Controller area network messages in an autonomous vehicle
AssigneeMotional AD LLC
InventorsVasudeva Pai Melgangolli, William Tan, Lixun Lin
Life of this patent
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Abstract
Embodiments herein relate to a controller area network (CAN) Ethernet gateway (CEG) is communicatively coupled with a first CAN bus and a second CAN bus, and configured to generate a user datagram protocol (UDP) packet. The UDP packet includes a packet header, a first data portion that includes a CAN header and CAN data related to the first CAN bus, and a second data portion that includes a CAN header and CAN data related to the second CAN bus. Other embodiments are described and/or claimed.
Claims20
A system for use in a vehicle, wherein the system comprises:
- a first controller area network (CAN) bus that is configured to convey first CAN data from a first electronic control unit (ECU);
- a second CAN bus that is configured to convey second CAN data from a second ECU;
- a CAN Ethernet gateway (CEG) communicatively coupled with the first CAN bus and the second CAN bus, the CEG configured to generate a user datagram protocol (UDP) packet that comprises:
- a packet header;
- a first data portion that comprises a first CAN header and the first CAN data, the CAN header comprising a message type of the first CAN data and a channel of the first CAN data;
- and
- a second data portion that comprises a second CAN header and the second CAN data;
- and
- a computing device that is communicatively coupled with the CEG by an Ethernet link, the computing device configured to:
- identify, based on the first data portion of the UDP packet, the first CAN data;
- identify, based on the second data portion of the UDP packet, the second CAN data;
- and
- operate the vehicle based on the first and second CAN data.
A system for use in a vehicle, wherein the system comprises:
- a computing device configured to generate a user datagram protocol (UDP) packet that comprises:
- a packet header;
- a first data portion that comprises a first controller area network (CAN) header and first CAN data, the first CAN header comprising a message type of the first CAN data and a channel of the first CAN data;
- and
- a second data portion that comprises a second CAN header and second CAN data;
- and
- a CAN Ethernet gateway (CEG) communicatively coupled with the computing device by an Ethernet link, the CEG configured to:
- generate, based on the UDP packet received from the computing device, a first CAN packet that comprises the first CAN data and a second CAN packet that comprises the second CAN data;
- facilitate transmission of the first CAN packet on a first CAN bus of the vehicle;
- and
- facilitate transmission of the second CAN packet a second CAN bus of the vehicle.
A computer-implemented method comprising:
- identifying, by a controller area network ethernet gateway (CEG) of a vehicle, first controller area network (CAN) data received from a first electronic control unit (ECU) on a first CAN bus of the vehicle;
- identifying, by the CEG, second CAN data received from a second ECU on a second CAN bus of the vehicle;
- and
- generating, by a processor, a user datagram protocol (UDP) packet that comprises:
- a header;
- a first data portion that comprises a first CAN header and the first CAN data, the first CAN header comprising a message type of the first CAN data and a channel of the first CAN data;
- and
- a second data portion that comprises a second CAN header and the second CAN data.
Dependencies are inferred from the claim text.