{"id":"https://openalex.org/W7167728031","doi":"https://doi.org/10.5753/jbcs.2026.6140","title":"Learning-Based Intrusion Detection Systems for In-Vehicle CAN Networks: A Comprehensive Survey with Deployment and Real-Time Considerations","display_name":"Learning-Based Intrusion Detection Systems for In-Vehicle CAN Networks: A Comprehensive Survey with Deployment and Real-Time Considerations","publication_year":2026,"publication_date":"2026-07-02","ids":{"openalex":"https://openalex.org/W7167728031","doi":"https://doi.org/10.5753/jbcs.2026.6140"},"language":null,"primary_location":{"id":"doi:10.5753/jbcs.2026.6140","is_oa":true,"landing_page_url":"https://doi.org/10.5753/jbcs.2026.6140","pdf_url":"https://journals-sol.sbc.org.br/index.php/jbcs/article/download/6140/4101","source":{"id":"https://openalex.org/S69801987","display_name":"Journal of the Brazilian Computer Society","issn_l":"0104-6500","issn":["0104-6500","1678-4804"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of the Brazilian Computer Society","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://journals-sol.sbc.org.br/index.php/jbcs/article/download/6140/4101","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5140275874","display_name":"Athar Ghadi","orcid":"https://orcid.org/0009-0003-8014-5380"},"institutions":[{"id":"https://openalex.org/I138216421","display_name":"Eastern Michigan University","ror":"https://ror.org/02ehshm78","country_code":"US","type":"education","lineage":["https://openalex.org/I138216421"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Athar Ghadi","raw_affiliation_strings":["Eastern Michigan University"],"raw_orcid":"https://orcid.org/0009-0003-8014-5380","affiliations":[{"raw_affiliation_string":"Eastern Michigan University","institution_ids":["https://openalex.org/I138216421"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078094126","display_name":"Tauheed Khan Mohd","orcid":"https://orcid.org/0000-0002-7989-6908"},"institutions":[{"id":"https://openalex.org/I138216421","display_name":"Eastern Michigan University","ror":"https://ror.org/02ehshm78","country_code":"US","type":"education","lineage":["https://openalex.org/I138216421"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tauheed Khan Mohd","raw_affiliation_strings":["Eastern Michigan University"],"raw_orcid":"https://orcid.org/0000-0002-7989-6908","affiliations":[{"raw_affiliation_string":"Eastern Michigan University","institution_ids":["https://openalex.org/I138216421"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I138216421"],"apc_list":{"value":1390,"currency":"USD","value_usd":1390},"apc_paid":{"value":1390,"currency":"USD","value_usd":1390},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.78015516,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"32","issue":"1","first_page":"1755","last_page":"1785"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9212999939918518,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9212999939918518,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.030500000342726707,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.01269999984651804,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.8342999815940857},{"id":"https://openalex.org/keywords/intrusion-detection-system","display_name":"Intrusion detection system","score":0.7953000068664551},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5389000177383423},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.5331000089645386},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.39329999685287476},{"id":"https://openalex.org/keywords/network-security","display_name":"Network security","score":0.36000001430511475},{"id":"https://openalex.org/keywords/can-bus","display_name":"CAN bus","score":0.33469998836517334},{"id":"https://openalex.org/keywords/security-domain","display_name":"Security domain","score":0.3102000057697296}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.8342999815940857},{"id":"https://openalex.org/C35525427","wikidata":"https://www.wikidata.org/wiki/Q745881","display_name":"Intrusion detection system","level":2,"score":0.7953000068664551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7774999737739563},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5389000177383423},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.5331000089645386},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.39329999685287476},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.38600000739097595},{"id":"https://openalex.org/C182590292","wikidata":"https://www.wikidata.org/wiki/Q989632","display_name":"Network security","level":2,"score":0.36000001430511475},{"id":"https://openalex.org/C201762086","wikidata":"https://www.wikidata.org/wiki/Q728183","display_name":"CAN bus","level":2,"score":0.33469998836517334},{"id":"https://openalex.org/C2780264999","wikidata":"https://www.wikidata.org/wiki/Q7445032","display_name":"Security domain","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.29789999127388},{"id":"https://openalex.org/C158251709","wikidata":"https://www.wikidata.org/wiki/Q354025","display_name":"Intrusion","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.28439998626708984},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2838999927043915},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.28119999170303345},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.27619999647140503},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2639999985694885},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25679999589920044},{"id":"https://openalex.org/C58642233","wikidata":"https://www.wikidata.org/wiki/Q8269924","display_name":"Taxonomy (biology)","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C27061796","wikidata":"https://www.wikidata.org/wiki/Q745881","display_name":"Intrusion prevention system","level":3,"score":0.2533999979496002},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.5753/jbcs.2026.6140","is_oa":true,"landing_page_url":"https://doi.org/10.5753/jbcs.2026.6140","pdf_url":"https://journals-sol.sbc.org.br/index.php/jbcs/article/download/6140/4101","source":{"id":"https://openalex.org/S69801987","display_name":"Journal of the Brazilian Computer Society","issn_l":"0104-6500","issn":["0104-6500","1678-4804"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of the Brazilian Computer Society","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.5753/jbcs.2026.6140","is_oa":true,"landing_page_url":"https://doi.org/10.5753/jbcs.2026.6140","pdf_url":"https://journals-sol.sbc.org.br/index.php/jbcs/article/download/6140/4101","source":{"id":"https://openalex.org/S69801987","display_name":"Journal of the Brazilian Computer Society","issn_l":"0104-6500","issn":["0104-6500","1678-4804"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of the Brazilian Computer Society","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7167728031.pdf","grobid_xml":"https://content.openalex.org/works/W7167728031.grobid-xml"},"referenced_works_count":114,"referenced_works":["https://openalex.org/W2064675550","https://openalex.org/W2075762388","https://openalex.org/W2110485445","https://openalex.org/W2112796928","https://openalex.org/W2116520617","https://openalex.org/W2119821739","https://openalex.org/W2122111042","https://openalex.org/W2149706766","https://openalex.org/W2620604911","https://openalex.org/W2626778328","https://openalex.org/W2799061466","https://openalex.org/W2808779485","https://openalex.org/W2885443290","https://openalex.org/W2892564986","https://openalex.org/W2897929592","https://openalex.org/W2911964244","https://openalex.org/W2913402274","https://openalex.org/W2914845865","https://openalex.org/W2921212998","https://openalex.org/W2937782590","https://openalex.org/W2945012921","https://openalex.org/W2948384692","https://openalex.org/W2958285686","https://openalex.org/W2959120033","https://openalex.org/W2962444737","https://openalex.org/W2964262308","https://openalex.org/W2970148885","https://openalex.org/W2979202956","https://openalex.org/W2981094074","https://openalex.org/W2991024251","https://openalex.org/W3005736896","https://openalex.org/W3005767993","https://openalex.org/W3015867030","https://openalex.org/W3044568559","https://openalex.org/W3092232275","https://openalex.org/W3092255243","https://openalex.org/W3094026106","https://openalex.org/W3122474235","https://openalex.org/W3124913209","https://openalex.org/W3134606046","https://openalex.org/W3156828671","https://openalex.org/W3157976194","https://openalex.org/W3167412930","https://openalex.org/W3175817563","https://openalex.org/W3178719887","https://openalex.org/W3180202571","https://openalex.org/W3189315611","https://openalex.org/W3193112263","https://openalex.org/W3194111370","https://openalex.org/W3204527343","https://openalex.org/W3204533646","https://openalex.org/W4205625641","https://openalex.org/W4205686442","https://openalex.org/W4220910237","https://openalex.org/W4226105319","https://openalex.org/W4229070083","https://openalex.org/W4234374172","https://openalex.org/W4283210700","https://openalex.org/W4283813168","https://openalex.org/W4284899175","https://openalex.org/W4285091698","https://openalex.org/W4292002654","https://openalex.org/W4293055909","https://openalex.org/W4294860585","https://openalex.org/W4308605894","https://openalex.org/W4315926975","https://openalex.org/W4317600390","https://openalex.org/W4320002750","https://openalex.org/W4322625299","https://openalex.org/W4362519986","https://openalex.org/W4383738214","https://openalex.org/W4388430665","https://openalex.org/W4389794090","https://openalex.org/W4390887143","https://openalex.org/W4392272022","https://openalex.org/W4393151562","https://openalex.org/W4394712270","https://openalex.org/W4395097051","https://openalex.org/W4396232489","https://openalex.org/W4396745094","https://openalex.org/W4399375583","https://openalex.org/W4399602276","https://openalex.org/W4399647672","https://openalex.org/W4399728995","https://openalex.org/W4400266772","https://openalex.org/W4401023383","https://openalex.org/W4401057482","https://openalex.org/W4401328633","https://openalex.org/W4401508383","https://openalex.org/W4402035872","https://openalex.org/W4402158830","https://openalex.org/W4402469134","https://openalex.org/W4402628498","https://openalex.org/W4403635653","https://openalex.org/W4403758665","https://openalex.org/W4404698069","https://openalex.org/W4404953642","https://openalex.org/W4405315562","https://openalex.org/W4405933860","https://openalex.org/W4407404500","https://openalex.org/W4408399452","https://openalex.org/W4409357027","https://openalex.org/W4409636111","https://openalex.org/W4409715489","https://openalex.org/W4409917498","https://openalex.org/W4410857897","https://openalex.org/W4411099540","https://openalex.org/W4412094266","https://openalex.org/W4412405452","https://openalex.org/W4412985473","https://openalex.org/W4413306588","https://openalex.org/W4413677573","https://openalex.org/W4414043464","https://openalex.org/W4416529378"],"related_works":[],"abstract_inverted_index":{"The":[0],"Controller":[1],"Area":[2],"Network":[3],"(CAN)":[4],"bus":[5,136],"continues":[6],"to":[7,31,62,73,89,111],"serve":[8],"as":[9,34,226,237],"the":[10,216,253],"core":[11],"communication":[12],"backbone":[13],"of":[14,53,59,95,131,212,218,249],"modern":[15],"vehicles.":[16],"However,":[17],"its":[18],"original":[19],"design":[20,204],"did":[21],"not":[22],"incorporate":[23],"fundamental":[24],"security":[25,137],"mechanisms,":[26],"leaving":[27],"in-vehicle":[28],"networks":[29],"vulnerable":[30],"cyberattacks":[32],"such":[33,236],"spoofing,":[35],"replay,":[36],"message":[37],"injection,":[38],"and":[39,85,108,141,151,173,182,192,206,220,259,264],"denial-of-service.":[40],"As":[41],"a":[42,127,161,189,247],"result,":[43],"Intrusion":[44],"Detection":[45],"Systems":[46],"(IDSs)":[47],"have":[48,70],"become":[49],"an":[50],"essential":[51],"component":[52],"automotive":[54,178],"cybersecurity,":[55],"providing":[56],"continuous":[57],"monitoring":[58],"CAN":[60,135],"traffic":[61],"identify":[63],"malicious":[64],"behavior.":[65],"In":[66],"recent":[67],"years,":[68],"researchers":[69],"increasingly":[71],"turned":[72],"intelligent":[74],"IDS":[75,158,184],"solutions":[76],"based":[77,231],"on":[78,144,233],"Machine":[79],"Learning":[80,83],"(ML),":[81],"Deep":[82],"(DL),":[84],"hybrid":[86,183],"learning":[87],"approaches":[88,159,185],"enhance":[90],"detection":[91,100,149,166],"capability.":[92],"Although":[93],"many":[94],"these":[96],"studies":[97],"report":[98],"impressive":[99],"accuracy,":[101],"their":[102],"evaluation":[103,257],"practices":[104],"often":[105],"vary":[106],"significantly,":[107],"claims":[109],"related":[110],"real-time":[112,171,201],"performance":[113,167,263],"or":[114,229,243],"lightweight":[115,203],"deployment":[116,174],"are":[117,186],"frequently":[118],"made":[119],"without":[120],"sufficient":[121],"practical":[122,162,265],"validation.":[123],"This":[124],"survey":[125,214,254],"provides":[126],"structured,":[128],"deployment-focused":[129],"review":[130],"learning-based":[132],"IDSs":[133,225],"for":[134,223],"published":[138],"between":[139,261],"2019":[140],"2025.":[142],"Building":[143],"prior":[145],"surveys":[146],"that":[147],"emphasize":[148],"accuracy":[150],"high-level":[152],"method":[153],"categorization,":[154],"this":[155,213],"work":[156],"evaluates":[157],"from":[160],"perspective":[163],"by":[164],"considering":[165],"alongside":[168],"computational":[169],"efficiency,":[170],"feasibility,":[172,202],"readiness":[175],"in":[176],"resource-constrained":[177],"environments.":[179],"ML-based,":[180],"DL-based,":[181],"organized":[187],"within":[188],"unified":[190,250],"taxonomy":[191],"systematically":[193],"compared":[194],"across":[195],"model":[196],"architectures,":[197],"attack":[198],"scenarios,":[199],"datasets,":[200],"claims,":[205],"validation":[207],"strategies.":[208],"A":[209],"key":[210],"contribution":[211],"is":[215],"introduction":[217],"explicit":[219],"consistent":[221],"criteria":[222],"labeling":[224],"lightweight,":[227],"real-time,":[228],"deployable,":[230],"only":[232],"substantiated":[234],"evidence":[235],"ECU-oriented":[238],"runtime":[239],"analysis,":[240],"embedded":[241],"evaluation,":[242],"real-vehicle":[244],"experimentation.":[245],"Through":[246],"set":[248],"comparative":[251],"tables,":[252],"highlights":[255],"common":[256],"gaps,":[258],"mismatches":[260],"reported":[262],"feasibility.":[266]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-07-09T00:00:00"}