CAN Signal Research Articles

Preview Dynamic Chassis Control Based on Road Condition Recognition Employed Machine Vision

In order to solve the problem that the dynamic chassis control needs to passively respond after the tire touches the target object, this paper proposes a dynamic chassis control method based on fuzzy logic and road condition recognition employed machine vision. The fuzzy logic control strategy is first conducted to suppress vertical and pitch motion. Then, the camera fixed on the car window is used to take pictures of bumps or potholes and form a training data set. Based on the powerful pattern recognition capabilities of the neural network, the MATLAB neural network toolbox is used to build the convolutional neural network for data training and form the recognition operator and transfer the recognition results to the dynamic chassis controller in the form of CAN signals to make it act in advance. Based on the vibration dose value of the vertical acceleration comparison with the one without preview control of the vehicle passing the same bump or potholes, the method reduces the vertical acceleration at different vehicle speeds to corresponding degrees, which proves that the method is effective for improving the ride and comfort of the vehicle in such conditions.

Examining the Thermal Stress Effect of Electromagnetic Susceptibility of Automotive CAN Controller

CAN controllers are responsible for the processing and transmission of CAN signals, which render them indispensable electronic devices in automotive cyber-physical systems. SJA1000T is one of the most common CAN communication chips which can be implemented through the use of bulk silicon CMOS technology. A susceptibility test platform is built based on the direct power injection method following IEC62132-4 to explore the electromagnetic susceptibility characteristics and the effects of thermal stress on CAN controller. Test results show that the susceptibility threshold curve is corresponded directly to frequency and temperature. The influence of thermal stress on the input and output characteristics of MOSFET is simulated and analyzed to verify the anti-interference ability and reduced reliability of the chip in a high temperature environment.

Gated Recurrent Fusion to Learn Driving Behavior from Temporal Multimodal Data

The Tactical Driver Behavior modeling problem requires an understanding of driver actions in complicated urban scenarios from rich multimodal signals including video, LiDAR and CAN signal data streams. However, the majority of deep learning research is focused either on learning the vehicle/environment state (sensor fusion) or the driver policy (from temporal data), but not both. Learning both tasks jointly offers the richest distillation of knowledge but presents challenges in the formulation and successful training. In this work, we propose promising first steps in this direction. Inspired by the gating mechanisms in Long Short-Term Memory units (LSTMs), we propose Gated Recurrent Fusion Units (GRFU) that learn fusion weighting and temporal weighting simultaneously. We demonstrate it's superior performance over multimodal and temporal baselines in supervised regression and classification tasks, all in the realm of autonomous navigation. On tactical driver behavior classification using Honda Driving Dataset (HDD), we report $10\%$ improvement in mean Average Precision (mAP) score, and similarly, for steering angle regression on TORCS dataset, we note a $20\%$ drop in Mean Squared Error (MSE) over the state-of-the-art.

Development of a brake by wire system design for car stability controls

The paper presents the development of a vehicle stability control system that is able to operate in real time, ensuring to enhance vehicle dynamics and safety in all vehicle motion conditions, even at limit of handling. The commercial cars have an Electronic Stability System, ESC, that acts actuating the brakes autonomously to correct the vehicle dynamics at limit of adhesion conditions. In this study it will be shown how the stability control system proposed can operate autonomously and constantly during vehicle motion, thanks to a controller based on a simplified vehicle model and a brake unit that operates in continuous.The control system consists of a high-level control and four Brake-By-Wire actuators. The high-level control is an Linear Quadratic Regulator, LQR, that ensures to stabilize the yaw rate and the side slip angle minimizing the errors between the actual car values and the values given by a steady state dynamic reference model. To reach this aim the LQR gives the values of longitudinal forces that each wheel has to achieve. These values of force are sent by a CAN signal to the Cornering Brake Actuators, CBA, that with their own logic and proximity to the wheels ensure a vary fast actuation, stabilizing the vehicle and providing safety.To validate the control system a series of manoeuvres have been carried out on a case-study test bench, that has been installed on a static driving simulator equipped with a concurrent real-time machine, the complete vehicle network and the full steering system. The control system has been design to be used as a stability system on commercial cars, requiring of common vehicle sensors, ensuring better performances and stability even in driving at limit of adhesion conditions, but also to be installed in an autonomous vehicle being able to act independently from the driver.

VoltageIDS: Low-Level Communication Characteristics for Automotive Intrusion Detection System

The proliferation of computerized functions aimed at enhancing drivers' safety and convenience has increased the number of vehicular attack surfaces accordingly. The fundamental vulnerability is caused by the fact that the controller area network protocol, a de facto standard for in-vehicle networks, does not support message origin authentication. Several methods to resolve this problem have been suggested. However, most of them require modification of the CAN protocol and have their own vulnerabilities. In this paper, we focus on securing in-vehicle CAN networks, proposing a novel automotive intrusion detection system (so-called VoltageIDS). The system leverages the inimitable characteristics of an electrical CAN signal as a fingerprint of the electronic control units. The noteworthy contributions are that VoltageIDS does not require any modification of the current system and has been validated on actual vehicles while driving on the road. VoltageIDS is also the first automotive intrusion detection system capable of distinguishing between errors and the bus-off attack. Our experimental results on a CAN bus prototype and on real vehicles show that VoltageIDS detects intrusions in the in-vehicle CAN network. Moreover, we evaluate VoltageIDS while a vehicle is moving.

Research on Electronic Automotive Combined Instrument Based on CAN Bus

With the fast developing about automobile electric technology, the advanced communication-network technology CAN-Bus is used in the designing of automobile instrument panel, and takes place of the traditional mechanical and electrical design. In this paper, a design of electronic automobile instrument has been introduced. The MCU is designed as a controller. In the design, traveled distance is displayed by LCD, revolving speed of wheels, running speed of car, water temperature and rest fuel amount is displayed by pointer driven by stepper motor. The automobile BUS-IP use two wires to communicate with the other CAN node, realize the resource using in common among the ECU. It has become the dominant technology in the future time. The content of thesis divides into hardware and software. CAN signal can be used to communicate between the power and driving system, use on-off circuit to control the automobile body information.

CAN Signal Capture and Analysis System

A CAN signal capture and analysis system is developed in this paper, which is based on the CAN bus disturbance generator and computer oscilloscope. The main work of this paper is to design the computer software. The software is designed to capture and disturb any CAN signals, and display the waveform on the computer screen. Meanwhile, the software decodes and analyzes the CAN message according to the CAN protocol. A detailed hardware platform building and computer software designing are described in this paper.

Initialization Time Test and Analysis about the Control Unit of Fuel Cell Vehicle

The paper introduces the test process of the initialization time of the control unit of Fuel cell vehicle (FCV), including connecting to the high-voltage power supply speedily, connecting to the high-voltage power supply with normal steps, and correspondent vehicle testing and hardware in the loop (HIL) bench testing. By analyzing the hard-wired signal such as key location data from data collection device and by analyzing vehicle CAN signal, the test obtained the general initialization time of each control unit and their correspondent systems, and the time needed for speedy connection to high-voltage power supply, and sorted out the determining negative factor of speedy high-voltage connection. This test could obtain implicit system parameters, which might be referred to when improving vehicle properties.

스탭핑 모터에 의한 수동변속기 차량의 클러치 제어 개발에 관한 연구

본 논문은 스텝핑 모터를 이용하여 수동변속기 차량의 클러치를 자동으로 제어하기 위한 제어알고리즘 및 제어로직 구현 결과를 기술한 것이다. 기본제어 알고리즘은 차량의 통신데이터를 이용하여 운전자 의지를 파악하고 이에 따라 클러치 연결 혹은 해제 시점을 파악하여, 이에 따른 구동신호를 발생시키고 클러치의 위치 및 이동거리는 구동신호의 펄스 개수에 의하여 계산된다. 제어로직을 마이크로프로세서에 탑재하는 과정은 자동코드생성기법을 이용하였으며 이를 프로토 타입 제어기에 탑재하여 기본 성능시험을 실시하였다. This paper describes a control algorithm and test results of an automated manual transmission clutch actuated by a stepping motor. The control algorithm extracts driver's demand from CAN signals and decides the exact timing to engage or disengage the clutch based on the demand. A pulse signal is generated to drive the clutch and the travel of the clutch can be calculated by accumulating the pulse signal. An auto code generation method was introduced in implementing the control logic to the micro-processor of the prototype controller and a series of basic tests were carried out to validate its performance.

차량차체 네트워크에서 CAN 신호 게이트웨이 설계

The automobile networks consist of the communication bus systems which become independent and heterogeneous each other. Most often, the CAN buses are implemented in a car in order to connect all the electronic control units in various ways. Thus, some gateways are necessary for exchanging the useful information between electronic control units on the buses. The automobile body networks group is divided into two kinds on a large scale, namely the low-speed bus and the high-speed bus. To interchange messages between the two, a CAN signal gateway is designed and implemented in a miniature scale. A network analyzer (called "Vehicle spy") and an oscilloscope monitor network situation to confirm the due operation of CAN signal gateway. The efficiency of the designed gateway is evaluated. The more message thread increased, the more efficiency decreased.