diff --git a/src/mc/src/can_driver.cpp b/src/mc/src/can_driver.cpp
index d6d4ffb..219ed83 100644
--- a/src/mc/src/can_driver.cpp
+++ b/src/mc/src/can_driver.cpp
@@ -167,6 +167,13 @@ void CANDriver::receiveThreadFunc()
             frame.ext = rec[i].ExternFlag != 0;
             frame.rtr = rec[i].RemoteFlag != 0;
             frame.dlc = rec[i].DataLen;
+
+            if (frame.dlc > 8)
+            {
+                std::cerr << "Invalid CAN data length: " << (int)frame.dlc << std::endl;
+                frame.dlc = 8; // 或跳过此帧
+            }
+
             std::memcpy(frame.data, rec[i].Data, frame.dlc);
             callback(frame, userData);
         }
diff --git a/src/mc/src/mc.cpp b/src/mc/src/mc.cpp
index 2eb81ba..fd9c3bd 100644
--- a/src/mc/src/mc.cpp
+++ b/src/mc/src/mc.cpp
@@ -95,7 +95,9 @@ void receiveHandler(const CANFrame &frame, void *userData)
   auto msg = sweeperMsg::CanFrame();
   msg.id = frame.id;
   msg.dlc = frame.dlc;
-  msg.data.assign(frame.data, frame.data + frame.dlc);
+  size_t len = frame.dlc <= 8 ? frame.dlc : 8;
+  msg.data.assign(frame.data, frame.data + len);
+
   publisher->publish(msg);
 
   // 根据开关决定是否打印 CAN 消息