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rasb:lab:01 [2026/06/04 19:26] ciprian.popescu0411 created |
rasb:lab:01 [2026/06/22 19:13] (current) ciprian.popescu0411 [Exercise 3: Kinetic Cyberattack via Digital Twin] |
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| - | ===== Lab 1: ===== | + | ===== Lab 1: Vehicle digital twin infrastructure demonstrator ===== |
| + | |||
| + | This lab focuses on the integration of physical automotive hardware with virtual simulation. It uses a bare-metal testing platform bi-directionally synchronized with the CARLA driving simulator to form a "Digital Twin" environment. | ||
| + | |||
| + | **Lab Structure:** A 30-minute theoretical presentation (PASTA architecture, CAN vulnerabilities, Sim2Real concept) followed by 90 minutes of practical exercises. | ||
| + | |||
| + | ==== Equipment Overview: The Sim2Real Infrastructure ==== | ||
| + | The infrastructure consists of three operational layers. | ||
| + | |||
| + | === 1. The Physical Layer (Hardware Testbed) === | ||
| + | Built inside a portable briefcase, organized in a dual-panel configuration: | ||
| + | * **Lower Panel (The Network):** Contains four Electronic Control Unit (ECU) nodes: Gateway, Powertrain, Chassis, and Body. | ||
| + | * **Processing Core:** Uses Teensy 4.0 and 4.1 microcontrollers running bare-metal firmware. | ||
| + | * **The Bus:** ECUs communicate over a flattened shared CAN bus made of a twisted-pair cable. Includes an OBD-II diagnostic port and a "clipping zone" for physical probing and payload injection. | ||
| + | * **Upper Panel (HMI):** Integrates physical automotive inputs (ignition switch, steering wheel via rotary potentiometer, pedals, lighting controls) and three Nextion touch screens to display the dashboard state. | ||
| + | |||
| + | === 2. The Middleware (Sim2Real Bridge) === | ||
| + | Translates hardware signals into digital commands. | ||
| + | * **Ethernet Link:** Establishes a bidirectional Ethernet connection between the physical platform and the simulator. | ||
| + | * **JSON Abstraction:** A Python-based bridge translates CARLA outputs into CAN messages and vice versa, using JSON for state consistency. | ||
| + | |||
| + | === 3. The Virtual Layer (CARLA & Graphical User Interface) === | ||
| + | * **CARLA Simulator:** A 3D driving simulator that dynamically interacts with the physical ECUs. | ||
| + | * **PyQt5 GUI:** An interface for monitoring live CAN traffic, defining packet structures, and injecting messages. | ||
| + | |||
| + | ==== Exercise 1: Physical Layer Inspection ==== | ||
| + | **Objective:** Analyze the electrical characteristics of the CAN bus. | ||
| + | |||
| + | The CAN lines on the testbed are coiled around the main 12V power supply to introduce Electromagnetic Interference (EMI). | ||
| + | |||
| + | **Task:** | ||
| + | * Connect the Rigol DS1052E digital oscilloscope to the physical clipping zone. | ||
| + | * Probe the ''CAN_H'' and ''CAN_L'' lines sequentially relative to the common ground. | ||
| + | * Capture a transmission frame. | ||
| + | |||
| + | **Questions & Observations:** | ||
| + | * **Identify States:** Locate the recessive state (logic 1) and the dominant state (logic 0). | ||
| + | * **Measure Voltages:** Determine the voltage levels for ''CAN_H'' and ''CAN_L'' in the dominant state. | ||
| + | * **Calculate Differential Voltage:** Subtract ''CAN_L'' from ''CAN_H''. The expected differential voltage is approximately 1.96V (e.g., ''CAN_H'' at ~2.99V and ''CAN_L'' at ~1.03V). | ||
| + | |||
| + | ==== Exercise 2: CAN Traffic Decoding ==== | ||
| + | **Objective:** Parse and interpret raw CAN traffic using pre-captured traffic. | ||
| + | |||
| + | You are provided with a CSV file containing CAN traffic. This data was extracted from the testbed's internal logic pins using a Kingst LA2016 high-speed logic analyzer. | ||
| + | |||
| + | **Task:** | ||
| + | Write a Python script to read the CSV file, extract the CAN IDs and data payloads, and translate them into actions using the provided ''CAN_ID.json'' dictionary. | ||
| + | |||
| + | {{:rasb:lab:lab1_skel.zip|Download the starting code from here}} | ||
| + | |||
| + | ==== Exercise 3: Kinetic Cyberattack via Digital Twin ==== | ||
| + | **Objective:** Execute an injection attack on the digital twin and observe the kinetic impact in CARLA. | ||
| + | |||
| + | The CAN protocol uses a broadcast mechanism without source authentication. | ||
| + | |||
| + | **Task:** | ||
| + | Inject a falsified message masquerading as a legitimate ECU (e.g., imitating the Chassis module to send a Powertrain command), causing the simulated vehicle to accelerate to 100% throttle and steer fully to the left. | ||
| + | |||
| + | **Steps:** | ||
| + | * **Target Identification:** Use ''CAN_ID.json'' to find the CAN ID for the accelerator or brake pedal. | ||
| + | * **Craft Payload:** Use the PyQt5 GUI / CAN-Simulator Bridge to construct a JSON payload with the target ''can_id'' and a modified ''data'' value. | ||
| + | * **Inject:** Run the injection script as shown by the instructor. | ||
| + | |||
| + | **Questions & Observations:** | ||
| + | * **Simulator Impact:** Observe the virtual car's reaction in CARLA. | ||
| + | * **Defense Mechanisms:** Consider how an Intrusion Detection System (IDS) could detect this based on message frequency and timing constraints. | ||
| + | |||
| + | [[https://github.com/ResearchYou/GUI-FOR-CARLA|CAN Bridge]] | ||
| + | |||
| + | [[https://tiny.carla.org/carla-0-9-11-windows|CARLA Simulator]] | ||
