CN102975668B - CAN (Controller Area Network) bus-based vehicle remote control method - Google Patents
CAN (Controller Area Network) bus-based vehicle remote control method Download PDFInfo
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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
[technical field]
The present invention relates to technical field of vehicle control, particularly relate to a kind of remote vehicle control method based on CAN.
[background technology]
SAEJ1939 agreement is the passenger vehicle formulated on CAN2.0B protocol basis of AIAE American institute of automobile engineers (SAE) and heavy wrecker truck network communication applications layer protocol, is used widely in current automobile electron.This agreement adopts the Frame of CAN to encapsulate its data message, and the clear stipulaties information such as title, address, communications protocol, priority of each ECU of automotive interior (electronic control unit), multiplexing technique is used to provide the normalisation express network be based upon on CAN basis to be connected for each sensor of vehicle, actr and controller, between different ECU, realize high speed data share, to effectively reducing wire harness quantity and improving alerting ability, reliability, the maintainability of Car Electronic Control system.The structure of J1939 agreement is as table 1:
Table 1
| File name | File content |
| J1939 | The structure describing J1939 network, OSI hierarchy, subordinate's document summarized |
| J1939-01 | Passenger vehicle and passenger vehicle control and information network |
| J1939-02 | Agricultural equipment controls and communication network |
| J1939-11 | Physical layer, adopts the Shielded Twisted Pair of 250kb/s |
| J1939-12 | Physical layer, adopts the four-core twisted wire of 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 | Vehicle application layer, application signal and message |
| J1939-72 | Virtual terminal application layer |
| J1939-73 | Diagnostic application layer, diagnostic message defines |
| J1939-81 | NMP, distributes and management address |
Wherein, J1939-71 vehicle application definition is for the signal (parameter) of vehicle application and message (parameter group).Application layer describes signal by parameter, suspicious parameter numbering (SPN) of 19 to each parametric distribution; Describe message by parameter group in addition, be assigned with parameter group numbering (PGN) of 24 to each parameter group.SPN is used for identifying parameter in trouble diagnosing element, parts or the parameter group relevant to ECU; PGN is used for unique identification special parameter group.Except the parameter of having distributed and parameter group, user also supplements 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, wireless network protection face is increasing simultaneously, and CAN is more and more universal in vehicle, some vitals of vehicle now substantially all join in 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 vehicle monitoring now and diagnosis can only be monitored at vehicle scene special tool, Long-distance Control can only control simple door contact interrupter lock, air conditioning switch, vehicle window, light equipment etc. substantially; Uncontrollable vehicle rotating speed etc.; Vehicle automation and intelligentification development need cannot be met.
One " Vehicular intelligent safety control system and method for supervising " is disclosed in prior art, see that publication number is: CN102323816A, publication date is: the Chinese patent of 2012.01.18, this a kind of Vehicular intelligent safety control system, comprise: bus analysis module, be connected with CAN, for directly obtaining the current various running datas of automobile; One key starts module, is connected, starts corresponding executive command by the information in CAN with CAN; Position module, is connected with CAN, for obtaining the current location information of automobile; Communication module, is connected with CAN, for uploading the data to long-range background server; Server call module, for exchanging data with described communication module; And background processing module, be connected with described server call module, for the treatment of the data that described server call module receives, and command information delivered to described server call module.This beneficial effect of the invention is: this system achieves the bidirectional data transfers of vehicle-network-background server, monitoring function.But how this invention monitors if just specifically disclosing, do not disclose and how to carry out Long-distance Control to vehicle, 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 CAN, 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 CAN, the controller of installation car mounted terminal on vehicle, this controller comprises the wireless module, terminal controller and the CAN communication module that connect 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 module; Read each data of the machine oil liquid level of the driving engine in vehicle operating, the refrigerant fluid liquid level of driving engine, the engine oil pressure of driving engine, the configuration of driving engine, engine coolant temperature, engine on time, engine speed, engine torque in real time by CAN module, and the message data forming each correspondence sends to remote control center by described controller; Vehicle monitoring and control is realized by CAN module, monitoring comprises: the mode of operation of Engine ECU, ABS, electric machine controller, variable-speed controller or light equipment, also can send dependent instruction to this CAN module and Long-distance Control is carried out to vehicle, control vehicle rotating speed, moment of torsion, by this CAN module, real time data can be provided for vehicle centralized management, repair and maintenance management, remote diagnosis; Remote control center carries out resolving each message data to analyze the state of vehicle operating; The control message of control message and engine torque that remote control center sends the engine speed set sends to CAN module by described controller, carries out the rotating speed and the moment of torsion that arrange or limit vehicle after the control message of vehicle receiver engine speed and the control message of engine torque; The control message of described engine speed and the control message of engine torque to arrange according to the rotating speed that specifies in J1939 protocol architecture J1939-71 and restriction, moment of torsion is arranged and restriction is corresponding PGN parameter group numbering carry out arranging; The control message format of the control message/engine torque of described engine speed is: transmission circulation rate: during activation, driving engine 10ms, retarder 50ms; Data length: 8 bytes; Page of data: 0 byte; PDU form: 0 byte; PDU specifies: destination address; Default priority value: 3; Parameter group number is numbered: 0; Wherein, message byte 1 is: control bit, the 7th and the 8th of the byte 1 of control bit: undefined; The the 5th and the 6th of the byte 1 of control bit: do not consider master mode preceence; The the 4th and the 3rd of the byte 1 of control bit: require rate control condition; The byte 1 the 2nd of control bit and the 1st: do not consider master mode; Message byte 2 and byte 3: for requiring speed/speed restriction; Message byte 4: for requiring that torque/torque limits; Message byte 5 is to byte 8: undefined.
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 and described CAN model calling; Described electric machine controller, variable-speed controller, anti-lock brake system ABS, Engine ECU are all connected with the high speed network segment of the CAN network of described CAN module; Described light equipment, automatic seat, interior environment system, electric window, electric door lock, safety air bag are all connected with the low speed network segment of the CAN network of CAN module; Described remote control center is by sending various operational order, after terminal controller in described controller resolves to various operational order the order that vehicle can identify, send to CAN module, the order after vehicle receiver to parsing carries out control operation to vehicle.
Tool of the present invention has the following advantages: the present invention realizes vehicle monitoring and control by CAN module, monitor the mode of operation as Engine ECU, ABS, electric machine controller, variable-speed controller, light equipment etc., also can send dependent instruction to this CAN module and Long-distance Control is carried out to vehicle, as controlled vehicle rotating speed, moment of torsion etc., by this CAN module, whether can be in normal working, real-time diagnosis vehicle by each parts of monitoring vehicle in real time; Improve the steerability of vehicle.
[accompanying drawing explanation]
Fig. 1 is overall frame structure schematic diagram of the present invention.
Fig. 2 is the structural representation that CAN module of the present invention is connected with vehicle.
[detailed description of the invention]
Refer to shown in Fig. 1 and Fig. 2, a kind of remote vehicle control method based on CAN of the present invention, the controller of installation car mounted terminal on vehicle, this controller comprises the wireless module, terminal controller and the CAN communication module that connect 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 module; Read each data of the machine oil liquid level of the driving engine in vehicle operating, the refrigerant fluid liquid level of driving engine, the engine oil pressure of driving engine, the configuration of driving engine, engine coolant temperature, engine on time, engine speed, engine torque in real time by CAN module, and the message data forming each correspondence sends to remote control center by described controller; Remote control center carries out resolving each message data to analyze the state of vehicle operating; The control message of control message and engine torque that remote control center sends the engine speed set sends to CAN module by described controller, carries out the rotating speed and the moment of torsion that arrange or limit vehicle after the control message of vehicle receiver engine speed and the control message of engine torque; The control message of described engine speed and the control message of engine torque to arrange according to the rotating speed that specifies in J1939 protocol architecture J1939-71 and restriction, moment of torsion is arranged and restriction is corresponding PGN parameter group numbering carry out arranging; 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 and described CAN model calling; Described electric machine controller, variable-speed controller, anti-lock brake system ABS, Engine ECU are all connected with the high speed network segment of the CAN network of described CAN module; Described light equipment, automatic seat, interior environment system, electric window, electric door lock, safety air bag are all connected with the low speed network segment of the CAN network of CAN module; Described remote control center is by sending various operational order, after terminal controller in described controller resolves to various operational order the order that vehicle can identify, send to CAN module, the order after vehicle receiver to parsing carries out control operation to vehicle.
It is worth mentioning that: if the control message format of the control message/engine torque of engine speed of the present invention is as following table 1:
Table 1
Attention: when the command torque limit is 0, retarder may not work.The use of unrestricted model makes retarder wanting can work during finding limit higher than appointment.This can allow the deceleration more than 50% limit.
In a word, the present invention realizes vehicle monitoring and control by CAN module, monitor the mode of operation as Engine ECU, ABS, electric machine controller, variable-speed controller, light equipment etc., also can send dependent instruction to this CAN module and Long-distance Control is carried out to vehicle, as controlled vehicle rotating speed, moment of torsion etc., by this CAN module, real time data can be provided for vehicle centralized management, repair and maintenance management, remote diagnosis.Long-distance Control channel is provided, improves operational vehicle level of management, the safety controls such as the anti-snatch and car remote tracing speed limit lack of standardization of vehicle anti-theft, vehicle can be realized.Vehicle remote diagnosis improves vehicle driving safety; Improve the steerability of vehicle.
The foregoing is only preferred embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.
Claims (2)
1. the remote vehicle control method based on CAN, it is characterized in that: the controller of installation car mounted terminal on vehicle, this controller comprises the wireless module, terminal controller and the CAN communication module that connect 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 module; Read each data of the machine oil liquid level of the driving engine in vehicle operating, the refrigerant fluid liquid level of driving engine, the engine oil pressure of driving engine, the configuration of driving engine, engine coolant temperature, engine on time, engine speed, engine torque in real time by CAN module, and the message data forming each correspondence sends to remote control center by described controller; Vehicle monitoring and control is realized by CAN module, monitoring comprises: the mode of operation of Engine ECU, ABS, electric machine controller, variable-speed controller or light equipment, also can send dependent instruction to this CAN module and Long-distance Control is carried out to vehicle, control vehicle rotating speed, moment of torsion, by this CAN module, real time data can be provided for vehicle centralized management, repair and maintenance management, remote diagnosis; Remote control center carries out resolving each message data to analyze the state of vehicle operating; The control message of control message and engine torque that remote control center sends the engine speed set sends to CAN module by described controller, carries out the rotating speed and the moment of torsion that arrange or limit vehicle after the control message of vehicle receiver engine speed and the control message of engine torque; The control message of described engine speed and the control message of engine torque to arrange according to the rotating speed that specifies in J1939 protocol architecture J1939-71 and restriction, moment of torsion is arranged and restriction is corresponding PGN parameter group numbering carry out arranging; The control message format of the control message/engine torque of described engine speed is: transmission circulation rate: during activation, driving engine 10ms, retarder 50ms; Data length: 8 bytes; Page of data: 0 byte; PDU form: 0 byte; PDU specifies: destination address; Default priority value: 3; Parameter group number is numbered: 0; Wherein, message byte 1 is: control bit, the 7th and the 8th of the byte 1 of control bit: undefined; The the 5th and the 6th of the byte 1 of control bit: do not consider master mode preceence; The the 4th and the 3rd of the byte 1 of control bit: require rate control condition; The byte 1 the 2nd of control bit and the 1st: do not consider master mode; Message byte 2 and byte 3: for requiring speed/speed restriction; Message byte 4: for requiring that torque/torque limits; Message byte 5 is to byte 8: undefined.
2. the remote vehicle control method based on CAN according to claim 1, 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 and described CAN model calling; Described electric machine controller, variable-speed controller, anti-lock brake system ABS, Engine ECU are all connected with the high speed network segment of the CAN network of described CAN module; Described light equipment, automatic seat, interior environment system, electric window, electric door lock, safety air bag are all connected with the low speed network segment of the CAN network of CAN module; Described remote control center is by sending various operational order, after terminal controller in described controller resolves to various operational order the order that vehicle can identify, send to CAN module, the order after vehicle receiver to parsing carries out control operation to vehicle.
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| CN201210479511.7A CN102975668B (en) | 2012-11-22 | 2012-11-22 | CAN (Controller Area Network) bus-based vehicle remote control method |
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| CN104916003A (en) * | 2014-03-13 | 2015-09-16 | 深圳市赛格导航科技股份有限公司 | Vehicle monitoring method and system thereof |
| CN104786845B (en) * | 2015-03-23 | 2017-04-05 | 中国重汽集团济南动力有限公司 | A kind of method in the adjust automatically engine economical rotating speed area in instrument |
| CN104802734A (en) * | 2015-04-25 | 2015-07-29 | 深圳市几米电子有限公司 | Intelligent vehicle management system and intelligent vehicle management method |
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| CN107042802A (en) * | 2016-12-13 | 2017-08-15 | 象翌微链科技发展有限公司 | A kind of system and method for control engine condition |
| CN108005798B (en) * | 2017-11-07 | 2020-06-02 | 湖北三江航天万峰科技发展有限公司 | Diesel engine remote control device based on DSP processor |
| CN109116758A (en) * | 2018-08-01 | 2019-01-01 | 中科青年交通科技（苏州）有限公司 | A kind of vehicle-mounted terminal system based on cloud platform |
| CN110344985B (en) * | 2019-06-06 | 2021-03-19 | 东南大学 | Wireless control device and method for chassis system of heavy vehicle |
| CN110719231B (en) * | 2019-10-25 | 2023-04-25 | 深圳市鹏巨术信息技术有限公司 | Data processing method, device, equipment and readable storage medium |
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