CN108322357A - A kind of heartbeat detecting method of vehicle CAN network communication node - Google Patents
A kind of heartbeat detecting method of vehicle CAN network communication node Download PDFInfo
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- CN108322357A CN108322357A CN201711335493.4A CN201711335493A CN108322357A CN 108322357 A CN108322357 A CN 108322357A CN 201711335493 A CN201711335493 A CN 201711335493A CN 108322357 A CN108322357 A CN 108322357A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
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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
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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Abstract
The present invention relates to a kind of heartbeat detecting method of vehicle CAN network communication node, the method includes：Obtain the controlling cycle of entire car controller and the communication cycle of each node in vehicle CAN network；The heartbeat message trigger interval of each node in vehicle CAN network is determined according to the controlling cycle and the communication cycle；Classified to vehicle CAN nodes according to the heartbeat message trigger interval of each node in the vehicle CAN network；In breaking in one cycle, heartbeat detection is carried out using cycle interruption function pair one kind node.Technical solution provided by the invention, on the one hand can judge by accident caused by shielded segment frame losing, on the other hand can reflect the current heart beat status of node authentic and validly, and authentic and valid fault diagnosis is provided for complete vehicle fault processing.
Description
Technical field
The invention belongs to electric drive tracked vehicle control technology fields, and in particular to a kind of vehicle CAN network communication node
Heartbeat detecting method.
Background technology
Electromechanical combined driven pedrail vehicle is a kind of advanced vehicle, has up to 20 CAN nodes in In-vehicle networking, often
One node sends corresponding heartbeat counting information, and the traffic rate of different nodes and inconsistent, such vehicle to bus
Fault diagnosis software is more complicated to the detection of heartbeat message in controller, cannot correctly sentence to whether node is made online
It is disconnected.When node goes offline, correctly warn and troubleshooting if entire car controller cannot be made, it is possible to produce it is dangerous, it threatens
Full Vehicle System and the safety of driver.Current CAN heartbeat inspectings lack one kind by the way of response in In-vehicle networking
Pervasive, the succinct mode that whole nodes are monitored.
Invention content
The present invention provides a kind of heartbeat detecting method of vehicle CAN network communication node, and the purpose is to detect in CAN network
Whether each nodes heart beat is normal, and true and reliable nodes heart beat information is provided for fault detection module.
The purpose of the present invention is what is realized using following technical proposals：
A kind of heartbeat detecting method of vehicle CAN network communication node, it is improved in that the method includes：
Obtain the controlling cycle of entire car controller and the communication cycle of each node in vehicle CAN network；
Between the heartbeat message triggering for determining each node in vehicle CAN network according to the controlling cycle and the communication cycle
Every；
Vehicle CAN nodes are carried out according to the heartbeat message trigger interval of each node in the vehicle CAN network
Classification；
In breaking in one cycle, heartbeat detection is carried out using cycle interruption function pair one kind node.
Preferably, described that touching for each node in vehicle CAN network is determined according to the controlling cycle and the communication cycle
Hair interval, including：
The heartbeat message trigger interval n of i-th of node is determined as the following formulai：
ni=Ti/T
Wherein, TiIt is the communication cycle of i-th of node in vehicle CAN network, T is entire car controller in vehicle CAN network
Controlling cycle.
Preferably, the heartbeat message trigger interval according to each node in the vehicle CAN network is to vehicle CAN network
Interior joint is classified, including：
The identical node of vehicle CAN network center hop-information trigger interval is classified as one kind.
Preferably, described disconnected interior in one cycle, utilize cycle interruption function pair one kind node to carry out heartbeat detection, packet
It includes：
Determine the rewards and punishments factor of the pulse rate of i-th of node in s class nodes；
According to the rewards and punishments factor of the pulse rate of i-th of node in the s class nodes, determine i-th in the s class nodes
The history of a node adds up rewards and punishments value；
Rewards and punishments value, which is added up, according to the history of i-th of node in the s class nodes judges whether its current heartbeat is normal；
Wherein, [1, m] i ∈, m are s class nodes interior joint sum, and s ∈ [1, S], S are vehicle CAN nodes class
Number.
Further, in the determination s class nodes pulse rate of i-th of node the rewards and punishments factor, including：
The rewards and punishments factor S n of the pulse rate of i-th of node in s class nodes is determined as the following formulai(k)s：
In above formula, Hni(k)sIt is the kth time pulse rate of i-th of node in s class nodes, Hni(k-1)sIt is s class nodes
In i-th of node -1 pulse rate of kth.
Further, the rewards and punishments factor according to the pulse rate of i-th of node in the s class nodes, determine described in
The history of i-th of node adds up rewards and punishments value in s class nodes, including：
Determine that the history of i-th of node in s class nodes adds up rewards and punishments value HistorySumSn as the following formulai(k)s：
HistorySumSni(k)s=max { [HistorySumSni(k-1)s+Sni(k)s],0}
Wherein, HistorySumSni(k-1)sIt is the preceding k-1 history totalling rewards and punishments value of i-th of node in s class nodes,
Sni(k)sIt is the rewards and punishments factor of the pulse rate of i-th of node in s class nodes.
Further, the history totalling rewards and punishments value according to i-th of node in the s class nodes judges that it works as front center
Whether jump is normal, including：
If the history of i-th of node adds up the rewards and punishments value upper limit that rewards and punishments value is more than calibration, s class sections in s class nodes
The current heartbeat of i-th of node is abnormal in point, and otherwise heartbeat is normal.
Compared with the immediate prior art, the present invention has the advantages that：
Technical solution provided by the invention obtains the controlling cycle of entire car controller and the communication cycle of each node first,
The heartbeat message trigger interval for determining each node in CAN network, then classifies to the node in CAN network, in a week
It is interim disconnected interior, it determines the rewards and punishments factor of the pulse rate of node, and then determine that the history of node adds up rewards and punishments value, judges that it works as front center
It whether normal jumps；Rewards and punishments value, which is added up, according to the history of node judges heart beat status, it on the one hand can be caused by shielded segment frame losing
Erroneous judgement, on the other hand can reflect the current heart beat status of node authentic and validly, be provided for complete vehicle fault processing authentic and valid
Fault diagnosis.
Description of the drawings
Fig. 1 is a kind of flow chart of the heartbeat detecting method of vehicle CAN network communication node of the present invention；
Fig. 2 is the structural representation for the electromechanical combined driven pedrail vehicle CAN network system that technical solution of the present invention is based on
Figure.
Specific implementation mode
It elaborates below in conjunction with the accompanying drawings to the specific implementation mode of the present invention.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The all other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Current CAN heartbeat detections are lacked a kind of pervasive, succinct to complete by the way of response in In-vehicle networking
The mode that portion's node is monitored.
In order to solve the above technical problems, the present invention provides a kind of heartbeat detecting method of vehicle CAN network communication node, institute
State vehicle CAN communication network of the method based on electromechanical combined driven pedrail vehicle, the vehicle CAN communication network as shown in Fig. 2,
Including：Piggyback pod block terminal 1, electric machine controller 3, high voltage distribution box 4, fire extinguishing box 5, instrument board 6, carries piggyback pod block terminal 2
Member cabin block terminal 7, DC/DC controllers 8, tail gate controller 9, driver's display and control terminal 10, steering wheel 11, EMT full-vehicle controls
Device 12, battery controller 14, engine controller 15, takes out dirt controller 16, fan governor 17, water pump at bus recorder 13
Controller 18.Each communication node sends respective nodes heart beat by way of broadcast, and entire car controller is by acquiring oil
The signal progress driver intention parsing of door pedal, steering wheel, is issued the control instruction of vehicle by CAN network, wherein whole
Fault diagnosis module in vehicle controller to the realtime monitoring of vehicle, made once finding failure it is corresponding warn and therefore
Barrier processing.
The heartbeat detecting method of a kind of vehicle CAN network communication node provided by the invention, as shown in Figure 1, the method
Including：
Obtain the controlling cycle of entire car controller and the communication cycle of each node in vehicle CAN network；
Wherein, the communication cycle of each node is usually the integral multiple of the controlling cycle of entire car controller.For example, full-vehicle control
The controlling cycle of device is 10ms, and the communication cycle of left and right motor is also 10ms, the communication cycle of high voltage power power unit message
It is 100ms.
Between the heartbeat message triggering for determining each node in vehicle CAN network according to the controlling cycle and the communication cycle
Every；
Vehicle CAN nodes are carried out according to the heartbeat message trigger interval of each node in the vehicle CAN network
Classification；
In breaking in one cycle, heartbeat detection is carried out using cycle interruption function pair one kind node.
The trigger interval that each node in vehicle CAN network is determined according to the controlling cycle and the communication cycle,
Including：
The heartbeat message trigger interval n of i-th of node is determined as the following formulai：
ni=Ti/T
Wherein, TiIt is the communication cycle of i-th of node in vehicle CAN network, T is entire car controller in vehicle CAN network
Controlling cycle；
Specifically, in one network, heartbeat message trigger interval niTypically limited several values, such as ni=1,10,
20、50、100。
The heartbeat message trigger interval according to each node in the vehicle CAN network is to vehicle CAN nodes
Classify, including：
The identical node of vehicle CAN network center hop-information trigger interval is classified as one kind；
For example, the present embodiment includes five class nodes, the heartbeat detection of same class node carries out in the same cycle interruption.
Several cycle interruption functions identical with node class number are established, specifically, the present embodiment establishes five cycle interruption functions, point
Not Wei the interruption of 1T10ms, the interruption of 10T100ms, the interruption of 20T200ms, the interruption of 50T500ms and the interruption of 100T1s,
Respective control word is defined, the judgement in period is carried out.
It is described disconnected interior in one cycle, heartbeat detection is carried out using cycle interruption function pair one kind node, including：
Determine the rewards and punishments factor of the pulse rate of i-th of node in s class nodes；
According to the rewards and punishments factor of the pulse rate of i-th of node in the s class nodes, determine i-th in the s class nodes
The history of a node adds up rewards and punishments value；
Rewards and punishments value, which is added up, according to the history of i-th of node in the s class nodes judges whether its current heartbeat is normal；
Wherein, [1, m] i ∈, m are s class nodes interior joint sum, and s ∈ [1, S], S are vehicle CAN nodes class
Number.
The rewards and punishments factor of the pulse rate of i-th of node in the determination s class nodes, including：
The rewards and punishments factor S n of the pulse rate of i-th of node in s class nodes is determined as the following formulai(k)s：
In above formula, Hni(k)sIt is the kth time pulse rate of i-th of node in s class nodes, Hni(k-1)sIt is s class nodes
In i-th of node -1 pulse rate of kth.
The rewards and punishments factor according to the pulse rate of i-th of node in the s class nodes determines the s class nodes
In the history of i-th node add up rewards and punishments value, including：
Determine that the history of i-th of node in s class nodes adds up rewards and punishments value HistorySumSn as the following formulai(k)s：
HistorySumSni(k)s=max { [HistorySumSni(k-1)s+Sni(k)s],0}
Wherein, HistorySumSni(k-1)sIt is the preceding k-1 history totalling rewards and punishments value of i-th of node in s class nodes,
Sni(k)sIt is the rewards and punishments factor of the pulse rate of i-th of node in s class nodes；
From the above equation, we can see that history adds up rewards and punishments value HistorySumSni(k)sMore than less than 0；When it is equal to 0, this is indicated
Time dessert is finished entirely normally, and if there is a frame message dropping, i.e. heartbeat is lost, then HistorySumSni(k)s1 will just be added,
It is continuous to lose 10 times, then HistorySumSni(k)sIf=10. during loss, communication recovery, then HistorySumSni
(k)sIt can decline again.In normal course of communications, rewarding and punishing contribution margin takes -1, but is at most decreased to 0, as long as there is a frame to fall heartbeat, prize
Penalties will+1, when driving, frame losing, communication cycle sluggishness is likely to, for ensure detection correctness, it is necessary to
Hni(k)s≠Hni(k-1)sSeasonal Sni(k)s=-1, the case where only occurring continuous frame losing in this way HistorySumSni(k)s
It can increase sharply.
Just whether the history according to i-th of node in the s class nodes add up rewards and punishments value and judge its current heartbeat
Often, including：
If the history of i-th of node adds up the rewards and punishments value upper limit that rewards and punishments value is more than calibration, s class sections in s class nodes
The current heartbeat of i-th of node is abnormal in point, and otherwise heartbeat is normal.
For example, the calibration rewards and punishments value upper limit is 10, if HistorySumSni(k)s>10, then current heartbeat is abnormal, carries out the heart
It jumps to lose and warn；Otherwise heartbeat is normal, detects each nodes heart beat state successively.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, the application can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is with reference to method, the flow of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, to the greatest extent
Invention is explained in detail with reference to above-described embodiment for pipe, those of ordinary skills in the art should understand that：Still
The specific implementation mode of the present invention can be modified or replaced equivalently, and without departing from any of spirit and scope of the invention
Modification or equivalent replacement should all cover within the claims of the present invention.
Claims (7)
1. a kind of heartbeat detecting method of vehicle CAN network communication node, which is characterized in that the method includes：
Obtain the controlling cycle of entire car controller and the communication cycle of each node in vehicle CAN network；
The heartbeat message trigger interval of each node in vehicle CAN network is determined according to the controlling cycle and the communication cycle；
Classified to vehicle CAN nodes according to the heartbeat message trigger interval of each node in the vehicle CAN network；
In breaking in one cycle, heartbeat detection is carried out using cycle interruption function pair one kind node.
2. the method as described in claim 1, which is characterized in that described to be determined according to the controlling cycle and the communication cycle
The trigger interval of each node in vehicle CAN network, including：
The heartbeat message trigger interval n of i-th of node is determined as the following formulai：
ni=Ti/T
Wherein, TiIt is the communication cycle of i-th of node in vehicle CAN network, T is the control of entire car controller in vehicle CAN network
Period.
3. the method as described in claim 1, which is characterized in that the heartbeat according to each node in the vehicle CAN network
Information trigger interval classifies to vehicle CAN nodes, including：
The identical node of vehicle CAN network center hop-information trigger interval is classified as one kind.
4. the method as described in claim 1, which is characterized in that it is described disconnected interior in one cycle, utilize cycle interruption function
Heartbeat detection is carried out to a kind of node, including：
Determine the rewards and punishments factor of the pulse rate of i-th of node in s class nodes；
According to the rewards and punishments factor of the pulse rate of i-th of node in the s class nodes, i-th of section in the s class nodes is determined
The history of point adds up rewards and punishments value；
Rewards and punishments value, which is added up, according to the history of i-th of node in the s class nodes judges whether its current heartbeat is normal；
Wherein, [1, m] i ∈, m are s class nodes interior joint sum, and s ∈ [1, S], S are vehicle CAN nodes class number.
5. method as claimed in claim 4, which is characterized in that the pulse rate of i-th of node in the determination s class nodes
The rewards and punishments factor, including：
The rewards and punishments factor S n of the pulse rate of i-th of node in s class nodes is determined as the following formulai(k)s：
In above formula, Hni(k)sIt is the kth time pulse rate of i-th of node in s class nodes, Hni(k-1)sIt is i-th in s class nodes
- 1 pulse rate of kth of a node.
6. method as claimed in claim 4, which is characterized in that the heartbeat according to i-th of node in the s class nodes
The rewards and punishments factor of value determines that the history of i-th of node in the s class nodes adds up rewards and punishments value, including：
Determine that the history of i-th of node in s class nodes adds up rewards and punishments value HistorySumSn as the following formulai(k)s：
HistorySumSni(k)s=max { [HistorySumSni(k-1)s+Sni(k)s],0}
Wherein, HistorySumSni(k-1)sIt is the preceding k-1 history totalling rewards and punishments value of i-th of node in s class nodes, Sni
(k)sIt is the rewards and punishments factor of the pulse rate of i-th of node in s class nodes.
7. method as claimed in claim 4, which is characterized in that the history according to i-th of node in the s class nodes
It adds up rewards and punishments value and judges whether its current heartbeat is normal, including：
If the history of i-th node adds up the rewards and punishments value upper limit that rewards and punishments value is more than calibration in s class nodes, in s class nodes
The current heartbeat of i-th of node is abnormal, and otherwise heartbeat is normal.
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| CN109709941A (en) * | 2019-03-04 | 2019-05-03 | 内蒙古一机集团宏远电器股份有限公司 | A kind of vehicle-mounted pumping dirt signal box detection device |
| CN110333976A (en) * | 2019-06-26 | 2019-10-15 | 中国第一汽车股份有限公司 | A kind of electronic controller test macro and method |
| CN110333976B (en) * | 2019-06-26 | 2022-08-23 | 中国第一汽车股份有限公司 | Electronic controller test system and method |
| CN112087346A (en) * | 2020-08-20 | 2020-12-15 | 深圳市元征科技股份有限公司 | Diagnostic conversion box state determination method, upper computer and storage medium |
| CN112087346B (en) * | 2020-08-20 | 2022-05-10 | 深圳市元征科技股份有限公司 | Diagnostic conversion box state determination method, upper computer and storage medium |
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