Dynamic wavelet watermarking intrusion detection system for message detection and resistance to model attacks in CAN bus communications

This research paper proposes a watermarking-based intrusion detection system for CAN bus (Controller Area Network, a communication system used in vehicles and industrial equipment) that uses dynamic wavelet analysis to detect malicious messages and resist attacks on the detection model itself. The system aims to protect CAN bus communications from unauthorized access and manipulation while remaining robust against adversarial attacks (attempts to fool the security system).