Vehicle CAN Communication

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.10.0
[*] DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
[*] Linux
QNX
other

Hardware Platform
[*] DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
[*] other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
[*] native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

We are currently working with Nvidia Drive AGX Orin, along with the Vehicle Accessory Kit. I have a DrivBy Wire system integrated into my vehicle. The DBW System itself has a list of DBC files, like the Drive AGX unit. I am looking to control the Vehicle(along with the DBW system fitted in it) through the Drive unit.

I believe this would require CAN Signal mapping. Is there a way to do this CAN Signal mapping in the Drive Unit itself? If so, how do we do it?

Thanks in advance,

Chintan L. Patel

2

In addition, We are NOT using Dataspeed drive-by-wire (DbW) system. We are utilizing Level-five supplies Sygnal Drive-by-wire Kit.

4

Dear @chintan.patel2,
Do you want to use this DbW system with DW ?

5

Hello @SivaRamaKrishnaNV ,

Yes, I want to utilize Sygnal Drive-by -Wire kit with the Nvidia DriveWorks.

Thank You

6

Dear @chintan.patel2,
Could you elaborate on what kind of CAN signal mapping are you referring here?

7

Dear @SivaRamaKrishnaNV ,

Yes sure,

The Sygnal Drive by Wire system has a set of DBC files of it own, like that of the Nvidia AGX Orin. For Example, if we take into consideration the CAN frame for Throttle Command in both the Drive-by-Wire kit and that of Drive AGX.

Drive-by-Wire kit
‘‘BO_ 2147483794 OSCC_THROTTLE_COMMAND: 8 UserApplication
SG_ throttle_command : 16|32@1- (1,0) [0|1] “” SygnalMCM
SG_ magic2 : 8|8@1+ (1,0) [204|204] “” SygnalMCM
SG_ magic1 : 0|8@1+ (1,0) [5|5] “” SygnalMCM’’

Nvidia Drive AGX Orin
‘‘BO_ 10 Throttle_Cmd: 5 Vector__XXX
SG_ ThrottlePedalCmd : 8|15@1+ (0.01,0) [0|0] “Per” Vector__XXX
SG_ ThrottleClearFaultCmd : 4|1@1+ (1,0) [0|0] “” Vector__XXX
SG_ ThrottlePedalCmdValid : 3|1@1+ (1,0) [0|0] “” Vector__XXX’’

So, as we can see the name which is obvious is different, but also the size, start bit in the CAN signal is different. So I believe i will have to map the signals to each other, as in when i call a Throttle command(in terms of function), the command for throttle will be called on my drive by wire system. Am I right in saying this?

Thank you,

Chintan

8

Hello @SivaRamaKrishnaNV ,

Any updates for me regarding the ongoing query?

Thank you,

Chintan.

9

Hello @SivaRamaKrishnaNV,

Any updates for me regarding the ongoing query?

Thank you,

Chintan.

10

could you try using your DBC with DriveWorks SDK Reference: CAN Message Interpreter Sample ?

11

Hello @SivaRamaKrishnaNV ,

I have .dbc files of my SYGNAL Drive by Wire kit, would that be interpreted by the can message Interpreter?

Also, shall I send you a private message along with the dbc file?

Kind regards,

Chintan L.