This dataset contains automotive Controller Area Network (CAN) bus data from three systems: two cars (Opel Astra and Renault Clio) and from a CAN bus prototype we built ourselves. Its purpose is meant to evaluate CAN bus Network Intrusion Detection Systems (NIDS). For each system, the dataset consists in a collection of log files captured from its CAN bus: normal (attack-free) data for training and testing detection algorithms, and different CAN bus attacks (Diagnostic, Fuzzing attacks, Replay attack, Suspension attack and Denial-of-Service attack).