The Controller Area Network (CAN) bus enables communication between electronic control units in modern vehicles but lacks security features, such as authentication or encryption, making it vulnerable to cyberattacks. Previous IDS methods perform poorly with datasets from modern cars (2022 or later) as they were trained on public dataset from pre-2020 cars whose CAN frames contain fewer data fields and features. To address this, an EF-IDS is introduced, which utilizes Enriched Features to capture spatial–temporal representation for detecting in-vehicle network intrusions. Spatial aspects, like CAN ID and payload, are captured using UNET, while LSTM learns temporal features based on sequence window size. The system’s performance was evaluated using Tesla Model 3 (2022), LeapMotor C10 (2024), and public Car-hacking datasets showed nearly 100% detection accuracy, with low false alarms (0.842%) for DoS, Fuzzy, and Spoofing attacks. EF-IDS significantly improves the detection accuracy compared to previous methods. A compressed model with reduced layers achieved similar detection capabilities while decreasing the inference time by 90 times. The EF-IDS model’s effectiveness was verified through implementation in a LeapMotor C10 (2024) test vehicle with an inference time 0.0437 ms for every 100 frames.
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