CN107508865A - New-energy automobile multichannel CAN and gps data fusion management method - Google Patents
New-energy automobile multichannel CAN and gps data fusion management method Download PDFInfo
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- CN107508865A CN107508865A CN201710658797.8A CN201710658797A CN107508865A CN 107508865 A CN107508865 A CN 107508865A CN 201710658797 A CN201710658797 A CN 201710658797A CN 107508865 A CN107508865 A CN 107508865A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/56—Provisioning of proxy services
- H04L67/565—Conversion or adaptation of application format or content
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
- H04L69/161—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields
- H04L69/162—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields involving adaptations of sockets based mechanisms
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/22—Parsing or analysis of headers
Abstract
The invention provides a kind of new-energy automobile multichannel CAN and gps data fusion management method, comprise the following steps：S1：The vehicle real time data obtained by multichannel CAN and the vehicle real time position data obtained by vehicle GPS module are subjected to the unification of data format to carry out data fusion；S2：Data after fusion are decomposed into by two paths of data by branch operation, wherein a circuit-switched data is used for real-time display, another circuit-switched data is used to store；S3：Send to hand held equipment terminal and shown after a circuit-switched data for real-time display is parsed, and another circuit-switched data for storage is sent to server and is stored and analyzed use.This method organically blends the information realizations such as the vehicle data collection based on multichannel CAN and GPS, there is provided the data structure of unified collection information, facilitates the storage, analysis and application of data, can reduce data processing difficulty, improve data analysis efficiency.
Description
Technical field
The present invention relates to data acquisition and transmission technique field, more particularly to a kind of new-energy automobile multichannel CAN and
Gps data merges management method.
Background technology
Become increasingly conspicuous with the rapid development of auto industry, the problems such as energy resource consumption, environmental pollution, greatly develop energy-conservation,
The new-energy automobile of environmental protection, it is significant that automobile industry is lifted by Internet technology.The new energy such as pure electric automobile, hybrid power
The relatively conventional internal-combustion engines vehicle of mechanical structure of source automobile is simple in construction, and transmission and running gear are relatively fewer, but electrical structure
More complicated, multiple distributed subsystems form highly integrated electronic system, pass through controller local area network (Controller
Area Network, CAN) it is in communication with each other.CAN is most one of technology of application prospect in nowadays automatic field, tool
The advantage such as have reliability high, real-time and flexibility strong, is widely used in automobile electronic system.Due to new energy vehicle electricity
Son, the complexity of electrical conditions, in order to strengthen traffic safety and lifting vehicle operational efficiency, efficiently obtain new energy vehicle driving
Data turn into it is a kind of there is an urgent need to.
Around new-energy automobile data acquisition and vehicle state monitoring class application, currently there is one kind and be based on CAN
Vehicle monitoring scheme.The main thought of such method is to collect vehicle CAN bus data first, then passes through mobile communication etc.
Mode remote transmission to server, server end carries out the condition monitoring of vehicle, parameter optimization etc. according to the vehicle data obtained
Using.A problem existing for such solution is support and the GPS (Global to vehicle multichannel CAN data
Positioning System, GPS) etc. some problems be present in the fusion of data, the efficiency for causing follow-up data to handle is not good enough.
The content of the invention
It is an object of the invention to provide a kind of new-energy automobile multichannel CAN and gps data to merge management method, with
Solve the support of vehicle multichannel CAN data in existing technology, some problems be present with merging for data such as GPS, draw
Rise follow-up data processing efficiency it is not good enough the problem of.
To achieve the above object, the invention provides a kind of new-energy automobile multichannel CAN and gps data fusion management
Method, comprise the following steps：
S1：The vehicle real time data obtained by multichannel CAN and the vehicle obtained by vehicle GPS module is real-time
Position data carries out the unification of data format to carry out data fusion；
S2：Data after fusion are decomposed into by two paths of data by branch operation, wherein a circuit-switched data is used for real-time display,
Another circuit-switched data is used to store；
S3：Send to hand held equipment terminal and shown after a circuit-switched data for real-time display is parsed, and
Another circuit-switched data for storage is sent to server and is stored and analyzed use.
It is preferred that the vehicle real time data that multichannel CAN obtains in the step S1 specifically includes：Using Socket
CAN programming models carry out the acquisition of the vehicle real time data of each CAN controller in multichannel CAN.
It is preferred that when carrying out data acquisition using Socket CAN programming models, specifically include：
(1) Socket initialization is carried out, creates the web socket of the multichannel CAN；
(2) web socket is bound with corresponding CAN device；
(3) the interface loopback function of the web socket is closed；
(4) data filtering is carried out so that only CAN extension frame data are received；
(5) new thread is created, completes the data receiver of multichannel CAN.
It is preferred that in the step S1, vehicle GPS module obtains vehicle real time position number by way of serial port programming
According to.
It is preferred that in the step S1, when obtaining data, the transmitting-receiving management of socket data is carried out using epoll models,
To support the reception in multichannel data source.
It is preferred that in the step S1, the multichannel CAN obtains vehicle real time data and makes it into CAN data
Queue, vehicle GPS module obtains vehicle real time position data and makes it into gps data queue, then respectively to two queues
In data carry out the unification of data format to carry out data fusion.
It is preferred that carry out data format it is unified when, especially by setting structure body and community's composition data variable, system
The data source format of one vehicle real time data and vehicle real time position data, make its shared memory space identical.
It is preferred that after being decomposed in the step S2, the data for real-time display are added to first queue, will be used
Added in the data of storage to second queue, then step S3 includes carrying out dequeue operation to the data in first queue successively
After parse and send to hand held equipment terminal and shown, and after carrying out dequeue operation to the data in second queue successively
Send to server and be stored as original document so that analysis uses.
It is preferred that when being parsed in the step S3, parsed according to default car enterprise protocol specification or directly adjusted
Data parsing is carried out with SAE J1939 protocol interfaces, the data after parsing retransmit to hand held equipment terminal after being encrypted
Row decryption and display.
It is preferred that when another circuit-switched data for being used to store in the step S3 is sent to server, in the number of data transfer
According to link layer, data frame carries out information transmission in units of protocol Data Unit.
Technical scheme has the advantages that：
(1) information realizations such as the vehicle data collection based on multichannel CAN and GPS are organically blended, present invention side
Method contributes to the data structure of unified collection information, facilitates the storage, analysis and application of data；
(2) consider data flow, by object oriented analysis and be abstracted, construct an efficient complete data transfer
Passage；
(3) apply the present invention in new energy vehicle monitoring and analysis classes application, the difficulty of data processing can be reduced,
Improve the efficiency of data analysis.
Brief description of the drawings
Fig. 1 is the inventive method flow chart；
Fig. 2 is the data flow schematic diagram of the preferred embodiment of the present invention；
Fig. 3 is the data format schematic diagram of the preferred embodiment of the present invention.
Embodiment
Below with reference to the accompanying drawing of the present invention, clear, complete description is carried out to the technical scheme in the embodiment of the present invention
And discussion, it is clear that as described herein is only a part of example of the present invention, is not whole examples, based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained on the premise of creative work is not made
Example, belongs to protection scope of the present invention.
For the ease of the understanding to the embodiment of the present invention, make further by taking specific embodiment as an example below in conjunction with accompanying drawing
Illustrate, and each embodiment does not form the restriction to the embodiment of the present invention.
A kind of new-energy automobile multichannel CAN and gps data the fusion management method that the present embodiment provides, including multichannel
The unified fusion management of CAN data, gps data, construct one and pass through fusion and decomposition, most Zhongdao meeting point from data source
Data transmission channel.With reference to shown in figure 1, this method mainly includes the following steps that：
S1：The vehicle real time data obtained by multichannel CAN and the vehicle obtained by vehicle GPS module is real-time
Position data carries out the unification of data format to carry out data fusion；
S2：Data after fusion are decomposed into by two paths of data by branch operation, wherein a circuit-switched data is used for real-time display,
Another circuit-switched data is used to store；
S3：Send to hand held equipment terminal and shown after a circuit-switched data for real-time display is parsed, and
Another circuit-switched data for storage is sent to server and is stored and analyzed use.
With reference to Fig. 2, the data source that the car-mounted terminal of this method progress data fusion management is gathered mainly includes two major classes：
One kind is the vehicle real time data obtained by multichannel CAN, and another kind is that the vehicle obtained by vehicle GPS module is real-time
Positional information.The core component such as the electric machine controller of vehicle, battery management system in multichannel CAN in the present embodiment is hung
It is connected in CAN1 sub-networks.Digital instrumentation, air-conditioning and other ancillary equipment are articulated in other CAN sub-networks.In CAN
It is completely isolated on each way network physical, the exchange of data is realized by entire car controller.
This method meets Object -Oriented Model method, and the management of data and data flow are clear.In addition, gps data and
Vehicle CAN bus data has unified data structure, and it is convenient in data processing uniformity equally to bring.
And multichannel CAN carry out obtain vehicle process of real time specifically include：Mould is programmed using Socket CAN
Type carries out the acquisition of the vehicle real time data of each CAN controller in multichannel CAN.Because CAN protocol race is implemented in Linux nets
On network layers, the device drives registration of CAN controller is entered into Internet, becomes a network equipment, it is achieved thereby that
The method driven by network Socket interface interchanges CAN device.The model can open multiple CAN sockets simultaneously and enter line number
According to transmitting-receiving.Here it is preferable, grid of reference programming, epoll models can be used to carry out socket data transmit-receive pipe in realization
Reason, to support the reception in multichannel data source.Although considering from realization, traditional multichannel CAN data acquisition uses more
Select programming models, but epoll programming models have the characteristics that high concurrent, high flexibility compared to select models, therefore more
It is suitably applied in here.
Wherein, when carrying out the data acquisition vehicle real time data of multichannel CAN data using Socket CAN programming models, tool
Body process includes：
(1) Socket is initialized.Socket initialization is specially carried out, creates the network socket of the multichannel CAN
Word.
(2) Socket is bound.The web socket is bound with corresponding CAN device, because the process needs
Realize and support multichannel CAN function, therefore noted that needing to monitor all CAN interfaces.
(3) down interface winding function.The interface loopback function of the web socket is closed；If local winding work(
It can open, all transmission data frames all can be by winding to socket corresponding with CAN interface.Send CAN message
Socket is not desired to receive the message of oneself transmission, therefore sends the winding function needs on socket and closed.
(4) data filtering.Carry out data filtering so that only CAN extension frame data are received.The step is by setting filtering rule
Then realize effective data message filtering --- undesirable data are filtered out, are allowed to only receive CAN extension frame data.Have
Targetedly data filtering can effectively reduce overhead.
(5) new thread is created, completes the data receiver of multichannel CAN.Complete multichannel CAN data receivers task and make number
According to entrance " CAN data " queue.The step relates generally to the management of CAN multiplex roles and the reception of data frame and sends operation.
In step S1, vehicle GPS module obtains vehicle real time position data by way of serial port programming.Obtain data
When, the same transmitting-receiving management that socket data are carried out using epoll models, to support the reception in multichannel data source.
In a preferred embodiment, multichannel CAN obtains vehicle real time data and makes it into CAN data queues, vehicle-mounted
GPS module obtains vehicle real time position data and makes it into gps data queue, and then the data in two queues are entered respectively
The unification of row data format is to carry out data fusion.
And it is further, carry out data format it is unified when, especially by setting structure body and community's composition data
The data source format of variable, unified vehicle real time data and vehicle real time position data, makes its shared memory space identical.Specifically
Ground, because the data source of car-mounted terminal collection includes gps data and multichannel CAN data two types.It is right first when therefore merging
Baud rate, data bit, check bit, stop position, terminal work mode etc. are set.Then entered using epoll model docking ports
Row management.The data variable of setting structure body and sharing body composition again, unified two kinds of data source formats so that what is each accounted for deposits
It is identical to store up space.It is consistent in data format, facilitate follow-up data management and extraction work.Data class in the present embodiment
Type is defined as follows：
typedef struct tagDataFrame{
uint8uDataType；//1-CAN,2-GPS
struct timeval sTimeStamp；// timestamp
union{
struct tagGPSFrame{
double dLatitude；
double dLongitude；
}sGPSFrame；//gps data
struct can_frame sCANFrame；//CAN data
}u；
}DATAFRAME,*PDATAFRAME；
Gathered data form schematic diagram is given with reference to figure 3, is CAN data frames when data type uDataType is 1
sCANFrame；When uDataType is 2, the information of collection is gps data frame sGPSFrame, and data acquisition time is derived from GPS moulds
The timestamp information of block.
With reference to figure 2, perform, data pathing operation, due to the data containing GPS and CAN of the packet after fusion, lead to after step S1
Cross branch operation and data are further broken into two paths of data, show all the way after parsing on mobile phone or screen of hand-held device
Show, closely monitor travel condition of vehicle；Storing data as original document all the way is used for subsequent data analysis application in addition.Two
Circuit-switched data is built based on queue, and enqueue and dequeue form basic operation.Specifically, decomposed by step S2, after decomposition,
Data for real-time display are added to first queue, the data for storage are added to second queue, then in step S3
Including being shown successively to parsing and sending to hand held equipment terminal after the data progress dequeue operation in first queue, with
And carry out being stored as original document for dividing to sending to server after the data progress dequeue operation in second queue successively
Analysis uses.
In another preferred embodiment, when being parsed in step S3, protocol specification can be looked forward to according to default car and carried out
Parse or directly invoke SAE J1939 protocol interfaces and carry out data parsing, the data after parsing are retransmited after being encrypted to hand
Holding equipment terminal is decrypted and shown.Data after parsing can also be formatted processing as needed to facilitate and mobile phone terminal
Interact.Data after parsing are to represent the design parameter of vehicle modules.And consider for Information Security and reliability,
Therefore encryption, decryption and verification mode are employed in data transmission procedure and carries out safeguard protection.
And another circuit-switched data for being used to store in step S3 is when sending to server, in the data link layer of data transfer,
Data frame carries out information transmission in units of protocol Data Unit.The file being locally stored is passed through into 4G communications to service
Device, in order to distinguish the different car datas being connected on server, file names (such as Su001_ in a manner of " license number+time "
2016-3-15-9-2-29.dat), the time is accurate to the second.Consider in view of data transfer delay and file fault-tolerant processing, will be solid
The data of framing number (such as 300 frames) save as an individual files.File data includes file header and file body two parts, file
Head overview document content.By file read-write operations, data flow is written in file, so as to realize the storage of data file,
Data file is provided for subsequent data analysis and processing to prepare.
The gps data and CAN data frames gathered in the present embodiment method has different data structures.Wherein, GPS module
Data processing be substantially Design on serial communication program, data output follows fixed form, searched by string search
The data of needs are found out in the data that slave module is sent, conventional GPS module uses NMEA-0183 agreements mostly.Applied to vapour
The CAN protocol in car field is SAE J1939 agreements.The form of data link layer is defined wherein J1939-21, SAE
J1939-71 gives application layer definition.And in data link layer, data frame is with protocol Data Unit (Protocol Data
Unit, PDU) it is that unit carries out information transmission, a PDU is equivalent to the extension frame in CAN protocol.
This method has unified the difference of data format in two kinds of agreements by the use of structure and sharing body.Server
End can be uniformly processed after receiving data, and such as write into Databasce operates, and reduce the difficulty of data processing.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those skilled in the art the invention discloses technical scope in, to the present invention deformation or replacement done, should all cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by described scope of the claims.
Claims (10)
1. a kind of new-energy automobile multichannel CAN and gps data fusion management method, it is characterised in that comprise the following steps：
S1：By the vehicle real time data obtained by multichannel CAN and the vehicle real time position obtained by vehicle GPS module
Data carry out the unification of data format to carry out data fusion；
S2：Data after fusion are decomposed into by two paths of data by branch operation, wherein a circuit-switched data is used for real-time display, it is another
Circuit-switched data is used to store；
S3：Send to hand held equipment terminal and shown after a circuit-switched data for real-time display is parsed, and will use
Sent in another circuit-switched data of storage to server and stored and analyzed use.
2. the method as described in claim 1, it is characterised in that the vehicle that multichannel CAN obtains in the step S1 is real-time
Data specifically include：The vehicle real time data of each CAN controller in multichannel CAN is carried out using Socket CAN programming models
Acquisition.
3. method as claimed in claim 2, it is characterised in that when carrying out data acquisition using Socket CAN programming models,
Specifically include：
(1) Socket initialization is carried out, creates the web socket of the multichannel CAN；
(2) web socket is bound with corresponding CAN device；
(3) the interface loopback function of the web socket is closed；
(4) data filtering is carried out so that only CAN extension frame data are received；
(5) new thread is created, completes the data receiver of multichannel CAN.
4. the method as described in claim 1, it is characterised in that in the step S1, vehicle GPS module passes through serial port programming
Mode obtains vehicle real time position data.
5. the method as described in claim 1, it is characterised in that in the step S1, when obtaining data, using epoll models
The transmitting-receiving management of socket data is carried out, to support the reception in multichannel data source.
6. the method as described in claim 1, it is characterised in that in the step S1, it is real that the multichannel CAN obtains vehicle
When data and make it into CAN data queues, vehicle GPS module obtains vehicle real time position data and simultaneously makes it into gps data
Queue, the unification of data format then is carried out to carry out data fusion to the data in two queues respectively.
7. the method as described in claim 1 or 6, it is characterised in that carry out data format it is unified when, especially by set tie
The data source format of structure body and community's composition data variable, unified vehicle real time data and vehicle real time position data, makes it
Shared memory space is identical.
8. the method as described in claim 1, it is characterised in that after being decomposed in the step S2, real-time display will be used for
Data add to first queue, the data for storage are added to second queue, then step S3 is included successively to first
Parse and send to hand held equipment terminal after data progress dequeue operation in queue and shown, and successively to the second team
Transmission to server be stored as original document so that analysis uses after data in row carry out dequeue operation.
9. the method as described in claim 1, it is characterised in that when being parsed in the step S3, looked forward to according to default car
Protocol specification is parsed or directly invoked SAE J1939 protocol interfaces and carries out data parsing, and the data after parsing are encrypted
After retransmit to hand held equipment terminal and be decrypted and show.
10. the method as described in claim 1, it is characterised in that another circuit-switched data for being used to store in the step S3 is sent
During to server, in the data link layer of data transfer, data frame carries out information transmission in units of protocol Data Unit.
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