Timing Analysis of CAN FD for Security-Aware Automotive Cyber-Physical Systems

The CAN FD emerges as a promising CAN technology inside the ACPS due to its advantages of high data-phase bit-rate and message payload. HSM based security solution is recommended by auto industry to protect CAN FD from potential security attacks, but it induces new challenges on timing analysis of CAN FD messages, which is left open in the literature. This article develops the first security-aware system model to describe the processing of CAN FD messages, and presents a new WCRT analysis to bound the interference induced by security-critical messages. We give the theoretical proof that our WCRT analysis can upper bound the response time of CAN FD messages. Using a small message set, we show that the WCRT computed by our new analysis is only 14% percent higher than the true WCRT obtained from an exhaustive search based simulator. By comparing with existing method, the number of impacted messages increases along with the increasing number of security critical messages, and for the two typical CAN FD systems, the percentage of WCRT increase varies from 12.43% to 14.57% and 7.0% to 10.89%, respectively; the percentage of WCRT decrease varies from 3.29% to 6.04% and 4.13% to 7.93%, respectively.