ARDUINO BASED CAN PROTOCOL IMPLEMENTATION IN

VEHICLE CONTROL SYSTEM

Team members and Reg no. : Faculty guide :

1)JASWANTH V – 21BEC2189 GERARDINE IMMACULATE MARY

2)EHTHIKASH R – 21BEC2522 Associate Professor Sr.
3)HARISH M S – 21BEC2217 Department of Embedded
technology
 Introduction

In modern automotive systems, the Controller Area Network (CAN) protocol has
become the standard for efficient and real-time communication between various electronic
control units (ECUs). Traditional point-to-point wiring in vehicles increases complexity,
weight, and cost, making CAN-based communication a superior alternative.
The study implements a safety-enhanced vehicle monitoring system using Arduino
and CAN, integrating features like collision avoidance, speed monitoring, and
emergency alerts. The study also evaluates real-time message scheduling and bus
utilization in CAN networks to optimize communication efficiency.
By addressing challenges like wiring complexity, real-time data transmission, and
system scalability, this research contributes to the advancement of intelligent,
efficient, and safe vehicle communication systems.
 Literature Review

Reference (Paper Key Focus Findings/ Minor

Title & Authors) Contributions Improvements

Electric Vehicle CAN-based control - Reduces wiring - Upgrade to 500

Control System system for EVs complexity in EVs. kbps or 1 Mbps
using CAN - Develops a four- CAN speed for
Abhishek A. Sase et module CAN better real-time data
al.​ system for battery, transmission.
motor, lighting, and - Add basic security
user interface. measures against
- Uses 125 kbps CAN CAN hacking.
communication.

Arduino-Based CAN CAN-based driver - Implements - Improve sensor

Protocol assistance system collision avoidance accuracy by
Implementation for using ultrasonic integrating camera-
Vehicle Safety sensors. based AI detection.
S. Shanmathi et al.​ - Includes alcohol
detection and lane
departure warning.
 - Sends emergency - Use ESP32 or
alerts via GSM STM32 instead of
module. Arduino for faster
processing.
CAN Bus Real-time - Benchmarks - Compare CAN
Experiments of performance analysis message performance with
Real-Time of CAN networks scheduling and Automotive
Communications latency. Ethernet.
Fernando G. Tinetti et - Uses fixed-priority - Include error
al. scheduling to test analysis in high-
CAN transmission noise
delays. environments.
- Tests piggybacking
to optimize bus
utilization.
 Relevance to CAN-Based Vehicle
SDG Goal Description
Control Systems

- Reduces accidents through real-time

safety features (collision avoidance, lane
Ensure healthy lives and promote well-
SDG 3: Good Health and Well-being detection, drunk driving prevention).
being for all
- Enhances emergency response with
automatic GSM-based accident alerts.

SDG 7: Affordable and Clean Energy

Ensure access to affordable, reliable,
- CAN-based battery monitoring systems in
EVs optimize energy usage, improving
battery life and performance.
Relevanc
e of the
sustainable, and modern energy
- Reduces energy losses through efficient
motor and power management.

Build resilient infrastructure, promote

- Implements smart vehicle communication
systems for enhanced efficiency and
problem
statemen
SDG 9: Industry, Innovation, and modular scalability.
inclusive and sustainable industrialization,
Infrastructure - Encourages the adoption of IoT-enabled
and foster innovation
vehicle monitoring for intelligent transport

t w.r.t
solutions.

SDG
- Improves urban mobility and traffic safety
SDG 11: Sustainable Cities and Make cities and human settlements through CAN-based smart vehicle control.
Communities inclusive, safe, resilient, and sustainable - Supports electric vehicle adoption,
reducing pollution and traffic congestion.

- Promotes electrification of transport,

Take urgent action to combat climate reducing reliance on fossil fuels.
SDG 13: Climate Action
change and its impacts - CAN-based EV systems optimize energy
use, minimizing carbon footprint.
 Problem Formulation

Modern vehicles require intelligent safety and monitoring systems to prevent accidents. Existing
systems are either:
•Limited to high-end vehicles, making them unaffordable for common users.
•Inefficient in real-time communication, leading to delayed accident response.
•Dependent on point-to-point wiring, increasing installation and maintenance costs.
Identified Problems:
1.Driver Mistakes Cause Accidents: Many accidents result from driver errors, such as lack of
awareness or drunk driving.
2.No Real-Time Collision Avoidance: Existing systems lack a real-time alert mechanism for
avoiding obstacles.
3.Limited Speed and Lane Monitoring: Vehicles lack an affordable automated speed control and
lane departure warning system.
4.Lack of Emergency Communication: In case of an accident, there is no automatic alert system
to notify emergency services.
•Lack of efficient data communication between multiple controllers in an EV.
•Difficulty in integrating new vehicle features due to non-modular architectures.
•Need for real-time monitoring and control of motor, lighting, and battery systems.

Real-time communication in a CAN network is essential for critical applications, such as automotive
control systems. However:
•Message scheduling in CAN networks needs optimization to prevent delays.
•High-priority messages may face latency issues, affecting safety-critical operations.
•Bus utilization must be optimized to ensure smooth data transmission.
•Error handling needs to be efficient to maintain reliability in real-world applications.
Identified Problems:
1.Fixed-priority scheduling can lead to message delays, especially when low-priority messages
occupy the bus.
2.Error recovery mechanisms (like bit stuffing) impact real-time performance.
3.Existing CAN systems may fail to meet strict real-time constraints, leading to potential data loss
or control failures.
4.High bus utilization can cause congestion, affecting latency-sensitive message
 Proposed System/Architecture/Design

Architecture/Design:
• Main Features:
• Collision Avoidance System – Uses ultrasonic sensors to measure
distance and avoid rear-end collisions.
• Speed Monitoring System – Alerts the driver if the vehicle exceeds a
speed threshold.
• Lane Departure Warning System – Uses IR sensors to detect lane
drift.
• CAN Communication Structure:
• ATMEGA328-based microcontroller processes sensor data.
• MCP2515 CAN Controller transmits data to the main controller.
• Each safety module operates as a separate CAN node, ensuring
efficient communication.
Hardware Layout:
•A central microcontroller manages message transmission.
•MCP2515 CAN Controller interfaces modules with the CAN bus.
Software Implementation:
•The system follows the ISO 11898 CAN protocol for message exchange.
•The Arduino IDE is used for coding in Embedded C/C++.
•CAN Data Rate: 125 Kbps for high-speed communication.
•Error Detection Mechanism: Uses 15-bit CRC (Cyclic Redundancy Check).
•The system models worst-case response times for different message priorities.
•Piggybacking Optimization:
•Multiple periodic signals are combined into a single message to reduce bus load.

•The system operates at 125 kbps for data transfer.

•Each module executes commands using Embedded C programming.
•The battery monitoring module uses Open Circuit Voltage (OCV) and Coulomb Counting
Method for SOC estimation.
 Analytical and Theorical Description
Analytical Description
This paper focuses on implementing CAN communication using Arduino to develop a
collision avoidance and vehicle monitoring system. The study integrates various
sensors into a CAN-based network, ensuring efficient data transfer and real-time
decision-making.
The system comprises:
•Ultrasonic Sensors – Detects the distance between vehicles.
•Speed Sensor – Monitors vehicle speed and alerts if exceeded.
•Lane Detection Sensor – Alerts drivers if they drift from their lane.
The analytical review indicates that CAN protocol significantly improves in-vehicle
communication by reducing wiring complexity while ensuring low latency and high
reliability. The prototype demonstrated effective data acquisition and processing,
enabling real-time driver assistance and safety features.
Theoretical Description
This research is grounded in networked embedded systems and real-time communication
theory. It highlights:
•Collision Avoidance Theory: By utilizing sensors and feedback mechanisms, the system
aligns with modern Advanced Driver Assistance Systems (ADAS).
•CAN Communication Standard (ISO-11898:2003): The study uses the CAN protocol to
ensure robust, multi-node data exchange.
•Embedded System Design: The use of AVR-based microcontrollers (ATMEGA328)
emphasizes real-time processing capabilities.
Theoretical contributions include understanding CAN’s arbitration mechanism, where
message prioritization ensures critical alerts (e.g., collision warnings) are processed before
less urgent data.
 Hardware/Software tools and Simulation/Design Parameters

Hardware Tools Used:

•Microcontrollers: ATMEGA328 (Arduino)
•CAN Transceiver: MCP2551
•CAN Controller: MCP2515
•Sensors:
• Voltage Sensor (25V)
• Current Sensor (30A ACS 712)
• Ultrasonic Sensors – For distance measurement
• Speed Sensor – To measure vehicle speedLane
• Detection Sensor (IR Sensor) – To monitor lane departure
• Bump Sensor – For accident detection
•Modules:
• Human Machine Interface (HMI) Module
• Battery Monitoring System (BMS) Module
• Motor Driver Module
• Lighting System Module
•Communication: Twisted pair cables for CAN bus communication
Software Tools Used:
•Arduino IDE – For programming the microcontroller
•Embedded C – For writing control logic
•CAN Protocol Implementation – Based on ISO 11898 standards
Simulation/Design Parameters:
•CAN Data Transfer Rate: 125 kbps
•Voltage Levels: 12V DC for motor driver and auxiliary loads
 Expected outcome
Outcome Impact

Enhances battery life, motor efficiency, and

Efficient EV Control System vehicle performance using CAN-based
communication.

Reduces accidents and driver errors with real-time

Improved Safety Features collision avoidance, speed control, and lane
monitoring.

Optimized message scheduling reduces delays

Faster & More Reliable CAN Communication
and ensures real-time system responsiveness.

Reduces accident response time by automatically

Emergency Response System
alerting emergency services.

Easily expandable system that can integrate future

Modular & Scalable Design
smart vehicle technologies.
 Timeline Progress

12 - 11 - 2024 Registered the project and the title.

Went through the relevant research papers to review the

20 – 12 - 2024 project requirements, scope and objectives. Created a
plan breaking the tasks into manageable chunks.

Made the abstract and the literature review after doing the
30 – 12 – 2024 necessary research.

25 – 01 - 2025 Design, development and implementation

Drafted and edited the presentation making sure all the

23 – 02 - 2025 sections are complete.
 Summary of completed work and work yet to be carried out

The core systems—vehicle control, ADAS features, performance optimization, and

emergency response—are functional but need further refinement, testing, and integration
to ensure real-world applicability. The next steps will focus on optimizing CAN
communication, improving sensor accuracy, and performing integration testing under
realistic conditions.

The progress made so far lays a strong foundation for completing the remaining tasks. The
expected outcome is a fully integrated, safe, efficient, and real-time vehicle control
system that meets industry standards and is ready for real-world application.

Work to be carried out :

•Testing and upgrading the CAN bus speed from 125 kbps to 500 kbps or 1 Mbps for
enhanced real-time communication.

•Full integration testing: Although individual modules are working, full system integration
with communication between battery, motor, and lighting requires more thorough testing
for reliability and coordination.
 Team member Contribution

Harish M S Data collection and research

Ehthikash R Software related work

Jaswanth V Hardware design and implementation

 References

1. Zhao, Y., Zhang, W., & Wu, B. (2022). "CAN Bus-based communication for vehicle
control systems." IEEE Transactions on Industrial Electronics, 69(5), 5423-5434.

2. Hosseinzadeh, M., & Saldaña, A. (2021). "A review on the applications of CAN bus
in modern electric vehicle systems." Electric Power Systems Research, 189, 106573.

3. Kou, B., & Zhang, L. (2020). "Development of an intelligent driver assistance system
based on CAN communication and IoT." Sensors and Actuators A: Physical, 303, 111875.

4. Azzam, M. I., & Elbeltagi, E. (2019). "CAN bus-based real-time data transmission for
electric vehicle energy management." Journal of Energy Engineering, 145(4), 04019028.

5. Li, Y., Zhang, H., & Xu, X. (2018). "Implementation of advanced driver assistance
systems using CAN protocol for automotive applications." Journal of Vehicle Design, 39(3),
243-257.

6. Chen, M., & Guo, J. (2017). "Optimization of real-time CAN bus scheduling for
intelligent vehicle systems." IEEE Access, 5, 27342-27351.
7. Hassan, M. S., & Jafri, S. M. (2016). "Analysis of real-time CAN communication for
vehicular safety systems." International Journal of Vehicle Safety, 10(1), 19-36.

8. Yang, F., & Wang, W. (2015). "Real-time scheduling of CAN-based data exchange in
electric vehicles." Journal of Real-Time Systems, 51(2), 217-232.

9. Sasaki, K., & Nakamura, M. (2014). "Safety and reliability improvement of electric
vehicles through CAN bus protocol." Vehicle System Dynamics, 52(6), 777-795.

10. Bolognese, L., & Fabbri, M. (2013). "Implementing CAN-based communication in

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3712.