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This paper presents a new masquerade attack called the cloaking attack andprovides formal analyses for clock skew-based Intrusion Detection Systems(IDSs) that detect masquerade attacks in the Controller Area Network (CAN) inautomobiles. In the cloaking attack, the adversary manipulates the messageinter-transmission times of spoofed messages by adding delays so as to emulatea desired clock skew and avoid detection. In order to predict and characterizethe impact of the cloaking attack in terms of the attack success probability ona given CAN bus and IDS, we develop formal models for two clock skew-basedIDSs, i.e., the state-of-the-art (SOTA) IDS and its adaptation to the widelyused Network Time Protocol (NTP), using parameters of the attacker, thedetector, and the hardware platform. To the best of our knowledge, this is thefirst paper that provides formal analyses of clock skew-based IDSs inautomotive CAN. We implement the cloaking attack on two hardware testbeds, aprototype and a real vehicle (the University of Washington (UW) EcoCAR), anddemonstrate its effectiveness against both the SOTA and NTP-based IDSs. Wevalidate our formal analyses through extensive experiments for differentmessages, IDS settings, and vehicles. By comparing each predicted attacksuccess probability curve against its experimental curve, we find that theaverage prediction error is within 3.0% for the SOTA IDS and 5.7% for theNTP-based IDS.

Shape of the Cloak: Formal Analysis of Clock Skew-Based Intrusion Detection System in Controller Area Networks