CN103023786B - Automobile bus gateway dynamic priority route management method and system thereof - Google Patents
Automobile bus gateway dynamic priority route management method and system thereof Download PDFInfo
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- CN103023786B CN103023786B CN201210588171.1A CN201210588171A CN103023786B CN 103023786 B CN103023786 B CN 103023786B CN 201210588171 A CN201210588171 A CN 201210588171A CN 103023786 B CN103023786 B CN 103023786B
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Abstract
The present invention relates to automobile bus gateway, be specifically related to a kind of automobile bus gateway dynamic priority routing policy and its implementation, particularly a kind of automobile bus gateway dynamic priority route management method and automobile bus gateway dynamic priority route management system.By analyzing automobile mounted network demand, determine the priority of each function of ECU, formulate the dynamic routing table of different operating mode；Further according to the state of operating mode, the gateway of diagnosis type is carried out software design, it is achieved the function of the real-time clearance of information that gateway dynamic routing priority is higher.
Description
Technical field
The present invention relates to automobile bus gateway, be specifically related to a kind of automobile bus gateway dynamic priority routing policy and
Implementation method, particularly a kind of automobile bus gateway dynamic priority route management method and automobile bus gateway dynamic priority
Route management system.
Background technology
CAN is a kind of wide variety of bus on automobile, uses broadcast type transmission information of vehicles, it is possible to easily real
Between existing ECU, communication data is mutual.In order to ensure safe and reliable communication, typically require that the load factor of CAN is maintained at
Less than 30%, it is ensured that the route high real-time of gateway.The speed of zones of different CAN is different with identifying code name, a therefore letter
Number to enter into another bus area from a bus, it is necessary to its identification signal and speed are changed, it is possible to allow another
One system accepts, and this task is completed by gateway i.e. Gateway.Such as: certain signal is in the identification of certain bus area
Symbol is 100, and when it arrives another bus area, identifier becomes 400.This transformation process of prior art is fixing, and it is not
Appropriate adjustment can be carried out according to the change of operating mode.
Along with the high speed development of electronic technology, various in-vehicle electronic systems occur the most like the mushrooms after rain.And these cars
While the high speed development of loading system, the most constantly increase the communication pressure of CAN.
Simultaneously in today of traditional energy growing tension, hybrid vehicle becomes a kind of trend of development, its safety
With intellectuality not only tight with the secure relationship of vehicle occupant, the also indirect verification designing quality water of hybrid vehicle
Flat.And the addition of new energy resources system makes CAN traffic roll up.The gateway that neither one is more intelligent, it is ensured that tradition
Vehicle electronic communication organically combines with new forms of energy communication, ensures reliable communicating again, and this brings to traditional CAN communication
Challenge greatly.
Along with technology application on automobile such as the fast development of automotive electronics and new forms of energy, In-vehicle networking becomes more to come
The most complicated.The strategic flexibility of traditional static route is poor, in the case of in-vehicle electronic system is more and more huger, increasingly can not
Meet the demand of dynamic realtime operation.And CAN system of based on real-time also exists in this case and can not meet reality
The shortcoming of border application.
As can be seen here, the motility deficiency of the communication routing policy between bus subsystem governs new technology application.
In the case of the real-time of automobile tradition CAN network is challenged, it is necessary to have a kind of novel bus network route plan
Slightly solve the communication lines brought during the combination of traditional vehicle loading system and the technology such as new automobile electronic system and new forms of energy by time
The problem that effect property is deteriorated.
Summary of the invention
For drawbacks described above of the prior art, the invention provides a kind of automobile bus gateway dynamic priority route pipe
Reason method and system such that it is able in the case of In-vehicle networking becomes to become increasingly complex, solves existing communication gateway communication real
The problem that time property is not enough, improves safety and the intellectuality of automobile, provides safer comfortable automobile for driver.
A first aspect of the present invention provides the management method of a kind of automobile bus gateway dynamic priority route, including following
Step:
A. analyze the demand of car load, define the product address of each system；
B. determine the priority of each function of ECU, formulate the dynamic routing table of different operating mode；
Preferably, described step is carried out successively according to above-mentioned putting in order.
In any of the above-described scheme preferably, the described analysis in step A includes analyzing car load topological structure.
It may further be preferable that described car load topological structure includes power CAN, auxiliary power CAN, vehicle body CAN, comfortable
CAN, FIN bus, gateway.
It may further be preferable that described auxiliary power CAN includes that mair motor control system, whole-control system, energy return
Receipts system, battery management system, instrument.
In any of the above-described scheme preferably, described power CAN includes: Vehicle Stability System, electric power steering, peace
Full air bag module, engine control system, battery sensor, double-clutch speed changer, direction turn-sensitive device, mobile headlight.
In any of the above-described scheme preferably, described vehicle body CAN include intelligence enter startup system, steering column lock,
Speed limit display system, instrument, power-supply management system, car body controller.
In any of the above-described scheme preferably, described comfortable CAN include auto-partition air-conditioning, 3G, DVD, radio,
GPS, seat modular video and music entertainment system.
In any of the above-described scheme preferably, the described analysis in step A includes analyzing what each control system received
Message, may contain multiple messages for complicated system, comprise the signal of transmission in message.
In such scheme preferably, the static pull-up hands of the EPB (electronic brake system) in described control system
During dynamic pull-up, signal is needed to include tach signal, normal power voltage signal.
In any of the above-described scheme preferably, EPB (electronic brake system) static state in described control system is drawn
When playing intelligence pull-up, accept signal and include wheel speed signal, longitudinal signal for faster, belt signal, driver door's position signalling.
In any of the above-described scheme preferably, EPB (electronic brake system) static state in described control system is drawn
Rise when stepping up function again, accept signal and include that wheel speed signal (pulling force decline compensate in the case of), wheelspan impulse scaler (slip car again
Under jam).
In any of the above-described scheme preferably, EPB (electronic brake system) static state in described control system is drawn
When playing automatic pull-up, accept signal and include that wheel speed signal, engine speed information, engine torque information, system power supply are normal
Signal；
In any of the above-described scheme preferably, the static pull-up of described EPB (electronic brake system) automatically controls
Time, accept signal and include Autonomous Brake Request signal.
In any of the above-described scheme preferably, the EPB (electronic brake system) in described control system dynamically should
During by pattern dynamic application, in the case of brake system, accept signal and include tach signal；EPB ANTI LOCK
In the case of accept ABS/TCS/ESC Active signal；Brake lamp signal is accepted in the case of Degraded brakes.
In any of the above-described scheme preferably, the EPB (electronic brake system) in described control system dynamically should
During by pattern dynamic standby application pattern, accept signal and include longitudinal signal for faster, automatic breaking system signal.
In any of the above-described scheme preferably, the EPB (electronic brake system) in described control system dynamically releases
When putting, accept signal and include wheel speed signal, ABS/TCS/ESC Active signal.
In any of the above-described scheme preferably, what each control system of message definition received according to each function sent disappears
Breath, may contain multiple messages for complicated system, comprise the signal of transmission in message.
In any of the above-described scheme preferably, the product address of described each system of definition in step A is EPB (electricity
Sub-parking braking) product address be E；The product address of ABS (slip control system) is D；The product of ICU (instrument)
Address is F；The product address of BCM (vehicle body management system) is C；TCU(variator management system) product address be B；
The product address of ECM (engine management system) is A；…….
In any of the above-described scheme preferably, the most described priority determining each function of ECU, including really
Determine automobile under different work condition states, it is judged that system is the need of route, the priority of each system route.
In such scheme preferably, under static state, the priority orders of each system is automobile: EPB (electronics
Parking braking)--> BCM (vehicle body management system)--> ABS (slip control system)--> ICU (instrument)--> TCU
(variator management system)--> ECM (engine management system)--> ....
In any of the above-described scheme preferably, automobile is starting but under the operating mode that do not travels, the priority of each system
Order is: ECM (engine management system)--> TCU(variator management system)--> EPB (electronic brake)--> ABS
(slip control system)--> BCM (vehicle body management system)--> ICU (instrument)--> ....
In any of the above-described scheme preferably, the most described dynamic routing table formulating different operating mode, it is included in
Automobile starting but under the operating mode that do not travels, EPB(electronic brake system) route messages 1 primary ID is 150 priority changes
Rear ID is 350；Route messages 2 primary ID is that ID is 351 after 151 priority changes；Route messages 3 primary ID is 152 priority
Change ID is 352 ....
In any of the above-described scheme preferably, the most described dynamic routing table formulating different operating mode, it is included in
Automobile starting but under the operating mode that do not travels, after ABS (slip control system) route messages 1 primary ID is 340 priority changes
ID is 440；Route messages 2 primary ID is that ID is 441 after 341 priority changes；Route messages 3 primary ID is that 342 priority become
More ID is 442 ....
In any of the above-described scheme preferably, the most described dynamic routing table formulating different operating mode, it is included in
Automobile starting but under the operating mode that do not travels, ICU (instrument system) route messages 1 primary ID is that ID is after 460 priority changes
660；Route messages 2 primary ID is that ID is 661 after 461 priority changes；Route messages 3 primary ID is 462 priority change ID
It is 662 ....
A second aspect of the present invention relates to a kind of automobile gateway dynamic routing management system, has: C. is according to the shape of operating mode
State, according to dynamic routing table, it is achieved the function of the real-time clearance of information that diagnosis type dynamic gateway routing priority is higher.
In any of the above-described scheme preferably, described gateway dynamic routing management system includes: gateway, diagnostic apparatus, dynamic
Power CAN, vehicle body CAN, auxiliary power CAN and comfortable CAN, described diagnostic apparatus, vehicle body CAN, auxiliary
Power-assist power CAN and comfortable CAN are all through the mutual UNICOM of described gateway.
In any of the above-described scheme preferably, described power CAN, auxiliary power CAN belong to high-speed bus,
Transfer rate is 500kbit/s, and comfortable CAN, vehicle body CAN belong to low speed bus, and transfer rate is 100kbit/s.
In any of the above-described scheme preferably, described automobile gateway dynamic routing management system has: operating mode judges mould
Block, the module of switched system priority, modification information priority block, diagnostic apparatus, gateway, dynamic routing table file module are logical
Cross the interworking between module and realize the function of intelligent reasonable distribution bus resource.
In any of the above-described scheme preferably, described automobile gateway dynamic routing management system is according to battery and key
Status condition judge module judges operating mode residing for vehicle, and according to the operating mode judged, dynamic routing table file module is inquired about
Excellent priority, by the contrast of existing priority with optimum priority, it is judged that the system that function relates to is the need of priority slicing
Changing, if need not switching, directly terminating, it is judged that when the system that function relates to needs to switch priority, switch each system
The module of priority allows hand over the priority sending information system；After switched system priority, according to the status condition of power supply
Judge module judges current working, and the optimum priority of dynamic routing table file module inquiry is excellent with optimum by existing priority
The contrast of first level, it is judged that the information that function relates to switches the need of priority, if it is not needed, gateway sends nothing to diagnostic apparatus
The message of this diagnosing controller, is switched to the priority level under current working if necessary；After being switched to current working, it is judged that
Message whether handover success, if it is determined that switch unsuccessful, records relevant DTC；If it is determined that handover success gateway is then
Send normally.
Accompanying drawing explanation
Fig. 1 is the side of a preferred embodiment of the automobile bus gateway dynamic priority route management method according to the present invention
The enforcement step of case.
Fig. 2 is the one of the car load topological structure of the automobile bus gateway dynamic priority route management method according to the present invention
The structure chart of preferred embodiment.
Fig. 3 is the communication structure of a kind of automobile gateway dynamic routing management system gateway according to the present invention and CAN
Figure.
Fig. 4 is the EPB (electricity according to the analysis part in automobile bus gateway dynamic priority route management method of the present invention
Sub-parking braking system) accept hum pattern.
Fig. 5 is but not travel at automobile starting according to the automobile bus gateway dynamic priority route management method of the present invention
Partial dynamic routing table under operating mode.
Fig. 6 is to carry out software according to a kind of automobile gateway dynamic routing management system of the present invention according to dynamic routing table to set
The flow chart of meter.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that the present invention program, and make the above-mentioned purpose of the present invention, feature
Can become apparent from understandable with advantage, below in conjunction with embodiment and embodiment accompanying drawing, the present invention is further detailed explanation.
Fig. 1 is the general flow chart of invention, first analyzes the demand of car load, defines the product address of each system, according to dividing
Analysis defines each control system transmission message and (may contain a plurality of information for complicated system, comprise the letter in the place of production in information
Number).On this basis according to each system degree of priority under each work condition state, formulate routing priority table.Further according to
Routing priority table, carries out software design to diagnosis type gateway, it is achieved the communication of high timeliness.
Analyze the demand of car load, understand whole In-vehicle networking.
Fig. 2 is the whole topological structure of In-vehicle networking, including power CAN, auxiliary power CAN, vehicle body
CAN, comfortable CAN, LIN bus.CAN is an autonomous system in car in electronic installation, and it is exactly data
Line, for carrying out information exchange between the control unit connected, if CAN system malfunctions, fault will be stored in
In corresponding control unit fault memorizer, these faults can be read with diagnostic apparatus.Its medium power CAN includes vehicle stabilization system
System, electric power steering, air bag module, engine control system, battery sensor, double-clutch speed changer, direction rotate
Sensor, mobile headlight.Vehicle body CAN includes that intelligence enters startup system, steering column lock, speed limit display system, instrument, power supply
Management system, car body controller.Comfortable CAN includes the audio-visual joy of auto-partition air-conditioning, 3G, DVD, radio, GPS, seat modular
Music system.
Fig. 3 is the graph of a relation of gateway and CAN.
Gateway connects power CAN, auxiliary power CAN, vehicle body CAN, comfortable CAN.Its medium power CAN, auxiliary power
CAN belongs to high-speed bus, and LIN bus is as assistant bus system, and comfortable CAN, that vehicle body CAN belongs to low speed is total
Line.As long as bus free, any unit can start to send message.If the unit of 2 or more than 2 starts simultaneously at transmission
Message, then just have bus access conflict.The unit with higher-priority message can obtain bus access power.
According to Analysis of Topological Structure, define the product address of each system.Set: the EPB i.e. product of electronic brake
Address is E；The ABS i.e. product address of slip control system is D；The ICU i.e. product address of instrument is F；BCM i.e. vehicle body
The product address of management system is C；The product address of TCU i.e. variator management system is B；ECM i.e. engine management system
Product address be A ....
By analyzing topological structure, specify the In-vehicle networking demand of vehicle, analyze the message that each control system accepts, right
Multiple messages may be contained in complicated system, message comprises the signal of transmission.
Fig. 4 illustrates the signal that the i.e. electronic brake system of EPB accepts.
During the static manual pull-up of pull-up, accept signal and include tach signal, normal power voltage signal；Static pull-up intelligence
During pull-up, accept signal and include wheel speed signal, longitudinal signal for faster, belt signal, driver door's position signalling；Static pull-up
When stepping up function, fall accepts signal and includes wheel speed signal, needs wheel under car jam again slipping in the case of compensating under tension
Signal away from impulse scaler；During the static automatic pull-up of pull-up, accept signal and include wheel speed signal, engine speed information, send out
Motivation torque information, system power supply normal signal；When static pull-up automatically controls, accept signal and include Autonomous Brake
Request signal.
During dynamic application pattern dynamic application, in the case of brakes (ESP) is braked, accept signal include that rotating speed is believed
Number, in the case of EPB ANTI LOCK, also need to accept ABS/TCS/ESC Active signal, feelings in Degraded braking
Also need under condition to accept brake lamp signal；During dynamic application pattern dynamic standby application pattern, accept signal and include longitudinally accelerating letter
Number, automatic breaking system signal.
During dynamic release, accept signal and include wheel speed signal, ABS/TCS/ESC Active signal.
Static pull-up function executing parking brake pull-up；Dynamic application mode capabilities performs anti-lock pull-up and moves
Make；Dynamic release function executing parking brake release movement.
Accept to define further on the basis of message, in the most various functions, the message that each control system sends, for
Complicated system can contain multiple messages, comprises the signal of transmission in message.
After specifying the real needs of car load, formulate the route according to each system degree of priority under each work condition state
Priority list.
Under the work condition state that automobile is different, it is judged that system is the need of route, and each system of definition route is at each
Priority under operating mode.
Specifically, under static state, the priority orders of each system is automobile: EPB (electronic brake)-->
BCM (vehicle body management system)--> ABS (slip control system)--> ICU (instrument)--> TCU(variator management system
System)--> ECM (engine management system)--> ....
Automobile is under the operating mode started but do not travel, and the priority orders of each system is: ECM (engine management system)
--> TCU(variator management system)--> EPB (electronic brake)--> ABS (slip control system)--> BCM (car
Barrel reason system)--> ICU (instrument)--> ....
CAN message bag is generally divided into two parts: message part and data division.Two bytes are message part, before it
11 is identifier i.e. ID, and the first eight bits in identifier is used as to receive judgement, comprises the address, point of destination of this information bag.Automobile
Bus takes to judge the arbitration mechanism of priority according to identifier.The mechanism of arbitration ensure that message and time do not lose.
When the Frame and remote frame with same identifier initializes simultaneously, Frame has precedence over remote frame.During arbitration, each
The level sending position is all compared by individual transmitter with monitored bus level.If level is identical, then this unit can
To continue to send.If send be " recessive " level and monitor is one " dominant " level (see bus value), then unit
Just lose arbitration, it is necessary to exit transmission state.
Fig. 5 is each electronic control system at automobile starting but the priority list of route under non-driving cycle.
Wherein, EPB(electronic brake system) route messages A primary ID is that ID is 350 after 150 priority changes；Road
It is that ID is 351 after 151 priority changes by message B primary ID；Route messages C primary ID is that 152 priority change ID are
352……。
ABS (slip control system) route messages A primary ID is that ID is 440 after 340 priority changes；Route messages B
Primary ID is that ID is 441 after 341 priority changes；Route messages C primary ID be 342 priority change ID be 442 ....
ICU (instrument) route messages A primary ID is that ID is 660 after 460 priority changes；Route messages B primary ID is
After 461 priority changes, ID is 661；Route messages C primary ID be 462 priority change ID be 662 ....
By regular for these dynamic priority lists to together, it is fabricated to the dynamic gateway routing priority of automobile mounted system
List file.The input file that this file is developed as dynamic gateway.
Finally according to dynamic routing list file, diagnosis type gateway is carried out software design, it is achieved the communication of high timeliness.
Fig. 6 is the flow chart of Design of System Software, first according to the operating mode residing for the condition adjudgement vehicle of battery and key,
The Performance Level of each system is determined, it is judged that the message that function relates to is according to the dynamic priority table function definition pre-entered
No needing priority to switch, if need not switching, directly terminating；If needing switching, according to the operating mode shape residing for power supply
State is confirmed whether to need to change priority.According to judgement, it is not necessary to change then sends without this controller message to diagnostic apparatus, needs
The priority that change is then switched under current working.Finally judge the message whether handover success received, unsuccessful, allow system
The DTC that record is relevant；Successful then allow gateway send normally.
Specific embodiment above in association with the present invention is described in detail, but is not limitation of the present invention.Every depend on
According to the technical spirit of the present invention to any simple modification made for any of the above embodiments, all still fall within the model of technical solution of the present invention
Enclose.
Claims (19)
1. an automobile bus gateway dynamic priority route management method, comprises the following steps
A. analyze the demand of car load, define the product address of each system；
It is characterized in that, further comprising the steps of:
B. determine the priority of each function of ECU, formulate the dynamic routing table of different operating mode；At the work condition state that automobile is different
Lower judgement system is the need of route, each system of definition route priority under each operating mode；
C. according to the state of operating mode, the gateway of diagnosis type is carried out software design, it is achieved gateway dynamic routing priority is higher
The function of the real-time clearance of information.
Method the most according to claim 1, it is characterised in that the described analysis in step A includes analyzing car load topology knot
Structure.
Method the most according to claim 2, it is characterised in that described car load topological structure includes power CAN, auxiliary power
CAN, vehicle body CAN, comfortable CAN, LIN bus, gateway.
Method the most according to claim 3, it is characterised in that it may further be preferable that described auxiliary power CAN includes main
Electric machine control system, whole-control system, energy-recuperation system, battery management system, instrument.
Method the most according to claim 3, it is characterised in that described power CAN includes: Vehicle Stability System, electronic help
Power turns to, air bag module, engine control system, battery sensor, double-clutch speed changer, direction turn-sensitive device, shifting
Dynamic headlight.
Method the most according to claim 3, it is characterised in that described vehicle body CAN includes that intelligence enters startup system, turns to
Tubing string lock, speed limit display system, instrument, power-supply management system, car body controller.
Method the most according to claim 3, it is characterised in that described comfortable CAN include auto-partition air-conditioning, 3G, DVD,
Radio, GPS, seat modular video and music entertainment system.
Method the most according to claim 3, it is characterised in that described gateway connects power CAN, auxiliary power CAN, vehicle body
CAN, comfortable CAN, its medium power CAN, auxiliary power CAN belong to high-speed bus, and LIN bus is as secondary bus system
System, comfortable CAN, vehicle body CAN belong to low speed bus.
Method the most according to claim 1, it is characterised in that the described analysis in step A includes that analyzing each control is
The message that system receives.
Method the most according to claim 9, it is characterised in that electronic parking system in the message that described control system receives
During the manual pull-up of sound state pull-up, accept signal and include tach signal, normal power voltage signal.
11. methods according to claim 9, it is characterised in that electronic parking system in the message that described control system receives
During sound state pull-up intelligence pull-up, accept signal and include wheel speed signal, longitudinal signal for faster, belt signal, driver door position
Confidence number.
12. methods according to claim 9, it is characterised in that electronic parking system in the message that described control system receives
Sound state pull-up, when stepping up function, accepts signal and includes wheel speed signal, wheelspan impulse scaler.
13. methods according to claim 9, it is characterised in that electronic parking system in the message that described control system receives
During the automatic pull-up of sound state pull-up, accept signal and include wheel speed signal, engine speed information, engine torque information, system
Power good signal.
14. methods according to claim 9, it is characterised in that electronic parking system in the message that described control system receives
When sound state pull-up automatically controls, accept signal and include Autonomous Brake Request signal.
15. methods according to claim 9, it is characterised in that electronic parking system in the message that described control system receives
During dynamic dynamic application pattern dynamic application, accept signal and include that tach signal, ABS/TCS/ESC Active signal, brake lamp are believed
Number.
16. methods according to claim 9, it is characterised in that electronic parking system in the message that described control system receives
During dynamic dynamic application pattern dynamic standby application pattern, accept signal and include longitudinal signal for faster, automatic breaking system signal；Dynamic
During state release, accept signal and include wheel speed signal, ABS/TCS/ESC Active signal.
17. methods according to claim 1, it is characterised in that according to the described analysis in step A, defining each function
The message that each control system sends is defined on the basis of the message received.
18. methods according to claim 1, it is characterised in that when automobile under static state, the priority of each system
Order is: electronic brake--> vehicle body management system--> slip control system--> instrument--> variator management
System--> engine management system--> other parts of vehicle body.
19. methods according to claim 1, it is characterised in that automobile when starting but when not travelling, each system
Priority orders be: engine management system--> variator management system--> electronic brake--> anti-lock control
System--> vehicle body management system--> instrument--> other parts of vehicle body.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210588171.1A CN103023786B (en) | 2012-12-29 | 2012-12-29 | Automobile bus gateway dynamic priority route management method and system thereof |
| CN201610272003.XA CN105791119B (en) | 2012-12-29 | 2012-12-29 | Automobile gateway dynamic priority route system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210588171.1A CN103023786B (en) | 2012-12-29 | 2012-12-29 | Automobile bus gateway dynamic priority route management method and system thereof |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610272003.XA Division CN105791119B (en) | 2012-12-29 | 2012-12-29 | Automobile gateway dynamic priority route system |
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| CN103023786A CN103023786A (en) | 2013-04-03 |
| CN103023786B true CN103023786B (en) | 2016-12-28 |
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| CN201210588171.1A Active CN103023786B (en) | 2012-12-29 | 2012-12-29 | Automobile bus gateway dynamic priority route management method and system thereof |
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| CN104869053A (en) * | 2014-10-08 | 2015-08-26 | 北汽福田汽车股份有限公司 | On-board local area network switchable gateway, on-board local area network monitoring method and on-board local area network system |
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