CN101841452B - Vehicle control local area network (LAN) CAN network - Google Patents
Vehicle control local area network (LAN) CAN network Download PDFInfo
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Abstract
The invention provides a vehicle control local area network (LAN) CAN network which comprises a first CAN network based on ISO 11898 protocol, a second CAN network based on SAE J 1939 protocol, and a gateway connected between the first CAN network and the second CAN network, wherein the gateway is used for transforming massage received from the first CAN network into massage which is in accordance with the SAE J 1939 protocol, and sending the transformed massage into the second CAN network; and the gateway is also used for transforming massage received from the second CAN network into massagewhich is in accordance with the ISO 11898 protocol, and sending the transformed massage into the first CAN network. The vehicle CAN network can realize interconnection among different CAN networks and information sharing and exchange among the different CAN networks, and improves the signal utilization rate.
Description
Technical field
The present invention relates to vehicle control area net (CAN) field.
Background technology
Along with the raising of Cartronic and automaticity, (ECU) is increasing for the electronic control unit on the vehicle.The vehicle network communication protocol that control area net (CAN) network reaches based on CAN has realized the information sharing between different ECU, has improved the utilance of signal, and the CAN network technology is significant for the development of automotive engineering.
Along with the extensive use and the popularization of CAN network, requirement has been proposed for the standardization of its communication format.ISO 11898 agreements are ISO road traffic means of transportation-data information exchange-high-speed communication local area network (LAN) international standards promulgation in 1993.SAE J1939 agreement is heavy goods vehicle and the passenger vehicle network communication protocol that AIAE American institute of automobile engineers (SAE) is formulated on CAN2.0B agreement basis, is one of most widely used application layer protocol in the present automotive electronics network.SAE J1939 agreement is used multiplexing technique to provide as each transducer of vehicle, actuator and controller and is set up the standardization express network and be connected; Realize that between different ECU high-speed data shares, with effective minimizing wire harness quantity and improve flexibility, reliability, the maintenanceability of vehicle electric control system.
The engine management system of present many diesel vehicle vehicles (ECM) is only supported SAE J1939 agreement usually; And many passenger cars main engine plants normally used when the exploitation passenger car be the CAN network of supporting ISO 11898 agreements, for example anti-lock vehicle system (ABS), car body control module (BCM) etc.s are connected in the CAN network of support ISO 11898 agreements usually.Use to support like this SAE J1939 agreement ECM diesel vehicle with the car of supporting ISO 11898 agreements on other system interconnected on existing problems.
Summary of the invention
The present invention is directed to the problems referred to above; A kind of vehicle control local area network (LAN) CAN network has been proposed; This vehicle control local area network (LAN) CAN network can be realized realizing information sharing and exchange based on interconnected with based on the CAN network of SAEJ1939 agreement of the CAN network of ISO 11898 agreements.
Vehicle control local area network (LAN) CAN network provided by the invention comprises: based on a CAN network of ISO 11898 agreements; The 2nd CAN network based on SAE J1939 agreement; And be connected the gateway between a CAN network and the 2nd CAN network; The message that this gateway will be received from a CAN network converts the message that meets SAE J1939 agreement to and sends to the 2nd CAN network, and the message that will be received from the 2nd CAN network converts the message that meets ISO 11898 agreements to and sends to a CAN network.
Vehicle control local area network (LAN) CAN network provided by the invention; Owing to provide and be connected based on a CAN network of ISO11898 agreement with based on the gateway between the 2nd CAN network of SAE J1939 agreement; Can realize interconnected between a CAN network and the 2nd CAN network; Realize information sharing and exchange between the heterogeneous networks, improve the signal utilance.
Description of drawings
Fig. 1 is the sketch map of vehicle control local area network (LAN) CAN network provided by the invention;
Fig. 2 is the topology diagram of vehicle control local area network (LAN) CAN network provided by the invention.
Embodiment
Vehicle control local area network (LAN) CAN network provided by the invention comprises: based on a CAN network of ISO 11898 agreements; The 2nd CAN network based on SAE J1939 agreement; And be connected the gateway between a CAN network and the 2nd CAN network; The message that this gateway will be received from a CAN network converts the message that meets SAE J1939 agreement to and sends to the 2nd CAN network, and the message that will be received from the 2nd CAN network converts the message that meets ISO 11898 agreements to and sends to a CAN network.
ISO 11898 is that communication speed is the CAN high-speed communication standard of 125kbps to 1Mbps.CAN network in the vehicle CAN network provided by the invention can be a 500kbps network of supporting ISO 11898 agreements.The concrete form of the data message unit of ISO 11898 agreements is as shown in table 1.Many ECU that common many passenger car manufacturers produce can support ISO 11898 agreements, and can be connected in this first network.For example, at least one in anti-lock vehicle system (ABS), all-wheel-drive system (AWD), car body control module (BCM), electronic stabilization device (ESP), instrument pack (ICU), anti-theft locking system of engine (IMMO), diagnostic system (OBD II), rotary angle transmitter (SAS), auxiliary guard system (SRS), speed Control unit (TCU), the tire pressure management system (TPMS) can be connected in the CAN network.The 2nd CAN network can be a 250kbps network of supporting SAE J1939 agreement.The concrete form of the data message unit of SAE J1939 agreement is as shown in table 2.Vehicle startup machine management system (EMS) can be connected in the 2nd CAN network.
Table 1
Table 2
Gateway is a kind of equipment that the network that uses different agreement is connected with each other.Carry out data when exchanging at heterogeneous networks, gateway can be repacked and format conversion the message that receives, and satisfying the demand of the different agreement that objective network uses, thereby can solve the message switching problem between the ECU of heterogeneous networks in the automobile.Gateway can comprise single-chip microcomputer and CAN transceiver; The CAN transceiver can receive message from a network a CAN network and the 2nd CAN network (like a CAN network); And be sent to single-chip microcomputer; Single-chip microcomputer converts the message that receives into meet the agreement (like SAEJ1939) that another network in a CAN network and the 2nd CAN network (like the 2nd CAN network) supports message, and the message after will changing is sent to the CAN transceiver to be sent to another network (like the 2nd CAN network) through the CAN transceiver.Wherein single-chip microcomputer can be selected the MC9S12XET256 that has 3 road CAN transmission-receiving functions in Freescale (Freescale) the MC9S12XE series for use; It has all advantages and the effect of 32 performances and 16 MCU, also has low cost, low-power consumption, advantage such as code rate efficiently simultaneously.The CAN transceiver can adopt the TJA 1040 of NXP company; It supports ISO 11898 agreements and SAE J1939 agreement; Transmission rate is up to 1Mbaud; Differential receiver wherein has the common mode range of broad, can anti-electromagnetic interference, and TJA 1040 also has the many advantages such as (connecting 110 nodes at least) of low, the attachable node of electromagnetic radiation.In addition, preferably, said gateway can adopt external power source, and gateway also receives vehicle IGN signal (ignition switch point fire screen signal), and when vehicle was in IGN (ignition switch point fire screen) gear, the IGN signal was produced and be sent to gateway.When receiving the IGN signal, external power source is supplied power to gateway, and gateway can begin to start.
As stated; The CAN transceiver can receive message (being source messages) from the network (being source network) a CAN network and the 2nd CAN network; And be sent to single-chip microcomputer; Single-chip microcomputer converts the message that receives into meet the agreement that another network (being objective network) is supported in a CAN network and the 2nd CAN network message (being object message), and the message after will changing is sent to the CAN transceiver to be sent to another network (being objective network) through the CAN transceiver.Concrete work-based logic is following: in the gateway initialization procedure, said single-chip microcomputer can be filled the data fields in the message (being object message) of the agreement that meets another network support in a CAN network and the 2nd CAN network with first default value; In the said gateway course of work; If the network of said CAN transceiver from a CAN network and the 2nd CAN network receives message (being source messages) and is sent to said single-chip microcomputer; Then said single-chip microcomputer extracts data from the data fields of the message that receives, and the data of being extracted is filled into the data fields in the message (being object message) of the agreement that meets another network support in a CAN network and the 2nd CAN network; If said CAN transceiver does not receive message and is sent to single-chip microcomputer in the threshold value at the fixed time; Then said single-chip microcomputer adopts the data in the data fields in the message that received last time to fill the data fields in the message (being object message) of the agreement that meets another network support in a CAN network and the 2nd CAN network; If said CAN transceiver surpasses scheduled time threshold value and still do not receive message and be sent to single-chip microcomputer, then said single-chip microcomputer meets the data fields in the message (being object message) of agreement of another network support in a CAN network and the 2nd CAN network with the filling of second default value.Wherein said scheduled time threshold value can be the twice to five in message cycle times; The said first default value indication network is just in initialization, and said second default value indication receives the message failure.Object message after said single-chip microcomputer will be filled is sent to the CAN transceiver, and is sent to objective network by the CAN transceiver.To after conversion, be delivered to the 2nd CAN network from the message of a CAN network, perhaps will after conversion, be delivered to a CAN network, all can take above-mentioned work-based logic from the message of the 2nd CAN network.Thus, adopt vehicle CAN network provided by the invention, can realize the communication between a CAN network and the 2nd CAN network.
Use vehicle CAN network provided by the invention, can CAN network that support different agreement be carried out interconnected, realize between the different CAN networks the information transmission with share.Current; The ECU system of many automobile vendors exploitation only supports ISO 11898 agreements; And the engine management system of many diesel vehicle vehicles (ECM) is only supported SAE J1939 agreement usually; Thus, vehicle CAN network provided by the invention only supports usually that for engine management system the development of technology of diesel vehicle of SAE J1939 agreement is significant.
Claims (7)
1. vehicle control local area network (LAN) CAN network, this CAN network comprises:
CAN network based on ISO 11898 agreements;
The 2nd CAN network based on SAE J1939 agreement; And
Be connected the gateway between a CAN network and the 2nd CAN network; The message that this gateway will be received from a CAN network converts the message that meets SAE J1939 agreement to and sends to the 2nd CAN network, and the message that will be received from the 2nd CAN network converts the message that meets ISO 11898 agreements to and sends to a CAN network;
Wherein, Said gateway comprises single-chip microcomputer and CAN transceiver; The network of said CAN transceiver from a CAN network and the 2nd CAN network receives message; And being sent to single-chip microcomputer, said single-chip microcomputer converts the message that receives the message of the agreement that meets another network support in a CAN network and the 2nd CAN network into, and the message after will changing is sent to another network in a CAN network and the 2nd CAN network through the CAN transceiver;
Wherein, In the said gateway course of work; If the network of said CAN transceiver from a CAN network and the 2nd CAN network receives message and is sent to said single-chip microcomputer; Then said single-chip microcomputer extracts data from the data fields of the message that receives, and the data of being extracted is filled into the data fields in the message of the agreement that meets another network support in a CAN network and the 2nd CAN network.
2. CAN network according to claim 1; Wherein, at least one in anti-lock vehicle system, all-wheel-drive system, car body control module, electronic stabilization device, instrument pack, anti-theft locking system of engine, diagnostic system, rotary angle transmitter, auxiliary guard system, speed Control unit, the tire pressure management system is connected in the CAN network.
3. CAN network according to claim 1, wherein, the vehicle startup machine management system is connected in the 2nd CAN network.
4. CAN network according to claim 1, wherein, in said gateway initialization procedure, said single-chip microcomputer is filled the data fields in the message of the agreement meet another network support in a CAN network and the 2nd CAN network with first default value; If said CAN transceiver does not receive message and is sent to single-chip microcomputer in the threshold value at the fixed time; Then said single-chip microcomputer adopts the data in the data fields in the message that received last time to fill the data fields in the message of the agreement that meets another network support in a CAN network and the 2nd CAN network; If said CAN transceiver surpasses scheduled time threshold value and still do not receive message and be sent to single-chip microcomputer, then said single-chip microcomputer meets the data fields in the message of agreement of another network support in a CAN network and the 2nd CAN network with the filling of second default value;
Wherein, the said first default value indication network is just in initialization, and said second default value indication receives the message failure.
5. CAN network according to claim 4, wherein, the twice to five that said scheduled time threshold value is the message cycle times.
6. CAN network according to claim 1, wherein, a said CAN network is that traffic rate is the network of 500kbps, said the 2nd CAN network is that traffic rate is the network of 250kbps.
7. according to the described CAN network of arbitrary claim among the claim 1-6, wherein, said gateway receives igniting switch ignition shelves signal, and when receiving ignition switch point fire screen signal, said gateway begins to start.
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| JP5716683B2 (en) * | 2012-01-16 | 2015-05-13 | 株式会社デンソー | In-vehicle gateway device, in-vehicle communication system, and program |
| CN102710479B (en) * | 2012-06-14 | 2014-03-12 | 北京理工大学 | Automobile gateway system for inverse resolution of communication protocols |
| CN104639582B (en) * | 2013-11-11 | 2018-02-23 | 广州汽车集团股份有限公司 | Method for the gateway and the forwarding of vehicle network signal of the forwarding of vehicle network signal |
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| US10958680B2 (en) * | 2017-03-08 | 2021-03-23 | Robert Bosch Gmbh | Method to mitigate voltage based attacks on key agreement over controller area network (CAN) |
| CN106878112B (en) * | 2017-03-20 | 2019-12-13 | 北京汽车研究总院有限公司 | Gateway controller, data transmission method and device |
| CN108322900A (en) * | 2018-01-24 | 2018-07-24 | 杭州砺玛物联网科技有限公司 | A kind of engineering truck data transmission method and system based on 4G networks |
| CN108551475A (en) * | 2018-03-26 | 2018-09-18 | 深圳市沃特沃德股份有限公司 | Data transmission method and device |
| CN109327371A (en) * | 2018-12-07 | 2019-02-12 | 上海星融汽车科技有限公司 | Non-original factory urea pump adaptive device |
| CN109660436B (en) * | 2018-12-18 | 2021-08-06 | 广州亚美信息科技有限公司 | Dual-CAN channel data processing method, gateway equipment and system |
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| CN110939343A (en) * | 2019-12-13 | 2020-03-31 | 深圳南方德尔汽车电子有限公司 | Anti-pinch control device of electric vehicle window |
| CN114650194B (en) * | 2022-03-29 | 2024-05-10 | 深圳市元征科技股份有限公司 | Data communication method, device, electronic equipment and storage medium |
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