CN107360072B - CAN network capable of synchronously sleeping and control method thereof - Google Patents
CAN network capable of synchronously sleeping and control method thereof Download PDFInfo
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- CN107360072B CN107360072B CN201710535264.0A CN201710535264A CN107360072B CN 107360072 B CN107360072 B CN 107360072B CN 201710535264 A CN201710535264 A CN 201710535264A CN 107360072 B CN107360072 B CN 107360072B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40039—Details regarding the setting of the power status of a node according to activity on the bus
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
Abstract
The invention provides a CAN network capable of synchronously sleeping and a control method thereof, which manage the working state of the CAN network through each network node and monitor the working states of other network nodes, CAN synchronously sleep and wake up without a special network message, realizes the synchronous sleep of each network node in the CAN network, ensures that the whole network enters a low power consumption mode, and improves the stability and the reliability of the network.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted buses, in particular to a CAN network capable of synchronously sleeping and a control method thereof.
Background
With the rapid development of automotive electronics, more and more Electronic Control Units (ECUs) including a steering ECU, a speed control ECU, an air conditioning ECU, and the like are integrated in automobiles. More and more ECUs participate in the automatic control of the automobile, so that the complexity of the circuit is increased sharply, and in order to simplify, refine and miniaturize the circuit, a CAN bus is introduced into automobile electronics to solve the problem.
The CAN protocol defines only the physical layer and the data link layer, while the application layer and the network management are defined by the user himself. A plurality of ECUs transmit information on the network, and management is required for well-functioning network management. According to the OSEK/VDX model, network management can be divided into direct network management and indirect network management. The direct network management has a specific network management message; the indirect network management determines the states of the network and the nodes by passively monitoring application messages periodically sent by each node, and if the periodic application messages of a certain node are not received within a certain time, the node is considered to be out of the network and is in an "absent" state. Indirect network management has no notion of node address or identity. For a network, direct network management requires the use of dedicated network management messages (NMPDUs), while indirect network management does not, thereby reducing network load.
In the vehicle-mounted network, in order to synchronize the sleep and wake-up of each ECU, a network management method is used for processing. At present, the commonly used network management methods include the OSEK network management and the AUTOSAR network management, and both of the two network management methods need to have special network messages for management.
The logic of the OSEK network management and the AUTOSAR network management is complex, the requirement on the program design is high, and some design defects of the ECU are difficult to be found in the test. Once the network management has a problem, even if the ignition switch of the automobile is in an OFF state, the whole automobile network cannot sleep, and the electric quantity of the storage battery can be consumed quickly. The vehicle can not be started after the storage battery is dead.
Therefore, the prior art is in need of further improvement.
Disclosure of Invention
The invention provides a CAN network capable of synchronously sleeping and a control method thereof, aiming at overcoming the defects in the prior art, realizing the synchronous sleeping of each network node in the CAN network, ensuring that the whole vehicle network enters a low power consumption mode, and improving the stability and reliability of the network.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
one aspect of the present invention provides a CAN network capable of synchronous dormancy, including at least one network node, where the network node is not divided into a master node and a slave node, and the network node includes: the device comprises a network management module, a transceiver module, a controller module, a timer module and a power management module;
the network management module is used for managing the working state of the network management module and monitoring the working states of other ECUs;
the transceiver module is used for receiving and transmitting messages;
the controller module is used for controlling the power mode of the network node;
the timer module is used for setting the time length of a timer;
and the power supply management module is used for supplying power to the network node.
The invention provides a CAN network control method capable of synchronously sleeping, which comprises the following steps:
s1, after the network is powered on, each network node initializes itself, and sets the working state of itself to be a sleep mode after the initialization is completed;
s2, each network node monitors whether a wake-up event occurs, if yes, the next step is carried out, and if not, the current sleep mode is kept;
s3, the work state of the awakened network node enters a normal mode;
s4, in the normal mode, when monitoring that the current automobile power mode is switched to off, each network node shifts the working state to a sleep preparation mode and starts a first timer;
s5, the network node which has entered the sleep preparation mode monitors whether the first timer finishes timing, if yes, the network node enters the sleep waiting mode and starts the second timer, otherwise, the network node enters the next step;
s6, monitoring whether a local wake-up event occurs, if so, resetting the first timer, and then returning to S3, otherwise, returning to S5;
s7, the network node which has entered into the waiting sleep mode monitors whether the second timer finishes timing, if yes, the network node sends a sleep instruction to the power management module of the network node, and after the power management module receives the sleep instruction, the network node enters the sleep state, otherwise, the network node enters the next step;
s8, monitoring whether a local wake-up event occurs, if yes, resetting the second timer, and then returning to S3, otherwise returning to S7.
Specifically, the wake-up event includes local wake-up or message wake-up, where the local wake-up includes wake-up through automobile power mode conversion; the message awakening comprises awakening in a mode that other network nodes send messages on the network.
Specifically, the durations of the first timers of the network nodes are consistent.
Specifically, the durations of the second timers of the network nodes are consistent.
Specifically, the first timer is 2 seconds.
Specifically, the second timer is 3 seconds.
The invention has the beneficial effects that: the invention manages the working state of the network nodes by the network nodes, monitors the working states of other network nodes, and CAN synchronously sleep and wake up without special network messages, thereby realizing the synchronous sleep of the network nodes in the CAN network, ensuring that the whole vehicle network enters a low power consumption mode, and improving the stability and reliability of the network.
Drawings
FIG. 1 is a schematic diagram of a synchronously dormant CAN network according to the present invention;
FIG. 2 is a schematic diagram of a network node structure of a synchronously dormant CAN network of the present invention;
fig. 3 is a diagram illustrating the operational state transition of a synchronously dormant CAN network according to the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are for reference and illustrative purposes only and are not intended to limit the scope of the invention.
Example 1:
as shown in fig. 1 and 2, the present embodiment provides a CAN network capable of synchronously sleeping, which includes at least one network node, where all nodes (i.e., each ECU) in the CAN network are not divided into a master node and a slave node, and each ECU has a network management module built therein for managing its own operating state and monitoring the operating states of other ECUs.
The working states comprise a sleep mode, a normal mode, a sleep preparation mode and a sleep waiting mode.
The sleep mode is that the power supply mode of the automobile is in an OFF state, and each ECU prohibits sending and receiving messages.
The normal operating mode refers to that the automobile power mode is in an ON (ACC or ON) state, each ECU allows sending and receiving messages, and an application program can also run.
The sleep preparation mode is that the automobile power supply mode is in an OFF state, and each ECU prohibits sending messages but allows receiving messages.
The sleep waiting mode means that the power supply mode of the automobile is in an OFF (OFF) state, each ECU prohibits sending messages, but allows receiving the messages, and can monitor the state of each node of the network.
Each ECU further includes: the device comprises a transceiver module, a controller module, a timer module and a power management module.
The transceiver module is used for receiving and transmitting messages;
the controller module is used for controlling the power mode of the network node;
the timer module is used for setting the time length of a timer;
and the power supply management module is used for supplying power to the network node.
Example 2:
the present embodiment provides a method for controlling a synchronously dormant CAN network, as shown in fig. 3, which is a working state transition diagram of a synchronously dormant CAN network, and the control method is as follows:
step 1, after the network is powered on, each ECU initializes itself, and sets the working state of itself to be a sleep mode after initialization is completed.
Unlike the prior art in which the CAN network has master and slave nodes, in the present embodiment, each ECU monitors the operating states of other ECUs while managing its own operating state, but cannot control the operating states of other ECUs.
When the vehicle power mode is ON (ACC or ON), each ECU initializes itself. When all the ECUs are in the sleep mode, the whole network enters the sleep mode; when any one ECU is in the non-sleep mode, the entire network cannot enter the sleep mode.
And 2, monitoring whether a wake-up event occurs by each ECU, if so, entering the next step, and otherwise, keeping the current sleep mode.
The wake-up event comprises local wake-up or message wake-up, the local wake-up comprises wake-up through automobile power mode conversion, for example, after a network enters a sleep mode, when the automobile power mode is converted into an ACC mode, a vehicle-mounted information system is woken up, when the automobile power mode is converted into an ON mode, an air conditioner controller is woken up, and the like; the message awakening includes awakening by means of sending a message on the network by other ECUs, for example, the air conditioner controller can awaken other ECUs by sending a message on the network after the network is dormant.
And 3, entering the working state of the awakened ECU into a normal mode.
In the normal mode, each node (ECU) of the network can send and receive messages.
And 4, in the normal mode, when each ECU monitors that the current automobile power supply mode is switched to OFF (OFF), the working state is transferred to a sleep preparation mode, and a Tpre timer is started.
In the prepare-to-sleep mode, the network node (ECU) stops sending messages, but may receive messages.
For example, when the ECU of the air conditioner controller monitors that the power mode of the vehicle is the OFF mode, the air conditioner controller enters the sleep preparation mode and stops sending messages, and the Tpre timer is started at the same time.
The duration of the Tpre timer can be set arbitrarily according to actual conditions, but the durations of the Tpre timers of the ECUs need to be consistent. In this embodiment, the Tpre timer is 2 seconds.
The timing of each ECU is synchronized. For example, when the power mode of the vehicle is OFF, three ECUs, ECU1, ECU2 and ECU3, satisfy the sleep condition, stop sending messages, are all in the sleep preparation mode, start the Tpre timer, and have an ECU4 on the network, which still needs to occupy the network for a period of time and still sends messages to the network. The ECU1, the ECU2 and the ECU3 reset the Tpre after receiving the message of the ECU 4; when the ECU4 starts to stop sending messages after moving to the sleep preparation mode and starts the Tpre timer, the Tpre timer will not be reset because the ECU1, the ECU2 and the ECU3 cannot monitor the messages of the ECU4 at this time, that is, the four ECUs of the ECU1, the ECU2, the ECU3 and the ECU4 start the timers at the same time.
And 5, monitoring whether the Tpre timer finishes timing by the ECU which enters the sleep preparation mode, if so, entering the sleep waiting mode, starting the Twbs timer, and otherwise, entering the next step.
And 6, monitoring whether a local wake-up event occurs, if so, resetting a Tpre timer, and then returning to the step 3, otherwise, returning to the step 5.
The duration of the Tpre timer can be set arbitrarily according to actual conditions, but the durations of the Twbs timers of the ECUs need to be consistent. In this embodiment, the Twbs timer is set to 3 seconds.
And 7, monitoring whether the Twbs timer finishes timing by the ECU which enters the sleep waiting mode, if so, sending a sleep instruction to a power management module of the ECU, and after receiving the sleep instruction by the power management module, entering a sleep state by the ECU, otherwise, entering the next step.
And 8, monitoring whether a local wake-up event occurs, if so, resetting the Twbs timer, and then returning to the step 3, otherwise, returning to the step 7.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention.
Claims (9)
1. A synchronously hibernating CAN network comprising at least one network node, wherein said network node is independent of a master node and a slave node, said network node comprising: the device comprises a network management module, a transceiver module, a controller module, a timer module and a power management module;
the network management module is used for managing the working state of the network management module and monitoring the working states of other network nodes; the working state comprises a sleep mode, a normal mode, a sleep preparation mode and a sleep waiting mode;
the sleep mode refers to the state that the power supply mode of the automobile is closed (OFF), and each ECU prohibits sending and receiving messages;
the normal working mode refers to that the automobile power supply mode is in an ON (ACC or ON) state, each ECU allows to send and receive messages, and an application program can also run;
the sleep preparation mode refers to that the automobile power supply mode is in an OFF state, and each ECU prohibits sending messages but allows receiving the messages;
the sleep waiting mode means that the automobile power supply mode is in an OFF (OFF) state, each ECU prohibits sending messages, but allows receiving messages, and can monitor the state of each node of the network;
the transceiver module is used for receiving and transmitting messages;
the controller module is used for controlling the power mode of the network node;
the timer module is used for setting the time length of a timer;
and the power supply management module is used for supplying power to the network node.
2. A CAN network control method capable of synchronously sleeping is characterized by comprising the following steps:
s1, after the network is powered on, each network node initializes itself, and sets the working state of itself to be a sleep mode after the initialization is completed;
s2, each network node monitors whether a wake-up event occurs, if yes, the next step is carried out, and if not, the current sleep mode is kept;
s3, the work state of the awakened network node enters a normal mode;
s4, in the normal mode, when monitoring that the current automobile power mode is switched to off, each network node shifts the working state to a sleep preparation mode and starts a first timer;
s5, the network node which has entered the sleep preparation mode monitors whether the first timer finishes timing, if yes, the network node enters the sleep waiting mode and starts the second timer, otherwise, the network node enters the next step;
s6, monitoring whether a local wake-up event occurs, if so, resetting the first timer, and then returning to S3, otherwise, returning to S5;
s7, the network node which has entered into the waiting sleep mode monitors whether the second timer finishes timing, if yes, the network node sends a sleep instruction to the power management module of the network node, and after the power management module receives the sleep instruction, the network node enters the sleep state, otherwise, the network node enters the next step;
s8, monitoring whether a local wake-up event occurs, if so, resetting the second timer, and then returning to S3, otherwise, returning to S7;
the sleep mode refers to the state that the power supply mode of the automobile is closed (OFF), and each ECU prohibits sending and receiving messages;
the normal working mode refers to that the automobile power supply mode is in an ON (ACC or ON) state, each ECU allows to send and receive messages, and an application program can also run;
the sleep preparation mode refers to that the automobile power supply mode is in an OFF state, and each ECU prohibits sending messages but allows receiving the messages;
the sleep waiting mode means that the power supply mode of the automobile is in an OFF (OFF) state, each ECU prohibits sending messages, but allows receiving the messages, and can monitor the state of each node of the network.
3. The CAN network control method capable of synchronous dormancy according to claim 2, wherein the wakeup event comprises a local wakeup or a message wakeup.
4. The CAN network control method of claim 3, wherein the local wake-up comprises a wake-up through a vehicle power mode transition.
5. The CAN network control method of claim 3, wherein the message wakeup comprises wakeup by other network nodes sending messages over the network.
6. The CAN network control method capable of synchronous sleep according to claim 2, wherein the first timers of the network nodes have the same duration.
7. The CAN network control method capable of synchronous dormancy according to claim 2, wherein the second timers of the network nodes have the same duration.
8. The CAN network control method capable of synchronous sleep according to claim 6, wherein the first timer is 2 seconds.
9. The CAN network control method capable of synchronous sleep according to claim 7, wherein the second timer is 3 seconds.
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| CN108123838B (en) * | 2017-12-21 | 2020-12-01 | 北京经纬恒润科技有限公司 | Node state management method and node state management device |
| CN109547313B (en) * | 2018-12-07 | 2021-12-14 | 北京汽车集团有限公司 | Network state management method and device |
| CN111698107B (en) * | 2019-03-13 | 2022-08-30 | 上海欧菲智能车联科技有限公司 | Vehicle network management method, device and system and computer equipment |
| CN109932972B (en) * | 2019-03-29 | 2020-12-01 | 北京经纬恒润科技有限公司 | Control method and device for whole vehicle electronic controller |
| KR20200141206A (en) * | 2019-06-10 | 2020-12-18 | 현대자동차주식회사 | Apparatus for management network of a vehicle, system having the same and method thereof |
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| CN112291194B (en) * | 2020-09-27 | 2022-12-13 | 上海赫千电子科技有限公司 | State management method and device based on ECU in vehicle-mounted network and intelligent automobile |
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| CN113232609B (en) * | 2021-05-11 | 2023-03-21 | 上汽通用五菱汽车股份有限公司 | Power mode skip method, vehicle, and computer-readable storage medium |
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| CN115499269B (en) * | 2022-09-22 | 2023-05-16 | 重庆长安汽车股份有限公司 | Method, system, equipment and readable medium for realizing multichannel CAN channel OSEK network management |
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