{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T04:29:50Z","timestamp":1750220990017,"version":"3.41.0"},"reference-count":20,"publisher":"Association for Computing Machinery (ACM)","issue":"1","license":[{"start":{"date-parts":[[2019,11,2]],"date-time":"2019-11-02T00:00:00Z","timestamp":1572652800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CNS 1715458, CNS 1619641"],"award-info":[{"award-number":["CNS 1715458, CNS 1619641"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Cyber-Phys. Syst."],"published-print":{"date-parts":[[2020,1,31]]},"abstract":"<jats:p>Embedded computing devices play an integral role in the mechanical operations of modern-day vehicles. These devices exchange information containing critical vehicle parameters that reflect the current state of operations. Such information can be captured for various purposes, such as diagnostics, fleet management, and analytics. Although monitoring individual parameters can be useful for some applications, monitoring distinct combinations of parameters can reveal more complex and higher-level states that may give useful information. Existing monitoring systems either lack user configurability and control or present simple user interfaces that make it difficult to monitor and collate different parameters to observe high-level vehicle states. In this work, we present TruckSTM, a novel application that realizes user-defined states from messages seen in the embedded networks of medium and heavy duty vehicles and displays state transitions on an interactive user interface. We begin by symbolically formulating some of the in-vehicle networking concepts and formally defining the concept of operational states and state transitions. We then elaborate on the operations performed by TruckSTM in mapping network-obtained vehicle parameters to states that can be defined in standard JSON format. Finally, we evaluate TruckSTM\u2019s asymptotic performance and present the results for the worst-case scenario and demonstrate that in a real world scenario such high level state visualization constraints of an operational truck.<\/jats:p>","DOI":"10.1145\/3300183","type":"journal-article","created":{"date-parts":[[2019,11,4]],"date-time":"2019-11-04T14:04:16Z","timestamp":1572876256000},"page":"1-25","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["TruckSTM"],"prefix":"10.1145","volume":"4","author":[{"given":"Subhojeet","family":"Mukherjee","sequence":"first","affiliation":[{"name":"Colorado State University, Fort Collins, CO"}]},{"given":"Jeffrey C.","family":"Van Etten","sequence":"additional","affiliation":[{"name":"Colorado State University, Fort Collins, CO"}]},{"given":"Namburi Rani","family":"Samyukta","sequence":"additional","affiliation":[{"name":"Colorado State University, Fort Collins, CO"}]},{"given":"Jacob","family":"Walker","sequence":"additional","affiliation":[{"name":"Colorado State University, Fort Collins, CO"}]},{"given":"Indrakshi","family":"Ray","sequence":"additional","affiliation":[{"name":"Colorado State University, Fort Collins, CO"}]},{"given":"Indrajit","family":"Ray","sequence":"additional","affiliation":[{"name":"Colorado State University, Fort Collins, CO"}]}],"member":"320","published-online":{"date-parts":[[2019,11,2]]},"reference":[{"volume-title":"Proceedings of the 10th USENIX Workshop on Offensive Technologies (WOOT\u201916)","author":"Burakova Y.","key":"e_1_2_1_1_1","unstructured":"Y. Burakova , B. Hass , L. Millar , and A. Weimerskirch . 2016. Truck hacking: An experimental analysis of the SAE J1939 standard . In Proceedings of the 10th USENIX Workshop on Offensive Technologies (WOOT\u201916) . 211--220. Y. Burakova, B. Hass, L. Millar, and A. Weimerskirch. 2016. Truck hacking: An experimental analysis of the SAE J1939 standard. In Proceedings of the 10th USENIX Workshop on Offensive Technologies (WOOT\u201916). 211--220."},{"volume-title":"Dynamic Data Structures for Orthogonal Intersection Queries. Technische Universit\u00e4t Graz\/Forschungszentrum Graz","author":"Edelsbrunner H.","key":"e_1_2_1_2_1","unstructured":"H. Edelsbrunner . 1980. Dynamic Data Structures for Orthogonal Intersection Queries. Technische Universit\u00e4t Graz\/Forschungszentrum Graz . Institut f\u00fcr Informationsverarbeitung. H. Edelsbrunner. 1980. Dynamic Data Structures for Orthogonal Intersection Queries. Technische Universit\u00e4t Graz\/Forschungszentrum Graz. Institut f\u00fcr Informationsverarbeitung."},{"volume-title":"Proceedings of the 15th Annual Conference on Privacy, Security, and Trust (PST\u201917)","author":"Mukherjee S.","key":"e_1_2_1_3_1","unstructured":"S. Mukherjee , J. Walkery , I. Rayz , and J. Daily . 2017. A precedence graph-based approach to detect message injection attacks in J1939 based networks . In Proceedings of the 15th Annual Conference on Privacy, Security, and Trust (PST\u201917) . IEEE, Los Alamitos, CA. S. Mukherjee, J. Walkery, I. Rayz, and J. Daily. 2017. A precedence graph-based approach to detect message injection attacks in J1939 based networks. In Proceedings of the 15th Annual Conference on Privacy, Security, and Trust (PST\u201917). IEEE, Los Alamitos, CA."},{"volume-title":"Proceedings of the 2016 International Conference on Smart Computing (SMARTCOMP\u201916)","author":"Narayanan S. N.","key":"e_1_2_1_4_1","unstructured":"S. N. Narayanan , S. Mittal , and A. Joshi . 2016. OBD_SecureAlert: An anomaly detection system for vehicles . In Proceedings of the 2016 International Conference on Smart Computing (SMARTCOMP\u201916) . IEEE, Los Alamitos, CA, 1--6. S. N. Narayanan, S. Mittal, and A. Joshi. 2016. OBD_SecureAlert: An anomaly detection system for vehicles. In Proceedings of the 2016 International Conference on Smart Computing (SMARTCOMP\u201916). IEEE, Los Alamitos, CA, 1--6."},{"volume-title":"Proceedings of the International Conference on Consumer Electronics, Communications, and Networks (CECNet\u201911)","author":"Quanqi W.","key":"e_1_2_1_5_1","unstructured":"W. Quanqi , W. Jian , and W. Yanyan . 2011. Design of vehicle bus data acquisition and fault diagnosis system . In Proceedings of the International Conference on Consumer Electronics, Communications, and Networks (CECNet\u201911) . IEEE, Los Alamitos, CA, 245--248. W. Quanqi, W. Jian, and W. Yanyan. 2011. Design of vehicle bus data acquisition and fault diagnosis system. In Proceedings of the International Conference on Consumer Electronics, Communications, and Networks (CECNet\u201911). IEEE, Los Alamitos, CA, 245--248."},{"key":"e_1_2_1_6_1","unstructured":"R. Bosch. 1991. CAN Specification Version 2.0. Robert Bosch GmbH.  R. Bosch. 1991. CAN Specification Version 2.0. Robert Bosch GmbH."},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1061\/(ASCE)CP.1943-5487.0000444"},{"volume-title":"Proceedings of the Asia-Pacific Power and Energy Engineering Conference. IEEE","author":"Sun W.","key":"e_1_2_1_8_1","unstructured":"W. Sun , J. Li , Y. Gao , D. Qu , and C. Yang . 2010. The design of embedded bus monitoring and fault diagnosis system based on protocol SAE J1939 . In Proceedings of the Asia-Pacific Power and Energy Engineering Conference. IEEE , Los Alamitos, CA, 1--4. W. Sun, J. Li, Y. Gao, D. Qu, and C. Yang. 2010. The design of embedded bus monitoring and fault diagnosis system based on protocol SAE J1939. In Proceedings of the Asia-Pacific Power and Energy Engineering Conference. IEEE, Los Alamitos, CA, 1--4."},{"key":"e_1_2_1_9_1","volume-title":"J1939 Digital Annex. Retrieved","author":"Truck Bus Control and Communications Network Committee","year":"2015","unstructured":"Truck Bus Control and Communications Network Committee . 2015 . J1939 Digital Annex. Retrieved October 7, 2019 from http:\/\/standards.sae.org\/j1939da_201510\/. Truck Bus Control and Communications Network Committee. 2015. J1939 Digital Annex. Retrieved October 7, 2019 from http:\/\/standards.sae.org\/j1939da_201510\/."},{"key":"e_1_2_1_10_1","volume-title":"SAE J1939-01","author":"Truck Bus Control and Communications Network Committee","year":"2000","unstructured":"Truck Bus Control and Communications Network Committee . 2000 . Recommended Practice for Control and Communications Network for On-Highway Equipment , SAE J1939-01 . SAE International. http:\/\/standards.sae.org\/j 1939\/1_200009\/. Truck Bus Control and Communications Network Committee. 2000. Recommended Practice for Control and Communications Network for On-Highway Equipment, SAE J1939-01. SAE International. http:\/\/standards.sae.org\/j1939\/1_200009\/."},{"key":"e_1_2_1_11_1","volume-title":"SAE J1939","author":"Truck Bus Control and Communications Network Committee","year":"2009","unstructured":"Truck Bus Control and Communications Network Committee . 2009 . Surface Vehicle Recommended Practice , SAE J1939 . SAE International. http:\/\/standards.sae.org\/j 1939_200903\/. Truck Bus Control and Communications Network Committee. 2009. Surface Vehicle Recommended Practice, SAE J1939. SAE International. http:\/\/standards.sae.org\/j1939_200903\/."},{"key":"e_1_2_1_12_1","volume-title":"SAE J1939-31","author":"Truck Bus Control and Communications Network Committee","year":"2014","unstructured":"Truck Bus Control and Communications Network Committee . 2014 . Network Layer , SAE J1939-31 . SAE International. http:\/\/standards.sae.org\/j 1939\/31_201404\/. Truck Bus Control and Communications Network Committee. 2014. Network Layer, SAE J1939-31. SAE International. http:\/\/standards.sae.org\/j1939\/31_201404\/."},{"key":"e_1_2_1_13_1","volume-title":"SAE J1939-21","author":"Truck Bus Control and Communications Network Committee","year":"2015","unstructured":"Truck Bus Control and Communications Network Committee . 2015 . Data Link Layer , SAE J1939-21 . SAE International. http:\/\/standards.sae.org\/j 1939\/21_201504\/. Truck Bus Control and Communications Network Committee. 2015. Data Link Layer, SAE J1939-21. SAE International. http:\/\/standards.sae.org\/j1939\/21_201504\/."},{"key":"e_1_2_1_14_1","volume-title":"SAE J1939-15","author":"Truck Bus Control and Communications Network Committee","year":"2015","unstructured":"Truck Bus Control and Communications Network Committee . 2015 . Reduced Physical Layer, 250K bits\/sec, UN-Shielded Twisted Pair (UTP) , SAE J1939-15 . SAE International. http:\/\/standards.sae.org\/j 1939\/15_200808\/. Truck Bus Control and Communications Network Committee. 2015. Reduced Physical Layer, 250K bits\/sec, UN-Shielded Twisted Pair (UTP), SAE J1939-15. SAE International. http:\/\/standards.sae.org\/j1939\/15_200808\/."},{"key":"e_1_2_1_15_1","volume-title":"SAE J1939-71","author":"Truck Bus Control and Communications Network Committee","year":"2015","unstructured":"Truck Bus Control and Communications Network Committee . 2015 . Vehicle Application Layer , SAE J1939-71 . SAE International. http:\/\/standards.sae.org\/j 1939\/71_201506\/. Truck Bus Control and Communications Network Committee. 2015. Vehicle Application Layer, SAE J1939-71. SAE International. http:\/\/standards.sae.org\/j1939\/71_201506\/."},{"key":"e_1_2_1_16_1","volume-title":"SAE J1939-11","author":"Truck Bus Control and Communications Network Committee","year":"2016","unstructured":"Truck Bus Control and Communications Network Committee . 2016 . Physical Layer, 250K bits\/s, Twisted Shielded Pair , SAE J1939-11 . SAE International. http:\/\/standards.sae.org\/j 1939\/11_200609\/. Truck Bus Control and Communications Network Committee. 2016. Physical Layer, 250K bits\/s, Twisted Shielded Pair, SAE J1939-11. SAE International. http:\/\/standards.sae.org\/j1939\/11_200609\/."},{"key":"e_1_2_1_17_1","unstructured":"Vector Informatik. 2016. CANoe ProductInformation. Retrieved October 7 2019 from https:\/\/vector.com\/portal\/medien\/cmc\/info\/CANoe_ProductInformation_EN.pdf.  Vector Informatik. 2016. CANoe ProductInformation. Retrieved October 7 2019 from https:\/\/vector.com\/portal\/medien\/cmc\/info\/CANoe_ProductInformation_EN.pdf."},{"key":"e_1_2_1_18_1","unstructured":"M. Wolf and R. Lambert. 2017. Hacking trucks\u2014Cybersecurity risks and effective cybersecurity protection for heavy duty vehicles. In Automotive\u2014Safety 8 Security 2017\u2014Sicherheit und Zuverlassigkeit fur automobile Informationstechnik P. Dencker H. Klenk H. B. Keller and E. Plodererder (Eds.). Gesellschaft fur Informatik Bonn Germany 45--60.  M. Wolf and R. Lambert. 2017. Hacking trucks\u2014Cybersecurity risks and effective cybersecurity protection for heavy duty vehicles. In Automotive\u2014Safety 8 Security 2017\u2014Sicherheit und Zuverlassigkeit fur automobile Informationstechnik P. Dencker H. Klenk H. B. Keller and E. Plodererder (Eds.). 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