Intrusion Detection Method for In-Vehicle CAN Bus Based on Message and Time Transfer Matrix

Table 4

Comparison with other applicable algorithms in terms of accuracy and recall.

Scheme	Indicator	DoS	Fuzz (%)	Ulterior fuzz (%)	Replay (%)
Message and time transfer matrix	Accuracy	100%	99.87	95.74	93.63
	Recall	100%	99.89	94.34	84.67
ID sequence-based	Accuracy	100%	99.64	85.09	79.65
	Recall	100%	98.8	44.64	17.08
Hamming distance-based	Accuracy	—	99.6	88.66	87.81
	Recall	—	98.25	98.13	6.8
Message-cycle-based	Accuracy	—	99.21	87.56	87.05
	Recall	—	31.09	68.1	47.49