Modern vehicles are equipped with many embedded controllers (ECUs) and other embedded computing devices, which are interconnected with networks internal to the vehicle. The Controller Area Network (CAN bus) is the most widespread internal network. As modern vehicles have an increasing number of external connections, CAN technology's lack of security considerations has become a severe problem.

Multiple approaches have already been proposed to establish security on the CAN bus. One such option is introducing an anomaly detection system to detect ongoing attacks. Previous solutions can detect significant anomalies in vehicle signals; however, detecting less intrusive attacks requires more sophisticated solutions. The goal is to design and implement an anomaly detection system that builds on the relations between CAN signals for a better-performing detection system.