CN102710479B - Automobile gateway system for inverse resolution of communication protocols - Google Patents
Automobile gateway system for inverse resolution of communication protocols Download PDFInfo
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Abstract
The invention discloses an automobile gateway system for inverse resolution of communication protocols. The gateway system is installed between a first network node and a second network node of an automobile control network, and comprises a first transceiver, a second transceiver, a third transceiver, a micro controller unit (MCU), a first memory, a second memory, a third memory and a fourth memory. Through the technical scheme, key control and state signals in the automobile control network can be effectively resolved, and accurate control of each key system is realized; and through the system, accuracy of protocol resolution is enhanced, the resolution efficiency is improved, and research resources are saved.
Description
Technical field
The present invention relates to field of automobile control, relate in particular to a kind of automobile gateway system of the communication protocol resolving inversely for Vehicle Control Network.
Background technology
The bussing technique at home application of automobile market gets more and more, and along with the reduced year by year of industry cost, all kinds of developing instruments and solution are progressively permeated, and simple technical application level face is no problem.Domestic be mainly formulation and the test of communication protocol with external gap aspect network development.The network communication protocol that two more than ten years ，Ge company maturations have been carried out in external bus network design all obtains by accumulation for many years, has much formed the network development agreement with self-character.Domestic manufacturers will develop autonomous network communication agreement, and external network communication protocol is carried out to resolving inversely, absorption improvement, the shortcut that improves fast domestic research level of can yet be regarded as.
Domestic Duo Jia manufacturer has started to carry out the parsing work of auto communication agreement, but do not form the analytic technique of a set of effective and feasible bus communication protocol at present, more adopt design special operation condition to test and gather the mode of mass data, when data processing, by trial and error procedure, obtain network communication protocol, like this inefficiency and can expend ample resources.
Summary of the invention
The object of the present invention is to provide a kind of technology of carrying out resolving inversely for automotive system being controlled to the communication protocol of network, strengthen the accuracy of protocol analysis, improve analyzing efficiency, save resources for research.
According to an aspect of the present invention, a kind of automobile gateway system for communication protocol resolving inversely is provided, described gateway system is arranged between the first network node and second network node of Vehicle Control Network, it comprises first transceiver, second transceiver, the 3rd transceiver, MCU, first memory, second memory, the 3rd memory and the 4th memory, wherein
Described first transceiver connects described first network node and described MCU, for receiving the message that is sent and should be received by described second network node by described first network node, and the message of being processed by described MCU is sent to described first network node;
Described second transceiver connects described second network node and described MCU, for receiving the message that is sent and should be received by described first network node by described second network node, and the message of being processed by described MCU is sent to described second network node;
Described the 3rd transceiver connects onboard diagnostic system and described MCU, for receiving the diagnostic signal message of described onboard diagnostic system;
Described MCU, for determining respectively the order of the important level of the message that described first transceiver and described second transceiver receive, to determining the message after order, modify successively, and after judgement modification, whether message makes Vehicle Control Network generation Significant Change, thereby realize the parsing to communication protocol;
Described first memory, for being received and determined by described MCU the message of order by described first transceiver by important level sequential storage from high to low;
Described second memory, for being received and determined by described MCU the message of order by described second transceiver by important level sequential storage from high to low;
Described the 3rd memory, for recording the data fields position at message, corresponding modify time and this message place that described MCU revises; And
Described the 4th memory, when described MCU judge receive revise after the Vehicle Control Network of message while having produced Significant Change, for recording the data fields position at this message being modified, corresponding modify time and this message place.
Preferably, described MCU further comprises determining unit, revises unit and control unit, wherein,
Described determining unit, for determining respectively the important level of the message that described first transceiver and described second transceiver receive, and the message that described first transceiver and described second transceiver are received by important level order from high to low respectively correspondence deposit to described first memory and described second memory;
Described modification unit, for revising successively the value of each byte in each message data field of described first memory and described second memory according to predefined procedure; And
Described control unit, be used for controlling described first transceiver, described second transceiver will send to corresponding network node by the amended message in described modification unit, and after judging that corresponding network node receives amended message, whether described Vehicle Control Network produces Significant Change, thereby determines the physical significance of the byte of revising.
Preferably, described determining unit is determined described important level according to the priority of message and refresh rate.
Preferably, described modification unit is revised the value of each byte in message data field successively with double byte, byte, the order of 4,2.
Preferably, the diagnostic signal message that described control unit receives from described onboard diagnostic system according to described the 3rd transceiver judges.
Preferably, described Vehicle Control Network is the network based on bussing technique.
Preferably, described bus is CAN bus, RS485 bus, FlexRay bus or Lin bus.
Preferably, described gateway system also comprises a power module.
Preferably, described first network node or second network node are that single automobile is controlled node or comprised the network function module that one or more automobiles are controlled node, and described automobile is controlled node and is selected from group below: engine controller, gearbox control, brake monitor, car load control module, automatic clutch controller, electric machine controller, power-supply controller of electric and onboard diagnostic system.
According to another aspect of the present invention, also provide a kind of Vehicle Control Network that comprises above-mentioned automobile gateway system.
By technique scheme, the present invention can effectively resolve control and status signal crucial in Vehicle Control Network, and realizes the accurate control of each critical system, and the accuracy that it has strengthened protocol analysis, has improved analyzing efficiency, has saved resources for research.
Accompanying drawing is described
Fig. 1 is the application scenarios schematic diagram of gateway system in the present invention;
Fig. 2 is the system configuration schematic diagram of gateway system in the present invention;
Fig. 3 is the structural representation of the MCU of gateway system in the present invention;
Fig. 4 is the flow chart of steps that gateway system of the present invention communicates protocol analysis;
Fig. 5 is the topological diagram that gateway system Vehicle Control Network is before set in the embodiment of the present invention;
Fig. 6 is the topological diagram that gateway system Vehicle Control Network is afterwards set in the embodiment of the present invention.
Embodiment
For solving above-mentioned technical problem of the prior art, the invention discloses a kind of automobile gateway system, this gateway system can receive the message signals (actual signal) of certain control node in Vehicle Control Network, its signal value is processed, and send to other to control node the message signals (virtual signal) after processing, can effectively resolve so control and status signal crucial in Vehicle Control Network, and realize the accurate control of each critical system.
Fig. 1 is the application scenarios schematic diagram of gateway system in the present invention.Gateway system in the present invention can be connected between the network node A and network node B of access in Vehicle Control Network when practical application, by this gateway system, completes the communication protocol analytical capabilities of the control signal of transmitting between network node A and network node B in this Vehicle Control Network.It is to be noted, in the application scenarios of gateway system of the present invention, network node A or network node B all represent the network element that can realize control signal transmitting-receiving, can be single network concrete in automobile and control node, can be also the network function module that comprises one or more network control nodes.
The basic principle that gateway system of the present invention communicates protocol analysis is the Optimized Matching method based on having on-line study function.Particularly, the method can utilize the mode that is similar to the method for exhaustion to carry out the analysis of byte or even position one-level according to a large amount of messages of certain communication protocol transmission, determines the physical significance of effective content representative in message, thereby realizes the parsing to communication protocol.Therebetween, the method is also continued to optimize processing mode by self-teaching mechanism, to improve analyzing efficiency.
Fig. 2 is the system configuration schematic diagram of gateway system in the present invention.As shown in Figure 2, this gateway system comprises: first transceiver, second transceiver, the 3rd transceiver, MCU, first memory, second memory, the 3rd memory and the 4th memory.Below just further introduce function and the principle thereof of each module in gateway system.
First transceiver, certain network node A in its connection Vehicle Control Network and the MCU of this gateway system, for receiving all communication messages (rear be called for short " message ") that send and should be received by another network node B of Vehicle Control Network by network node A, also for the message of being processed by MCU is sent to network node A.
Second transceiver, the network node B in its connection automobile and the MCU of this gateway system, for receiving all communication messages that sent and should be received by network node A by network node B, also for the message of being processed by MCU is sent to network node B.
The 3rd transceiver, it connects the onboard diagnostic system of automobile and the MCU of this gateway system, for receiving the diagnostic signal message of this onboard diagnostic system.
MCU, for message is carried out to a series of processing, and realizes the parsing to communication protocol.Particularly, Fig. 3 shows the structural representation of MCU, and this MCU further comprises determining unit, revises unit and control unit.
Determining unit, for determining respectively the important level of the message that first transceiver and second transceiver receive, and by the message of first transceiver and second transceiver by important level order from high to low respectively correspondence deposit to first memory and second memory.Wherein, this important level can be jointly definite by priority and the refresh rate of message, and concrete example is as multiplied each other both, and acquired results is less, and important level is higher.
It should be noted that, the object that determining unit sorts to message according to important level is actually in order to improve the efficiency of protocol analysis.Because the probability that comprises signal of interest in the high message of important level is higher, by their analysis is more easily obtained to the information for analysis protocol, thereby they is carried out to the whole efficiency that priority treatment can improve protocol analysis.Priority and refresh rate are two important parameters that represent message important level.Wherein, priority is the byte data in message arbitration field, conventionally can represent with the ID of message the priority of message, in CAN bus protocol, message is determined the sending order of each message by non-destructive bit-by-bit arbitration mechanism, the 0th, dominant 1 is recessive, therefore the ID of message is less, the priority higher (comparing by turn) of message.Meanwhile, the refresh rate of message is the time interval of the double appearance of this message, thus the refresh rate height of message obviously also to have embodied its significance level high.For example, although the ID of message a is less than message b, the refresh rate of message a is 1000ms, and the refresh rate of message b is 10ms, so the significance level of message b may be better than message a.Therefore in the present invention, consider priority and two parameters of refresh rate of message, by them, jointly determine the important level of message.
Revise unit, for revise successively the value of each byte in each message data field of first memory and second memory according to predefined procedure.When automobile production manufacturer formulates communication protocol, the data parameters that may comprise different length byte or position in message, this length can be determined by self-study mechanism before message signals parsing starts, and after determining the length of this parameter, just can determine the order of revising message institute foundation according to this result (priori).In the specific embodiment of the invention, according to priori, revising unit can double byte, byte, the order of 4,2 are revised successively to the value of each byte in each message data field in first, second memory.It should be noted that, this data fields in the present invention refers to the position at each parameter place in message, and for example, every frame CAN message has the data fields of 8 bytes.
Control unit, for controlling first transceiver, second transceiver, will send to corresponding network node by revising the amended message in unit, and the diagnostic signal message receiving from onboard diagnostic system according to the 3rd transceiver, after judgement corresponding network node receives the message of having revised byte, whether Vehicle Control Network has produced Significant Change, and according to judged result, determines the concrete physical significance of this byte.
Above-mentioned modification unit changes and be actually the control signal of transmitting in changing Vehicle Control Network the value of byte in message data field.Certain control signal can make controlled network node produce corresponding action, when control signal is modified after unit modification, corresponding actions also may change, just can judge according to the variation of corresponding actions the physical significance of revised byte, thereby realize the parsing to agreement, this has also embodied the basic principle that the present invention carries out protocol analysis.
First memory, for being received and determined by determining unit each message of order by first transceiver by important level sequential storage from high to low.
Second memory, for being received and determined by determining unit each message of order by second transceiver by important level sequential storage from high to low.
The 3rd memory, for recording the data fields position at message, corresponding modify time and this message place of revising this modification unit.
The 4th memory, when control unit is judged after corresponding network node receives the message of having revised byte, when automotive control system has produced Significant Change, for recording the data fields position at this message being modified, corresponding modify time and this message place.
Certainly, the gateway system in the present invention also can comprise a power module, thereby provides supply of electric power for this gateway system.
Fig. 4 is the flow chart of steps that gateway system of the present invention communicates protocol analysis.Connect 4 each steps that illustrate in communication protocol analytic method by reference to the accompanying drawings below.
Step 1: the first transceiver in gateway system receives the message that is sent and should be received by network node B by network node A, the second transceiver in gateway system receives the message that is sent and should be received by network node A by network node B simultaneously.
Determining unit in step 2:MCU is determined respectively the important level of the message that first transceiver and second transceiver receive.Wherein, this important level can be jointly definite by priority and the refresh rate of message, and concrete example is as multiplied each other both, and acquired results is less, and important level is higher.
Step 3: determining unit by the message of first transceiver and second transceiver by important level order from high to low respectively correspondence deposit to first memory and second memory.
The value of each byte in each message data field is revised in first memory and second memory successively according to predefined procedure in modification unit in step 4:MCU.Particularly, revising unit can double byte, byte, the order of 4,2 are revised successively to the value of each byte in each message data field in first, second memory.
Step 5: the 3rd memory records the data fields position at message, corresponding modify time and this message place of revising in step 4 this modification unit.
Step 6: second transceiver sends to network node B by amended message in first memory, first transceiver sends to network node A by amended message in second memory simultaneously.
Step 7: the 3rd transceiver receives the diagnostic signal message of onboard diagnostic system.
Step 8: the diagnostic signal message that control unit receives from onboard diagnostic system according to the 3rd transceiver, after judgement corresponding network node receives the message of having revised byte, whether Vehicle Control Network has produced Significant Change.
Step 9: when judging after corresponding network node receives the message of having revised byte, when Vehicle Control Network has produced Significant Change, the 4th memory records the data fields position at this message being modified, corresponding modify time and this message place.Meanwhile, control unit is determined the concrete physical significance of this modification byte, thereby realizes the parsing to agreement.
Step 10: when judging after corresponding network node receives the message of having revised byte, when Vehicle Control Network does not produce Significant Change, judge in message, whether byte is all modified, if all revised, protocol finishes process of analysis, if all do not revised, return to the step 4 pair message content of not yet revising and modify.
The above-mentioned flow process of communication protocol analytic method can complete the automatic parsing to communication protocol.In addition, after this is parsed automatically, obtained in the message signals of controlling network effectively after state of a control signal, can also be by the key parameter value in gateway system manual modification control signal, whether observing system produces the variation of expection, thereby whether the result that definite gateway system parses is automatically correct, by manual operations, the automatic operation of gateway system verified.As the further function of the present invention, thereby after effective control signal, can also modify to this signal, thereby realize the effective control to each critical component in finally completing communication protocol parsing acquisition message signals.
embodiment
Fig. 5,6 is respectively the topological diagram that the Vehicle Control Network of gateway system front and back is set in the embodiment of the present invention.Below just with reference to figure 5,6, the control command of resolving clutch separation/joint in Vehicle Control Network of take is target, and embodiments of the invention are elaborated.
As shown in Figure 5, the bus topolopy of certain unknown Vehicle Control Network comprises two CAN buses, the network node that wherein CAN bus relates to comprises: engine controller, gearbox control, brake monitor and car load control module, the transmission rate of CAN bus is 250Kbit/s, by its called after CAN250, as shown in fine line in Fig. 5,6; The network node that an other CAN bus relates to comprises: automatic clutch controller, electric machine controller, and power-supply controller of electric and car load control module, the transmission rate of CAN bus is 500Kbit/s, by its called after CAN500, as shown in heavy line in Fig. 5.Car load control module is the control core of automotive control system, its network consisting of above-mentioned two CAN buses is assigned various control commands to each parts, receive the signal that each parts are uploaded, and realize the mutual of data in two buses as the center tie point of network.In addition, also comprise a J1587 communication network based on RS485 bus in this automotive control system, as shown in phantom in Figure 5, this bus is for transmitting and record the On-Board Diagnostics (OBD) information of onboard diagnostic system generation.
As shown in Figure 6, the gateway system of connecting between car load control module and automatic clutch controller in access the present invention, it carries out physical shielding to realize the parsing of communication protocol to the message communication between car load control module and automatic clutch controller.First transceiver in Fig. 2 is for receiving the message signals that car load control module sends to automatic clutch controller, second transceiver is for receiving the message signals that automatic clutch controller sends to car load control module, and the 3rd transceiver is for receiving the On-Board Diagnostics (OBD) infomational message that onboard diagnostic system sends by diagnose interface.
After bus powers on, first, second transceiver receives respectively the communication signal between car load control module and automatic clutch controller, and is deposited respectively to first memory and second memory from high to low by important level by determining unit.From priori, the control command of clutch separation/joint should send to automatic clutch controller by car load control module, and therefore revising in the present embodiment unit can only carry out the modification of data fields value for the message in first memory.Particularly, revise unit and revise successively in first memory the value of each byte in each message data field according to double byte, byte, the order of 4,2, by second transceiver, send to automatic clutch controller, and by the 3rd memory, recorded successively byte location being modified message, modification time, modification etc.Simultaneously, the diagnostic signal message that control unit receives according to the 3rd transceiver self diagnosis interface, after byte is revised in judgement, whether automatic clutch has produced state change separated or that engage, and also can rely on artificially sound to judge whether clutch has action to assist parsing.After byte is revised in judgement, automatic clutch has produced state change, and the 4th memory stores records the data fields position at this message being modified, corresponding modify time and this message place.Meanwhile, control unit is determined the concrete physical significance of this modification byte, thereby realizes the protocol analysis to the control signal of automatic clutch controller.
After realizing the protocol analysis of the control signal of automatic clutch controller, can also further realize the effective control to this automatic clutch controller.For example, when car load control module sends to the control signal of automatic clutch controller, make automatic clutch carry out lock out operation, be transmitted to again automatic clutch controller having resolved after just can this control signal being revised as to the signal that carries out bonding operation by gateway system after respective protocol.
Although it should be appreciated by those skilled in the art that the bus systems such as the present embodiment is specifically applied CAN bus system, and the present invention also can use FlexRay, Lin realize.
By technique scheme, the present invention can effectively resolve control and status signal crucial in Vehicle Control Network, and realizes the accurate control of each critical system, and the accuracy that it has strengthened protocol analysis, has improved analyzing efficiency, has saved resources for research.
The present invention includes but be not limited to above embodiment, every any local improvement of carrying out under the spirit and principles in the present invention, is equal to replacement and all will be considered as within protection scope of the present invention.
Claims (8)
1. the automobile gateway system for communication protocol resolving inversely, it is characterized in that, described gateway system is arranged between the first network node and second network node of Vehicle Control Network, it comprises first transceiver, second transceiver, the 3rd transceiver, micro-control unit, first memory, second memory, the 3rd memory and the 4th memory, wherein
Described first transceiver connects described first network node and described micro-control unit, for receiving the message that sends and should be received by described second network node by described first network node, and the message of being processed by described micro-control unit is sent to described first network node;
Described second transceiver connects described second network node and described micro-control unit, for receiving the message that sends and should be received by described first network node by described second network node, and the message of being processed by described micro-control unit is sent to described second network node;
Described the 3rd transceiver connects onboard diagnostic system and described micro-control unit, for receiving the diagnostic signal message of described onboard diagnostic system;
Described micro-control unit, for determining respectively the order of the important level of the message that described first transceiver and described second transceiver receive, to determining the message after order, modify successively, and after judgement modification, whether message makes Vehicle Control Network generation Significant Change, thereby realize the parsing to communication protocol;
Described first memory, for being received and determined by described micro-control unit the message of order by described first transceiver by important level sequential storage from high to low;
Described second memory, for being received and determined by described micro-control unit the message of order by described second transceiver by important level sequential storage from high to low;
Described the 3rd memory, for recording the data fields position at message, corresponding modify time and this message place that described micro-control unit revises; And
Described the 4th memory, when described micro-control unit judge receive revise after the Vehicle Control Network of message while having produced Significant Change, for recording the data fields position at this message being modified, corresponding modify time and this message place,
Wherein, described micro-control unit further comprises determining unit, revises unit and control unit, wherein,
Described determining unit, for determining respectively the important level of the message that described first transceiver and described second transceiver receive, and the message that described first transceiver and described second transceiver are received by important level order from high to low respectively correspondence deposit to described first memory and described second memory;
Described modification unit, for revising successively the value of each byte in each message data field of described first memory and described second memory according to predefined procedure; And
Described control unit, be used for controlling described first transceiver, described second transceiver will send to corresponding network node by the amended message in described modification unit, and after judging that corresponding network node receives amended message, whether described Vehicle Control Network produces Significant Change, thereby determine the physical significance of the byte of revising
Wherein, the diagnostic signal message that described control unit receives from described onboard diagnostic system according to described the 3rd transceiver judges.
2. gateway system according to claim 1, is characterized in that, described determining unit is determined described important level according to the priority of message and refresh rate.
3. gateway system according to claim 1, is characterized in that, described modification unit is revised the value of each byte in message data field successively with double byte, byte, the order of 4,2.
4. gateway system according to claim 1, is characterized in that, described Vehicle Control Network is the network based on bussing technique.
5. gateway system according to claim 4, is characterized in that, described bus is CAN bus, RS485 bus, FlexRay bus or Lin bus.
6. gateway system according to claim 1, is characterized in that, described gateway system also comprises a power module.
7. according to the gateway system described in any one in claim 1-6, it is characterized in that, described first network node or second network node are that single automobile is controlled node or comprised the network function module that one or more automobiles are controlled node, and described automobile is controlled node and is selected from group below: engine controller, gearbox control, brake monitor, car load control module, automatic clutch controller, electric machine controller, power-supply controller of electric and onboard diagnostic system.
8. a Vehicle Control Network that comprises the automobile gateway system as described in any one in the claims 1-7.
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| CN106878112B (en) * | 2017-03-20 | 2019-12-13 | 北京汽车研究总院有限公司 | Gateway controller, data transmission method and device |
| CN114338104B (en) * | 2021-12-15 | 2023-04-25 | 北京六方云信息技术有限公司 | Security gateway analysis function verification method, device, equipment and storage medium |
| CN116382244A (en) * | 2023-04-28 | 2023-07-04 | 润芯微科技(江苏)有限公司 | Intelligent automobile online monitoring and diagnosing system and method based on embedded intelligent automobile online monitoring and diagnosing system |
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