Examining the Effects of Exteroceptive Sensors of Autonomous Vehicles (AV) on CAN Bus

Exteroceptive sensors on an autonomous vehicle require a high-performance communication bus. The number of exteroceptive sensors keeps rising, and the CAN bus, the most common intra-network bus in vehicles, cannot keep up. This paper investigates the effect of Exteroceptive Sensors of Autonomous Vehicles on the CAN and CAN FD buses. Four types of sensors (4 cameras, 6 radars, 1 LiDAR, and 1 INS) have been introduced to create five different scenarios in two different test environments. The simulation used a highly effective environment to obtain accurate measurements and results. The results showed that the LiDAR sensor has huge data and requires a high-efficiency bus; the CAN bus could not handle it, and the rest of the sensors can transfer their data through the traditional CAN bus.