@ARTICLE{10213280,
  author={Shahriar, Md Hasan and Xiao, Yang and Moriano, Pablo and Lou, Wenjing and Hou, Y. Thomas},
  journal={IEEE Internet of Things Journal}, 
  title={CANShield: Deep-Learning-Based Intrusion Detection Framework for Controller Area Networks at the Signal Level}, 
  year={2023},
  volume={10},
  number={24},
  pages={22111-22127},
  doi={10.1109/JIOT.2023.3303271}}