Autonomous Car Implementation Based on CAN Bus Protocol for IoT Applications

Abstract

This work aims to design an autonomous vehicle that able to sensing the surrounding environment. The self-driving vehicle can moves in certain path between two points A and B. Autonomous vehicle have five electronic control units (ECU0 through ECU4) will communicate over a control area network (CAN) bus. Every control unit ECU0 and ECU1, controls three of the ultrasonic sensors installed in the front and back of the vehicle. The middle ECU2 consists of ultrasonic sensor and global positioning system (GPS) to provide the main control unit ECU4 with current location to take the decision to move and send it to the moving control unit ECU3. ECU3 controls the motor drivers, that able to take a fast decision depending on the data collected from other ECUs. ODROID-XU4 is the main control unit that connected to a Microsoft camera 5000 and internet flash. ECU4 captures all data published on the CAN bus and classified based on the identifier of each ECU according to emergency or location data. GPS sensor updates the location on Google maps every 5 second and stops the vehicle if the vehicle reaches to point B producing a good internet of things (IoT) application.