CN106774231B - CAN bus controls equipment - Google Patents
CAN bus controls equipment Download PDFInfo
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- CN106774231B CN106774231B CN201510811387.3A CN201510811387A CN106774231B CN 106774231 B CN106774231 B CN 106774231B CN 201510811387 A CN201510811387 A CN 201510811387A CN 106774231 B CN106774231 B CN 106774231B
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
-
- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Small-Scale Networks (AREA)
Abstract
A kind of CAN bus control equipment, it is coupled with CAN bus and external equipment, it include: controller, at least five switching devices, match circuit and CAN interface circuit, in which: CAN interface circuit, suitable for reading the signal of communication of the external equipment input in the CAN bus；The controller, it is coupled with the CAN interface circuit and at least five switching device, suitable for when detecting the signal of communication exception, control being opened or closed at least five switching device, it is disconnected with controlling the CAN bus with the external equipment, and establishes connection with the external equipment；The match circuit is suitable for matching with the CAN bus.Using the bus control equipment, it is possible to prevente effectively from the security risk of external equipment bring vehicle communication.
Description
Technical field
The present invention relates to vehicular fields more particularly to a kind of CAN bus to control equipment.
Background technique
Controller local area network (Controller Area Network, CAN) bus is most widely used existing in the world
One of field bus, have the advantages that in terms of data communication it is reliable, real-time and flexible, in the vehicle of most of vehicle factors
On be used widely.
As the external equipment being connected on vehicle CAN bus is more and more, vehicle communication is faced with many security risks.
For example, be located at instrument below vehicle-mounted second generation vehicle self-diagnosable system (the second On-Board Diagnostics,
OBDII diagnosis interface), be connected to OBDII diagnosis interface external equipment can receive WIFI 3G signal to vehicle into
The even malicious attack of row remote diagnosis, remote de-locking.
In addition, OBDII diagnosis interface be one can plug interface, the connector of external equipment may and be unsatisfactory for automobile-used
Electronic device connector standard.In the long-term use, it is most likely that vehicle communication is interfered because of Joint failure,
It may cause vehicle control device dysfunction when serious, such as braking is invalid, cruise exception exits.
To sum up, for existing OBDII diagnosis interface when connecting external equipment, there are some potential safety problemss for vehicle communication.
Summary of the invention
The embodiment of the present invention solves the problems, such as it is to avoid external equipment band in OBDII diagnosis interface connection external equipment
The security risk of the vehicle communication come.
To solve the above problems, the embodiment of the present invention provides a kind of CAN bus control equipment, with CAN bus and outside
Connect equipment coupling, comprising: controller, at least five switching devices, match circuit and CAN interface circuit, in which:
The CAN interface circuit, suitable for reading the communication letter of the external equipment input in the CAN bus
Number；
The controller is coupled with the CAN interface circuit and at least five switching device, is suitable for when inspection
When measuring the signal of communication exception, being opened or closed at least five switching device is controlled, to control the CAN bus
It is disconnected with the external equipment, and establishes connection with the external equipment；
The match circuit is suitable for matching with the CAN bus.
Optionally, the controller is further adapted for after establishing connection with the external equipment, when detecting communication letter
When number normal, control being opened or closed at least five switching device, with control the CAN bus again with it is described external
Equipment establishes connection, and disconnects with the external equipment.
Optionally, the switching device includes: first switch device, second switch device, third switching device, the 4th opens
Close device and the 5th switching device, in which:
The first end of the first switch device, the first signal wire of first end and the CAN bus couples, second end with
The first end of the third switching device couples；
The first end of the second switch device, the second signal line of first end and the CAN bus couples, second end with
The first end of 4th switching device couples；
First signal output end of the third switching device, second end and the external equipment couples；
The second signal output end of 4th switching device, second end and the external equipment couples；
5th switching device, the second end of first end and the first switch device, the third switching device
The first end of first end coupling, second end and the match circuit couples；
The second end of the match circuit, second end and the second switch, the first end of the 4th switch couple；
The CAN interface circuit, the of the second end of first end and the first switch device, the third switching device
The second end of one end coupling, second end and the second switch, the first end of the 4th switch couple；
First signal output end and first signal wire couple, the second signal output end and second letter
The coupling of number line.
Optionally, the match circuit is build-out resistor.
Optionally, the resistance value of the build-out resistor is 60 ohm.
Optionally, the switching device is relay.
Optionally, the signal of communication comprises at least one of the following extremely: mistake frame rate is greater than preset value, described external
The instruction of equipment input is to read unauthorized data instruction and bus-off.
Optionally, the controller is also used to: being handed between the external equipment and the CAN bus without information when detecting
When mutual, the connection of the energization pins of vehicle self-diagnosable system interface and external equipment is disconnected.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantage that
When CAN bus control equipment detects the signal of communication exception in CAN bus, disconnects CAN bus and set with external
Connection between standby, so as to avoid the security risk of external equipment bring vehicle communication.
Further, when detecting that the signal of communication in CAN bus is abnormal, the company between CAN bus and external equipment is disconnected
After connecing, connection is established with external equipment, receives the signal of communication and real-time detection of external equipment input.Letter is communicated when detecting
When number normal, control CAN bus is re-established with external equipment to be connect, the communication of reply CAN bus and external equipment.
In addition, disconnecting vehicle self-diagnosable system interface and the external world when between peripheral apparatus and CAN bus without information exchange
The connection of the energization pins of equipment can save power consumption.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one of embodiment of the present invention CAN bus control equipment；
Fig. 2 is one of embodiment of the present invention CAN bus Application of control device schematic diagram of a scenario；
Fig. 3 is the circuit structure diagram of one of embodiment of the present invention CAN bus control equipment；
Fig. 4 is the work flow diagram of one of embodiment of the present invention CAN bus control equipment.
Specific embodiment
As previously mentioned, existing OBDII diagnosis interface is when connecting external equipment, there are certain safety is hidden for vehicle communication
Suffer from.
In embodiments of the present invention, when CAN bus control equipment detects the signal of communication exception in CAN bus, break
The connection between CAN bus and external equipment is opened, so as to avoid the security risk of external equipment bring vehicle communication.
It is understandable to enable the above objects, features, and advantages of the embodiment of the present invention to become apparent, it is right with reference to the accompanying drawing
Specific embodiments of the present invention are described in detail.
Referring to Fig.1, the embodiment of the invention provides a kind of CAN bus to control equipment 10, comprising: controller 101, derailing switch
Part 102, match circuit 103 and CAN interface circuit 104.
CAN interface circuit 104, the CAN bus network-coupled with vehicle, suitable for reading the communication letter in CAN bus
Number, signal of communication can refer to external equipment input, and CAN bus refers to interior CAN bus.
Controller 101 can be coupled with CAN interface circuit 104, be suitable for obtaining by CAN interface circuit 104
Signal of communication in CAN bus, and judge whether the signal of communication got exception occurs.Meanwhile controller 101 can also be with
Switching device 102 couples, and switching device 102 can be to be multiple, suitable for controlling multiple when detect that signal of communication deposits when abnormal
Part in switching device 102 disconnects, and another part closure to disconnect the connection of CAN bus and external equipment, and controls CAN
Bus control equipment 10 and external equipment establish connection.
It in embodiments of the present invention, can when leading to occur bus-off (bus-off) because of factors such as external equipment short circuits
To determine signal of communication exception.When the wrong frame rate in signal of communication is larger, greater than the wrong frame rate for capableing of normal communication
When, it also can be determined that signal of communication exception, for example, external equipment is interfered, lead to the situation that noise is larger in signal of communication.
Furthermore, it is generally the case that external equipment intelligently reads disclosed data, in the case where without permission, forbids pair
Unauthorized data is read.Therefore, when the signal of communication for detecting external equipment input includes reading unauthorized data
Instruction when, also can determine that signal of communication exception.
When the instruction that there are bus-off, mistake frame rates to be greater than preset value, external equipment inputs is to read unauthorized number
When according to any situation in instruction, it is possible to determine that signal of communication occurs abnormal: bus-off (bus-off), mistake frame rate
It is to read unauthorized data instruction greater than the instruction that preset value, external equipment input.
When detecting the presence of signal of communication exception, equipment 10 can be controlled by CAN bus and set CAN bus with external
Connection between standby disconnects, and CAN bus control equipment 10 and external equipment are established connection.
After CAN bus control equipment 10 and external equipment establish connection, CAN bus control equipment 10 receives external set
The signal of communication of standby input, and the signal of communication received is measured in real time.When detecting signal of communication, there is no abnormal
When phenomenon, then CAN bus and external equipment connection be can be established into again, and CAN bus control equipment and external equipment disconnected
Connection.
Referring to Fig. 2, the application scenarios schematic diagram of the CAN bus control equipment 10 provided in the embodiment of the present invention is given.
CAN bus control equipment 10 is built in OBDII diagnosis interface 21, and CAN bus controls one end and the vehicle of equipment 10
Internal controller 22 couples, and the other end and external equipment 23 couple.
External equipment 23 can be OBDII external equipment, i.e., diagnose interface 21 by OBDII and CAN bus couples, pass through
CAN bus control equipment 10 control external equipment 23 is connected or disconnected with CAN bus.
When detecting signal of communication exception, CAN bus is disconnected with external equipment 23, thus by interior controller 22
It is disconnected with external equipment 23.CAN bus control equipment 10 and external equipment 23 establish connection, defeated to receive external equipment 23
The signal of communication entered.
When detecting that signal of communication is normal, CAN bus and external equipment 23 establish connection, thus by interior controller 22
Connection is established with external equipment 23.CAN bus control equipment 10 is disconnected with external equipment 23, no longer reception external equipment 23
The signal of communication of input.
In embodiments of the present invention, the number of switching device 102 is at least 5, can according to actual application demand come
The number of configuration switch device 102.In an embodiment of the present invention, the number of switching device 102 is 5.
In embodiments of the present invention, switching device 102 can be relay, can also can be realized switching function for other
Device.
Match circuit 103, it is in parallel with CAN interface circuit 104, it is suitable for matching with CAN bus.
In embodiments of the present invention, match circuit 103 can be build-out resistor, and the resistance value of build-out resistor can be 60 Europe
Nurse.
In embodiments of the present invention, CAN bus control equipment 10 can be set in the inside of OBDII diagnosis interface, can also
The outside of OBDII diagnosis interface is arranged in, for example, setting between external equipment and OBDII diagnosis interface, is controlled with realizing
The communication of external equipment and CAN bus.
To save cost, plug number is reduced, in an embodiment of the present invention, CAN bus control equipment 10 is arranged
In the inside of OBDII diagnosis interface.
When CAN bus control equipment 10 detect the signal of communication exception in CAN bus when, disconnect CAN bus with it is external
Connection between equipment, so as to avoid the security risk of external equipment bring vehicle communication.
Referring to Fig. 3, the circuit structure diagram of one of embodiment of the present invention CAN bus control equipment 10 is given.
In an embodiment of the present invention, the number of switching device 102 is 5, successively are as follows: first switch device 1021, the
Two switching devices 1022, third switching device 1023, the 4th switching device 1024 and the 5th switching device 1025, in which:
The first end of first signal wire of the first end and CAN bus of first switch device 1021 couples, second end and the
The first end of three switching devices 1023 couples.First signal wire of CAN bus is CAN_H, the first end and vehicle of the first signal wire
The controller 101 of inside couples.
The first end of the second signal line of the first end and CAN bus of second switch device 1022 couples, second end and the
The first end of four switching devices 1024 couples.The second signal line of CAN bus is CAN_L, the first end and vehicle of second signal line
The controller 101 of inside couples.
The second end of third switching device 1023 and the first signal output end of external equipment couple, and the first of external equipment
The coupling of the second end of signal output end and the first signal wire of CAN bus.
The second end of 4th switching device 1024 and the second signal output end of external equipment couple, and the second of external equipment
The coupling of the second end of signal output end and the second signal line of CAN bus.
The first end of 5th switching device 1025 and the second end of first switch device 1021 and third switching device
The first end of 1023 first end coupling, second end and build-out resistor couples, the second end and second switch device of build-out resistor
1022 second end and the coupling of the first end of the 4th switching device 1024.
That is, first switch device 1021, third switching device 1023 are connected on the first signal wire of CAN bus
On；Second switch device 1022, the 4th switching device 1024 are connected on the second signal line of CAN bus；5th switching device
1025 connect with build-out resistor, and composed series circuit and first switch device 1021, third switching device 1023 form
Series circuit is in parallel, in parallel with the series circuit that second switch device 1022, the 4th switching device 1024 form.
Controller 101 and CAN interface circuit 104 couple, CAN interface circuit 104 and the 5th switching device
1025 and build-out resistor composition series circuit it is in parallel.
When controller 101 detects that the signal of communication in the CAN bus got by CAN interface circuit 104 is different
Chang Shi, then can control first switch device 1021 and third switching device 1023 disconnects, thus by CAN bus and external equipment
It disconnects；Second switch device 1022, the 4th switching device 1024 and the 5th switching device 1025 closure are controlled, so that
CAN bus control equipment 10 and external equipment establish connection, so as to obtain the signal of communication of external equipment input.
When the signal of communication that CAN bus control equipment detects that external equipment inputs is normal, then it can control first and open
Device 1021, second switch device 1022, third switching device 1023, the 4th switching device 1024 closure are closed, so that CAN is total
Line is re-established with external equipment and is connect；The disconnection of the 5th switching device 1025 is controlled, to disconnect CAN bus control equipment 10 and outer
Connect the connection of equipment.
In an embodiment of the present invention, 5 switching devices are relay.
The workflow of the CAN bus control equipment 10 provided in the above embodiment of the present invention is carried out specifically below
It is bright.
Referring to Fig. 4, the work flow diagram of one of embodiment of the present invention CAN bus control equipment 10 is given, below
It is illustrated in conjunction with Fig. 3.
External equipment is linked into CAN bus when detecting external equipment access by step S401.
When detecting external equipment access, by first switch device 1021, second switch device 1022, third derailing switch
Part 1023 and the 4th switching device 1024 closure, the 5th switching device 1025 disconnect, at this point, to be linked into CAN total for external equipment
Line.
Step S402 obtains the signal of communication in CAN bus.
Step S403, judges whether there is information exchange.
In embodiments of the present invention, when the signal of communication in the CAN bus got be lower electric signal when or CAN bus
When upper no signal, then determine that information exchange is not present, at this point it is possible to end operation process；It is when there are information exchange, i.e., external
When equipment and CAN bus are carrying out service interaction, then step S404 can be executed.
In an embodiment of the present invention, when information exchange is not present between CAN bus and external equipment, vehicle is disconnected certainly
The connection of the energization pins of diagnostic system interface and external equipment, so as to reduce power consumption.
In practical applications, battery can diagnose interface by OBDII as external equipment power supply.In conjunction with Fig. 3, derailing switch
The end a of first end and OBDII the diagnosis interface of part 1026 couples, and the energization pins b of second end and external equipment is coupled.Work as switch
When device 1026 is closed, battery diagnoses interface by OBDII as external equipment power supply.When detecting that CAN bus sets with external
When information exchange being not present between standby, switching device 1026 is disconnected, thus by the power supply of OBDII diagnosis interface and external device
Pin disconnects, and achievees the purpose that reduce power consumption.
Step S404 judges whether signal of communication is abnormal.
In embodiments of the present invention, signal of communication includes the following three types situation extremely: bus-off (bus-off), mistake
The instruction that frame rate is greater than preset value, external equipment inputs is to read unauthorized data instruction.When there are any of the above-described kind of situations
When, that is, it can determine that signal of communication exception；Conversely, can determine that signal of communication is normal when any of the above-described kind of situation is not present.
When judging signal of communication exception, step S405 is executed；Otherwise, it is determined that signal of communication is normal, step is re-executed
Rapid S403.
Step S405 disconnects the connection of CAN bus and external equipment, and CAN bus is controlled equipment 10 and external equipment
Establish connection.
In an embodiment of the present invention, first switch device 1021 and third switching device 1023 are disconnected, thus disconnected
Open the connection of CAN bus and external equipment.Second switch device 1022 and the 4th switching device 1024 remain closed, and by
Five switching devices 1025 closure, so that CAN bus control equipment 10 and external equipment establish connection, so that CAN bus
Control the signal of communication that equipment 10 receives external equipment input.
After CAN bus control equipment 10 receives the signal of communication of external equipment input, step S406 is executed.
Step S406 judges signal of communication with the presence or absence of abnormal.
In practical applications, in step s 404, when determining that signal of communication deposits when abnormal, cause signal of communication abnormal
Reason may not be caused by external equipment, but caused by the factors such as interior certain device faults, therefore, it can pass through
CAN bus controls the signal of communication that equipment 10 obtains external equipment input, to judge external equipment with the presence or absence of abnormal.
When determining that signal of communication is still abnormal, step S407 is executed；When determining that signal of communication is normal, step is executed
S408。
Step S407 waits abnormal disappearance.
In embodiments of the present invention, signal of communication be may be and can be waited as caused by the factors such as interference extremely
Abnormal disappearance.After abnormal disappearance, step S408 is executed.
In practical applications, there is also abnormal the case where always existing, at this point it is possible to warning message is sent to driver,
With remind driver to be currently accessed external equipment to the traffic safety of vehicle there are some potential safety problems, need to set external
It is standby to extract.Alarm lamp is installed in equipment 10 for example, can control in CAN bus, reminds driver to work as by alarm lamp flashing
There are security risks for preceding external equipment.
Step S408, control CAN bus is re-established with external equipment to be connect.
In an embodiment of the present invention, first switch device 1021, third switching device 1023 are closed again, by the 5th
Switching device 1025 disconnects, and keeps second switch device 1022, the 4th switching device 1024 closure, thus by CAN bus and outside
It connects equipment and re-establishes connection.
After the completion of step S408 is executed, it can re-execute the steps S402 again, thus realize cycle detection, so as to
Whether discovery external equipment has an impact CAN bus communication in time.Control CAN bus and external equipment re-establish connection
Time interval can be set to 100ms, and the number of repetition of reconnect can be set to 4 times, to realize the bus-off of vehicle factor
Or fail-over policy.
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (6)
1. a kind of CAN bus controls equipment, which is characterized in that coupled with CAN bus and external equipment, comprising: controller, extremely
Few five switching devices, match circuit and CAN interface circuit, in which: the CAN interface circuit is suitable for reading
The signal of communication of external equipment input in the CAN bus；
The controller is coupled with the CAN interface circuit and at least five switching device, is detected suitable for working as
When the signal of communication exception, being opened or closed at least five switching device is controlled, to control the CAN bus and institute
It states external equipment to disconnect, and establishes connection with the external equipment, in order to described in CAN bus control equipment reception
The signal of communication of external equipment input, and the signal of communication received is measured in real time；
The match circuit is suitable for matching with the CAN bus；
The controller is further adapted for after establishing connection with the external equipment, when detecting that the signal of communication is normal, control
Being opened or closed at least five switching device is made, is connected with controlling the CAN bus and being established again with the external equipment
It connects, and is disconnected with the external equipment；
The switching device include: first switch device, second switch device, third switching device, the 4th switching device and
5th switching device, in which:
The first end of the first switch device, the first signal wire of first end and the CAN bus couples, second end with it is described
The first end of third switching device couples；
The first end of the second switch device, the second signal line of first end and the CAN bus couples, second end with it is described
The first end of 4th switching device couples；
First signal output end of the third switching device, second end and the external equipment couples；
The second signal output end of 4th switching device, second end and the external equipment couples；
5th switching device, the first of the second end of first end and the first switch device, the third switching device
The first end of end coupling, second end and the match circuit couples；
The second end of the match circuit, second end and the second switch, the first end of the 4th switch couple；
The CAN interface circuit, second end, the first end of the third switching device of first end and the first switch device
The second end of coupling, second end and the second switch, the first end of the 4th switch couple；
First signal output end and first signal wire couple, the second signal output end and the second signal line
Coupling.
2. CAN bus as described in claim 1 controls equipment, which is characterized in that the match circuit is build-out resistor.
3. CAN bus as claimed in claim 2 controls equipment, which is characterized in that the resistance value of the build-out resistor is 60 ohm.
4. CAN bus as described in claim 1 controls equipment, which is characterized in that the switching device is relay.
5. CAN bus as described in claim 1 controls equipment, which is characterized in that the signal of communication include extremely with down toward
A kind of less: mistake frame rate is greater than preset value, the instruction of external equipment input instructs for reading unauthorized data and total
Line is closed.
6. CAN bus as claimed in claim 5 controls equipment, which is characterized in that the controller is also used to: when detecting
When stating between external equipment and the CAN bus without information exchange, the confession of vehicle self-diagnosable system interface and external equipment is disconnected
The connection of electric pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510811387.3A CN106774231B (en) | 2015-11-20 | 2015-11-20 | CAN bus controls equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510811387.3A CN106774231B (en) | 2015-11-20 | 2015-11-20 | CAN bus controls equipment |
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| Publication Number | Publication Date |
|---|---|
| CN106774231A CN106774231A (en) | 2017-05-31 |
| CN106774231B true CN106774231B (en) | 2019-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510811387.3A Active CN106774231B (en) | 2015-11-20 | 2015-11-20 | CAN bus controls equipment |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110320895A (en) * | 2019-08-01 | 2019-10-11 | 北京百度网讯科技有限公司 | A kind of fault detection method and device, vehicle |
| CN114281744A (en) * | 2021-12-23 | 2022-04-05 | 北京天融信网络安全技术有限公司 | CAN bus relay circuit, control method, device and electronic equipment |
| CN115834288B (en) * | 2022-12-07 | 2024-05-03 | 湖南中联重科履带起重机有限公司 | Control method, control device, storage medium and processor for bus network |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201307060Y (en) * | 2008-10-29 | 2009-09-09 | 上海通用汽车有限公司 | OBD communication diagnostic test station |
| CN102882498A (en) * | 2011-07-13 | 2013-01-16 | 三星电机株式会社 | Resistor-sharing switching circuit |
| CN203911981U (en) * | 2014-05-06 | 2014-10-29 | 北京汽车股份有限公司 | Peripheral circuit for gateway equipment of vehicle controller area network, and vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10369942B2 (en) * | 2014-01-06 | 2019-08-06 | Argus Cyber Security Ltd. | Hosted watchman |
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2015
- 2015-11-20 CN CN201510811387.3A patent/CN106774231B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201307060Y (en) * | 2008-10-29 | 2009-09-09 | 上海通用汽车有限公司 | OBD communication diagnostic test station |
| CN102882498A (en) * | 2011-07-13 | 2013-01-16 | 三星电机株式会社 | Resistor-sharing switching circuit |
| CN203911981U (en) * | 2014-05-06 | 2014-10-29 | 北京汽车股份有限公司 | Peripheral circuit for gateway equipment of vehicle controller area network, and vehicle |
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| CN106774231A (en) | 2017-05-31 |
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