Controller Area Network (CAN) standards cover the CAN bus, designed and implemented to allow different components within a vehicle to communicate with each other without needing a host computer. As a textbook example of interoperability, standardization is critical to the functioning of the system as a whole, especially with the consideration that not all the cooperating parts will be made by the same manufacturer. Specified in ISO 11898, this series of standards has been implemented worldwide and the concepts within extend beyond their original design for automotive applications into other industrial fields.
ISO 11898 - Road Vehicles Controller Area Network (CAN) Package addresses the data link layer, signaling, high speed access unit, time triggered communication and low speed, fault tolerant, medium dependent interface of the control area network within road vehicles. ISO 11898 - Road Vehicles Controller Area Network (CAN) Package includes: ISO 11898-1:2024 ISO 11898-2:2026 ISO 11898-3:2006 ISO 11898-3/Cor1:2006 ISO 11898-4:2004 ISO 11898-5:2007 (Historical Document) ISO 11898-6:2013 (Historical Document)
This document specifies the controller area network (CAN) data link layer (DLL) and the physical coding sub-layer (PCS). The CAN DLL features data fields of up to 2048 byte when the CAN extended data field length (XL) frame format is used. This document divides the CAN DLL into the logical link control (LLC) and the medium access control (MAC) sub-layers. The DLL’s service data unit (SDU), which interfaces the LLC and the MAC, is implemented by means of the LLC frame. The LLC frame also features the service data unit type (SDT) and the virtual CAN channel identifier (VCID), which provide higher-layer protocol configuration and identification information. How the higher-layer functions are handled is not specified in this document. There are five implementation options: 1) support of the CAN classic frame format only, not tolerating the CAN flexible data rate (FD) frame format; 2) support of the CAN classic frame format and tolerating the CAN FD frame format; 3) support of the CAN classic frame format and the CAN FD frame format; 4) support of the CAN classic frame format, the CAN FD frame format and the CAN XL frame format; 5) support of the CAN FD frame format for CAN FD light responders (Annex A). NOTE Nodes of the first option can communicate with nodes of the third and fourth option when only the CAN classic frame format is used. Nodes of the first option cannot communicate with nodes of the fifth option: any attempt at communication generates error frames. Therefore, new designs implementing the fourth option can communicate with all other nodes.
This document specifies physical medium attachment (PMA) sublayers for the controller area network (CAN). This includes the high-speed (HS) PMA without and with low-power mode capability, without and with selective wake-up functionality. Additionally, this document specifies PMAs supporting the signal improvement capability (SIC) mode and the FAST mode in Annex A. The physical medium dependent (PMD) sublayer is not in the scope of this document.
ISO 11898-3:2006 specifies characteristics of setting up an interchange of digital information between electronic control units of road vehicles equipped with the controller area network (CAN) at transmission rates above 40 kBit/s up to 125 kBit/s. The CAN is a serial communication protocol which supports distributed control and multiplexing.
ISO 11898-4:2004 specifies time-triggered communication in the controller area network (CAN): a serial communication protocol that supports distributed real-time control and multiplexing for use within road vehicles. It is applicable to setting up a time-triggered interchange of digital information between electronic control units (ECU) of road vehicles equipped with CAN, and specifies the frame synchronisation entity that coordinates the operation of both logical link and media access controls in accordance with ISO 11898-1, to provide the time-triggered communication schedule.
ISO 11898-6:2013 specifies the controller area network (CAN) physical layer for transmission rates up to 1 Mbit/s. It describes the medium access unit (MAU) functions. ISO 11898-6:2013 represents an extension of ISO 11898 2 and ISO 11898 5, specifying a selective wake-up mechanism using configurable CAN frames. Physical layer implementations according to ISO 11898-6:2013 are compliant with all parameters of ISO 11898 2 and ISO 11898 5. Implementations according to ISO 11898-6:2013, ISO 11898 2 and ISO 11898 5 are interoperable and can be used at the same time within one network.
This document specifies common session layer services and requirements to provide independence between unified diagnostic services (ISO 14229-1) and all transport protocols and network layer services (e.g. ISO 13400-2 DoIP, ISO 15765-2 DoCAN, ISO 10681-2 communication on FlexRay, ISO 14230-2 DoK-Line, and ISO 20794-3 CXPI). This document specifies a common service primitive interface between OSI layer 5 (session) and layer 4 (transport) via so-called service request/indication/confirmation primitives.
This document specifies an application profile for the implementation of unified diagnostic services (UDS) on controller area network (CAN) in road vehicles. UDSonCAN references ISO 14229-1 and ISO 14229-2 and specifies implementation requirements of the diagnostic services to be used for diagnostic communication on CAN. This document specifies — additional requirements specific to the implementation of UDS on the CAN network, and; — specific restrictions in the implementation of UDS on the CAN network.
ISO 15765-1:2011 gives an overview of the structure and the partitioning of ISO 15765, and shows the relationships between the different parts. It also defines the diagnostic network architecture. The terminology defined in this part is common for all diagnostic networks and is used throughout all parts of ISO 15765. The diagnostic communication over controller area network (DoCAN) protocol supports the standardized service primitive interface as specified in ISO 14229 2.
This document specifies a transport and network layer protocol with transport and network layer services tailored to meet the requirements of CAN-based vehicle network systems on controller area networks as specified in ISO 11898-1. The diagnostic communication over controller area network (DoCAN) protocol supports the standardized abstract service primitive interface as specified in ISO 14229-2 (UDS). This document supports different application layer protocols such as: — enhanced vehicle diagnostics (emissions-related system diagnostics beyond legislated functionality, non-emissions-related system diagnostics); — emissions-related on-board diagnostics (OBD) as specified in the ISO 15031 series and SAE J1979 series; — world-wide harmonized on-board diagnostics (WWH-OBD) as specified in the ISO 27145 series; and — end of life activation of on-board pyrotechnic devices (the ISO 26021 series). The transport protocol specifies an unconfirmed communication. NOTE This document does not determine whether CAN CC, CAN FD or both are recommended or required to be implemented by other standards referencing this document.
This document specifies requirements for CAN-based communication systems between the in-vehicle network and the diagnostic link connector of the vehicle. This document does not specify any requirements related to the in-vehicle CAN network architecture. This document specifies the requirements to enable the in-vehicle CAN-based communication systems to establish, maintain, and terminate communication with the devices connected to the diagnostic link connector.
This document specifies the CAN-based data communication between the display unit and other devices connected to an SAE J1939-based in-vehicle network. The provided requirements and recommendations cover physical, data link, network, and application layers according to the OSI reference model. Additionally, it specifies the parameter groups, which are supported.
ISO 16844-5:2004 specifies the secured interchange of digital information between a road vehicle's tachograph system and vehicle units, and within the tachograph system itself. This type of interchange will be used for CAN communication or diagnostic services on CAN (controller area network), where there is need to protect interchanged parameters against fraud.
ISO 26021-4:2009 defines the requirements of redundancy hardware or software systems independent from the controller area network (CAN) line, which are activated by the additional communication line (ACL hardware line). It describes the additional sequences of the deployment process, and the technical details for the direct hardware connection between the pyrotechnic device deployment tool (PDT) and the pyrotechnic control unit (PCU).
ISO 27145-3:2012 defines the implementation of a subset of unified diagnostic services (UDS) specified in ISO 14229-1. The diagnostic services are used to communicate the diagnostic data defined in ISO 27145-2. The subset of unified diagnostic services derives from the requirements stated in the World-Wide Harmonized On-Board Diagnostic Global Technical Regulations (WWH-OBD GTR). The common message set defined in ISO 27145-3:2012 is independent of the underlying transport, network, data link and physical layer. ISO 27145-3:2012 does not specify any requirements for the in-vehicle network architecture. ISO 27145-3:2012 is compatible with ISO 14229-1 and includes provisions to support the data set of SAE J1979-DA and SAE J2012-DA WWH-OBD. ISO 27145-3:2012 is intended for use with ISO 27145-4, which is the entry point for the protocol initialization and is based on two different data links: · Diagnostic communication over Controller Area Network (DoCAN), ISO 15765 1, ISO 15765 2, ISO 15765 4; · Diagnostic communication over Internet Protocol (DoIP), ISO 13400 (all parts). ISO 27145-3:2012 includes capabilities required to satisfy OBD regulations for multiple regions, vehicle types, model years, and engine types. Those regulations are not yet final for some regions and are expected to change in the future. ISO 27145-3:2012 does not attempt to interpret the regulations and does not include applicability of the included diagnostic services and data parameters for various vehicle applications. It is intended that users of ISO 27145-3:2012 verify the applicability of each of its clauses for a specific vehicle, engine, model year and region.
ISO 27145-4:2016 defines the requirements to successfully establish, maintain and terminate communication with a vehicle that implements the requirements of the WWH-OBD GTR (Global technical regulation No. 5; see Reference [16]). This requires plug and play communication capabilities for the vehicle, as well as for any test equipment that intends to establish communication with a vehicle. This part of ISO 27145 details all the OSI layer requirements to achieve this goal. ISO 27145-4:2016 is intended to become the single communication standard for access to information relating to vehicle on-board diagnostics (VOBD). To allow for a smooth migration from the existing communication standards to this future world-wide standardized communication standard, the communication concept as specified in this part of ISO 27145 is based on two different data links: - diagnostic communication over Controller Area Network (DoCAN), ISO 15765 4; - diagnostic communication over Internet Protocol (DoIP), ISO 13400 (all parts). NOTE It is intended that this part of ISO 27145 will be extended as necessary upon introduction of additional communication media. IMPORTANT ? Use cases deriving from country-specific implementation of GTR No. 5 into local legislation are not included in this part of ISO 27145.
ISO 11898-5:2007 specifies the CAN physical layer for transmission rates up to 1 Mbit/s for use within road vehicles. It describes the medium access unit functions as well as some medium dependent interface features according to ISO 8802-2. ISO 11898-5:2007 represents an extension of ISO 11898-2, dealing with new functionality for systems requiring low-power consumption features while there is no active bus communication. Physical layer implementations according to ISO 11898-5:2007 are compliant with all parameters of ISO 11898 2, but are defined differently within ISO 11898-5:2007. Implementations according to ISO 11898-5:2007 and ISO 11898-2 are interoperable and can be used at the same time within one network.
ISO 16845-1:2016 specifies the conformance test plan for the CAN data link layer and the physical signalling as standardized in ISO 11898 1. This includes the Classical CAN protocols as well as the CAN FD protocols.