A bus-off attack is a denial-of-service (DoS) attack which exploits error handling in the controller area network (CAN) to induce an honest node to disconnect itself from the CAN bus. This paper develops a stochastic transmission policy as a countermeasure for the controller-transmitter pair against the bus-off attack. We model this as a non-zero-sum linear-quadratic-Gaussian game between the controller-transmitter pair and the attacker. We derive Nash equilibria of the game for two different information structures of the attacker. We show that the attacker has a dominant attack strategy under both information structures. Under the dominant attack strategy, we show that the optimal control policy is linear in the system state. We further identify a necessary and a sufficient conditions on the transmission policy to have bounded average cost. The theoretical results are complemented by a detailed case study of a bus-off attack on a vehicular adaptive cruise control model.

中文翻译：

---

CAN网络中针对总线关闭攻击的纳什均衡控制策略


总线关闭攻击是一种拒绝服务 (DoS) 攻击，它利用控制器局域网 (CAN) 中的错误处理来诱导诚实节点断开与 CAN 总线的连接。本文开发了一种随机传输策略，作为控制器-发送器对抵御总线关闭攻击的对策。我们将其建模为控制器-发射器对和攻击者之间的非零和线性二次高斯博弈。我们针对攻击者的两种不同信息结构推导了博弈的纳什均衡。我们表明攻击者在两种信息结构下都具有主导攻击策略。在显性攻击策略下，我们证明最优控制策略在系统状态下是线性的。我们进一步确定了传输策略具有有界平均成本的充分必要条件。对车辆自适应巡航控制模型的巴士关闭攻击的详细案例研究对理论结果进行了补充。