GEM-CAN: Real-World CAN-Bus Attack Scenarios on an Autonomous Vehicle for Intrusion Detection

This dataset provides labeled CAN-bus traffic captured from a GEM e6 autonomous vehicle under normal operation and controlled cyberattacks. It includes ~143K frames spanning nominal driving (~100K), DoS floods using ID 0x00000000 (~41K), and data-tampering injections targeting brake and steering functions (~1.3K). Each entry records timestamp, arbitration ID, DLC, payload bytes, and a Normal/Attack label, with metadata detailing attack windows, bus load, bitrate, and test conditions. Data were collected via PCAN-View/PCAN-USB on a closed track while the vehicle operated autonomously. The dataset provides real-vehicle evidence of availability and integrity attacks—supporting reproducible evaluation of lightweight automotive intrusion detection systems. A JSON metadata file is provided to summarize experimental conditions, attack definitions, logging parameters, and labeling policy, complementing the CSV files.