A CAN Bus Security Testbed Framework for Automotive Cyber-Physical Systems

Table 2

Delay results in the testbed and the real vehicle.

CAN ID	Description	Rate	Real vehicle delay (ms)	Testbed delay (ms)	Relative delay difference (%)
All; 0B0; 0B2; 610; 025; 224; 2C1; 2C4; 398; 3B4	All CAN messages; Speed of wheels 1 and 2; Speed of wheels 3 and 4; Vehicle speed; Steering angle; Brake pedal; Throttle; Engine speed; Fuel; PRND	—; 0.01; 0.01; 0.5; 0.01; 0.32; 0.99; 0.02; Aperiodic; Aperiodic	74352; 74352; 74353; 73481; 74352; 74322; 74324; 74333; 73081; 72921	74970; 74509; 74943; 73555; 74929; 74440; 74970; 74935; 73108; 72990	0.80; 0.21; 0.80; 0.10; 0.78; 0.18; 0.87; 0.81; 0.04; 0.09