A GRU-Based Lightweight System for CAN Intrusion Detection in Real Time

Table 7

CAN intrusion dataset categories and corresponding sample numbers.

Dataset label	Num of original samples	Num of training set samples	Num of test set samples
Benign	14037000	200000	50000
DoS	587500	40000	10000
Fuzzy	491000	40000	10000
Spoofing	1134000	40000	10000