CN102340432A - Identifier allocation strategy for vehicle-mounted CAN (Controller Area Network) bus - Google Patents
Identifier allocation strategy for vehicle-mounted CAN (Controller Area Network) bus Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses an identifier allocation strategy for a vehicle-mounted CAN (Controller Area Network) bus, aiming at overcoming the defects of bad universality and expansibility, low production efficiency and the like of the traditional vehicle-mounted CAN bus system. The technical scheme of the identifier allocation strategy has the key points that in the identifier allocation strategy for the vehicle-mounted CAN bus, identifiers with standard formats of the CAN bus are divided into classes (ClassID) of massage sending periods, electrical control unit addresses (ECUAddress) of a vehicle-mounted electronic system, massage signal routing indicators (RoutingIndicator), ECU massage indexes (ECUFrameIndex) of the vehicle-mounted electronic system and the like according to an allocation strategy of sectional management. Sectional management is performed on the identifiers with standard formats of the CAN bus, so that the CAN bus system has better universality and expansibility, the production efficiency is improved, and the production cost is reduced.
Description
Technical field
The present invention relates to the auto manufacturing technology association area, in particular, the present invention relates to a kind of distribution method of the vehicle-mounted CAN bus standard format identifier that vehicle-mounted CAN bus standard format identifier is effectively managed.
Background technology
(the Controller Area Network of controller local area network; Be called for short the CAN bus) be that BOSCH company is that modern industry is used a kind of many main frames local area network (LAN) of releasing; Belonging to the fieldbus category, is the serial communication network of distributed control of a kind of effective support or real-time control.Because its remarkable properties now has been widely used in numerous industries such as industrial automation, various control equipment, the vehicles, Medical Instruments and building, environment control.The CAN bus is a kind of many host buses, and communication media can be twisted-pair feeder, coaxial cable or optical fiber.Traffic rate can reach 1MBPS.The integrated physical layer and the data link layer functions of CAN agreement in the CAN bus communication interface can be accomplished the framing of communication data is handled, and comprises that position fillings, data block coding, cyclic redundancy check, priority level differentiation etc. work.
Maximum characteristics of CAN agreement are to have abolished traditional station address coding; And replace communicating data block is encoded; The advantage that adopts this method is to make the node number in the network unrestricted in theory, and the identifier of data block is divided into two kinds of reference format and extended formats, and the reference format identifier is made up of 11 bits; The extended format identifier is made up of 29 bits, therefore can define 2
11Or 2
29Individual different data block.This mode by digital coding also can make different nodes receive identical data simultaneously, and this point is very useful in dcs.Data segment, length is at most 8 bytes, can satisfy the general requirement of control command, operating state and test data in the common industrial circle, and simultaneously, it is long that 8 bytes can not take bus time, thereby has guaranteed the real-time of communication.The CAN agreement adopts CRC (CRC) and the corresponding error processing capacity can be provided, and has guaranteed reliability of data communication.In addition; The CAN bus has adopted many main frames competitive mode bus structures; Have the operation of many main websites and disperse the universal serial bus of arbitration and the characteristics of broadcast communication; On the CAN bus arbitrary node can be at any time on one's own initiative on network other node send information and be regardless of primary and secondary, therefore can between each node, realize free communication.The remarkable characteristic of CAN bus, high reliability and unique design more and more receive the attention of industrial quarters, and have been acknowledged as one of the most promising fieldbus.The CAN bus protocol is by International Standards Organization's authentication, technological comparative maturity, and control chip is commercialization, and cost performance is high, is specially adapted to the communication between the distributed measurement and control system.
Communication data in the CAN bus network is formed transmission unit with specific form, is called message, and message is divided into four kinds of set forms such as Frame, remote frame, erroneous frame and overload frame.Wherein, Frame and remote frame and application layer close relation are main communication messages.
Frame and remote frame are all used identifier, the sign that identifier is unique message carry the implication of data, and defined the message priority, be used for bus contention as the main composition composition of arbitration.As long as bus is idle, any node can begin to send message, if the node more than 2 or 2 begins to transmit message simultaneously, so just has bus access conflict.Position arbitration through using identifier can solve this conflict, and a position arbitration mechanism guarantees that information and time all can not lose, during the arbitration; The controller of each node all can compare the level of transmission position and monitored bus level, if level is identical, then continues to send next bit; If what send is a recessive level and the bus level monitored is the dominance level; So, this node just loses arbitration, must withdraw from transmit status.Therefore the coding structure of identifier is great for performance index influences such as the real-time of application system, reliabilities.
High speed development along with automotive electronics; The control of automobile becomes increasingly complex; Control intellectuality and network communication become the development trend of automotive electronics, and wherein the CAN bussing technique is generalizable on automobile, and the starting stage that is distributed in system design of its identifier will design.The present general distribution method of identifier neither one of CAN bus in the automobile production, thus cause the versatility of CAN bus system and autgmentability poor, and production efficiency is low.
Summary of the invention
It is poor that the present invention mainly solves the versatility and the autgmentability of existing vehicle-mounted CAN bus system, the technical problem that production efficiency is low; A kind of distribution method of the reference format identifier being carried out the vehicle-mounted CAN bus standard format identifier of sectional management is provided.
For realizing above-mentioned purpose; The present invention adopts following technical scheme: a kind of distribution method of vehicle-mounted CAN bus standard format identifier, the reference format identifier of CAN bus is divided into classification Class ID, in-vehicle electronic system ECU address ECU Address, the signal Route Distinguisher position Routing Indicator of message and four parts such as message index ECU Frame Index of in-vehicle electronic system ECU that message sends the cycle by the distribution method of sectional management.The reference format identifier of CAN bus is divided into four parts, and each part defines separately according to actual conditions, thereby makes the CAN bus system have better generality and autgmentability.
As preferably; The Bit 10 of the reference format identifier of said CAN bus, Bit 9 totally 2 be defined as Class ID; Bit 8 to Bit 5 totally 4 be defined as ECU Address, 4 of Bit are defined as Routing Indicator, Bit 3 to Bit 0 totally 4 be defined as ECU Frame Index.The figure place of four parts is divided as required, begins from highest order, and Bit 10,9 two of Bit are distributed to Class ID; Distribute to ECU Address for ensuing four, 4 of Bit are defined as Routing Indicator, distribute to ECU Frame Index for remaining minimum four.The position arbitration of reference format identifier is arbitrated from highest order Bit 10 beginnings successively, and numerical value is more little, and priority level is high more.
As preferably, the Class ID of reference format identifier is divided into 4 priority levels, according to the different importance and the urgency of message, for the Class ID of the reference format identifier of this message distributes a priority level.Class ID divides according to the different importance and the urgency of message; Being divided into is four classifications: Class 0～Class 3; Class 0 corresponding binary value is 00; Class 1 corresponding binary value is 01, and Class 2 corresponding binary values are 10, and Class 3 corresponding binary values are 11; It is the shortest that the message of Class 0 sends the cycle, and it is the longest that the message of Class 3 sends the cycle.
As preferably; The ECU Address of reference format identifier is divided into 16 priority levels; According to the safety and the power requirement of the in-vehicle electronic system that links to each other with said CAN bus, the ECU of each in-vehicle electronic system distributes unique, a fixing ECU Address.The safety of in-vehicle electronic system and power require high more; The value of the ECU Address that its ECU is distributed is more little; The Bit 8 to Bit 5 of reference format identifier totally 4 be defined as ECU Address; Can all distribute unique, a fixing ECU Address for the ECU of each in-vehicle electronic system for 16 in-vehicle electronic systems distribute ECU Address at most, unappropriated ECU Address be as reserving extended address; Distribute to the in-vehicle electronic system that increases newly, improve the autgmentability of CAN bus system.
As preferably, the Routing Indicator of reference format identifier is divided into 2 priority levels, whether directly carries out the signal route through gateway according to message, for the Routing Indicator of the reference format identifier of this message distributes a priority level.The message that directly carries out the signal route through gateway has higher priority level, then to Routing Indicator position 0, otherwise Routing Indicator position 1.
As preferably; The ECU Frame Index of reference format identifier is divided into 16 priority levels; The different importance and the urgency of the message that sends according to same in-vehicle electronic system ECU are for the ECU Frame Index of the reference format identifier of this message distributes a priority level.ECU Frame Index is the message index of in-vehicle electronic system ECU; The different importance and the urgency of the message that sends according to same in-vehicle electronic system ECU; For carrying out priority level, distributes message; Distribute to ECU Frame Index, can distribute 16 priority levels for minimum four of the reference format identifier.
As preferably, the in-vehicle electronic system that links to each other with said CAN bus has air bag system, braking system, engine system, automatic gear-box system, instrument display system, burglary-resisting system, car body controller and air-conditioner controller.When designs C AN bus standard format identifier; By safety and power requirement; All distribute unique, a fixing ECU Address for each in-vehicle electronic system, the CAN bus system that designs by this method is applicable to different automobile types, has good versatility.
Beneficial effect of the present invention: the reference format identifier to the CAN bus carries out sectional management, makes the CAN bus system have better generality and autgmentability, enhances productivity, and reduces production costs.
Embodiment
Through embodiment, technical scheme of the present invention is done further to describe below.
Embodiment: the distribution method of the vehicle-mounted CAN bus standard format identifier of present embodiment is that the reference format identifier to the CAN bus carries out sectional management; The reference format identifier is divided into classification Class ID, in-vehicle electronic system ECU address ECU Address, the signal Route Distinguisher position Routing Indicator of message and four parts such as message index ECU Frame Index of in-vehicle electronic system ECU that message sends the cycle; As shown in table 1; The Bit 10 of reference format identifier, Bit 9 totally 2 be defined as Class ID; Bit 8 to Bit 5 totally 4 be defined as ECU Address; 4 of Bit are defined as Routing Indicator, Bit 3 to Bit 0 totally 4 be defined as ECU Frame Index.
Table 1
In the present embodiment; Class ID divides according to the different importance and the urgency of message, is divided into to be four classifications: Class 0～Class 3, and is as shown in table 2; Class 0 corresponding binary value is 00; Class 1 corresponding binary value is 01, and Class 2 corresponding binary values are 10, and Class 3 corresponding binary values are 11; It is the shortest that the message of Class 0 sends the cycle, and it is the longest that the message of Class 3 sends the cycle.
Table 2
In the present embodiment, the in-vehicle electronic system that links to each other with the CAN bus has air bag system, braking system, engine system, automatic gear-box system, instrument display system, burglary-resisting system, car body controller and air-conditioner controller etc.Safety and power requirement according to in-vehicle electronic system; All distribute unique, a fixing ECU Address for each in-vehicle electronic system; As shown in table 3, unappropriated ECU Address distributes to the in-vehicle electronic system that increases newly in the future as reserving extended address.
Table 3
In the present embodiment; ECU Frame Index is the message index of in-vehicle electronic system ECU; The different importance and the urgency of the message that sends according to same in-vehicle electronic system ECU; Distribute for message carries out priority level, distribute to ECU Frame Index, can distribute 16 priority levels for minimum four of the reference format identifier.
In the present embodiment; Reference format identifier through to the CAN bus carries out sectional management, makes the CAN bus system have better generality and autgmentability, enhances productivity; Reduce production costs; Its implementation procedure is following: when the reference format identifier of designs C AN bus system, all present in-vehicle electronic systems are all distributed unique, a fixing ECU Address, thereby make this CAN bus system go for various vehicles; When needs increase new in-vehicle electronic system, unappropriated ECU Address is reserved extended address distribute to the in-vehicle electronic system that increases newly, thereby make this CAN bus system have better expansibility.
Above the preferred embodiments of the present invention are described; But the present invention is not limited to above-mentioned embodiment, and above-mentioned embodiment only is schematically, rather than restrictive; Those skilled in the art are under enlightenment of the present invention; Under the situation that does not break away from the scope that aim of the present invention and claim protect, can also make a lot of forms, these all belong within protection scope of the present invention.The all available prior art of each part not clear and definite in the present embodiment realizes.
Claims (7)
1. the distribution method of a vehicle-mounted CAN bus standard format identifier; It is characterized in that the reference format identifier of CAN bus is divided into classification Class ID, in-vehicle electronic system ECU address ECU Address, the signal Route Distinguisher position Routing Indicator of message and four parts such as message index ECU Frame Index of in-vehicle electronic system ECU that message sends the cycle by the distribution method of sectional management.
2. the distribution method of a kind of vehicle-mounted CAN bus standard format identifier according to claim 1; It is characterized in that; The Bit 10 of the reference format identifier of said CAN bus, Bit 9 totally 2 be defined as Class ID; Bit 8 to Bit 5 totally 4 be defined as ECU Address, 4 of Bit are defined as Routing Indicator, Bit 3 to Bit 0 totally 4 be defined as ECU Frame Index.
3. the distribution method of a kind of vehicle-mounted CAN bus standard format identifier according to claim 2; It is characterized in that; The Class ID of reference format identifier is divided into 4 priority levels; According to the different importance and the urgency of message, for the Class ID of the reference format identifier of this message distributes a priority level.
4. the distribution method of a kind of vehicle-mounted CAN bus standard format identifier according to claim 2; It is characterized in that; The ECU Address of reference format identifier is divided into 16 priority levels; According to the safety and the power requirement of the in-vehicle electronic system that links to each other with said CAN bus, the ECU of each in-vehicle electronic system distributes unique, a fixing ECU Address.
5. the distribution method of a kind of vehicle-mounted CAN bus standard format identifier according to claim 2; It is characterized in that; The Routing Indicator of reference format identifier is divided into 2 priority levels; Whether directly carry out the signal route according to message, for the Routing Indicator of the reference format identifier of this message distributes a priority level through gateway.
6. the distribution method of a kind of vehicle-mounted CAN bus standard format identifier according to claim 2; It is characterized in that; The ECU Frame Index of reference format identifier is divided into 16 priority levels; The different importance and the urgency of the message that sends according to same in-vehicle electronic system ECU are for the ECU Frame Index of the reference format identifier of this message distributes a priority level.
7. the distribution method of a kind of vehicle-mounted CAN bus standard format identifier according to claim 4; It is characterized in that the in-vehicle electronic system that links to each other with said CAN bus has air bag system, braking system, engine system, automatic gear-box system, instrument display system, burglary-resisting system, car body controller and air-conditioner controller.
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102882753A (en) * | 2012-06-15 | 2013-01-16 | 浙江吉利汽车研究院有限公司杭州分公司 | Controller area network (CAN) message long delay processing method |
| CN103095566A (en) * | 2013-02-20 | 2013-05-08 | 北京经纬恒润科技有限公司 | Message sending method |
| CN103841212A (en) * | 2014-03-25 | 2014-06-04 | 武汉理工大学 | Vehicle signal encapsulation method for automobile CAN bandwidth consumption optimization |
| CN104660500A (en) * | 2015-03-13 | 2015-05-27 | 北京经纬恒润科技有限公司 | Signal processing method and device |
| CN104898500A (en) * | 2015-04-25 | 2015-09-09 | 航天科技控股集团股份有限公司 | Address distribution method and device of vehicle body control modules |
| CN106559431A (en) * | 2016-12-02 | 2017-04-05 | 北京奇虎科技有限公司 | A kind of visual analysis method and device for automotive safety detection |
| CN108153562A (en) * | 2017-12-26 | 2018-06-12 | 浙江中科正方电子技术有限公司 | A kind of new-energy automobile ECU teleprograms more new management system and method |
| CN108810102A (en) * | 2018-05-23 | 2018-11-13 | 邓晓燕 | A kind of application layer distribution method divided using two CAN identifiers |
| CN110959274A (en) * | 2017-07-20 | 2020-04-03 | 华为国际有限公司 | System and method for managing safety communication between modules in controller local area network |
| CN111464414A (en) * | 2014-07-10 | 2020-07-28 | 松下电器（美国）知识产权公司 | Vehicle-mounted network system, electronic control unit, receiving method, and transmitting method |
| CN112165420A (en) * | 2020-08-27 | 2021-01-01 | 深圳市优必选科技股份有限公司 | Message processing method, message processing device, robot system and CAN (controller area network) equipment |
| CN112737908A (en) * | 2020-12-28 | 2021-04-30 | 重庆金康新能源汽车有限公司 | ID and signal distribution method based on CAN bus |
| CN113328919A (en) * | 2021-05-28 | 2021-08-31 | 江苏徐工工程机械研究院有限公司 | CAN bus identifier, communication method and communication system |
| CN114726675A (en) * | 2022-04-09 | 2022-07-08 | 温州大学乐清工业研究院 | 485 communication network and intelligent lighting system based on area detects conflict |
| CN115842806A (en) * | 2023-02-23 | 2023-03-24 | 深圳市云天数字能源有限公司 | Method and related device for bus to distribute node address |
| CN115941651A (en) * | 2022-11-30 | 2023-04-07 | 东风汽车集团股份有限公司 | Communication ID distribution model and method |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102882753A (en) * | 2012-06-15 | 2013-01-16 | 浙江吉利汽车研究院有限公司杭州分公司 | Controller area network (CAN) message long delay processing method |
| CN103095566A (en) * | 2013-02-20 | 2013-05-08 | 北京经纬恒润科技有限公司 | Message sending method |
| CN103841212A (en) * | 2014-03-25 | 2014-06-04 | 武汉理工大学 | Vehicle signal encapsulation method for automobile CAN bandwidth consumption optimization |
| CN103841212B (en) * | 2014-03-25 | 2017-01-11 | 武汉理工大学 | Vehicle signal encapsulation method for automobile CAN bandwidth consumption optimization |
| CN111464414A (en) * | 2014-07-10 | 2020-07-28 | 松下电器（美国）知识产权公司 | Vehicle-mounted network system, electronic control unit, receiving method, and transmitting method |
| CN104660500A (en) * | 2015-03-13 | 2015-05-27 | 北京经纬恒润科技有限公司 | Signal processing method and device |
| CN104660500B (en) * | 2015-03-13 | 2018-04-20 | 北京经纬恒润科技有限公司 | A kind of signal processing method and device |
| CN104898500A (en) * | 2015-04-25 | 2015-09-09 | 航天科技控股集团股份有限公司 | Address distribution method and device of vehicle body control modules |
| CN104898500B (en) * | 2015-04-25 | 2017-07-07 | 航天科技控股集团股份有限公司 | Car body control module address distribution method and device |
| CN106559431A (en) * | 2016-12-02 | 2017-04-05 | 北京奇虎科技有限公司 | A kind of visual analysis method and device for automotive safety detection |
| US11252134B2 (en) | 2017-07-20 | 2022-02-15 | Huawei International Pte. Ltd. | System and method for managing secure communications between modules in a controller area network |
| CN110959274A (en) * | 2017-07-20 | 2020-04-03 | 华为国际有限公司 | System and method for managing safety communication between modules in controller local area network |
| CN110959274B (en) * | 2017-07-20 | 2021-10-15 | 华为国际有限公司 | System and method for managing safety communication between modules in controller local area network |
| CN108153562A (en) * | 2017-12-26 | 2018-06-12 | 浙江中科正方电子技术有限公司 | A kind of new-energy automobile ECU teleprograms more new management system and method |
| CN108153562B (en) * | 2017-12-26 | 2021-03-02 | 浙江中科正方电子技术有限公司 | System and method for remote program update management of ECU of new energy automobile |
| CN108810102A (en) * | 2018-05-23 | 2018-11-13 | 邓晓燕 | A kind of application layer distribution method divided using two CAN identifiers |
| CN112165420A (en) * | 2020-08-27 | 2021-01-01 | 深圳市优必选科技股份有限公司 | Message processing method, message processing device, robot system and CAN (controller area network) equipment |
| CN112737908A (en) * | 2020-12-28 | 2021-04-30 | 重庆金康新能源汽车有限公司 | ID and signal distribution method based on CAN bus |
| CN113328919A (en) * | 2021-05-28 | 2021-08-31 | 江苏徐工工程机械研究院有限公司 | CAN bus identifier, communication method and communication system |
| CN113328919B (en) * | 2021-05-28 | 2023-10-10 | 江苏徐工工程机械研究院有限公司 | CAN bus identifier, communication method and communication system |
| CN114726675A (en) * | 2022-04-09 | 2022-07-08 | 温州大学乐清工业研究院 | 485 communication network and intelligent lighting system based on area detects conflict |
| CN115941651A (en) * | 2022-11-30 | 2023-04-07 | 东风汽车集团股份有限公司 | Communication ID distribution model and method |
| CN115842806A (en) * | 2023-02-23 | 2023-03-24 | 深圳市云天数字能源有限公司 | Method and related device for bus to distribute node address |
| CN115842806B (en) * | 2023-02-23 | 2023-04-25 | 深圳市云天数字能源有限公司 | Method for distributing node address by bus and related device |
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