{"id":"https://openalex.org/W4413385097","doi":"https://doi.org/10.1186/s42400-025-00365-6","title":"CGTS: graph transformer-based anomaly detection in controller area networks","display_name":"CGTS: graph transformer-based anomaly detection in controller area networks","publication_year":2025,"publication_date":"2025-08-21","ids":{"openalex":"https://openalex.org/W4413385097","doi":"https://doi.org/10.1186/s42400-025-00365-6"},"language":"en","primary_location":{"id":"doi:10.1186/s42400-025-00365-6","is_oa":true,"landing_page_url":"https://doi.org/10.1186/s42400-025-00365-6","pdf_url":"https://cybersecurity.springeropen.com/counter/pdf/10.1186/s42400-025-00365-6","source":{"id":"https://openalex.org/S3035238565","display_name":"Cybersecurity","issn_l":"2523-3246","issn":["2523-3246"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cybersecurity","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://cybersecurity.springeropen.com/counter/pdf/10.1186/s42400-025-00365-6","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100741728","display_name":"Zhou Xue","orcid":"https://orcid.org/0000-0002-3157-6606"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4210134929","display_name":"Jilin Province Science and Technology Department","ror":"https://ror.org/049x38272","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210134929"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xue Zhou","raw_affiliation_strings":["College of Computer Science and Technology, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4210134929"]},{"raw_affiliation_string":"Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017938531","display_name":"Guihe Qin","orcid":"https://orcid.org/0000-0002-2472-4324"},"institutions":[{"id":"https://openalex.org/I4210134929","display_name":"Jilin Province Science and Technology Department","ror":"https://ror.org/049x38272","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210134929"]},{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guihe Qin","raw_affiliation_strings":["College of Computer Science and Technology, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4210134929"]},{"raw_affiliation_string":"Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058134073","display_name":"Yanhua Liang","orcid":"https://orcid.org/0000-0002-3971-9341"},"institutions":[{"id":"https://openalex.org/I4210134929","display_name":"Jilin Province Science and Technology Department","ror":"https://ror.org/049x38272","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210134929"]},{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhua Liang","raw_affiliation_strings":["College of Computer Science and Technology, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4210134929"]},{"raw_affiliation_string":"Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113347181","display_name":"Jiaru Song","orcid":"https://orcid.org/0009-0003-4902-605X"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4210134929","display_name":"Jilin Province Science and Technology Department","ror":"https://ror.org/049x38272","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210134929"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaru Song","raw_affiliation_strings":["College of Computer Science and Technology, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4210134929"]},{"raw_affiliation_string":"Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101504966","display_name":"Wanning Liu","orcid":"https://orcid.org/0000-0003-2798-8568"},"institutions":[{"id":"https://openalex.org/I4210134929","display_name":"Jilin Province Science and Technology Department","ror":"https://ror.org/049x38272","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210134929"]},{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanning Liu","raw_affiliation_strings":["College of Computer Science and Technology, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4210134929"]},{"raw_affiliation_string":"Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101857169","display_name":"Qingxin Liu","orcid":"https://orcid.org/0000-0002-1176-3869"},"institutions":[{"id":"https://openalex.org/I4210134929","display_name":"Jilin Province Science and Technology Department","ror":"https://ror.org/049x38272","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210134929"]},{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingxin Liu","raw_affiliation_strings":["College of Computer Science and Technology, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4210134929"]},{"raw_affiliation_string":"Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University, No.2699 Qianjin Street, Changchun, 130012, Jilin, China","institution_ids":["https://openalex.org/I194450716"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100741728"],"corresponding_institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4210134929"],"apc_list":null,"apc_paid":null,"fwci":2.6579,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.91657145,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"8","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10400","display_name":"Network Security and Intrusion Detection","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10917","display_name":"Smart Grid Security and Resilience","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"Anomaly detection","score":0.5644052028656006},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5601227283477783},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.49288201332092285},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4449625611305237},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.4250227212905884},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1905963122844696},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.11144664883613586},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.10966134071350098},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.0592246949672699}],"concepts":[{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.5644052028656006},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5601227283477783},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.49288201332092285},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4449625611305237},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.4250227212905884},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1905963122844696},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.11144664883613586},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.10966134071350098},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0592246949672699}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1186/s42400-025-00365-6","is_oa":true,"landing_page_url":"https://doi.org/10.1186/s42400-025-00365-6","pdf_url":"https://cybersecurity.springeropen.com/counter/pdf/10.1186/s42400-025-00365-6","source":{"id":"https://openalex.org/S3035238565","display_name":"Cybersecurity","issn_l":"2523-3246","issn":["2523-3246"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cybersecurity","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:470f1a8ed8664533a43c5ac7f88dd26d","is_oa":true,"landing_page_url":"https://doaj.org/article/470f1a8ed8664533a43c5ac7f88dd26d","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Cybersecurity, Vol 8, Iss 1, Pp 1-19 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1186/s42400-025-00365-6","is_oa":true,"landing_page_url":"https://doi.org/10.1186/s42400-025-00365-6","pdf_url":"https://cybersecurity.springeropen.com/counter/pdf/10.1186/s42400-025-00365-6","source":{"id":"https://openalex.org/S3035238565","display_name":"Cybersecurity","issn_l":"2523-3246","issn":["2523-3246"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cybersecurity","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1972351357","display_name":null,"funder_award_id":"20210101166JC","funder_id":"https://openalex.org/F4320335953","funder_display_name":"Jilin Scientific and Technological Development Program"}],"funders":[{"id":"https://openalex.org/F4320335953","display_name":"Jilin Scientific and Technological Development Program","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413385097.pdf","grobid_xml":"https://content.openalex.org/works/W4413385097.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W1970088130","https://openalex.org/W2116520617","https://openalex.org/W2132870739","https://openalex.org/W2561208905","https://openalex.org/W2794150491","https://openalex.org/W2891789701","https://openalex.org/W2907492528","https://openalex.org/W2945012921","https://openalex.org/W2959120033","https://openalex.org/W2997711900","https://openalex.org/W2998500054","https://openalex.org/W3018640761","https://openalex.org/W3020340794","https://openalex.org/W3105105644","https://openalex.org/W3108101353","https://openalex.org/W3120195926","https://openalex.org/W3122474235","https://openalex.org/W3166063951","https://openalex.org/W3173906426","https://openalex.org/W3175817563","https://openalex.org/W3189315611","https://openalex.org/W3195279647","https://openalex.org/W3209237090","https://openalex.org/W4206529651","https://openalex.org/W4220842203","https://openalex.org/W4220887779","https://openalex.org/W4280633873","https://openalex.org/W4285174670","https://openalex.org/W4285227013","https://openalex.org/W4290996239","https://openalex.org/W4292833715","https://openalex.org/W4293211487","https://openalex.org/W4293731341","https://openalex.org/W4297911758","https://openalex.org/W4308873396","https://openalex.org/W4309562636","https://openalex.org/W4310456891","https://openalex.org/W4312762561","https://openalex.org/W4320002750","https://openalex.org/W4328028479","https://openalex.org/W4385194650","https://openalex.org/W4386450116","https://openalex.org/W4389545247","https://openalex.org/W4390241508","https://openalex.org/W4390660093","https://openalex.org/W4391935143","https://openalex.org/W4392703794","https://openalex.org/W4394966806","https://openalex.org/W4399332508","https://openalex.org/W6606697098"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Abstract":[0],"Anomaly":[1],"detection":[2,29,62,180],"in":[3,54],"the":[4,14,96,104,110,117,143,176],"Controller":[5],"Area":[6],"Network":[7],"(CAN)":[8],"bus":[9,178],"is":[10,86],"critical":[11],"for":[12],"ensuring":[13],"security":[15],"and":[16,43,140,158,173],"reliability":[17],"of":[18,145],"intelligent":[19],"connected":[20],"vehicles,":[21],"which":[22,46],"are":[23],"increasingly":[24],"prevalent.":[25],"While":[26],"existing":[27],"anomaly":[28],"strategies":[30],"offer":[31],"some":[32],"benefits,":[33],"they":[34],"often":[35],"face":[36],"challenges":[37],"such":[38],"as":[39],"limited":[40],"feature":[41],"extraction":[42],"data":[44,105],"imbalance,":[45],"reduce":[47],"their":[48],"effectiveness.":[49],"To":[50],"address":[51,103],"these":[52],"issues,":[53],"this":[55],"paper,":[56],"we":[57,72,108],"propose":[58],"an":[59,150,159],"unsupervised":[60],"intrusion":[61,179],"method":[63],"based":[64,78],"on":[65,79,129,135],"CAN":[66,80,177],"message":[67,76,81],"graph":[68,77],"named":[69],"CGTS.":[70,146],"Specifically,":[71],"first":[73],"construct":[74],"a":[75,130],"sequences.":[82],"A":[83],"Graph":[84,118],"Transformer":[85,119],"then":[87],"employed":[88],"to":[89,102],"extract":[90],"complex":[91],"structural":[92],"information,":[93],"accurately":[94],"capturing":[95],"intrinsic":[97],"connections":[98],"between":[99],"messages.":[100],"Furthermore,":[101],"imbalance":[106],"problem,":[107],"integrate":[109],"Support":[111],"Vector":[112],"Data":[113],"Description":[114],"algorithm":[115,122],"after":[116],"model.":[120],"This":[121],"identifies":[123],"anomalous":[124],"behaviors":[125],"efficiently":[126],"without":[127],"relying":[128],"priori":[131],"labels.":[132],"Experiments":[133],"conducted":[134],"public":[136],"datasets,":[137],"including":[138],"Car-Hacking":[139],"CAN-Train-and-Test,":[141],"demonstrate":[142],"efficacy":[144],"The":[147],"model":[148],"achieves":[149],"average":[151],"accuracy":[152],"exceeding":[153],"0.990,":[154],"precision":[155],"above":[156],"0.995,":[157],"F1-score":[160],"nearing":[161],"0.993.":[162],"These":[163],"results":[164],"highlight":[165],"CGTS":[166],"can":[167],"effectively":[168],"detect":[169],"multiple":[170],"injection":[171],"attacks":[172],"significantly":[174],"improve":[175],"performance.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}