CN105634895A - Error processing method and system for CAN (Controller Area Network) bus - Google Patents
Error processing method and system for CAN (Controller Area Network) bus Download PDFInfo
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- CN105634895A CN105634895A CN201610053980.0A CN201610053980A CN105634895A CN 105634895 A CN105634895 A CN 105634895A CN 201610053980 A CN201610053980 A CN 201610053980A CN 105634895 A CN105634895 A CN 105634895A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0823—Errors, e.g. transmission errors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0876—Network utilisation, e.g. volume of load or congestion level
- H04L43/0882—Utilisation of link capacity
Abstract
The invention provides an error processing method for a CAN (Controller Area Network) bus, which is applied to a battery management system, wherein the battery management system comprises a plurality of CAN network nodes, which are communicated with each other, and a CAN monitoring node. The method comprises the following steps that the CAN monitoring node collects status data of each CAN network node, evaluates the level of each piece of status data and adjusts an error processing mode according to the levels; and the CAN monitoring node computes a CAN bus load rate according to the number of messages received from the CAN bus and informs a user to check a CAN network when the average load rate exceeds a preset value. The invention also provides an error processing system for the CAN. Through adding one CAN monitoring node which is specially used for managing bus data transmission is added in the CAN network, all kinds of problems, such as excessive bus load rate, overtime bus transmission, network node drop detection and evaluation of the number of transmission errors of each node, are solved, so that the data transmission is well guaranteed.
Description
Technical field
The present invention relates to field of batteries, particularly relate to a kind of CAN error handling method and system thereof.
Background technology
Current New-energy electric vehicle quickly grows, and achieves bigger achievement, but still suffers from a lot of technical barrier and not yet solve. Wherein the data transmission stability under car load environment is also the key factor causing New-energy electric vehicle to develop. The reason causing data transmission unstable has following two aspect:
(1), current power automotive multipurpose controller local area network (ControllerAreaNetwork, CAN) bus carry out data transmission, the plurality of advantages of CAN makes it substantially meet current automotive environment data transportation requirements. But, due to the defect that CAN itself exists, as data transmit concordance, real-time, channel make mistakes blocking etc., make data transmission still suffer from certain hidden danger. Owing to these hidden danger not easily occur, Most current battery management system CAN network does not add special CAN error handling mechanism and manages whole battery management system CAN network, makes data transmission can not get ensureing.
(2), according to current new forms of energy developmental pattern, current power automobile making many employings multiple cooperation mode, namely car load is produced by car load factory, battery is produced by Battery Plant, the battery management system (BatteryManagementSystem, BMS) used by battery manufacturer even having designs manufacturer from third party BMS. Therefore existing BMS designer at the beginning of design not using the capacity of resisting disturbance of CAN network as important requirement, also not adding the special CAN error handling mechanism for managing CAN network, placing hope on car load factory can provide to disturb a less car load environment; Meanwhile, when frequently appearing in laboratory test, the CAN network transmission of BMS is very stable, but during real vehicle operation, the stability of CAN network is had a greatly reduced quality.
Therefore, need a kind of CAN error handling method of design badly, to improve data transmission concordance and real-time.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of CAN error handling method and system thereof, it is intended to solve the problem that data transmission concordance and real-time in prior art are relatively low.
The present invention proposes a kind of CAN error handling method, is applied to battery management system, and wherein, described battery management system includes the multiple CAN network nodes and the CAN monitor node that communicate to connect each other, and described method includes:
Described CAN monitor node collects the status data of each CAN network node, and assesses the grade of each status data and according to level adjustment fault processing mode;
Described CAN monitor node calculates CAN load factor according to the message number received from CAN, and notifies that user checks CAN network when Rate of average load exceedes preset value.
Preferably, described status data includes CAN closed mode number of times, and wherein, the grade of each status data of described assessment and the step according to level adjustment fault processing mode include:
Fault processing mode is adjusted according to described the many and few of CAN closed mode number of times.
Preferably, described many and few steps adjusting fault processing mode according to described CAN closed mode number of times include:
If described CAN closed mode number of times is less than first threshold, then selects to restart mode soon and recover CAN;
If described CAN closed mode number of times is more than Second Threshold, then select to disconnect corresponding CAN network node;
If described CAN closed mode number of times is between the scope of described first threshold and described Second Threshold, then selects to restart mode slowly and recover CAN.
Preferably, described first threshold is equal to 2, and described Second Threshold is equal to 10.
Preferably, described CAN monitor node calculates CAN load factor according to the message number received from CAN, and notifies that when Rate of average load exceedes preset value user checks that the step of CAN network includes:
According to the maximum message segment number Cnt_max that can transmit in CAN per second in the baud rate theory of computation that CAN is arranged;
The entrance of described CAN monitor node is set and only listens pattern, and within the unit interval, monitor the message number Cnt_x received from CAN;
Calculate the ratio of Cnt_x and Cnt_max to obtain CAN load factor, and draw the Rate of average load of CAN by repeatedly calculating the mode obtaining meansigma methods;
If described Rate of average load is more than 70%, then notify that user checks CAN network.
On the other hand, the present invention also provides for a kind of CAN error processing system, and described CAN error processing system includes the multiple CAN network nodes and the CAN monitor node that communicate to connect each other, and wherein, described CAN monitor node includes:
Collect evaluation module, for collecting the status data of each CAN network node, and assess the grade of each status data and according to level adjustment fault processing mode;
When Rate of average load exceedes preset value, computing module, for calculating CAN load factor according to the message number received from CAN, and notifies that user checks CAN network.
Preferably, described status data includes CAN closed mode number of times, and wherein, described collection evaluation module is specifically for adjusting fault processing mode according to described the many and few of CAN closed mode number of times.
Preferably, described collection evaluation module specifically for:
If described CAN closed mode number of times is less than first threshold, then selects to restart mode soon and recover CAN;
If described CAN closed mode number of times is more than Second Threshold, then select to disconnect corresponding CAN network node;
If described CAN closed mode number of times is between the scope of described first threshold and described Second Threshold, then selects to restart mode slowly and recover CAN.
Preferably, described first threshold is equal to 2, and described Second Threshold is equal to 10.
Preferably, described computing module includes:
First calculating sub module, the maximum message segment number Cnt_max that can transmit in CAN per second in the baud rate theory of computation arranged according to CAN;
Second calculating sub module, is used for arranging the entrance of described CAN monitor node and only listens pattern, and monitor the message number Cnt_x received from CAN within the unit interval;
3rd calculating sub module, is used for the ratio calculating Cnt_x and Cnt_max to obtain CAN load factor, and draws the Rate of average load of CAN by repeatedly calculating the mode obtaining meansigma methods;
Notice submodule, if for described Rate of average load more than 70%, then notifying that user checks CAN network.
Technical scheme provided by the invention by adding a CAN monitor node being exclusively used in management bus data transfer in CAN network, the detection that can solve that total inorganic nitrogen is too high, bus transfer is overtime, network node goes offline, to various problems such as each node-node transmission errors number are estimated, drastically increase data transmission concordance and real-time, and then well ensure data transmission.
Accompanying drawing explanation
Fig. 1 is CAN error handling method flow chart in an embodiment of the present invention;
Fig. 2 is three kinds of state diagrams of CAN node in an embodiment of the present invention;
Fig. 3 is the detailed substeps flow chart of step S12 shown in Fig. 1 in an embodiment of the present invention;
Fig. 4 is the structural representation of CAN monitor node 10 in an embodiment of the present invention;
Fig. 5 is the internal structure schematic diagram of computing module 12 shown in Fig. 4 in an embodiment of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated. Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
The specific embodiment of the invention provides a kind of CAN error handling method, it is applied to battery management system, wherein, described battery management system includes the multiple CAN network nodes and the CAN monitor node that communicate to connect each other, and described method mainly comprises the steps:
S11, described CAN monitor node collect the status data of each CAN network node, and assess the grade of each status data and according to level adjustment fault processing mode;
S12, described CAN monitor node calculate CAN load factor according to the message number received from CAN, and notify that user checks CAN network when Rate of average load exceedes preset value.
A kind of CAN error handling method provided by the invention by adding a CAN monitor node being exclusively used in management bus data transfer in CAN network, the detection that can solve that total inorganic nitrogen is too high, bus transfer is overtime, network node goes offline, to various problems such as each node-node transmission errors number are estimated, drastically increase data transmission concordance and real-time, and then well ensure data transmission.
Hereinafter a kind of CAN error handling method provided by the present invention will be described in detail.
Refer to Fig. 1, for CAN error handling method flow chart in an embodiment of the present invention.
In the present embodiment, a kind of CAN error handling method that the specific embodiment of the invention provides, it is applied to battery management system (BatteryManagementSystem, BMS), wherein, described battery management system includes the multiple CAN network nodes and the CAN monitor node that communicate to connect each other, and namely CAN network node and the intercommunication of CAN monitor node, be collectively forming CAN network by multiple CAN network nodes, CAN monitor node and CAN simultaneously.
In the present embodiment, CAN network node and CAN monitor node are all a kind of communication terminals.
In step s 11, described CAN monitor node collects the status data of each CAN network node, and assesses the grade of each status data and according to level adjustment fault processing mode.
In the present embodiment, described CAN monitor node is exclusively used in the whole CAN network of management, and have self micro-control unit (MicrocontrollerUnit, MCU), for being responsible for coordinating the work of other each CAN network nodes with this node communication. And, each CAN network Node Controller all possesses storage error count function in the present embodiment, CAN network node in the respective unit interval is transmitted error count and is uploaded to CAN by the agreement set by each node of whole BMS system, and CAN monitor node collects the error count of each CAN network node by CAN.
In the present embodiment, described status data includes active error Count of Status, passive error condition counting, CAN closedown (i.e. CANBusOff) state number of times, real-time reception error count (RC) and sends error count (TC). First each CAN network node reports the active error Count of Status of statistics in the unit interval (such as 5s), passive error condition counting, CANBUSOFF state number of times and the real-time reception error count (RC) in this unit interval of each node (such as 5s) occurs by CAN real-time report simultaneously, sends error count (TC) to CAN monitor node.
In the present embodiment, CAN network has strict error diagnosis function, this function is cured among silicon chip, once mistake is detected, the Frame transmitted will stop immediately and again retransmit when the CAN free time until sending successfully, this process is not required to the interference of central processing unit (CentralProcessingUnit, CPU) unless this transmitter of error accumulation enters CAN and cuts out (i.e. CANBusOff) state. In order to prevent self from causing for some reason, the node that cannot normally receive sends erroneous frame always, disturb other node communications, CAN defines three kinds of states and the behavior thereof of node, respectively active error state, passive error condition, CAN closed mode, three kinds of states can divide according to the error count produced when transmitting, as shown in Figure 2.
In the present embodiment, the grade of each status data of described assessment and the step according to level adjustment fault processing mode include: adjust fault processing mode according to described the many and few of CAN closed mode number of times. Wherein, described many and few steps adjusting fault processing mode according to described CAN closed mode number of times include:
If described CAN closed mode number of times is less than first threshold, then selects to restart (such as 30ms) mode soon and recover CAN;
If described CAN closed mode number of times is more than Second Threshold, then select to disconnect corresponding CAN network node;
If described CAN closed mode number of times is between the scope of described first threshold and described Second Threshold, then selects to restart (such as 200ms) mode slowly and recover CAN.
In the present embodiment, described first threshold is equal to 2, and described Second Threshold is equal to 10.
In step s 12, described CAN monitor node calculates CAN load factor according to the message number received from CAN, and notifies that user checks CAN network when Rate of average load exceedes preset value.
In the present embodiment, described CAN monitor node calculates CAN load factor according to the message number received from CAN, and notify that when Rate of average load exceedes preset value user checks that the step S12 of CAN network specifically includes this four sub-steps of S121-S124, as shown in Figure 3.
Refer to Fig. 3, it is shown that for the detailed substeps flow chart of step S12 shown in Fig. 1 in an embodiment of the present invention.
In step S121, according to the maximum message segment number Cnt_max that can transmit in CAN per second in the baud rate theory of computation that CAN is arranged.
In step S122, the entrance of described CAN monitor node is set and only listens pattern, and within the unit interval, monitor the message number Cnt_x received from CAN.
In step S123, calculate the ratio of Cnt_x and Cnt_max to obtain CAN load factor, and draw the Rate of average load of CAN by repeatedly calculating the mode obtaining meansigma methods.
In step S124, if described Rate of average load is more than 70%, then notify that user checks CAN network. In the present embodiment, if Rate of average load is within 30%, then judge that bus takies normally.
A kind of CAN error handling method provided by the invention by adding a CAN monitor node being exclusively used in management bus data transfer in CAN network, the detection that can solve that total inorganic nitrogen is too high, bus transfer is overtime, network node goes offline, to various problems such as each node-node transmission errors number are estimated, drastically increase data transmission concordance and real-time, and then well ensure data transmission.
The specific embodiment of the invention also provides for a kind of CAN error processing system, and including the multiple CAN network nodes communicated to connect each other and CAN monitor node 10, wherein, described CAN monitor node 10 specifically includes that
Collect evaluation module 11, for collecting the status data of each CAN network node, and assess the grade of each status data and according to level adjustment fault processing mode;
When Rate of average load exceedes preset value, computing module 12, for calculating CAN load factor according to the message number received from CAN, and notifies that user checks CAN network.
A kind of CAN error processing system provided by the invention, by adding a CAN monitor node being exclusively used in management bus data transfer in CAN network, the detection that can solve that total inorganic nitrogen is too high, bus transfer is overtime, network node goes offline, to various problems such as each node-node transmission errors number are estimated, drastically increase data transmission concordance and real-time, and then well ensure data transmission.
Refer to Fig. 4, it is shown that for the structural representation of CAN monitor node 10 in an embodiment of the present invention. In the present embodiment, CAN monitor node 10 includes collecting evaluation module 11 and computing module 12.
In the present embodiment, the intercommunication of CAN network node and CAN monitor node 10, it is collectively forming CAN network by multiple CAN network nodes, CAN monitor node 10 and CAN simultaneously.
In the present embodiment, CAN network node and CAN monitor node 10 are all a kind of communication terminals.
Collect evaluation module 11, for collecting the status data of each CAN network node, and assess the grade of each status data and according to level adjustment fault processing mode.
In the present embodiment, CAN monitor node 10 is exclusively used in and manages whole CAN network, and has the MCU of self, for being responsible for coordinating the work of other each CAN network nodes with this node communication. And, each CAN network Node Controller all possesses storage error count function in the present embodiment, CAN network node in the respective unit interval is transmitted error count and is uploaded to CAN by the agreement set by each node of whole BMS system, and CAN monitor node 10 collects the error count of each CAN network node by CAN.
In the present embodiment, described status data includes active error Count of Status, passive error condition counting, CAN closedown (i.e. CANBusOff) state number of times, real-time reception error count (RC) and sends error count (TC). First each CAN network node reports the active error Count of Status of statistics in the unit interval (such as 5s), passive error condition counting, CANBUSOFF state number of times and the real-time reception error count (RC) in this unit interval of each node (such as 5s) occurs by CAN real-time report simultaneously, sends error count (TC) to CAN monitor node.
In the present embodiment, evaluation module 11 is collected specifically for adjusting fault processing mode according to described the many and few of CAN closed mode number of times. Further, described collection evaluation module specifically for:
If described CAN closed mode number of times is less than first threshold, then selects to restart mode soon and recover CAN;
If described CAN closed mode number of times is more than Second Threshold, then select to disconnect corresponding CAN network node;
If described CAN closed mode number of times is between the scope of described first threshold and described Second Threshold, then selects to restart mode slowly and recover CAN.
In the present embodiment, described first threshold is equal to 2, and described Second Threshold is equal to 10.
When Rate of average load exceedes preset value, computing module 12, for calculating CAN load factor according to the message number received from CAN, and notifies that user checks CAN network.
In the present embodiment, computing module 12 specifically includes first calculating sub module the 121, second calculating sub module the 122, the 3rd calculating sub module 123 and notice submodule 124, as shown in Figure 5.
Refer to Fig. 5, it is shown that for the internal structure schematic diagram of computing module shown in Fig. 4 12 in an embodiment of the present invention.
First calculating sub module 121, the maximum message segment number Cnt_max that can transmit in CAN per second in the baud rate theory of computation arranged according to CAN.
Second calculating sub module 122, is used for arranging the entrance of described CAN monitor node and only listens pattern, and monitor the message number Cnt_x received from CAN within the unit interval.
3rd calculating sub module 123, is used for the ratio calculating Cnt_x and Cnt_max to obtain CAN load factor, and draws the Rate of average load of CAN by repeatedly calculating the mode obtaining meansigma methods.
Notice submodule 124, if for described Rate of average load more than 70%, then notifying that user checks CAN network. In the present embodiment, if Rate of average load is within 30%, then judge that bus takies normally.
A kind of CAN error processing system provided by the invention, by adding a CAN monitor node being exclusively used in management bus data transfer in CAN network, the detection that can solve that total inorganic nitrogen is too high, bus transfer is overtime, network node goes offline, to various problems such as each node-node transmission errors number are estimated, drastically increase data transmission concordance and real-time, and then well ensure data transmission.
It should be noted that in above-described embodiment, included unit is carry out dividing according to function logic, but is not limited to above-mentioned division, as long as being capable of corresponding function; It addition, the concrete title of each functional unit is also only to facilitate mutually distinguish, it is not limited to protection scope of the present invention.
Additionally, one of ordinary skill in the art will appreciate that all or part of step realizing in the various embodiments described above method can be by the hardware that program carrys out instruction relevant and completes, corresponding program can be stored in a computer read/write memory medium, described storage medium, such as ROM/RAM, disk or CD etc.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Claims (10)
1. a CAN error handling method, is applied to battery management system, it is characterised in that described battery management system includes the multiple CAN network nodes and the CAN monitor node that communicate to connect each other, and described method includes:
Described CAN monitor node collects the status data of each CAN network node, and assesses the grade of each status data and according to level adjustment fault processing mode;
Described CAN monitor node calculates CAN load factor according to the message number received from CAN, and notifies that user checks CAN network when Rate of average load exceedes preset value.
2. CAN error handling method as claimed in claim 1, it is characterised in that described status data includes CAN closed mode number of times, and wherein, the grade of each status data of described assessment and the step according to level adjustment fault processing mode include:
Fault processing mode is adjusted according to described the many and few of CAN closed mode number of times.
3. CAN error handling method as claimed in claim 2, it is characterised in that described many and few steps adjusting fault processing mode according to described CAN closed mode number of times include:
If described CAN closed mode number of times is less than first threshold, then selects to restart mode soon and recover CAN;
If described CAN closed mode number of times is more than Second Threshold, then select to disconnect corresponding CAN network node;
If described CAN closed mode number of times is between the scope of described first threshold and described Second Threshold, then selects to restart mode slowly and recover CAN.
4. CAN error handling method as claimed in claim 3, it is characterised in that described first threshold is equal to 2, and described Second Threshold is equal to 10.
5. CAN error handling method as claimed in claim 1, it is characterized in that, described CAN monitor node calculates CAN load factor according to the message number received from CAN, and notifies that when Rate of average load exceedes preset value user checks that the step of CAN network includes:
According to the maximum message segment number Cnt_max that can transmit in CAN per second in the baud rate theory of computation that CAN is arranged;
The entrance of described CAN monitor node is set and only listens pattern, and within the unit interval, monitor the message number Cnt_x received from CAN;
Calculate the ratio of Cnt_x and Cnt_max to obtain CAN load factor, and draw the Rate of average load of CAN by repeatedly calculating the mode obtaining meansigma methods;
If described Rate of average load is more than 70%, then notify that user checks CAN network.
6. a CAN error processing system, it is characterised in that described CAN error processing system includes the multiple CAN network nodes and the CAN monitor node that communicate to connect each other, and wherein, described CAN monitor node includes:
Collect evaluation module, for collecting the status data of each CAN network node, and assess the grade of each status data and according to level adjustment fault processing mode;
When Rate of average load exceedes preset value, computing module, for calculating CAN load factor according to the message number received from CAN, and notifies that user checks CAN network.
7. CAN error processing system as claimed in claim 6, it is characterized in that, described status data includes CAN closed mode number of times, and wherein, described collection evaluation module is specifically for adjusting fault processing mode according to described the many and few of CAN closed mode number of times.
8. CAN error processing system as claimed in claim 7, it is characterised in that described collection evaluation module specifically for:
If described CAN closed mode number of times is less than first threshold, then selects to restart mode soon and recover CAN;
If described CAN closed mode number of times is more than Second Threshold, then select to disconnect corresponding CAN network node;
If described CAN closed mode number of times is between the scope of described first threshold and described Second Threshold, then selects to restart mode slowly and recover CAN.
9. CAN error processing system as claimed in claim 8, it is characterised in that described first threshold is equal to 2, and described Second Threshold is equal to 10.
10. CAN error processing system as claimed in claim 6, it is characterised in that described computing module includes:
First calculating sub module, the maximum message segment number Cnt_max that can transmit in CAN per second in the baud rate theory of computation arranged according to CAN;
Second calculating sub module, is used for arranging the entrance of described CAN monitor node and only listens pattern, and monitor the message number Cnt_x received from CAN within the unit interval;
3rd calculating sub module, is used for the ratio calculating Cnt_x and Cnt_max to obtain CAN load factor, and draws the Rate of average load of CAN by repeatedly calculating the mode obtaining meansigma methods;
Notice submodule, if for described Rate of average load more than 70%, then notifying that user checks CAN network.
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