Table 5.

Comparison of the HDL-IDS with other ML algorithms on the car-hacking 2020 dataset.

Algorithms	Precision	Recall	F1-Score	Accuracy
Naive Bayes	0.7903	0.7681	0.7790	0.7192
Decision tree	0.9503	0.8099	0.8745	0.9181
SVM	0.9379	0.8966	0.9167	0.9254
LSTM	0.9994	0.9997	0.9995	0.9997
GRU	0.9940	0.9963	0.9951	0.9952
Proposed Study	0.9997	0.9998	0.9997	0.9998