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Various Intrusion Detection Systems (IDSs) have been developed to detect these attacks. However, the high generalization capabilities of Artificial Intelligence (AI) make AI-based IDS an excellent countermeasure against automotive cyber attacks. This article surveys AI-based in-vehicle IDS from 2016 to 2022 (August) with a novel taxonomy. It reviews the detection techniques, attack types, features, and benchmark datasets. Furthermore, the article discusses the security of AI models, necessary steps to develop AI-based IDSs in the CAN bus, identifies the limitations of existing proposals, and gives recommendations for future research directions.<\/jats:p>","DOI":"10.1145\/3570954","type":"journal-article","created":{"date-parts":[[2022,11,9]],"date-time":"2022-11-09T11:52:13Z","timestamp":1667994733000},"page":"1-40","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":203,"title":["AI-Based Intrusion Detection Systems for In-Vehicle Networks: A Survey"],"prefix":"10.1145","volume":"55","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7772-3774","authenticated-orcid":false,"given":"Sampath","family":"Rajapaksha","sequence":"first","affiliation":[{"name":"Robert Gordon University, Aberdeen, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6430-9558","authenticated-orcid":false,"given":"Harsha","family":"Kalutarage","sequence":"additional","affiliation":[{"name":"Robert Gordon University, Aberdeen, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1146-1860","authenticated-orcid":false,"given":"M. Omar","family":"Al-Kadri","sequence":"additional","affiliation":[{"name":"Birmingham City University, Birmingham, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0987-2791","authenticated-orcid":false,"given":"Andrei","family":"Petrovski","sequence":"additional","affiliation":[{"name":"Robert Gordon University, Aberdeen, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1156-3875","authenticated-orcid":false,"given":"Garikayi","family":"Madzudzo","sequence":"additional","affiliation":[{"name":"Horiba Mira Ltd., Warwickshire, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9533-0173","authenticated-orcid":false,"given":"Madeline","family":"Cheah","sequence":"additional","affiliation":[{"name":"Horiba Mira Ltd., Warwickshire, UK"}]}],"member":"320","published-online":{"date-parts":[[2023,2,9]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cose.2022.102717"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2894183"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2019.2924870"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.3390\/s22010360"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.48550\/ARXIV.2112.09333"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/UEMCON53757.2021.9666745"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1145\/3431233"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3094365"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.4236\/wet.2018.94007"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3046974"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/MECO55406.2022.9797224"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3017882"},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2937576"},{"issue":"6","key":"e_1_3_2_15_2","first-page":"720","article-title":"State-of-the-art survey on in-vehicle network communication (CAN-Bus) security and vulnerabilities","volume":"6","author":"Avatefipour Omid","year":"2017","unstructured":"Omid Avatefipour and Hafiz Malik . 2017. 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