CN102975668A

CN102975668A - CAN (Controller Area Network) bus-based vehicle remote control method

Info

Publication number: CN102975668A
Application number: CN2012104795117A
Authority: CN
Inventors: 何德胜; 陈昭胜
Original assignee: Fujian Xinghai Communication Technology Co Ltd
Current assignee: Fujian Xinghai Communication Technology Co Ltd
Priority date: 2012-11-22
Filing date: 2012-11-22
Publication date: 2013-03-20
Anticipated expiration: 2032-11-22
Also published as: CN102975668B

Abstract

The invention provides a CAN (Controller Area Network) bus-based vehicle remote control method, wherein a vehicle-mounted terminal controller is arranged on a vehicle and comprises a wireless module, a terminal controller and a CAN communication module which are connected in sequence, wherein the wireless module is in wireless communication with a remote control center, and the CAN communication module is connected with each component of the vehicle through a CAN bus module; and the CAN bus module can be used for realizing vehicle monitoring and control, such as the monitoring of the working states of an engine ECU (Electronic Control Unit), an ABS (Anti-lock brake system), a motor controller, a variable speed controller and lighting equipment, carrying out remote control on the vehicle by sending related instructions, such as control over the rotating speed and the torque of the vehicle, to the CAN bus module, monitoring whether each component of the vehicle is at a normal working state in real time and diagnosing the vehicle in real time; and therefore, the vehicle controllability is improved.

Description

Remote vehicle control method based on the CAN bus

[technical field]

The present invention relates to vehicle control technology field, relate in particular to a kind of remote vehicle control method based on the CAN bus.

[background technology]

The SAEJ1939 agreement is passenger vehicle and the heavy wrecker truck network communication applications layer protocol that AIAE American institute of automobile engineers (SAE) is formulated at the CAN2.0B protocol basis, is being used widely in the vehicle electronics network at present.This agreement adopts the Frame of CAN bus to encapsulate its data message, and clear each ECU(electronic control unit of automotive interior) the information such as title, address, communications protocol, priority, use multiplexing technique to be connected the normalisation express network that is based upon on the CAN bus basis to connect with controller as each sensor of vehicle, actr, realize that between different ECU high speed data is shared, in the hope of effective alerting ability, reliability, maintainability that reduces wire harness quantity and improve the Car Electronic Control system.Structure such as the table 1 of J1939 agreement:

Table 1

File name	File content
		J1939	The description of summarizing the structure of J1939 network, OSI hierarchy, subordinate's document
J1939-01	Passenger vehicle and passenger vehicle control and information network
		J1939-02	Agricultural equipment control and communication network
J1939-11	Physical layer, the Shielded Twisted Pair of employing 250kb/s
		J1939-12	Physical layer, the four-core twisted wire of employing 250kb/s
J1939-13	Physical layer, diagnostics interface
		J1939-21	Data link layer, frame definition and form
J1939-31	Network layer, network architecture and each component function
		J1939-71	The vehicle application layer is used signal and message
J1939-72	The virtual terminal application layer

J1939-73	The diagnostic application layer, the diagnostic message definition
		J1939-81	NMP distributes and management address

Wherein, J1939-71 vehicle application definition signal (parameter) and the message (parameter group) used for vehicle.Application layer is by the parametric description signal, one 19 the suspicious parameter numbering (SPN) of having given each parametric distribution; Describe message by parameter group in addition, distributed one 24 parameter group numbering (PGN) for each parameter group.SPN is used for identifying parameter in trouble diagnosing element, parts or the parameter group relevant with ECU; PGN is used for special parameter group of unique identification.Except the parameter of having distributed and parameter group, the user also can replenish application layer to custom parameter and the proprietary message of definition by distributing untapped SPN.

Vehicle is more and more important in our daily life.Along with scientific technological advance vehicle degree of automation is more and more higher, the wireless network protection face is increasing simultaneously, and the CAN bus is more and more universal in vehicle, some vitals of vehicle now substantially all join in the vehicle CAN bus network, and the vitals of vehicle comprises: electric machine controller, variable-speed controller, anti-lock brake system ABS, Engine ECU, instrument carrier panel, light equipment, automatic seat, interior environment system, electric window, electric door lock and safety air bag etc.But now vehicle monitoring and diagnosis can only can only be controlled simple door contact interrupter lock, air conditioning switch, vehicle window, light equipment etc. with special tool monitoring, Long-distance Control substantially at the vehicle scene; Uncontrollable vehicle rotating speed etc.; Can't satisfy vehicle automation and intelligentification development need.

A kind of " Vehicular intelligent safety control system and method for supervising " disclosed in the prior art, see that publication number is: CN102323816A, open day be: the Chinese patent of 2012.01.18, this a kind of Vehicular intelligent safety control system, comprise: the bus analysis module, be connected with the CAN bus, be used for directly obtaining the current various running datas of automobile; One key starts module, is connected with the CAN bus, starts corresponding executive command by the information on the CAN bus; Position module is connected with the CAN bus, is used for obtaining the current location information of automobile; Communication module is connected with the CAN bus, is used for uploading the data to long-range background server; The server calling module is used for and described communication module swap data; And background processing module, be connected with described server calling module, the data that receive for the treatment of described server calling module, and command information delivered to described server calling module.This beneficial effect of the invention is: this system has realized the bidirectional data transfers of vehicle-network-background server, monitoring function.How to monitor but this invention just specifically discloses, do not disclose how vehicle is carried out Long-distance Control, i.e. uncontrollable vehicle rotating speed, moment of torsion.

[summary of the invention]

The technical problem to be solved in the present invention, be to provide a kind of remote vehicle control method based on the CAN bus, can not only monitoring engine ECU, the mode of operation of ABS, electric machine controller, variable-speed controller, light equipment etc., and control vehicle rotating speed, moment of torsion etc., improve the steerability of vehicle.

The present invention is achieved in that a kind of remote vehicle control method based on the CAN bus, the controller of installation car mounted terminal on vehicle, this controller comprises wireless module, terminal controller and the CAN communication module that connects successively, this wireless module and a remote control center carry out wireless telecommunications, and described CAN communication module is connected with each parts of vehicle by a CAN bus module; Read in real time configuration, engine coolant temperature, driving engine time of run, the engine speed of engine oil pressure, the driving engine of refrigerant fluid liquid level, the driving engine of machine oil liquid level, the driving engine of the driving engine in the vehicle operating, each data of engine torque by the CAN bus module, and form each corresponding message data and send to remote control center by described controller; Remote control center is resolved the state that each message data is analyzed vehicle operating; Remote control center sends the control message of the engine speed that sets and the control message of engine torque sends to the CAN bus module by described controller, and rotating speed and the moment of torsion of vehicle is set or limits behind the control message of vehicle reception engine speed and the control message of engine torque; The control message of described engine speed and the control message of engine torque are to arrange according to the rotating speed setting of stipulating among the J1939 protocol architecture J1939-71 and PGN parameter group numbering corresponding to restriction, moment of torsion setting and restriction.

Further, each parts of described vehicle comprise: electric machine controller, variable-speed controller, anti-lock brake system ABS, Engine ECU, instrument carrier panel, light equipment, automatic seat, interior environment system, electric window, electric door lock and safety air bag; Described instrument carrier panel is connected with described CAN bus module; Described electric machine controller, variable-speed controller, anti-lock brake system ABS, Engine ECU all are connected with the high speed network segment of the CAN bus network of described CAN bus module; Described light equipment, automatic seat, interior environment system, electric window, electric door lock, safety air bag all are connected with the low speed network segment of the CAN bus network of CAN bus module; Described remote control center is by sending various operational orders, after terminal controller in the described controller resolves to the order that vehicle can identify to various operational orders, send to the CAN bus module, the order that vehicle receives after the parsing is carried out control operation to vehicle.

The present invention has following advantage: the present invention realizes vehicle monitoring and control by the CAN bus module, monitoring is such as the mode of operation of Engine ECU, ABS, electric machine controller, variable-speed controller, light equipment etc., also can send dependent instruction to this CAN bus module comes vehicle is carried out Long-distance Control, as control vehicle rotating speed, moment of torsion etc., by this CAN bus module, can whether be in normal working, the real-time diagnosis vehicle by each parts of Real Time Monitoring vehicle; Improve the steerability of vehicle.

[description of drawings]

Fig. 1 is overall frame structure scheme drawing of the present invention.

Fig. 2 is the structural representation that CAN bus module of the present invention is connected with vehicle.

[specific embodiment]

See also illustrated in figures 1 and 2, a kind of remote vehicle control method based on the CAN bus of the present invention, the controller of installation car mounted terminal on vehicle, this controller comprises wireless module, terminal controller and the CAN communication module that connects successively, this wireless module and a remote control center carry out wireless telecommunications, and described CAN communication module is connected with each parts of vehicle by a CAN bus module; Read in real time configuration, engine coolant temperature, driving engine time of run, the engine speed of engine oil pressure, the driving engine of refrigerant fluid liquid level, the driving engine of machine oil liquid level, the driving engine of the driving engine in the vehicle operating, each data of engine torque by the CAN bus module, and form each corresponding message data and send to remote control center by described controller; Remote control center is resolved the state that each message data is analyzed vehicle operating; Remote control center sends the control message of the engine speed that sets and the control message of engine torque sends to the CAN bus module by described controller, and rotating speed and the moment of torsion of vehicle is set or limits behind the control message of vehicle reception engine speed and the control message of engine torque; The control message of described engine speed and the control message of engine torque are to arrange according to the rotating speed setting of stipulating among the J1939 protocol architecture J1939-71 and PGN parameter group numbering corresponding to restriction, moment of torsion setting and restriction; This driving engine comprises: genemotor, diesel motor, engine petrol, natural gas engine, hybrid power engine etc.

Wherein, each parts of described vehicle comprise: electric machine controller, variable-speed controller, anti-lock brake system ABS, Engine ECU, instrument carrier panel, light equipment, automatic seat, interior environment system, electric window, electric door lock and safety air bag; Described instrument carrier panel is connected with described CAN bus module; Described electric machine controller, variable-speed controller, anti-lock brake system ABS, Engine ECU all are connected with the high speed network segment of the CAN bus network of described CAN bus module; Described light equipment, automatic seat, interior environment system, electric window, electric door lock, safety air bag all are connected with the low speed network segment of the CAN bus network of CAN bus module; Described remote control center is by sending various operational orders, after terminal controller in the described controller resolves to the order that vehicle can identify to various operational orders, send to the CAN bus module, the order that vehicle receives after the parsing is carried out control operation to vehicle.

It is worth mentioning that: such as control message format such as the following table 1 of the control message/engine torque of engine speed of the present invention:

Table 1

Attention: be 0 o'clock in the command torque limit, retarder may not worked.The use of unrestricted model so that retarder can work when requiring the limit being higher than to specify.This can allow to surpass the deceleration of 50% limit.

In a word, the present invention realizes vehicle monitoring and control by the CAN bus module, monitoring is such as the mode of operation of Engine ECU, ABS, electric machine controller, variable-speed controller, light equipment etc., also can send dependent instruction to this CAN bus module comes vehicle is carried out Long-distance Control, as control vehicle rotating speed, moment of torsion etc., by this CAN bus module, can provide real time data for vehicle centralized management, repair and maintenance management, remote diagnosis.The Long-distance Control channel is provided, improves the operational vehicle level of management, can realize vehicle anti-theft, vehicle is anti-snatch and lack of standardization with safety controls such as car remote tracing speed limits.Vehicle remote diagnosis improves vehicle driving safety; Improve the steerability of vehicle.

The above only is preferred embodiment of the present invention, and all equalizations of doing according to the present patent application claim change and modify, and all should belong to covering scope of the present invention.

Claims

1. remote vehicle control method based on the CAN bus, it is characterized in that: the controller of installation car mounted terminal on vehicle, this controller comprises wireless module, terminal controller and the CAN communication module that connects successively, this wireless module and a remote control center carry out wireless telecommunications, and described CAN communication module is connected with each parts of vehicle by a CAN bus module; Read in real time configuration, engine coolant temperature, driving engine time of run, the engine speed of engine oil pressure, the driving engine of refrigerant fluid liquid level, the driving engine of machine oil liquid level, the driving engine of the driving engine in the vehicle operating, each data of engine torque by the CAN bus module, and form each corresponding message data and send to remote control center by described controller; Remote control center is resolved the state that each message data is analyzed vehicle operating; Remote control center sends the control message of the engine speed that sets and the control message of engine torque sends to the CAN bus module by described controller, and rotating speed and the moment of torsion of vehicle is set or limits behind the control message of vehicle reception engine speed and the control message of engine torque; The control message of described engine speed and the control message of engine torque are to arrange according to the rotating speed setting of stipulating among the J1939 protocol architecture J1939-71 and PGN parameter group numbering corresponding to restriction, moment of torsion setting and restriction.

2. the remote vehicle control method based on the CAN bus according to claim 1, it is characterized in that: each parts of described vehicle comprise: electric machine controller, variable-speed controller, anti-lock brake system ABS, Engine ECU, instrument carrier panel, light equipment, automatic seat, interior environment system, electric window, electric door lock and safety air bag; Described instrument carrier panel is connected with described CAN bus module; Described electric machine controller, variable-speed controller, anti-lock brake system ABS, Engine ECU all are connected with the high speed network segment of the CAN bus network of described CAN bus module; Described light equipment, automatic seat, interior environment system, electric window, electric door lock, safety air bag all are connected with the low speed network segment of the CAN bus network of CAN bus module; Described remote control center is by sending various operational orders, after terminal controller in the described controller resolves to the order that vehicle can identify to various operational orders, send to the CAN bus module, the order that vehicle receives after the parsing is carried out control operation to vehicle.