CN101417636A - Pure electric motor coach communication system and method based on three CAN bus - Google Patents
Pure electric motor coach communication system and method based on three CAN bus Download PDFInfo
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Abstract
The invention provides a pure electric passenger vehicle communication system based on three ways of CAN buses, comprising a plurality of controllers and three ways of CAN buses, wherein, the CAN buses comprise three ways of CAN buses which are coupled with the plurality of controllers and consist of a CAN1 bus, a CAN2 bus, and a CAN3 bus; the CAN1 bus is a high-speed CAN bus and used for the control of a power system; the CAN2 bus is a high-speed CAN bus and used for the transmission of power battery monometer data; and the CAN3 bus is a low-speed CAN bus, provided with a plurality of vehicle body control nodes, and used for achieving the information collection and control of each part of the vehicle body. The system causes the loading rate of the power system control bus to be greatly reduced, ensures the real-time performance of the control, and improves the driving safety of the electric vehicle.
Description
Technical field
The present invention relates to pure electric coach whole-control system CAN bus communication technology field, specifically, the present invention relates to a kind of pure electric coach communication system and method based on three road CAN buses.
Background technology
Becoming increasingly conspicuous of problem such as oil crises and environmental pollution makes electronlmobil more and more cause the attention of society, becomes the developing direction of following automobile.Electronlmobil is compared with the traditional combustion engine automobile, still is in industrialization initial preparatory stage abroad, and associated new and high technology and product also depend on the support of providing the merchant together, do not form new industrial system as yet.Simultaneously, in developed country, the input of orthodox car established huge manufacturing scale of industry and social infrastructure, and the powerful inertia of development, may constitute the social cost that hinders its development young mobile in some sense, make them be difficult to the strategic change of realization essence of making a decision, thereby might try to gain time precious to one for China.The continuous increase of electric-control system on the automobile and sensor, actr makes point-to-point bind mode go to the end, for the circuit of simplifying the automobile electrically-controlled device that increases day by day connects, improves system reliability and trouble diagnosing level, is beneficial between each electrical controller data resource and shares and be convenient to build up open standard and modular structure, the automotive networking bussing technique has obtained very big development, CAN bus and LIN bus will be a kind of prevailing models in conjunction with using on automobile, and based on the remote high-frequency network communicating system of D2B radio communication.Especially be noted that innovation and optimization that the application of bussing technique has brought the car load design of electrical system.On truck and motorcoach, generally adopt the SAEJ1939 standard at present in the world.Because battery-driven car is a up-to-date technology, the communication standard of many electric-controlled parts need redefine.
Chinese patent application, its publication number is CN1649345A, denomination of invention discloses a kind of communication modes of CAN bus of pure electric coach for the application of " based on the pure electric coach means of communication of CAN bus ", this mode realizes the communication of pure electric coach based on single CAN bus, realize electric machine controller with single CAN bus, electronic throttle controller, the operator's compartment telltale, the information communication of abs controller and power battery management system, the utilization of this communications protocol makes pure electric coach that breakthrough development arranged on the mechanics of communication of electrical signal, but still exist because the automatically controlled signal in the pure electric coach of develop rapidly becomes progression to increase, and the problem that the speed of automatically controlled signal transmission will be relatively lagged behind.Therefore, consider from the angle of long term growth, need a kind of and existing different multiple bus mechanics of communication of technology, to support the develop rapidly of pure electric coach, make it can form more wide development space at the automatically controlled signal communication field, and can aspect the unified management of communication signal, form further modularization, standardization, also can be the diagnotic facilitation of complete vehicle fault, the good condition of standardization creation simultaneously.
Summary of the invention
For above-mentioned consideration, the present invention proposes a kind of CAN bus communication technology that is applicable to the pure electric automobile whole-control system just.Based on the relevant regulations of CAN2.0B and J1939, a kind of multichannel CAN bus communication agreement that is applicable to pure electric automobile has been proposed.Wherein newly distributed the address, the address that electric machine controller, electronic throttle controller, operator's compartment telltale, abs controller and power battery management system select for use former SAE J1939 definition to distribute for the entire car controller address.
According to an aspect of the present invention, provide a kind of pure electric coach communication system based on three road CAN buses, this system comprises: a plurality of controllers and CAN bus, wherein,
Described CAN bus comprises three road CAN buses that are made of CAN1, CAN2 and CAN3 bus that are coupled with a plurality of controllers;
Described CAN1 bus is high-speed CAN bus, is used for the control of power system;
Described CAN2 bus is high-speed CAN bus, is used for the transmission of electrokinetic cell monomer data;
Described CAN3 bus is low speed CAN bus, is provided with a plurality of Body Control nodes, is used to realize the information acquisition and the control of vehicle body each several part.
Wherein each described a plurality of controller has an ID, is used for sending information on the CAN bus when, sends together with oneself ID.
Wherein each described a plurality of controller comprises a message examination filter, is used for from the information and the own N/R information of shielding of CAN bus reception oneself needs.
Wherein said controller comprises entire car controller, electric machine controller, AMT, ABS, EPS electric boosting steering system, vehicle body Central Control Module (CCM), battery management system, battery charger control system, Dispatching Control System; Wherein,
Entire car controller: be responsible for the co-ordination of each sub-controller of control car load;
Electric machine controller: accept the order of entire car controller, motor is realized control, and to the state of entire car controller real-time report motor;
AMT: according to driver's the order and the autoshift function of motor status and speed of a motor vehicle realization change speed gear box, by the status information of bus reception motor, the status information and the speed of a motor vehicle with change speed gear box sends to electric machine controller, entire car controller, instrument by bus simultaneously;
ABS: prevent from when braking automobile, to break away, oneself status information is sent to entire car controller and instrument by bus;
EPS electric boosting steering system: when driver's veer dish, come for the driver provides power-assisted, oneself state is sent to entire car controller and instrument by bus by motor;
Vehicle body Central Control Module (CCM): gather the state of car load vehicle body low pressure electricity consumption part and to its control, gather the state of car load vehicle body low pressure electricity consumption part and to its control by CAN3, send the failure message of car load low voltage equipment part and accept the control of entire car controller to entire car controller by CAN1;
Battery management system: the data of each monomer of collection used for electric vehicle electrokinetic cell are handled and are sent to entire car controller by CAN1 and send to instrument by CAN2;
Operator's compartment display system: show the status information and the failure message of car load each several part and realize the back door monitoring video and the automatic switching function of reversing video, receive the information that needs demonstration by 3 road CAN buses, realize the automatic switchover of monitoring video simultaneously according to the information that receives;
The battery charger control system: control charging valtage and electric current receive the real time information of rechargeable battery and according to the mode control charge mode of battery by bus;
Dispatching Control System: determine according to the state of each parts of car load and the information of battery whether this automobile can carry out normal carrying operation.
According to another aspect of the present invention, a kind of communication means of the pure electric coach communication system based on three road CAN buses is provided, this communication system comprises a plurality of controllers, three road CAN bus CAN1, CAN2, the CAN3 that are coupled with a plurality of controllers, and a plurality of Body Control nodes that are arranged at bus CAN3, this method comprises:
Realize the transmission of the control information of power system by the CAN1 bus;
Realize the transmission of electrokinetic cell monomer voltage data by the CAN2 bus;
Realize the information acquisition and the control of vehicle body each several part by the CAN3 bus.
Wherein each described a plurality of controller has an ID, is used for sending information on the CAN bus when, sends together with oneself ID.
Wherein each described a plurality of controller receives the information and the own N/R information of shielding of own needs from the CAN bus according to the id information that is comprised in the information transmitted.
Wherein said controller comprises entire car controller, electric machine controller, AMT, ABS, EPS electric boosting steering system, vehicle body Central Control Module (CCM), battery management system, battery charger control system, Dispatching Control System; Wherein,
Entire car controller: be responsible for the co-ordination of each sub-controller of control car load;
Electric machine controller: accept the order of entire car controller, motor is realized control, and to the state of entire car controller real-time report motor;
AMT: according to driver's the order and the autoshift function of motor status and speed of a motor vehicle realization change speed gear box, by the status information of bus reception motor, the status information and the speed of a motor vehicle with change speed gear box sends to electric machine controller, entire car controller, instrument by bus simultaneously;
ABS: prevent from when braking automobile, to break away, oneself status information is sent to entire car controller and instrument by bus;
EPS electric boosting steering system: when driver's veer dish, come for the driver provides power-assisted, oneself state is sent to entire car controller and instrument by bus by motor;
Vehicle body Central Control Module (CCM): gather the state of car load vehicle body low pressure electricity consumption part and to its control, gather the state of car load vehicle body low pressure electricity consumption part and to its control by CAN3, send the failure message of car load low voltage equipment part and accept the control of entire car controller to entire car controller by CAN1;
Battery management system: the data of each monomer of collection used for electric vehicle electrokinetic cell are handled and are sent to entire car controller by CAN1 and send to instrument by CAN2;
Operator's compartment display system: show the status information and the failure message of car load each several part and realize the back door monitoring video and the automatic switching function of reversing video, receive the information that needs demonstration by 3 road CAN buses, realize the automatic switchover of monitoring video simultaneously according to the information that receives;
The battery charger control system: control charging valtage and electric current receive the real time information of rechargeable battery and according to the mode control charge mode of battery by bus;
Dispatching Control System: determine according to the state of each parts of car load and the information of battery whether this automobile can carry out normal carrying operation.
The present invention has increased two-way CAN with comparing of prior art (the Chinese patent application publication number is CN1649345A), and wherein one the tunnel is high-speed CAN (CAN2), is specifically designed to the transmission of electrokinetic cell monomer data; Another road CAN (CAN3) is low speed CAN, is mainly used to realize the information acquisition and the control of vehicle body each several part.
Compare with disclosed Chinese patent application (CN1649345A), the invention has the beneficial effects as follows:
1, increased the Control Node in the network;
2, all information is all transmitted by CAN1 before not increasing CAN2, and the CAN1 load factor is 50%, and the CAN1 load factor is reduced to about 20% after the increase CAN2, therefore by increasing CAN2 the load factor of power system control bus is reduced greatly; The CAN1 load factor reduces, reduced the probability that information collision occurs, make may reducing greatly that " traffic congestion " phenomenon on the bus occurs, improved the real-time of communication, real-time improves, and therefore travel safety becomes CAN1 into the power control system private bus also with regard to mutually deserved the raising, guarantee the real-time of control, improved the travel safety of electronlmobil;
3, Body Control is incorporated the CAN network by CAN3, equipment such as light, car door, air suspension, planker are controlled, realized of the control of a kind of bus, thereby significantly reduced the wire harness on the vehicle body each parts of car load by the CAN bus.
4, the pure electric coach car load power system communications protocol specification that adopts this technological borrowing SAE J1939 to formulate to have AMT and the Content of Communication and the form of major critical component satisfy the requirement of the control and management of battery-driven car car load, trouble diagnosing communication protocol.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples.
Fig. 1 is based on the pure electric automobile control system network topology structure of 3 road CAN buses;
Fig. 2 is the distribution of 29 identifiers;
Fig. 3 is each ECU address assignment;
Fig. 4 is each ECU input/output signal formal definition.
The specific embodiment
After three road CAN bus design complete according to the present invention have the CAN interface hardware, in the software program design, communicate program design according to this protocol specification.
In order to set up the network of electric automobile whole, realize electronlmobil resultant fault diagnosis function, and for each electric-control system module provides the hardware test platform, it is a kind of based on three road CAN buses, according to the pure electric coach communication system that is applicable to the communications protocol of pure electric coach that the present invention provides on the basis of SAEJ1939.
In order to realize purpose of the present invention, the inventor is at first for following requirement:
1, the principle of communications protocol formulation: (1) advance, the agreement of formulation is in line with international standards as far as possible, with reference to international SAEJ1939, improves on its basis, and the characteristic of oneself is arranged.Reason mainly is to consider the agreement of external maturation through practice test, uses it and can avoid detours.(2) directiveness, the agreement of formulation must be considered the characteristic of vehicle, instructs the development of car load and the relevant control technology of related components.(3) compatibility, the agreement of formulation will be suitable for various vehicles, multiple version.(4) extendability, upgrading development after the agreement of formulation will be convenient to, the agreement of expansion is wanted the compatible agreement of formulating previously.
2, the ECU meshed network topological structure in the network: network topology structure as shown in Figure 1, the CAN bus transfer rate is preferably 250kbps and 100kbps.
3, communications protocol regulation: electronlmobil network-bus communications protocol main reference SAEJ1939 formulates, and just makes the communications protocol that satisfies pure electric vehicle control needs on the basis of J1939.
Based on above-mentioned requirement, the invention provides a kind ofly based on three road CAN buses, according to being applicable to the pure electric coach communication system of the communications protocol of pure electric coach, and realized following requirement and effect:
1, the regulation of Physical layer: the regulation main reference CAN2.0B of Physical layer and the relevant regulations of J1939.
(1) consider the virtual voltage of the actual low-pressure system of pure electronic motorcoach, design-calculated ECU has satisfied power line voltage 18～36V;
(2) consider electric burden on the bus, maximum ECU number is 20;
(3) transmission medium: intrinsic impedance is 120 ohm Shielded Twisted Pair STP (fire-retardant 0.5mm);
(4) each parts all has terminal resistance (120 Ω), and terminal resistance adopts support to install, so that adjust, terminal resistance is with linking to each other by wire jumper between the grid line, so that collocation flexibly simultaneously;
(5) bit time (bit time): i.e. each time that takies.The bit time of all nodes must be set to identical value on the network.Recommending bit time is 4 μ S, and cooresponding transfer rate is 250kbit/s, and network length is 40m;
(6) topological structure: the wiring topology of network should be a compact as far as possible linear structure.It is short as far as possible that ECU inserts the cable of bus backbone network.For standing wave is minimized, node can not insert in the network equal intervals, and tie-in line can not be isometric, and the extreme length of tie-in line should be less than 1m;
(7) shield terminal: shield terminal is an one point earth.
(8) cable shield continuously conducting in car, the network socket of advising each parts has the joint of screen layer, and in components interior, screen layer reliably links to each other with unit control cabinet ground.
2, the regulation of data link layer: the regulation main reference CAN2.0B of data link layer and the relevant regulations of J1939.
(1) use CAN expands 29 bit identifiers of frame and redefines.Fig. 2 is the distribution of 29 identifiers.Wherein, priority is 3, and 8 priority can be arranged; R generally is fixed as 0; DP now is fixed as 0; 8 PF is the code of message; 8 PS is destination address or group expansion; 8 SA is for sending the source address of this message;
(2) the addressing rule of node: if the defined address of J1939 is then used in the existing definition of J1939 as far as possible; ECU with a plurality of functions can use a plurality of addresses, also can redefine new address; The redetermination address should use 208～231 these sections to belong to the reservation address of road vehicle;
(3) adopt broadcasting and the clean culture mode of engaging to carry out data transmission, unicast message is mainly used in the control problem that solves the identical function node, uses broadcasting packet under other situation as far as possible;
(4) mode that adopts block data coding and nodes encoding to engage is carried out data communication;
(5) Frame adopts CRC check;
Has automatic closing function when (6) bus error is serious.
3, the regulation of application layer: the relevant regulations of the regulation main reference J1939 of application layer.
(1) application layer has defined two kinds of form PDU1 and the PDU2 of protocol Data Unit PDU;
(2) adopt PGN that block data (parameter group) is numbered, under the broadcast mode, ECU comes the content of identification data block according to PGN;
(3) transmission of employing cycle and event driven mode send data;
(4) during the new parameter group of definition, the parameter of identical function, the identical or parameter of close refresh rate and the parameter that belongs in the same subsystem are placed in the same parameter group as far as possible; Simultaneously, new parameter group should make full use of the data width of 8 bytes, relevant parameter is placed in same group as far as possible, considers extendability again, reserves a part of byte or position, so that make amendment in the future;
When (5) revising the defined parameter group of J1939, the definition of defined byte or position is not made amendment; The parameter that increases newly will with original parameter correlation in the parameter group, incoherent parameter is not joined among the defined PGN for the quantity of saving PGN; For the close ECU of function, can in defined PGN, utilize undefined part to increase discrimination bit, judge the function of ECU, make full use of original defined parameter.
4, the ECU source address is distributed
Fig. 3 is ECU nodename and the addresses distributed that pure electric automobile may be used.Wherein the entire car controller address is newly assigned address, and electric machine controller, electronic throttle controller, operator's compartment telltale, abs controller and power battery management system are former SAE J1939 definition and have distributed the address.
5, data format definition
Fig. 4 is each ECU input/output signal formal definition of pure electric coach.
6, each ECU parameter group is defined as follows:
Entire car controller #1:PVCU1 parameter group definition (two byte data low bytes are preceding, high byte after; High-order in the same byte preceding; Low level after; This byte is exported immediately following behind the DLC) referring to table 1.
Table 1
The definition of entire car controller #1:PVCU2 parameter group is referring to table 2.
Table 2
The definition of electric machine controller 1#:MC1 parameter group is referring to table 3.
Table 3
The definition of electric machine controller 1#:MC2 parameter group is referring to table 4.
Table 4
The definition of change-speed box ETC1 parameter group is referring to table 5.
Table 5
The definition of change-speed box ETC2 parameter group is referring to table 6.
Table 6
The definition of battery management system BMSC1_0 parameter group is referring to table 7.
Table 7
The definition of battery management system BMSC1_1 parameter group is referring to table 8.
Table 8
The definition of battery management system BMSC2_DISPLAY_V1 parameter group is referring to table 9.
Table 9
The definition of battery management system BMSC2_DISPLAY_V2 parameter group is referring to table 10.
Table 10
The definition of battery management system BMSC2_DISPLAY_V25 parameter group is referring to table 11.
Table 11
The definition of battery management system BMSC2_DISPLAY_T1 parameter group is referring to table 12.
Table 12
The definition of battery management system BMSC2_DISPLAY_T2 parameter group is referring to table 13.
Table 13
The definition of battery management system BMSC2_Broadcast1 parameter group is referring to table 14.
Table 14
The definition of battery management system BMSC2_Broadcast2 parameter group is referring to table 15.
The definition of battery management system BMSC2_Broadcast2 parameter group is referring to table 15.
Table 15
The definition of battery management system BMSC2_CHARGE_1 parameter group is referring to table 16.
Table 16
The definition of battery management system BMSC2_CHARGE_2 parameter group is referring to table 17.
Table 17
The definition of battery management system BMSC2_CHARGE_3 parameter group is referring to table 18.
Table 18
The definition of battery management system BMSC2_CHARGE_4 parameter group is referring to table 19.
Table 19
The definition of battery management system BMSC2_CHARGE_5 parameter group is referring to table 20.
Table 20
The definition of battery management system BMSC2_CHARGE_6 parameter group is referring to table 21.
Table 21
The definition of electric boosting steering system (EPS) parameter group is referring to table 22.
Table 22
The failure code corresponding tables
| Failure code | The fault content |
| 01 | The torque sensor main line disconnects or short circuit |
| 02 | Differ greatly between torque sensor main line and the auxiliary line output signal |
| 03 | The torque sensor power line voltage is too high or too low |
| 04 | The torque sensor auxiliary line disconnects or short circuit |
| 05 | No vehicle speed signal or vehicle speed signal frequency are too high |
| 06 | The main relay fault |
| 07 | Secondary relay fault |
| 08 | Electric moter voltage is too high or too low |
| 09 | Current of electric is too high |
| 10 | ECU sends the instruction of control motor, but motor does not rotate |
| 11 | The ECU power line voltage is low excessively |
| 12 | The ECU fault |
Annotate: the logical one presentation of events is true; The logical zero presentation of events is false.
As shown in Figure 1, the pure electric automobile control system based on three road CAN buses comprises:
Entire car controller: be responsible for the co-ordination of each sub-controller of car load (other nodes on the network), it is equivalent to the brain of human body, and the work that will do of other sub-controllers (such as motor controller, AMT) all is subjected to his control.
Electric machine controller: accept the order of entire car controller, motor is realized control, and to the state of entire car controller real-time report motor.
AMT: according to driver's the order and the autoshift function of motor status and speed of a motor vehicle realization change speed gear box.By the status information of bus reception motor, the status information and the speed of a motor vehicle with change speed gear box sends to electric machine controller, entire car controller, instrument by bus simultaneously.
ABS: prevent from when braking automobile, to break away.By bus oneself status information is sent to entire car controller and instrument.
EPS electric boosting steering system: when driver's veer dish, come to provide power-assisted for the driver by motor.By bus oneself state is sent to entire car controller and instrument.
Vehicle body Central Control Module (CCM): gather the state of car load vehicle body low pressure electricity consumption part (for example car etc.) and to its control.Gather the state of car load vehicle body low pressure electricity consumption part (for example car etc.) and to its control by CAN3, send the failure message of car load low voltage equipment part and accept the control of entire car controller to entire car controller by CAN1.
Battery management system: the data of each monomer of collection used for electric vehicle electrokinetic cell are handled and are sent to entire car controller by CAN1 and send to instrument by CAN2.
Operator's compartment display system: show the status information and the failure message of car load each several part and realize the back door monitoring video and the automatic switching function of reversing video.Receive the information that needs demonstration by 3 road CAN buses, realize the automatic switchover of monitoring video simultaneously according to the information that receives, for example do not open at the back door under the situation, when gear forward gear and the speed of a motor vehicle during less than 5Km/h instrument display screen automatically switch to the back door video, watching the passenger that whether gets off, and the automatic switchover echo is shown main interface after the time-delay regular hour; The instrument display screen of opening at back door that time automatically switches to the back door video, until the back door is closed and the automatic time delay certain hour after close to check whether safety of back door passenger.
Battery charger control system: control charging valtage and electric current.Receive the real time information of rechargeable battery and according to the mode control charge mode of battery by bus.
Dispatching Control System: determine according to the state of each parts of car load and the information of battery whether this automobile can carry out the carrying operation of positive Changde.
Fig. 2 is the distribution that is illustrated in 29 bit identifiers in the SAE J1939 agreement.Use 29 bit identifiers of CAN expansion frame among Fig. 2 and redefine, below be the allocation sheet of 29 identifiers: wherein, priority is 3, and 8 priority can be arranged; R generally is fixed as 0; DP now is fixed as 0; 8 PF is the code of message; 8 PS is destination address or group expansion; 8 SA is for sending the source address of this message; Further, PRIORITY represents preceence, is used to optimize the wait time of message through bus transfer.R keeps the position, is kept by SAE, uses in the future.DP represents data page, is used to distinguish parameter group, and the parameter group number is at first filled up zero page, and then to first page of distribution, all is set to 0 at present.PF Presentation protocol data unit form is one 8 potential field, and it has defined two kinds of protocol data forms: form 1 and form 2 also are used for decision to data fields allocation of parameters group number.PS is the protocol Data Unit characteristic, is one 8 potential field, and according to the protocol Data Unit formal definition, this may be destination address or group expansion.If the value of protocol Data Unit format field is lower than 240, protocol Data Unit characteristic field is a destination address so.If the value of protocol Data Unit format field is between 240 and 255, protocol Data Unit characteristic field comprises a group expanding value so.SA represents source address, and length is 8.An equipment in the network should have a given source address.
Fig. 3 has defined SA, the PF of each node in the CAN network;
Fig. 4 has defined the factor of proportionality of each parameter in this agreement, range and side-play amount, the packing of information and unpack all and need carry out according to the regulation in the table.
Found out by above-mentioned: the present invention has compared with prior art increased two-way CAN, and wherein one the tunnel is high-speed CAN (CAN2), is specifically designed to the transmission of electrokinetic cell monomer data; Information all before not increasing CAN2 are all by the CAN1 transmission, and the CAN1 load factor is 50%, and the CAN1 load factor is reduced to about 20% after the increase CAN2, so load factor reduces greatly.Another road CAN (CAN3) is low speed CAN, be mainly used to realize the information acquisition and the control of vehicle body each several part, by Body Control is incorporated the CAN network by CAN3, by the CAN bus equipment such as light, car door, air suspension, planker are controlled, significantly reduced the wire harness on the vehicle body.
The present invention becomes CAN1 into the power control system private bus, make the CAN1 load factor reduce, reduced the probability that information collision occurs, make may reducing greatly that " traffic congestion " phenomenon on the bus occurs, improved the real-time of communication, real-time improves, and travel safety is also with regard to mutually deserved the raising.
Compare with publication, the difference part of this patent is: 1, increased the Control Node in the network; 2, by increasing CAN2 the load factor of power system control bus is reduced greatly, CAN1 is become the power control system private bus, guaranteed the real-time of control, improved the travel safety of electronlmobil; 3, Body Control is incorporated the CAN network by CAN3, equipment such as light, car door, air suspension, planker are controlled, significantly reduced the wire harness on the vehicle body by the CAN bus.
Below by description of drawings flow process of the present invention:
Fig. 1 is based on the pure electric automobile control system network topology structure of 3 road CAN buses.
Entire car controller is responsible for the co-ordination of each sub-controller of car load (other nodes on the network) among Fig. 1, and it is equivalent to the brain of human body, and the work that will do of other sub-controllers (such as motor controller, AMT) all is subjected to his control.Electric machine controller is accepted the order of entire car controller, and motor is realized control, and to the state of entire car controller real-time report motor.AMT is according to driver's the order and the autoshift function of motor status and speed of a motor vehicle realization change speed gear box.By the status information of bus reception motor, the status information and the speed of a motor vehicle with change speed gear box sends to electric machine controller, entire car controller, instrument by bus simultaneously.ABS prevents to break away when braking automobile.By bus oneself status information is sent to entire car controller and instrument.The EPS electric boosting steering system comes to provide power-assisted for the driver by motor when driver's veer dish.By bus oneself state is sent to entire car controller and instrument.The vehicle body Central Control Module (CCM) is gathered the state of car load vehicle body low pressure electricity consumption part (for example car etc.) and to its control.Gather the state of car load vehicle body low pressure electricity consumption part (for example car etc.) and to its control by CAN3, send the failure message of car load low voltage equipment part and accept the control of entire car controller to entire car controller by CAN1.The data of each monomer of battery management system collection used for electric vehicle electrokinetic cell are handled and are sent to entire car controller by CAN1 and send to instrument by CAN2.The operator's compartment display system shows the status information and the failure message of car load each several part and realizes the back door monitoring video and the automatic switching function of reversing video.Receive the information that needs demonstration by 3 road CAN buses, realize the automatic switchover of monitoring video simultaneously according to the information that receives, for example under the situation about not opening at the back door, when gear forward gear and the speed of a motor vehicle during less than 5Km/h instrument display screen automatically switch to the back door video, watching the passenger that whether gets off, and the automatic switchover echo is shown main interface after the time-delay regular hour; The instrument display screen of opening at back door that time automatically switches to the back door video, until the back door is closed and the automatic time delay certain hour after close to check whether safety of back door passenger.Battery charger control system control charging valtage and electric current.Receive the real time information of rechargeable battery and according to the mode control charge mode of battery by bus.Dispatching Control System determines according to the state of each parts of car load and the information of battery whether this automobile can carry out normal carrying operation.
Entire car controller is responsible for the Control work of car load among Fig. 1, entire car controller is come the message pick-up of each parts of car load by CAN1, CAN2, CAN3, maintenance data fusion treatment algorithm carries out analyzing and processing to information then, and according to the result formulation automobile operation control policy at following a moment, form with digital signal sends to corresponding sub-controller by the CAN bus, such as electric machine controller, sub-controller is carried out by actuating unit according to the order of receiving.
The mode of operation of electric machine controller is the same with entire car controller basically among Fig. 1, only the information of Jie Shouing is lacked than entire car controller, it only receives the information that needs from CAN1 itself, and the status information with oneself sends on the CAN1 simultaneously, and the controller that supply and demand is wanted receives from bus.The mode of operation of other node is the same with electric machine controller.
Each controller has an ID among Fig. 1, it is equivalent to people's identification card number, they are when sending information on the CAN bus, above also the ID of oneself being attached to, all there is a message to check and accept filter simultaneously in each CAN controller, just can receives information and the own N/R information of shielding that oneself needs from the CAN bus by it is set.
Be the flow process of example descriptive information below with the electric machine controller:
At first electric machine controller obtains the status information of motor (such as rotating speed of motor by various sensors, torque etc.), certain position of the status information of motor being write certain data byte then according to the mode of communications protocol regulation, by the CAN controller message (ID+ data byte) is sent on the CAN1 bus then, each controller on the bus can receive the message that electric machine controller sends, but because some controller does not need the information of motor, therefore they can mask it and do not receive by the examination filter in the CAN controller of oneself, and for the controller that needs motor information, they just can check and accept filter by the message that oneself is set and receive the message (information) that electric machine controller sends.Electric machine controller also can receive the message that oneself needs from the CAN bus simultaneously.Fig. 1 arrow has been represented information flow, and single arrow representative only receives message from the CAN bus, and does not send message on the CAN bus; The double-head arrow representative both can receive message from bus also can send message to bus.
As shown in Figure 1, entire car controller is by bus CAN1 and electric machine controller, AMT, ABS, the EPS electric power steering links to each other, entire car controller receives the control information that above-mentioned controller transmits by bus CAN1, these control informations comprise electric machine controller 1#:MC2 parameter, electric machine controller 1#:MC2 parameter, change-speed box ETC1 parameter, change-speed box ETC2 parameter, electric boosting steering system (EPS) parameter and ABS control parameter, and to above-mentioned controller transferring power control command information, these control command information comprise entire car controller #1:PVCU1 parameter, entire car controller #1:PVCU2 parameter, simultaneously, battery management system links to each other with battery by bus CAN2 and links to each other with entire car controller by bus CAN1, this reason system of storage battery receives the battery tension information that transmits by bus CAN2, battery management system BMSC1_0 parameter and battery management system BMSC1_1 parameter, and transmit to entire car controller by bus CAN1.
As shown in Figure 1, the battery charger control system links to each other with storage battery by bus CAN2 and links to each other with entire car controller by bus CAN1, the battery charger control system is transmitted by the charging control information between bus CAN1 and bus CAN2 realization and the entire car controller, and these information comprise entire car controller #1:PVCU1 parameter, battery management system BMSC1_0 parameter, battery management system BMSC1_1 parameter, battery management system BMSC2_Broadcast1 parameter, battery management system BMSC2_Broadcast2 parameter, battery management system BMSC2_CHARGE_1 to BMSC2_CHARGE_6 parameter.The vehicle body Central Control Module (CCM) links to each other with entire car controller by bus CAN1 and links to each other with the sensor of each Body Control node by bus CAN3, the vehicle body information of each Body Control node that vehicle body Central Control Module (CCM) reception bus CAN3 transmits, and by bus CAN1 and entire car controller transmission vehicle body control information and Body Control order.
As shown in Figure 1, operator's compartment display system and bus CAN1, bus CAN2 and bus CAN3 connect, the operator's compartment display system receives by bus CAN1, the data message that CAN2 and CAN3 transmit also shows, these information comprise entire car controller #1:PVCU1 parameter, entire car controller #1:PVCU2 parameter, electric machine controller 1#:MC1 parameter, electric machine controller 1#:MC2 parameter, change-speed box ETC1 parameter, change-speed box ETC2 parameter, battery management system BMSC1_0 parameter, battery management system BMSC1_1 parameter, battery management system BMSC2_DISPLAY_V1 parameter, battery management system BMSC2_DISPLAY_V2 parameter, battery management system BMSC2_DISPLAY_V25 parameter, battery management system BMSC2_DISPLAY_T1 parameter, battery management system BMSC2_DISPLAY_T2 parameter, thus realization shows the status information and the failure message of car load each several part, and realize the back door monitoring video and the automatic switching function of the video of moveing backward.
Electrobus is in process of charging, battery management system BMSC1_0 parameter that entire car controller is constantly sent by bus CAN1 according to the battery charger control system and the request charge information in the battery management system BMSC1_1 parameter, control battery charger control system with external power supply to battery charge, when charging finishes, battery management system BMSC1_0 parameter that entire car controller is sent by bus CAN1 according to the battery charger control system and the charging ending message in the battery management system BMSC1_1 parameter, the control charge controller finishes external power supply to battery charge.
The present invention is illustrated by top embodiment, and still, the present invention is not limited to particular example as described herein and embodiment.Any those of skill in the art are easy to be further improved under the situation that does not break away from branch invention spirit and scope and are perfect, therefore the restriction that divides invention only to be subjected to the content and the scope of claim of the present invention, its intention are contained all and are included in alternatives and equivalent in the spirit and scope of the invention that is limited by appendix claim.
Claims (10)
1, a kind of pure electric coach communication system based on three road CAN buses, this system comprises: a plurality of controllers and three road CAN buses, it is characterized in that,
Described CAN bus comprises three road CAN buses that are made of CAN1, CAN2 and CAN3 bus that are coupled with a plurality of controllers;
Described CAN1 bus is high-speed CAN bus, is used for the control of power system;
Described CAN2 bus is high-speed CAN bus, is used for the transmission of electrokinetic cell monomer data;
Described CAN3 bus is low speed CAN bus, is provided with a plurality of Body Control nodes, is used to realize the information acquisition and the control of vehicle body each several part.
2, communication system as claimed in claim 1, wherein, each described a plurality of controller has an ID, is used for sending information on the CAN bus when, sends together with oneself ID.
3, communication system as claimed in claim 2, wherein, each described a plurality of controller comprises a message examination filter, is used for from the information and the own N/R information of shielding of CAN bus reception oneself needs.
4, communication system as claimed in claim 1, wherein, described controller comprises entire car controller, electric machine controller, AMT, ABS, EPS electric boosting steering system, vehicle body Central Control Module (CCM), battery management system, battery charger control system, Dispatching Control System.
5, communication system as claimed in claim 4, wherein,
Entire car controller: be responsible for the co-ordination of each sub-controller of control car load;
Electric machine controller: accept the order of entire car controller, motor is realized control, and to the state of entire car controller real-time report motor;
AMT: according to driver's the order and the autoshift function of motor status and speed of a motor vehicle realization change speed gear box, by the status information of bus reception motor, the status information and the speed of a motor vehicle with change speed gear box sends to electric machine controller, entire car controller, instrument by bus simultaneously;
ABS: prevent from when braking automobile, to break away, oneself status information is sent to entire car controller and instrument by bus;
EPS electric boosting steering system: when driver's veer dish, come for the driver provides power-assisted, oneself state is sent to entire car controller and instrument by bus by motor;
Vehicle body Central Control Module (CCM): gather the state of car load vehicle body low pressure electricity consumption part and to its control, gather the state of car load vehicle body low pressure electricity consumption part and to its control by CAN3, send the failure message of car load low voltage equipment part and accept the control of entire car controller to entire car controller by CAN1;
Battery management system: the data of each monomer of collection used for electric vehicle electrokinetic cell are handled and are sent to entire car controller by CAN1 and send to instrument by CAN2;
Operator's compartment display system: show the status information and the failure message of car load each several part and realize the back door monitoring video and the automatic switching function of reversing video, receive the information that needs demonstration by 3 road CAN buses, realize the automatic switchover of monitoring video simultaneously according to the information that receives;
The battery charger control system: control charging valtage and electric current receive the real time information of rechargeable battery and according to the mode control charge mode of battery by bus;
Dispatching Control System: determine according to the state of each parts of car load and the information of battery whether this automobile can carry out normal carrying operation.
6, a kind of communication means of the pure electric coach communication system based on three road CAN buses, this communication system comprises a plurality of controllers, three road CAN bus CAN1, CAN2, the CAN3 that are coupled with a plurality of controllers, and a plurality of Body Control nodes that are arranged at bus CAN3, this method comprises:
Realize the transmission of the control information of power system by the CAN1 bus;
Realize the transmission of electrokinetic cell monomer data by the CAN2 bus;
Realize the information acquisition and the control of vehicle body each several part by the CAN3 bus.
7, communication means as claimed in claim 6, wherein, each described a plurality of controller has an ID, is used for sending information on the CAN bus when, sends together with oneself ID.
8, communication means as claimed in claim 7, wherein, each described a plurality of controller receives the information and the own N/R information of shielding of own needs from the CAN bus according to the id information that is comprised in the information transmitted.
9, as the arbitrary described communication means of claim 6～8, wherein, described controller comprises entire car controller, electric machine controller, AMT, ABS, EPS electric boosting steering system, vehicle body Central Control Module (CCM), battery management system, battery charger control system, Dispatching Control System.
10, communication means as claimed in claim 9, wherein,
Entire car controller: be responsible for the co-ordination of each sub-controller of control car load;
Electric machine controller: accept the order of entire car controller, motor is realized control, and to the state of entire car controller real-time report motor;
AMT: according to driver's the order and the autoshift function of motor status and speed of a motor vehicle realization change speed gear box, by the status information of bus reception motor, the status information and the speed of a motor vehicle with change speed gear box sends to electric machine controller, entire car controller, instrument by bus simultaneously;
ABS: prevent from when braking automobile, to break away, oneself status information is sent to entire car controller and instrument by bus;
EPS electric boosting steering system: when driver's veer dish, come for the driver provides power-assisted, oneself state is sent to entire car controller and instrument by bus by motor;
Vehicle body Central Control Module (CCM): gather the state of car load vehicle body low pressure electricity consumption part and to its control, gather the state of car load vehicle body low pressure electricity consumption part and to its control by CAN3, send the failure message of car load low voltage equipment part and accept the control of entire car controller to entire car controller by CAN1;
Battery management system: the data of each monomer of collection used for electric vehicle electrokinetic cell are handled and are sent to entire car controller by CAN1 and send to instrument by CAN2;
Operator's compartment display system: show the status information and the failure message of car load each several part and realize the back door monitoring video and the automatic switching function of reversing video, receive the information that needs demonstration by 3 road CAN buses, realize the automatic switchover of monitoring video simultaneously according to the information that receives;
The battery charger control system: control charging valtage and electric current receive the real time information of rechargeable battery and according to the mode control charge mode of battery by bus;
Dispatching Control System: determine according to the state of each parts of car load and the information of battery whether this automobile can carry out the carrying operation of positive Changde.
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