CN102882753A - Controller area network (CAN) message long delay processing method - Google Patents
Controller area network (CAN) message long delay processing method Download PDFInfo
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Abstract
The invention discloses a controller area network (CAN) message long delay processing method, and aims to solve the technical problems that the real-time property is influenced because low-priority messages are difficult to send, the comprehensive exertion of a vehicle control function is influenced because the number of messages is manually reduced, and the like in the prior art. By the method, when a network is busy and delay time reaches the maximum delay which can be borne by the sent message, the identity (ID) of the message is automatically reduced, and the message is sent after the priority of the message is improved, so that the real-time property of the sent message is improved. The method comprises the following steps of: sending the message; starting timing; determining the type of the message; if the message is a periodic message and is not successfully sent in the specified delay period, reducing the ID of the message, and resending; and if the message is an event message and is not successfully sent in the specified duration, reducing the ID of the message, and resending.
Description
Technical field
The present invention relates to the auto electronic control technology field, relate in particular to a kind of processing method to message generation long delay in the automobile CAN-bus.
Background technology
In the CAN bus, generally be the ID that determines in advance each message.The priority policy of CAN bus is the priority that decides transmission message according to the size of ID value, and the less priority of ID value is higher.Will cause like this when network is busy, the low signal propagation delay time of some ID priority can occur increases gradually, to such an extent as to the real-time of impact control function is not gone out in long-time transmission.
Open day is on 04 27th, 2011, publication number is that the patent documentation of CN102035707A discloses a kind of technical scheme: the real-time communication support method of vehicle-mounted CAN network, the maximum number of messages S that can send at first definite reference period, and judge whether the preiodic type message number S1 that sends greater than needs and event mode message reserve number S2 with, if be not more than, then optimize the quantity that electronic control unit sends periodic messages, until satisfy greater than condition, if greater than, then according to identifier ID with the preiodic type distribution of messages in the time slot of reference period, and do reservation, the generating messages dispatch list for event mode message; Choose at last an electronic control unit as CAN network sequential datum node, with reference period broadcasting reference period start message, after each electronic control unit receives the reference period start message, according to the scheduling message table, send periodic message.The use that has the CAN bus now is ensured that the message that each electronic control unit is sent can send in real time on sequential, like this, the real-time communication of vehicle-mounted CAN network has just obtained guarantee.But the weak point of this scheme is, message number in the needs transmission is many, exceeding its maximum number of messages S must carry out message number and subdue, this is under the environment that the In-vehicle networking node is on the increase now, message number is large, implementing can be very difficult, and affects the performance of vehicle control complete function because message number is restricted.
Summary of the invention
The present invention mainly is that the low message transmission difficulty of the existing priority of solution prior art affects real-time and the people affects the technical problems such as vehicle control complete function performance for subduing message number, a kind of CAN message long delay processing method is provided, it can work as network when busy, when reach the maximum delay that the message that sends can bear time of delay, automatically reduce message id, send after the priority raising with this message, improve the real-time that sends message, this scheme is implemented convenient, cost is low, and result of use is good.
The present invention is directed to the prior art problem is mainly solved by following technical proposals, a kind of CAN message long delay processing method, be that a kind of CAN network node is processed the method that this class message also can be sent in required time especially to long delay message when network is busy, the method may further comprise the steps:
(A) initiation message sends;
(B) beginning timing;
(C) judge type of message;
(D) if periodic message does not have successfully to send in the regulation delay cycle, then reduce message id and resend;
(E) if event message does not have successfully to send in the regulation duration, then reduce message id and resend.
Because message priority and ID binding, the message that priority is high has less ID.
The ID of message is the identifier of message, includes the information such as message priority, node address.
Because when network was busy, the CAN bus will be transmitted a large amount of message, the message that priority is high is preferentially transmitted, so that the low message of priority is postponed transmission.The method is by node timing after sending message, automatically calculate the time of delay that CAN message causes owing to network is busy, when reach the maximum delay that the message that sends can bear this time of delay (the regulation delay cycle of periodic message, the regulation duration of event message), node reduces message id automatically, sends after the priority of this message is improved.
As preferably, be each message arrangement one conventional ID, a busy ID causes time-delay to be delayed when reaching regulation in that network is busy, and message uses busy ID to send.The transmission priority of busy ID is high, uses busy ID can take rapidly the CAN bus message is sent.When network is not busy, use conventional ID to send this message.
As preferably, message recovers to use conventional ID after using busy ID to send to finish.Recover to use conventional ID to adapt to the design requirement of CAN network when not busy, busy if the CAN network continues, then judge time-delay by timing, reuse busy ID after regulation postpones and send so circulation again reaching.
As preferably, the regulation delay cycle is 3 conventional transmission cycles, and the regulation duration is 200 milliseconds.For periodic message, it is 200 milliseconds that the regulation delay cycle is set as 3 times of the conventional transmission cycle, event message specifies duration, and such setting load factor that can satisfy preferably the CAN bus requires and the better real-time of low priority message in practice.
As preferably, when sending unsuccessfully, message adopt the message id after reducing to resend.The ID sign that will send failure reduces, and again sends after improving its priority.
As preferably, the message id after the reduction is described busy ID.Be handled easily, will send failure and directly adopt described busy ID to send.
The beneficial effect that the present invention brings is, it can work as network when busy, when reach the maximum delay that the message that sends can bear time of delay, automatically reduce message id, send after the priority raising with this message, improve the real-time that sends message, scheme implementation is convenient, cost is low, and result of use is good.
Description of drawings
Fig. 1 is a kind of Message Processing flow chart of the present invention.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is further described in detail.
Embodiment: as shown in Figure 1, the present invention is a kind of CAN message long delay processing method, and the method may further comprise the steps:
After step 107, node change this message id into busy ID automatically, make this message can occupy smoothly the CAN network, resend away;
So having, the present invention can work as network when busy, when the maximum delay time of the message that sends reaches setting, automatically send after this message id being changed to described busy ID, resend away sending the same described busy ID of use of failure, improve the real-time that sends message, the features such as scheme implementation is convenient, and cost is low, and result of use is good.
Claims (6)
1. a CAN message long delay processing method is that a kind of CAN network node is processed especially to long delay message, and the method that this class message also can be sent when network is busy in required time is characterized in that the method may further comprise the steps:
(A) initiation message sends;
(B) beginning timing;
(C) judge type of message;
(D) if periodic message does not have successfully to send in the regulation delay cycle, then reduce message id and resend;
(E) if event message does not have successfully to send in the regulation duration, then reduce message id and resend.
2. described a kind of CAN message long delay processing method according to claim 1 is characterized in that: be each message arrangement one conventional ID, a busy ID delays when causing time-delay to reach regulation in that network is busy, and message uses busy ID to send.
3. described a kind of CAN message long delay processing method according to claim 2 is characterized in that: described message recovers to use described conventional ID after using busy ID to send to finish.
4. described a kind of CAN message long delay processing method according to claim 1, it is characterized in that: described regulation delay cycle is 3 conventional transmission cycles, and described regulation duration is 200 milliseconds.
5. described a kind of CAN message long delay processing method according to claim 1 and 2 is characterized in that: adopt the message id after reducing to resend when described message sends unsuccessfully.
6. described a kind of CAN message long delay processing method according to claim 5, it is characterized in that: the message id after the described reduction is described busy ID.
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| CN2012102011603A CN102882753A (en) | 2012-06-15 | 2012-06-15 | Controller area network (CAN) message long delay processing method |
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| CN2012102011603A CN102882753A (en) | 2012-06-15 | 2012-06-15 | Controller area network (CAN) message long delay processing method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107005449A (en) * | 2014-11-20 | 2017-08-01 | 国立大学法人名古屋大学 | Communication system and communicator |
| CN108293014A (en) * | 2015-10-21 | 2018-07-17 | 倍福自动化有限公司 | Communication network, its operating method and participant in a communication network |
| CN111327499A (en) * | 2018-12-14 | 2020-06-23 | 北京宝沃汽车有限公司 | Method and device for sending message and automobile |
| CN113037846A (en) * | 2021-03-17 | 2021-06-25 | 成都新希望金融信息有限公司 | Data reporting method and device, electronic equipment and computer readable storage medium |
| WO2021238090A1 (en) * | 2020-05-27 | 2021-12-02 | 东风柳州汽车有限公司 | Adaptive adjustment control method and apparatus, gateway terminal, and storage medium |
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| CN102340432A (en) * | 2010-07-21 | 2012-02-01 | 浙江吉利汽车研究院有限公司 | Identifier allocation strategy for vehicle-mounted CAN (Controller Area Network) bus |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107005449A (en) * | 2014-11-20 | 2017-08-01 | 国立大学法人名古屋大学 | Communication system and communicator |
| CN107005449B (en) * | 2014-11-20 | 2020-09-04 | 国立大学法人名古屋大学 | Communication system and communication device |
| CN108293014A (en) * | 2015-10-21 | 2018-07-17 | 倍福自动化有限公司 | Communication network, its operating method and participant in a communication network |
| US10735219B2 (en) | 2015-10-21 | 2020-08-04 | Beckhoff Automation Gmbh | System and method for packet transmission in a communications network |
| CN108293014B (en) * | 2015-10-21 | 2020-12-01 | 倍福自动化有限公司 | Communication network, method for operating the same and participants in the communication network |
| CN111327499A (en) * | 2018-12-14 | 2020-06-23 | 北京宝沃汽车有限公司 | Method and device for sending message and automobile |
| WO2021238090A1 (en) * | 2020-05-27 | 2021-12-02 | 东风柳州汽车有限公司 | Adaptive adjustment control method and apparatus, gateway terminal, and storage medium |
| CN113037846A (en) * | 2021-03-17 | 2021-06-25 | 成都新希望金融信息有限公司 | Data reporting method and device, electronic equipment and computer readable storage medium |
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Application publication date: 20130116 |