CN106184070A - A kind of control method for vehicle and system - Google Patents
A kind of control method for vehicle and system Download PDFInfo
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- CN106184070A CN106184070A CN201610552676.0A CN201610552676A CN106184070A CN 106184070 A CN106184070 A CN 106184070A CN 201610552676 A CN201610552676 A CN 201610552676A CN 106184070 A CN106184070 A CN 106184070A
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- Prior art keywords
- controller
- master controller
- dormancy
- master
- resting state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
Abstract
The invention provides a kind of control method for vehicle and system, the method includes: under car load after electricity, master controller and respectively whether meet dormancy condition from the rigid line port of monitoring control devices self；If meeting dormancy condition from controller, then send sleep request message to CAN, until entering resting state after controller receives the dormancy instruction message that master controller sends；Master controller receives after the sleep request message that controller sends, it may be judged whether allowing should be from controller dormancy；If it is, send dormancy instruction message to described from controller by CAN；If master controller meets dormancy condition, and all resting states that all has been enter into from controller, then master controller enters resting state；After all controllers enter resting state, CAN enters resting state.Utilize the present invention can solve in prior art the dormancy simultaneously of all controllers of dormancy awakening method requirement or wake up up simultaneously, cause the phenomenon of vehicle battery power shortage.
Description
Technical field
The present invention relates to technical field of network management, particularly to a kind of control method for vehicle and system.
Background technology
When car load is in OFF shelves, in addition it is also necessary to complete some functions, such as instrument or display lamp display car door opening and pass
Closed state, car body controller can respond the control of remote-control key, setting of side mirror memory ON shelves etc. function.In order to realize this
A little functions, these controllers need when car load is in OFF shelves, have power supply to control to realize these.Owing to being in OFF at car load
During shelves, electromotor will not charge for accumulator, and controller work may result in the electric quantity consumption of accumulator；In order to prevent accumulator
Lose point, it is desirable to these controllers enter low power consumpting state, i.e. resting state when not working；When controller receives wake-up signal
Time, controller can be waken up immediately, to perform function.Therefore the dormancy awakening strategy of controller is extremely important.
The most extensively application German automobiles electrical type open systems and application interface standard (open systems
And the corresponding interfaces for automotive electronics, OSEK) network management strategy
Realize vehicle dormancy awakening, such as, each electronic control unit (the Electronic Control being connected in the same network segment
Unit, ECU) between often through common dormancy, the mode that wakes up up, reach the purpose of vehicle dormancy awakening.As it is shown in figure 1, be
A kind of structural representation of vehicle dormancy awakening device in prior art, when the relevant control merit of certain controller, such as controller 1
When can be triggered, controller 1 will be waken up, and at this moment controller 1 starts to send message to bus, wakes up controller 2, controller up
3 and controller 4；After control function executing completes, when all of controller is not located in duty, all of controller is same
Time enter resting state.As in figure 2 it is shown, be a kind of flow chart of prior art middle controller awakening method, including: 1. it is in not
The controller of dormancy state by port level change wake up up controller central processing unit (Central Processing Unit,
CPU), thus wake up whole controller up.In Fig. 1,11,22,33,44 is rigid line port, each controller only one of which listed herewith
Rigid line port, can essentially be multiple, when the rigid line port level saltus step of controller, can wake up controller up.Such as, whole
Car is in OFF shelves, and when car door opening, door touches switch and will become opening from adhesive, is at this moment connected in the vehicle body that door touches on switch
Controller rigid line port voltage will become 12V from 0V saltus step, wakes up car body controller up.2. it is waken up controller to send out to CAN
Deliver newspaper literary composition, 3.CAN bus level saltus step, wake up every other controller in bus up.Wherein, CAN level jumps to 2 from 0V
To 3V.
As it is shown on figure 3, be a kind of flow chart of prior art middle controller dormancy method, including: 1. it is in OFF when car load
During shelves, its rigid line port level of monitoring control devices, if 2. current controller meets dormancy condition, this controller is to CAN
Sending according to certain sequential and indicate the message oneself meeting dormancy, other controllers will know that this controller meets dormancy bar
Part, 3. works as all controllers in CAN and meets dormancy condition, and CAN sends all controllers of frame and enters the report of dormancy
Literary composition, 4. controller enters resting state, and CAN level becomes 0V.
Prior art is when single controller wakes up up, and all of controller is all waken up；When segment controller meets dormancy
During condition, need to wait until that all controllers all meet dormancy condition, resting state could be entered, so can cause unnecessary storage
Battery power consumption.
Summary of the invention
The present invention provides a kind of control method for vehicle and system, it is intended to the dormancy awakening method solving prior art requires institute
There is controller dormancy simultaneously or wake up up simultaneously, causing the problem that unnecessary accumulator electric-quantity consumes.
The invention provides a kind of control method for vehicle, including:
Under car load after electricity, whether master controller and each rigid line port each monitoring self from controller meet dormancy bar
Part；
If the rigid line port from monitoring control devices to self meets dormancy condition, then send out to CAN by setting sequential
Send sleep request message, until after CAN receives the dormancy instruction message that master controller sends, described entering from controller
Enter resting state；
Master controller receives after the sleep request message that controller sends from CAN, it may be judged whether allow described
From controller dormancy；If it is, send dormancy instruction message to described from controller by CAN；
If the rigid line port that master controller monitors self meets dormancy condition, and monitors institute by CAN
Have and all have been enter into resting state from controller, then master controller enters resting state；
All after controller and master controller enter resting state, CAN enters resting state.
Preferably, described method also includes:
Master controller shields CAN signal arousal function with each from controller, and receives at respective rigid line port
Being waken up after wake-up signal, enter duty, described wake-up signal is level saltus step.
Preferably, described method also includes:
When controlling function and only needing master controller or be implemented separately from controller, individually wake up master controller up or from control
Device；
When controlling function and needing jointly to realize from controller and master controller, wake up up multiple from controller in the following manner
And main controller:
First wake up master controller up, waken up up by master controller each from controller the most again；Or
First wake up up each from controller, then waken up up master controller by one of them from controller；Or
First wake up up one of them from controller, waken up up master controller by this from controller the most again, then by master controller
Wake up remaining up required from controller.
Preferably, described method also includes:
Master controller and monitor mutually the state of the other side from controller, to carry out error detection, and misregistration and/or report
Wrong；
The described error type carrying out error detection includes:
Asking dormancy from controller, master controller does not carry out dormancy confirmation, should enter resting state from controller；
Do not ask dormancy from controller, master controller does not carry out dormancy confirmation, should enter resting state from controller；
Asking dormancy from controller, master controller carries out dormancy confirmation, should not enter into resting state from controller；
All resting states that do not fully enter from controller that master controller is corresponding, master controller enters resting state；
Master controller wakes up up from controller, should not respond to from controller or was not waken up；
Waking up master controller up from controller, master controller does not responds to or is not waken up.
Preferably, described method also includes:
From monitoring control devices master controller current state, if finding that master controller enters resting state, note from controller
Record mistake, and when meeting dormancy condition from monitoring control devices to the rigid line port of self, enter resting state.Correspondingly, also
Provide a kind of vehicle control system, including:
Master controller, one or more it is connected with CAN respectively with master controller from controller from controller, described
Having at least two rigid line port from controller, master controller has more than from the rigid line port of controller number, master controller
By rigid line port respectively be respectively connected from controller rigid line port, master controller and each from monitoring control devices self
Whether another rigid line port meets dormancy condition；
Under car load, after electricity, dormancy condition is met if monitored from another rigid line port described in self from controller,
Then by set sequential to CAN send sleep request message, until from CAN receive master controller send dormancy refer to
After making message, enter resting state from controller；
Master controller after electricity, receives after the sleep request message that controller sends from CAN under car load, it is judged that
Whether allow described from controller dormancy；If it is, send dormancy instruction message to described from controller by CAN；
Master controller is under car load after electricity, if monitoring sleep signal from another rigid line port described in self, and
Monitored all after controller all has been enter into resting state by CAN, master controller enters resting state；
All after controller and master controller enter resting state, CAN enters resting state.
Preferably, described master controller and described be also respectively used under car load after electricity shield CAN letter from controller
Number arousal function, and waken up after respective rigid line port receives wake-up signal, enter duty.
Preferably, when controlling function and only needing master controller or be implemented separately from controller, described master controller or described
From controller specifically for individually being waken up up by master controller or from another rigid line port described in controller；
When controlling function and needing jointly to realize from controller and master controller, described master controller or described from controller
Specifically for:
When master controller is first waken up, master controller wake up up each from controller；Or
When being first waken up from controller, one of them wake up master controller up from controller；Or
When certain is first waken up from controller, this wake up master controller up from controller, then waken up up it by master controller
Remaining required from controller.
Preferably, described master controller and described be additionally operable to monitor mutually the state of the other side from controller, to carry out error detection,
And misregistration and/or report an error；
Error type includes:
Asking dormancy from controller, master controller does not carry out dormancy confirmation, should enter resting state from controller；
Do not ask dormancy from controller, master controller does not carry out dormancy confirmation, should enter resting state from controller；
Asking dormancy from controller, master controller carries out dormancy confirmation, should not enter into resting state from controller；
All resting states that do not fully enter from controller that master controller is corresponding, master controller enters resting state；
Master controller wakes up up from controller, should not respond to from controller or was not waken up；
Waking up master controller up from controller, master controller does not responds to or is not waken up.
Preferably, described from controller specifically for monitor described master controller current state, if from controller find
Master controller enters resting state, misregistration, and stops when meeting from monitoring control devices to another rigid line port described in self
During dormancy condition, it is not necessary to the dormancy that master controller sends confirms instruction, resting state should be entered from controller.
The invention discloses a kind of control method for vehicle and system, under car load after electricity, master controller is with the most each from controller
Dormancy condition whether is met, if meeting dormancy from monitoring control devices to the rigid line port of self from the rigid line port of monitoring self
Condition, then send sleep request message by setting sequential to CAN, until receiving what master controller sent from CAN
After dormancy instruction message, described from controller entrance resting state, master controller receives from controller transmission from CAN
After sleep request message, it may be judged whether allow described from controller dormancy, if it is, by CAN to described from control
Device sends dormancy instruction message, so so that the present invention can be under car load during electricity, and once part meets dormancy bar from controller
Part, and master controller allows to enter resting state when controller dormancy, and need not wait and all meet not from controller
Dormancy condition could enter resting state.Thus, the present invention can effectively solve to require all controls during prior art middle controller dormancy
Device processed must simultaneously dormancy, cause part without pending function controller can not dormancy, cause unnecessary accumulator electric-quantity
The problem consumed, it is to avoid due to the improper phenomenon causing vehicle battery power shortage of controller dormancy awakening method.If it is additionally, main
Monitoring control devices meets dormancy condition to self rigid line port, and by CAN monitor all from controller the most
Enter resting state, then master controller enters resting state, all after controller and master controller enter resting state,
CAN enters resting state.So can avoid the phenomenon of vehicle battery power shortage further.
Further, the master controller that the present invention provides and respectively shielding CAN signal when controller is electric under car load
Arousal function, and waken up after respective rigid line port receives wake-up signal, enter duty.So so that the present invention
Can need to realize certain once car load and control function, only wake up the controller relevant to this function up i.e. under car load during electricity
Can, and all of controller need not be waken up up.The present invention can effectively solve to require in wakeup process in prior art all controllers
Wake up up simultaneously, cause the problem that unnecessary accumulator electric-quantity consumes, it is to avoid cause owing to controller dormancy awakening method is improper
The phenomenon of vehicle battery power shortage.Additionally, do not have due to each only consider from controller current self state or function and
Do not consider whole automobile control function demand, the problem carrying out dormancy the most voluntarily, it is to avoid each control unit is frequently in resting state, work
Switch between state.
Further, present invention also offers different control functions corresponding controller awakening method, so can meet each
Plant and control function corresponding controller awakening method.
Further, the method that the present invention provides additionally provides tackles the master controller of various situations and/or from controller
Wake up up order.
Further, the method that the present invention provides also includes: master controller and monitor mutually the state of the other side from controller,
To carry out error detection, and misregistration and/or report an error.So, when mistake occurring during vehicle dormancy awakening, can be timely
Discovery mistake, and misregistration and/or report an error, in order to search reason, it is to avoid next time occurs mistake again.Wherein, master control
The state of the other side monitored mutually by device processed and controller, it is to avoid the phenomenon such as missing inspection or error of omission record occur.
Further, present invention also offers from duty entrance sleep procedure and enter wakeup process from dormancy
Particular content that middle master controller and controller are monitored mutually and the content of record, in order to user is according to the content search of record
The reason of mistake occurs.
Further, present invention also offers when mistake occurs in master controller, from the control method of controller, in order to
Resting state can be entered smoothly when mistake occurs in master controller from controller.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing used is needed to be briefly described, it should be apparent that, the accompanying drawing in describing below is only described in the present invention
A little embodiments, for those of ordinary skill in the art, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is a kind of structural representation of controller of vehicle in prior art；
Fig. 2 is a kind of flow chart of prior art middle controller awakening method；
Fig. 3 is a kind of flow chart of prior art middle controller dormancy method；
A kind of flow chart of the Fig. 4 control method for vehicle for providing according to the embodiment of the present invention；
The another kind of flow chart of the Fig. 5 control method for vehicle for providing according to the embodiment of the present invention；
A kind of structural representation of the Fig. 6 vehicle control system for providing according to the embodiment of the present invention.
Detailed description of the invention
Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings, the most from start to finish
Same or similar label represents same or similar element or has the element of same or like function.Below with reference to attached
The embodiment that figure describes is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
The present invention such as can work as and then judge car load lower electricity when car load is in OFF shelves, once after electricity under car load
Segment controller enters resting state when meeting dormancy condition, and such as car load is in OFF shelves, does not the most receive and plays broadcast
Instruction, then the controller playing broadcast can enter resting state, and all controllers need not be waited all to meet dormancy condition ability
Enter resting state；When controller is all in resting state, and when car load needs to realize certain control function, only wake up up and this merit
The controller that can be correlated with, and all of controller need not be waken up up.The present invention can effectively solve dormancy awakening in prior art
Method requires the dormancy simultaneously of all controllers or wakes up up simultaneously, causes the problem that unnecessary accumulator electric-quantity consumes.
In order to be better understood from technical scheme and technique effect, below with reference to flow chart and concrete enforcement
Example is described in detail.
Embodiments providing a kind of control method for vehicle, its flow process as shown in Figure 4, comprises the following steps:
Step S01, under car load after electricity, whether master controller and each rigid line port each monitoring self from controller meet
Dormancy condition.
In the present embodiment, described dormancy condition refers to the state that the hardware port set in controller software is specified.Specifically
Ground, can define those ports in the program of controller is waking up up and dormancy condition of it, and such as, it is exactly BCM vehicle body that door touches switch
Controller BCM wakes up dormancy source up；When car door opening, door touches switch and opens, and the port connecting car body controller BCM is unsettled,
Level is drawn high, and wakes up car body controller BCM up；When car door is shut, door touches switch adhesive, connects the port ground connection of BCM, and level is 0,
Car body controller just can enter dormancy, thus door touches the dormancy condition that switch adhesive is exactly car body controller BCM.The most such as,
Seat adjusting switch be exactly seat controller SEAT wake up dormancy source up；When pressing seat adjusting switch, switch connecting chair control
Port level corresponding for device SEAT processed is 0, wakes up seat controller SEAT up；Do not press seat adjusting switch, switch connecting chair
Port corresponding for controller SEAT is unsettled, and level is drawn high；Seat controller SEAT can enter dormancy.Thus, do not press seat
Regulation switch is exactly the dormancy condition of seat controller SEAT.
Step S02, if meeting dormancy condition from monitoring control devices to the rigid line port of self, then by set sequential to
CAN sends sleep request message, until after CAN receives the dormancy instruction message that master controller sends, described
Resting state is entered from controller.
In the present embodiment, dormancy condition depending on as dormancy can not be met according only to the rigid line port of self from controller
According to, need master controller could enter park mode after sending dormancy instruction message, do not have owing to respectively only examining from controller
Consider current self state or function and do not consider whole automobile control function demand, the problem carrying out dormancy the most voluntarily, it is to avoid respectively control
Unit processed frequently switches between resting state, duty.
It should be noted that the information bag of CAN message is divided into two parts: message part and data division.Wherein, the first two
Byte is message part, and its first 11 is identifier, and the first eight bits in identifier is used as to receive judgement, should comprise this information bag
Address, point of destination.Followed by one RTR position (0 should be set to), be finally four DLC (data length position, sent out data
Physical length, unit: byte).Remaining eight byte is data division, has the data being actually subjected to send out.
Step S03, master controller receives after the sleep request message that controller sends from CAN, it may be judged whether
Allow described from controller dormancy；If it is, send dormancy instruction message to described from controller by CAN.
In the present embodiment, master controller determines whether described from controller dormancy, wherein, it is judged that condition can be
Currently not needing do not have function to need after electricity the control function performed, car load from controller should be from controller execution etc..Should
Rule of judgment can control control function required after electricity under function and car load and the controller of correspondence according to realizing some and
Fixed, specifically can be by depending on great many of experiments and/or experience etc., for example, it is possible to realized, as shown in table 1 by the mode such as table look-up:
Table 1 controls function-controller synopsis
Upper table is merely illustrative citing, it is impossible to be interpreted as limitation of the invention.
In actual applications, when car load be in closedown OFF shelves, currently without control function need use this from controller,
And car load is in control function conventional when cutting out OFF shelves and also takes less than current from controller, then can should enter from controller
Resting state.Car load is in control function conventional when cutting out OFF shelves can include but not limited to following any one or more:
Remote control vehicle locking, remote control lift window, seat memory regulate, seek car.Wherein, the controller needed for performing each control function is: vehicle body
Controller, keyless entry controller, instrument, seat controller, rearview mirror controller.In this manner it is possible to determine whether
Current from controller dormancy, in order to be controlled.
Judging from whether controller meets dormancy condition by master controller, master controller is responsible for monitoring whole CAN
On the dormancy awakening state of other controllers, when there being the request dormancy of certain controller, master controller is according to current car load
Whether this controller of condition adjudgement can enter dormancy, allows if dormancy instruction message can will be sent to CAN with dormancy
This controller dormancy so that controller enters low power consumpting state, it is achieved the controller substep dormancy in CAN, reduces car load
Power consumption.Owing to utilizing master controller to monitor the dormancy awakening state of other controllers in whole CAN, do not have by
In each controller only consider current self state or function and do not consider whole automobile control function demand, carry out dormancy the most voluntarily
Problem, it is to avoid each control unit frequently switches between resting state, wake-up states.
Step S04, if the rigid line port that master controller monitors self meets dormancy condition, and passes through CAN
Monitor all resting states that all has been enter into from controller, then master controller enters resting state.
When described master controller meets dormancy condition, and corresponding all of master controller all have been enter into dormancy shape from controller
During state, then master controller enters resting state.
Step S05, all after controller and master controller enter resting state, CAN enters resting state.
When described master controller enters resting state, CAN level becomes 0V.So, the electricity of accumulator can be reduced
Amount consumes.
The control method for vehicle that the embodiment of the present invention provides can be under car load during electricity, and once part meets not from controller
Dormancy condition, and master controller allows to enter resting state when controller dormancy, and all controllers need not be waited the most satisfied
Dormancy condition could enter resting state.Thus, the present invention can effectively solve to require own during prior art middle controller dormancy
Controller must simultaneously dormancy, cause part without pending function controller can not dormancy, cause unnecessary storage battery
The problem that amount consumes, it is to avoid due to the improper phenomenon causing vehicle battery power shortage of controller dormancy awakening method.If additionally,
Master controller monitors self rigid line port and meets dormancy condition, and by CAN monitor all from controller all
Have been enter into resting state, then master controller enters resting state, all after controller and master controller enter resting state,
CAN enters resting state.So can avoid the phenomenon of vehicle battery power shortage further.
As it is shown in figure 5, the another kind of flow chart of the control method for vehicle for providing according to the embodiment of the present invention.In this enforcement
In example, described method also includes:
Step S06, master controller shields CAN signal arousal function with each from controller, and at respective rigid line end
Mouth is waken up after receiving wake-up signal, enters duty, and described wake-up signal is level saltus step.
Owing to there is various control function, required controller may be different from, and correspondingly, the present embodiment additionally provides
The concrete awakening method of controller.Described method also includes:
When controlling function and only needing master controller or be implemented separately from controller, individually wake up master controller up or from control
Device；When controlling function and needing jointly to realize from controller and master controller, wake up up multiple from controller and master in the following manner
Control device:
First wake up master controller up, waken up up by master controller each from controller the most again；Or
First wake up up each from controller, then waken up up master controller by one of them from controller；Or
First wake up up one of them from controller, waken up up master controller by this from controller the most again, then by master controller
Wake up remaining up required from controller.
Specifically, required controller can only be waken up up by rigid line port, certain controller thus can be avoided to be called out
Just by CAN, other controllers are waken up up after waking up.
Further, described method also includes: master controller and monitor mutually the state of the other side from controller, to examine
Mistake, and misregistration and/or report an error.
The described error type carrying out error detection includes: asking dormancy from controller, master controller does not carry out dormancy confirmation,
Resting state should be entered from controller；Do not ask dormancy from controller, master controller does not carry out dormancy confirmation, should be from control
Device enters resting state；Asking dormancy from controller, master controller carries out dormancy confirmation, should not enter into dormancy shape from controller
State；All resting states that do not fully enter from controller that master controller is corresponding, master controller enters resting state；Main control
Device wakes up up from controller, should not respond to from controller or was not waken up；Waking up master controller up from controller, master controller does not has
There is response or be not waken up.
Particularly, from monitoring control devices master controller current state, if finding that master controller enters dormancy from controller
State, misregistration, and when meeting dormancy condition from monitoring control devices to the rigid line port of self, enter resting state.
As shown in Figure 6, a kind of structural representation of the vehicle control system for providing according to the embodiment of the present invention.This vehicle
Control system includes:
Master controller, one or more it is connected with CAN respectively with master controller from controller from controller, described
Having at least two rigid line port from controller, master controller has more than from the rigid line port of controller number, master controller
By rigid line port respectively be respectively connected from controller rigid line port, master controller and each from monitoring control devices self
Whether another rigid line port meets dormancy condition.
Under car load, after electricity, dormancy condition is met if monitored from another rigid line port described in self from controller,
Then by set sequential to CAN send sleep request message, until from CAN receive master controller send dormancy refer to
After making message, enter resting state from controller.
Master controller after electricity, receives after the sleep request message that controller sends from CAN under car load, it is judged that
Whether allow described from controller dormancy；If it is, send dormancy instruction message to described from controller by CAN.
Master controller is under car load after electricity, if monitoring sleep signal from another rigid line port described in self, and
Monitored all after controller all has been enter into resting state by CAN, master controller enters resting state.
All after controller and master controller enter resting state, CAN enters resting state.
Specifically, say as a example by the vehicle control system of controller composition having a master controller and three
Bright, as shown in Figure 6, Node 1 is master controller, and Node 2, Node 3, Node 4 are from controller, and 11,22,33,44 respectively
The rigid line port of Node 1, Node 2, Node 3, Node 4, a, b, c for realize Node1 respectively with Node 2, Node 3,
The rigid line port that Node 4 is connected.By this device, the controller substep dormancy in CAN can be realized, reduce
The purpose of power consumption when car load is in OFF shelves.
In a specific embodiment, when car load reaches OFF shelves, i.e. during lower electricity, bus has Node 1, Node 2,
Node 3, Node 4 totally four controllers, wherein, Node1 is master controller, and these four controllers start to monitor rigid line port
11, whether 22,33,44 meet dormancy condition, and when certain is from controller, such as Node 2 monitoring finds that 22 ports meet dormancy bar
Part, will send to CAN according to certain sequential to CAN and indicate and oneself meet the message of dormancy, and Node 1 is total from CAN
Line listens to Node 2 and indicates the message self meeting dormancy with sending, then look at and whether oneself be now to the function that realizes
Node 2 is needed to coordinate, can be with the CAN instruction message of dormancy if it is not needed, send Node 2, Node 2 is from CAN
Resting state is entered after receiving；Can be with the CAN instruction message of dormancy if it is required, the most do not send out Node 2, Node 2 is still
In running order, at this moment Node 2 the most ceaselessly sends to send according to certain sequential and indicates the message oneself meeting dormancy, directly
To Node 1 need not Node 2 coordinate realize function, Node 1 send Node 2 can with the CAN instruction message of dormancy,
Node 2 enters resting state after receiving.
According to this pattern, until Node 3 and Node 4 enters dormancy.Controller dormancy does not has in proper order, if full
Foot dormancy condition, it is possible to send and indicate the message oneself meeting dormancy；Master controller sends and can refer to the CAN of dormancy
After making message, this controller just can enter dormancy.
Whether the hardware port of last master controller monitoring oneself meets dormancy condition, monitors it by CAN simultaneously
He comes into resting state by controller, if the most satisfied, master controller enters resting state, and whole piece CAN is entered
Enter resting state.
In another embodiment, the present invention provides the described master controller of vehicle control system and described from controller
Also it is respectively used under car load after electricity shield CAN signal arousal function, and receives at respective rigid line port and wake up letter up
Waken up after number, entered duty.
In the present embodiment, when controlling function and only needing master controller or be implemented separately from controller, described master controller
Or described from controller specifically for individually being waken up up by master controller or from another rigid line port described in controller；Work as control
Function processed need when controller and master controller realize jointly, described master controller or described from controller specifically for:
When master controller is first waken up, master controller wake up up each from controller；Or
When being first waken up from controller, one of them wake up master controller up from controller；Or
When certain is first waken up from controller, this wake up master controller up from controller, then waken up up it by master controller
Remaining required from controller.
In actual applications, when being in the vehicle closing OFF shelves and needing to realize some function, such as, remote-control unlocking, then
To wake up up for the controller needed for realizing remote-control unlocking, without waking up all controllers up, advantage of this is that: user
Often when car load is in cut out OFF shelves, it is only necessary to carry out some single control functions to solve particular problem, such as, use
Find after the car locking of family that wallet key etc. falls in car, now only need to open lock, without using other to take article
Controlling function, controller incoherent with this control function but can all be waken up up by prior art, and this can cause electricity to waste, this
Bright when user carries out aforesaid operations, controller relevant to remote-control unlocking in vehicle just can be waken up, effectively prevent the energy
Waste, above example only understands the present invention rather than limitation of the invention, and in actual application, various control functions are the most applicable.
Further, determined by master controller control function relevant from controller.In CAN in a dormant state
After, master controller and controller coordinate, and according to whole automobile control function demand, wake up the controller realized needed for this control function up.
In a specific embodiment, all controllers shielding CAN signal arousal function, can only pass through hardware port
Wake up controller up.
When controlling function and only needing master controller to realize, only wake up master controller up, owing to all controllers shielding CAN is total
Line signal arousal function, thus will not be waken up from controller.Such as, Node 1 individually wakes up up, rigid line port 11 level saltus step,
Triggering Node 1 to wake up up, the function at this moment realized, it is only necessary to Node 1 can be achieved with, Node 1 will not trigger a, b, c tri-end
The level change of mouth, such Node 2, Node 3, Node 4 these three controller still keep resting state.
When control function only need single realize from controller time, only wake up this single controller up.Such as, Node 2 is called out
Wake up, rigid line port 22 level saltus step, trigger Node 2 and wake up up, the function at this moment realized, it is only necessary to Node 2 can be achieved with, Node
2 will not trigger the change of a, b, c port level, and such Node 1, Node 3, Node 4 these three controller still keep dormancy shape
State.
When controlling function and needing jointly to realize from controller and master controller, following several situation can be there is:
A, first wake up master controller up, wake up other up from controller by master controller the most again.Such as, master controller is first called out
Wake up；Rigid line port 11 level saltus step, triggers Node 1 and wakes up up, at this moment needs the function realized, in addition it is also necessary to Node 2 coordinates realization,
Node 1 triggers a port level saltus step, wakes up Node 2 up, and then Node 1 and Node 2 cooperation realizes function.Node 3、Node
4 controllers still keep resting state.If (need to wake up up other from controller, Node 1 controls corresponding a, b, c port level
Saltus step can realize).
Or B, according to control functional requirement first wake up up one from controller, then waken up up main control by this from controller
Device, then wake up other up from controller by master controller.Such as, Node 2 first wakes up up, hardware port 22 level saltus step, triggers
Node 2 wakes up up, at this moment needs the function realized, in addition it is also necessary to Node 1 coordinates realization, and Node 2 triggers a port level saltus step, calls out
Wake up Node 1, and then Node 1 and Node 2 cooperation realizes function.Node 3, Node 4 controller still keep resting state.
Or C, first wake up up one or more from controller, then waken up up master controller by one of them from controller, then
Remaining is waken up up required from controller by master controller.Such as, Node 2 first wakes up up, hardware port 22 level saltus step, triggers
Node 2 wakes up up, at this moment needs the function realized, in addition it is also necessary to Node 1 and Node 3 coordinates realization, and Node 2 triggers a port electricity
Flat saltus step, wakes up Node 1 up；Then demand is informed Node 1 by CAN signal by Node 2, in order to realize this function,
Node 3 is needed to coordinate；Node 1 triggers the change of b port level, and Node 3 wakes up up；So Node 1, Node 2 and Node 3 join
Conjunction realizes function；Node 4 controller still keeps resting state.
The embodiment of the present invention provide vehicle control system, it is achieved that the corresponding controller of different control functions non-with
Time arousal function.
In yet another embodiment, the vehicle control system that the present invention provides can also realize error detection, and misregistration
And/or report an error.
Specifically, described master controller and described be additionally operable to monitor mutually the state of the other side from controller, to carry out error detection,
And misregistration and/or report an error；
Error type includes:
Asking dormancy from controller, master controller does not carry out dormancy confirmation, should enter resting state from controller；
Do not ask dormancy from controller, master controller does not carry out dormancy confirmation, should enter resting state from controller；
Asking dormancy from controller, master controller carries out dormancy confirmation, should not enter into resting state from controller；
All resting states that do not fully enter from controller that master controller is corresponding, master controller enters resting state；
Master controller wakes up up from controller, should not respond to from controller or was not waken up；
Waking up master controller up from controller, master controller does not responds to or is not waken up.
The vehicle control system that the embodiment of the present invention provides can also realize error detection, and misregistration and/or the merit that reports an error
Energy.So, when mistake occurring during vehicle dormancy awakening, mistake can be found timely, and misregistration and/or report
Wrong, in order to search reason, it is to avoid next time occurs mistake again.Wherein, the shape of the other side monitored mutually by master controller and controller
State, it is to avoid the phenomenon such as missing inspection or error of omission record occurs.
In other embodiments, described from controller specifically for monitor described master controller current state, if from control
Device processed finds that master controller enters resting state, misregistration, and works as from monitoring control devices to another rigid line end described in self
When mouth meets dormancy condition, it is not necessary to the dormancy that master controller sends confirms instruction, should be from controller entrance resting state.
In the present embodiment, each controller is during duty enters resting state:
Master controller monitoring is sent to confirm instruction from the dormancy of controller from the current state of controller and master controller；
And/or
From monitoring control devices master controller current state, if it find that master controller enters resting state, remember from controller
The record improper dormancy of master controller, as long as when meeting dormancy condition from controller, it is not necessary to the confirmation of master controller, should be from control
Device processed enters park mode；
During each controller enters duty from resting state:
If master controller is first waken up, it is each whether master controller record wakes up up from controller and controller local area network
From the state of controller, if master controller wakes up up from controller, should be from controller still in resting state, master controller record
From the improper dormancy of controller；Or
If be first waken up from controller, whether wake up up master controller and controller local area network main from controller record
The state of controller, if waking up master controller up from controller, master controller is still in resting state, from controller record master control
The improper dormancy of device processed.
In a specific embodiment, each controller is during duty enters resting state:
1, master controller monitoring respectively from the current state of controller (from controller send on bus CAN message show from
Controller is in running order, does not send CAN message and shows from controller in a dormant state) and master controller be sent to from control
The dormancy of device processed confirms instruction, the most as shown in table 2, if there is mistake, misregistration and reason.
Table 2 controller enters the detection log of resting state process from duty
2, from monitoring control devices master controller current state, (master controller sends CAN message on bus and shows controller
It is in wake-up states, does not send CAN message and show that master controller is in a dormant state)；If it find that master controller dormancy, from control
The error code of the device improper dormancy of record master controller processed.Then, as long as meeting dormancy condition from controller, it is not necessary to master control
The confirmation of device processed, enters park mode.
During each controller enters duty from resting state:
1, first wake up master controller up, master controller record whether trigger the hardware port state being connected with from controller and
The state of controller in CAN；Concrete as shown in table 3, if there is mistake, misregistration reason.
Table 3 dormancy enters the master controller detection log of wakeup process
2, first wake up up from controller, whether trigger from controller record the hardware port state being connected with master controller and
The state of master controller in CAN；Concrete as shown in table 4, if there is mistake, misregistration reason.
Table 4 dormancy enters the controller detection log of wakeup process
Embodiments provide and enter sleep procedure from duty and enter wakeup process main from dormancy
Particular content that controller and controller are monitored mutually and the content of record, in order to user occurs according to the content search of record
The reason of mistake.
Certainly, the vehicle control system that the present invention provides can further include: memory module (not shown), is used for depositing
Store up the information such as the controller needed for each control function, the system failure, in order to fault message is analyzed, process etc..
A kind of vehicle control system that the embodiment of the present invention provides, respectively meets dormancy condition, and master controller from controller
Allow should to enter resting state from controller when controller dormancy；When all after controller all enters resting state, main
By monitoring self rigid line port, controller judges whether it can enter resting state；When all controllers all enter resting state
After, CAN enters resting state.The present invention can effectively solve all controllers of dormancy awakening method requirement in prior art
Dormancy simultaneously or wake up up, causes the problem that unnecessary accumulator electric-quantity consumes, it is to avoid the phenomenon of vehicle battery power shortage.
Each embodiment in this specification all uses the mode gone forward one by one to describe, identical similar portion between each embodiment
Divide and see mutually.For system embodiment, owing to it is substantially similar to embodiment of the method, so describing
Fairly simple, relevant part sees the part of embodiment of the method and illustrates.System embodiment described above is only shown
Meaning property, the wherein said unit illustrated as separating component can be or may not be physically separate, as list
The parts of unit's display can be or may not be physical location, i.e. may be located at a place, or can also be distributed to
On multiple artificial windows.Some or all of module therein can be selected according to the actual needs to realize the present embodiment scheme
Purpose.Those of ordinary skill in the art, in the case of not paying creative work, are i.e. appreciated that and implement.
Although the present invention discloses as above with preferred embodiment, but is not limited to the present invention.Any it is familiar with ability
The technical staff in territory, without departing under technical solution of the present invention ambit, may utilize in method and the technology of the disclosure above
Hold and technical solution of the present invention is made many possible variations and modification, or be revised as the Equivalent embodiments of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, according to the present invention technical spirit to made for any of the above embodiments any simply
Amendment, equivalent variations and modification, all still fall within the range of technical solution of the present invention protection.
Claims (10)
1. a control method for vehicle, it is characterised in that including:
Under car load after electricity, whether master controller and each rigid line port each monitoring self from controller meet dormancy condition；
If the rigid line port from monitoring control devices to self meets dormancy condition, then by setting sequential to CAN transmission not
Dormancy request message, until after CAN receives the dormancy instruction message that master controller sends, described entrance from controller is stopped
Dormancy state；
Master controller receives after the sleep request message that controller sends from CAN, it may be judged whether allow described from control
Device dormancy processed；If it is, send dormancy instruction message to described from controller by CAN；
If master controller monitors self rigid line port and meets dormancy condition, and by CAN monitor all from
Controller all has been enter into resting state, then master controller enters resting state；
All after controller and master controller enter resting state, CAN enters resting state.
Method the most according to claim 1, it is characterised in that described method also includes:
Master controller and respectively shield CAN signal arousal function from controller, and receive at respective rigid line port and wake up up
Being waken up after signal, enter duty, described wake-up signal is level saltus step.
Method the most according to claim 2, it is characterised in that described method also includes:
When controlling function and only needing master controller or be implemented separately from controller, individually wake up master controller up or from controller；
When controlling function and needing jointly to realize from controller and master controller, wake up up multiple from controller and master in the following manner
Control device:
First wake up master controller up, waken up up by master controller each from controller the most again；Or
First wake up up each from controller, then waken up up master controller by one of them from controller；Or
First wake up up one of them from controller, waken up up master controller by this from controller the most again, then waken up up by master controller
Remaining is required from controller.
Method the most according to claim 2, it is characterised in that described method also includes:
Master controller and monitor mutually the state of the other side from controller, to carry out error detection, and misregistration and/or report an error；
The described error type carrying out error detection includes:
Asking dormancy from controller, master controller does not carry out dormancy confirmation, should enter resting state from controller；
Do not ask dormancy from controller, master controller does not carry out dormancy confirmation, should enter resting state from controller；
Asking dormancy from controller, master controller carries out dormancy confirmation, should not enter into resting state from controller；
All resting states that do not fully enter from controller that master controller is corresponding, master controller enters resting state；
Master controller wakes up up from controller, should not respond to from controller or was not waken up；
Waking up master controller up from controller, master controller does not responds to or is not waken up.
Method the most according to claim 4, it is characterised in that described method also includes:
From monitoring control devices master controller current state, if finding that master controller enters resting state, record mistake from controller
By mistake, and when meeting dormancy condition from monitoring control devices to the rigid line port of self, resting state is entered.
6. a vehicle control system, it is characterised in that including:
Master controller, one or more it is connected with CAN respectively with master controller from controller from controller, described from control
Utensil processed has at least two rigid line port, and master controller has more than from the rigid line port of controller number, and master controller passes through
Rigid line port respectively be respectively connected from controller rigid line port, master controller and respectively from another of monitoring control devices self
Whether rigid line port meets dormancy condition；
, meet dormancy condition if monitored from another rigid line port described in self, then press after electricity from controller under car load
Set sequential and send sleep request message to CAN, until receiving, from CAN, the dormancy instruction report that master controller sends
Wen Hou, enters resting state from controller；
Master controller after electricity, receives after the sleep request message that controller sends from CAN under car load, it may be judged whether
Allow described from controller dormancy；If it is, send dormancy instruction message to described from controller by CAN；
Master controller after electricity, if monitoring sleep signal from another rigid line port described in self, and passes through under car load
CAN monitors all after controller all has been enter into resting state, and master controller enters resting state；
All after controller and master controller enter resting state, CAN enters resting state.
System the most according to claim 6, it is characterised in that
Described master controller and described be also respectively used under car load after electricity shield CAN signal arousal function from controller,
And waken up after respective rigid line port receives wake-up signal, enter duty.
System the most according to claim 7, it is characterised in that
When controlling function and only needing master controller or be implemented separately from controller, described master controller or described concrete from controller
For individually being waken up up by master controller or from another rigid line port described in controller；
When controlling function and needing jointly to realize from controller and master controller, described master controller or described concrete from controller
For:
When master controller is first waken up, master controller wake up up each from controller；Or
When being first waken up from controller, one of them wake up master controller up from controller；Or
When certain is first waken up from controller, this wake up master controller up from controller, then waken up up remaining institute by master controller
Need from controller.
System the most according to claim 7, it is characterised in that
Described master controller and described be additionally operable to monitor mutually the state of the other side from controller, to carry out error detection, and record mistake
Miss and/or report an error；
Error type includes:
Asking dormancy from controller, master controller does not carry out dormancy confirmation, should enter resting state from controller；
Do not ask dormancy from controller, master controller does not carry out dormancy confirmation, should enter resting state from controller；
Asking dormancy from controller, master controller carries out dormancy confirmation, should not enter into resting state from controller；
All resting states that do not fully enter from controller that master controller is corresponding, master controller enters resting state；
Master controller wakes up up from controller, should not respond to from controller or was not waken up；
Waking up master controller up from controller, master controller does not responds to or is not waken up.
System the most according to claim 9, it is characterised in that described from controller specifically for monitor described main control
Device current state, if finding that master controller enters resting state, misregistration from controller, and works as from monitoring control devices to certainly
When another rigid line port described of body meets dormancy condition, it is not necessary to the dormancy that master controller sends confirms instruction, should be from control
Device enters resting state.
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