Controller area network messages in an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-11539621-B2
Application number	US-202117167059-A
Country	US
Kind code	B2
Filing date	Feb 3, 2021
Priority date	Feb 3, 2021
Publication date	Dec 27, 2022
Grant date	Dec 27, 2022

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.

First claim

What is claimed is:

1. 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.

2. The system of claim 1 , wherein the first CAN bus is one of a control bus, a redundant control bus, a sensor bus, and a system bus.

3. The system of claim 1 , wherein the second CAN header comprises a message type of the second CAN data and a channel of the second CAN data.

4. The system of claim 3 , wherein the first CAN header further comprises a length of the first CAN data, and a CAN identifier (CAN_ID) of the first CAN data.

5. The system of claim 1 , wherein the CEG comprises:
a CAN message parser configured to parse the first and second CAN data; and
a UDP packet handler to generate the UDP packet.

6. The system of claim 1 , wherein the computing device comprises a first processor and a second processor that are communicatively coupled with the CEG by an Ethernet switch of the computing device.

7. The system of claim 1 , wherein the computing device is physically separate from, but communicatively coupled to, the CEG.

8. 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.

9. The system of claim 8 , wherein the first CAN bus is one of a control bus, a redundant control bus, a sensor bus, and a system bus.

10. The system of claim 8 , wherein the first CAN header comprises a message type of the first CAN data, a channel of the first CAN data, a length of the first CAN data, and a CAN identifier (CAN_ID) of the first CAN data.

11. The system of claim 8 , wherein the CEG comprises:
a UDP packet handler configured to identify, based on the UDP packet, the first data portion and the second data portion; and
a CAN message parser configured to generate, based on the first data portion and the second data portion, the first CAN packet and the second CAN packet.

12. The system of claim 8 , wherein the computing device comprises a first processor and a second processor that are communicatively coupled with the CEG by an Ethernet switch of the computing device.

13. The system of claim 8 , wherein the computing device is physically separate from, but communicatively coupled to, the CEG.

14. The system of claim 8 , wherein the first CAN bus relates to a power train of the vehicle, and the second CAN bus relates to engine control of the vehicle.

15. 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.

16. The computer-implemented method of claim 15 , wherein the method further comprises facilitating, by the CEG, transmission of the UDP packet to a computing device by an Ethernet link.

17. The computer-implemented method of claim 15 , wherein the first ECU has a different function than the second ECU.

18. The computer-implemented method of claim 15 , wherein:
the first CAN bus is one of a control bus, a redundant control bus, a sensor bus, and a system bus; and
the second CAN bus is another of the control bus, the redundant control bus, the sensor bus, and the system bus.

19. The computer-implemented method of claim 15 , wherein the first header comprises a message type of the first CAN data, a channel of the first CAN data, a length of the first CAN data, and a CAN identifier (CAN_ID) of the first CAN data.

20. The computer-implemented method of claim 15 , wherein the first CAN data relates to a power train of the vehicle, and the second CAN data relates to engine control of the vehicle.

Assignees

• Motional Ad Llc

Inventors

• Melgangolli Vasudeva Pai
• Tan William
• Lin Lixun

Classifications

• H04L12/46 Primary

  Interconnection of networks · CPC title

• H04L69/164

  Adaptation or special uses of UDP protocol · CPC title

• H04L2012/40215

  Controller Area Network CAN · CPC title

• H04L2012/4028

  the transportation system being an aircraft · CPC title

• H04L69/22

  Parsing or analysis of headers · CPC title