  Autonomous vehicle control is growing in availability for new vehicles and
there is a potential need to retrofit older vehicles with this capability.
Additionally, automotive cybersecurity has become a significant concern in
recent years due to documented attacks on vehicles. As a result, researchers
have been exploring reverse engineering techniques to automate vehicle control
and improve vehicle security and threat analysis. In prior work, a vehicle's
accelerator and brake pedal controller area network (CAN) channels were
identified using reverse engineering techniques without prior knowledge of the
vehicle. However, the correlation results for deceleration were lower than
those for acceleration, which may be able to be improved by incorporating data
from an additional telemetry device. In this paper, a method that uses IMU and
GPS data to reverse-engineer a vehicle's steering wheel position CAN channels,
without prior knowledge of the vehicle, is presented. Using GPS data is shown
to greatly improve correlation values for deceleration, particularly for the
brake pedal CAN channels. This work demonstrates the efficacy of using these
data sources for automotive CAN reverse engineering. This has potential uses in
automotive vehicle control and for improving vehicle security and threat
analysis.
