CN103078756A - Mode switching method and CAN (Controller Area Network) - Google Patents
Mode switching method and CAN (Controller Area Network) Download PDFInfo
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Abstract
The invention discloses a mode switching method and a CAN (Controller Area Network), which relate to an automobile network management technology and are used for lowering the network load rate and preventing a part of slave nodes from sleeping forcibly due to master and slave node setting. The mode switching method is applied to each node in an automobile CAN; the automobile CAN comprises at least two nodes; the at least two nodes support a sleeping function; and a first node is any node in the CAN. The method comprises the following steps of: transmitting a message including a sleeping instruction by using the first node; receiving response messages of other nodes except the first node; and when all the response messages are messages including sleeping instructions, transmitting a message with a sleeping response by using the first node to instruct all nodes in the CAN to be switched to a sleeping waiting mode. According to the mode switching method and the CAN, the network load rate is lowered, and the problem that a part of slave nodes are forced to sleep due to master and slave node setting is solved.
Description
Technical Field
The invention relates to automobile network management, in particular to a mode switching method and a CAN (controller area network).
Background
The rapid development of the information society enables the automobile to be electronic and networked. The mark of the automobile entering the Electronic Control age is the application of an Electronic Control Unit (ECU). As the number of ECUs in automobiles increases, the ECUs need to exchange information with each other, and thus an interconnection network applied to an automobile control system is created. The CAN network has the characteristics of strong real-time performance, high reliability, simple structure, good interoperability, low price and the like, so the CAN network is widely applied to the field of automobiles.
The static power consumption is an important technical index of the whole vehicle, and in order to reduce the static power consumption of the whole vehicle, an electric control unit in a CAN network needs to enter a sleep state after a power supply mode of the whole vehicle is in a closed state. Coordinating each electric control unit to enter a sleep state simultaneously is the most important function of network management, and currently, widely applied network management is OSEK network management which is divided into direct network management and indirect network management.
The existing direct network management strategy of the OSEK is to form a logic loop by a proprietary network management message to coordinate a network node (an electronic control unit) to enter a sleep state. Due to the introduction of the special network management message, the load rate of the network can be increased, and the real-time performance of the network signal is reduced. The conventional OSEK indirect network management strategy is to coordinate network nodes to simultaneously enter a sleep state by sending a sleep command to a slave node by a master node, but when the master node sends the sleep command and part of the slave nodes need network communication, the problem that the part of the slave nodes are forced to sleep is caused, and the functional requirements of the slave nodes cannot be met.
Therefore, it is desirable to provide a network management strategy to reduce the network load rate and avoid the problem of forced sleep of some slave nodes due to master-slave node setup.
Disclosure of Invention
The invention provides a mode switching method and a CAN (controller area network) network, which are used for reducing the network load rate and avoiding the problem that part of slave nodes are forced to sleep due to the setting of master nodes and slave nodes.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
a mode switching method is applied to each node in an automobile CAN network, the automobile CAN network comprises at least two nodes, the at least two nodes support a sleep function, a first node is any one node in the CAN network, and the method comprises the following steps: the first node sends a message with a sleep indication; receiving response messages of other nodes except the first node; when the response messages are messages with sleep indication, the first node sends messages with sleep response to indicate all nodes in the CAN network to switch to a sleep waiting mode; the first node switches to a sleep waiting mode.
Preferably, when the response message includes a message with a normal mode, the first node continues to send the message with the sleep indication.
Preferably, the first node starts a sleep waiting timer while switching to the sleep waiting mode, and if the first node does not receive the message with the normal mode before the sleep waiting timer expires, the first node immediately switches to the sleep mode.
Preferably, when the first node does not receive any response message of other nodes except the first node after a preset time, the first node immediately switches to a sleep waiting mode.
Preferably, the first node is awakened and switched to an initialization state if receiving a message or a local wake-up signal sent by another node except the first node in the sleep mode.
Another mode switching method is applied to each node in an automobile CAN network, the automobile CAN network comprises at least two nodes, the at least two nodes support a sleep function, and a second node is any one node except the first node in the CAN network, and the method comprises the following steps: the second node receives a message with a sleep indication; sending a response message; when the response message is a message with a sleep indication and if the second node receives a message with a sleep response before the message sending period is overtime, the second node switches to a sleep waiting mode; or, when the response message is a message with a sleep indication, and if the second node does not receive the message with the sleep response before the message sending period is overtime, the second node sends the message with the sleep response to indicate that all nodes on the CAN network are switched to the sleep waiting mode.
Preferably, when the response packet is a packet in a normal mode, the second node maintains the current mode.
Preferably, the second node starts a sleep waiting timer while switching to the sleep waiting mode, and if the second node does not receive a message with a normal mode before the sleep waiting timer expires, the second node immediately switches to the sleep mode.
Preferably, the second node is awakened and switched to the initialization state if receiving a message or a local wake-up signal sent by a node other than the second node in the sleep mode.
A CAN network comprises at least two nodes, wherein the at least two nodes support a sleep function, a first node is any one node on the CAN network, and the first node is used for sending a message with a sleep indication and receiving response messages of other nodes except the first node; and when the response messages are messages with sleep indication, sending messages with sleep response to indicate all nodes in the CAN network to switch to a sleep waiting mode, and enabling the first node to switch to the sleep waiting mode.
The second node is any one node except the first node on the CAN network, and is used for receiving a message with a sleep indication and sending a response message; when the response message is a message with a sleep indication and if the second node receives a message with a sleep response before the message sending period is overtime, the second node switches to a sleep waiting mode; or, when the response message is a message with a sleep indication, and if the second node does not receive the message with the sleep response before the message sending period is overtime, the second node sends the message with the sleep response to indicate that all nodes on the CAN network are switched to the sleep waiting mode.
According to the mode switching method and the CAN network provided by the invention, when the first node meets the sleep condition, the message with the sleep indication is sent, after other nodes except the first node receive the message with the sleep indication, the response message is sent after the sending period of each message exceeds the sending period of each message, and when the response messages are all the messages with the sleep indication, the first node sends the message with the sleep response so as to indicate all the nodes on the CAN network to switch to the sleep waiting mode. Because the first node is any one node on the CAN network, the execution steps of all the nodes are the same, the order of sending messages is random, the limitation of master and slave nodes is avoided, and a logic ring is not established by using a special network management message, so that the load rate of the CAN network is reduced, and the problem that part of slave nodes are forced to sleep due to the arrangement of the master and slave nodes is also avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a first flowchart of a mode switching method according to an embodiment of the present invention;
fig. 2 is a second flowchart of a mode switching method according to an embodiment of the present invention;
fig. 3 is a third flowchart of the mode switching method according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a mode switching method, which is applied to each node in an automobile CAN network, where the automobile CAN network includes at least two nodes, the at least two nodes support a sleep function, a first node is any one node in the CAN network, and the method includes:
101. and the first node sends a message with a sleep indication.
102. And receiving response messages of other nodes except the first node.
103. And when the response messages are messages with sleep indication, the first node sends messages with sleep response to indicate all nodes in the CAN network to switch to a sleep waiting mode.
104. The first node switches to a sleep waiting mode.
The mode switching method provided by the embodiment of the invention is applied to each node in an automobile CAN network, the automobile CAN network comprises at least two nodes, the at least two nodes support a sleep function, and the first node is any one node in the CAN network. When the first node meets the sleep condition, the first node firstly sends a message with sleep indication, then receives response messages of other nodes except the first node, and when the response messages are messages with sleep indication, the first node sends a message with sleep response to indicate all nodes in the CAN network to switch to the sleep waiting mode, and then the first node switches to the sleep waiting mode. Because the first node is any one node on the CAN network, the execution steps of all the nodes are the same, the order of sending messages is random, the limitation of master and slave nodes is avoided, a logic ring is established without using a special network management message, the load rate of the CAN network is reduced, and the problem that partial slave nodes are forced to sleep due to the arrangement of the master and slave nodes is also avoided.
As shown in fig. 2, an embodiment of the present invention provides another mode switching method, where the method is applied to each node in an automobile CAN network, where the automobile CAN network includes at least two nodes, the at least two nodes support a sleep function, and a second node is any one node except for a first node in the CAN network, and the method includes:
601. and the second node receives a message with a sleep indication.
602. And sending a response message.
603. When the response message is a message with a sleep indication and if the second node receives a message with a sleep response before the message sending period is overtime, the second node switches to a sleep waiting mode; or,
604. and when the response message is a message with a sleep indication and the second node does not receive the message with the sleep response before the message sending period is overtime, the second node sends the message with the sleep response to indicate that all nodes on the CAN network are switched to a sleep waiting mode.
The mode switching method provided by the embodiment of the invention is applied to each node in an automobile CAN network, the automobile CAN network comprises at least two nodes, the at least two nodes support a sleep function, and the second node is any one node except the first node in the CAN network. When a second node receives a message with a sleep indication, a response message is sent subsequently, and when the response message is the message with the sleep indication and the second node receives the message with a sleep response before the message sending period is overtime, the second node switches to a sleep waiting mode; or, when the response message is a message with a sleep indication, and if the second node does not receive the message with the sleep response before the message sending period is overtime, the second node sends the message with the sleep response to indicate that all nodes on the CAN network are switched to the sleep waiting mode. Since the first node is any one of the nodes on the CAN network and the second node is any one of the nodes in the CAN network except the first node. Therefore, the execution steps of all the nodes are the same, the order of sending the messages is random, the master-slave node is not limited, a logic ring is not established by using a special network management message, the load rate of the CAN network is reduced, and the problem that partial slave nodes are forced to sleep due to the arrangement of the master-slave node is avoided.
In a specific application, the first node and the second node are electronic control units on a CAN network, for example, the first node may be any one of an electronic control unit PEPS of a keyless entry and start system, an electronic control unit BCM of a vehicle body, or an electronic control unit IP of an instrument, and the second node may be any one of other electronic control units except the first node. The present invention is not limited to the three electronic control units described above.
As shown in fig. 3, the mode switching method of the present invention is described in detail below by taking the CAN network as an example, which includes a node BCM, a node PEPS, and a node IP, and the node BCM is a first node. The method comprises the following steps:
s10, the node BCM sends a message with sleep indication.
And S20, the node PEPS and the node IP receive the message with the sleep indication.
And S30, the node PEPS and the node IP send response messages.
And S40, the node BCM receives the response message.
And S50, when the response message is a message with a sleep indication, the node BCM sends a message with a sleep response to indicate all nodes in the CAN network to switch to a sleep waiting mode.
And S60, if the node PEPS and the node IP receive the message with the sleep response before the respective message sending period is overtime, the node BCM, the node PEPS and the node IP are switched to a sleep waiting mode.
And S70, if the node PEPS or the node IP does not receive the message with the sleep response before the timeout of the respective message sending period, the node PEPS or the node IP sends the message with the sleep response to indicate all nodes in the CAN network to switch to the sleep waiting mode.
When the node BCM, the node PEPS and the node IP are electrified for the first time, the node BCM, the node PEPS and the node IP are all in an initial state, and enter a normal mode after initialization, the power supply mode of the whole vehicle is switched to a closed state at the moment, when the node BCM detects that the node BCM meets a sleep condition, a message with a sleep indication is sent in a broadcast mode, and when the node PEPS and the node IP on the network receive the message with the sleep indication, response messages are sent after the sending period of each message is overtime. If the node PEPS and the node IP detect that the nodes also meet the sleep condition, namely, the node PEPS and the node IP send messages with sleep indication, namely, the response messages are messages with sleep indication, and after receiving the messages with sleep indication sent by the node PEPS and the node IP, the node BCM sends messages with sleep response after the message sending period is overtime so as to indicate all the nodes on the network to be switched to a sleep waiting mode. And if the node PEPS and the node IP both receive the message with the sleep response before the respective message sending period is overtime, the node BCM, the node PEPS and the node IP are switched to a sleep waiting mode. And if the node PEPS or the node IP does not receive the message with the sleep response before the timeout of the respective message sending period, the node PEPS or the node IP sends the message with the sleep response to indicate all nodes in the CAN network to switch to the sleep waiting mode.
And starting a sleep waiting timer when the node BCM is switched to the sleep waiting mode, and if the node BCM does not receive a normal mode message sent by the node PEPS or the node IP before the sleep waiting timer expires, immediately switching the node BCM to the sleep mode. Similarly, the node PEPS and the node IP are switched to the sleep waiting mode, and simultaneously the sleep waiting timer is started, if the node PEPS and the node IP do not receive the normal mode message sent by the node BCM before the sleep waiting timer expires, the node PEPS and the node IP are switched to the sleep mode immediately.
If the node PEPS or the node IP receives the message with the sleep indication and detects that the node PEPS or the node IP does not satisfy the sleep condition, the node BCM sends a response message with a normal mode, does not send a message with a sleep response when receiving the message with the normal mode, but continues to send the message with the sleep indication to negotiate with the node PEPS and the node IP, and the node PEPS and the node IP can not be jointly switched to the sleep waiting mode until the node PEPS and the node IP both satisfy the sleep condition and send the message with the sleep indication.
However, after the node BCM sends the message with the sleep indication, if any response message sent by the node PEPS or the node IP cannot be received after a preset time (for example, 10 times the time period for receiving the message) elapses, the node BCM considers that the node PEPS or the node IP has been disconnected or failed, and the node BCM automatically switches to the sleep waiting mode.
And when the node BCM is in a sleep mode, if a message or a local wake-up signal sent by the node PEPS or the node IP is received, the node BCM is awakened and is switched to an initialization state. Similarly, when the node PEPS or the node IP is in the sleep mode, if a message sent by the node BCM or a local wake-up signal is received, the node PEPS or the node IP is waken up, and is also switched to the initialization state.
It should be noted that the node IP is similar to the node BCM and the node PEPS in execution steps.
The specific format of the message and the related status signal for network management in the application message may be the network operation code as in table 1.
TABLE 1 network opcode definitions
The embodiment of the invention also provides a CAN network, which comprises at least two nodes, wherein the at least two nodes support a sleep function, the first node is any one node on the CAN network and is used for sending a message with a sleep indication and receiving response messages of other nodes except the first node; and when the response messages are messages with sleep indication, sending messages with sleep response to indicate all nodes in the CAN network to switch to a sleep waiting mode, and enabling the first node to switch to the sleep waiting mode.
The second node is any one node except the first node on the CAN network, and is used for receiving a message with a sleep indication and sending a response message; when the response message is a message with a sleep indication and if the second node receives a message with a sleep response before the message sending period is overtime, the second node switches to a sleep waiting mode; or, when the response message is a message with a sleep indication, and if the second node does not receive the message with the sleep response before the message sending period is overtime, the second node sends the message with the sleep response to indicate that all nodes on the CAN network are switched to the sleep waiting mode.
In the CAN network provided by the embodiment of the invention, because at least two nodes on the CAN network are any nodes scattered on the CAN network, the execution steps of each node are the same, the sequence of sending messages is random, the master node and the slave node are not limited, and a logic ring is established without using a special network management message, so that the load rate of the CAN network is reduced, and the problem that part of slave nodes are forced to sleep due to the arrangement of the master node and the slave node is avoided.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus necessary general hardware, and certainly may also be implemented by hardware, but in many cases, the former is a better embodiment. Based on this understanding, the technical solution of the present invention may be embodied in the form of an embedded software product, which essentially or partially contributes to the prior art.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A mode switching method is applied to each node in an automobile CAN network, the automobile CAN network comprises at least two nodes, the at least two nodes support a sleep function, a first node is any one node in the CAN network, and the method comprises the following steps:
a first node sends a message with a sleep indication;
receiving response messages of other nodes except the first node;
when the response messages are messages with sleep indication, the first node sends messages with sleep response to indicate all nodes in the CAN network to switch to a sleep waiting mode;
the first node switches to a sleep waiting mode.
2. The method according to claim 1, wherein when the response message includes a message with a normal mode, the first node continues to send a message with a sleep indication.
3. The method of claim 1, wherein the first node starts a sleep waiting timer while switching to the sleep waiting mode, and if the first node does not receive the message with the normal mode before the sleep waiting timer expires, the first node switches to the sleep mode immediately.
4. The method according to claim 1, wherein the first node immediately switches to the sleep waiting mode when the first node does not receive any response message from other nodes except the first node for a preset time.
5. The method according to claim 3, wherein the first node wakes up and switches to an initialization state if receiving a message sent by a node other than the first node or a local wake-up signal in the sleep mode.
6. A mode switching method applied to each node in an automotive CAN network, the automotive CAN network including at least two nodes, the at least two nodes supporting a sleep function, a second node being any one node except for a first node in the CAN network, the method comprising:
the second node receives a message with a sleep indication;
sending a response message;
when the response message is a message with a sleep indication and if the second node receives a message with a sleep response before the message sending period is overtime, the second node switches to a sleep waiting mode; or,
and when the response message is a message with a sleep indication and the second node does not receive the message with the sleep response before the message sending period is overtime, the second node sends the message with the sleep response to indicate that all nodes on the CAN network are switched to a sleep waiting mode.
7. The method according to claim 6, wherein the second node maintains a current mode when the response packet is a normal mode packet.
8. The method of claim 6, wherein the second node starts a sleep waiting timer while switching to the sleep waiting mode, and wherein the second node switches to the sleep mode immediately if the second node does not receive the message with the normal mode before the sleep waiting timer expires.
9. The method according to claim 8, wherein the second node wakes up and switches to the initialization state if receiving a message sent from a node other than the second node or a local wake-up signal in the sleep mode.
10. A CAN network is characterized by comprising at least two nodes, wherein the at least two nodes support a sleep function, a first node is any one node on the CAN network, and the first node is used for sending a message with a sleep indication and receiving response messages of other nodes except the first node; when the response messages are messages with sleep indication, sending messages with sleep response to indicate all nodes in the CAN network to switch to a sleep waiting mode, and enabling the first node to switch to the sleep waiting mode;
the second node is any one node except the first node on the CAN network, and is used for receiving a message with a sleep indication and sending a response message; when the response message is a message with a sleep indication and if the second node receives a message with a sleep response before the message sending period is overtime, the second node switches to a sleep waiting mode; or, when the response message is a message with a sleep indication, and if the second node does not receive the message with the sleep response before the message sending period is overtime, the second node sends the message with the sleep response to indicate that all nodes on the CAN network are switched to the sleep waiting mode.
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| CN108667679A (en) * | 2017-03-30 | 2018-10-16 | 长城汽车股份有限公司 | A kind of conversion method and device |
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| CN104683128A (en) * | 2013-11-28 | 2015-06-03 | 中国电信股份有限公司 | Method and device for lowering energy consumption of household multi-media networked terminal system |
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| CN104301122A (en) * | 2014-09-24 | 2015-01-21 | 奇瑞汽车股份有限公司 | Method and device for node rousing |
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| CN104703296A (en) * | 2015-03-19 | 2015-06-10 | 江苏物联网研究发展中心 | Link dormancy method for wireless communication multi-hop network link and tree topology structure |
| CN108667679A (en) * | 2017-03-30 | 2018-10-16 | 长城汽车股份有限公司 | A kind of conversion method and device |
| CN108933719A (en) * | 2018-06-21 | 2018-12-04 | 北京车和家信息技术有限公司 | Vehicle-mounted CAN network management, vehicle-mounted CAN network, vehicle |
| CN108933719B (en) * | 2018-06-21 | 2021-06-04 | 北京车和家信息技术有限公司 | Vehicle-mounted CAN network management method, vehicle-mounted CAN network and vehicle |
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