Automotive network refers to a form of communication that connects all electronic sensors, electronic actuators, and electronic control units (ECUs) on a car. When the functions of the car are simple and the number of ECUs in each car is small, point-to-point communication can be used. With the increase of car functions, the number of sensors, actuators, and ECUs on the car increases, and point-to-point communication is no longer sufficient. In 1991, the first in-vehicle network that replaced point-to-point communication and transmitted through the CAN bus was born on the Mercedes-Benz S-Class. After more than 20 years of development, almost every car is equipped with an in-vehicle bus network. The in-vehicle bus network is dominated by CAN and LIN bus networks, and some high-end vehicles are equipped with MOST and FlexRay buses.