CN100580593C - Intelligent control device of electromotion rearview mirror of car - Google Patents
Intelligent control device of electromotion rearview mirror of car Download PDFInfo
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- CN100580593C CN100580593C CN200610164804A CN200610164804A CN100580593C CN 100580593 C CN100580593 C CN 100580593C CN 200610164804 A CN200610164804 A CN 200610164804A CN 200610164804 A CN200610164804 A CN 200610164804A CN 100580593 C CN100580593 C CN 100580593C
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Abstract
The invention relates to an intelligent control device of automobile electric rear-vision mirror that comprises master control module, left rear-vision mirror driving module, right rear-vision mirror driving module. The intelligent control device possesses CAN bus interface which can blend with current CAN bus system, and the interface protocol with CAN bus can be changed to increase the flexibility and versatility greatly. The electric rear-vision mirror intelligent control device can adjust the angle of rear-vision mirror len automatically based on the bus signals of turning left, turning right, recovery in rectilinear path, driven backward, stopping driven backward sent by CAN bus, and eliminate the visual blind area of driver. The electric rear-vision mirror intelligent control device uses LIN bus to accomplish the control of electric rear-vision mirror, it decrease the cost.
Description
Technical field
The present invention relates to a kind of automotive rear-view mirror control device, particularly the intelligence controlling device of driven rearview mirrors.
Background technology
Along with developing of automobile industry, automobile rearview mirror also updates.The purpose of rearview mirror is to reach the desired rear vision area of driver, but along with the improving constantly of people's quality of the life, the purpose that rearview mirror reached is not only so simple, considers its security, convenience, comfortableness, luxury more.Adopt multi-functional driven rearview mirrors in the present medium-to-high grade car mostly, driven rearview mirrors mainly is made up of 2 reversible motors, reduction gearing, worm gear, spiral pivot, fold mechanism etc., its function is also perfect in continuous development, many driven rearview mirrors have added steering gear, guiding trestle, parts such as reflective mirror and heating plate.Electromotion rearview mirror of car can be by the motor to horizontal direction and vertical direction both direction, the control rear view mirror lens carries out the adjusting of level and above-below direction angle, and the driven rearview mirrors that has also increases a motor in addition, its housing can be amounted to, promptly from pushing away towards preceding (car door direction) thereafter, that it is folding or close up.Employed driven rearview mirrors has only two motors among the present invention.
In the general vehicle, after the driver adjusts the rearview mirror angle according to the custom of oneself, just change no longer arbitrarily, but under some special environment, when big,, can cause bigger vision blind area such as the automobile turning angle to the driver if the rearview mirror angle remains unchanged.When reversing, in order to observe the situation on ground, the driver need reach head outside the car frequently, causes very big inconvenience like this, and is easy to generate danger in addition.Therefore design intelligentized rearview mirror, it is very practical to make rearview mirror adjust angle automatically according to special environment.
In many automobiles, realized the Based Intelligent Control of rearview mirror, what but its connected mode major part still adopted is that hardware connects, such as Chinese patent 01275346.7 " automobile rearview mirror automaton ", designed a kind of automotive rear-view mirror angle automaton, this device is made up of two groups of work motors, two groups of driving circuits, with the hardware line bearing circle driving lever is linked to each other with rearview mirror angle automaton, the realization rearview mirror is adjusted the function of angle automatically with the bearing circle deflector rod switch.The wiring that this hardware ways of connecting adopts is more, and dirigibility is relatively poor, safeguards more complicated.
Use bus system to replace the hardware line, can reduce wire harness on the one hand, on the other hand can be when increasing new node, feasible change to system hardware drops to minimum.At present, automobile vendor generally uses different bus systems according to different application demands, be connected with the most CAN (ControllerArea Network) of employing of brake system bus such as the kinematic train frequent to communicating by letter, that real-time is had relatively high expectations, communicate by letter application not too intensive, that the real-time requirement is lower such as vehicle window control motor then adopt LIN (Local Inter Network) bus.The LIN bus be one main (node) many maximum transmission rate has only 20kb/s from (node) mongline bidirectional low speed bus, the realization of its hardware is based on common serial communication interface, even available common I/O mouth simulation in child node, realizes that cost is lower.The LIN bus can be regarded as the expansion of existing C AN network, forms the Control Network of automobile with the CAN network.Because the motor of driven rearview mirrors is a slowspeed machine, less demanding to real-time, and left and right rearview mirror is arranged in the two ends, the left and right sides of car, and the position relatively disperses, relatively more responsive to network cost, therefore also can consider to realize with the LIN bus to the control of driven rearview mirrors.
The intellectuality that Chinese patent 01139891.4 " vehicle rear-view mirror control module " has proposed to utilize the CAN bus system to realize rearview mirror is controlled, indicator driving lever in this scheme, modules such as rearview mirror are connected in parallel to the CAN bus, when the indicator driving lever is stirred, send the corresponding digital decoded information on the CAN bus, the rearview mirror module is adjusted the angle of rearview mirror automatically according to this digital decoding information, reach the purpose of Based Intelligent Control, but this scheme is not made concrete hardware and software, and intelligent degree is limited, driver's vision blind area when not considering vehicle backing.
Summary of the invention
The objective of the invention is to overcome the limited shortcoming of the intelligent degree of prior art, propose a kind of CAN bus system that can be applicable to, higher, the lower-cost rearview mirror automaton of intelligent degree.
But the interface protocol online modification of the present invention and CAN bus has very big dirigibility and versatility.The intelligent degree of rearview mirror of the present invention is higher, can finish the automatic adjustment of left and right rear view mirror lens angle according to the different transport conditions of vehicle, reduce the vision blind area of automobile under special running environment, and inside of the present invention uses the LIN bus to finish to the control of rearview mirror.Because the LIN bus just can realize on cheap single-chip microcomputer, has effectively reduced cost.
The present invention identifies the current transport condition of vehicle according to the message frame on the CAN bus of receiving, in the inner LIN control command control rearview mirror motor action of using of the present invention, finishes the automatic adjustment function of rearview mirror angle.
The present invention mainly comprises the main control module, left-hand mirror driver module, right back visor driver module.
The main control module has CAN bus interface and LIN bus interface, comprises single-chip microcomputer, CAN transceiver and LIN transceiver.The CAN bus interface of main control module is the passage that the present invention communicates by letter with outside CAN bus system.Left-hand mirror driver module and right back visor driver module have only the LIN bus interface, comprise single-chip microcomputer, LIN transceiver and two motor drive ics.By single-chip microcomputer, to finish left-hand mirror by the left-hand mirror driver module, right back visor driver module is finished right back visor in the driving of level with vertical both direction motor.
Connection situation of the present invention is as follows: the main control module is drawn 2 and 3 ports of CAN bus interface CON1 respectively on the two signal line CAN_H and CAN_L that are connected to the CAN bus, and 1 port of LIN bus interface CON2 drawn is connected on the LIN bus; 1 port of left-hand mirror driver module and right back visor driver module general LIN bus interface CON3 is separately drawn and is connected on the LIN bus; The left-hand mirror driver module is drawn 1 and 2 ports of its motor interface CON4, is used to be connected to the horizontal direction motor of left-hand mirror; And 1 and 2 ports of its motor interface CON5 are drawn, be used to be connected to the vertical direction motor of left-hand mirror.Right back visor driver module is drawn 1 and 2 ports of its motor interface CON4, is used to be connected to the horizontal direction motor of right back visor; And 1 and 2 ports of its motor interface CON5 are drawn, be used to be connected to the vertical direction motor of right back visor.The main control module all has with CAN bus, LIN bus and is connected, and its receives the message frame on CAN bus, and by the LIN bus to left-hand mirror driver module and right back visor driver module transmitting control commands.Left-hand mirror driver module and right back visor driver module receive the control command that the main control module is sent on the LIN bus.In the time of need downloading the CAN bus inferface protocol to the main control module, by the CAN ticket converter upper PC is connected and the CAN bus, PC and main control module are carried out the CAN communication and are finished the agreement download.
Steering logic of the present invention is: the main control module interrupts receiving and the relevant CAN message frame of rearview mirror control by the CAN interface, and it is resolved, judge the state of current vehicle---turn left, turn right, recover to keep straight on, reversing or stop reversing, single-chip microcomputer sends the LIN control command that comprises two rearview mirror angular setting information in the main control module on the LIN bus by the LIN interface thereby trigger.In left-hand mirror driver module and the right back visor driver module, single-chip microcomputer interrupts receiving the LIN control command by the LIN interface, and extract rearview mirror angular setting information, send drive signal to level or vertical direction motor drive ic, the drive motor forward or reverse is finished the adjustment of rearview mirror angle.
In order to eliminate the vision blind area, when vehicle turns left, need control left-hand mirror eyeglass level to move certain angle outward, move certain angle in the right back visor eyeglass corresponding horizontal simultaneously.And vehicle needs move certain angle in the control left-hand mirror eyeglass level when turning right, and right back visor eyeglass corresponding horizontal is moved certain angle outward simultaneously.After vehicle recovered to keep straight on, the eyeglass angle was recovered the position before a left side or the right-hand bend.When vehicle backing, left and right rear view mirror lens all will vertically move down certain angle, makes the driver can see the situation of fully seeing ground.After reversing stopped, eyeglass returned to the angle before the reversing.The angle of the level of rear view mirror lens and vertical direction adjustment all is a fixed value.In addition, during the left and right turning of vehicle, have only when angle of turn reaches certain value, just can send corresponding CAN message frame on the CAN bus, when having avoided angle of turn very little like this, rear view mirror lens is adjusted the inconvenience that causes automatically.
Specify vehicle below and turn left, turn right, recover to keep straight on, move backward and when stopping to move backward, the course of work of intelligent control device of electromotion rearview mirror.
During left-hand bend, CAN1 (showing the CAN message frame that vehicle turns left) initiates a message on the CAN bus, single-chip microcomputer PIC18F258 interrupts receiving message CAN1 by the CAN interface in the main control module, and its data byte resolved, identify the present state of vehicle for turning left, single-chip microcomputer PIC18F258 is decomposed into the order LIN0 that control left-hand mirror eyeglass level is moved to the control information to rearview mirror outward then, and control the order LIN5 that moves in the right back visor eyeglass level, send on the LIN bus.A left side, the single-chip microcomputer PIC16F688 of right back visor driver module is after receiving the LIN control command, pin 3 is separately put 1, the motor drive ic of gating horizontal direction, single-chip microcomputer PIC16F688 is according to order LIN0 in this moment left-hand mirror driver module, controlling level direction motor just changes, make left-hand mirror eyeglass level move certain angle outward, and in the right back visor driver module single-chip microcomputer PIC16F688 according to the order LIN5, the counter-rotating of controlling level direction motor, make in the right back visor eyeglass level and move certain angle, finish the automatic adjustment of rear view mirror lens, eliminate the vision blind area at rear.
During right-hand bend, CAN2 (showing the CAN message frame that vehicle is turned right) initiates a message on the CAN bus, after single-chip microcomputer PIC18F258 interrupts receiving CAN2 in the main control module, on the LIN bus, send the order LIN1 that moves in the control left-hand mirror eyeglass level and control the order LIN4 that moves outside the right back visor level.A left side, the single-chip microcomputer PIC16F688 of right back visor driver module is after receiving the LIN control command, pin 3 is separately put 1, the motor drive ic of gating horizontal direction, single-chip microcomputer PIC16F688 is according to order LIN1 in the left-hand mirror driver module, the counter-rotating of controlling level direction motor, make in the left-hand mirror eyeglass level and move certain angle, and in the right back visor driver module single-chip microcomputer PIC16F688 according to the order LIN4, controlling level direction motor just changes, make right back visor eyeglass level move certain angle outward, finish the automatic adjustment of rear view mirror lens, eliminate the vision blind area at rear.
When recovering to keep straight on, the CAN3 that initiates a message on the CAN bus (showing that vehicle recovers the CAN message frame of craspedodrome), the single-chip microcomputer PIC18F258 in the main control module needs the rear view mirror lens angular setting to the preceding position of turning after interrupting receiving message CAN3.Adjust direction in order to determine rear view mirror lens, single-chip microcomputer PIC18F258 continues to judge the turning mark position, keep straight on if turn left to recover, then single-chip microcomputer PIC18F258 sends order LIN4 that the order LIN1 that moves in the control left-hand mirror eyeglass level and the right back visor eyeglass level of control move outward on the LIN bus, situation when the position before eyeglass being adjusted to turn left, left and right rearview mirror driver module receive the course of work after the LIN order with the vehicle right-hand bend is identical; If vehicle recovers to keep straight on for turning right, then single-chip microcomputer PIC18F258 sends order LIN5 that the order LIN0 that moves in the control left-hand mirror eyeglass level and the right back visor eyeglass level of control move outward on the LIN bus, situation was identical when the position before eyeglass being adjusted to turn right, left and right rearview mirror driver module received the course of work after the control command with the vehicle left-hand bend.
During reversing, CAN4 (showing the CAN message frame that vehicle is being moveed backward) initiates a message on the CAN bus, the single-chip microcomputer PIC18F258 of main control module interrupts receiving message CAN4, identify current vehicle and be in the reversing state, main control this moment module need be controlled all vertical certain angle that moves down of eyeglass of left-hand mirror and right back visor.Therefore main control module PIC18F258 sends the order LIN3 that control left-hand mirror eyeglass level moves down and controls order LIN7 that right back visor eyeglass level moves down on the LIN bus, single-chip microcomputer PIC16F688 is after receiving orders in the left and right rearview mirror module, pin 3 puts 0, gating vertical direction motor drive ic separately.The left-hand mirror driver module is according to order LIN3, and right back visor driver module is controlled the just commentaries on classics of rearview mirror vertical direction motor separately respectively according to order LIN7, makes left and right rear view mirror lens all vertically move down certain angle.
When stopping to move backward, CAN5 (showing the CAN message frame that vehicle stops to move backward) initiates a message on the CAN bus, single-chip microcomputer PIC18F258 is after interrupting receiving message CAN5 in the main control module, on the LIN bus, send the order LIN2 of control left-hand mirror eyeglass pan-up and the order LIN6 of the right back visor eyeglass of control pan-up, a left side, after right back visor module receives orders, pin 3 is put 0 (gating vertical direction motor drive ic) separately, and control separately the counter-rotating of rearview mirror vertical direction motor respectively, make a left side, the equal pan-up certain angle of right back visor eyeglass returns to the preceding position of reversing.
Main control module of the present invention has the CAN bus interface, is connected in during use in the CAN system, and the interface protocol of it and CAN bus can online modification.When occurring the CAN message frame relevant on the CAN bus with rearview mirror control, show needs adjustment rear view mirror lens angle, main control module afterwards sends the LIN control command to left and right rearview mirror driver module, and the automatic adjustment of rear view mirror lens angle is finished in the action of control rearview mirror motor.The LIN bus is used in internal control of the present invention, and left and right rearview mirror driver module is realized the driving of the driven rearview mirrors that contains two motors has been reduced system cost with single-chip microcomputer PIC16F688, and system works is reliable and stable, and software overhead is little.
The present invention has very high versatility and reliability, is in a kind of CAN of being applied to bus system, can adjust the rear view mirror lens angle automatically according to vehicle-state, reduces the intelligence controlling device of driver's vision blind area.
Description of drawings
Fig. 1 is an entire system structural drawing of the present invention, among the figure: 1 main control module, 2 left-hand mirror driver modules, 3 right back visor driver modules;
Fig. 2 is a main control modular circuit schematic diagram of the present invention;
Fig. 3 is the circuit theory diagrams of a left side of the present invention (right side) rearview mirror driver module main circuit;
Fig. 4 is the circuit theory diagrams of a left side of the present invention (right side) rearview mirror driver module motor overcurrent detecting unit;
Fig. 5 is a main control module main program flow chart of the present invention;
Fig. 6 is that main control module of the present invention interrupts receiving subroutine flow chart;
Fig. 7 is a left-hand mirror driver module interruption subroutine process flow diagram of the present invention;
Fig. 8 is the right back visor driver module of a present invention interruption subroutine process flow diagram.
Embodiment
One-piece construction figure of the present invention as shown in Figure 1.The present invention includes main control module 1, left-hand mirror driver module 2 and right back visor driver module 3.Module 4 is upper PCs, and it can revise the CAN interface protocol of storage in the main control module 1 by the CAN bus.Main control module 1 has CAN bus and LIN bus interface simultaneously, and left-hand mirror driver module 2 and right back visor driver module 3 have only the LIN bus interface.In inside of the present invention, main control module 1 is the host node on the LIN bus, and left-hand mirror driver module 2, right back visor driver module 3 are from node in the LIN bus.During system works, rearview mirror intelligence controlling device of the present invention is connected in the CAN network, that sends on the main control module 1 reception CAN bus controls relevant message frame with rearview mirror, through behind the protocol analysis, send the LIN control command of two motor action of control rearview mirror to left-hand mirror driver module 2 and right back visor driver module 3 by the LIN bus in inside.Left-hand mirror driver module 2 and right back visor driver module 3, are adjusted the angle of rear view mirror lens level or vertical both direction according to command adapted thereto in the back that receives orders.
Fig. 2 is the schematic block circuit diagram of main control module 1, and it is made up of four parts: the 5th, and single-chip microcomputer PIC18F258, the 6th, CAN bus unit---CAN transceiver TJA1050 is the interface of single-chip microcomputer PIC18F258 and CAN bus communication.The 7th, LIN bus unit---LIN transceiver TJA1020 is the interface of single-chip microcomputer PIC18F258 and LIN bus communication.The 8th, power supply.Being connected between them: 23 and 24 pins of single-chip microcomputer PIC18F258 are connected respectively to 1 and 4 pins of CAN transceiver TJA1050, and 17,18 and 25 pins of PIC18F258 are connected respectively to 4,1 and 2 pins of LIN transceiver TJA1020.In addition, 7 and 6 pins of TJA1050 are connected to 2 and 3 pins of CON1, so that be external on two signal line (CAN_H and CAN_L) of CAN bus; 6 pins of TJA1020 are connected to 1 pin of CON2, so that be external on the LIN bus.Power supply unit 8 adopts diode D2, inductance L 1, and voltage stabilizing chip LM2931T-5.0 realizes the filtering and the voltage stabilizing of power supply.The input end VBB of power supply unit 8 is connected to the pin 1 of CON1, is used for external power supply.
The hardware elementary diagram of left-hand mirror driver module 2 and right back visor driver module 3 is identical, is made up of Fig. 3 and Fig. 4.Wherein Fig. 3 is the major part of left-hand mirror driver module 2 (or right back visor driver module 3) hardware elementary diagram, and 8 is that power supply is identical in power supply and the main control module 1 among Fig. 3.The 9th, single-chip microcomputer PIC16F688,10 and 11 is motor drive ic BTS7710, and wherein 10 is the motor drive ic of rearview mirror horizontal direction, is used to control moving horizontally of rear view mirror lens, 11 is the motor drive ic of rearview mirror vertical direction, is used to control the vertical moving of rear view mirror lens.12 and 13 is 8D latch 74LS373, and they are used for selecting 10 or 11 two motor drive ics according to current needs control rearview mirror level or vertical moving.The 14th, LIN bus unit---LIN transceiver TJA1020.The 15th, phase inverter 74LS04.
Connection situation between the said units is as follows: 2 pins of single-chip microcomputer PIC16F688 are connected to 3 pins of the first and second two 8D latch 7,4LS,373 12 and 13,3 pins of PIC16F688 are connected to 11 pins of first top among Fig. 3 latch 74LS37312, are connected to 1 pin of 74LS04 simultaneously.11 pins of the second latch 7,4LS,373 13 below 2 pins of 74LS04 are connected among Fig. 3.11,10,9,8 pins of PIC16F688 are connected to 4,7,8,13 pins of two latch 7,4LS,373 12 and 13 respectively.2,5,6,9,12 pins of the first latch 7,4LS,373 12 are connected respectively to 8,7,9,2,13 pins of the first motor drive ic BTS7710 10.2,5,6,9,12 pins of the second latch 7,4LS,373 13 are connected respectively to 8,7,9,2,13 pins of the second motor drive ic BTS7710 11.22,23,1,3,25,28 pins of the first motor drive ic BTS7710 10 connect together, and be connected to the pin 1 of motor interface CON4,20,21,12,14,15,18 pins of the first motor drive ic BTS7710 10 connect together, and being connected to the pin 2 of motor interface CON4, CON4 is used for the horizontal direction motor of external rearview mirror.22,23,1,3,25,28 pins of the second motor drive ic BTS7710 11 connect together, and be connected to the pin 1 of motor interface CON5,20,21,12,14,15,18 pins of the second motor drive ic BTS7710 11 connect together, and being connected to the pin 2 of motor interface CON5, CON5 is used for the vertical direction motor of external rearview mirror.6,5 and 4 pins of PIC16F688 are connected to 4,1 and 2 pins of LIN transceiver TJA1020, and 6 pins of TJA1020 are connected to the pin 2 of CON3, so that be external to the LIN bus.Power supply unit 8 is still and adopts diode D2, inductance L 1, and voltage stabilizing chip LM2931T-5.0 realizes the filtering and the voltage stabilizing of power supply.The input end VBB of power supply unit 8 is connected to the pin 1 of CON3, is used for external power supply.
Fig. 4 comprises motor overcurrent detecting unit 16 and motor overcurrent detecting unit 17, wherein unit 16 is used for detecting the overcurrent situations of Fig. 3 first motor drive ic BTS7710 10, and unit 17 is used for detecting the overcurrent situations of Fig. 3 second motor drive ic BTS7710 11.Unit 16 comprises operational amplifier LM358 18 and resistance R 7, R8, capacitor C 3.Among unit 16 and Fig. 3 each unit to be connected situation as follows: 16 of the first motor drive ic BTS7710 10,17,26,27 pins connect together among Fig. 3, be connected to the pin 3 of operational amplifier LM358 18, the pin 1 of operational amplifier LM358 18 is connected to aanalogvoltage I/O port 12 pins of single-chip microcomputer PIC16F688 9 among Fig. 3 simultaneously.Unit 17 comprises operational amplifier LM35819 and resistance R 9, R10, capacitor C 5.Among unit 17 and Fig. 3 each unit to be connected situation as follows: 16,17,26,27 pins of the second motor drive ic BTS7710 11 among Fig. 3 are connected together, be connected to the pin 3 of operational amplifier LM358 19, the pin 1 of operational amplifier LM358 19 is connected to aanalogvoltage I/O port 7 pins of single-chip microcomputer PIC16F688 9 among Fig. 3 simultaneously.Because the pin 16,17,26,27 of the first and second motor drive ic BTS7710 10 and 11 is output as current signal, and the input pin 3 of operational amplifier LM358 18 and 19 requires to be voltage signal, therefore needing after the pin 16,17,26,27 of the first motor drive ic BTS7710 10 connects together needs through resistance R 6 ground connection after the pin 16,17,26,27 of the second motor drive ic BTS7710 11 connects together through resistance R 3 ground connection.
On above circuit design basis,, need to formulate the interface protocol and the control command agreement of main control module 1 on the LIN bus of main control module 1 and CAN bus in order to realize the Based Intelligent Control of driven rearview mirrors.
CAN interface protocol such as following.
The interface protocol of main control module 1 and CAN bus can be by passing among the flash of single-chip microcomputer PIC18F258 in the main control module 1 under the module 4 (PC).Between PC and the single-chip microcomputer PIC18F258 by the CAN bus communication.When needs were revised the interface protocol of main control module 1 and CAN bus, module 4 (PC) is sent a group identifier on bus be 1000 CAN message frame, comprised the interface protocol of main control module 1 with the CAN bus in these message frames.Single-chip microcomputer PIC18F258 reads the interface protocol information that comprises in these CAN message frames after receiving that identifier is 1000 CAN message frame in the main control module 1, is stored among self flash.
Table 1 has provided a CAN interface protocol for example, is an example here, can change accordingly according to different CAN systems.Interface protocol in the table 1 shows when vehicle to occur, and turns right, and recovers to keep straight on, and moves backward or when stopping state such as reversing the corresponding CAN message frame that sends on the bus.What particularly point out here is, has only when the angle of a vehicle left side/right-hand bend only reaches certain value, just can send the corresponding message frame on the bus.
Table 1CAN interface protocol for example
It is as shown in table 2 that main control module 1 sends to the LIN control command of left-hand mirror driver module 2 and right back visor driver module 3.
The LIN control command table that table 2 main control module sends
Fig. 5-Figure 8 shows that control flow of the present invention.Main control module 1 is resolved identifier and data in the message frame after interrupting receiving CAN message frame relevant with rearview mirror control on the CAN bus, judge the state of current vehicle---turn left, turn right, recover to keep straight on, move backward, stop reversing.How main control module 1 state analysis in view of the above need adjust the level and the vertical direction angle of left and right rear view mirror lens, generates the LIN control command that comprises angular setting information, and sends to left-hand mirror driver module 2 and right back visor driver module 3 through the LIN bus.After left-hand mirror driver module 2 and right back visor driver module 3 are received the LIN control command, information according to the rear view mirror lens that wherein comprises (level or vertical direction) angular setting, corresponding level or the vertical direction motor drive ic given is with command signal, driving level or vertical direction motor forward or reverse put the angular setting of rear view mirror lens in place.
Fig. 5 and Fig. 6 are respectively master routine and the interruption subroutine process flow diagrams of single-chip microcomputer PIC18F258 in the main control module 1.Fig. 7 and Fig. 8 are respectively the interruption subroutines that single-chip microcomputer PIC16F688 receives the LIN control command in left-hand mirror driver module 2 and the right back visor driver module 3, bright left-hand mirror driver module 2 of these two subroutine tables and right back visor driver module 3 are after receiving the LIN control command, how to control the rearview mirror motor action, finish the eyeglass angular setting.
In the main program flow chart of Fig. 5 main control module 1 single-chip microcomputer PIC18F258, the back single-chip microcomputer PIC18F258 that powers at first reads the CAN interface protocol of storing among the flash, during system works, main control module 1 can be discerned the CAN message frame that is used to control the rear view mirror lens angular setting on the CAN bus like this.After single-chip microcomputer PIC18F258 makes some initial work to CAN bus interface and LIN bus interface afterwards, just enter the circular wait state, at any time wait for the message frame that sends on the CAN bus, it is to finish by the mode of interrupting that single-chip microcomputer PIC18F258 receives the CAN message frame, interrupts process flow diagram as shown in Figure 6.Below be example to the explanation of process flow diagram with the CAN interface protocol in the table 1.
When vehicle turns left, turns right, recovers to keep straight on, moves backward and stops to move backward, send corresponding C AN message frame CAN1, CAN2, CAN3, CAN4 and CAN5 on the bus.After CAN transceiver TJA1050 receives message frame in the main control module 1, trigger single-chip microcomputer PIC18F258 and receive interruption, enter the reception interruption subroutine of Fig. 6.After entering interruption subroutine, single-chip microcomputer at first needs to judge corresponding which kind of vehicle-state of the current message frame of receiving, and then could correspondingly send the LIN control command that the control rear view mirror lens is adjusted.Therefore PIC18F258 at first judges the identifier of the current CAN message of receiving, if 1003, according to the protocol definition in the table 1, this message belongs to turning class signal (comprise left-hand bend, right-hand bend, recover to keep straight on), then enters a left side and plays first branch; If 1004, then this message belongs to reversing class signal (comprise reversing, stop reversing), then enters a left side and plays second branch; If 1000, then entering a left side and play the 3rd branch---the CAN interface protocol is revised subroutine, revise the CAN interface protocol of main control module 1, this subroutine downloads to new CAN interface protocol among the flash of main control module 1 single-chip microcomputer PIC18F258 by upper PC.
Rise in first branch on a left side, single-chip microcomputer PIC18F258 continues to judge first byte data of the current message frame of receiving, if 0x80, then this message is defined as signal (CAN1), enter the left-hand bend branch among the figure, single-chip microcomputer PIC18F258 sends turning mark Flag0 assignment 0x01 the control command LIN0 that moves outside the control left-hand mirror eyeglass level by LIN transceiver TJA1020 then, and controls the control command LIN5 that moves in the right back visor eyeglass level on the LIN bus.The concrete principle of work of single-chip microcomputer PIC16F688 after receiving orders will elaborate in that separating of Fig. 7 and Fig. 8 is right in the left and right rearview mirror driver module 2 and 3.If judge that first data byte of current message frame is 0x40, then this message is right-hand bend signal (CAN3), enter the right-hand bend branch among the figure, single-chip microcomputer PIC18F258 sends turning mark Flag0 assignment 0x02 the order LIN1 that moves in the control left-hand mirror eyeglass level by LIN transceiver TJA1020 then and moves LIN4 with controlling outside the right back visor eyeglass level on the LIN bus.If judge that first data byte of current message frame is 0x00, then this message representative recovers craspedodrome signal (CAN2), enter the recovery craspedodrome branch among the figure, in order to prevent misoperation, single-chip microcomputer PIC18F258 will at first judge turning mark Flag0 before entering next step, if 0x01, then recover to keep straight on for the back of turning left, single-chip microcomputer sends the order LIN1 that moves in the control left-hand mirror eyeglass level and controls the order LIN4 that moves outside the right back visor eyeglass level by LIN transceiver TJA1020 on the LIN bus, make the position before the eyeglass angle is recovered to turn right, and with turning mark Flag0 clear 0.If judge that turning mark Flag0 is 0x02, then recover to keep straight on for the back of turning right, single-chip microcomputer PIC18F258 sends the order LIN0 that moves outside the control left-hand mirror eyeglass level and controls the order LIN5 that moves in the right back visor eyeglass level by LIN transceiver TJA1020 on the LIN bus, make the position before the eyeglass angle is recovered to turn right, and with turning mark Flag0 clear 0.If judge that turning mark Flag0 is other value, directly withdraw from interrupt routine.
Rise in second branch on the left side of Fig. 6, single-chip microcomputer PIC18F258 continues to judge first byte data of the current message frame of receiving, if 0x80, then current message frame (CAN4) is represented astern signal, enter reversing branch, the single-chip microcomputer PIC18F258 sign Flag that will move backward puts 1, sends order LIN7 that order LIN3 that control left-hand mirror eyeglass moves down and right back visor eyeglass move down on the LIN bus by LIN transceiver TJA1020 then, makes left and right rear view mirror lens all move down an angle.If judge that first data byte of the current message frame of receiving is 0x00, then on behalf of vehicle, this message (CAN5) stop reversing, enters to stop the branch of moveing backward.In order to prevent misoperation, before entering next step, judge at first whether reversing zone bit Flag puts 1, if 0, then directly withdraw from interrupt routine, put at Flag under 1 the situation, single-chip microcomputer PIC18F258 sends the order LIN6 that moves on the order LIN2 that moves on the right back visor eyeglass of control and the right back visor eyeglass on the LIN bus, make the position before the eyeglass angle is recovered reversing, and the sign Flag clear 0 that will move backward.
Fig. 7 is the interruption subroutine that left-hand mirror driver module 2 receives the LIN control command, single-chip microcomputer PIC16F688 at first judges first byte data of LIN control command, if the 0x01 representative is controlled left-hand mirror, enter the branch on the left side, if 0x02 then represents right back visor is controlled, the branch that enters the right side directly withdraws from interruption subroutine.If enter the branch on the left side, single-chip microcomputer PIC16F688 further reads second byte data of LIN order, this byte data provides four values (as shown in table 2)---0x01,0x02,0x03 and 0x04, the level of corresponding rear view mirror lens is moved outward respectively, moves in the level, pan-up moves down with vertical, from left to right corresponds to first, second and third and four branches in process flow diagram successively.If second byte data of LIN order is 0x01 (level that corresponds to is moved order LIN0 outward), enter first branch, single-chip microcomputer PIC16F688 is with its pin RA4 assignment 1 in the left-hand mirror driver module 2, latch 7,4LS,373 12 above among gating Fig. 3, single-chip microcomputer PIC16F688 is with its pin 3,6,9,12 corresponding assignment 1,0,0,1 simultaneously, feedwater square to motor chip BTS7710 10 just to change drive signal, controlling level direction motor just changes a period of time (rotation time of motor is controlled by timer), and promptly the rear view mirror lens level is moved certain angle outward; If second byte data of LIN order is 0x02 (correspond to and move order LIN1 in the level), enter second branch, single-chip microcomputer PIC16F688 is with its pin RA4 assignment 1, latch 7,4LS,373 12 above the gating, simultaneously with pin 3,6,9,12 corresponding assignment 0,1,1,0, feedwater with the inversion driving signal, controlling level direction motor counter-rotating a period of time, promptly moves certain angle in the rear view mirror lens level square to motor chip BTS7710 10; If second byte data of LIN order is 0x03 (correspond to and vertically move down order LIN2), enter the 3rd branch, single-chip microcomputer PIC16F688 is with its pin RA4 assignment 0, latch 7,4LS,373 13 below among gating Fig. 3, simultaneously with pin 3,6,9,12 corresponding assignment 0,1,1,0, give vertical direction motor chip BTS7710 11 with the inversion driving signal, control vertical direction motor counter-rotating a period of time, i.e. rear view mirror lens pan-up certain angle; If second byte data of LIN order is 0x04 (correspond to and vertically move down order LIN3), enter the 4th branch, single-chip microcomputer PIC16F688 is with its pin RA4 assignment 0, latch 7,4LS,373 13 below the gating, simultaneously with pin 3,6,9,12 corresponding assignment 1,0,0,1, give vertical direction motor chip BTS7710 11 just to change drive signal, control vertical direction motor just changes a period of time, and promptly rear view mirror lens vertically moves down certain angle.Left and right rear view mirror lens is along in the process of level or vertical direction adjustment, and adjusting angle is a fixed value, and this angle is decided by the rotation of single-chip microcomputer timing controlled motor.
Interruption subroutine process flow diagram and Fig. 7 that the right back visor driver module 3 of Fig. 8 receives the LIN control command are similar.Single-chip microcomputer is at first judged first byte data of LIN control command, continues to judge second byte data of control command if 0x02 just enters the branch on the right side, otherwise directly withdraws from interruption subroutine.In the branch on the right side, it is LIN4, LIN5, LIN6 or LIN7 that single-chip microcomputer PIC16F688 judges current reception control command according to second byte data, and then control right back visor eyeglass level and move outward, move on the level, pan-up or vertically move down, the principle of work and the rearview mirror driver module 2 of the rotating of rearview mirror driver module 3 drive motor are identical.
Claims (2)
1, a kind of intelligent control device of electromotion rearview mirror of car comprises main control module (1), left-hand mirror driver module (2) and right back visor driver module (3); Main control module (1) has CAN bus interface and LIN bus interface, comprises single-chip microcomputer, CAN transceiver and LIN transceiver; Left-hand mirror driver module (2) and right back visor driver module (3) have only the LIN bus interface, comprise single-chip microcomputer, LIN transceiver and two motor drive ics; That sends on main control module (1) the reception CAN bus controls relevant message frame with rearview mirror, through behind the protocol analysis, send the LIN control command of two motor action of control rearview mirror to left-hand mirror driver module (2) and right back visor driver module (3) by the LIN bus in inside, left-hand mirror driver module (2) and right back visor driver module (3) receive orders the back according to command adapted thereto, and the angle of rear view mirror lens level or vertical both direction is adjusted; In the described main control module (1): 23 and 24 pins of single-chip microcomputer PIC18F258 are connected respectively to 1 and 4 pins of CAN transceiver TJA1050, and 17,18 and 25 pins of PIC18F258 are connected respectively to 4,1 and 2 pins of LIN transceiver TJA1020; 7 and 6 pins of TJA1050 are connected to 2 and 3 pins of CON1, and 6 pins of TJA1020 are connected to 1 pin of CON2; Power supply unit 8 adopts diode D2, inductance L 1, and voltage stabilizing chip LM2931T-5.0 realizes the filtering and the voltage stabilizing of power supply, the input end VBB of power supply unit 8 is connected to the pin 1 of CON1, be used for external power supply, it is characterized in that in left-hand mirror driver module (2) and the right back visor driver module (3): 2 pins of single-chip microcomputer PIC16F688 are connected to 3 pins of two 8D latch 74LS373 (12,13), 3 pins of PIC16F688 are connected to 11 pins of the first latch 74LS373 (12), are connected to 1 pin of 74LS04 simultaneously; 2 pins of 74LS04 are connected to 11 pins of the second latch 74LS373 (13); 11,10,9,8 pins of PIC16F688 are connected to 4,7,8,13 pins of first and second two 8D latch 74LS373 (12 and 13) respectively; 2,5,6,9,12 pins of the first latch 74LS373 (12) are connected respectively to 8,7,9,2,13 pins of the first motor drive ic BTS7710 (10); 2,5,6,9,12 pins of the second latch 74LS373 (13) are connected respectively to 8,7,9,2,13 pins of the second motor drive ic BTS7710 (11); 22,23,1,3,25,28 pins of the first motor drive ic BTS7710 (10) connect together, and be connected to the pin 1 of motor interface CON4,20,21,12,14,15,18 pins of the first motor drive ic BTS7710 (10) connect together, and being connected to the pin 2 of motor interface CON4, CON4 is used for the horizontal direction motor of external rearview mirror; 22,23,1,3,25,28 pins of the second motor drive ic BTS7710 (11) connect together, and be connected to the pin 1 of motor interface CON5,20,21,12,14,15,18 pins of the second motor drive ic BTS7710 (11) connect together, and being connected to the pin 2 of motor interface CON5, CON5 is used for the vertical direction motor of external rearview mirror; 6,5 and 4 pins of PIC16F688 are connected to 4,1 and 2 pins of LIN transceiver TJA1020, and 6 pins of TJA1020 are connected to the pin 2 of CON3; Power supply unit 8 adopts diode D2, inductance L 1, and the filtering and the voltage stabilizing of voltage stabilizing chip LM2931T-5.0 realization power supply, and the input end VBB of power supply unit 8 is connected to the pin 1 of CON3, is used for external power supply;
16,17,26,27 pins of the first motor drive ic BTS7710 (10) connect together and draw, be connected to the pin 3 of the first operational amplifier LM358 (18) in the first motor overcurrent detecting unit (16), the pin 1 of the first operational amplifier LM358 (18) is connected to aanalogvoltage I/O port 12 pins of single-chip microcomputer PIC16F688; 16,17,26,27 pins of the second motor drive ic BTS7710 (11) connect together and draw, the pin 1 that is connected to pin 3, the second operational amplifier LM358 (19) of the second operational amplifier LM358 (19) in the second motor overcurrent detecting unit (17) is connected to aanalogvoltage I/O port 7 pins of single-chip microcomputer PIC16F688 (9); The pin 16,17,26,27 of the first motor drive ic BTS7710 (10) connects together after resistance R 3 ground connection, and the pin 16,17,26,27 of the second motor drive ic BTS7710 (11) connects together after resistance R 6 ground connection.
2, according to the described intelligent control device of electromotion rearview mirror of car of claim 1, it is characterized in that main control module (1) is after interrupting receiving CAN message frame relevant with rearview mirror control on the CAN bus, resolve identifier and data in the message frame, judge the state of current vehicle, how main control module (1) state analysis in view of the above need adjust a left side, the level of right back visor eyeglass and vertical direction angle, generation comprises the LIN control command of angular setting information, and by the LIN bus LIN control command is sent to left-hand mirror driver module (2) and right back visor driver module (3); After left-hand mirror driver module (2) and right back visor driver module (3) are received the LIN control command, according to the rear view mirror lens angular setting information that wherein comprises, corresponding level or the vertical direction motor drive ic given is with command signal, driving level or vertical direction motor forward or reverse put the angular setting of rear view mirror lens in place.
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| CN101738747A (en) * | 2008-11-27 | 2010-06-16 | 麦格纳唐纳利(上海)汽车系统有限公司 | Device for performing anti-dazzle control on rearview mirror with digital EC mirror surface based on LIN bus |
| CN101966839B (en) * | 2010-09-10 | 2012-08-22 | 奇瑞汽车股份有限公司 | Automatic regulating system for exterior rearview mirrors of automobiles and control method thereof |
| CN103287342B (en) * | 2013-05-30 | 2016-02-10 | 浙江吉利汽车研究院有限公司杭州分公司 | A kind of Automobile rearview mirror intelligent control device |
| US9897986B2 (en) | 2013-10-29 | 2018-02-20 | Regal Beloit America, Inc. | System and method for enabling a motor controller to communicate using multiple different communication protocols |
| CN105383423A (en) * | 2015-11-24 | 2016-03-09 | 大连楼兰科技股份有限公司 | Rearview mirror control equipment based on CAN network bus |
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