CN102611598A - Bus redundancy system of controller local area network and method and device for switching redundancy - Google Patents
Bus redundancy system of controller local area network and method and device for switching redundancy Download PDFInfo
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Abstract
The invention discloses a CAN (controller area network) bus redundancy system of controller local area network and a method and a device for switching redundancy, which is used for increasing transmission efficiency of the CAN bus redundancy system, wherein the CAN bus redundancy system comprises at least two master buses and at least a spare bus; a first master bus is connected with a first port of each first functional node so as to transmit information corresponding to relative functions of each first functional node; a second mater bus is connected with a second port of each second functional node so as to transmit information corresponding to relative functions of each second functional node; the spare bus is connected with a third port of each first functional node and/or is connected with a fourth port of each second functional node so as to transmit information corresponding to relative functions of a functional node which has communication failure when one connected functional and the corresponding master bus have the communication failure.
Description
Technical field
The present invention relates to the network communications technology field, particularly a kind of CAN bus redundancy system and the redundant method and apparatus that switches.
Background technology
In the control system based on bus network, system survivability and reliability are one of technological difficulties.At present, Redundancy Design is to adopt more technology.Common Redundancy Design technology generally is based on redundant processor or realize the redundant channel.Wherein, and the controller local area network of employing redundant channel (Controller AreaNetwork, CAN) the bus redundancy system is as shown in Figure 1; Comprise: main with bus and subsequent use bus; Each controller node in this system, and each actuator node all is connected with subsequent use bus with bus with main respectively, here; Controller node 1, controller node 2 is connected with subsequent use bus with bus with main respectively with actuator node 1.And, adopt the mode of dual sensor node for the sensor node that has only single port, and one of them is connected with bus with main, and another is connected with subsequent use bus.Here, redundant sensor node 1 is connected with bus with main, and redundant sensor node 2 is connected with subsequent use bus.
In above-mentioned CAN bus redundancy system, during operate as normal, carry out communication through main with bus between the node, when certain node with lead when going wrong with the communication between the bus, the whole piece master transfers on the subsequent use bus with the communication on the bus.Like this, increase system survivability, improved the reliability of system.
But during this system operate as normal, all information all adopts mainly to be transmitted with bus, and node with lead when going wrong with the communication between the bus; All information all adopts subsequent use bus to transmit like this; No matter be the main bus of using, or subsequent use bus, its load is all very high; Thereby transmitting speed is slow, and the efficient of transmission is also lower.
Summary of the invention
The embodiment of the invention provides a kind of CAN bus redundancy system and the redundant method and apparatus that switches, in order to improve the efficiency of transmission of CAN bus redundancy system.
The embodiment of the invention provides a kind of CAN of controller local area network bus redundancy system, comprising: at least two masters use bus and, at least one subsequent use bus, wherein,
First master uses bus, is connected with first port of each first functional node, is used to transmit and the corresponding information of each first functional node correlation function;
Second master uses bus, is connected with second port of each second functional node, is used to transmit and the corresponding information of each second functional node correlation function;
Subsequent use bus; The 3rd port with each first functional node; And/or; The 4th port of each second functional node connects, and is used for when a connected functional node with bus communication failure takes place with corresponding master transmission and the corresponding information of functional node correlation function that communication failure takes place.
The embodiment of the invention provides a kind of redundant method of switching, and is applied in the above-mentioned CAN bus redundancy system of controller local area network, and this method comprises:
As the connected master of definite functional node during with bus generation communication failure; Activate port that bus is connected of the said functional node that breaks down and other; And each correlation function node respectively with other port that bus is connected; Wherein, said functional node is first functional node or second functional node in the said bus redundancy system, and said correlation function node and the said functional node that breaks down have the functional node of communication relation;
Through each port that is activated, the functional node transmission handover trigger instruction to correspondence makes the said functional node that breaks down and each correlation function node carry out communication through said other bus.
The embodiment of the invention provides a kind of redundant device for switching, is applied in the above-mentioned CAN bus redundancy system of controller local area network, and this device comprises:
Activated equipment; Be used for as the connected master of definite functional node during with bus generation communication failure; Activate port that bus is connected of the said functional node that breaks down and other, and each correlation function node respectively with other port that bus is connected, wherein; Said functional node is first functional node or second functional node in the said bus redundancy system, and said correlation function node and the said functional node that breaks down have the functional node of communication relation;
Switching device is used for the port that is activated through each, sends the handover trigger instruction to the functional node of correspondence, makes the said functional node that breaks down and each correlation function node carry out communication through said other bus.
In the embodiment of the invention, CAN bus redundancy system comprises: two or many masters use bus, and one, two or many subsequent use buses.Like this, there is multiple bus to carry out transmission work, the offered load rate about can reducing greatly; Simultaneously, subsequent use bus can be used as first master with the bus and/or the second main redundant channel with bus, thereby; When increasing system survivability and reliability through the redundant channel; Maximization mean allocation bus load, and maximization avoids bus because the load factor fluctuation causes bus failure odds etc., improves the fail safe and the efficiency of transmission of system.
Description of drawings
Fig. 1 is the Organization Chart of CAN bus redundancy system in the prior art of the present invention;
Fig. 2 is the Organization Chart of CAN bus redundancy system in the specific embodiment of the invention;
Fig. 3 is the Organization Chart of CAN bus redundancy system in the embodiment of the invention;
Fig. 4 is the redundant flow chart that switches in the embodiment of the invention;
Fig. 5 is the structure chart of redundant switching device shifter in the embodiment of the invention.
Embodiment
In the embodiment of the invention, the bus redundancy system comprises: two or many masters use bus, and one, two or many subsequent use buses.Wherein, every master is with transmitting same type or different kinds of information on the bus, for example: the first main information with bus transfer Event triggered type; The second main information with the bus transfer data type; Subsequent use bus can be one, two, or many masters are with the redundant standby of bus, like this; When increasing system survivability and reliability through the redundant channel; Reduced the load factor of every master, avoided having improved the stability and the efficiency of transmission of bus because of problems such as frequent packet loss that too high bus load rate causes, network blockage with bus.
Following mask body is that example is described with CAN bus redundancy system.Referring to Fig. 2, this CAN bus redundancy system comprises: two masters are with bus and a subsequent use bus, and wherein, two masters are respectively control command bus and sensing data bus with bus.
Certainly, this system also comprises a plurality of nodes, divides by its function, and node comprises: controller node, sensor node and actuator node.Wherein, Controller node all has at least two ports to be connected with bus respectively with the actuator node; And sensor node generally has only a port that is connected with bus, and, also can be divided into and treat redundant sensor node and general sensor nodes according to its importance.Here, treat that redundant sensor node is the pair of sensors joint, is respectively the first redundant sensor node and the second redundant sensor node.
Here, control command bus i.e. first master is used bus, is connected with each controller node, also is connected with each actuator node, and is as shown in Figure 2, and controller node 1, controller node 2, controller node 3 and actuator node all are connected with bus with first master.
The sensing data bus i.e. the second main bus of using; Treat that with each redundant sensor node is connected, if need not carry out the general sensor nodes of redundancy in the embodiment of the invention time, then this general sensor nodes is also led and is connected with bus with second with ining addition; Certainly; Because the data message that sensor node obtains will be transferred to controller node, therefore, controller node also is connected with bus with second master.As shown in Figure 2, controller node 1, controller node 2, controller node 3, general sensor nodes, and treat that the first redundant sensor node in the redundant sensor node is connected with bus with second master respectively.
Subsequent use bus and each controller node, each treats redundant sensor node; And each actuator node connects; As shown in Figure 2, controller node 1, controller node 2, controller node 3, treat that the second redundant sensor node in the redundant sensor node is connected with subsequent use bus respectively with the actuator node.
When adopting this system to carry out normal communication work, first is main with the information between the bus transfer controller node, and the control information between controller node and the actuator node.This first main with the control information of bus transfer be generally the Event triggered type the process data object (Process Data Object, PDO).The PDO of the type needs reaction speed faster, and therefore, the blanking time that PDO sends is shorter, and the first main offered load rate with bus is generally lower but fluctuation is bigger.
Second is main with the bus transfer controller node and the first redundant sensor data between nodes information, and the data message between controller node and the general sensor nodes.This second main PDO that is generally sensing data with the data message of bus transfer.Generally, the PDO that second master sends with bus is more frequent, and sends for circulation, and therefore, but second master is little with the higher fluctuation of the offered load rate of bus.
When system carries out normal communication work; Subsequent use bus can not worked; Perhaps; Also can the transmission control unit (TCU) node and the second redundant sensor data between nodes information, promptly controller node can be respectively sends data message from the second main redundant sensor node that gets access to identical function with bus and subsequent use bus, promptly obtains the first redundant sensor node and second redundant sensor node transmission data message simultaneously.At this moment, controller node can be compared the two piece of data information that collect, and obtains the data message corresponding with this redundant sensor node.
When a certain node in this system during with bus generation communication failure, then need start the redundancy feature of subsequent use bus with corresponding master, utilize this subsequent use bus to transmit the information corresponding with this node.For example: among Fig. 2; Controller node 1 is a main controller, like this, and after controller node 1 confirms that through heartbeat timeout fault has taken place controller node 2; The port that active controller node 2 is connected with subsequent use bus; And with the port that controller node 2 has other nodes of communication relation to be connected with subsequent use bus, for example, go back the port that active controller node 3 actuator nodes are connected with subsequent use bus.Then, controller node 1 sends the handover trigger instruction through each port that is activated to corresponding nodes, makes controller node 2 carry out communication through subsequent use bus and other node.Wherein, Other node; Here be controller node 3, receive handover trigger instruction after, with first main first register corresponding with bus in search first communication data packets that identify label that whether controller node 1 that carries in instructing with handover trigger is arranged is mated; If any, this first communication data packets is put into second register corresponding with subsequent use bus.And the node of communication failure takes place, promptly controller node 2, receive the handover trigger instruction after, close and the port that is connected with bus, with work register from leading and switch to four register corresponding with subsequent use bus with the 3rd corresponding register of bus with first.Thereby controller node 2 and first main with behind the bus generation communication failure can be through the relevant information of subsequent use bus transfer and controller node 2.
Certainly, before carrying out the redundancy switching, each port arrangement that the main controller node also will be connected with subsequent use bus is a SBR.Generally, during system initialization, the main controller node can send the configuration-direct that carries the port identities sign, makes corresponding port switch to SBR from initial condition.
Like this, the activation port is specially port is switched to running status from SBR.Be in the embodiment of the invention, the state of the port that is connected with bus comprises: initial condition, SBR, running status, or closed condition.
It is thus clear that in the present embodiment, subsequent use bus can be used as the first main redundant channel with bus.Certainly, if when system carries out normal communication work, subsequent use bus is not worked, and promptly not when the transmission control unit (TCU) node and the second redundant sensor data between nodes information, at this moment, subsequent use bus also can be used as the redundant channel of the second main bus.For example: when communication failure appears in the first redundant sensor node and the second main bus; Then main controlled node activates the port that is connected with subsequent use bus with the second redundant sensor node of this first redundant sensor node pairing; And,, send the handover trigger order to the second redundant sensor node through the port that is activated; Make between second redundant sensor and the controller through subsequent use bus transfer information the information that promptly subsequent use bus transfer is relevant with second redundant sensor.
Certainly, during as if a node and subsequent use bus generation communication failure, in the present embodiment, also can be with on the bus that communication moves on to this node is connected relevant with this node.For example: controller node 2 and first main with behind the bus generation communication failure, can be through the relevant information of subsequent use bus transfer and controller node 2.And the device node 2 to be controlled and the first main communication failure with bus are got rid of; After the device node 2 to be controlled and the first main port that is connected with bus are in SBR; This moment if controller node 2 with subsequent use bus generation communication failure; Then can proceed to switch, main through first with the relevant information of bus transfer and controller node 2.Detailed process is just no longer tired have been stated.
Therefore, in the foregoing description, first master is the PDO of Event triggered type with bus transfer, the second main PDO that sends with the loop cycle of bus transfer; Like this, can be different according to the type of the PDO that transmits, dispose the PDO transmission quantity of every master with bus; Bandwidth, and speed, and; Subsequent use bus can be used as first master with the bus and/or the second main redundant channel with bus, thereby, when increasing system survivability and reliability through the redundant channel; Maximization mean allocation bus load, and maximization avoids bus because the load factor fluctuation causes bus failure odds etc., improves the fail safe and the efficiency of transmission of system.
And; When a node and a bus generation communication failure, only need move on to the communication relevant with this node on another bus and get final product, and do not need the communication on the whole piece bus is all transferred on another bus; Like this; Each node has only with the communication of a bus and does not break down, and this system just can normally move, and whole bus redundancy system survivability has improved greatly.
In the foregoing description; As controller node and first main when simultaneously communication failure taking place with bus and subsequent use bus; The main controller node can send the order that stops whole electric-control system operation through sensor bus and give each controller node, to avoid taking place serious accident.In addition; Because if load factor is high and system requirements safety is not high on the sensor bus; Then also not halt system operation; And switch to through sensor bus transmission and the relevant information of Fault Control device node, the method for the information that its implementation is relevant with Fault Control device node with the subsequent use bus transfer of above-mentioned employing is identical, no longer tired having stated.
Certainly, when having the sensor node and second master simultaneously communication failure to take place with bus and subsequent use bus, the main controller node can send the order that stops whole electric-control system operation through controller bus and give each controller node, to avoid taking place serious accident.
Among the above embodiment, CAN bus redundancy system has only three-bus, but the embodiment of the invention is not limited thereto, and can many masters use bus, and two or many subsequent use buses.For example: can be according to the difference of the control information of sending to response speed; The control command bus is divided into the first control command bus and the second control command bus; The sensing data bus is divided into common sensing data bus of layer and redundant sensor data/address bus, perhaps also increases a data/address bus that is connected with other data equipment nodes.At this moment, main have four or five with bus, and subsequent use bus can have only one, and this subsequent use bus is the redundant channel of above-mentioned every master with bus.Perhaps subsequent use bus has two, and one is the redundant channel of the first control command bus and the second control command bus, and another is the redundant channel of redundant sensor data/address bus and data/address bus.Perhaps, further segment subsequent use bus again, just enumerated no longer one by one.
Certainly, above-mentioned system is the bus redundancy system of common CAN network, other network such as profibus, and modbus or the like also can adopt above-mentioned bus redundancy system.
Thus, CAN bus redundancy system in the embodiment of the invention can comprise referring to Fig. 3: at least two masters use bus and, at least one subsequent use bus, wherein,
First master is connected with first port of each first functional node 110 with bus 100, is used to transmit and the corresponding information of each first functional node, 110 correlation function.
Second master is connected with second port of each second functional node 210 with bus 200, is used to transmit and the corresponding information of each second functional node, 210 correlation function.
Subsequent use bus 300; The 3rd port with each first functional node 110; And/or; The 4th port of each second functional node 210 connects, and is used for when a connected functional node with bus communication failure takes place with corresponding master transmission and the corresponding information of functional node correlation function that communication failure takes place.
Wherein, subsequent use bus 300 also is used for when being connected with the 4th port of second functional node 210, and second functional node 210 and second leads when with bus communication failure not taking place, and transmits and the corresponding information of second functional node, 210 correlation functions.Be in the embodiment of the invention, second functional node 210 can be main with bus 200 and the corresponding information of subsequent use bus 300 transmission correlation functions through second simultaneously.
Second is main with bus 200; Also be used for when being connected with the five-port of each first functional node 110; And when first functional node 110 and first master communication failure occurs with bus 100 and subsequent use bus 300; Transmission makes system's halt instruction out of service, or, transmission and the corresponding information of first functional node, 110 correlation functions.This moment second main with bus 200 according to offered load, and the importance of first functional node 110 that breaks down is carried out concrete work.When the offered load rate than higher, first functional node 110 that breaks down is for systematic comparison when important, then this moment second main with bus 200, also be used to transmit the halt instruction that makes system out of service.And when the offered load rate not high and fail safe system requirements is not high, then this moment second main with bus 200, also be used to transmit and the corresponding information of first functional node, 110 correlation functions.
Wherein, second functional node 210 comprises: have the node of two ports that are connected with bus at least, wherein, a port of node is second port, and the another port is the 4th port; Or, at least two nodes that have only a port that is connected with bus, wherein, the port of first node is second port, the port of Section Point is the 4th port.
In the embodiment of the invention, " first ", " second " or " the 3rd " etc. only are used for distinguishing before the relevant title, do not represent relative importance.Therefore, first master can exchange with bus with the bus and second master, and first functional node and second functional node are also interchangeable.
When concrete the application; When first functional node is a controller node; Second functional node is that the information corresponding with the first functional node correlation function is control information when treating redundant sensor node, and the information corresponding with the second functional node correlation function is data message.And, treat that redundant sensor node comprises a pair of node, be respectively the first redundant sensor node and the second redundant sensor node, each node has only a port to be connected with bus.Like this, in this system,
The first main bus of using; With each controller node, be used to transmit the control information relevant, particularly with each controller node; This first master is with bus and each controller node; And each actuator node connection, be used for the information between the transmission control unit (TCU) node, and the control information between controller node and the actuator node;
The second main bus of using; Treat that with each the first redundant sensor node is connected in the redundant sensor node, be used to transmit and the relevant data message of each first redundant sensor node, particularly; The second main bus of using; Treat the first redundant sensor node in the redundant sensor node with each, and each controller node connection, be used for the transmission control unit (TCU) node and the first redundant sensor data between nodes information;
Subsequent use bus; With each controller node; And/or each treats that the second redundant sensor node connects in the redundant sensor node, is used for when a connected controller node and first is led with bus generation communication failure; Transmission and the relevant control information of controller node that communication failure takes place; And/or, when treating that the first redundant sensor node is with the second usefulness bus generation communication failure in the redundant sensor node for connected one, the relevant data message of the second redundant sensor node in the sensor node of treating redundancy of transmission and generation communication failure.
In above-mentioned concrete application; Subsequent use bus; Also be used for when being connected with treating the redundant sensor node second redundant sensor node; And treat in the redundant sensor node that the first redundant sensor node is main when with bus communication failure not taking place with second, transmit and the relevant data message of the second redundant sensor node.
Second main use bus, also is used for leading when all communication failure occurring with bus and subsequent use bus when controller node and first, transmits making system's halt instruction out of service, or, transmit the information corresponding with the controller node correlation function.
In above-mentioned CAN bus redundancy system, when a functional node and a bus generation communication failure, generally the communication corresponding with this functional node switched on another bus by the master controller node, specifically referring to Fig. 4, comprising:
Step 401: the master controller node is confirmed the connected bus generation communication failure of functional node.
Here; Functional node for control types; Can confirm the connected bus generation communication failure of functional node through heartbeat timeout; Perhaps, for the functional node of data type, confirm a whether connected bus generation communication failure of functional node through whether receiving the data message of uploading in the setting-up time.Other similar fault functional nodes just type have been lifted no longer one by one.In the embodiment of the invention, functional node is first functional node or second functional node in the above-mentioned bus redundancy system.Like this, a bus that is connected with functional node can be main with bus or subsequent use bus.
Step 402: the master controller node activates functional node and the port that bus is connected of each correlation function node and other that breaks down.
Be that the master controller node activates the port that bus is connected of functional node and other break down, and each correlation function node respectively with other port that bus is connected, wherein, correlation function node and fault functional node have communication to concern.
The port of functional node can be in initial condition, SBR, running status or closed condition.Before carrying out the bus switching; The port that the master controller node can make bus of functional node and other be connected is in SBR; Generally; During system initialization, the main controller node can send the configuration-direct that carries the port identities sign, makes corresponding port switch to SBR from initial condition.The process that then activates comprises:
The port that bus of the functional node that breaks down and other is connected switches to running status from SBR, and the port that bus of each correlation function node and other is connected switches to running status from SBR.
Step 403: through each port that is activated, the functional node transmission handover trigger instruction to correspondence makes the functional node and each the correlation function node that break down carry out communication through other bus.
The functional node that breaks down switches to other bus with communication work and carries out according to this handover trigger instruction.Specifically comprise: the functional node that breaks down is closed the port that is connected with a bus after receiving the handover trigger instruction, with work register from switching to four register corresponding with other bus with the 3rd a corresponding register of bus.
The correlation function node also according to this handover trigger instruction, will also switch to other bus with the communication work that the fault functional node carries out and carry out.Specifically comprise: after the correlation function node receives the handover trigger instruction; When the correlation function node in first register corresponding, find with bus with the handover trigger instruction in during first communication data packets of identify label coupling of the functional node that breaks down that carries, first communication data packets is put into second register corresponding with other bus.
Through said process, can carry out the switching between the bus.Wherein, the functional node that breaks down can be first functional node or second functional node in the above-mentioned CAN bus redundancy system.A corresponding bus can be first and leads with bus, second master with bus or subsequent use bus.
It is thus clear that; When a node and a bus generation communication failure; Only need the communication relevant with this node moved on on another bus and get final product, like this, each node has only with the communication of a bus and does not break down; This system just can normally move, and whole C AN bus redundancy system survivability has improved greatly.
According to the above-mentioned redundant method of switching, make up a kind of redundant device for switching, also be applied in the above-mentioned CAN bus redundancy system, referring to Fig. 5, this device comprises: activated equipment 510 and switching device 520.
This device also comprises:
Configuration device is used for sending the configuration-direct that carries the port identities sign to each port that is connected with said other bus, makes corresponding port switch to SBR from initial condition.
Then; Activated equipment 510; Specifically be used for the port that bus of the functional node that breaks down and other is connected is switched to running status from SBR, and the port that bus of each correlation function node and other is connected switches to running status from SBR.
This redundancy device for switching can be used in the above-mentioned CAN bus redundancy system in the master controller node.
In the embodiment of the invention, CAN bus redundancy system comprises: two or many masters use bus, and one, two or many subsequent use buses.Like this, there is multiple bus to carry out transmission work, can reduces nearly about 2/3 offered load rate, greatly reduce the possibility that bus goes wrong, the stable operation of bus is had very big effect.
And; Can dispose every master and use bus width and speed according to main different with the information type of transmitting on the bus; For example: adopt different transmission rates on bus, to transmit the data of each transducer; And the control command of controller, can make sensing data and control command in time to transmit, then can need the link of accurately control to bring the optimization on the control effect to some.
Every master of regular allocation that can set according to nodal function, sending mode or transmission rate etc. in addition, is with information transmitted on the bus, simultaneously; Subsequent use bus can be used as first master with the bus and/or the second main redundant channel with bus; Thereby, when increasing system survivability and reliability through the redundant channel, maximization mean allocation bus load; And maximization avoids bus because load factor fluctuation causes bus failure odds etc., improves the fail safe and the efficiency of transmission of system.
And; When a node and a bus generation communication failure, only need move on to the communication relevant with this node on another bus and get final product, and do not need the communication on the whole piece bus is all transferred on another bus; Like this; Each node has only with the communication of a bus and does not break down, and this system just can normally move, and whole C AN bus redundancy system survivability has improved greatly.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, belong within the scope of claim of the present invention and equivalent technologies thereof if of the present invention these are revised with modification, then the present invention also is intended to comprise these changes and modification interior.
Claims (12)
1. a CAN bus redundancy system of controller local area network is characterized in that, comprising: at least two masters use bus and, at least one subsequent use bus, wherein,
First master uses bus, is connected with first port of each first functional node, is used to transmit and the corresponding information of each first functional node correlation function;
Second master uses bus, is connected with second port of each second functional node, is used to transmit and the corresponding information of each second functional node correlation function;
Subsequent use bus; The 3rd port with each first functional node; And/or; The 4th port of each second functional node connects, and is used for when a connected functional node with bus communication failure takes place with corresponding master transmission and the corresponding information of functional node correlation function that communication failure takes place.
2. the system of claim 1 is characterized in that,
Said subsequent use bus also is used for when being connected with the 4th port of said second functional node, and said second functional node and said second leads when with bus communication failure not taking place, and transmits and the corresponding information of the said second functional node correlation function.
3. the system of claim 1 is characterized in that,
The said second main bus of using; Also be used for when being connected with the five-port of each first functional node; And when first functional node and said first master communication failure occurs with bus and said subsequent use bus; Transmission makes the halt instruction out of service of said system, or, transmission and the corresponding information of the said first functional node correlation function.
4. like claim 1,2 or 3 described systems, it is characterized in that said second functional node comprises: have the node of two ports that are connected with bus at least, wherein, a port of said node is said second port, and the another port is said the 4th port; Or,
At least two nodes that have only a port that is connected with bus, wherein, the port of first node is said second port, the port of Section Point is said the 4th port.
5. system as claimed in claim 4 is characterized in that, when first functional node is a controller node, second functional node is when treating redundant sensor node,
Said first master uses bus, with each controller node, and each actuator node connection, be used for the information between the transmission control unit (TCU) node, and the control information between controller node and the actuator node;
The said second main bus of using is treated the first redundant sensor node in the redundant sensor node with each, and each controller node connection, is used for the transmission control unit (TCU) node and the first redundant sensor data between nodes information;
Said subsequent use bus; With each controller node; And/or each treats that the second redundant sensor node connects in the redundant sensor node, is used for when a connected controller node and said first is led with bus generation communication failure; Transmission and the relevant control information of controller node that communication failure takes place; And/or, when treating that the first redundant sensor node is with the said second usefulness bus generation communication failure in the redundant sensor node for connected one, the relevant data message of the second redundant sensor node in the sensor node of treating redundancy of transmission and generation communication failure.
6. system as claimed in claim 5 is characterized in that,
Said subsequent use bus; Also be used for when treating that with said the redundant sensor node second redundant sensor node is connected; And the said first redundant sensor node of treating in the redundant sensor node is main when with bus communication failure not taking place with said second, transmits and the relevant data message of the said second redundant sensor node.
7. system as claimed in claim 5 is characterized in that,
The said second main bus of using; Also be used for when controller node and said first main when all communication failure occurring with bus and said subsequent use bus; Transmission makes the halt instruction out of service of said system, or, transmission and the corresponding information of said controller node correlation function.
8. a redundant method of switching is characterized in that, is applied among the aforesaid right requirement 1-7 in arbitrary claim CAN of described controller local area network bus redundancy system, and this method comprises:
When the connected bus generation communication failure of definite functional node; Activate port that bus is connected of the said functional node that breaks down and other; And each correlation function node respectively with other port that bus is connected; Wherein, said functional node is first functional node or second functional node in the said bus redundancy system, and said correlation function node is for having the functional node of communication relation with the said functional node that breaks down;
Through each port that is activated, the functional node transmission handover trigger instruction to correspondence makes the said functional node that breaks down and each correlation function node carry out communication through said other bus.
9. method as claimed in claim 8 is characterized in that, saidly makes the said functional node that breaks down and each correlation function node carry out communication through said other bus to comprise:
After the port that is activated of said correlation function node through correspondence receives said handover trigger instruction; If said correlation function node in first register corresponding, find with a said bus with the instruction of said handover trigger in the identify label of the functional node that breaks down that carries first communication data packets of mating, then said first communication data packets is put into and the second corresponding register of said other bus;
After the said functional node that breaks down receives said handover trigger instruction; Close and a said port that bus is connected, with work register from switching to and the 4th corresponding register of said other bus with the 3rd corresponding register of a said bus.
10. method as claimed in claim 8 is characterized in that, before the connected bus generation communication failure of said definite functional node, also comprises:
Each port to being connected with said other bus sends the configuration-direct that carries the port identities sign, makes corresponding port switch to SBR from initial condition;
Then activate port that bus is connected of the said functional node that breaks down and other, and each correlation function node comprises with the port that other bus is connected respectively:
The port that bus of the said functional node that breaks down and other is connected switches to running status from said SBR, and the port that bus of each correlation function node and other is connected switches to running status from said SBR.
11. a redundant device for switching is characterized in that, is applied among the aforesaid right requirement 1-7 in arbitrary claim CAN of described controller local area network bus redundancy system, this device comprises:
Activated equipment; Be used for when the connected bus generation communication failure of definite functional node; Activate port that bus is connected of the said functional node that breaks down and other, and each correlation function node respectively with other port that bus is connected, wherein; Said functional node is first functional node or second functional node in the said bus redundancy system, and said correlation function node and the said functional node that breaks down have the functional node of communication relation;
Switching device is used for the port that is activated through each, sends the handover trigger instruction to the functional node of correspondence, makes the said functional node that breaks down and each correlation function node carry out communication through said other bus.
12. device as claimed in claim 11 is characterized in that, also comprises:
Configuration device is used for sending the configuration-direct that carries the port identities sign to each port that is connected with said other bus, makes corresponding port switch to SBR from initial condition;
Then; Said activated equipment; Specifically be used for the port that bus of the said functional node that breaks down and other is connected is switched to running status from said SBR, and the port that bus of each correlation function node and other is connected switches to running status from said SBR.
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| CN201210021613.4A CN102611598B (en) | 2012-01-31 | 2012-01-31 | Bus redundancy system of controller local area network and method and device for switching redundancy |
| PCT/CN2012/082360 WO2013113226A1 (en) | 2012-01-31 | 2012-09-28 | Controller area network bus redundancy system and redundancy switching method and device |
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| CN201210021613.4A CN102611598B (en) | 2012-01-31 | 2012-01-31 | Bus redundancy system of controller local area network and method and device for switching redundancy |
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| WO2013113226A1 (en) | 2013-08-08 |
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