Читать книгу Engineering Autonomous Vehicles and Robots - Shaoshan Liu - Страница 29

As shown in Figure 2.1, one key component in the modular design architecture is the in-vehicle communication network, which allows Electronic Control Units (ECUs), sensors, and other components to communicate with each other. Note, the Controller Area Network (CAN) bus is the most widely used in-vehicle communication network today due to its simplicity.

In this chapter, we introduce in-vehicle communication systems. We first introduce CAN bus, which is a high-integrity serial bus system for networking intelligent devices. Also, we introduce FlexRay, a deterministic, fault-tolerant, and high-speed bus system developed in conjunction with automobile manufacturers and leading suppliers; FlexRay is meant to gradually replace CAN as the default in-vehicle communication network. In addition, we introduce CANopen, a communication protocol and device profile specification for embedded systems used in automation, as well as CANopenNode, a free and open source CANopen Stack written in ANSI C in an object-oriented way. We believe this chapter will provide sufficient background for readers to understand in-vehicle communication networks.