Examining the Effects of Exteroceptive Sensors of Autonomous Vehicles (AV) on CAN Bus
Zeina Ali, Qutaiba I. Ali- Electrical and Electronic Engineering
- Control and Optimization
- Computer Networks and Communications
- Computer Science Applications
Background:
Exteroceptive sensors on an autonomous vehicle require a high-performance communication bus. The number of exteroceptive sensors keeps rising, and the CAN bus, the most common intra-network bus in vehicles, cannot keep up.
Objective:
This paper investigates the effect of Exteroceptive Sensors of Autonomous Vehicles on the CAN and CAN FD buses. Four types of sensors (4 cameras, 6 radars, 1 LiDAR, and 1 INS) have been introduced to create five different scenarios in two different test environments.
Methods:
The simulation used a highly effective environment to obtain accurate measurements and results.
Results and Conclusion:
The results showed that the LiDAR sensor has huge data and requires a high-efficiency bus; the CAN bus could not handle it, and the rest of the sensors can transfer their data through the traditional CAN bus.