Formal Verification of CAN Bus in Cyber Physical System

Cyber physical system (CPS) is a multi-dimensional complicated system integrating computing, communication and physical environment. CPS is widely used in safety-critical areas such as aerospace, intelligent transportation and medical equipment. So ensuring the security and reliability of CPS is of great significance. Formal verification is one of the useful ways. This paper builds timed automata models for the communication process of CAN bus used in CPS. Our research especially analyses the gateway in the communication process, and simulates the transmission with different rates between the external environment and internal unit. The task also takes into account the packet transmission priority. The model checking tool Uppaal is used to verify the functional and real-time properties. The verification results illustrate that the established model can meet the relevant properties, and the packet can be transmitted in an orderly and efficient manner.