Journal of Sensors / 2016 / Article / Tab 2

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 nameMessage content (signal)Transmission nodeMessage propertySignal description
PriorityCycleData domain

Msg1InterfNode 11Pending8 bytesMeaningless message
Msg2S_Yaw_AccNode 22 = 5 ms6 bytesYaw rate and lateral acceleration
Msg3S_StrWhAglNode 33 = 5 ms4 bytesSteering wheel angle
Msg4S_VxNode 44 = 5 ms4 bytesLongitudinal speed
Msg5WeightNode 47AP4 bytesControl weight of AFS and ARS
Msg6S_ARSNode 55 = 5 ms8 bytesSpeed and rotation angle of rear wheel
Msg7D_ARS_MNode 58 = 20 ms4 bytesRear wheel motor status
Msg8S_AFSNode 66 = 5 ms8 bytesSpeed and rotation angle of front wheel
Msg9D_AFS_MNode 69 = 20 ms4 bytesFront wheel motor status

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