An Efficient Design of a Basic Autonomous Vehicle Based on CAN Bus
DOI:
https://doi.org/10.62760/iteecs.3.1.2024.70Keywords:
Electronic Control Unit, CANoe, Controller Area Network, Autonomous VehiclesAbstract
The evolution of autonomous vehicles (AVs) has captured widespread interest lately, offering prospects for enhanced road safety, alleviation of traffic congestion, and heightened fuel efficiency. The essential role of Controller Area Network (CAN) bus protocols in the operational integrity of AVs is undeniable. This research outlines the architecture of an elementary autonomous vehicle predicated on diverse CAN bus frameworks. We introduce a design that integrates a multiplexed CAN bus arrangement, fostering streamlined interactions among the AV's various subsystems. This design is inherently scalable, promoting ease of modification in step with evolving autonomous vehicular technologies. The paper delves into the intricacies encountered throughout the design phase and articulates the methodologies adopted to surmount these obstacles. Empirical simulations substantiate the efficacy of our design, underscoring its dependability and strength across a multitude of vehicular contexts. Fundamentally, this design lays the groundwork for the advancement of sophisticated AVs, thereby contributing to the realization of optimized vehicular ecosystems.
References
I. H. Alexander, and Manzoor Khan "An overview of sensors in Autonomous Vehicles." Procedia Computer Science, Vol. 198, pp, 736-741, 2022. https://doi.org/10.1016/j.procs.2021.12.315
M. Hartstern, V. Rack and W. Stork, “Conceptual Design of Automotive Sensor Systems : Analyzing the impact of different sensor positions on surround-view coverage”, 2020 IEEE Sensors, Rotterdam, Netherlands, pp. 1-4, 2020. doi: 10.1109/SENSORS47125.2020.9278638
G. Velasco-Hernandez, D. J. Yeong, J. Barry and J. Walsh, "Autonomous Driving Architectures, Perception and Data Fusion: A Review," 2020 IEEE 16th International Conference on Intelligent Computer Communication and Processing, Cluj-Napoca, pp. 315-321, 2020. doi: 10.1109/ICCP51029.2020.9266268
A. Shoaib, F. Munir, A. M. Sheri, J. Kim, and M. Jeon “System, design and experimental validation of autonomous vehicle in an unconstrained environment”, Sensors, Vol. 20, No. 21, art. no. 5999, 2020. https://doi.org/10.3390/s20215999
E. Azim, C. Wu and C. Sun “Research advances and challenges of autonomous and connected ground vehicles”, IEEE Transactions on Intelligent Transportation Systems, Vol. 22, No. 2, pp. 683-711, 2019. https://doi.org/10.1109/TITS.2019.2958352
W. Jiadai, J. Liu and N. Kato “Networking and communications in autonomous driving: A survey”, IEEE Communications Surveys & Tutorials, Vol. 21, No. 2, pp. 1243-1274, 2018. https://doi.org/10.1109/COMST.2018.2888904
B. Gourav, K. Bhadane, R. K. Singh, R. Kumar, R. Aluvalu, R. Krishnamurthi, A. Kumar, R. N. Thakur, and S. Basheer “Autonomous vehicles and intelligent automation: Applications, challenges, and opportunities”, Mobile Information Systems, Vol. 2022, pp. 1-36, 2022. https://doi.org/10.1155/2022/7632892
M. Vyas, H. Sarath, K. Smitha and A. Bagubali, “Modern automotive embedded systems with special mention to radars”, 2017 2nd IEEE International Conference on Recent Trends in Electronics, Information & Communication Technology (RTEICT), Bangalore, India, pp. 1618-1625, 2017. https://doi.org/10.1109/RTEICT.2017.8256873
C. Eunmin, H. Song, S. Kang and J. W. Choi. “High Speed, Low Latency In Vehicle Network Based on the Bus Topology for Autonomous Vehicles: Automotive Networking and Applications”, IEEE Vehicular Technology Magazine, Vol. 17, No. 1, pp. 74-84, 2021. https://doi.org/10.1109/MVT.2021.3128876
R. Andrea, D. Wetzel, N. Balbierer, H. Meier, M. Niemetz, and S. Park “Comparative Analysis of CAN CAN FD and Ethernet for Networked Control Systems”, In embedded world conference digital, 2021. [Cross Ref]
J. D. Matthew, T. S. Stombaugh and S. A. Shearer “Controller area network based distributed control for autonomous vehicles”, Transactions of the ASAE, Vol. 48, No. 2, pp. 479-490, 2005. http://dx.doi.org/10.13031/2013.18312
W. You, L. Fu, Y. Xu, F. Ma, and Y. Lu “Controller area network modeling and its application in cyber-physical power system co-simulation”, 2018 37th Chinese Control Conference (CCC), pp. 6178-6183, 2018. https://doi.org/10.23919/ChiCC.2018.8483930
C. Raghu and H. Malik “LiDAR data integrity verification for autonomous vehicle”, IEEE Access, Vol. 7, pp. 138018-138031, 2019. https://doi.org/10.1109/ACCESS.2019.2943207
S. Jahromi, B. T. Tulabandhula and S. Ceti “Real-time hybrid multi-sensor fusion framework for perception in autonomous vehicles”, Sensors, Vol. 19, No. 20, art.no. 4357, 2019. https://doi.org/10.3390/s19204357
M. Tarek, S. Zidi, A. Alabdulatif and M. Atiquzzaman “Comparative performance evaluation of intrusion detection based on machine learning in in-vehicle controller area network bus”, IEEE Access, Vol. 9, pp. 99595-99605, 2021. https://doi.org/10.1109/ACCESS.2021.3095962
B. Lakhal, N. Mansour, O. Nasri, L. Adouane, and J. B. H. Slama “Controller area network reliability: overview of design challenges and safety related perspectives of future transportation systems”, IET Intelligent Transport Systems, Vol. 14, No. 13, pp. 1727-1739, 2020. https://doi.org/10.1049/iet-its.2019.0565
Z. Weiying, M. A. S Khalid and S. Chowdhury “In-vehicle networks outlook: Achievements and challenges”, IEEE Communications Surveys & Tutorials, Vol. 18, No. 3, pp. 1552-1571, 2016. https://doi.org/10.1109/COMST.2016.2521642
M. Hyeran, K. Han, and D. H. Lee “Ensuring safety and security in CAN-based automotive embedded systems: A combination of design optimization and secure communication”, IEEE Transactions on Vehicular Technology, Vol. 69, No. 7, pp. 7078-7091, 2020. https://doi.org/10.1109/TVT.2020.2989808
Z. Zhang, Y. Cao, Z. Cui, W. Zhang and J. Chen “A Many-Objective Optimization Based Intelligent Intrusion Detection Algorithm for Enhancing Security of Vehicular Networks in 6G”, IEEE Transactions on Vehicular Technology, Vol. 70, No. 6, pp. 5234-5243, 2021. https://doi.org/10.1109/TVT.2021.3057074
A. J. Michaels et al., “CAN Bus Message Authentication via Co-Channel RF Watermark”, IEEE Transactions on Vehicular Technology, Vol. 71, No. 4, pp. 3670-3686, 2022. https://doi.org/10.1109/TVT.2022.3143708
G. Bruno and N. Navet “Fault confinement mechanisms on CAN: analysis and improvements”, IEEE transactions on vehicular technology, Vol. 54, No. 3, pp. 1103-1113, 2005. https://doi.org/10.1109/TVT.2005.844652
C. Wonsuk, et al. "Identifying ecus using inimitable characteristics of signals in controller area networks." IEEE Transactions on Vehicular Technology, Vol. 67, No. 6, pp. 4757-4770, 2018.? https://doi.org/10.1109/TVT.2018.2810232
L. Hansang, et al. “Quantitative analysis of ringing in a controller area network with flexible data rate for reliable physical layer designs”, IEEE Transactions on Vehicular Technology, Vol. 68, No. 9, pp. 8906-8915, 2019.? https://doi.org/10.1109/TVT.2019.2930110
T. Mahmut, P. Oikonomidis, P. Charchalakis, and E. Stipidis “Modelling, simulation, and performance analysis of a CAN FD system with SAE benchmark based message set." Proceedings of 15th International CAN Conference, 2015. [Cross Ref]
M. R. Vemparala, S. Yerabati and G. I. Mary, "Performance analysis of controller area network based safety system in an electric vehicle," 2016 IEEE International Conference on Recent Trends in Electronics, Information & Communication Technology, Bangalore, India, pp. 461-465, 2016. https://doi.org/10.1109/RTEICT.2016.7807863
Z. G. Marcon and E. P. de Freitas “A quantitative performance study on CAN and CAN FD vehicular networks”, IEEE Transactions on Industrial Electronics, Vol. 65, No. 5, pp. 4413-4422, 2018. https://doi.org/10.1109/TIE.2017.2762638
H. Kim, W. Yoo, S. Ha and J. -M. Chung “In-Vehicle Network Average Response Time Analysis for CAN-FD and Automotive Ethernet”, IEEE Transactions on Vehicular Technology, Vol. 72, No. 6, pp. 6916-6932, 2023. https://doi.org/10.1109/TVT.2023.3236593
Rishvanth, D. Valli, and K. Ganesan. “Design of an in-vehicle network (Using LIN, CAN and FlexRay), gateway and its diagnostics using vector CANoe”, American Journal of Signal Processing, Vol. 1, No. 2, pp. 40-45, 2011. https://doi.org/10.5923/j.ajsp.20110102.07
K. Sukhwan, J. Seong, and M. Lee “Controller area network with flexible data rate transmitter design with low electromagnetic emission”, IEEE Transactions on Vehicular Technology, Vol. 67, No. 8, pp. 7290-7298. 2018.? https://doi.org/10.1109/TVT.2018.2832659
T. Chong, T. Liu, Y. Zhang, C. Ma, X. Jia and Z. Wu, “Analysis of the influence of CAN bus encryption and decryption on real time performance”, 2021 2nd International Conference on Computer Communication and Network Security (CCNS), Xining, China, pp. 38-44, 2021. https://doi.org/10.1109/CCNS53852.2021.00016
G. Xie et al., "WCRT Analysis of CAN Messages in Gateway-Integrated In-Vehicle Networks," IEEE Transactions on Vehicular Technology, Vol. 66, No. 11, pp. 9623-9637, 2017. https://doi.org/10.1109/TVT.2017.2737035
J. Walrand, M. Turner and R. Myers “An Architecture for In-Vehicle Networks”, IEEE Transactions on Vehicular Technology, Vol. 70, No. 7, pp. 6335-6342, July 2021. https://doi.org/10.1109/TVT.2021.3082464
Matlab. Automated driving toolbox. https://www.mathworks.com/products/automated-driving.html
Y. D. Jong, G. V. Hernandez, J. Barry, and J. Walsh “Sensor and sensor fusion technology in autonomous vehicles: A review”, Sensors, Vol. 21, No. 6, art. no. 2140, 2021. https://doi.org/10.3390/s21062140
Autonomous Vehicles Cannot Be Test-Driven Enough Miles to Demonstrate Their Safety; Alternative Testing Methods Needed.
K. Nidhi, and S. M. Paddock “Driving to safety: How many miles of driving would it take to demonstrate autonomous vehicle reliability?”, Transportation Research Part A: Policy and Practice, Vol. 94, pp. 182-193, 2016. https://doi.org/10.1016/j.tra.2016.09.010
L. Yao, J. Wu, Y. Wang and C. Liu, “Research on vehicle integrated control algorithm based on MATLAB and CANoe co-simulation”, 2014 IEEE Conference and Expo Transportation Electrification Asia-Pacific (ITEC Asia-Pacific), Beijing, China, pp. 1-5, 2014. https://doi.org/10.1109/ITEC-AP.2014.6941219
https://www.vector.com/int/en/products/products-az/software/canoe/#
I. H. Alexander, and M. Khan “An overview of sensors in Autonomous Vehicles”, Procedia Computer Science, Vol. 198, pp. 736-741, 2022. https://doi.org/10.1016/j.procs.2021.12.315
A. Kumar, K. Stephen and A. S. Sabitha, "A Systematic Review on Sensor Fusion Technology in Autonomous Vehicles," 2023 4th International Conference on Electronics and Sustainable Communication Systems (ICESC), Coimbatore, India, pp. 42-48, 2023. doi: 10.1109/ICESC57686.2023.10193038
S. Mubeen, J. Maki-Turija, and M. Sjodin, “Extending Worst Case Response-Time Analysis for Mixed Messages in Controller Area Network With Priority and FIFO Queues”, IEEE Access, Vol. 2, pp. 365-380, 2014. https://doi.org/10.1109/ACCESS.2014.2319255
K. Tindell, A. Burns, A Wellings “Guaranteeing message latencies on control area network (CAN)”, IFAC Proceedings Volumes, Vol. 27, No. 15, pp. 35-40, 1994. https://doi.org/10.1016/j.tra.2016.09.010
I. A. Qutaiba “Tele-operated Vehicles System Using WLAN and Industrial Ethernet Techniques”, Al-Rafidain Engineering Journal (AREJ), Vol. 16, No. 5, pp. 33-42, 2005. https://doi.org/10.33899/rengj.2008.44856
Additional Files
Published
How to Cite
Issue
Section
License
Copyright (c) 2024 Zeina Ali, Qutaiba I Ali
This work is licensed under a Creative Commons Attribution 4.0 International License.
This Journal and its metadata are licenced under a 