A CAN gateway controller for a commercial vehicle

Abstract

This invention discloses a CAN gateway controller for commercial vehicles, belonging to the field of vehicle network technology. The controller includes: a control module with a RISC-V CPU supporting double-precision floating-point and DSP extensions; a multi-channel CAN communication module with at least six independent channels, each equipped with a dedicated automotive-grade CAN transceiver; a dedicated CAN log storage module with an interface for connecting to an external removable storage medium for storing CAN data logs; and an auxiliary power supply module adapted to the 12V / 24V wide voltage input of commercial vehicles. This invention solves the problem of frame loss in existing gateways under high load conditions through the hardware and software collaboration of a high-performance RISC-V CPU and optimized algorithms; by adding a dedicated log storage module, reliable local storage of CAN logs is achieved, providing crucial data support for fault tracing and maintenance analysis in commercial vehicles; simultaneously, the overall design enhances environmental adaptability, such as wide temperature range and vibration resistance, thus meeting the requirements for commercial vehicle use.

Description

Technical Field

[0001] This invention relates to the field of vehicle network communication technology, and more particularly to a CAN gateway controller for commercial vehicles. Background Technology

[0002] CAN (Controller Area Network) gateways are the core hubs of commercial vehicle onboard bus networks, responsible for connecting and managing data communication between various electronic control units such as the engine ECU, transmission ECU, and ABS system. Existing commercial vehicle CAN gateways generally suffer from the following technical deficiencies: First, the core processing chips largely rely on imported ARM architecture CPUs, posing supply chain security risks and making deep customization and optimization for commercial vehicle needs difficult. Second, data processing performance is limited; most CPUs have a clock speed below 400MHz and lack efficient floating-point and digital signal processing capabilities, easily leading to processing delays or data frame loss under the high-load conditions of multiple ECUs transmitting data in parallel in commercial vehicles. Third, the number of CAN channels is typically 2-4, insufficient to meet the increasing device access needs of commercial vehicles, resulting in poor scalability. Particularly noteworthy is that the vast majority of commercial vehicle CAN gateways on the market lack dedicated local CAN log storage, relying solely on remote uploads or having no storage at all. This leads to the loss of critical driving data in areas without network coverage or when historical fault tracing is required, severely restricting the operational efficiency and fault diagnosis capabilities of commercial vehicles. Finally, the environmental adaptability of existing solutions (such as wide temperature range, vibration resistance, and wide voltage input) is mostly based on industrial-grade standards, failing to fully meet the complex and demanding driving environment requirements of commercial vehicles. Therefore, developing a domestically produced commercial vehicle CAN gateway controller with high performance, multiple channels, reliable local log storage support, and strong environmental adaptability is of great significance. Summary of the Invention

[0003] The purpose of this invention is to provide a CAN gateway controller for commercial vehicles to solve the problems mentioned in the background art.

[0004] This invention is achieved through the following technical solution: A CAN gateway controller for a commercial vehicle, comprising: The control module uses a RISC-V architecture CPU with a maximum clock frequency of no less than 600MHz, supporting double-precision floating-point operations and DSP extended instruction sets. A multi-channel CAN communication module, which is electrically connected to the control module, includes at least six independent CAN channels, each CAN channel being equipped with a dedicated CAN transceiver that meets automotive certification requirements; A dedicated CAN log storage module, electrically connected to the control module, includes a storage interface for accessing an external removable storage medium and a corresponding drive circuit, used to store CAN bus data processed by the control module in the form of log files to the external removable storage medium; and An auxiliary power supply module is used to supply power to the control module, the multi-channel CAN communication module and the CAN log dedicated storage module, and is compatible with 12V / 24V wide voltage input for commercial vehicles.

[0005] Furthermore, the RISC-V architecture CPU in the control module runs a high-load optimization software algorithm, which is used to perform real-time filtering, priority scheduling and forwarding of data from multiple CAN channels when the CAN bus load rate reaches 85%, so as to achieve no data frame loss.

[0006] Furthermore, the baud rate, data filtering rules, and operating mode of each CAN channel in the multi-channel CAN communication module can be independently configured through the control module.

[0007] Furthermore, the dedicated CAN transceiver is an automotive-grade chip compliant with AEC-Q101 certification.

[0008] Furthermore, the storage interface in the CAN log dedicated storage module is a vibration-resistant Micro SD card interface, and it is connected to the control module via the SDIO bus.

[0009] Furthermore, the control module automatically segments the CAN log files stored on the external removable storage medium according to preset time intervals or file sizes.

[0010] Furthermore, the control module accumulates the processed CAN data in the buffer to a preset number of frames, and then stores it to the external removable storage medium through batch writing.

[0011] Furthermore, the auxiliary power supply module includes an on-board wide-voltage DC-DC converter and integrates overvoltage protection, reverse connection prevention, and filtering circuits.

[0012] Furthermore, the control module, the multi-channel CAN communication module, and the auxiliary power supply module all adopt a wide-temperature and vibration-resistant packaging design, with an operating temperature range of -40℃ to 85℃.

[0013] Furthermore, the log data format stored in the CAN log dedicated storage module includes timestamps, channel identifiers, frame IDs, and data content.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: 1. This invention uses a RISC-V CPU and, through a hardware and software co-design of "high-frequency hardware + dedicated optimization algorithm", can effectively solve the problem of real-time data processing and frame loss under high-load conditions in commercial vehicles.

[0015] 2. This invention provides at least six independent and flexibly configurable CAN channels and uses a vehicle-grade dedicated transceiver, which can directly meet the access requirements of multiple ECUs in commercial vehicles, simplify vehicle wiring, and improve the system's anti-interference capability and communication stability.

[0016] 3. This invention integrates a dedicated CAN log local storage module based on a removable storage medium, which fundamentally solves the problem that existing commercial vehicle CAN gateways generally lack reliable log storage capabilities, providing an indispensable data foundation for vehicle fault tracing and operational analysis.

[0017] 4. This invention is designed to withstand the harsh driving environment of commercial vehicles, featuring wide voltage input, wide operating temperature, and high vibration resistance, with significantly higher reliability than traditional industrial-grade solutions.

[0018] 5. This invention supports hot-swapping of removable storage media, and with automatically segmented and uniformly formatted log files, it greatly facilitates the extraction, analysis, and location of historical data by maintenance personnel. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only preferred embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a CAN gateway controller for commercial vehicles proposed in this invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of the present invention, and not all of the embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described herein, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of the present invention.

[0022] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0023] It should be understood that the invention can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0024] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. When used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising” and / or “including,” when used in this specification, identify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups. When used herein, the term “and / or” includes any and all combinations of the associated listed items.

[0025] To fully understand this invention, a detailed structure will be presented in the following description to illustrate the technical solution proposed by this invention. Optional embodiments of the invention are described in detail below; however, in addition to these detailed descriptions, the invention may have other embodiments.

[0026] See Figure 1 A CAN gateway controller for commercial vehicles, comprising: The control module uses a RISC-V architecture CPU with a maximum clock frequency of no less than 600MHz, supporting double-precision floating-point operations and DSP extended instruction sets. A multi-channel CAN communication module, which is electrically connected to the control module, includes at least six independent CAN channels, each CAN channel being equipped with a dedicated CAN transceiver that meets automotive certification requirements; A dedicated CAN log storage module, electrically connected to the control module, includes a storage interface for accessing an external removable storage medium and a corresponding drive circuit, used to store CAN bus data processed by the control module in the form of log files to the external removable storage medium; and An auxiliary power supply module is used to supply power to the control module, the multi-channel CAN communication module and the CAN log dedicated storage module, and is compatible with 12V / 24V wide voltage input for commercial vehicles.

[0027] The RISC-V architecture CPU in the control module runs a high-load optimization software algorithm, which is used to perform real-time filtering, priority scheduling and forwarding of data from multiple CAN channels when the CAN bus load rate reaches 85%, so as to achieve no data frame loss.

[0028] The baud rate, data filtering rules, and operating mode of each CAN channel in the multi-channel CAN communication module can be independently configured through the control module.

[0029] The dedicated CAN transceiver is an automotive-grade chip that complies with AEC-Q101 certification.

[0030] The storage interface in the CAN log dedicated storage module is a vibration-resistant Micro SD card interface, and it is connected to the control module via the SDIO bus.

[0031] The control module automatically segments the CAN log files stored on the external removable storage medium according to preset time intervals or file sizes.

[0032] The control module accumulates the processed CAN data in the buffer to a preset number of frames, and then stores it to the external removable storage medium through batch writing.

[0033] The auxiliary power supply module includes an on-board wide-voltage DC-DC converter and integrates overvoltage protection, reverse connection prevention, and filtering circuits.

[0034] The control module, the multi-channel CAN communication module, and the auxiliary power supply module all adopt a wide-temperature and vibration-resistant packaging design, with an operating temperature range of -40℃ to 85℃.

[0035] The log data format stored in the CAN log dedicated storage module includes timestamps, channel identifiers, frame IDs, and data content.

[0036] For example, the core device of the control module is a domestic RISC-V architecture microcontroller chip (5). In this embodiment, the HPM6800 series of Xianji Semiconductor is selected. The maximum operating frequency of this chip exceeds 600MHz. It integrates a double-precision floating-point unit (FPU) and a DSP extended instruction set for accelerating signal processing, providing a hardware foundation for high real-time data processing. The chip has built-in high-speed cache and on-chip SRAM. To ensure reliability in commercial vehicle environments, the chip is equipped with a wide-temperature operating support circuit and adopts a package with anti-vibration characteristics. The chip connects to other modules through its rich high-speed peripheral interfaces: multiple GPIO / parallel bus interfaces are used to connect the CAN communication module, a set of SDIO interfaces is used to connect the storage module, and interfaces for communication with external devices such as vehicle T-Box are also reserved. The multi-channel CAN communication module is responsible for physical layer and data link layer communication with various ECUs in the vehicle. This embodiment designs six completely independent CAN channels to meet the typical requirements of commercial vehicles connecting at least six key nodes, including the engine ECU, transmission ECU, ABS, and body controller. The core of each channel is an independent dedicated CAN transceiver chip. This embodiment uses the SIT1042AQ, which conforms to AEC-Q101 automotive-grade certification. This transceiver directly performs bidirectional conversion between CAN bus differential signals and CPU-recognizable TTL level signals, eliminating the need for an external independent CAN controller and simplifying the design. The six transceivers are connected to the corresponding GPIO pins of the core CPU via a parallel bus. The CPU can independently program each channel, configuring its communication baud rate (supporting 250kbps, 500kbps, 1Mbps), acceptance filter, and operating mode (normal / listening). The SIT1042AQ chip has good electromagnetic compatibility (EMC) and bus fault protection capabilities, improving communication anti-interference capabilities at the hardware level. The main body of the CAN log dedicated storage module is a standard MicroSD card socket. This socket is a shock-resistant model with anti-loosening latches and silicone cushioning pads to adapt to the continuous vibration environment of commercial vehicles. The socket is directly connected to the SDIO controller of the core CPU via the SDIO bus. The communication clock frequency is configured to 100MHz to ensure write bandwidth. The system supports SDHC / SDXC standards and can support memory cards with capacities of up to 128GB or even higher, which is sufficient to store the massive amounts of CAN data generated by commercial vehicles operating for tens of thousands of kilometers. Unlike existing solutions that only use on-chip Flash to store programs, the storage space of this module is entirely dedicated to recording CAN communication logs.The auxiliary power supply module provides a stable and clean power supply for the entire controller. Its input front end is directly compatible with the 12V and 24V power systems commonly found in commercial vehicles, eliminating the need for external conversion. Internally, the module uses an AEC-Q100 certified wide-input-voltage automotive-grade DC-DC converter chip, such as the LM2596HV, to convert and isolate the input voltage into two independent outputs: one 5V / 3A supplying power to the main digital circuits (control module, storage module interface circuits); and the other 3.3V / 2A supplying power to communication interface circuits such as the CAN transceiver. The power path integrates TVS diodes to suppress surge voltage, Schottky diodes to prevent reverse connection, and a filter network composed of ferrite beads and capacitors, effectively suppressing power supply noise and ensuring stable system operation even under power fluctuations caused by commercial vehicle start-stop and large load changes. The controller workflow of this embodiment is as follows: System Initialization: After power-on, the CPU first initializes its own clock, memory, and all peripheral interfaces. Then, it initializes the six CAN channels, sets up each SIT1042AQ transceiver according to preset configurations (such as baud rate), initializes the SDIO interface, mounts the file system on the SD card, checks the memory card status and available space, and finally, sends an initialization completion signal, allowing the system to enter the main loop. Data Reception and Preprocessing: The six CAN channels independently and in parallel monitor the bus. When any transceiver receives a complete frame of CAN data, it notifies the CPU via an interrupt signal. The CPU responds to the interrupt, reads the original data of that frame, and then a dedicated high-load optimization algorithm immediately intervenes. First, it performs "filtering": based on preset frame ID whitelist / blacklist rules, it quickly discards irrelevant, redundant, or erroneous frames, significantly reducing the amount of data entering subsequent processing. Data Scheduling, Parsing, and Forwarding: Valid data frames that pass the filtering process enter the "scheduling" stage. The algorithm dynamically prioritizes data based on its importance (e.g., braking-related frames have the highest priority, followed by engine data, and then vehicle information). The CPU prioritizes processing high-priority data, parsing it to extract information such as the target address and data segment content. Then, according to a pre-defined routing table, the parsed data is forwarded through the corresponding target CAN channel, enabling data exchange between ECUs in different subnets. Log Formatting and Caching: While parsing data, the system generates log entries for each frame of valid data that needs to be recorded (or records all original frames according to the configuration). The entry format is uniformly structured as follows: a system timestamp accurate to milliseconds, the receiving channel number, the CAN frame ID, the data length (DLC), and the data content itself. The formatted log entries are temporarily stored in a dedicated SRAM circular buffer inside the CPU. Batch Log Writing and Storage (Core Step): The system does not write to the card immediately after receiving each data entry, but instead uses a "batch writing" mechanism.When the accumulated log entries in the circular buffer reach a preset number (10 frames in this embodiment), the CPU writes this batch of data to the current log file of the SD card (9) all at once via the SDIO bus. This mechanism can significantly reduce the number of small file writes to the memory card, improve writing efficiency, reduce the risk of losing a single data entry due to unexpected power outages, and extend the life of the memory card. The log file is automatically segmented by time, for example, a new file is created every 10 minutes, and the file name contains the year, month, day, hour, and minute information (such as 2025-10-27-14-30.blf), which facilitates quick retrieval and location of faults by time point in the later stage. Anomaly monitoring and handling: The system continuously monitors the status of each module. For example, it monitors the error counter of each CAN channel. If the error of a certain channel continues to exceed the threshold (such as 255), the algorithm can automatically put the channel into offline state and record the event log. If the SD card is detected to be accidentally removed or writing fails, the log storage is paused and the alarm LED is lit through GPIO. At the same time, the abnormal event is recorded internally. When the card is detected to be reinserted, the log recording function can be automatically restored. The beneficial effects of this embodiment are verified. Through the above-mentioned hardware and software co-design, the CAN gateway controller of this embodiment achieves: High reliability under high load: In laboratory simulation tests, when the overall load rate of the 6-channel CAN bus reaches an extreme of 85%, the system relies on the computing power of the high-frequency CPU and the intelligent scheduling of the optimization algorithm. The end-to-end data processing latency is less than 10ms, and no data frame loss occurs, fully meeting the requirements of commercial vehicles under heavy load, idling and other high load conditions. Maintenance traceability: By inserting a 32GB SD card, more than one month of complete CAN bus communication logs can be continuously stored in actual road tests. When a vehicle has a suspected fault, maintenance personnel can directly remove the SD card and use filenames such as "2023-10-27-14-30.blf" to quickly locate the data a few minutes before and after the fault occurred, and perform accurate analysis, completely changing the previous situation of "no data to check". Environmental adaptability: In tests of cold start at -40℃ and continuous operation in an 85℃ high-temperature chamber, all functions of the controller are normal. In experiments simulating commercial vehicle vibration, the SD card slot with anti-loosening design effectively prevented the memory card from falling off due to vibration, ensuring the continuity of log storage. Within the scope of protection of the above embodiments, the technical solution of the present invention can have various modifications. For example: Core processor replacement: The CPU of the control module can be replaced with other domestic RISC-V chips, such as GigaDevice's GD32VF103 series (the clock frequency and interface requirements need to be evaluated) or Pingtouge's XuanTie series processors. As long as their performance meets the basic conditions of "clock frequency ≥ 500MHz, supports floating-point operations, and has sufficient peripheral interfaces," and can run the software that implements the core logic of data scheduling, filtering, and log management of the present invention, similar technical effects can be achieved.Storage Interface Replacement: The MicroSD card interface of the CAN log dedicated storage module can be replaced with a vehicle-grade USBHost interface compliant with USB 2.0 or higher standards. In this case, the external storage medium is changed to a USB flash drive. The system software needs to add a USB host controller driver and corresponding file system support. This alternative leverages the greater prevalence of USB flash drives in maintenance and operation, while still achieving the core log storage functions of "pluggable, large capacity, and localized". Software Strategy Replacement: The log file segmentation strategy can be changed from "by fixed time (10 minutes)" to "by fixed file size (e.g., every 512MB)". The "static priority scheduling" in the high-load optimization algorithm can be replaced with a "dynamic load balancing algorithm," which monitors the data flow of each CAN channel in real time and dynamically adjusts the allocation of CPU processing resources to cope with changes in load patterns during different driving stages, also aiming to achieve the goal of no frame loss under high load. Any solution that combines a domestically produced high-performance processor, multiple independent automotive-grade CAN channels, and a pluggable local storage module dedicated to CAN logs, and ensures high-load processing capacity and environmental adaptability through hardware and software collaboration, regardless of variations in specific device selection, interface form, or algorithm implementation details, falls within the protection scope sought by this invention. The above descriptions are merely preferred embodiments of this invention and are not intended to limit the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this invention should be included within the protection scope of this invention.

Claims

1. A CAN gateway controller for commercial vehicles, characterized in that, include: The control module uses a RISC-V architecture CPU with a maximum clock frequency of no less than 600MHz, supporting double-precision floating-point operations and DSP extended instruction sets. A multi-channel CAN communication module, which is electrically connected to the control module, includes at least six independent CAN channels, each CAN channel being equipped with a dedicated CAN transceiver that meets automotive certification requirements; A dedicated CAN log storage module, which is electrically connected to the control module, includes a storage interface for accessing an external removable storage medium and a corresponding drive circuit, for storing CAN bus data processed by the control module in the form of log files to the external removable storage medium; as well as An auxiliary power supply module is used to supply power to the control module, the multi-channel CAN communication module and the CAN log dedicated storage module, and is compatible with 12V / 24V wide voltage input for commercial vehicles.

2. The CAN gateway controller according to claim 1, characterized in that, The RISC-V architecture CPU in the control module runs a high-load optimization software algorithm, which is used to perform real-time filtering, priority scheduling and forwarding of data from multiple CAN channels when the CAN bus load rate reaches 85%, so as to achieve no data frame loss.

3. The CAN gateway controller according to claim 1, characterized in that, The baud rate, data filtering rules, and operating mode of each CAN channel in the multi-channel CAN communication module can be independently configured through the control module.

4. The CAN gateway controller according to claim 1 or 3, characterized in that, The dedicated CAN transceiver is an automotive-grade chip that complies with AEC-Q101 certification.

5. The CAN gateway controller according to claim 1, characterized in that, The storage interface in the CAN log dedicated storage module is a vibration-resistant Micro SD card interface, and it is connected to the control module via the SDIO bus.

6. The CAN gateway controller according to claim 5, characterized in that, The control module automatically segments the CAN log files stored on the external removable storage medium according to preset time intervals or file sizes.

7. The CAN gateway controller according to claim 1 or 5, characterized in that, The control module accumulates the processed CAN data in the buffer to a preset number of frames, and then stores it to the external removable storage medium through batch writing.

8. The CAN gateway controller according to claim 1, characterized in that, The auxiliary power supply module includes an on-board wide-voltage DC-DC converter and integrates overvoltage protection, reverse connection prevention, and filtering circuits.

9. The CAN gateway controller according to claim 1, characterized in that, The control module, the multi-channel CAN communication module, and the auxiliary power supply module all adopt a wide-temperature and vibration-resistant packaging design, with an operating temperature range of -40℃ to 85℃.

10. The CAN gateway controller according to claim 1, characterized in that, The log data format stored in the CAN log dedicated storage module includes timestamps, channel identifiers, frame IDs, and data content.

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