{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,29]],"date-time":"2026-07-29T14:46:57Z","timestamp":1785336417006,"version":"3.55.0"},"reference-count":69,"publisher":"Association for Computing Machinery (ACM)","issue":"ISSTA","funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["Grant No. 62332005 and 62372114"],"award-info":[{"award-number":["Grant No. 62332005 and 62372114"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Proc. ACM Softw. Eng."],"published-print":{"date-parts":[[2025,6,22]]},"abstract":"<jats:p>Electronic Control Units (ECUs), providing a wide range of functions from basic control functions to safety-critical functions, play a critical role in modern vehicles. Fuzzing has emerged as an effective approach\u00a0to\u00a0ensure the functional safety and automotive security of ECU firmware. However, existing fuzzing approaches focus\u00a0on the inputs from other ECUs through external buses (e.g., CAN), but neglect the inputs from internal\u00a0peripherals through on-board buses (e.g., SPI). Due to the restricted input space exploration, they fail\u00a0to\u00a0comprehensively fuzz ECU firmware. Moreover, existing fuzzing approaches often lack visibility into ECU firmware\u2019\u00a0internal states but rely on limited feedback (e.g., message timeouts or hardware indicators), hindering their effectiveness.<\/jats:p>\n          <jats:p>To address these limitations, we propose a structure-aware, diagnosis-guided framework, EcuFuzz,\u00a0to\u00a0comprehensively and effectively fuzz ECU firmware. Specifically, EcuFuzzsimultaneously considers external buses (i.e., CAN) and on-board buses (i.e., SPI). It leverages the structure of CAN and SPI to effectively mutate CAN messages and SPI sequences, and incorporates a dual-core microcontroller-based peripheral emulator to handle real-time SPI communication. In addition, EcuFuzzimplements a new feedback mechanism to guide the fuzzing process. It leverages automotive diagnostic protocols to collect ECUs\u2019 internal states, i.e., error-related variables, trouble codes, and exception contexts. Our compatibility evaluation on ten ECUs from three major Tier 1 automotive suppliers has indicated that our framework is compatible with nine ECUs. Our effectiveness evaluation on three representative ECUs has demonstrated that our framework detects nine previously unknown safety-critical faults, which have been patched by technicians from the suppliers.<\/jats:p>","DOI":"10.1145\/3728914","type":"journal-article","created":{"date-parts":[[2025,6,22]],"date-time":"2025-06-22T10:52:56Z","timestamp":1750589576000},"page":"871-893","source":"Crossref","is-referenced-by-count":5,"title":["Structure-Aware, Diagnosis-Guided ECU Firmware Fuzzing"],"prefix":"10.1145","volume":"2","author":[{"ORCID":"https:\/\/orcid.org\/0009-0006-1343-2162","authenticated-orcid":false,"given":"Qicai","family":"Chen","sequence":"first","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-7312-9870","authenticated-orcid":false,"given":"Kun","family":"Hu","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-2241-832X","authenticated-orcid":false,"given":"Sichen","family":"Gong","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7238-7492","authenticated-orcid":false,"given":"Bihuan","family":"Chen","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-0770-9960","authenticated-orcid":false,"given":"Zikui","family":"Kong","sequence":"additional","affiliation":[{"name":"ANHUI GuarDrive Safety Technology, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-1923-3398","authenticated-orcid":false,"given":"Haowen","family":"Jiang","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2264-5729","authenticated-orcid":false,"given":"Bingkun","family":"Sun","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-1634-9721","authenticated-orcid":false,"given":"You","family":"Lu","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3376-2581","authenticated-orcid":false,"given":"Xin","family":"Peng","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2025,6,22]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/2631890.2631891"},{"key":"e_1_2_1_2_1","volume-title":"Proceedings of 2019 Network and Distributed System Security Symposium.","author":"Aschermann Cornelius","year":"2019","unstructured":"Cornelius Aschermann, Tommaso Frassetto, Thorsten Holz, Patrick Jauernig, Ahmad-Reza Sadeghi, and Daniel Teuchert. 2019. 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