Remote estimation over control area networks Aditya Mahajan McGill - PowerPoint PPT Presentation

Remote estimation over control area networks Aditya Mahajan McGill University NetV Workshop, VTC 2017 24 Sep 2017

The road to self-driving cars . . . Car can handle “dynamic driving tasks” but still need human intervention Fully autonomous in all situations Level 5 . . . Fully autonomous in certain situations Level 4 . . . Level 3 Level 1 Automatic lane control (Tesla’s autopilot) Control both speed or steering Level 2 Automatic breaking Cruise control Control either speed or steering . . .

The road to self-driving cars . . . . . . These advances are driven by sophisticated algorithms . . . Fully autonomous in all situations Level 5 . . . Fully autonomous in certain situations Level 4 Car can handle “dynamic driving tasks” but still need human intervention Level 1 Level 3 Automatic lane control (Tesla’s autopilot) Control both speed or steering Level 2 Automatic breaking Cruise control Control either speed or steering that rely on measurements from multiple sensors

Communication between the sensors, controllers, and As the number of sensors increase, it is critical to ensure that the information exchange is effjcient. actuators takes place over the Control Area Network (CAN)

Remote estimation over CAN–(Mahajan) 4 Background

Remote estimation over CAN–(Mahajan) 4 Background Arbitration in Control Area Network

Remote estimation over CAN–(Mahajan) 4 Background Arbitration in Control Area Network Arbitration in Control Area Network Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload .

Remote estimation over CAN–(Mahajan) 4 Background Arbitration in Control Area Network Arbitration in Control Area Network Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . Arbitration in Control Area Network Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . When the CAN bus is idle, all nodes start transmitting at the same time. Bitwise transmission can be dominant (high voltage) or recessive (low voltage) If any node transmits at a dominant level, the voltage of the bus is high.

Remote estimation over CAN–(Mahajan) If any node transmits at a dominant level, the voltage of the bus is high. Nodes monitor the voltage on the bus. If a node transmitting at a recessive level If any node transmits at a dominant level, the voltage of the bus is high. Bitwise transmission can be dominant (high voltage) or recessive (low voltage) When the CAN bus is idle, all nodes start transmitting at the same time. Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . Arbitration in Control Area Network Bitwise transmission can be dominant (high voltage) or recessive (low voltage) 4 When the CAN bus is idle, all nodes start transmitting at the same time. Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . Arbitration in Control Area Network Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . Arbitration in Control Area Network Arbitration in Control Area Network Background detects a dominant voltage on the bus, it immediately quits transmitting.

Remote estimation over CAN–(Mahajan) Bitwise transmission can be dominant (high voltage) or recessive (low voltage) detects a dominant voltage on the bus, it immediately quits transmitting. Nodes monitor the voltage on the bus. If a node transmitting at a recessive level If any node transmits at a dominant level, the voltage of the bus is high. Bitwise transmission can be dominant (high voltage) or recessive (low voltage) When the CAN bus is idle, all nodes start transmitting at the same time. Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . Arbitration in Control Area Network detects a dominant voltage on the bus, it immediately quits transmitting. Nodes monitor the voltage on the bus. If a node transmitting at a recessive level If any node transmits at a dominant level, the voltage of the bus is high. When the CAN bus is idle, all nodes start transmitting at the same time. 4 Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . Arbitration in Control Area Network If any node transmits at a dominant level, the voltage of the bus is high. Bitwise transmission can be dominant (high voltage) or recessive (low voltage) When the CAN bus is idle, all nodes start transmitting at the same time. Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . Arbitration in Control Area Network Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . Arbitration in Control Area Network Arbitration in Control Area Network Background Scheduling sensor measurements is different from scheduling data packets

Remote estimation over CAN–(Mahajan) Arbitration in Control Area Network When the CAN bus is idle, all nodes start transmitting at the same time. Bitwise transmission can be dominant (high voltage) or recessive (low voltage) If any node transmits at a dominant level, the voltage of the bus is high. Nodes monitor the voltage on the bus. If a node transmitting at a recessive level detects a dominant voltage on the bus, it immediately quits transmitting. Scheduling sensor measurements is different from scheduling data packets Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . Arbitration in Control Area Network When the CAN bus is idle, all nodes start transmitting at the same time. Bitwise transmission can be dominant (high voltage) or recessive (low voltage) If any node transmits at a dominant level, the voltage of the bus is high. Nodes monitor the voltage on the bus. If a node transmitting at a recessive level detects a dominant voltage on the bus, it immediately quits transmitting. Scheduling sensor measurements is different from scheduling data packets Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . detects a dominant voltage on the bus, it immediately quits transmitting. 4 When the CAN bus is idle, all nodes start transmitting at the same time. Background Arbitration in Control Area Network Arbitration in Control Area Network Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . Arbitration in Control Area Network Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . Bitwise transmission can be dominant (high voltage) or recessive (low voltage) Nodes monitor the voltage on the bus. If a node transmitting at a recessive level If any node transmits at a dominant level, the voltage of the bus is high. Arbitration in Control Area Network Each data-frame consists of a 11 or 29 bit arbitrartion fjeld and payload . When the CAN bus is idle, all nodes start transmitting at the same time. Bitwise transmission can be dominant (high voltage) or recessive (low voltage) If any node transmits at a dominant level, the voltage of the bus is high. Suppose a sensor does not get access to the channel.