CN106774036A - Body control system and method - Google Patents
Body control system and method Download PDFInfo
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- CN106774036A CN106774036A CN201710148135.6A CN201710148135A CN106774036A CN 106774036 A CN106774036 A CN 106774036A CN 201710148135 A CN201710148135 A CN 201710148135A CN 106774036 A CN106774036 A CN 106774036A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 63
- 238000012545 processing Methods 0.000 claims abstract description 7
- 238000003745 diagnosis Methods 0.000 claims description 24
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000010354 integration Effects 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000005553 drilling Methods 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Control Of Transmission Device (AREA)
Abstract
The embodiment of the invention discloses a kind of body control system and method, technical field of automobile control is applied to.Wherein, the system includes：Signal gathering unit, is connected by communication unit with central control unit, for gathering the gear signal of vehicle body signal and gear lever and exporting to central control unit；Central control unit, is connected with communication unit, for processing vehicle body signal and gear signal, generates control instruction according to result, and control instruction is sent into driving output unit by communication unit；Output unit is driven, is connected with central control unit by communication unit, for receiving the control instruction of central control unit transmission, and exported to corresponding vehicle body execution unit；Internal electric source unit, for providing electric power support for above-mentioned each functional unit.Above-mentioned body control system and method, can save the totle drilling cost of body control system hardware, increase the integration of body control system function.
Description
Technical field
The invention belongs to technical field of automobile control, more particularly to a kind of body control system and method.
Background technology
Competition with orthodox car industry increasingly sharpens, and vehicle price is gradually reduced, in order to improve the user's body of vehicle
Test and brand value, more utility functions and smart machine are often increased in vehicle, such as：Fluid drive gearshift function.
Electric-controlled mechanical auto-wave (Automated Mechanical Transmission, AMT), is at mechanical transmission (manual ripple)
Transformed on the basis of original, it is main to change hand shift actuating element.That is, lead in the case where overall drive mechanism is constant
Cross the automation for installing micro-processor controlled automatic handling system additional to realize shifting gears.Therefore AMT is actually by a system of robot
Two actions for uniting to complete operation clutch and gear selecting.It is raw because AMT can be transformed on the basis of the manual ripple of existing production
Product inheritance is good, and the expense of input is relatively low, is easily received by factory.
AMT automatic gear-box speed changer gear operations switching signal gathers transformation system module, refers to that will be associated with control stick
Signal input, the outputs such as instruction, step switch, locking gear level control are integrated into the middle of car body controller, then by bus by institute
There is associated signal to be sent to the execution computer of AMT, so as to complete gear shifting operation.In the prior art, AMT fluid drives gear box
Manipulate switching signal and gather transformation system module (gear lever signal acquisition module) and BCM (Body Control Module, car
Body control module) single module is usually, therefore there is a problem of relatively costly.
The content of the invention
The present invention provides a kind of body control system and method, it is intended to solve existing body control system relatively costly
Technical problem.
Embodiment of the present invention first aspect provides a kind of body control system, including：Central control unit, signal acquisition list
Unit, driving output unit, communication unit and internal electric source unit；
Wherein, the signal gathering unit, is connected, with the central control unit by the communication unit for adopting
The gear signal of collection vehicle body signal and gear lever is simultaneously exported to the central control unit；
The central control unit, is connected with the communication unit, for processing the vehicle body signal and the gear
Signal, generates control instruction, and the control instruction is sent into the driving by the communication unit according to result
Output unit；
The driving output unit, is connected, with the central control unit by the communication unit for receiving
The control instruction of central control unit transmission is stated, and exports vehicle body execution unit corresponding to the control instruction, to control
Make the vehicle body execution unit and perform corresponding operation, the vehicle body execution unit includes the control unit of the gear lever；
The internal electric source unit, external connection battery group, for for the central control unit, the signal gathering unit,
The driving output unit and the communication unit provide electric power support.
Embodiment of the present invention second aspect provides a kind of Body Control method, including：
The gear signal of vehicle body signal and gear lever is gathered by signal gathering unit；
The vehicle body signal and the gear signal are processed, control instruction is generated according to result；
By the control instruction by driving output unit, the corresponding vehicle body execution unit of the control instruction is sent to,
So that the vehicle body execution unit performs corresponding operation, the vehicle body execution unit includes the control unit of the gear lever.
Knowable to the embodiments of the present invention, believe by the integrated collection vehicle body that is respectively used to of same signal gathering unit
Number and gear lever gear signal two functional modules, and using same central control unit to gather signal at
Reason, compared to the structure that existing gear lever signal acquisition module and car body control module are existed side by side, can improve discrete component
Utilization rate, saves the totle drilling cost of body control system hardware, increases the integration of body control system function.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention.
Fig. 1 is the structural representation of the body control system that first embodiment of the invention is provided；
Fig. 2 is the structural representation of the body control system that second embodiment of the invention is provided；
Fig. 3 is the principle schematic of the body control system that second embodiment of the invention is provided；
Fig. 4 is that the Body Control method that third embodiment of the invention is provided realizes schematic flow sheet.
Specific embodiment
To enable that goal of the invention of the invention, feature, advantage are more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described to the technical scheme in the embodiment of the present invention, it is clear that described reality
It is only a part of embodiment of the invention to apply example, and not all embodiments.Based on the embodiment in the present invention, people in the art
The every other embodiment that member is obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Refer to Fig. 1, the structural representation of the body control system that Fig. 1 is provided for first embodiment of the invention.Such as Fig. 1 institutes
Show, this body control system is a kind of new BCM systems, is mainly included：Central control unit 101, signal gathering unit
102nd, output unit 103, communication unit 104 and internal electric source unit 105 are driven.
Wherein, signal gathering unit 102, are connected, with central control unit 101 by communication unit 104 for gathering
The gear signal of vehicle body signal and gear lever is simultaneously exported to central control unit 101.
Central control unit 101, is connected with communication unit 104, for processing the vehicle body signal and the gear signal, root
Control instruction is generated according to result, and the control instruction is sent to by driving output unit 103 by communication unit 104.
Output unit 103 is driven, is connected with central control unit 101 by communication unit 104, for receiving central control
The control instruction that unit processed 101 sends, and vehicle body execution unit corresponding to the control instruction is exported, to control the vehicle body to hold
Row part performs corresponding operation, and the vehicle body execution unit includes the control unit of the gear lever.
Internal electric source unit 105, external connection battery group, for being central control unit 101, signal gathering unit 102, driving
Output unit 103 and communication unit 104 provide electric power support.
In the embodiment of the present invention, by same signal gathering unit it is integrated be respectively used to gather vehicle body signal and speed change
Two functional modules of the gear signal of bar, and the signal for gathering is processed using same central control unit, compare
In the structure that existing gear lever signal acquisition module and car body control module are existed side by side, the utilization rate of discrete component can be improved,
The totle drilling cost of body control system hardware is saved, increases the integration of body control system function.
Refer to Fig. 2, the structural representation of the body control system that Fig. 2 is provided for second embodiment of the invention.Such as Fig. 2 institutes
Show, this body control system is a kind of new BCM systems, is mainly included：Central control unit 201, signal gathering unit
202nd, output unit 203, communication unit 204, internal electric source unit 205 and diagnosis unit 206 are driven.
Wherein, signal gathering unit 202, are connected, with central control unit 201 by communication unit 204 for gathering
The gear signal of vehicle body signal and gear lever is simultaneously exported to central control unit 201.
Specifically, signal gathering unit 202 includes：Vehicle body signal acquisition circuit 2021 and gear signal Acquisition Circuit
2022, vehicle body signal acquisition circuit 2021 is integrated with gear signal Acquisition Circuit 2022, and by same connection
Road is communicated and is shared same Internal power system with central control unit 201.
Central control unit 201, is connected with communication unit 204, for processing the vehicle body signal and the gear signal, root
Control instruction is generated according to result, and the control instruction is sent to by driving output unit 203 by communication unit 204.
Specifically, central control unit 201 for example can be micro-control unit (Microcontroller Unit, MCU),
Or, can be also simply referred to as master chip.Various types of vehicle bodies are believed by hardware Acquisition Circuit in above-mentioned signal gathering unit 202
Number and the gear signal of gear lever collect master chip, so that master chip is processed.Wherein, vehicle body signal for example can with but not
It is limited to include：Headlamp switch, lock-switch, sensor signal, collision alarm etc..
Output unit 203 is driven, is connected with central control unit 201 by communication unit 204, for receiving central control
The control instruction that unit processed 201 sends, and vehicle body execution unit corresponding to the control instruction is exported, to control the vehicle body to hold
Row part performs the corresponding operation of the control instruction, and the vehicle body execution unit includes the control unit of the gear lever.
Specifically, driving output unit 203 that the various control instructions of master chip are transported into vehicle body by drive circuit
Each execution unit, for example：All kinds of lamps, indicator lamp, rain shaving electrical machine, lock motor and lever gear locking control unit etc..Picture
So, by same master chip using chip process input/output signal, can strengthen Body Control operation electronization and
Comfortableness, saves the use of vehicle harness.
Diagnosis unit 206, is connected by communication unit 204 with central control unit 201, single for obtaining center control
The fault diagnosis instruction of unit 201 and fault message, driving body fault diagnosis of going forward side by side.
Optionally, diagnosis unit 206 includes：The K lines being connected with central control unit 201 and K lines (KLine) diagnostic equipment
Communication unit 2061.K lines communication unit 2061, for being instructed and failure the fault diagnosis of central control unit 201 by K lines
Information is sent to the K radiodiagnosis x instrument, so that the K radiodiagnosis x instrument carries out vehicle body failure according to fault diagnosis instruction and fault message
Diagnosis.
Like this, data exchange can be realized by K radiodiagnosis x instrument and central control unit, vehicle is realized with this and is examined online
Disconnected functional requirement.On the one hand, due to using general K radiodiagnosis x agreements, therefore cycle and the difficulty of exploitation can be reduced, makes change
The KLine diagnostic equipments that the functional diagnosis of fast span position signal acquisition module only needs to share BCM can just achieve the goal, so as to save
The about operation cost of auto dealer.On the other hand, vehicle inline diagnosis function is realized by K lines, can be direct by diagnostic equipment
The reading of the information such as DTC is carried out, convenient exploitation or maintenance personal are judged vehicle-state.
Internal electric source unit 205, external connection battery group, for being central control unit 201, signal gathering unit 102, driving
Output unit 203, communication unit 204 and diagnosis unit 206 provide electric power support.That is, all functional units in system
Share same power-supply system.
Communication unit 204 includes：Controller Area Network BUS (Controller Area Network BUS, CANBUS)
Communication unit 2041 and serial communication bus (Local Interconnect Network, LIN) communication unit 2042.
Wherein, CANBUS communication units 2041, for by controller LAN (Controller Area Network,
CAN) set up between signal gathering unit 202, the non-low speed intelligent object of central control unit 201, vehicle body and gear lever
Data cube computation, the vehicle body signal and the gear of the non-low speed intelligent object for being gathered signal gathering unit 202 by CANBUS
Signal is sent to central control unit 201, and by CANBUS by the control instruction by driving output unit 203, be sent to
The non-low speed intelligent object and gear lever.
In actual applications, can be by CAN network and other modules of vehicle, such as TCU (Transmission Control
Unit, automatic gear-box control unit), the external module such as ECU (Electronic Control Unit, electronic control unit)
The status signal for realize information interchange, receiving, send original BCM, the control life of the variable-speed operating control of gear lever signal acquisition module
Order.Specifically, BCM is connected with Engine ECU, gearbox TCU, instrument board by CAN network, by the vehicle body information of BCM
CAN is sent to gear information, for example：Gear signal, door switch signal, door lock state signal, the output of various illuminating lamps
Signal etc. uploads to CAN in real time.Meanwhile, engine speed, speed, power supply status etc. are gathered by CAN.
Like this, carry out real time information by CAN and vehicle body other electronic modules to exchange, save the same of wire harness
When, can also strengthen the reliability and real-time of body control system.
LIN communication units 2042, for central control unit 201 to be connected with the low speed intelligent object of the vehicle body, with
The low speed intelligent object is passed through low speed LIN carries out information exchange with central control unit 201.
Like this, by single-wire communication mode that this cost performances of LIN are high, in that context it may be convenient to other low speed with vehicle body
Intelligent object is (for example：Rain sensor module, light sensor module etc.) real-time communication environment information, realized more with convenient
More intelligentized user function experience.
Optionally, signal gathering unit 202 can be by general vehicle body signal acquisition module and gear signal acquisition module collection
Into forming, the CAN communication unit that original each module is both needed to use is integrated into one and is shared, it is interior that logic circuit is used
Portion's power sharing, main control MCU is shared, and KLine diagnostic devices and injection casing and part line terminal are shared.
Refer to Fig. 3, the principle schematic of the body control system that Fig. 3 is provided for the present embodiment.As shown in figure 3, vehicle body
Control system (BCM) mainly includes following part：
1st, vehicle body switching signal and gear lever signal gathering unit：Various types of vehicle bodies are believed by hardware Acquisition Circuit
Number and the gear signal of gear lever collect master chip (MCU), wherein vehicle body signal for example：Headlamp switch, lock-switch, sensing
Device signal, collision alarm etc..
2nd, master chip MCU：For processing the gear signal of vehicle body switching signal and gear lever, and form operational order.
3rd, output unit is driven：The order of master chip is transported to by vehicle body execution unit by drive circuit, for example：It is all kinds of
Lamp, indicator lamp, rain shaving electrical machine, lock motor etc..
4th, CANBUS communication units：BCM is connected with Engine ECU, gearbox TCU, instrument board by CAN network, will
The vehicle body information and gear information of BCM are sent to CAN, for example：It is gear signal, door switch signal, door lock state signal, each
Plant illuminating lamp output signal etc. and upload to CAN in real time；Meanwhile, in real time by CAN collection engine speed, speed,
Power supply status etc..
5th, K lines communication unit：Vehicle inline diagnosis function is realized by K lines, DTC can directly be carried out by diagnostic equipment
Read etc. information, convenient exploitation or maintenance personal are judged vehicle-state.
6th, LIN lines communication unit：With other intelligence low-speed module exchange datas.
In the embodiment of the present invention, by way of using the integrated multiple functional units of body control system module,
Internal all of functional unit can share power-supply system, main MCU and CAN communication loop, therefore, compared to prior art, increase
Add the integration of body control system function, greatly saved hardware spending, reduce cost.
Refer to Fig. 4, the Body Control method that Fig. 4 is provided for third embodiment of the invention realizes schematic flow sheet.Such as
Shown in Fig. 4, the method is mainly included the following steps that.
S301, the gear signal that vehicle body signal and gear lever are gathered by signal gathering unit；
Specifically, central control unit is connected by communication unit with signal gathering unit, in the signal gathering unit
It is integrated with vehicle body signal acquisition circuit and gear signal Acquisition Circuit.Signal gathering unit gathers the shelves of vehicle body signal and gear lever
Position signal is simultaneously sent to central control unit.Wherein vehicle body signal for example can be, but not limited to include：Headlamp switch, lock-switch,
Sensor signal, collision alarm etc..
S302, vehicle body signal and gear signal to gathering are processed, and control instruction is generated according to result；
Central control unit is according to preset signal processing mode, such as numeral, simulation, pulse signal treatment, to car
Body signal and gear signal are processed, and then, according to result, generate control instruction, the control instruction can with but do not limit
In including：All kinds of lamp control instructions, rain shaving electrical machine control instruction, lock motor control instruction and lever gear locking control instruction
One or more in.
S303, by control instruction by driving output unit, be sent to the corresponding vehicle body execution unit of control instruction so that
Vehicle body execution unit performs corresponding operation, and vehicle body execution unit includes the control unit of gear lever.
Control instruction is sent to driving output unit by central control unit by communication unit, then by driving output single
Unit exports vehicle body execution unit corresponding to the control instruction, such as：All kinds of lamps, indicator lamp, rain shaving electrical machine, lock motor and gear lever
Locking gear level control unit etc..
In concrete application example, by BCM and lever gear signal acquisition module (that is, signal gathering unit) signal
Collection forms operational order, by judging that car body component, the state of gear level and switching information drive control BCM's and AMT is defeated
Go out.
Optionally, in other embodiments of the invention, the method also includes：Fault diagnosis is instructed and event by K lines
Barrier information is sent to K radiodiagnosis x instrument, so that K radiodiagnosis x instrument carries out vehicle body failure and examine according to fault diagnosis instruction and fault message
It is disconnected.Linked with diagnostic instrments by K lines and mutually transmit data, it is only necessary to be once capable of achieving vehicle body and lever gear signal
The fault detect of acquisition module.
Optionally, in other embodiments of the invention, the method also includes：By low-speed serial communication bus, with car
Low speed intelligent object in body carries out multidate information interaction；By Controller Area Network BUS, the non-low speed intelligence in vehicle body is obtained
The status information of energy module and lever gear.That is, by the LIN communication units in communication unit, realize and rain sensor
The multidate information exchange of other low speed intelligent objects such as module, light sensor module, so as to more intelligentized use can be realized
Family functional experience.Meanwhile, the status information and speed change of the non-low speed intelligent object that signal gathering unit will be gathered by CAN communication
The status information of span position uploads CAN in real time, and central control unit obtains such as rotating speed, speed, gearbox by CAN
The real time information of the non-low speed intelligent object such as gear and lever gear.
In the embodiment of the present invention, by way of using the integrated multiple functional units of body control system module,
Internal all of functional unit can share power-supply system, main MCU and CAN communication loop, therefore, compared to prior art, increase
Add the integration of body control system function, greatly saved hardware spending, reduce cost.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion described in detail in certain embodiment
Point, may refer to the associated description of other embodiments.
It is more than the description to body control system provided by the present invention and method, for the general technology people of this area
Member, according to the thought of the embodiment of the present invention, will change in specific embodiments and applications, to sum up, this theory
Bright book content should not be construed as limiting the invention.
Claims (10)
1. a kind of body control system, it is characterised in that the system includes：
Central control unit, signal gathering unit, driving output unit, communication unit and internal electric source unit；
Wherein, the signal gathering unit, is connected, for collecting vehicle by the communication unit with the central control unit
The gear signal of body signal and gear lever is simultaneously exported to the central control unit；
The central control unit, is connected with the communication unit, for processing the vehicle body signal and the gear signal,
Control instruction is generated according to result, and the control instruction is sent to by described driving by the communication unit and export single
Unit；
The driving output unit, is connected by the communication unit with the central control unit, for receive it is described in
The control instruction that centre control unit sends, and vehicle body execution unit corresponding to the control instruction is exported, to control
State vehicle body execution unit and perform corresponding operation, the vehicle body execution unit includes the control unit of the gear lever；
The internal electric source unit, external connection battery group, for being the central control unit, signal gathering unit, described
Output unit and the communication unit is driven to provide electric power support.
2. body control system as claimed in claim 1, it is characterised in that the signal gathering unit includes：Vehicle body signal
Acquisition Circuit and gear signal Acquisition Circuit, the vehicle body signal acquisition circuit are integrated in one with the gear signal Acquisition Circuit
Rise, and communicated with the central control unit by same communication line and shared same Internal power system.
3. body control system as claimed in claim 1, it is characterised in that the system also includes：
Diagnosis unit, is connected by the communication unit with the central control unit, single for obtaining the center control
The fault diagnosis instruction of unit and fault message, driving body fault diagnosis of going forward side by side.
4. body control system as claimed in claim 2, it is characterised in that the diagnosis unit includes：
The K line communication units being connected with the central control unit and K radiodiagnosis x instrument, for being controlled the center by K lines
The fault diagnosis instruction of unit processed and fault message are sent to the K radiodiagnosis x instrument, so that the K radiodiagnosis x instrument is according to the event
Barrier diagnostic instruction and fault message carry out vehicle body fault diagnosis.
5. the body control system as described in any one of Claims 1-4, it is characterised in that the communication unit includes：Control
General ability area network bus communication unit and serial communication bus communication unit；
Wherein, the Controller Area Network BUS communication unit, for by controller LAN the signal gathering unit,
Data cube computation is set up between the central control unit, the non-low speed intelligent object of vehicle body and gear lever, by controlling general ability
The vehicle body signal of the described non-low speed intelligent object that area network bus gather the signal gathering unit and the gear signal are sent out
The central control unit is given, and the control instruction is driven by output by described by the Controller Area Network BUS
Unit, is sent to the non-low speed intelligent object and gear lever；
The serial communication bus communication unit, for by the low speed intelligent object phase of the central control unit and the vehicle body
Connection, so that the low speed intelligent object carries out information exchange by low-speed serial communication bus with the central control unit.
6. the body control system as described in claim 3 or 4, it is characterised in that the internal electric source unit is additionally operable to be institute
State diagnosis unit and electric power support is provided.
7. a kind of Body Control method, it is characterised in that methods described includes：
The gear signal of vehicle body signal and gear lever is gathered by signal gathering unit；
The vehicle body signal and the gear signal are processed, control instruction is generated according to result；
By the control instruction by driving output unit, the corresponding vehicle body execution unit of the control instruction is sent to, so that
The vehicle body execution unit performs corresponding operation, and the vehicle body execution unit includes the control unit of the gear lever.
8. Body Control method as claimed in claim 7, it is characterised in that the car is received by Controller Area Network BUS
Body information and the gear signal, and by the Controller Area Network BUS, by the control instruction by driving output single
Unit, is sent to the corresponding vehicle body execution unit of the control instruction.
9. Body Control method as claimed in claim 7, it is characterised in that methods described also includes：
Fault diagnosis is instructed by K lines and fault message is sent to K radiodiagnosis x instrument, so that the K radiodiagnosis x instrument is according to
Fault diagnosis is instructed and fault message carries out vehicle body fault diagnosis.
10. Body Control method as claimed in claim 7, it is characterised in that methods described also includes：
By low-speed serial communication bus, carry out multidate information with the low speed intelligent object in vehicle body and interact；
By Controller Area Network BUS, the state letter of the non-low speed intelligent object and lever gear in the vehicle body is obtained
Breath.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710148135.6A CN106774036B (en) | 2017-03-13 | 2017-03-13 | Vehicle body control system and method |
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|---|---|---|---|
| CN201710148135.6A CN106774036B (en) | 2017-03-13 | 2017-03-13 | Vehicle body control system and method |
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| CN106774036B CN106774036B (en) | 2020-04-07 |
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Cited By (1)
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Denomination of invention: Vehicle body control system and method Effective date of registration: 20220325 Granted publication date: 20200407 Pledgee: Bank of Jiangsu Limited by Share Ltd. Shenzhen branch Pledgor: SHENZHEN SAIGE CHESHENG TECHNOLOGY CO.,LTD. Registration number: Y2022440020031 |