Need Based Controller Area Network Bus Authentication

Systems and methods are provided and include a control module that receives a communication packet from a communication node that includes at least one of a vehicle sensor and a vehicle system via a controller area network bus. The control module determines whether the communication packet from the communication node indicates that the vehicle sensor or the vehicle system associated with the communication node is operating outside of a predetermined acceptable operating range. The control module sends an authentication message to the communication node in response to the communication packet indicating that the vehicle sensor or vehicle system is operating outside of the predetermined acceptable operating range. The control module determines whether a valid authentication code is received from the communication node and performs a remedial action for the communication node in response to the valid authentication code not being received from the communication node.