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Electric Vehicle Control System by using Controller Area Network
Communication
Article in International Journal of Engineering Sciences · January 2022
DOI: 10.36224/ijes.150205
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Electric Vehicle Control System by using Controller Area Network Communication
Abhishek A. Sase*, Yogesh K. Bhateshvar#, Kamal C. Vora@
*
College of Engineering Pune
#,@
ARAI Academy Pune, India
(Received 8 September 2021; Accepted 22 May 2022)
DOI: https://doi.org/10.36224/ijes.150205
Abstract
The Controller Area Network (CAN) communication protocol is designed by Bosch in the 1980s as a doubled wired,
differential voltage-based serial communication system for control systems. Electric vehicles, like Gasoline vehicles, require
controllers to regulate load operation, where conventional point-to-point communication system gets outcome of huge
number of cables in the harness. CAN is used to minimize the amount of cables and enable various controllers to transfer data
and accomplish complicated jobs simultaneously. This paper presents the design of a CAN-based control system to be used
as a replacement for the existing system and shows the development of four modules as well as a proposed implementation
for the complete system. Individual modules will be developed initially and later interfaced to the CAN network with CAN
controller modules. All modules are connected with a twisted pair of cables for data transmission with CAN.
Keywords: Controller Area Network, Auxiliary load, Motor driver, Battery monitoring system
Nomenclature Electric Vehicle.
EV
CAN Controller Area
Network.
MCU Micro Controller
Unit.
HMI Human Machine
Interface.
BMS Battery
Monitoring
System.
OCV Open Circuit
Voltage.
CCM Coulombs
Counting
Method.
1. Introduction
The growing use of electrical technology in automobiles has created a significant problem for the
business. More cables are required to communicate and power around a vehicle as the number of
electronics increases. The answer shortly emerged, to manage all data transfer with the minimum
___________________
*
Corresponding author
Email address: saseabhishek@gmail.com (Abhishek Sase)
ISSN 0976 – 6693. ©2022 SCMR All rights reserved.
Abhishek Sase et al. / International Journal of Engineering Sciences 2022 15(2) 81-88
number of cables, the serial communication system can be implemented in automobiles by replicating
computer systems. One or more main controllers monitor and control these networks, which typically
consist of several autonomous nodes controlling specific tasks surrounding the vehicle [8]. This would
eliminate point-to-point cables and replace them with a single connection that would allow data to be
transferred throughout the vehicle.
CAN is now the most widely used and matured of all available automobile communication
systems. Its capacity to send brief communication at a topmost rate of 1Mbps has earned it a reputation
for its simplicity, robustness, and high level of reliability [7]. A Controller Area Network based system
is developed and implemented to control and merge certain 12V dc loads. As stated previously, this
would swap point-to-point cables with a singlecord linking various individual modules and operated by
a single main module. It will reduce the amount of cables in the car, allow data to be communicated
across various modules, and facilitate the development and integration of additional modules for a better
and more reliable automobile [8].
In this paper, a control system based on CAN with four modules is developed. For data transmission
following are the modules developed Auxiliary Lighting Module, Human-machine interface Module,
Battery monitoring system Module and Motor controller Module. A fully functional tabletop prototype
of a CAN-based system featuring one of each module has been created for test purposes.
2. Controller Area Network
CAN is a well-thought-out network architecture that allows for the reliable transmission and reception of
brief real-time communication. It’s developed to link multiple controllers. and it can communicate at a
rate till 1Mbps, with robust fault recognition and treatment algorithms.
The highest communication speed of 1Mbps can be obtained with a cable span till 40 metresutilising a
twisted cable. Figure 1 depicts the relationship between communication speed and cable span for CAN.
Figure 1: Data Transfer Rate vs. Bus length [8]
3. Proposed CAN control system
The Controller Area Network based system is developed for the EV to operate the specified 12Vdc
loads. CAN modules should be built precisely to meet the requirements of the numerous loads in the
EV, whereas the programmed software which satisfies the CAN standards operates each load. The
system has been developed to work at a speed of 125kbps.
Figure 2 shows the proposed system, in block level representation. It contains the individual
module information and the details about the electronic components used in the module construction.
Table 1 gives details regarding message input and output from respective modules.
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4. CAN control system layout
The equipment should be able to activate and deactivate loads as needed and give strong and precise
control over the Motor and Battery monitoring system to construct a reliable network in the control
system. Figure 3 shows the general working flow of all the controller modules.
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Abhishek Sase et al. / International Journal of Engineering Sciences 2022 15(2) 81-88
4.1. Human Machine Interface module
The Human machine interface (HMI) module's function is for the reading, processing and transmission
of human signals via the CAN bus. Input data is received through the CAN bus via the light module and
the motor controller module. The connected loads are adjusted in a number of ways as per the
programmed code. The HMI module can read digital inputs for simple on/off actions as well as analog
inputs for devices that have changing speeds, such as motors. Figure 4 depicts the complete block
schematic of the HMI controller. The linkage between the different elements of the HMI controller can
be observed in it. The finished HMI module is shown in Figure 5 and Figure 6.
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Abhishek Sase et al. / International Journal of Engineering Sciences 2022 15(2) 81-88
4.2. Lighting system module
The Lighting system module is in charge of the front outside lighting. The lighting system module has
CAN bus network connectivity, which allows modules to communicate with each other using only a
single twisted pair connection. The ability to create smart features based on any of the various sensor or
manual inputs in the system is also facilitated by network communication between modules. Digital load
control using programmable microcontrollers allows for much simpler wiring with only one circuit
connected to each load. Additional functionality can be simply added by changing the software code
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without changing the circuitry. Figure 7 depicts the complete block schematic of the Lighting system
module. Figure 8 shows a photograph of the completed CAN lighting system module.
4.3. Motor driver module
The Motor Driver module's job is to read rotary potentiometer data from the HMI module through the
CAN bus network, where it is then used to drive the wheel's motor. This module was made separately
from any other functions so that when coupled with motor drivers using CAN input for speed data, the
module could be hooked either directly to the motor driver or through an existing CAN network. Due to
the design and ability to upload different program codes, this module is capable of working with the
existing accelerator pedal or standard drive-by-wire pedals in the event of an upgrade.
Figure 9 shows the block diagram of the development of the Motor driver module. Figure 10
shows a photograph of the completed motor controller module. HMI module consist of rotary
potentiometer which is used as input to the motor driver for pulse width modulation
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4.4. Battery Monitoring System module
The function of Battery monitoring system (BMS) module is to monitor the health of battery in terms of
battery voltage and battery state of charge (SOC). We have used a combined strategy of Open Circuit
Voltage (OCV) and Coulomb counting method. The OCV method uses the voltage of a battery cell as an
indicator of a current battery SOC. Coulomb counting method (also called a Current integration method)
is a simple process of summing of capacity taken out from the battery. The detailed block diagram of the
Battery monitoring module construction is shown in Figure 11. Figure 12 shows a photograph of the
completed Battery monitoring module. This module consists of Arduino UNO MCU, MCP 2515
module, 25V Voltage Sensor, 30A ACS 712 current sensor and Relay.
5. Working Four-node control system
Figure 13 and figure 14 shows working four-node CAN based control system with four individual
modules
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6. Conclusion
This paper details the design and construction of a control system using CAN communication system.
One node of each kind was placed in a small experimental setup to display and illustrate entire system
operation. Because the system is built to use a variety of nodes, it can be readily extended to function in
a variety of automotive systems. Nodes can be introduced and removed from the system in any order,
enabling the control system to be adapted as per each automobile. The flexibility to readily modify
system functionality by merely reconfiguring individual nodes is additional advantage of this CAN-
based system. Every linked node has access to data that is delivered through the CAN network, since
CAN is a message-based communication system.
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