CN101417636B - 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 PDF

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Publication number
CN101417636B
CN101417636B CN 200810085028 CN200810085028A CN101417636B CN 101417636 B CN101417636 B CN 101417636B CN 200810085028 CN200810085028 CN 200810085028 CN 200810085028 A CN200810085028 A CN 200810085028A CN 101417636 B CN101417636 B CN 101417636B
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bus
control
controller
entire car
information
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CN 200810085028
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CN101417636A (en
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南金瑞
孙逢春
周辉
林程
王大方
李恒
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北京理工大学
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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

Pure electric motor coach communication system and method based on three road CAN buses

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 motor coach communication system based on three road CAN buses and method.

Background technology

Becoming increasingly conspicuous of the problem such as oil crises and environmental pollution so that electronlmobil more and more causes the attention of society, becomes the developing direction of future automobile.Electronlmobil is compared with the traditional combustion engine automobile, still is in abroad industrialization initial preparatory stage, and associated new and high technology and product also depend on the support of providing the merchant together, not yet form new industrial system.Simultaneously, in developed country, the input of the orthodox car established huge manufacturing scale of industry and social infrastructure, and the powerful inertia of development, may consist of in some sense the social cost that hinders its development young mobile, make them be difficult to make a decision to realize the strategic change of essence, thereby might try to gain time precious to one for China.The continuous increase of the electric-control system on the automobile and sensor, actr makes point-to-point bind mode go to the end, for the connection of simplifying the auto electronic control device that day by day increases, improve system reliability and trouble diagnosing level, be beneficial between each electrical controller data resource sharing and be convenient to build up open standard and modular structure, the automotive networking bussing technique has obtained very large development, CAN bus and LIN bus will be a kind of prevailing models in conjunction with using on automobile, and take the remote high-frequency network communicating system of D2B radio communication as the basis.Especially the application that is noted that bussing technique has brought innovation and the optimization of entire automobile electric system design.On truck and motorcoach, generally adopt in the world at present the SAEJ1939 standard.Because battery-driven car is a up-to-date technology, the communication standard of many electric-controlled parts need to 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 in the mechanics of communication of electrical signal breakthrough development arranged, 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 the different multiple bus mechanics of communication of a kind of and existing 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, good condition is created in the facilitation, the standardization that also can be overall failure diagnosis 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 for the entire car controller address, the address that electric machine controller, electronic throttle controller, operator's compartment telltale, abs controller and power battery management system select former SAE J1939 definition to distribute.

According to an aspect of the present invention, provide a kind of pure electric motor 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 electrokinetic cell monomer data transfer;

Described CAN3 bus is low speed CAN bus, is provided with a plurality of Body Control nodes, is used for realizing information acquisition and the control of vehicle body each several part.

Wherein each described a plurality of controller has an ID, is used for when sending information to the CAN bus, sends together with oneself ID.

Wherein each described a plurality of controller comprises a message examination filter, is used for receiving the information that oneself needs and shielding own N/R information from the CAN bus.

Wherein said controller comprises entire car controller, electric machine controller, AMT, ABS, EPS electric boosting steering system, vehicle body central control module, 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 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, 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, breakking 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 for the driver provides power-assisted by motor, by bus oneself state is sent to entire car controller and instrument;

Vehicle body central control module: 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 Prospect of EVS Powered with Batteries are processed and are sent to entire car controller by CAN1 and send to instrument by CAN2;

Operator's compartment display system: show status information and the failure message of car load each several part and realize that the back door monitors the automatic switching function of video and back-up video, receive the information that needs demonstration by 3 road CAN buses, monitor simultaneously the automatic switchover of video according to the information realization that receives;

The battery charger control system: control charging valtage and electric current receive the real time information of rechargeable battery and control charge mode according to the state 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 motor 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, the method comprises:

Realize the transmission of the control information of power system by the CAN1 bus;

Realize electrokinetic cell monomer voltage data transfer by the CAN2 bus;

Realize 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 when sending information to the CAN bus, sends together with oneself ID.

The id information that wherein comprises in the information of each described a plurality of controller according to transmission receives information and the own N/R information of shielding of own needs from the CAN bus.

Wherein said controller comprises entire car controller, electric machine controller, AMT, ABS, EPS electric boosting steering system, vehicle body central control module, 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 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, 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, breakking 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 for the driver provides power-assisted by motor, by bus oneself state is sent to entire car controller and instrument;

Vehicle body central control module: 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 Prospect of EVS Powered with Batteries are processed and are sent to entire car controller by CAN1 and send to instrument by CAN2;

Operator's compartment display system: show status information and the failure message of car load each several part and realize that the back door monitors the automatic switching function of video and back-up video, receive the information that needs demonstration by 3 road CAN buses, monitor simultaneously the automatic switchover of video according to the information realization that receives;

The battery charger control system: control charging valtage and electric current receive the real time information of rechargeable battery and control charge mode according to the state 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 electrokinetic cell monomer data transfer; Another road CAN (CAN3) is low speed CAN, is mainly used to realize information acquisition and the control of vehicle body each several part.

(CN1649345A) compares with published Chinese patent application, 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 greatly reducing 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, by the CAN bus equipment such as light, car door, air suspension, planker are controlled, realized a kind of bus to the control of each parts of car load, thereby greatly reduced the wire harness on the vehicle body.

4, adopt this technological borrowing SAE J1939 to formulate with the pure electric coach car load power system communications protocol specification of AMT and Content of Communication and the form of major critical component, satisfy the requirement of whole electric vehicle control and management, 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 Intelligent Control System of Electrical Vehicle 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 motor coach communication system that is applicable to the communications protocol of pure electric coach that the present invention provides on the basis of SAE J1939.

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 as far as possible in line with international standards, 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 related components relevant control technology.(3) compatibility, the agreement of formulation will be suitable for various vehicles, the various structures form.(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 namely 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 motor 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 electric coach, the ECU of design 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, in order to adjust, terminal resistance is with linking to each other by wire jumper between the grid line, so that flexibly collocation 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 corresponding transfer rate is 250kbit/s, and network length is 40m;

(6) topological structure: the wiring topology of network should be an as far as possible linear structure of compactness.The cable of ECU access bus backbone network is short as far as possible.For standing wave is minimized, node can not be in the access of 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 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) addressing of node rule: 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; New definition address should use 208~231 these sections to belong to the reservation address of road vehicle;

(3) adopt broadcasting and clean culture to engage mode and carry out data transmission, unicast message is mainly used in solving the control problem of identical function node, uses broadcasting packet in 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 take full advantage of the data width of 8 bytes, relevant parameter is placed in same group as far as possible, considers again extendability, reserves a part of byte or position, in order to 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, for the quantity of saving PGN incoherent parameter is not joined among the defined PGN; For the close ECU of function, can in defined PGN, utilize undefined part to increase discrimination bit, judge the function of ECU, take full advantage of original defined parameter.

4, the ECU source address is distributed

Fig. 3 is the ECU nodename that may use of pure electric automobile and the address of distribution.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:

(two byte data low bytes are front, and high byte is rear for the definition of entire car controller #1:PVCU1 parameter group; High-order front in the same byte; Low level is rear; 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 corresponding table of failure code

Annotate: the logical one presentation of events is true; The logical zero presentation of events is false.

As shown in Figure 1, the Intelligent Control System of Electrical Vehicle 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 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, 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, breakking 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: gather the state of car load vehicle body low pressure electricity consumption part (such as car etc.) and to its control.Gather the state of car load vehicle body low pressure electricity consumption part (such as 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 Prospect of EVS Powered with Batteries are processed and are sent to entire car controller by CAN1 and send to instrument by CAN2.

Operator's compartment display system: show status information and the failure message of car load each several part and realize that the back door monitors the automatic switching function of video and back-up video.Receive the information that needs demonstration by 3 road CAN buses, monitor simultaneously the automatic switchover of video according to the information realization that receives, for example do not open at the back door in 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, see if there is the passenger that gets off with sight, and the automatic switchover echo is shown main interface after the time-delay regular hour; Instrument display screen that time of opening at the back door 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 control charge mode according to the state 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 for optimizing message through the wait time of bus transfer.R keeps the position, is kept by SAE, uses in the future.DP represents data page, is used for the difference parameter group, and the parameter group number is at first filled up zero page, and then distributes to first page, all is set to 0 at present.PF Presentation protocol data unit form is 8 potential fields, and it has defined two kinds of protocol data forms: form 1 and form 2 also are used for determining to data fields allocation of parameters group number.PS is the protocol Data Unit characteristic, is 8 potential fields, 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 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 parameters in this agreement, range and side-play amount, the packing of information and unpack all and need to 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 electrokinetic cell monomer data transfer; 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 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, greatly reduced the wire harness on the vehicle body.

The present invention becomes CAN1 into the power control system private bus, so that the CAN1 load factor reduces, reduced the probability that information collision occurs, make may greatly reducing 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, by the CAN bus equipment such as light, car door, air suspension, planker are controlled, greatly reduced the wire harness on the vehicle body.

Below by description of drawings flow process of the present invention:

Fig. 1 is based on the Intelligent Control System of Electrical Vehicle 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 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, 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 from breakking 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.Vehicle body central control module gathers the state of car load vehicle body low pressure electricity consumption part (such as car etc.) and to its control.Gather the state of car load vehicle body low pressure electricity consumption part (such as 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 Prospect of EVS Powered with Batteries are processed and are sent to entire car controller by CAN1 and send to instrument by CAN2.The operator's compartment display system shows status information and the failure message of car load each several part and realizes that the back door monitors the automatic switching function of video and back-up video.Receive the information that needs demonstration by 3 road CAN buses, monitor simultaneously the automatic switchover of video according to the information realization that receives, in the situation about for example 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, see if there is the passenger that gets off with sight, and the automatic switchover echo is shown main interface after the time-delay regular hour; Instrument display screen that time of opening at the back door 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 control charge mode according to the state 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 information reception of car load all parts by CAN1, CAN2, CAN3, then maintenance data fusion treatment algorithm carries out analyzing and processing to information, and according to the result formulation automobile operation control policy at lower 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 basically the same with entire car controller among Fig. 1, the information that only receives 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, receives from bus for the controller that needs.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, when they send information on the CAN bus, above also the ID of oneself being attached to, there is simultaneously a message to check and accept filter 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.

The below is take the flow process of electric machine controller as the example descriptive information:

At first electric machine controller obtains the status information of motor (such as the rotating speed of motor by various sensors, torque etc.), certain position of then status information of motor being write certain data byte according to the mode of communications protocol regulation, then by the CAN controller message (ID+ data byte) is sent on the CAN1 bus, 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 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.Vehicle body central control module 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 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 status information and the failure message of car load each several part, and realize that the back door monitors the automatic switching function of video and back-up video.

Electrobus is in process of charging, the 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, the 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 in minute situation of invention spirit and scope and perfect not breaking away from, therefore minute invention only is subject to the restriction of content and the scope of claim of the present invention, and its intention contains all and is included in alternatives and equivalent in the spirit and scope of the invention that is limited by appendix claim.

Claims (2)

1. pure electric motor 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 electrokinetic cell monomer data transfer;
Described CAN3 bus is low speed CAN bus;
Be arranged on a plurality of Body Control nodes of bus CAN3, be used for realizing information acquisition and the control of vehicle body each several part;
Each described a plurality of controller has an ID, be used for when sending information to the CAN bus, ID together with oneself sends, each described a plurality of controller comprises a message examination filter, is used for receiving the information that oneself needs and shielding own N/R information from the CAN bus;
Wherein, described controller comprises entire car controller, electric machine controller, AMT, ABS, EPS electric boosting steering system, vehicle body central control module, battery management system, operator's compartment display system, battery charger control system, Dispatching Control System;
Described entire car controller is responsible for controlling the co-ordination of each sub-controller of car load;
Described 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;
Described AMT is according to driver's 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, 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;
Described ABS prevents from breakking away when braking automobile, by bus oneself status information is sent to entire car controller and instrument;
Described EPS electric boosting steering system comes for the driver provides power-assisted by motor when driver's veer dish, by bus oneself state is sent to entire car controller and instrument;
Wherein, described entire car controller links to each other with electric machine controller, AMT, ABS, EPS electric power steering by bus CAN1, and entire car controller receives the control information that above-mentioned controller transmits by bus CAN1;
Described vehicle body central control module 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 reception bus CAN3 transmits, and by bus CAN1 and entire car controller transmission vehicle body control information and Body Control order;
Described battery management system is that the data that gather each monomer of Prospect of EVS Powered with Batteries are processed and sent to entire car controller by bus CAN1 and send to instrument by bus CAN2;
Described operator's compartment display system is connected with bus CAN1, bus CAN2 and bus CAN3, and the operator's compartment display system receives the data message that transmits by bus CAN1, CAN2 and CAN3 and shows;
Described 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, and the battery charger control system is transmitted by the charging control information between bus CAN1 and bus CAN2 realization and the entire car controller;
Described 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.
2. communication means based on the pure electric motor coach communication system of 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, the method comprises:
Realize the transmission of the control information of power system by the CAN1 bus;
Realize electrokinetic cell monomer data transfer by the CAN2 bus;
Realize information acquisition and the control of vehicle body each several part by the CAN3 bus;
Each described a plurality of controller has an ID, be used for when sending information to the CAN bus, ID together with oneself sends, each described a plurality of controller comprises a message examination filter, is used for receiving the information that oneself needs and shielding own N/R information from the CAN bus;
Wherein, the id information that comprises in the information of each described a plurality of controller according to transmission receives information and the own N/R information of shielding of own needs from the CAN bus.
Described controller comprises entire car controller, electric machine controller, AMT, ABS, EPS electric boosting steering system, vehicle body central control module, battery management system, operator's compartment display system, battery charger control system, Dispatching Control System;
Described entire car controller is responsible for controlling the co-ordination of each sub-controller of car load;
Described 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;
Described AMT is according to driver's 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, 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;
Described ABS prevents from breakking away when braking automobile, by bus oneself status information is sent to entire car controller and instrument;
Described EPS electric boosting steering system comes for the driver provides power-assisted by motor when driver's veer dish, by bus oneself state is sent to entire car controller and instrument;
Wherein, described entire car controller links to each other with electric machine controller, AMT, ABS, EPS electric power steering by bus CAN1, and entire car controller receives the control information that above-mentioned controller transmits by bus CAN1;
Described vehicle body central control module 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 reception bus CAN3 transmits, and by bus CAN1 and entire car controller transmission vehicle body control information and Body Control order;
Described battery management system is that the data that gather each monomer of Prospect of EVS Powered with Batteries are processed and sent to entire car controller by bus CAN1 and send to instrument by bus CAN2;
Described operator's compartment display system is connected with bus CAN1, bus CAN2 and bus CAN3, and the operator's compartment display system receives the data message that transmits by bus CAN1, CAN2 and CAN3 and shows;
Described 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, and the battery charger control system is transmitted by the charging control information between bus CAN1 and bus CAN2 realization and the entire car controller;
Described 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.
CN 200810085028 2008-03-14 2008-03-14 Pure electric motor coach communication system and method based on three CAN bus CN101417636B (en)

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