CN101342891B - Multi-node entire-vehicle network control system based on CAN bus line - Google Patents
Multi-node entire-vehicle network control system based on CAN bus line Download PDFInfo
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Abstract
The invention discloses a car network control system, which mainly consists of a car body system and a power system of a CAN bus, wherein, all the nodes in the system are connected with the CAN bus via corresponding hardware interfaces; the signals from any node to the network can be received by all the other nodes in the network; the CAN network adopts a non-destructive bus arbitration technology, all the nodes arbitrate and send out signals, and the other nodes arbitrate one by one and wait to send out signals. The invention changes the weakness of the prior car wiring method, improves the electric functionality of the car, improves the reliability of the car, can be used to construct a platform of CAN bus network technology in a motor factory, thus providing a communication platform of car internal network signals and achieving real-time control.
Description
Technical field
The invention belongs to vehicle electric field, specifically be based on the entire-vehicle network control system of CAN Bus.
Background technology
Along with vehicle mounted electrical apparatus presents variation, from travel, braking, steering swivel system control to safety system and instrument warning, from functional to traveling comfort, make automotive electrical system form the system of a bulky complex, in addition, the development of ITS in recent years is the appearance of the novel electron communication product of representative with 3G (GPS, GIS and GSM), and the comprehensive wiring and the sharing of information of automobile are had higher requirement alternately.
From the angle of lay analysis, in the high-grade automobile that adopts the traditional wiring method, its conductor length can reach 2000 meters, electrical node reaches 1500, and, according to statistics, this numeral approximately increased by 1 times in per ten years, thereby had aggravated the contradiction between the limited free space of thick wire harness and automobile.From the information sharing angle analysis, the control unit of typical modern has EMS (band CCS), change speed gear box control unit TCU (Transmission Control Unit), antiblock device ABS (Anti-Braking System)+EBD, air bag module ABM (Air Bag Module), combination instrument module I CM (Instrument Cluster Module), Climate Control Module CLM (Climate Module).In order to satisfy the real-time requirement of each subsystem, be necessary that implementation is shared to the automobile common data, as engine speed, vehicle wheel rotational speed, accelerator pedal position, key gear etc.And each control unit is that the renewal rate of factor certificate is different and different with control cycle to the requirement of real-time, this just requires its data switched network to be based on the pattern of preceence competition, and itself have higher traffic rate, the CAN bus is just for satisfying these requirement design-calculateds.
CAN (abbreviation of Controller Area Network) is the local area control net, is serial communication protocol, and the support of energy actv. has the very distribution of high safety grade and controls in real time.CAN at first by German Bosch company in the exploitation eighties, now carried out normalisation (ISO11898 by International Standardization Organization and other standardization body, SAEJ1939), being of wide application of CAN bus, the multichannel distribution from high-revolving network to low price can use CAN.In Automobile Electronic Industry, use CAN to connect for example power system, bodywork system, comfort system etc., its transfer rate reaches as high as 1Mbps.
Application number be 200410087673.1 and 200510025094.9 the patent disclosure specification sheets in the application of CAN bus in automotive field just described.
Summary of the invention
In order to change the weakness of traditional wiring on automobile, increase the car electrics function, improve the automobile reliability, the present invention proposes a kind of entire-vehicle network control system based on existing CAN technology, it can be used as builds the CAN bussing technique network platform, realizes automotive interior network information communication platformization, control real time implementation.
Describe below and realize concrete technical scheme of the present invention.
A kind of entire-vehicle network control system, the bodywork system, the power system that mainly comprise the CAN bus, the equal green phase of all nodes answers hardware interface to be connected on the CAN bus in the system, and certain node sends to the information in the network arbitrarily, and all nodes of other in this network all can receive; The CAN bus network adopts non-destructive bus arbitration technology, each node arbitration transmission information, and it is to be sent that other nodes are arbitrated etc. successively.The CAN bus network comprises express network and slow network, and wherein the express network hardware interface is selected high-speed transceiver TJA1050 for use.
This system comprises combination instrument module I CM (Instrument Cluster Module), antiblock device ABS (Anti-Braking System), car body controller BCM (Body ControlModule) and engine management system EMS (Engine Managment System), wherein terminal resistance is placed on ICM and EMS inside respectively, all is 120 Ω.
The formulation of car load procotol comprises message description and signal description, and wherein message is described and comprised signal, sending node and the type of transmission that comprises in type of message, message instruction symbol, the message; Signal description comprises number range, proportionality coefficient and the side-play amount of signal characteristic description, parameter type, transmission signals.
Description of drawings
Fig. 1 is the car load network topological diagram;
Fig. 2 is the intra-node scheme drawing;
Fig. 3 is a car load network test Organization Chart;
Fig. 4 is the hazard lamp functional schematic.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is carried out concrete description.
(1), automotive networking topology constructing
Shown in Figure 1 is network topological diagram.Adopt differential twisted pair as transmission medium, all node green phases answer hardware interface to be connected in the network, the information that any one node sends, and every other node all can be collected.Utilize the characteristics of CAN itself, adopt the total linear arbitration technique of non-destructive, each node arbitration transmission information, it is to be sent that other nodes are arbitrated etc. successively.In the present invention, network roughly is made up of two parts, i.e. bodywork system and power system, and wherein bodywork system comprises ICM and BCM, and power system comprises ABS and EMS, and wherein terminal resistance is placed on ICM and EMS inside respectively, all is 120 Ω.Be generally less than on 30% the basis normal operation satisfying the signal load rate.
Shown in Figure 2 is internal node figure, wherein adopts express network, selects high-speed transceiver TJA1050 for use.
(2), the car load procotol is formulated
Two aspects are mainly considered in the formulation of car load procotol:
Message is described and is comprised signal, sending node and the type of transmission etc. that comprise in type of message, message instruction symbol, the message;
Signal description comprises number range, proportionality coefficient and the side-play amount etc. of signal characteristic description, parameter type, transmission signals.
(3), test structure
Initial at network test needs the network analysis demand, sets up testing scheme afterwards, arrange the preceding preparation of test, test duration etc., the scheme of test and the plan of enforcement must be consulted jointly by node supplier and main engine plants, subsequently, make testing standard according to agreement, carry out one by one.
The general test framework needs to finish by the described step of diagram of circuit as shown in Figure 3.
Further annotate the control of entire-vehicle network control system of the present invention below with the realization of hazard lamp warning function in the vehicle body network.
BCM sends to information in the CAN bus in real time, and the instrument module is collected this information, and lights corresponding indicator lamp (about turn to respectively according to certain frequency hopping), and the agreement that relates to sees Table lattice 1
| Signal (signal) | Scope (Conversion) | Start bit (Lsb positi on) | Position long (Bit Length) | Data type (Data Type) | Signal value scope (Range) | Signal value (Value) | Instrument module (ICM) |
| Right steering lamp state (RH Turn light Sts) | (8，1) | 8 | 1 | Numeric type (Numeric) | 0-1 | Effective=1 (acti ve=1) invalid=1 (off=1) default value=0 (default=0) | Receive (R) |
| Left steering lamp state (LH Turn light Sts) | (9，1) | 9 | 1 | Numeric type (Numeric) | 0-1 | Effective=1 (acti ve=1) invalid=1 (off=1) default value=0 (default=0 | Receive (R) |
Form 1: hazard lamp signal tabulation guide look
Wherein: RH-Right Hand
LH-Left Hand
R-Receive
Accompanying drawing 4 is a hazard lamp function control principle scheme drawing, the left side is an input command, about turn to, hazard lamp reports to the police, centre portion relates to the mutual of vehicle body network internal signal, car body controller is put different values with corresponding signal, sends in the CAN bus, and the instrument module receives signal wherein, light corresponding warning indicator lamp, and real lamp load is articulated on the car body controller.
In the testing authentication link, in conjunction with the CANoe software platform that provides by third company, formulated following test procedure, stand emulation testing and the test of global function sample car.In stand emulation testing process, it is real node (real node) that ICM is set, and BCM is simulation node (simulated node).Use CANoe software to carry out emulation testing, it is 1 that LH Turnlight Sts/RH Turn light Sts signal value manually is set, and sends this signal, and whether observe the instrument turning indicator and lighted this moment, if left steering lamp/right steering lamp is lighted and the instrument buzzing, then this function is normal.In the global function sample car test link, Node B CM, ICM all are set to real node, if open the left steering light switch, observe whether this signal LH Turn light Sts the numerical value saltus step takes place in the CANoe software Trace window, and left turn indicator lamp flicker and buzzer phone begin warning on this moment instrument; If open the right steering light switch, whether this signal RH Turn light Sts the numerical value saltus step takes place in the Trace window of observation CANoe software, and has this moment right turn indicator lamp flicker and buzzer phone to begin to report to the police on the instrument; If open the hazard lamp switch, whether a left side/right steering lamp state the numerical value saltus step takes place simultaneously in the Trace window of observation CANoe software, and has this moment a left side/right turn indicator lamp flicker and buzzer phone to begin to report to the police on the instrument.
Claims (3)
1. entire-vehicle network control system, the bodywork system, the power system that comprise the CAN bus, the equal green phase of all nodes answers hardware interface to be connected on the CAN bus in the control system, and certain node sends to the information in the network arbitrarily, and all nodes of other in this network all can receive; The CAN bus network adopts non-destructive bus arbitration technology, each node arbitration transmission information, it is to be sent that other nodes are arbitrated etc. successively, it is characterized in that: the formulation of car load procotol comprises message description and signal description, and wherein message is described and comprised signal, sending node and the type of transmission that comprises in type of message, message instruction symbol, the message; Signal description comprises number range, proportionality coefficient and the side-play amount of signal characteristic description, parameter type, transmission signals.
2. entire-vehicle network control system as claimed in claim 1 is characterized in that: described CAN bus network comprises express network and slow network, and wherein the express network hardware interface is selected high-speed transceiver TJA1050 for use.
3. entire-vehicle network control system as claimed in claim 1 or 2, it is characterized in that: bodywork system comprises combination instrument module I CM and car body controller BCM, power system comprises antiblock device ABS and engine management system EMS, wherein terminal resistance is placed on combination instrument module I CM and engine management system EMS inside respectively, all is 120 Ω.
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| CN2008101330662A CN101342891B (en) | 2008-07-08 | 2008-07-08 | Multi-node entire-vehicle network control system based on CAN bus line |
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| CN2008101330662A CN101342891B (en) | 2008-07-08 | 2008-07-08 | Multi-node entire-vehicle network control system based on CAN bus line |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102887120B (en) * | 2012-06-15 | 2015-06-10 | 浙江吉利汽车研究院有限公司杭州分公司 | Method for strengthening message of CAN (Controller Area Network) bus |
| CN103023786B (en) * | 2012-12-29 | 2016-12-28 | 北京兴科迪科技有限公司 | Automobile bus gateway dynamic priority route management method and system thereof |
| CN105791119B (en) * | 2012-12-29 | 2018-11-27 | 北京兴科迪科技有限公司 | Automobile gateway dynamic priority route system |
| CN103217173A (en) * | 2013-03-22 | 2013-07-24 | 常熟恒基科技有限公司 | CAN bus based driving navigator detection system |
| CN105404271B (en) * | 2015-10-28 | 2017-11-10 | 浙江中科正方电子技术有限公司 | A kind of centralized body control system and its identity method for early warning |
| CN105791025B (en) * | 2016-04-19 | 2019-09-06 | 奇瑞汽车股份有限公司 | A kind of automotive networking communication system forward design method |
| EP3780507B1 (en) * | 2019-08-11 | 2024-09-18 | Yamar Electronics Ltd. | Method and system for performing double message arbitration |
| CN113787980B (en) * | 2021-09-26 | 2023-06-30 | 广州小鹏汽车科技有限公司 | Vehicle power distribution system, power distribution method, vehicle, and storage medium |
| CN114095903B (en) * | 2021-11-11 | 2024-05-14 | 盐城市华悦汽车部件有限公司 | Construction method of automobile electrical network |
| CN114684038A (en) * | 2022-05-06 | 2022-07-01 | 北斗星通智联科技有限责任公司 | Vehicle-mounted multi-screen display system and vehicle |
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