CAN Intrusion Detection Dataset

This dataset provides raw Controller Area Network (CAN) traffic collected from a real vehicle (KIA Soul) under four states: DoS attack, Fuzzy attack, Impersonation attack, and normal driving conditions. The data were captured via the OBD-II port while performing message-injection attacks following the OTIDS methodology. Each record contains timestamped CAN messages with identifier (ID), DLC, and 8 data bytes. The dataset was originally used for evaluating OTIDS, an intrusion detection system based on analyzing offset ratio and request\u2013response time intervals between remote frames and their corresponding data frames. Researchers can use this dataset to study CAN-bus anomaly detection, message-injection attacks, impersonation detection, and timing-based IDS mechanisms in in-vehicle networks.