I
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ia
n J
o
urna
l o
f
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lect
rica
l En
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ineering
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m
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t
er
Science
Vo
l.
3
9
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.
2
,
A
u
g
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s
t
2
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3
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7
8
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ttp
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//ij
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cs.ia
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Secure ligh
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c vehicles
Va
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ticle
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y:
R
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ed
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v
13
,
2
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2
4
R
ev
is
ed
Mar
20
,
2
0
2
5
Acc
ep
ted
J
ul
2
,
2
0
2
5
Th
e
in
te
g
rit
y
o
f
c
o
n
tr
o
ll
e
r
a
re
a
n
e
two
rk
(CAN
)
p
r
o
to
c
o
ls
in
e
lec
tri
c
v
e
h
icle
s
(EVs)
is
o
f
p
a
ra
m
o
u
n
t
im
p
o
rta
n
c
e
,
d
u
e
t
o
t
h
e
ir
su
sc
e
p
ti
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il
it
y
to
c
y
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e
r
in
tru
si
o
n
s
a
n
d
u
n
a
u
th
o
rize
d
a
c
c
e
ss
.
Trad
it
io
n
a
l
e
n
c
r
y
p
ti
o
n
-
b
a
se
d
se
c
u
rit
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lu
ti
o
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s,
su
c
h
a
s
a
d
v
a
n
c
e
d
e
n
c
ry
p
t
io
n
sta
n
d
a
rd
(
AES
)
a
n
d
a
n
o
m
a
ly
d
e
tec
ti
o
n
m
e
th
o
d
s,
o
ften
i
n
tro
d
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c
e
h
i
g
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c
o
m
p
u
tati
o
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l
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h
e
a
d
a
n
d
late
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y
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m
a
k
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g
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e
m
u
n
s
u
it
a
b
l
e
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re
a
l
-
ti
m
e
EV
c
o
m
m
u
n
ica
ti
o
n
.
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is
stu
d
y
p
ro
p
o
se
s
a
se
c
u
re
li
g
h
t
we
ig
h
t
CAN
p
r
o
t
o
c
o
l
(S
LC
P
),
im
p
lem
e
n
ted
u
sin
g
ARD
UIN
O
Un
o
a
n
d
M
C
P
2
5
1
5
,
wh
ich
e
n
h
a
n
c
e
s
m
e
ss
a
g
e
in
teg
rit
y
,
a
u
th
e
n
ti
c
a
ti
o
n
,
a
n
d
fa
u
lt
re
c
o
v
e
r
y
with
o
u
t
c
o
m
p
ro
m
isi
n
g
sy
ste
m
e
fficie
n
c
y
.
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p
e
rime
n
tal
tes
ti
n
g
d
e
m
o
n
stra
te
d
th
a
t
th
e
p
ro
p
o
se
d
S
LCP
re
d
u
c
e
s
m
e
ss
a
g
e
a
u
th
e
n
ti
c
a
ti
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n
late
n
c
y
b
y
2
5
%
a
n
d
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ro
v
e
s
m
e
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g
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te
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y
4
0
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c
o
m
p
a
re
d
t
o
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o
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n
ti
o
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l
e
n
c
ry
p
ti
o
n
tec
h
n
iq
u
e
s.
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d
it
i
o
n
a
ll
y
,
p
a
c
k
e
t
re
sy
n
c
h
ro
n
iza
ti
o
n
ti
m
e
wa
s
re
d
u
c
e
d
b
y
3
0
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e
n
su
ri
n
g
m
in
ima
l
d
isru
p
ti
o
n
s
in
c
a
se
o
f
m
e
ss
a
g
e
lo
ss
.
Th
e
se
fin
d
in
g
s
e
sta
b
li
sh
S
LCP
a
s
a
v
iab
le,
re
a
l
-
ti
m
e
a
lt
e
rn
a
ti
v
e
fo
r
l
o
w
-
p
o
we
r
EV
c
o
m
m
u
n
ica
ti
o
n
n
e
two
r
k
s.
T
h
e
stu
d
y
c
o
n
tri
b
u
tes
t
o
a
d
v
a
n
c
in
g
li
g
h
twe
i
g
h
t
se
c
u
ri
ty
fra
m
e
wo
rk
s
f
o
r
EV
n
e
two
rk
s,
p
a
v
in
g
t
h
e
wa
y
fo
r
sc
a
lab
le,
re
a
l
-
ti
m
e
c
y
b
e
rse
c
u
rit
y
so
l
u
ti
o
n
s
i
n
m
o
d
e
rn
e
lec
tri
c
tran
sp
o
rtatio
n
.
K
ey
w
o
r
d
s
:
A
u
th
en
ticatio
n
k
e
y
s
A
u
to
m
o
tiv
e
co
n
tr
o
l
C
AN
p
r
o
to
co
l v
u
ln
e
r
ab
ilit
ies
Veh
icle
n
etwo
r
k
s
ec
u
r
ity
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Van
d
an
a
Vijay
k
u
m
ar
Han
c
h
ate
Dep
ar
tm
en
t o
f
E
lectr
o
n
ics an
d
T
elec
o
m
m
u
n
icatio
n
an
d
E
lectr
o
n
ics an
d
C
o
m
p
u
ter
E
n
g
in
ee
r
in
g
PES’
s
Mo
d
er
n
C
o
lleg
e
o
f
E
n
g
in
ee
r
in
g
,
Sav
itrib
ai
Ph
u
le
Pu
n
e
Un
iv
er
s
ity
Pu
n
e,
Ma
h
ar
ash
tr
a,
I
n
d
ia
E
m
ail:
v
an
d
an
a.
h
an
c
h
ate@mo
d
er
n
co
e.
e
d
u
.
in
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
r
ap
id
ad
v
an
ce
m
e
n
t
an
d
wid
esp
r
ea
d
ad
o
p
tio
n
o
f
elec
tr
ic
v
eh
icles
(
E
Vs)
m
ar
k
a
tr
an
s
f
o
r
m
ativ
e
s
h
if
t
in
th
e
au
to
m
o
tiv
e
in
d
u
s
tr
y
,
d
r
i
v
en
b
y
th
e
n
ee
d
f
o
r
s
u
s
tain
ab
le
an
d
e
n
er
g
y
-
ef
f
icien
t
t
r
an
s
p
o
r
tatio
n
.
E
Vs
p
r
o
v
id
e
n
u
m
er
o
u
s
b
e
n
ef
its
,
in
clu
d
in
g
r
ed
u
ce
d
ca
r
b
o
n
e
m
is
s
io
n
s
,
lo
wer
o
p
e
r
atin
g
co
s
ts
,
a
n
d
im
p
r
o
v
ed
e
n
er
g
y
ef
f
icien
cy
,
lead
in
g
to
th
eir
in
cr
ea
s
in
g
ac
ce
p
tan
ce
wo
r
ld
w
id
e.
Ho
wev
er
,
th
e
tr
an
s
itio
n
to
in
tellig
en
t
an
d
n
etwo
r
k
ed
E
V
s
y
s
tem
s
in
tr
o
d
u
ce
s
s
ig
n
if
ican
t
cy
b
e
r
s
ec
u
r
i
ty
ch
allen
g
es,
p
ar
tic
u
lar
ly
i
n
s
af
eg
u
ar
d
i
n
g
th
e
co
n
tr
o
ller
ar
ea
n
etwo
r
k
(
C
AN)
p
r
o
to
co
l,
wh
ich
s
er
v
es a
s
th
e
b
ac
k
b
o
n
e
o
f
v
eh
icle
c
o
m
m
u
n
icatio
n
[
1
]
.
T
h
e
C
AN
p
r
o
to
c
o
l,
ess
en
tial
f
o
r
r
ea
l
-
tim
e
v
eh
icle
c
o
m
m
u
n
i
ca
tio
n
,
lack
s
b
u
ilt
-
in
s
ec
u
r
ity
,
m
ak
in
g
it
v
u
ln
er
ab
le
to
cy
b
e
r
-
attac
k
s
,
m
ess
ag
e
tam
p
er
in
g
,
a
n
d
elec
tr
o
m
ag
n
etic
in
ter
f
e
r
en
ce
(
EMI
)
.
T
h
ese
th
r
ea
ts
ca
n
en
ab
le
u
n
au
t
h
o
r
ized
ac
ce
s
s
,
m
alicio
u
s
d
ata
in
jectio
n
,
an
d
r
em
o
te
h
ijack
in
g
,
co
m
p
r
o
m
is
in
g
p
ass
en
g
er
s
af
ety
[2
]
,
[
3
]
.
E
n
c
r
y
p
tio
n
-
b
ased
m
o
d
els
lik
e
ad
v
an
ce
d
en
c
r
y
p
ti
o
n
s
tan
d
a
r
d
(
AE
S
)
an
d
m
ac
h
in
e
lear
n
i
n
g
(
ML
)
an
o
m
aly
d
etec
tio
n
en
h
a
n
ce
s
ec
u
r
ity
b
u
t
in
tr
o
d
u
ce
h
ig
h
c
o
m
p
u
tatio
n
al
o
v
e
r
h
ea
d
,
in
cr
e
asin
g
laten
cy
a
n
d
r
ed
u
cin
g
s
y
s
tem
r
esp
o
n
s
iv
en
ess
in
E
Vs
[
4
]
,
[
5
]
.
T
h
is
s
t
u
d
y
ex
p
lo
r
es
h
o
w
a
lig
h
twe
ig
h
t
au
th
e
n
ticatio
n
m
ec
h
an
is
m
ca
n
e
n
h
an
ce
C
AN
s
ec
u
r
ity
with
o
u
t
co
m
p
r
o
m
is
in
g
r
ea
l
-
tim
e
p
er
f
o
r
m
an
ce
i
n
E
Vs.
I
t
h
y
p
o
t
h
esizes
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
S
ec
u
r
e
lig
h
tw
eig
h
t CAN
p
r
o
to
co
l h
a
n
d
lin
g
fo
r
elec
tr
ic
ve
h
icles
…
(
V
a
n
d
a
n
a
V
ija
yk
u
ma
r
Ha
n
ch
a
te
)
775
th
at
a
h
ar
d
war
e
-
o
p
tim
ized
h
as
h
-
b
ased
m
ess
ag
e
a
u
th
en
ticatio
n
co
d
e
(
HM
AC
)
-
b
ased
p
r
o
to
c
o
l
ca
n
e
n
s
u
r
e
lo
w
-
laten
cy
,
h
ig
h
-
in
teg
r
ity
au
t
h
e
n
ticatio
n
.
I
m
p
lem
en
tin
g
a
s
ec
u
r
e
lig
h
tweig
h
t
C
AN
p
r
o
t
o
co
l
(
SLCP
)
with
AR
DUI
NO
Un
o
an
d
MCP
2
5
1
5
tr
an
s
ce
iv
er
s
is
ex
p
ec
ted
to
im
p
r
o
v
e
m
ess
ag
e
in
teg
r
ity
a
n
d
s
ec
u
r
ity
ef
f
icien
cy
o
v
er
AE
S
-
b
ased
s
o
lu
tio
n
s
[
6
]
,
[
7
]
.
Un
li
k
e
AE
S
-
b
ased
en
cr
y
p
tio
n
[
8
]
,
wh
ic
h
d
e
m
an
d
s
h
ig
h
co
m
p
u
tatio
n
al
r
eso
u
r
ce
s
an
d
a
d
d
s
laten
cy
,
th
is
s
tu
d
y
p
r
o
p
o
s
es
a
r
ea
l
-
tim
e,
h
ar
d
war
e
-
o
p
tim
ized
s
ec
u
r
ity
f
r
am
ewo
r
k
f
o
r
C
AN
n
etwo
r
k
s
.
T
h
e
SLCP
en
s
u
r
es
ef
f
icien
t
au
t
h
en
ticatio
n
,
d
ata
in
teg
r
ity
,
lo
w
p
r
o
ce
s
s
in
g
o
v
er
h
ea
d
,
r
esil
ien
ce
t
o
m
ess
ag
e
lo
s
s
,
an
d
m
in
im
al
p
er
f
o
r
m
a
n
ce
im
p
ac
t.
Usi
n
g
a
l
o
w
-
co
s
t
AR
DUI
NO
Un
o
+
MCP
2
5
1
5
s
etu
p
,
th
is
s
ca
lab
le
s
o
lu
tio
n
en
h
an
ce
s
E
V
s
ec
u
r
ity
ef
f
icien
tly
.
2.
CO
NT
RO
L
L
E
R
AR
E
A
NE
T
WO
RK
S
2
.
1
.
F
o
un
da
t
io
na
l
r
o
le
o
f
CAN
in E
V’
s
B
y
a
c
t
i
n
g
as
t
h
e
v
e
h
i
cl
e
’
s
c
e
n
t
r
a
l
n
e
r
v
o
u
s
s
y
s
t
e
m
,
C
AN
e
n
a
b
l
e
s
r
e
al
-
t
i
m
e
d
a
t
a
e
x
c
h
a
n
g
e
a
n
d
c
o
o
r
d
i
n
a
t
i
o
n
a
m
o
n
g
d
i
f
f
e
r
e
n
t
c
o
m
p
o
n
e
n
t
s
,
e
n
s
u
r
i
n
g
o
p
e
r
a
t
io
n
a
l
e
f
f
i
c
i
e
n
c
y
a
n
d
p
a
s
s
e
n
g
e
r
s
a
f
et
y
[
9
]
.
D
es
p
i
te
r
o
b
u
s
t
e
r
r
o
r
d
e
t
e
c
t
i
o
n
,
C
A
N
w
a
s
n
’
t
d
e
s
i
g
n
e
d
f
o
r
c
y
b
e
r
s
e
c
u
r
i
t
y
,
m
a
k
i
n
g
i
t
v
u
l
n
e
r
a
b
l
e
t
o
i
n
t
r
u
s
i
o
n
s
,
m
e
s
s
a
g
e
i
n
t
e
r
c
e
p
t
i
o
n
,
a
n
d
s
p
o
o
f
i
n
g
,
w
i
t
h
s
t
u
d
i
e
s
s
h
o
w
i
n
g
c
a
s
e
s
o
f
v
e
h
i
c
l
e
t
a
k
e
o
v
e
r
s
a
n
d
d
a
t
a
t
a
m
p
e
r
i
n
g
[
1
0
]
.
A
s
E
V
s
g
r
o
w
m
o
r
e
c
o
n
n
e
c
t
e
d
w
i
t
h
c
l
o
u
d
s
e
r
v
i
c
e
s
,
o
v
e
r
-
t
h
e
-
a
i
r
(
O
T
A
)
u
p
d
a
t
e
s
,
a
n
d
s
m
a
r
t
g
r
i
d
s
,
s
e
c
u
r
i
n
g
C
A
N
c
o
m
m
u
n
i
c
a
t
i
o
n
t
h
r
o
u
g
h
b
a
c
k
w
a
r
d
c
o
m
p
a
t
i
b
i
l
i
t
y
,
r
e
a
l
-
t
i
m
e
v
a
l
i
d
a
t
i
o
n
,
a
n
d
n
e
t
w
o
r
k
r
e
d
u
n
d
a
n
c
y
i
s
v
i
t
a
l
[
1
1
]
,
[
1
2
]
.
2
.
1
.
1
.
CAN
pro
t
o
co
l
co
m
m
u
nica
t
io
n
T
h
e
C
AN
p
r
o
to
co
l
u
s
es
f
r
am
es
with
an
id
en
tifie
r
an
d
d
ata
p
ay
lo
ad
,
p
r
io
r
itizin
g
cr
itical
s
ig
n
als
lik
e
b
r
ak
in
g
o
v
er
less
u
r
g
en
t
o
n
e
s
,
en
ab
lin
g
d
y
n
am
ic,
s
tab
le
r
esp
o
n
s
es
in
E
Vs
[
1
2
]
-
[
1
4
]
.
T
h
e
C
AN
p
r
o
t
o
co
l,
wh
ile
ef
f
icien
t,
lac
k
s
b
u
i
lt
-
in
en
cr
y
p
tio
n
an
d
au
th
e
n
ticatio
n
,
m
a
k
in
g
it
v
u
l
n
er
ab
le
to
d
a
ta
in
ter
ce
p
tio
n
an
d
m
an
ip
u
latio
n
.
I
ts
tr
u
s
t
-
b
ased
m
o
d
el
allo
ws
attac
k
er
s
to
in
ject
m
alicio
u
s
f
r
am
es,
en
ab
lin
g
u
n
au
t
h
o
r
ized
co
n
tr
o
l,
d
ata
s
p
o
o
f
i
n
g
,
m
ess
a
g
e
f
lo
o
d
in
g
,
a
n
d
b
u
s
-
o
f
f
attac
k
s
th
at
ca
n
d
is
r
u
p
t
c
r
itical
d
r
i
v
in
g
f
u
n
ctio
n
s
[
1
5
]
.
R
ea
l
-
tim
e
p
er
f
o
r
m
an
ce
is
cr
u
cial
f
o
r
C
AN
s
ec
u
r
ity
.
T
r
ad
it
io
n
al
en
cr
y
p
tio
n
m
eth
o
d
s
lik
e
AE
S
an
d
R
iv
est
–
Sh
am
ir
–
Ad
lem
an
(
R
SA
)
in
tr
o
d
u
ce
d
elay
s
,
m
ak
in
g
th
em
i
m
p
r
ac
tical
f
o
r
h
ig
h
-
s
p
ee
d
au
t
o
m
o
tiv
e
n
etwo
r
k
s
.
T
h
is
s
tu
d
y
p
r
o
p
o
s
es
a
lig
h
tweig
h
t,
h
ar
d
war
e
-
b
ased
HM
AC
au
th
en
ticatio
n
m
ec
h
an
is
m
,
en
s
u
r
in
g
r
ea
l
-
tim
e
m
ess
ag
e
v
alid
atio
n
with
o
u
t
b
u
r
d
en
in
g
elec
tr
o
n
ic
c
o
n
tr
o
l
u
n
it
s
(
E
C
Us
)
[
1
6
]
,
[
1
7
]
.
2
.
1
.
2
.
CAN
pro
t
o
co
l
a
t
t
a
c
k
s
:
un
v
eiling
E
V’
s
v
ul
nera
bil
it
i
es
T
h
e
C
AN
p
r
o
to
c
o
l'
s
lack
o
f
au
th
en
ticatio
n
a
n
d
en
cr
y
p
tio
n
m
ak
es
it
v
u
ln
er
a
b
le
to
cy
b
e
r
th
r
ea
ts
,
co
m
p
r
o
m
is
in
g
E
V
s
af
ety
an
d
d
ata
in
teg
r
ity
.
Pas
s
iv
e
attac
k
s
in
clu
d
e
ea
v
esd
r
o
p
p
in
g
,
wh
er
e
attac
k
er
s
in
ter
ce
p
t
u
n
en
cr
y
p
ted
C
AN
m
ess
ag
es
to
an
aly
ze
b
r
a
k
in
g
p
atter
n
s
,
d
r
iv
er
b
e
h
av
io
r
,
an
d
s
en
s
o
r
a
ctiv
ity
[
1
8
]
.
A
c
t
i
v
e
a
t
t
a
c
k
s
i
n
c
l
u
d
e
f
r
a
m
e
s
p
o
o
f
i
n
g
,
w
h
e
r
e
m
a
l
i
c
i
o
u
s
n
o
d
e
s
i
n
j
e
c
t
f
a
k
e
m
e
s
s
a
g
es
,
t
r
i
c
k
i
n
g
E
C
U
s
i
n
t
o
u
n
a
u
t
h
o
r
i
z
e
d
a
c
t
i
o
n
s
li
k
e
d
i
s
a
b
li
n
g
b
r
a
k
e
s
o
r
a
l
t
e
r
i
n
g
s
p
e
e
d
c
o
n
t
r
o
l
[
1
9
]
.
B
u
s
f
l
o
o
d
i
n
g
d
e
n
i
a
l
o
f
s
e
r
v
i
c
e
(
D
o
S
)
o
v
e
r
w
h
e
l
m
s
t
h
e
C
A
N
b
u
s
w
it
h
e
x
c
es
s
i
v
e
m
e
s
s
a
g
es
,
b
l
o
c
k
i
n
g
l
e
g
i
ti
m
a
t
e
c
o
m
m
u
n
i
c
a
t
i
o
n
a
n
d
d
is
a
b
l
i
n
g
f
u
n
c
t
i
o
n
s
.
A
b
u
s
-
o
f
f
a
t
t
a
c
k
e
x
p
l
o
it
s
e
r
r
o
r
-
h
a
n
d
l
i
n
g
to
f
o
r
c
e
E
C
Us
i
n
t
o
a
n
o
n
-
o
p
e
r
at
i
o
n
a
l
s
t
a
t
e
,
i
s
o
la
t
i
n
g
t
h
e
m
f
r
o
m
t
h
e
n
e
t
w
o
r
k
[
2
0
]
.
F
r
e
e
z
e
d
o
o
m
l
o
o
p
:
t
h
e
a
t
t
a
c
k
e
r
p
r
e
v
e
n
t
s
t
h
e
C
A
N
b
u
s
f
r
o
m
t
r
a
n
s
m
i
t
ti
n
g
n
e
w
m
e
s
s
a
g
es
,
le
a
d
i
n
g
t
o
a
s
t
a
t
e
o
f
i
n
d
e
f
i
n
i
t
e
i
n
o
p
e
r
a
b
il
i
t
y
[
2
1
]
.
R
e
a
l
-
w
o
r
l
d
c
as
e
s
:
i
n
2
0
1
5
,
r
e
s
e
a
r
c
h
e
r
s
r
e
m
o
t
e
l
y
h
i
j
a
c
k
e
d
a
J
e
e
p
C
h
e
r
o
k
e
e
,
d
i
s
a
b
l
i
n
g
b
r
a
k
i
n
g
a
n
d
a
c
c
el
e
r
a
t
i
o
n
.
I
n
2
0
2
2
,
a
T
e
s
l
a
m
o
d
e
l
3
v
u
l
n
e
r
a
b
i
l
i
t
y
e
n
a
b
l
e
d
s
p
o
o
f
e
d
C
A
N
m
e
s
s
a
g
es
,
d
i
s
r
u
p
t
i
n
g
A
DA
S
f
u
n
ct
i
o
n
a
l
it
y
[
2
2
]
.
S
e
c
u
r
i
n
g
C
A
N
c
o
m
m
u
n
i
c
a
t
i
o
n
r
e
q
u
i
r
e
s
a
s
m
e
s
s
a
g
e
a
u
t
h
e
n
t
i
c
at
i
o
n
(
H
M
AC
-
b
a
s
e
d
s
e
c
u
r
it
y
p
r
o
to
c
o
l
s
)
,
a
n
o
m
a
l
y
d
et
e
c
ti
o
n
s
y
s
t
e
m
s
(
M
L
-
b
as
e
d
i
n
t
r
u
s
i
o
n
d
e
t
e
c
ti
o
n
)
n
e
t
w
o
r
k
s
e
g
m
e
n
t
a
ti
o
n
a
n
d
r
e
d
u
n
d
a
n
t
p
a
t
h
w
a
y
s
.
T
h
es
e
c
o
u
n
t
e
r
m
e
a
s
u
r
e
s
e
n
h
a
n
c
e
C
A
N
s
e
c
u
r
i
t
y
w
h
i
l
e
p
r
e
s
e
r
v
i
n
g
r
e
a
l
-
t
i
m
e
p
e
r
f
o
r
m
a
n
c
e
,
f
o
r
m
i
n
g
t
h
e
f
o
u
n
d
a
t
i
o
n
o
f
t
h
e
p
r
o
p
o
s
e
d
S
L
C
P
i
n
t
r
o
d
u
c
e
d
i
n
t
h
is
r
e
s
ea
r
c
h
[
2
3
]
,
[
24]
.
2
.
1
.
3
.
Dec
o
din
g
CAN
pro
t
o
c
o
l v
uln
er
a
bil
it
ies in
E
VS:
a
cr
it
ica
l r
ev
iew
o
f
c
o
rpo
ra
t
e
s
e
curit
y
g
a
ps
Au
to
m
o
tiv
e
g
ian
ts
lik
e
T
esla,
T
o
y
o
ta,
an
d
B
YD
h
av
e
im
p
lem
en
ted
r
o
b
u
s
t
s
ec
u
r
ity
s
o
lu
tio
n
s
f
o
r
C
AN
p
r
o
to
co
l
co
m
m
u
n
icatio
n
.
Ho
wev
er
,
th
ese
s
o
lu
tio
n
s
f
ac
e
s
ig
n
if
ican
t
tr
ad
e
-
o
f
f
s
b
et
wee
n
s
ec
u
r
ity
,
co
s
t,
an
d
r
ea
l
-
tim
e
p
e
r
f
o
r
m
an
ce
[
25
]
,
[
2
6
]
.
W
h
ile
th
ese
s
o
lu
tio
n
s
m
itig
ate
k
n
o
wn
C
AN
v
u
ln
er
a
b
ilit
ies,
th
ey
ar
e
n
o
t
f
u
tu
r
e
-
p
r
o
o
f
ag
ai
n
s
t
p
o
s
t
-
q
u
a
n
tu
m
th
r
ea
ts
an
d
n
e
x
t
-
g
en
au
to
m
o
tiv
e
cy
b
er
-
attac
k
s
.
T
h
is
s
tu
d
y
p
r
o
p
o
s
es
a
lo
w
-
co
s
t,
s
ca
lab
le,
r
ea
l
-
tim
e
s
ec
u
r
ity
m
o
d
el
th
at
en
s
u
r
es
m
ess
ag
e
in
teg
r
ity
wi
th
o
u
t
s
ig
n
if
ic
an
t
co
m
p
u
tatio
n
al
b
u
r
d
e
n
[2
7
]
,
[
2
8
]
.
Su
r
v
e
y
o
f
s
ec
u
r
ity
s
o
lu
tio
n
s
s
h
o
w
in
T
ab
l
e
1
.
T
ab
le
1
.
Su
r
v
ey
o
f
Secu
r
ity
S
o
lu
tio
n
s
p
r
o
v
id
ed
b
y
m
an
u
f
ac
t
u
r
er
s
M
a
n
u
f
a
c
t
u
r
e
r
S
e
c
u
r
i
t
y
a
p
p
r
o
a
c
h
C
h
a
l
l
e
n
g
e
s
a
n
d
t
r
a
d
e
-
o
f
f
s
Te
sl
a
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d
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ased
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l
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ess
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e
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er
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icatio
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3
.
1
.
Sy
s
t
e
m
a
rc
hite
ct
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a
n
d ha
rdwa
re
s
et
up
T
h
e
p
r
o
p
o
s
ed
s
ec
u
r
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f
r
am
ew
o
r
k
u
tili
ze
s
:
−
Ar
d
u
in
o
U
n
o
(
p
r
im
ar
y
an
d
s
ec
o
n
d
ar
y
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es):
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an
d
les
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ess
a
g
e
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an
s
m
is
s
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an
d
a
u
th
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tic
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n
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5
1
5
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AN
tr
an
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s
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ac
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AN
co
m
m
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−
L
2
9
3
D
m
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to
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d
r
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: c
o
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tr
o
ls
m
o
to
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s
p
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d
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ased
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th
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ticated
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−
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:
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n
s
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r
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d
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Fig
u
r
e
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th
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u
r
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r
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AN
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r
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to
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l i
m
p
l
em
en
ta
t
io
n
3
.
2
.
Why
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M
AC
o
v
er
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ra
ditio
na
l e
ncry
ptio
n
?
E
x
is
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g
en
cr
y
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tio
n
tech
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iq
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e
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ch
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d
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er
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ce
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t
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er
h
ea
d
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d
l
aten
cy
.
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r
r
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l
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tim
e
E
V
co
m
m
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n
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lig
h
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a
n
d
e
f
f
icien
t
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ec
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h
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is
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eq
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ir
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n
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ased
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th
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ticatio
n
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e
r
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ce
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le
2
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r
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ey
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lts
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o
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t stre
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g
th
s
an
d
ch
allen
g
es.
T
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le
2
.
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f
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eth
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c
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t
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r
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r
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g
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su
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t
i
o
n
3
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3
.
P
er
f
o
r
m
a
nce
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lua
t
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s
ec
urit
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v
s
.
re
a
l
-
t
i
m
e
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f
ici
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ef
f
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tiv
en
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th
r
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n
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n
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1
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etu
p
,
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aly
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g
k
ey
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er
f
o
r
m
a
n
ce
m
etr
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.
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h
e
s
e
r
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lts
in
T
ab
le
3
d
em
o
n
s
tr
ate
th
at
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AC
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ased
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P
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h
iev
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a
b
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b
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s
ec
u
r
ity
an
d
r
ea
l
-
ti
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e
p
er
f
o
r
m
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ce
,
m
ak
i
n
g
it
a
p
r
ac
tical
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o
lu
tio
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f
o
r
r
e
s
o
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r
ce
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lim
ited
E
V
ar
ch
itectu
r
es.
T
ab
le
3
.
Per
f
o
r
m
an
ce
e
v
alu
ati
o
n
M
e
t
r
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c
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LC
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(
p
r
o
p
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s
e
d
a
p
p
r
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a
c
h
)
A
ES
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b
a
se
d
C
A
N
s
e
c
u
r
i
t
y
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t
a
n
d
a
r
d
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A
N
(
n
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s
e
c
u
r
i
t
y
)
M
e
ss
a
g
e
a
u
t
h
e
n
t
i
c
a
t
i
o
n
l
a
t
e
n
c
y
3
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ms
1
5
.
8
ms
1
.
1
ms
M
e
ss
a
g
e
i
n
t
e
g
r
i
t
y
a
c
c
u
r
a
c
y
9
9
.
7
%
9
9
.
9
%
N
/
A
P
r
o
c
e
ss
i
n
g
o
v
e
r
h
e
a
d
Lo
w
(
5
-
8
%
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P
U
u
s
a
g
e
)
H
i
g
h
(
3
5
-
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0
%
C
P
U
u
s
a
g
e
)
N
o
n
e
S
c
a
l
a
b
i
l
i
t
y
i
n
mu
l
t
i
-
n
o
d
e
n
e
t
w
o
r
k
s
H
i
g
h
Li
mi
t
e
d
H
i
g
h
(
b
u
t
i
n
s
e
c
u
r
e
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
S
ec
u
r
e
lig
h
tw
eig
h
t CAN
p
r
o
to
co
l h
a
n
d
lin
g
fo
r
elec
tr
ic
ve
h
icles
…
(
V
a
n
d
a
n
a
V
ija
yk
u
ma
r
Ha
n
ch
a
te
)
777
3
.
4
.
Sca
la
bil
it
y
a
nd
f
uture
a
da
pta
bil
it
y
Scalab
ilit
y
is
k
ey
in
au
to
m
o
tiv
e
cy
b
er
s
ec
u
r
ity
.
SLCP
s
u
p
p
o
r
ts
m
u
lti
-
n
o
d
e
n
etwo
r
k
s
,
ad
ap
ts
to
au
to
n
o
m
o
u
s
v
eh
icles,
in
teg
r
at
es
with
AI
-
d
r
iv
en
I
DS,
an
d
e
n
ab
les
OT
A
s
ec
u
r
ity
u
p
d
ates.
Fu
tu
r
e
r
esear
ch
will
co
m
b
in
e
HM
AC
with
lig
h
tweig
h
t a
n
o
m
aly
d
etec
tio
n
f
o
r
en
h
an
ce
d
E
V
s
ec
u
r
ity
.
4.
A
DE
E
P
D
I
V
E
I
N
T
O
T
H
E
P
RO
P
O
SE
D
SYS
T
E
M
’
S F
U
NCTI
O
N
AL
I
T
Y
T
h
e
SLCP
en
h
an
ce
s
E
V
co
m
m
u
n
icatio
n
s
ec
u
r
it
y
u
s
in
g
A
r
d
u
in
o
an
d
MCP
2
5
1
5
tr
an
s
ce
iv
e
r
s
.
Un
lik
e
AE
S
o
r
HSM
-
b
ased
m
eth
o
d
s
,
wh
ich
ad
d
laten
cy
a
n
d
o
v
er
h
ea
d
,
SLCP
em
p
lo
y
s
HM
AC
f
o
r
r
ea
l
-
tim
e
C
AN
m
ess
ag
e
au
th
en
ticatio
n
.
4
.
1
.
Sy
s
t
e
m
a
rc
hite
ct
ure
a
n
d k
ey
co
m
po
nents
SLCP
Sy
s
tem
C
o
m
p
o
n
en
ts
:
−
Ar
d
u
in
o
U
n
o
(
m
aster
a
n
d
s
lav
e)
: m
an
ag
es
tr
an
s
m
is
s
io
n
an
d
au
th
en
ticatio
n
.
−
MCP
2
5
1
5
tr
an
s
ce
iv
er
s
: f
ac
ilit
ate
s
ec
u
r
e
n
o
d
e
co
m
m
u
n
icatio
n
.
−
L
2
9
3
D
m
o
to
r
d
r
iv
er
: e
x
ec
u
tes
au
th
en
ticated
co
m
m
an
d
s
.
−
HM
AC
au
th
en
ticatio
n
: e
n
s
u
r
e
s
m
ess
ag
e
in
teg
r
ity
.
T
h
e
m
aster
n
o
d
e
e
m
b
ed
s
an
HM
AC
s
ig
n
atu
r
e
in
co
n
tr
o
l
m
ess
ag
es,
wh
ile
th
e
s
lav
e
v
er
if
ies
in
teg
r
ity
b
ef
o
r
e
ex
ec
u
tio
n
.
4
.
2
.
H
M
AC
-
ba
s
ed
s
ec
urit
y
:
s
t
ep
-
by
-
s
t
ep
a
uthent
ica
t
io
n
Ma
s
ter
n
o
d
e
(
m
ess
ag
e
g
e
n
er
at
io
n
):
−
Gen
er
ates a
co
n
tr
o
l m
ess
ag
e
(
e.
g
.
,
m
o
to
r
s
p
ee
d
ad
ju
s
tm
en
t)
.
−
C
r
ea
tes an
HM
AC
s
ig
n
atu
r
e
u
s
in
g
a
s
ec
r
et
k
ey
an
d
SHA
-
2
5
6
.
−
T
r
an
s
m
its
th
e
m
ess
ag
e
+
HM
AC
o
v
er
th
e
C
AN
b
u
s
.
Slav
e
n
o
d
e
(
m
ess
ag
e
au
th
en
ti
ca
tio
n
):
−
R
ec
eiv
es th
e
m
ess
ag
e
an
d
HM
AC
.
−
R
ec
o
m
p
u
tes HM
AC
u
s
in
g
th
e
s
am
e
k
ey
an
d
SHA
-
256.
−
I
f
th
e
HM
AC
s
m
atch
,
th
e
co
m
m
an
d
ex
ec
u
tes;
o
th
er
wis
e,
it is
r
ejec
ted
.
HM
AC
en
s
u
r
es
co
m
m
u
n
icati
o
n
in
teg
r
ity
,
m
i
n
im
izes
d
elay
s
,
an
d
p
r
ev
en
ts
u
n
au
th
o
r
ized
ac
ce
s
s
,
m
ak
in
g
it
id
ea
l f
o
r
r
ea
l
-
tim
e,
lo
w
-
p
o
wer
au
to
m
o
tiv
e
n
etwo
r
k
s
.
4
.
3
.
P
er
f
o
r
m
a
nce
benchm
a
r
k
ing
:
ef
f
iciency
v
s
.
s
ec
urit
y
T
o
v
alid
ate
r
ea
l
-
tim
e
p
er
f
o
r
m
an
ce
an
d
s
ec
u
r
ity
ef
f
icien
c
y
,
SLCP
wa
s
test
ed
ag
ain
s
t
AE
S
-
en
cr
y
p
ted
C
AN
s
y
s
tem
s
.
T
h
e
r
esu
lts
ar
e
s
u
m
m
ar
ized
in
T
a
b
le
4
.
T
h
e
r
esu
lts
in
d
icate
th
at
SLCP
p
r
o
v
id
es
a
5
x
r
e
d
u
ctio
n
in
au
th
en
ticatio
n
laten
cy
co
m
p
ar
ed
to
AE
S wh
ile
co
n
s
u
m
in
g
7
0
% less
p
o
wer
,
m
ak
in
g
it a
p
r
ac
tical
ch
o
ice
f
o
r
E
V
m
icr
o
co
n
tr
o
ller
-
b
ased
n
et
wo
r
k
s
.
T
ab
le
4
.
Per
f
o
r
m
an
ce
b
en
c
h
m
ar
k
in
g
M
e
t
r
i
c
S
LC
P
(
p
r
o
p
o
s
e
d
a
p
p
r
o
a
c
h
)
A
ES
-
b
a
se
d
C
A
N
s
e
c
u
r
i
t
y
S
t
a
n
d
a
r
d
C
A
N
(
n
o
s
e
c
u
r
i
t
y
)
M
e
ss
a
g
e
a
u
t
h
e
n
t
i
c
a
t
i
o
n
l
a
t
e
n
c
y
3
.
2
ms
1
5
.
8
ms
1
.
1
ms
P
r
o
c
e
ss
i
n
g
o
v
e
r
h
e
a
d
(
C
P
U
u
sa
g
e
)
5
-
8%
35
-
5
0
%
N
/
A
P
o
w
e
r
c
o
n
su
mp
t
i
o
n
p
e
r
t
r
a
n
s
a
c
t
i
o
n
0
.
6
mJ
2
.
1
mJ
0
.
3
mJ
S
c
a
l
a
b
i
l
i
t
y
i
n
mu
l
t
i
-
n
o
d
e
n
e
t
w
o
r
k
s
H
i
g
h
Li
mi
t
e
d
H
i
g
h
(
b
u
t
i
n
s
e
c
u
r
e
)
5.
M
AS
T
E
RING
R
E
SI
L
I
E
NC
E
:
A
CO
M
P
R
E
H
E
N
SI
V
E
G
UIDE
T
O
SYS
T
E
M
T
E
S
T
I
NG
AN
D
O
VE
RCO
M
I
NG
CH
A
L
L
E
NG
E
S
T
h
e
p
r
o
p
o
s
ed
SLCP
was
test
e
d
th
r
o
u
g
h
s
im
u
lated
c
y
b
er
-
attac
k
s
o
n
an
Ar
d
u
in
o
-
b
ased
C
AN
n
etwo
r
k
to
ass
es
s
it
s
r
esil
ien
ce
an
d
p
er
f
o
r
m
a
n
ce
.
T
ests
f
o
cu
s
ed
o
n
m
ess
ag
e
au
th
en
ticatio
n
tim
e,
C
PU
u
til
izatio
n
,
p
ac
k
et
lo
s
s
r
ate,
a
n
d
m
e
s
s
ag
e
r
ejec
tio
n
r
ate,
e
v
alu
atin
g
HM
AC
’
s
ef
f
ec
tiv
en
ess
in
en
s
u
r
in
g
r
ea
l
-
tim
e
s
ec
u
r
ity
an
d
d
etec
tin
g
m
alicio
u
s
tr
an
s
m
is
s
io
n
s
with
o
u
t sig
n
if
ican
t o
v
er
h
ea
d
.
5
.
1
.
T
est
1
:
m
ess
a
g
e
inje
ct
io
n
–
det
ec
t
ing
un
a
utho
rize
d c
o
m
ma
nd
s
Dete
r
m
in
e
wh
eth
er
th
e
s
y
s
tem
co
r
r
ec
tly
id
en
tifie
s
an
d
d
is
c
ar
d
s
u
n
au
th
o
r
ized
m
ess
ag
es
in
jecte
d
in
to
th
e
C
AN
b
u
s
.
Me
th
o
d
o
lo
g
y
:
a
m
alicio
u
s
n
o
d
e
was
ad
d
e
d
to
th
e
C
AN
b
u
s
,
tr
an
s
m
itti
n
g
u
n
a
u
th
en
ticate
d
co
n
tr
o
l
m
ess
ag
es.
T
h
e
s
lav
e
n
o
d
e
r
ec
alcu
lated
th
e
HM
A
C
s
ig
n
atu
r
e
an
d
co
m
p
ar
ed
it
with
th
e
r
ec
eiv
ed
m
ess
ag
e.
I
f
th
e
co
m
p
u
ted
HM
AC
d
id
n
o
t m
atch
,
t
h
e
m
ess
ag
e
was r
ejec
ted
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
9
,
No
.
2
,
Au
g
u
s
t
20
25
:
774
-
7
8
2
778
R
esu
lts
:
m
ess
ag
e
au
th
en
ticati
o
n
tim
e:
3
.
2
m
s
,
m
ess
ag
e
r
eje
ctio
n
r
ate:
1
0
0
%
(
All
in
jecte
d
m
ess
ag
es
wer
e
d
is
ca
r
d
ed
)
,
C
PU
o
v
er
h
e
ad
:
m
in
im
al
(
6
.
5
%
u
s
ag
e
in
cr
ea
s
e
d
u
r
in
g
attac
k
d
etec
tio
n
)
.
T
h
is
test
co
n
f
ir
m
ed
th
at
u
n
au
th
o
r
ized
m
ess
ag
e
in
jectio
n
is
ef
f
ec
tiv
ely
n
eu
tr
a
lized
.
T
h
e
s
y
s
tem
d
o
es
n
o
t
ex
ec
u
te
co
m
m
a
n
d
s
with
o
u
t
p
r
o
p
er
au
th
en
ticatio
n
,
p
r
ev
e
n
tin
g
m
alicio
u
s
co
n
tr
o
l
o
f
E
V
o
p
er
atio
n
s
s
u
ch
as
b
r
a
k
in
g
,
ac
ce
ler
atio
n
,
o
r
s
teer
in
g
.
5.
2
.
T
est
2
:
re
pla
y
a
t
t
a
c
k
–
blo
ck
ing
du
pli
ca
t
e
m
ess
a
g
e
re
pla
y
s
Ver
if
y
wh
eth
e
r
t
h
e
s
y
s
tem
c
an
d
etec
t
an
d
r
ejec
t
r
ep
lay
e
d
m
ess
ag
es,
wh
ich
attac
k
er
s
c
an
u
s
e
to
d
u
p
licate
p
r
e
v
io
u
s
co
m
m
a
n
d
s
an
d
o
v
er
r
i
d
e
s
ec
u
r
ity
m
e
asu
r
es.
Me
th
o
d
o
lo
g
y
:
t
h
e
at
tack
er
r
ec
o
r
d
ed
a
le
g
itima
te
m
ess
ag
e
f
r
o
m
th
e
m
aster
n
o
d
e.
T
h
e
r
ec
o
r
d
ed
m
e
s
s
ag
e
was r
etr
an
s
m
itted
to
th
e
s
lav
e
n
o
d
e
at
a
later
tim
e.
T
h
e
s
lav
e
n
o
d
e
id
en
tifie
d
d
u
p
licate
tim
estam
p
s
an
d
r
ej
ec
ted
th
e
m
ess
ag
e.
R
esu
lts
:
r
ep
lay
d
etec
tio
n
ac
cu
r
ac
y
:
9
9
.
6
%
(
o
n
ly
1
f
als
e
n
eg
ativ
e
in
2
5
0
attem
p
ts
)
,
m
ess
ag
e
au
th
en
ticatio
n
laten
cy
:
3
.
4
m
s
,
C
PU
o
v
er
h
ea
d
:
7
.
2
%
in
cr
ea
s
e
d
u
r
in
g
d
etec
tio
n
o
p
er
atio
n
s
.
T
h
e
s
y
s
tem
ac
cu
r
ately
id
e
n
tifie
d
r
e
p
lay
ed
m
ess
ag
es,
en
s
u
r
in
g
th
at
p
r
e
v
io
u
s
ly
r
ec
o
r
d
e
d
co
m
m
an
d
s
co
u
ld
n
o
t
b
e
u
s
ed
m
alicio
u
s
ly
.
T
h
e
in
clu
s
io
n
o
f
u
n
i
q
u
e
tim
estam
p
s
in
HM
AC
ca
lcu
latio
n
s
p
r
ev
e
n
ts
attac
k
er
s
f
r
o
m
r
etr
an
s
m
itti
n
g
o
ld
c
o
n
tr
o
l sig
n
als.
5
.
3
.
T
est
3
:
bu
s
f
lo
o
din
g
–
e
ns
uri
ng
s
y
s
t
em
s
t
a
bil
it
y
un
d
er
a
t
t
a
c
k
E
v
alu
ate
th
e
s
y
s
tem
’
s
r
esil
ien
ce
ag
ain
s
t
Do
S
attac
k
s
,
wh
er
e
an
attac
k
er
f
lo
o
d
s
th
e
C
AN
b
u
s
with
ex
ce
s
s
iv
e
tr
af
f
ic,
p
o
ten
tially
d
elay
in
g
o
r
b
lo
c
k
in
g
le
g
itima
te
m
ess
ag
es.
Me
th
o
d
o
lo
g
y
:
a
m
alicio
u
s
n
o
d
e
co
n
tin
u
o
u
s
ly
s
en
t
h
ig
h
-
p
r
io
r
ity
m
ess
ag
es
to
o
v
er
lo
a
d
th
e
C
AN
b
u
s
.
T
h
e
s
y
s
tem
r
elied
o
n
,
HM
AC
v
alid
atio
n
to
d
is
ca
r
d
u
n
a
u
th
o
r
ize
d
m
ess
ag
es,
C
AN
p
r
io
r
ity
m
ec
h
a
n
is
m
s
to
en
s
u
r
e
h
ig
h
-
p
r
io
r
ity
m
a
s
ter
n
o
d
e
m
ess
ag
es
wer
e
p
r
o
ce
s
s
ed
f
ir
s
t.
R
esu
lts
:
m
ess
ag
e
lo
s
s
r
ate:
0
.
5
%
(
m
in
im
al
im
p
ac
t
o
n
leg
itima
te
co
m
m
u
n
icatio
n
)
,
s
y
s
tem
r
esp
o
n
s
e
tim
e:
n
o
s
ig
n
if
ican
t
d
elay
in
h
ig
h
-
p
r
io
r
ity
m
ess
ag
es
,
an
d
C
PU
u
tili
za
tio
n
in
cr
ea
s
e:
o
n
ly
8
.
3
%
d
u
r
in
g
attac
k
co
n
d
itio
n
s
.
T
h
e
s
y
s
tem
s
u
cc
es
s
f
u
lly
m
itig
ated
b
u
s
f
lo
o
d
in
g
attac
k
s
,
en
s
u
r
in
g
th
at
cr
itical
E
V
o
p
er
atio
n
s
(
e.
g
.
,
b
r
ak
in
g
,
s
teer
in
g
)
wer
e
n
o
t a
f
f
ec
ted
,
ev
en
u
n
d
e
r
h
ig
h
-
tr
af
f
ic
co
n
d
itio
n
s
.
5
.
4
.
Co
m
pa
ra
t
iv
e
a
na
ly
s
is
:
SL
CP
v
s
.
t
ra
ditio
na
l securit
y
a
pp
ro
a
ches
Key
t
ak
ea
way
s
(
T
ab
le
5
)
:
−
SLCP
o
u
tp
er
f
o
r
m
s
AE
S
-
b
ased
au
th
en
ticatio
n
b
y
ac
h
ie
v
in
g
5
x
f
aster
m
ess
ag
e
v
alid
atio
n
.
−
Ma
in
tain
s
r
o
b
u
s
t secu
r
ity
wh
il
e
r
eq
u
ir
in
g
7
0
% less
p
o
wer
co
n
s
u
m
p
tio
n
th
a
n
HSM
-
b
ased
m
o
d
els.
−
Min
im
izes p
r
o
ce
s
s
in
g
o
v
er
h
ea
d
,
m
ak
in
g
it id
ea
l f
o
r
r
eso
u
r
ce
-
co
n
s
tr
ain
ed
E
V
m
icr
o
co
n
tr
o
ll
er
s
.
T
ab
le
5
.
C
o
m
p
a
r
ativ
e
an
aly
s
is
S
e
c
u
r
i
t
y
a
p
p
r
o
a
c
h
M
e
ss
a
g
e
a
u
t
h
e
n
t
i
c
a
t
i
o
n
t
i
m
e
C
P
U
o
v
e
r
h
e
a
d
R
e
si
st
a
n
c
e
t
o
a
t
t
a
c
k
s
A
ES e
n
c
r
y
p
t
i
o
n
(
st
a
n
d
a
r
d
)
1
5
.
8
ms
35
-
5
0
%
H
i
g
h
(
b
u
t
sl
o
w
p
e
r
f
o
r
ma
n
c
e
)
H
S
M
-
b
a
s
e
d
se
c
u
r
i
t
y
(
T
e
sl
a
,
To
y
o
t
a
)
1
2
.
5
ms
H
i
g
h
p
o
w
e
r
c
o
n
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mp
t
i
o
n
H
i
g
h
S
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P
(
p
r
o
p
o
s
e
d
H
M
A
C
sy
st
e
m)
3
.
2
ms
5
-
8%
H
i
g
h
(
l
o
w
-
l
a
t
e
n
c
y
,
l
o
w
-
p
o
w
e
r
a
l
t
e
r
n
a
t
i
v
e
)
5
.
5
.
Sy
s
t
e
m
s
ca
la
bil
it
y
:
CA
N
SL
CP
ha
n
dle la
rg
er
net
wo
rk
s
SLCP
en
s
u
r
es
s
ca
lab
ili
ty
with
lo
w
co
m
p
u
tatio
n
al
o
v
er
h
ea
d
,
allo
win
g
s
ea
m
less
in
teg
r
atio
n
in
to
h
ig
h
-
s
p
ee
d
C
AN
n
etwo
r
k
s
with
o
u
t
p
er
f
o
r
m
an
ce
d
eg
r
ad
atio
n
.
I
t
s
u
p
p
o
r
ts
m
u
lti
-
n
o
d
e
ar
c
h
itectu
r
es,
m
ak
in
g
it
s
u
itab
le
f
o
r
au
t
o
n
o
m
o
u
s
an
d
co
n
n
ec
ted
v
eh
icles.
Ad
d
itio
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al
ly
,
its
co
m
p
atib
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with
O
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u
p
d
ates
en
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r
es
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ter
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ad
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p
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ilit
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.
Fu
tu
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e
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ce
m
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AI
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ased
in
tr
u
s
io
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tem
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I
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o
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im
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r
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o
m
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d
etec
tio
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d
ex
p
l
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y
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u
r
ity
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o
d
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th
at
c
o
m
b
in
e
HM
AC
au
th
en
ticatio
n
w
ith
lig
h
tweig
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t e
n
cr
y
p
tio
n
f
o
r
en
h
an
ce
d
p
r
o
tectio
n
.
6.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
NS
T
h
e
ev
alu
atio
n
o
f
t
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SLCP
was
co
n
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u
cted
u
s
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a
n
Ar
d
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in
o
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b
ased
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V
co
m
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etu
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,
wh
er
e
th
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p
r
im
ar
y
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n
tr
o
ller
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ec
u
r
ely
tr
an
s
m
its
au
th
en
ticated
m
ess
ag
es
to
th
e
s
u
b
o
r
d
in
ate
co
n
tr
o
ller
v
i
a
MCP
2
5
1
5
C
AN
tr
an
s
ce
iv
er
s
.
T
o
en
s
u
r
e
m
ess
ag
e
in
teg
r
ity
an
d
p
r
ev
en
t
u
n
au
th
o
r
ized
ac
ce
s
s
,
ea
ch
m
es
s
ag
e
in
co
r
p
o
r
ates a
n
HM
AC
s
ig
n
atu
r
e,
v
e
r
if
ied
u
p
o
n
r
ec
ep
tio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
S
ec
u
r
e
lig
h
tw
eig
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t CAN
p
r
o
to
co
l h
a
n
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lin
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fo
r
elec
tr
ic
ve
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icles
…
(
V
a
n
d
a
n
a
V
ija
yk
u
ma
r
Ha
n
ch
a
te
)
779
6
.
1
.
P
er
f
o
r
m
a
nce
a
na
ly
s
is
a
nd
s
ec
urit
y
v
a
lid
a
t
io
n
T
ab
le
6
p
r
o
v
id
es
a
co
m
p
ar
a
tiv
e
an
aly
s
is
o
f
th
e
p
r
o
p
o
s
e
d
SLCP
s
y
s
tem
ag
ain
s
t
p
r
ev
io
u
s
C
A
N
s
ec
u
r
ity
m
eth
o
d
s
.
T
h
e
r
esu
lts
h
ig
h
lig
h
t
th
e
im
p
r
o
v
em
en
t
s
in
co
m
m
u
n
icatio
n
s
ec
u
r
ity
,
m
ess
ag
e
in
teg
r
ity
,
tr
an
s
m
is
s
io
n
tim
e,
an
d
p
r
o
ce
s
s
in
g
ef
f
icien
c
y
.
T
ab
le
6
.
C
o
m
p
a
r
is
o
n
o
f
p
ar
am
etr
ic
v
alu
es
P
a
r
a
me
t
e
r
s
Re
s
u
l
t
s fr
o
m
p
r
e
v
i
o
u
s
met
h
o
d
o
l
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g
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e
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R
e
s
u
l
t
s fr
o
m
p
r
o
p
o
s
e
d
me
t
h
od
I
mp
r
o
v
e
m
e
n
t
(
%)
C
o
mm
u
n
i
c
a
t
i
o
n
s
e
c
u
r
i
t
y
9
5
%
–
A
ES [
29
]
,
[
3
0
]
9
8
%
-
H
M
A
C
b
a
se
d
a
u
t
h
e
n
t
i
c
a
t
i
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n
+
3
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e
ss
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g
e
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n
t
e
g
r
i
t
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0
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a
c
c
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r
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c
y
-
e
r
r
o
r
d
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t
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c
t
i
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d
e
s
[3
1
]
9
8
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c
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u
r
a
c
y
H
M
A
C
v
e
r
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f
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c
a
t
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o
n
+
8
%
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o
t
o
r
c
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n
t
r
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l
a
c
c
u
r
a
c
y
±
5
%
s
p
e
e
d
d
e
v
i
a
t
i
o
n
-
P
I
D
c
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n
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r
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l
[
3
2
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2
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s
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e
d
d
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v
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t
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n
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r
d
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i
n
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t
h
H
M
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C
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i
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p
r
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t
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3
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N
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r
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n
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v
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s
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2
0
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f
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st
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r
H
M
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C
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m
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3
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r
6
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2
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n
h
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ce
d
s
ec
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r
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d
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r
it
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8
% v
alid
atio
n
v
ia
HM
AC
,
3
% b
etter
th
an
AE
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−
8
% im
p
r
o
v
e
d
in
teg
r
ity
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er
if
ic
atio
n
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r
ed
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cin
g
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r
r
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r
s
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d
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g
.
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o
wer
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r
o
ce
s
s
in
g
o
v
er
h
ea
d
:
−
3
3
% f
aster
th
an
h
ar
d
war
e
e
n
cr
y
p
tio
n
f
o
r
r
ea
l
-
tim
e
v
alid
atio
n
.
−
1
6
.
6
% r
ed
u
ctio
n
i
n
v
er
if
icatio
n
tim
e,
o
p
tim
izin
g
laten
cy
-
s
en
s
itiv
e
task
s
.
Op
tim
ized
m
o
to
r
c
o
n
tr
o
l
:
−
6
0
% a
cc
u
r
ac
y
b
o
o
s
t in
s
p
ee
d
co
n
tr
o
l,
e
n
s
u
r
in
g
s
tab
ilit
y
.
−
±
2
%
d
ev
iatio
n
v
s
.
±
5
% in
PID
-
b
ased
co
n
tr
o
ller
s
.
Su
p
er
io
r
ef
f
icien
cy
a
n
d
s
ca
lab
ilit
y
:
−
Secu
r
e
k
ey
s
to
r
a
g
e
elim
in
ates c
ac
h
in
g
d
ela
y
s
f
o
r
in
s
tan
t m
at
ch
in
g
.
−
1
6
.
6
% f
aster
m
ess
ag
e
p
ar
s
in
g
,
m
in
im
izin
g
C
AN
b
u
s
co
n
g
esti
o
n
.
6
.
3
.
Co
m
pa
riso
n
wit
h c
o
mm
er
cia
l a
uto
mo
t
iv
e
s
e
curit
y
s
o
lutio
ns
T
o
v
alid
ate
t
h
e
p
r
ac
tical
a
p
p
li
ca
b
ilit
y
o
f
SLCP
,
its
p
er
f
o
r
m
an
ce
was
co
m
p
a
r
ed
with
T
esl
a,
T
o
y
o
ta,
an
d
B
YD's
C
A
N
s
ec
u
r
ity
m
ec
h
an
is
m
s
.
SLCP
o
u
tp
er
f
o
r
m
s
co
m
m
er
cial
s
o
lu
tio
n
s
in
r
ea
l
-
t
im
e
au
th
en
ticatio
n
s
p
ee
d
(
3
.
2
m
s
v
s
.
1
2
.
5
+
m
s
)
.
C
o
n
s
u
m
es
7
0
%
les
s
p
o
wer
th
an
h
ar
d
war
e
-
b
ased
HSM
s
ec
u
r
ity
m
o
d
els.
R
etain
s
h
ig
h
s
ec
u
r
ity
wh
ile
m
ain
tai
n
in
g
c
o
m
p
u
tatio
n
al
ef
f
icien
cy
,
m
ak
i
n
g
it
id
ea
l
f
o
r
r
e
s
o
u
r
ce
-
lim
ited
E
V
m
icr
o
co
n
tr
o
ller
s
.
On
e
cr
itical
f
ac
to
r
in
E
V
c
y
b
er
s
ec
u
r
ity
is
wh
eth
er
a
p
r
o
p
o
s
ed
s
ec
u
r
ity
p
r
o
to
co
l
ca
n
s
ca
le
ef
f
ec
tiv
ely
in
m
u
lti
-
n
o
d
e,
h
i
g
h
-
s
p
ee
d
n
etwo
r
k
s
.
T
h
e
SL
C
P
m
o
d
el
was
ev
alu
ated
in
d
if
f
er
en
t
s
ce
n
ar
io
s
,
in
clu
d
in
g
s
in
g
le
-
n
o
d
e
s
y
s
tem
(
s
tan
d
ar
d
E
V)
–
a
c
h
iev
ed
9
8
%
s
ec
u
r
ity
v
alid
atio
n
with
m
in
im
al
p
r
o
ce
s
s
in
g
o
v
er
h
ea
d
,
m
u
lti
-
n
o
d
e
E
V
n
et
wo
r
k
(
au
to
n
o
m
o
u
s
v
eh
icle
s
im
u
latio
n
)
–
e
ns
u
r
ed
9
9
.
3
%
m
ess
ag
e
in
teg
r
ity
in
h
ig
h
-
tr
af
f
ic
co
n
d
itio
n
s
.
C
o
m
p
ar
is
o
n
with
co
m
m
er
cial
a
u
to
m
o
tiv
e
s
ec
u
r
ity
s
o
lu
tio
n
s
as sh
o
wn
in
T
ab
le
7
.
T
ab
le
7
.
C
o
m
p
a
r
is
o
n
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
with
co
m
m
e
r
ci
ally
av
ailab
le
M
a
n
u
f
a
c
t
u
r
e
r
S
e
c
u
r
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t
y
a
p
p
r
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a
c
h
M
e
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e
a
u
t
h
e
n
t
i
c
a
t
i
o
n
t
i
me
M
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7.
CO
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SI
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SLCP
in
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d
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tu
d
y
r
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n
ce
m
en
t
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co
m
m
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n
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s
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r
ity
,
o
f
f
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an
d
c
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l
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cr
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p
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b
ased
s
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tio
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s
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HM
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ticatio
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d
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ased
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r
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cc
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lly
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itig
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t
h
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u
ch
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m
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e
in
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io
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,
r
e
p
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r
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s
t m
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n
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d
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a
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m
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ased
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.
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s
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r
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ir
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o
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tr
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t
s
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n
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w
-
r
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r
ce
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icr
o
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n
tr
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ller
s
–
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p
tim
izati
o
n
tech
n
iq
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es
s
u
ch
as
co
d
e
co
m
p
r
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d
h
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war
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ac
ce
ler
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co
u
l
d
f
u
r
th
er
e
n
h
an
ce
ef
f
icien
c
y
.
8.
F
UT
UR
E
SCO
P
E
Fu
tu
r
e
en
h
an
ce
m
en
ts
f
o
cu
s
o
n
o
p
tim
izin
g
cr
y
p
to
g
r
a
p
h
ic
al
g
o
r
ith
m
s
b
y
f
in
e
-
tu
n
in
g
HM
AC
f
o
r
lo
wer
au
th
en
ticatio
n
laten
c
y
wh
ile
m
ain
tain
in
g
s
ec
u
r
ity
.
E
x
p
l
o
r
in
g
h
y
b
r
id
tech
n
iq
u
es
lik
e
AE
S
-
GC
M
+
HM
AC
ca
n
p
r
o
v
id
e
b
o
th
en
cr
y
p
tio
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a
n
d
m
ess
ag
e
in
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ile
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o
s
t
-
q
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an
tu
m
cr
y
p
to
g
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ap
h
y
e
n
s
u
r
es
f
u
tu
r
e
-
p
r
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o
f
s
ec
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ity
.
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n
teg
r
atin
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AI
an
d
ML
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en
h
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ce
an
o
m
aly
d
etec
tio
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th
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g
h
AI
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d
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d
p
r
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ase
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ted
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1
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F
.
To
r
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e
s
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.
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2
]
Y
.
Ta
n
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,
K
.
F
u
j
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m
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[
3
]
D
.
S
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g
h
,
P
.
K
u
mar,
a
n
d
S
.
R
a
t
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,
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c
k
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c
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me
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.
[
4
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.
A
.
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h
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d
A
.
M
a
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,
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.
[
5
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L.
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n
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,
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.
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e
i
,
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d
T.
H
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6
]
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.
W
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,
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.
L
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n
d
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c
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v
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[
7
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R
.
P
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,
M
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m
a
,
a
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.
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[
8
]
K
.
N
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k
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m
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a
,
Y
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T
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Evaluation Warning : The document was created with Spire.PDF for Python.