Abstract: Controller Area Network (CAN) is a bus protocol for communicating between various subsystems for vehicles, the highest transmission rate can reach 1 Mbit/s. With the rapid development of autonomous driving, the CAN bus can no longer meet the requirements of the transmission bandwidth of the autonomous driving system. Time Sensitive Networking (TSN) not only has the advantages of high bandwidth and low latency of Ethernet, but also high real-time nature. So it has been applied automotive Ethernet to provide high bandwidth, low latency and high reliability network channels for the data transmission. Traditional TSN-CAN gateways based on application-layer software have some disadvantages such as software uncertainty and high delay. A TSN-CAN gateway on the data link layer by digital circuit is proposed, designed a CAN controller and TSN-CAN conversion circuit. The circuit is designed in the Verilog language, and the hardware is used to ensure the predictable delay between the conversion between the TSN and the CAN. This gateway can eliminate the uncertainty of software and has the advantage of low latency. And it supports the APB bus, which can be easily integrated into the SoC chip to meet the needs of the car chip. It also was verified by Xilinx FPGA.