CN101456391B - Automobile complete vehicle electronic appliance CANBUS network control method - Google Patents
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Abstract
The invention relates to a finished automobile electron device CANBUS network control method which controls a high speed CAN bus and a plurality of high speed CAN node electronic control units connected to the CAN bus, including the following steps: respectively connecting two tandem terminal resistors in the CAN electronic control units at most two ends of the high speed CAN bus; a system setting an initialization time and temporary leaving bus time of each CAN node electronic control unit; the nodes being divided into main nodes, +30 nodes and +15 nodes, when the +15 nodes are not electrified, the CAN of all the +15 nodes not working, when the +15 nodes are electrified, all +15 nodes being awaken; under the condition that +30 lines are electrified and the +15 lines are not electrified, the main nodes waking up +30 node CAN bus.
Description
Technical field
The present invention relates to the Vehicle Electronic Control field.
Background technology
In recent years; Along with day by day strict emission control standards, safety rate and user pursue automotive safety, comfortable, luxurious, make the increasing of ECU control unit, and ECU increase the increasing of wire harness, reliability that the ECU function realizes or the like a lot of problems of will inevitably bringing; In order to solve this a series of extremely urgent problems; In 1980's Mo, mono-network-bus of German BOSCH company's proposition design, all peripheral components can be articulated on this bus; So the CAN bus just has been born.The CAN bus was formulated the international standard for ISO in 1993, and this also is a unique so far bus that has the ISO international standard.The CAN bus is favored by numerous automakers and customer rapidly with its very high data security and relative less cost, have no to doubt to, CAN bus be doomed to continue and in a very long time by numerous automakers' use.
CAN bus characteristics and application advantage: low cost; Many main serial data communication protocol bus; ID according to message determines to receive or shield this message, realizes various communications flexibly; High total line use ratio; Message does not comprise source address or destination address, only comes deixis information, precedence information with identifier; Traffic rate can reach 1Mbps; The free of losses bus arbitration; Failure-free fault handling and error-detection mechanism, reliability is high, and (suppose that a vehicle of having equipped CAN moves 2000 hours every year, Bus Speed is 500kbps, 25% bus load.In this case, just had in per 1000 an error detection less than); Node withdraws from bus automatically in wrong serious situation.
Each big automaker of the whole world has adopted the part parts in CAN bus or the car to have CAN bus communication function at the automobile (manned vehicle and commercial vehicle/comm..vehicle) of the later stage nineties in last century research and development at present.With the CAN bus is that the automobile-used bussing technique of representative has become each big automaker of the whole world and implements one of strategic important measures of platform strategy and modularization.At this moment, bus for the meaning of global auto-industry considerably beyond saving wire harness and being connected plug-in unit.Bus has become the neural network of modern automobile transmission car load control information.
CAN BUS becomes the integrated gordian technique of automobile electronic system; Between the automobile-used bussing technique importance of auto-industry in modern times that with the CAN bus is representative; Not only each big automaker of the whole world has set up corresponding bus research and development department at present, and has formulated corresponding bus industry standards.As:
General MotorsCompany is the CAN bus standard GMLAN that the said firm has been formulated on the basis with the CAN bus, and
New carBus research and development department just begins to get involved at the beginning of the design.The country of some advanced technology has also set up automobile bus standardization body and has released bus standard.Formulated commercial vehicle/comm..vehicle bus standard J1939 like SAE (SAE) based on the CAN bus.Relevant government department of part country and colleges and universities are also carrying out the bus basic research.Like the United States Federal forms top
Self-propelled vehicleC&S laboratory of safety management office, German applicating technology university etc.Other has some specialized companies also being absorbed in the research and development of total the Line tool, like the famous automobile bus instrument in whole world provider Germany VECTOR company.In addition, also have some parts merchants relevant just to research and develop parts with bus communication function according to the standards and norms of main engine plants with bus.
The CAN bus same industry at home belongs to the starting stage basically; If untimely paces of catching up with world CANBUS development; The development of limit Chinese automobile electronics largely; Also there are some vehicles also to use CAN BUS bussing technique to some extent in the automobile of producing at home at present; As: Ford Carnival, Passat B5, BORA, POLO, FIAT PALIO and SIENA etc., but other high-grade electronic product of CAN BUS and these vehicles is the same, all is directly to introduce the maturation design of coming from its external parent organization.Up to the present the CAN BUS system that goes back the neither one vehicle in China is by the domestic own development and Design of company.
Summary of the invention
The present invention provides a kind of automobile complete vehicle electronic appliance CANBUS network control method, relates to car load network topology structure, network management strategy and network management and ID and distributes.
Said system comprise high-speed CAN bus and with a plurality of high-speed CAN node of CAN bus bonded assembly ECU, it is characterized in that:
Respectively be connected to two series connected terminal resistances in the CAN node ECU at the two ends of high-speed CAN bus;
The initialization time and the bus time away from keyboard of system's each CAN node ECU of control; Node be divided into major joint ,+30 nodes and+15 nodes, the CAN of all+15 nodes does not work when+15 lines power on, after+15 lines powered on, all+15 nodes were waken up; + 30 lines have electricity ,+situation that 15 lines do not power under, major joint can wake up+30 node CAN buses.
Preferably; Said a plurality of high-speed CAN node comprises that engine controller (EMS), gearbox control (TCU), safety air sac controller (ABM), anti-skid brake system (ABS), tire pressure detect controller (TPMS), combination instrument controller (ICM), BCM Body Control Module (FBCM), and they are connected on the high-speed CAN bus separately.
Preferably, said major joint is BCM Body Control Module (FBCM), and+30 nodes are combination instrument controller (ICM).
Preferably, said resistance is 60 ohm, is placed in engine controller (EMS) and the combination instrument controller (ICM).
Preferably, said when BCM Body Control Module (FBCM) receives that incoming signal need wake combination instrument controller (ICM) up, the respective pin that BCM Body Control Module (FBCM) will link to each other with instrument (CAN Wake Up) is arranged to low level.
Preferably, said incoming signal comprises that the car lampet leaves signal, dangerous flash signal, and the modulating signal of overtaking other vehicles, left front door, right front door, the door that breaks away, preceding hatchcover, boot do not close signal.
Preferably, when+30 lines had electricity, if there is not any signal demand notice instrument, after 3 minutes, the respective pin that BCM Body Control Module (FBCM) will link to each other with instrument (CAN Wake Up) was arranged to high level, the instrument sleep.
Preferably; When+30 lines have electricity; If enabling signal is arranged all the time; BCM Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument for low, had no the change of signal in 15 minutes after, BCM Body Control Module (FBCM) can stop to send the CAN data and put respective pin (CAN Wake Up) and is height.
Preferably; When+30 lines have electricity; If little modulating signal, danger signal are arranged all the time; BCM Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument for low, had no the change of signal in 15 minutes after, BCM Body Control Module (FBCM) can not stop to send the CAN data and put respective pin (CAN WakeUp) is low.
Preferably; When+30 lines have electricity; If overtake other vehicles signal all the time; BCM Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument for low, have no the change of signal 3 seconds after, BCM Body Control Module (FBCM) can stop to send the CAN data and put respective pin (CAN Wake Up) and is height.
Preferably, according to factors such as the function of each message on the CAN bus, the real-time of transmitting information, offered loads, message priority is distributed
A kind of automobile complete vehicle electronic appliance CANBUS network control method, control high-speed CAN bus and with a plurality of high-speed CAN node of CAN bus bonded assembly ECU, it is characterized in that comprising following steps:
In the CAN node ECU at the two ends of high-speed CAN bus, respectively be connected to the step of two series connected terminal resistances; System stipulates the initialization time of each CAN node ECU and the step of bus time away from keyboard; Node be divided into major joint ,+30 nodes and+15 nodes, the CAN of all+15 nodes does not work when+15 lines power on, after+15 lines powered on, all+15 nodes were waken up; + 30 lines have electricity ,+situation that 15 lines do not power under, major joint can wake up+30 node CAN buses.
Preferably; Said a plurality of high-speed CAN node comprises that engine controller (EMS), gearbox control (TCU), safety air sac controller (ABM), anti-skid brake system (ABS), tire pressure detect controller (TPMS), combination instrument controller (ICM), BCM Body Control Module (FBCM), and they are connected on the high-speed CAN bus separately.
Preferably, said major joint is BCM Body Control Module (FBCM), and+30 nodes are combination instrument controller (ICM).
Preferably, said resistance is 60 ohm, is placed in engine controller (EMS) and the combination instrument controller (ICM).
Preferably, said when BCM Body Control Module (FBCM) receives that incoming signal need wake combination instrument controller (ICM) up, the respective pin that BCM Body Control Module (FBCM) will link to each other with instrument (CAN Wake Up) is arranged to low level.
Preferably, said incoming signal comprises that the car lampet leaves signal, dangerous flash signal, and the modulating signal of overtaking other vehicles, left front door, right front door, the door that breaks away, preceding hatchcover, boot do not close signal.
Preferably, when+30 lines had electricity, if there is not any signal demand notice instrument, after 3 minutes, the respective pin that BCM Body Control Module (FBCM) will link to each other with instrument (CAN Wake Up) was arranged to high level, the instrument sleep.
Preferably; When+30 lines have electricity; If enabling signal is arranged all the time; BCM Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument for low, had no the change of signal in 15 minutes after, BCM Body Control Module (FBCM) can stop to send the CAN data and put respective pin (CAN Wake Up) and is height.
Preferably; When+30 lines have electricity; If little modulating signal, danger signal are arranged all the time; BCM Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument for low, had no the change of signal in 15 minutes after, BCM Body Control Module (FBCM) can not stop to send the CAN data and put respective pin (CAN WakeUp) is low.
Preferably; When+30 lines have electricity; If overtake other vehicles signal all the time; BCM Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument for low, have no the change of signal 3 seconds after, BCM Body Control Module (FBCM) can stop to send the CAN data and put respective pin (CAN Wake Up) and is height.
Preferably, according to factors such as the function of each message on the CAN bus, the real-time of transmitting information, offered loads, message priority is distributed
The invention has the beneficial effects as follows:
The car load network topological diagram of this patent has very strong expansion and alerting ability, can satisfy the variety of homologous series automobile type configuration, has reduced bus development engineer's work capacity simultaneously, has also avoided the change of each ECU hardware.Network managing mode power-up state conversion with bus is closed and power-up initializing time or the like aspect unified management, assurance reduces the car load quiescent current, and the real-time of car load network and order.The ID allocation scheme of this patent makes the degree of utilization maximization of network, has also guaranteed the high efficiency and the real-time of transmission information, has reduced the offered load rate.
Description of drawings
Fig. 1 is an automobile complete vehicle electronic appliance CANBUS network control system network topological diagram according to the invention.
CANBUS: high-speed CAN bus;
EMS: engine controller;
TCU: gearbox control-choosing dress;
ABM: safety air sac controller;
ABS: anti-skid brake system;
TPMS: tire pressure detects controller;
ICM: combination instrument controller;
FBCM: BCM Body Control Module.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further.
Car load network topology structure (seeing accompanying drawing one)
System comprises that engine controller (EMS), gearbox control (TCU), safety air sac controller (ABM), anti-skid brake system (ABS), tire pressure detect controller (TPMS), combination instrument controller (ICM), BCM Body Control Module (FBCM), and they are connected on the high-speed CAN bus separately.High-speed CAN speed is 500kbit/s, and the terminal matched resistance is placed among EMS and the ICM.
Consider that car load disposes, builds the development tendency of commercial vehicle/comm..vehicle CAN development platform and following CANBUS or the like reason; The application adopts the single-rate network segment one high speed 500kbit/s, and has guaranteed that less than 30% the basic of whole network normally moves according to the emulation monitoring bus load factor before the exploitation.
Can respectively be connected to two series connected terminal resistances of 60 ohm in the ECU at the two ends of high-speed CAN bus,, make bus become one " line segment " to prevent the reflection of the online end data of bus, rather than " straight line ".The cost that falls that the later stage car load possibly occur disposes; Can reduce existing ECU; Must when advanced design, guarantee the expansion and the alerting ability of whole network topology,, guarantee the property continued to use of automatically controlled unit hardware on all buses in order to make the change that the later stage possibly occur easier; Therefore must terminal resistance be arranged in the indispensable ECU of car load, instrument and EFI are optimal selections.
The car load network topological diagram of this patent has very strong expansion and alerting ability, can satisfy the variety of homologous series automobile type configuration, has reduced bus development engineer's work capacity simultaneously, has also avoided the change of each ECU hardware.
Network management strategy
The initialization time of each ECU has been controlled in strictness; To guarantee that each node can begin the running of function normally; Can not have influence on the transmission of its message, need to receive this message to accomplish certain control policy on certain automobile to such an extent as to have influence on because the initialization time of certain node is long.
Each ECU has been controlled in strictness because the time of wrong serious and away from keyboard bus all can normally be moved to guarantee bus each ECU in the most of the time, has guaranteed the correctness of bus.
The application's car load network using single-rate high-speed CAN can adopt pin to wake mode up for single network segment network and realize network management.Waking up here is meant that at+30 lines electricity is arranged, under the situation that+15 lines do not power on major joint right+CAN of 30 nodes wakes up.When+15 power on after network become many major states, do not exist in the case and wake up.
Being initialised to the time that it can send first frame after node powers on just is referred to as the initialization time of node for this reason.The initialization time of each module is as shown in table 1.
Remarks; TBD (To Be Defined)
Table 1
When the CAN node test to the CAN controller during at Bus Off state, the CAN node can network away from keyboard after a period of time, the CAN controller that resets again recovers normal communication.Each ECU Busoff time is as shown in table 2
Table two
Network management strategy is described in detail
1.15 the job description of node
When 15 lines did not power on, the CAN of all 15 nodes did not work, and on network, did not send out message; After 15 lines powered on, all 15 nodes were waken up immediately, and this moment, network became many major states.
2. waking up 30 nodes
At first; Since have only FBCM and ICM can be operated in+30 lines have; Under the situation that+15 lines do not power on, might carry out the CAN communication according to whole vehicle functions FBCM and ICM in this situation, FBCM is as major joint; So waking up here is meant that at+30 lines electricity is arranged, FBCM wakes up the CAN of ICM under the situation that+15 lines do not power on.When+15 power on after, FBCM and ICM carry out the CAN communication all the time, network becomes many major states, does not exist in the case and wakes up.
3.CAN wake up and the state of CAN WAKE UP signal when sleeping
CAN Wake Up is the PIN pin signal of FBCM, is connected with the corresponding PIN pin of instrument, and when instrument need be waken up or sleep, FBCM was changed to corresponding high-low level to this PIN pin CAN Wake Up.
High level: (IGN-2) V～IGNV;
Low level: 0～1.5V.
1. when FBCM need wake ICM up, CAN WAKE UP signal was a low level.
At+30 o'clock, be (when instrument need show) need communicate through CAN and instrument the time when FBCM receives incoming signal and these signals, FBCM can drag down the level of CAN WAKE UP line, wakes instrument up.Concrete signal has: the car lampet leaves signal, dangerous flash signal, the modulating signal of overtaking other vehicles, door (left front door, right front door, door, preceding hatchcover, boot break away) and does not close signal.
2. and when the part that cooks noodle was set up, it was high level that FBCM can put CAN WAKE UP signal, let the instrument sleep.
At+30 o'clock, there is not any signal demand notice instrument (door recited above is opened and modulating signal), promptly its state is initial condition (no lamp is opened and do not had door and open); After 3 seconds; It is high level that FBCM can put CAN WAKE UP, stops to send the CAN data simultaneously, the instrument sleep.
3. at+30 o'clock, when following actual conditions occurred, it was corresponding level that FBCM can put CAN WAKE UP signal, lets instrument get into corresponding state.
A. when having a signal of opening and incoming signal not to change all the time, FBCM can send the CAN data all the time and keep CAN WAKEUP is low, and after 15 minutes (having no the change of signal), FBCM stops to send the CAN data and puts CAN WAKE UP for high.
B. when all the time the lampet signal being arranged, FBCM can send the CAN data all the time and keep CAN WAKE UP is low, and after 15 minutes (having no the change of signal), FBCM can not stop to send the CAN data and remain CAN WAKE UP is low.
C. when overtaking other vehicles modulating signal, FBCM can send the CAN data and keep CAN WAKE UP is low, and after 3 seconds (having no the change of signal), FBCM stops to send the CAN data and puts CAN WAKE UP for high.
D. when dangerous modulating signal all the time, FBCM can send the CAN data all the time and keep CAN WAKE UP is low, and after 15 minutes (having no the change of signal), FBCM can not stop to send the CAN data and remain CAN WAKE UP is low.
Frame ID distributes
The priority that the ID decision message of Frame sends, ID is more little, and priority of messages is high more.Analysis according to factors such as the function of each message of H13, the real-time of transmitting information, offered loads, distribute concrete the distribution as follows (according to priority arranging from high to low) to priority of messages:
Engine torque management dependent event;
Engine speed, water temperature, cruise, discharge indicating fault, ECU indicating fault dependent event;
The brake system dependent event;
The air bag system dependent event;
The Body control module dependent event;
Reverse Sensor module dependent event;
The speed of a motor vehicle, mileage relevant information;
Tire pressure system dependent event;
Engine configurations information;
Diagnostic message;
Version information.
The ID allocation scheme of this patent makes the degree of utilization maximization of network, has also guaranteed the high efficiency and the real-time of transmission information, has reduced the offered load rate.CANBUS communication matrix table is shown in table three.
Table three
Combine accompanying drawing that the present invention has been carried out exemplary description above; Obviously the concrete realization of the present invention does not receive the restriction of aforesaid way; As long as the various improvement of having adopted method design of the present invention and technical scheme to carry out; Or directly apply to other occasion without improvement, all within protection scope of the present invention.
Claims (10)
1. automobile complete vehicle electronic appliance CANBUS network control method, the control high-speed CAN bus and with a plurality of high-speed CAN node of CAN bus bonded assembly ECU, it is characterized in that comprising following steps:
In the CAN node ECU at the two ends of high-speed CAN bus, respectively be connected to the step of two series connected terminal resistances;
System stipulates the initialization time of each CAN node ECU and the step of bus time away from keyboard;
Node be divided into major joint ,+30 nodes and+15 nodes, the CAN of all+15 nodes does not work when+15 lines power on, after+15 lines powered on, all+15 nodes were waken up;
+ 30 lines have electricity ,+situation that 15 lines do not power under, major joint can wake up+30 node CAN buses.
2. automobile complete vehicle electronic appliance CANBUS network control method according to claim 1; It is characterized in that; Said a plurality of high-speed CAN node comprises that engine controller (EMS), gearbox control (TCU), safety air sac controller (ABM), anti-skid brake system (ABS), tire pressure detect controller (TPMS), combination instrument controller (ICM), BCM Body Control Module (FBCM), and they are connected on the high-speed CAN bus separately.
3. automobile complete vehicle electronic appliance CANBUS network control method according to claim 1 is characterized in that, said major joint is BCM Body Control Module (FBCM), and+30 nodes are combination instrument controller (ICM).
4. automobile complete vehicle electronic appliance CANBUS network control method according to claim 3; It is characterized in that; Said when BCM Body Control Module (FBCM) receives that incoming signal need wake combination instrument controller (ICM) up, the respective pin that BCM Body Control Module (FBCM) will link to each other with instrument (CAN Wake Up) is arranged to low level.
5. automobile complete vehicle electronic appliance CANBUS network control method according to claim 4; It is characterized in that said incoming signal comprises that the car lampet leaves signal, dangerous flash signal; The modulating signal of overtaking other vehicles, left front door, right front door, the door that breaks away, preceding hatchcover, boot do not close signal.
6. automobile complete vehicle electronic appliance CANBUS network control method according to claim 3; It is characterized in that; When+30 lines have electricity, if there is not any signal demand notice instrument, after 3 minutes; The respective pin that BCM Body Control Module (FBCM) will link to each other with instrument (CAN Wake Up) is arranged to high level, the instrument sleep.
7. according to the automobile complete vehicle electronic appliance CANBUS network control method of claim 3; It is characterized in that; When+30 lines had electricity, if enabling signal is arranged all the time, BCM Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake up) that keeps linking to each other with instrument is low; After having no the change of signal in 15 minutes, BCM Body Control Module (FBCM) can stop to send the CAN data and put respective pin (CAN Wake up) for high.
8. automobile complete vehicle electronic appliance CANBUS network control method according to claim 3; It is characterized in that; When+30 lines had electricity, if little modulating signal, danger signal are arranged all the time, BCM Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument is low; After having no the change of signal in 15 minutes, BCM Body Control Module (FBCM) can not stop to send the CAN data and put respective pin (CAN Wake Up) for low.
9. automobile complete vehicle electronic appliance CANBUS network control method according to claim 3; It is characterized in that; When+30 lines had electricity, if overtake other vehicles signal all the time, BCM Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument is low; After having no the change of signal 3 seconds, BCM Body Control Module (FBCM) can stop to send the CAN data and put respective pin (CAN Wake Up) for high.
10. automobile complete vehicle electronic appliance CANBUS network control method according to claim 1 is characterized in that, according to factors such as the function of each message on the CAN bus, the real-time of transmitting information, offered loads, message priority is distributed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105599705A (en) * | 2015-12-17 | 2016-05-25 | 北京理工大学 | Non-equivalence type inconstant cycle dynamic regulation networked control device for electric automobile |
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