinear interactions. This approach achieves an AUC of 0.87 and an F1-score of 0.82, surpassing single-modality baselines and early fusion methods, at merely 2 ms inference latency. Compared with deep learning competitors, it is 3 times more efficient, providing a lightweight, interpretable, and real time solution to automotive cybersecurity.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

Cy-Phy ADS: Cyber Physical Anomaly Detection Framework for EV Charging Systems

Today’s large-scale Electric Vehicle (EV) infrastructures are heavily dependent on information communication technologies to maintain their operation and to support communication within sub-system components as well as the outside world. These technologies are vulnerable to various cyber and physical threats. Timely identification and mitigation of these threats are critical for improving human safety, avoiding economic losses, and preventing catastrophic system failures. By addressing this, our work presents a ResNet Autoencoder (AE) based Cyber-Physical Anomaly Detection System (Cy-Phy ADS) for detecting anomalies in EV Controller Area Network (CAN) protocol communication. It consists of four main components: Cyber-Physical Feature Extractor, ResNet AE-based Anomaly Detection Framework, Cyber-Physical Health Metric (CPHM), and Visualization Dashboard. The presented framework was trained and tested using CAN data collected from the EV charging system testbed at the Idaho National Laboratory. The presented Cy-Phy ADS compared against six widely used unsupervised anomaly detection algorithms: One Class Support Vector Machine (OCSVM), Variational Autoencoder (VAE), LSTM Autoencoder (LSTM AE), Isolation Forest (IForest), Principle Component Analysis (PCA) and Local Outlier Factor (LOF). Here the presented approach showed the highest accuracy among the compared methods. Further, the proposed approach showed comparable performance in terms of precision, F1, and False positive rate. It also showed the lowest training and inference time compared to the neural network-based baseline algorithms compared against with. Additionally, the Cy-Phy ADS has advantages such as unsupervised training, the ability to provide a holistic metric for system health characterization, and non-linear feature extraction.

99 GENERAL AND MISCELLANEOUS↗
DOE OSTI2023

Analysis of a Runtime Data Sharing Architecture over LTE for a Heterogeneous CAV Fleet

This paper describes a lightweight runtime architecture for telemetry, communication, and control of cars deployed with advanced driver assistance systems where a human is in the loop with the car, via an LTE connection. The system architecture supports both local control decisions based on car sensors and safety algorithms as well as high-level input from external systems that may provide insight into traffic state ahead of sensor data. Implementation of the architecture is done in ROS and depends on open-source software packages for runtime decoding of information from the vehicle’s controller area network (CAN) and integration of GPS data from accompanying sensors. The contribution of the paper is to describe the overall architecture, the data it can communicate to other systems, performance of the system at runtime, and challenges faced when deploying the architecture across a heterogeneous fleet. Preliminary results from analysis of test data will provide insights into whether the use of high-latency communication can be effective for societal-scale intelligent transportation systems when applied in future scenarios

Richardson, Alex↗
DOE OSTI2020

Counting Occupants Using Network Technology (COUNT) v0.1

With this COUNT software, we can run a simple query on a campus's Wireless Local Area Network controller (WLAN controller) to obtain the number of connected devices per access point across the whole campus and this can be used as a proxy for the actual number of occupants in the campus. The software supports user defined functions to parse access point names to retrieve more information (e.g.: building names, room numbers etc.) and also allows post-processing of the data.

Prakash, AnandKrishnan↗
DOE OSTI2020

Counting Occupants Using Network Technology (COUNT) v0.1

With this COUNT software, we can run a simple query on a campus's Wireless Local Area Network controller (WLAN controller) to obtain the number of connected devices per access point across the whole campus and this can be used as a proxy for the actual number of occupants in the campus. The software supports user defined functions to parse access point names to retrieve more information (e.g.: building names, room numbers etc.) and also allows post-processing of the data.

Pritoni, Marco↗
DOE OSTI2022

Time-Based CAN IDS Paper Results Code

Modern vehicles are complex cyber-physical systems made of hundreds of electronic control units (ECUs) that communicate over controller area networks (CANs). This inherited complexity has expanded the CAN attack surface which is vulnerable to message injection attacks. These injections change the overall timing characteristics of messages on the bus, and thus, to detect these malicious messages, time-based intrusion detection systems (IDSs) have been proposed. However, time-based IDSs are usually trained and tested on low-fidelity datasets with unrealistic, labeled attacks. This makes difficult the task of evaluating, comparing, and validating IDSs. Here we detail and benchmark four time-based IDSs against the newly published ROAD dataset, the first open CAN IDS dataset with real (non-simulated) stealthy attacks with physically verified effects. We found that methods that perform hypothesis testing by explicitly estimating message timing distributions have lower performance than methods that seek anomalies in a distribution related statistic. In particular, these “distribution-agnostic” based methods outperform “distribution-based” methods by at least 55% in area under the precision-recall curve (AUC-PR). Our results expand the body of knowledge of CAN time-based IDSs by providing details of these methods and reporting their results when tested on datasets with real advanced attacks. Finally, we develop an after-market plug-in detector using lightweight hardware, which can be used to deploy the best performing IDS method on nearly any vehicle.

Moriano, Pablo [Oak Ridge National Lab. (ORNL), Oa↗
DOE OSTI2024

Algorithm for Calculating Mass of Gaseous Fuels in Enclosed Containers

This algorithm estimates the mass of gaseous fuels in enclosed tanks by utilizing measurements of pressure and temperature within the tank and leveraging thermodynamic relatio nships. For vehicle applications, information available on the vehicle's Controller Area Network bus is used to estimate tank size and gas properties.

Pamminger, Michael↗
DOE OSTI2026

CANRate

CANRate measures the maximum rate that CAN messages can be sent and received across a Controller Area Network.

Sikkema, IsaacCorwin (0000000263420286)↗
DOE OSTI2025

Driver Identification Dataset

The ORNL Driver Identification Dataset was created to collect and analyze driving behavior data from 50 different drivers. Each driver operated a 2014 Kenworth T270 Class 6 truck around Fort Collins, Colorado while various data sources recorded their driving behavior and vehicle performance. The dataset includes CANbus (Controller Area Network) data, GPS data, inertial measurement data, and biometric data from a heart rate monitor. A cyberattack was executed during each drive, which caused multiple dashboard warning lights to illuminate and set the tachometer and speedometer to zero, regardless of actual speed. The attack was stopped either after one minute or if the driver pulled over. By downloading the dataset, you agree to the following: 1) I will not use or disclose the data for any purpose other than Research as that term is defined in 10 CFR 745.102. 2) I will not, under any circumstances, request or accept private or linking identifiers for the data used. 3) I will not attempt to determine the identity of the individuals associated with the data. 4) I will use appropriate safeguards to prevent the use or disclose of the data for any purpose other than Research.

99 GENERAL AND MISCELLANEOUS↗