Research Article
Design and Simulation Analysis for Integrated Vehicle Chassis-Network Control System Based on CAN Network
Table 2
Communication matrix table of IVC-NCS.
| | Message name | Message content (signal) | Transmission node | Message property | Signal description | | Priority | Cycle | Data domain |
| | Msg1 | Interf | Node 1 | 1 | Pending | 8 bytes | Meaningless message | | Msg2 | S_Yaw_Acc | Node 2 | 2 | = 5 ms | 6 bytes | Yaw rate and lateral acceleration | | Msg3 | S_StrWhAgl | Node 3 | 3 | = 5 ms | 4 bytes | Steering wheel angle | | Msg4 | S_Vx | Node 4 | 4 | = 5 ms | 4 bytes | Longitudinal speed | | Msg5 | Weight | Node 4 | 7 | AP | 4 bytes | Control weight of AFS and ARS | | Msg6 | S_ARS | Node 5 | 5 | = 5 ms | 8 bytes | Speed and rotation angle of rear wheel | | Msg7 | D_ARS_M | Node 5 | 8 | = 20 ms | 4 bytes | Rear wheel motor status | | Msg8 | S_AFS | Node 6 | 6 | = 5 ms | 8 bytes | Speed and rotation angle of front wheel | | Msg9 | D_AFS_M | Node 6 | 9 | = 20 ms | 4 bytes | Front wheel motor status |
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