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

Table 8

Classification performance statistics.

DoS Attack	Precision	Recall	F1-Score
SVM [16]	0.8723	0.8744	0.8733
AdaBoost [17]	0.9898	0.9923	0.9910
LSTM [13]	0.9923	0.9901	0.9912
Ours	0.9993	0.9991	0.9992
Fuzzy Attack	Precision	Recall	F1-score
SVM [16]	0.8423	0.8312	0.8367
AdaBoost [17]	0.8995	0.9123	0.9059
LSTM [13]	0.9976	0.9924	0.9950
Ours	0.9932	0.9913	0.9922
Spoofing Attack	Precision	Recall	F1-score
SVM [16]	0.9312	0.9215	0.9263
AdaBoost [17]	0.9289	0.9216	0.9252
LSTM [13]	0.9932	0.9912	0.9922
Ours	0.9995	0.9931	0.9963