README.md

---
pretty_name: IV-CAN-v1
license: cc-by-4.0
task_categories:
  - tabular-classification
tags:
  - automotive
  - can-bus
  - cybersecurity
  - intrusion-detection
  - time-series
size_categories:
  - 100M<n<1B
viewer: false
---

# 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.

![Dataset Distribution](statistics/dataset_distribution_pies.svg)

## Highlights

- **License:** [Creative Commons Attribution 4.0 International](LICENSE.md)
- **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

```text
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:

```text
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](SCHEMA.md). Machine-readable definitions are provided in [schema/frame.schema.yaml](schema/frame.schema.yaml) and [schema/label.schema.json](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:

```bash
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](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](code/attack_generation/README.md) 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](statistics/attack_effect_counter.md), with additional machine-readable statistics in [statistics/count_csv_result.yaml](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](LICENSE.md). Attribution is required. Third-party drivers and runtimes are not redistributed and remain subject to their vendors' licenses.