Controller area network (CAN) buses, the most common intravehicle network (IVN)
standard, have been used for over 30 years despite their simple architecture for
connecting electronic control units (ECUs). Weight, maintenance costs, mobility
promotion, and wired connection complexity increase with ECU count, especially
for autonomous vehicles. This paper aims to enhance wired CAN with wireless
features for autonomous vehicles (AVs). The proposed solutions include modifying
the traditional ECU architecture to become wireless, implementing a hidden
communication environment using a unique complementary code keying (CCK)
modulation equation and presenting a strategy for dealing with jamming signals
using two channels. The proposed wireless CAN (WCAN) is validated using OPNET
analysis for performance and reliability. The results show that the bit error
rate (BER) and packet loss of the receiver ECU are stable between different CCK
modifications, indicating the robustness of the basic features of CCK
modification. However, intercepting and decoding the signal by the eavesdropping
ECU is challenging, with packet loss ranging from 63% to 100% across different
CCK states. Anti-jamming results show that when packet loss reaches 2%, the
passive channel is automatically activated, ensuring secure data transmission.
The IEEE 802.11b network accommodated internal and external ECUs and maintained
delay deadline requirements, but the LiDAR ECU requires high bandwidth to
accommodate 13,500 point cloud data every 200 ms. The IEEE 802.11a standard was
chosen, but it did not meet deadline requirements for delay, leading to the
implementation of 100BaseT Fast Ethernet with a data rate of 100 Mbps and
throughput of 500,000 bytes per second.