CN102346472A - CAN (Controller Area Network) and LIN (Local Interconnect Network) bus network based vehicle control system - Google Patents
CAN (Controller Area Network) and LIN (Local Interconnect Network) bus network based vehicle control system Download PDFInfo
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Abstract
The invention discloses a CAN (Controller Area Network) and LIN (Local Interconnect Network) bus network based vehicle control system which comprises a local area network connecting all electric control units in the vehicle control system, wherein all the electric control units communicate with one another through the local area network. The local area network comprises a power high-speed CAN, a vehicle body high-speed CAN, a first LIN and a second LIN. In the invention, A double-high-speed CAN and two-LIN topological structure is adopted, and reasonable nodes with terminal resistors are used, therefore the expansibility of the whole network is strengthened; timeliness of the network is improved through the definition of ID, cycle and the like; the wakeup from sleep of the whole network is ensured through the application of complicated network management, therefore the effect of coordinative and orderly network operation can be achieved.
Description
Technical field
The present invention relates to automotive telematics control field, particularly a kind of automotive control system, this control system couples together through the Web vehicle each several part based on CAN bus and LIN bus unifies control.
Background technology
At present, the control system of automobile comprises body control system BCM, gearbox control system TCM etc., is connected through CAN bus or LIN bus network between each control system and Be Controlled object and each control system itself.
CAN (Controller Area Network) bus is a controller local area network; Be by German Bosch company early 1980s (nineteen eighty-three) for the auto industry exploitation and through ISO certification and standardized a kind of serial data communications busses; The distributed control of a kind of especially effective support or the real-time string property communication network of control belong to the category of fieldbus.In 1980's Mo, single 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.This also is a unique so far bus that has the ISO international standard.
Over past ten years,, carry out message exchange between Different control unit and the sensor and be absolutely necessary in order further to improve the performance of automobile.Originally, adopt a kind of discrete type of attachment such as point-to-point connection between the different control units usually.Afterwards, the demand of message exchange constantly increased, and the scope of message exchange is also more and more wider, and the connection between each electronic unit possibly need several kilometers grid line and considerable connector, and according to statistics, this numeral approximately increased by 1 times in per 10 years.Caused a series of problem thus, such as the reduction of the increase of the increase of Material Cost, complete vehicle weight, the prolongation of production time, reliability, and problem such as contradiction mutually between the limited free space of thick wire harness and automobile.In order to solve this numerous problem; The CAN bus is arisen at the historic moment; The data security that the CAN bus is very high is favored by numerous automakers and consumer rapidly with relative less cost, and undoubtedly, the CAN bus is doomed to continue and is used by numerous automakers in a very long time.
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; Reliable fault processing and error-detection mechanism, reliability is high; Node withdraws from bus automatically in wrong serious situation; The application of CAN bussing technique on automobile has following advantage: information sharing, minimizing wire harness, related control.
The CAN bus has been widely used in numerous areas such as automobile electric control system, industry spot robotization control abroad, and in 1992, Benz Co. at first used the CAN technology on their sedan limousine.This is the first practical application of CAN technology in vehicle netbios.Subsequently, adopt the auto maker of CAN bus standard more and more, masses, BMW, Porsche etc. are wherein arranged.In addition, the automobile of Japan, Korea S also gradually adopts the CAN bus.And external automobile CAN-bus technology is quite ripe now owing to reasons such as starting to walk early, have high input.
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 formulated corresponding bus company standard, but the CAN bus at home the same industry belong to the starting stage basically.
In addition, LIN (Local Interconnect Network) bus is a kind of distributed serial communication bus LAN (Local Area Network).
The employed network of control system on the present automobile is made to measure owing to being directed against automobile itself, so expansion is not strong, if this configuration of automobiles is changed, must make amendment to the network structure of control system.
Summary of the invention
It is strong to the purpose of this invention is to provide a kind of expansion, the automotive control system of the network communication of the orderly CAN of communication promptness height and network work, LIN bus.
The present invention for realizing the technical scheme that its purpose adopts is: a kind of automotive control system based on CAN and LIN bus network; Comprise the LAN that connects each ECU (Electrical Control Unit) in the automotive control system; Each ECU (Electrical Control Unit) communicates through described LAN, and described LAN comprises power high-speed CAN, vehicle body high-speed CAN, a LIN and the 2nd LIN;
The node of described power high-speed CAN is the ECU (Electrical Control Unit) in the power system; The node of described vehicle body high-speed CAN is the ECU (Electrical Control Unit) of bodywork system; The node of a described LIN is the ECU (Electrical Control Unit) node of 30LIN, and described the 2nd LIN node belongs to the ECU (Electrical Control Unit) node of 15LIN;
The Common Gateway of described power high-speed CAN, vehicle body high-speed CAN, a LIN and the 2nd LIN is a body control system.
Further; In above-mentioned a kind of automotive control system: the main terminal resistance that the reflection that prevents the online end signal of bus is set respectively in the ECU (Electrical Control Unit) at the two ends of described power high-speed CAN bus, the main terminal resistance that the reflection that prevents the online end signal of bus is set respectively in the ECU (Electrical Control Unit) at the two ends of described vehicle body high-speed CAN bus based on CAN and LIN bus network.
Further; In above-mentioned a kind of automotive control system based on CAN and LIN bus network: the ECU (Electrical Control Unit) at the two ends of described power high-speed CAN bus is respectively engine control system and car body controller, and the ECU (Electrical Control Unit) at the two ends of described vehicle body high-speed CAN bus is respectively instrument controller and car body controller.
Further, in above-mentioned a kind of automotive control system based on CAN and LIN bus network: the initialization time of the ECU (Electrical Control Unit) of each node was less than 1.1 seconds in the described LAN.
Further, in above-mentioned a kind of automotive control system: be connected gearbox control system, electronic power assist steering, Electronic Stability Program (ESP), air bag module, the control of intelligent moment of torsion, no key entering and start-up system, anti-theft module, headlight level adjustment system, rotary angle transmitter, engine control system and body control system on the node on the described power high-speed CAN bus respectively based on CAN and LIN bus network.
Further, in above-mentioned a kind of automotive control system: be connected body control system, head-up-display system, automatic air-conditioning system, sound system, tire pressure system and instrument system on the node on the described vehicle body high-speed CAN bus respectively based on CAN and LIN bus network.
Further, in above-mentioned a kind of automotive control system: be connected body control system, preceding left anti-pinch module, preceding right anti-pinch module, the left anti-pinch module in back, the right anti-pinch module in back on the node on the described LIN bus respectively based on CAN and LIN bus network; Connect body control system, rain sensor, radar for backing car module, On-Board Diagnostics (OBD) mouth and external diagnosis testing apparatus respectively on the node on described the 2nd LIN bus.
Further; In above-mentioned a kind of automotive control system based on CAN and LIN bus network: the CAN communications protocol framework of network management meets the OSI standard, comprises Physical layer, data link layer, transport layer, interbedded formation, application layer, Communication Layer and the NML of OSI standard; Described NML is connected between application layer and the data link layer.
The present invention adopts the topological structure of two high-speed CAN and two-way LIN, selects the node that reasonably has terminal resistance for use, and the expansion of whole network is strengthened; Reasonable definition through ID, cycle etc. improves the promptness of network; Through the application of sophisticated network management, guaranteed the sleep awakening of whole network, reach the network work harmonious orderly.
Through specific embodiment and accompanying drawing technical scheme of the present invention is carried out comparatively detailed description below.
Description of drawings
Fig. 1 is the car load network topological diagram.
Fig. 2 is the CAN communications protocol framework of network management.
Among the figure: 1, gearbox control system (TCM); 2, electronic power assist steering (EPS); 3, Electronic Stability Program (ESP) (ESP); 4, air bag module (ABM); 5, intelligent moment of torsion control (TMM); 6, no key gets into and start-up system (PEPS); 7, anti-theft module (IMMO); 8, headlight level adjustment system (ALS); 9, rotary angle transmitter (SAM); 10, engine control system (ECM); 11, body control system (gateway BCM); 12, head-up-display system (HUD); 13, automatic air-conditioning system (CLM); 14, sound system (RRM); 15, tire pressure system (TPM); 16, instrument system (ICM); 17, preceding left anti-pinch module; 18, preceding right anti-pinch module; 19, the left anti-pinch module in back; 20, the right anti-pinch module in back; 21, rain sensor; 22, radar for backing car module.23, On-Board Diagnostics (OBD) mouth; 24, external diagnosis testing apparatus.
Embodiment
A SUV vehicle with applicant's exploitation is an example,
(1) car load network topological diagram
Shown in Figure 1 is the car load network topological diagram.This car electrical arrangement is complicated, and ECU (Electrical Control Unit) quantity is many, and message amount is many, and according to the development Experience in early stage, the load factor of one tunnel high-speed CAN bus is less than 30%.Through node emulation, present load factor surpasses 30%, for stability of network, adopts two-way high-speed CAN (the power high-speed CAN is to call power High Speed CAN1 and vehicle body high-speed CAN in the following text to call vehicle body HighSpeed CAN2 in the following text).Wherein: the load factor of power High Speed CAN1 is 26.8%, and the load factor of vehicle body High Speed CAN2 is 5.7%; Not high for communication speed on the vehicle body; The LIN node that real-time is lower; Two LIN (following another name LIN1 and the LIN2 of dividing of a LIN and the 2nd LIN) have been designed; When the later stage vehicle increases electrical arrangement like this; Can be directly connected on the CAN bus; Need not redesign the network architecture, increase the extensibility of vehicle, avoid the software and hardware change of ECU (Electrical Control Unit).
In order to prevent the reflection of the online end signal of bus; In the ECU (Electrical Control Unit) at the two ends of each road high-speed CAN line, to connect terminal resistance; And terminal resistance must be arranged in the ECU (Electrical Control Unit) that car load the most often uses; Because the self character of CAN bus; The later stage car load occurs when falling configuring condition; Do not need the changed network framework yet, directly can remove electronic unit.In the native system, the terminal resistance of power High Speed CAN is placed in car body controller and the engine controller, and the terminal resistance of vehicle body High Speed CAN is placed in car body controller and the instrument controller; The last node of LIN1 belongs to the 30LIN node, and the last node of LIN2 belongs to the 15LIN node, and design like this makes things convenient for the network management of LIN and the LIN software design work of car body controller (gateway); Car body controller is the complicated gateway of integrated two-way high-speed CAN and two-way LIN, and the On-Board Diagnostics (OBD) mouth is connected respectively on the two-way CAN bus, makes things convenient for the diagnosis and the test of external communications equipment.
High-speed CAN BUS network control system is power high-speed CAN bus, vehicle body high-speed CAN bus, LIN1 bus and LIN2 bus.Wherein:
Power high-speed CAN node is: gearbox control system TCM1, electronic power assist steering EPS2, Electronic Stability Program (ESP) ESP3, air bag module ABM4, intelligent moment of torsion control TMM5, no key gets into and start-up system PEPS6, anti-theft module IMMO7, headlight level adjustment system ALS8, rotary angle transmitter SAM9, engine control system ECM10 and as the body control system BCM11 of gateway.
Vehicle body high-speed CAN node is: as body control system BCM11, head-up-display system HUD12, automatic air-conditioning system CLM13, sound system RRM14, the TPM15 of tire pressure system, the instrument system ICM16 of gateway.
The LIN1 bus node is 30 ECU (Electrical Control Unit), by as the body control system BCM11 of gateway and other 30 ECU (Electrical Control Unit) like the left anti-pinch module of: preceding left anti-pinch module 17, preceding right anti-pinch module 18, back 19, the right anti-pinch module 20 in back.
The LIN2 bus node is 15 ECU (Electrical Control Unit), by as the body control system BCM11 of gateway and other 15 ECU (Electrical Control Unit) like rain sensor 21, radar for backing car module 22, On-Board Diagnostics (OBD) mouth 23, external diagnosis testing apparatus 24.Wherein: high-speed CAN speed is 500kbit/s, and LIN speed is 9.6kbit/s.
(2) network management strategy
A.BUSOFF time requirement
Stipulated ECU (Electrical Control Unit) in the CAN standard because when wrong serious; Must leave bus; But can recover the ability of normal communication within a certain period of time; The present invention has defined the BUSOFF time of each ECU (Electrical Control Unit); Guarantee the accuracy and the promptness of network; The BUSOFF time of each node is less than 1.1S, and table one is seen in concrete definition.
Power supply on the automobile is divided into 30 electricity and 15 electricity, and 30 electricity give directions fiery switch at the OFF gear, and 15 electricity give directions fiery switch at the ON gear; And said in CAN and the LIN bus also be like this, 30 nodes give directions fiery switch at the OFF gear, this ECU (Electrical Control Unit) can be carried out network communication, 15 nodes give directions fiery switch only at the ON gear, this ECU (Electrical Control Unit) just can be carried out network communication.
Table one: each Node B US OFF timetable
B. initialization time
The present invention has defined the initialization time of each ECU (Electrical Control Unit), can not have influence on the transmission of its message because the initialization time of certain node is long to guarantee each node, with the chaotic even failure of startup that causes whole network.The initialization time of each node is less than 1.1S, and table two is seen in concrete definition.
Table two: each node initializing timetable
C. the CAN communications protocol framework of network management
Shown in Figure 2ly be the CAN communications protocol framework of network management, comprise Physical layer, data link layer, transport layer, interbedded formation, network management and application layer.On the basis that meets OSI (open system is interconnected), add network management module, realize through management frame.NMmMaster () is sent by host node, NMmMaster (BCM), the webmaster frame that expression host node car body controller sends; NMmXXX () is sent by other nodes, and the title of XXX representation node is promptly represented the webmaster frame that the wheel box administration module sends like NMmTCM here.Consider with stability from the security of bus system, need realize in management frame that following function could guarantee the orderly communication of network.
A. the current configuration of supervisory system, which node is online, and which node is not activated;
B. the loading condition of each node;
C. current failure state;
D. load management initiatively;
The e.CAN controller lost efficacy and managed;
Whether the logical order of f. monitoring communication information is correct, sends necessary consistent with the counter that receives.
D. the WOL (Wake On LAN) strategy is described
This kind of SUV adopts the network architecture of two high-speed CAN and LIN, and the simple network management that wakes up for traditional single line hardware just can not meet the demands like this, needs to adopt sophisticated network management.
The sophisticated network management mode that defines among the present invention is the message network management, and sophisticated network management is divided into 2 kinds of mode of operations according to the electrifying condition of 15 lines: 15 power on, and network is many holotypes; When detecting 15 power down (variation from ON to OFF), network is in the laggard principal and subordinate's of going into pattern of the time that defines through one.The realization of network management is based on the webmaster frame
And realize, the host node on the network and all can be send the webmaster frame cycle with 1000ms from node, message comprises information such as node duty, malfunction and current configuration.Network node is divided three classes, and host node, 30 is from node and 15 nodes.Host node has only one in whole C AN network, and 30 can have several from node and 15 nodes.Host node and 30 can be worked when car load has only accumulator from node, and 15 nodes can only could be worked when key is got to the ON shelves.
Host node is responsible for monitoring network management state, the failure state of whole all nodes of network, is responsible for sending the sleep of network simultaneously and wakes instruction up; Draw oneself up and get into duty or allow controller get into sleep state from the instruction that wakes up of node according to the sleep instruction of host node according to host node; If when whole network is in sleep state, communication need is arranged from node; Need wake whole network up through host node from node, carry out communication then.
In the present invention, car body controller is a host node, and instrument and the entering of no key and startup are 30 from node, and other CAN node all is 15 nodes, carries out network management through network management message and network state.
Can guarantee like this to reduce the car load quiescent current, play the useful effect and the order that guarantees network of car load network management.
F.ID (identifier) distributes and the data transmitting period definition
Stipulate in the CAN standard, the priority that the ID decision message of Frame sends, ID is more little, and priority of messages is high more.In conjunction with the actual conditions of this vehicle, to the ID of message, the ID of gateway forwards and transmission cycle distribute, and table three and table four are seen in concrete definition.
Table three: power CAN node ID (identifier), transmission periodic table and gateway forwards message
Table four: vehicle body CAN node ID, transmission periodic table and gateway forwards message
ID allocation scheme of the present invention makes the utilization factor maximization of network, has also guaranteed the high efficiency and the real-time of transmission information; For the message of power system, adjusted partly and sent the cycle, reduced the offered load rate of power high-speed CAN, the function expansion for the later stage provides convenience.
Claims (8)
1. automotive control system based on CAN and LIN bus network; Comprise the LAN that connects each ECU (Electrical Control Unit) in the automotive control system; Each ECU (Electrical Control Unit) communicates through described LAN, it is characterized in that: described LAN comprises power high-speed CAN, vehicle body high-speed CAN, a LIN and the 2nd LIN;
The node of described power high-speed CAN is the ECU (Electrical Control Unit) in the power system; The node of described vehicle body high-speed CAN is the ECU (Electrical Control Unit) of bodywork system; The node of a described LIN is 30 ECU (Electrical Control Unit) nodes, and described the 2nd LIN node belongs to 15 ECU (Electrical Control Unit) nodes;
The Common Gateway of described power high-speed CAN, vehicle body high-speed CAN, a LIN and the 2nd LIN is a body control system.
2. a kind of automotive control system according to claim 1 based on CAN and LIN bus network; It is characterized in that: the main terminal resistance that the reflection that prevents the online end signal of bus is set respectively in the ECU (Electrical Control Unit) at the two ends of described power high-speed CAN bus, the main terminal resistance that the reflection that prevents the online end signal of bus is set respectively in the ECU (Electrical Control Unit) at the two ends of described vehicle body high-speed CAN bus.
3. a kind of automotive control system according to claim 2 based on CAN and LIN bus network; It is characterized in that: the ECU (Electrical Control Unit) at the two ends of described power high-speed CAN bus is respectively engine control system and car body controller, and the ECU (Electrical Control Unit) at the two ends of described vehicle body high-speed CAN bus is respectively instrument controller and car body controller.
4. a kind of automotive control system based on CAN and LIN bus network according to claim 1, it is characterized in that: the initialization time of the ECU (Electrical Control Unit) of each node was less than 1.1 seconds in the described LAN.
5. a kind of automotive control system based on CAN and LIN bus network according to claim 1 is characterized in that: connect gearbox control system (1), electronic power assist steering (2), Electronic Stability Program (ESP) (3), air bag module (4), intelligent moment of torsion control (5), the entering of no key and start-up system (6), anti-theft module (7), headlight level adjustment system (8), rotary angle transmitter (9), engine control system (10) and body control system (11) on the node on the described power high-speed CAN bus respectively.
6. a kind of automotive control system based on CAN and LIN bus network according to claim 1 is characterized in that: connect body control system (11), head-up-display system (12), automatic air-conditioning system (13), sound system (14), tire pressure system (15) and instrument system (16) on the node on the described vehicle body high-speed CAN bus respectively.
7. a kind of automotive control system based on CAN and LIN bus network according to claim 1 is characterized in that: connect body control system (11), preceding left anti-pinch module (17), preceding right anti-pinch module (18), back left anti-pinch module (19), back right anti-pinch module (20) on the node on the described LIN bus respectively; Connect body control system (11), rain sensor (21), radar for backing car module (22), On-Board Diagnostics (OBD) mouth (23) and external diagnosis testing apparatus (24) on the node on described the 2nd LIN bus respectively.
8. according to arbitrary described a kind of automotive control system in the claim 1 to 7 based on CAN and LIN bus network; It is characterized in that: the CAN communications protocol framework of network management meets the OSI standard, comprises Physical layer, data link layer, transport layer, interbedded formation, application layer, Communication Layer and the NML of OSI standard; Described NML is connected between application layer and the data link layer.
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