CN110647135A - Detection method for CAN node heartbeat of hybrid electric vehicle - Google Patents
Detection method for CAN node heartbeat of hybrid electric vehicle Download PDFInfo
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- CN110647135A CN110647135A CN201910913441.3A CN201910913441A CN110647135A CN 110647135 A CN110647135 A CN 110647135A CN 201910913441 A CN201910913441 A CN 201910913441A CN 110647135 A CN110647135 A CN 110647135A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The invention relates to the technical field of automobile signal detection, in particular to a method for detecting CAN node heartbeat of a hybrid electric vehicle, which comprises the following steps: s1, the CAN node sends a message enabling signal CoHvBox _ stRun and a heartbeat value HeartNum according to the period T; s2, powering on a VCU of the vehicle controller; s3, initializing a counting value nCount of a CAN message online detection counter, and setting heartbeat detection time t; s4, calculating the remaining heartbeat detection time T' in each period T of the VCU of the vehicle controller; s5, judging the remaining time of heartbeat detection; s6, judging the state of the CAN message; s9, resetting the count value nCount of the CAN message on-line detection counter; s10, in each period T of the VCU, if the count value nOffCount of the off-line counter is larger than the off-line threshold value, the CAN message is judged to be off-line, and if the count value nOnCount of the on-line counter is larger than the on-line threshold value, the CAN message is judged to be on-line. The invention CAN improve the accuracy of CAN node detection, prevent the occurrence of CAN node detection misjudgment and ensure the stable control of the VCU of the automobile on the automobile.
Description
Technical Field
The invention relates to the technical field of automobile signal detection, in particular to a method for detecting CAN node heartbeat of a hybrid electric vehicle.
Background
With the development of the automobile industry, more and more automobiles enter production lives. In order to reduce the fuel consumption and ensure that the automobile has stable power output, the hybrid electric vehicle becomes the mainstream of the current clean energy automobile. The hybrid electric Vehicle has the characteristics of long endurance and high fuel-saving rate, but in the field of commercial vehicles, because the working environment is harsh and the whole Vehicle is electrified, the number of nodes of a CAN (Controller Area Network) Network of the whole Vehicle is increased continuously, the interference among the nodes is relatively obvious, and when the CAN nodes are closed due to the interference or bus error, a VCU (Vehicle control unit) cannot control the CAN nodes.
Hybrid vehicle is because of having high-voltage consumer, and according to the operating mode difference, the motor probably is in the electricity generation mode, if battery controller off-line this moment does not detect CAN node signal simultaneously, then will probably cause the back electromotive force too high, influences whole car part and personnel safety.
Therefore, a method for detecting the heartbeat of the CAN node of the hybrid electric vehicle is needed to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a method for detecting the CAN node heartbeat of a hybrid electric vehicle, which CAN improve the accuracy of CAN node detection, prevent the detection misjudgment of the CAN node and ensure that a VCU of the vehicle stably controls the vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
a detection method for CAN node heartbeat of a hybrid electric vehicle comprises the following steps:
s1, the CAN node sends a message enabling signal CoHvBox _ stRun and a heartbeat value HeartNum according to the period T, and the heartbeat value HeartNum automatically adds 1 per period;
s2, when the message enabling signal CoHvBox _ stRun is 0 at the initial power-on stage of the VCU of the vehicle control unit, initializing the CAN node to be in an off-line state, and when the message enabling signal CoHvBox _ stRun is detected to be 1 for the first time after the VCU of the vehicle control unit is powered on, setting the CAN node to be in an on-line state;
s3, when detecting a rising edge signal of the message enable signal CoHvBox _ stRun being 1, initializing a count value nCount of a CAN message online detection counter to be a currently received heartbeat value HeartNum', setting a heartbeat detection time T to be T0, and setting T0 to be a detection online time window length;
s4, calculating the heartbeat detection residual time T' ═ T-T in each period T of the VCU of the vehicle controller, and automatically adding 1 to the counting value nCount of the CAN message online detection counter in each period T;
s5, judging whether the residual time t 'of the heartbeat detection is larger than 0, if t' is larger than 0, continuing to execute the step S4 and the step S5, otherwise, executing the step S6;
s6, judging the difference between the counting value nCount of the CAN message on-line detection counter and the currently received heartbeat value HeartNum', and determining the state of the CAN message;
s7, if the current CAN message state is on-line and the step S6 judges that the CAN message is off-line, adding 1 to the count value nOffCount of the off-line counter;
s8, if the current CAN message state is off-line and the step S6 judges that the CAN message is on-line, adding 1 to the count value nOnCount of the on-line counter;
s9, resetting the counting value nCount of the CAN message on-line detection counter to be the currently received heartbeat value HeartNum', and simultaneously resetting the heartbeat detection time T to be T0;
and S10, in each period T of the VCU, if the count value nOffCount of the offline counter is greater than the offline threshold, determining that the CAN message is offline, and if the count value nOnCount of the online counter is greater than the online threshold, determining that the CAN message is online.
Optionally, in step S6, if the difference is greater than the offline threshold, it is determined that the CAN message is offline for 1 time, otherwise, it is determined that the CAN message is online for 1 time.
Optionally, in step S1, after the heartbeat value HeartNum reaches the maximum value MessageMax, the heartbeat value HeartNum is counted again from 0.
Optionally, the maximum MessageMax can be calibrated.
Optionally, in the step S4, if the count value nCount of the CAN packet online detection counter exceeds the maximum detection counter count value, the count value nCount of the CAN packet online detection counter is reset to 0, and meanwhile, the heartbeat detection time T is reset to T0.
Optionally, the maximum detection counter count value is equal to the maximum value MessageMax in the step S1.
Optionally, the maximum detection counter count value can be calibrated.
Alternatively, the heartbeat detection time t in the step S3 can be calibrated.
Optionally, in step S10, both the offline threshold and the online threshold may be calibrated.
The invention has the beneficial effects that:
according to the detection method for the CAN node heartbeat of the hybrid electric vehicle, the state of the CAN message is judged through the difference between the counting value nCount of the CAN message online detection counter and the currently received heartbeat value HeartNum ', the counting value nOffCount of the offline counter or the counting value nOnCount of the online counter is adjusted according to the current CAN message state, misjudgment is avoided when the state of the CAN message is judged simply according to the difference between the counting value nCount of the CAN message online detection counter and the currently received heartbeat value HeartNum', and the accuracy of the judgment is ensured; by setting an offline threshold, when bus interference exists, the offline detection state is judged in a delayed mode, the phenomenon that power is repeatedly interrupted due to the fact that the CAN node is repeatedly judged to be offline when the bus interference is weak is prevented, and the comfort of a vehicle and the fuel economy are favorably guaranteed; through setting an online detection threshold, after the interference disappears, the online state is judged in a delayed mode, and the situation that when the bus interference is serious, the CAN node is repeatedly restored to be online, the unstable operation of a vehicle is caused, and the safety of personnel is influenced is prevented.
Drawings
FIG. 1 is a flow chart of a method for detecting the CAN node heartbeat of a hybrid electric vehicle according to the invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings and the embodiment. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In order to improve the accuracy of the detection of the CAN node, prevent the detection of the CAN node from being misjudged and ensure the VCU of the automobile to stably control the automobile, as shown in fig. 1, the invention provides a method for detecting the heartbeat of the CAN node of the hybrid electric vehicle, which comprises the following steps:
s1, the CAN node sends a message enabling signal CoHvBox _ stRun and a heartbeat value HeartNum according to the period T, and the heartbeat value HeartNum automatically adds 1 per period;
s2, when a message enabling signal CoHvBox _ stRun is 0 at the initial power-on stage of the VCU of the vehicle controller, initializing the CAN node to be in an off-line state, and when detecting that the message enabling signal CoHvBox _ stRun is 1 for the first time after the VCU of the vehicle controller is powered on, setting the CAN node to be in an on-line state;
s3, when a rising edge signal that a message enable signal CoHvBox _ stRun is 1 is detected, initializing a counting value nCount of a CAN message online detection counter to be a currently received heartbeat value HeartNum', setting heartbeat detection time T to be T0, setting T0 to be the length of a detection online time window, and calibrating the heartbeat detection time T according to actual needs;
s4, the VCU calculates the heartbeat detection residual time T' ═ T-T in each period T, and the counting value nCount of the CAN message on-line detection counter automatically adds 1 in each period T;
s5, judging whether the residual time t 'of heartbeat detection is larger than 0, if t' is larger than 0, continuing to execute the step S4 and the step S5, otherwise, executing the step S6;
s6, judging the difference between the counting value nCount of the CAN message on-line detection counter and the currently received heartbeat value HeartNum', and determining the state of the CAN message; in this embodiment, if the difference is greater than the offline threshold, it is determined that the CAN message is offline for 1 time, otherwise, it is determined that the CAN message is online for 1 time;
s7, if the current CAN message state is on-line and the step S6 judges that the CAN message is off-line, adding 1 to the count value nOffCount of the off-line counter;
s8, if the current CAN message state is off-line and the step S6 judges that the CAN message is on-line, adding 1 to the count value nOnCount of the on-line counter;
s9, resetting the count value nCount of the CAN message on-line detection counter to be the currently received heartbeat value HeartNum', and simultaneously resetting the heartbeat detection time T to be T0;
s10, in each period T of the VCU, if the count value nOffCount of the off-line counter is larger than the off-line threshold value, the CAN message is judged to be off-line, and if the count value nOnCount of the on-line counter is larger than the on-line threshold value, the CAN message is judged to be on-line.
Further, in this embodiment, after the heartbeat value HeartNum reaches the maximum value MessageMax, the counting is started again from 0, wherein the maximum value MessageMax can be calibrated. The heartbeat value HeartNum is reset and counted again after reaching the maximum MessageMax, so that the counting accuracy is ensured, the data management is facilitated, and the disorder of the data counting is avoided.
Further, in step S4, if the count value nCount of the CAN packet on-line detection counter exceeds the maximum detection counter count value, the count value nCount of the CAN packet on-line detection counter is reset to 0, and the heartbeat detection time T is reset to T0. The counting process of the counting value nCount of the CAN message on-line detection counter CAN be carried out smoothly, and the heartbeat detection time t is reset at the same time, so that omission of the counting value nCount of the CAN message on-line detection counter is prevented.
Further, the maximum detection counter count value can also be calibrated according to actual needs, and the maximum detection counter count value is equal to the maximum value MessageMax in step S1.
Further, in step S10, both the offline threshold and the online threshold CAN be calibrated according to the actual vehicle condition, so as to ensure that the offline threshold and the online threshold CAN satisfy the redundancy check capability of the CAN node.
The method judges the state of the CAN message through the difference between the counting value nCount of the CAN message online detection counter and the currently received heartbeat value HeartNum ', adjusts the counting value nOffCount of the off-line counter or the counting value nOnCount of the online counter according to the state of the CAN message and the current state of the CAN message, avoids the phenomenon of misjudgment caused by the fact that the state of the CAN message is judged only according to the difference between the counting value nCount of the CAN message online detection counter and the currently received heartbeat value HeartNum', and ensures the accuracy of the judgment.
By setting an offline threshold, when bus interference exists, the offline detection state is judged in a delayed mode, the phenomenon that power is repeatedly interrupted due to the fact that the CAN node is repeatedly judged to be offline when the bus interference is weak is prevented, and the comfort of a vehicle and the fuel economy are favorably guaranteed; through setting an online detection threshold, after the interference disappears, the online state is judged in a delayed mode, and the situation that when the bus interference is serious, the CAN node is repeatedly restored to be online, the unstable operation of a vehicle is caused, and the safety of personnel is influenced is prevented.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A detection method for the CAN node heartbeat of a hybrid electric vehicle is characterized by comprising the following steps:
s1, the CAN node sends a message enabling signal CoHvBox _ stRun and a heartbeat value HeartNum according to the period T, and the heartbeat value HeartNum automatically adds 1 per period;
s2, when the message enabling signal CoHvBox _ stRun is 0 at the initial power-on stage of the VCU of the vehicle control unit, initializing the CAN node to be in an off-line state, and when the message enabling signal CoHvBox _ stRun is detected to be 1 for the first time after the VCU of the vehicle control unit is powered on, setting the CAN node to be in an on-line state;
s3, when detecting a rising edge signal of the message enable signal CoHvBox _ stRun being 1, initializing a count value nCount of a CAN message online detection counter to be a currently received heartbeat value HeartNum', setting a heartbeat detection time T to be T0, and setting T0 to be a detection online time window length;
s4, calculating the heartbeat detection residual time T' ═ T-T in each period T of the VCU of the vehicle controller, and automatically adding 1 to the counting value nCount of the CAN message online detection counter in each period T;
s5, judging whether the residual time t 'of the heartbeat detection is larger than 0, if t' is larger than 0, continuing to execute the step S4 and the step S5, otherwise, executing the step S6;
s6, judging the difference between the counting value nCount of the CAN message on-line detection counter and the currently received heartbeat value HeartNum', and determining the state of the CAN message;
s7, if the current CAN message state is on-line and the step S6 judges that the CAN message is off-line, adding 1 to the count value nOffCount of the off-line counter;
s8, if the current CAN message state is off-line and the step S6 judges that the CAN message is on-line, adding 1 to the count value nOnCount of the on-line counter;
s9, resetting the counting value nCount of the CAN message on-line detection counter to be the currently received heartbeat value HeartNum', and simultaneously resetting the heartbeat detection time T to be T0;
and S10, in each period T of the VCU, if the count value nOffCount of the offline counter is greater than the offline threshold, determining that the CAN message is offline, and if the count value nOnCount of the online counter is greater than the online threshold, determining that the CAN message is online.
2. The method according to claim 1, wherein in step S6, if the difference is greater than the offline threshold, it is determined that the CAN message is offline for 1 time, otherwise, it is determined that the CAN message is online for 1 time.
3. The method for detecting the CAN node heartbeat in the hybrid vehicle as claimed in claim 1, wherein in the step S1, the heartbeat value HeartNum is counted again from 0 after reaching the maximum MessageMax.
4. The method according to claim 3, wherein the maximum MessageMax is calibrated.
5. The method according to claim 4, wherein in step S4, if the count value nCount of the CAN message on-line detection counter exceeds the maximum detection counter count value, the count value nCount of the CAN message on-line detection counter is reset to 0, and meanwhile, the heartbeat detection time T is reset to T0.
6. The method according to claim 5, wherein the maximum detection counter count value is equal to the maximum MessageMax in the step S1.
7. The method according to claim 6, wherein the maximum detection counter count value is calibrated.
8. The method for detecting the CAN node heartbeat in the hybrid vehicle according to claim 1, wherein the heartbeat detection time t in the step S3 CAN be calibrated.
9. The method for detecting the CAN node heartbeat in the hybrid vehicle as claimed in claim 1, wherein in the step S10, the offline threshold and the online threshold CAN be calibrated.
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