IV-CAN-v1

IV-CAN-v1 is an in-vehicle CAN security dataset produced entirely by the IV-CAN team. It contains 134 case-oriented captures for intrusion detection, attack analysis, cross-domain forwarding inspection, entropy analysis, and message-timing studies.

Highlights

• License: Creative Commons Attribution 4.0 International
• Trials: 134
• CAN frames: 225,850,423
• CSV payload size: 27.45 GB
• Protocols: 56,015,108 classical CAN frames and 169,835,315 CAN FD frames
• Capture duration: 12h14min
• Attack-execution trial duration: 3h9min
• Attack families: DoS, fuzzing, replay, spoofing, suspension, and masquerade

Repository layout

IV-CAN-v1/
├── data/
│   ├── Benign/<case_id>/{data.csv,label.yaml}
│   └── Attack/<attack_type>/<case_id>/{data.csv,label.yaml}
├── analysis/                         # case-level plots and tracing artifacts
├── code/attack_generation/           # self-contained reproducibility snapshot
├── schema/                            # machine-readable schemas
├── statistics/                        # aggregate statistics and figures
├── tools/validate_dataset.py          # lightweight public validator
├── dataset_manifest.csv
├── LICENSE.md
├── SCHEMA.md
└── README.md

Each case has a stable public id such as fuzzing_0001. The manifest provides all public data and analysis paths. Large CSV files are intentionally not rendered by the Hub viewer; stream them or download selected cases instead.

Data schema

Every data.csv uses this ordered header:

timestamp,can_id,is_extended_id,dlc,data,RX_or_TX,type,is_fd,domain,is_attack,traced_from,uuid,is_traced_attack

The normative definitions, units, enums, identifier scope, and tracing constraints are in SCHEMA.md. Machine-readable definitions are provided in schema/frame.schema.yaml and schema/label.schema.json.

Important interpretation rules:

• timestamp is Unix epoch time in seconds, expressed on the UTC time scale. The original recorder wall-clock was interpreted in the project acquisition timezone (Asia/Shanghai) during conversion.
• RX and TX are relative to the recording channel: received from or transmitted by that channel.
• PEAK frame types are DT (data frame without the combined flags represented below), FB (CAN FD with BRS), and BI (CAN FD with BRS and ESI). Use is_fd, not DT alone, to distinguish classical CAN from CAN FD.
• uuid is unique only within one case. traced_from contains zero or more parent UUIDs from that same case; UUIDs must never be joined across cases.
• is_attack=true identifies injected attack frames. A forwarded-only attack-related frame is selected by is_traced_attack=true AND is_attack=false; the flags are not declared mutually exclusive.

Run a bounded structural check from the repository root:

python tools/validate_dataset.py --max-rows 1000

Use --all to scan every row (this is expensive for the full dataset).

Labels and trial categories

Category	Trials
Benign	60
DoS	22
fuzzing	28
replay	12
spoofing	8
suspension	2
masquerade	2

Public attack-type names are case-sensitive and normalized exactly as shown. Case ids use lowercase prefixes, for example dos_0001 and replay_0001.

Attack-generation code

code/attack_generation is a curated, self-contained snapshot of the core attack construction logic used for the dataset. It excludes private builder infrastructure and third-party hardware binaries. DoS, fuzzing, replay, and spoofing include frame-generation/execution paths; suspension and masquerade are published as validated experiment plans because their execution requires a two-interface MitM bridge.

The command-line tool defaults to a no-transmit preview. Hardware execution requires two explicit safety flags and an authorized, isolated CAN test bench. See the code README for installation, limitations, and tests.

Collection and attack statistics

Metric	Value
Total trials	134
Total CAN frames	225,850,423
Trials with non-driver control	67 (37 benign; 30 attack)
Attack-execution trial duration (primary)	3h9min
Cumulative injection-window duration (supplementary)	23min
is_attack frames	231,477
is_traced_attack frames	42,478
Trials with attack cross-domain forwarding	23

Domain	Configured name	Protocol	Frames
1	驱动CAN	CAN FD	57,786,350
2	底盘CAN	CAN FD	64,904,112
3	灯控CAN	Classical CAN	48,815,343
4	辅助行驶CAN	CAN FD	47,144,853
5	方向盘CAN	Classical CAN	7,199,765

The primary attack-execution trial duration is the sum of the full collection_duration_sec spans of all 74 attack trials (11,388.886 seconds, reported as 3h9min). It represents the complete driving and observation context in which attacks were executed. The supplementary cumulative injection-window duration sums attacking_duration_sec across those trials (1,429.850 seconds, reported as 23min); it covers only the configured active injection windows and excludes the surrounding observation periods.

The attack-effect summary is available in statistics/attack_effect_counter.md, with additional machine-readable statistics in statistics/count_csv_result.yaml.

Responsible use

This dataset and supplementary code are intended for authorized security research, reproducibility, defensive evaluation, and education. Do not use attack-generation functionality on public roads, operational vehicles, or networks you do not own or have explicit permission to test.

License and attribution

IV-CAN-v1 data, original documentation, schemas, figures, and the original supplementary attack-generation code are released under CC BY 4.0. Attribution is required. Third-party drivers and runtimes are not redistributed and remain subject to their vendors' licenses.