In the realm of Cyber-Physical System (CPS), accurately identifying attacks without detailed knowledge of the system's parameters remains a major challenge. When it comes to Advanced Driver Assistance Systems (ADAS), identifying the parameters of vehicle dynamics could be impractical or prohibitively costly. To tackle this challenge, we propose a novel framework for attack detection in vehicles that effectively addresses the uncertainty in their dynamics. Our method integrates the widely used Unscented Kalman Filter (UKF), a well-known technique for nonlinear state estimation in dynamic systems, with machine learning algorithms. This combination eliminates the requirement for precise vehicle modeling in the detection process, enhancing the system's adaptability and accuracy. To validate the efficacy and practicality of our proposed framework, we conducted extensive comparative simulations by introducing Denial of Service (DoS) attacks on the vehicle systems' sensors and actuators.