CN109960177A - CAN bus data processing method and control system - Google Patents
CAN bus data processing method and control system Download PDFInfo
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Abstract
The present invention relates to CAN bus data processing method and control systems, the actual loading rate situation of real-time detection CAN bus, when actual loading rate is greater than setting load factor threshold value, control increases CAN bus message data sending cycle, according to the corresponding relationship in period and load factor, increasing sending cycle can reduce load factor, therefore, by increase CAN bus message data sending cycle can automatic dynamic adjust total inorganic nitrogen and match targeted loads rate, guarantee the normal reliable operation of CAN bus, prevent high load rate from impacting to the data transmission of CAN bus, reduction total inorganic nitrogen is excessively high to cause data delay even frame losing probability.And, compared to the control process for matching targeted loads rate by CAN networks analysis tools such as CANOE, above-mentioned load factor control process is fairly simple, and the reliability of load factor adjustment is higher, and can save and modify program code and the artificial workload using CANOE monitoring repeatedly.
Description
Technical field
The present invention relates to CAN bus data processing method and control systems.
Background technique
The peak transfer rate of CAN bus is up to 1Mbit/s, currently, the internetwork connection mode on automobile need to use two
CAN bus, one is used for the high-speed CAN bus of drive system, and rate reaches 500kbit/s；Another for bodywork system
Low speed CAN bus, rate are generally 100-250kbit/s.High-speed CAN bus mainly connects engine, automatic transmission, ABS/
The system that ASR, ESP etc. have higher requirements to real-time communication.Low speed CAN bus mainly connects light, power windows, automatic sky
Tune and information display system etc., mostly slow-speed motor and switch metering device are low and large number of to requirement of real-time.It is not synchronized
It is connected between the CAN network of degree by gateway.It with the increasingly mature of artificial intelligence technology and is widely applied, In-vehicle networking is mentioned
Higher requirement is gone out.Linux system is also increasingly applied in onboard system.
With the raising of vehicle intellectualized degree, need to access a large amount of sensory perceptual system device, while the end in CAN bus
End load is also just more and more, and under the premise of retaining original CAN number of channels, increasing for CAN terminal load will necessarily be to CAN
Communication network brings biggish pressure, and the real-time for CAN bus under embedded system and reliability requirement in this way be not yet
It is disconnected to improve.In CAN system, there are mainly two types of the real-time influence factors of system: network delay and bus communication rate.Therefore,
The two combined factors must be considered.The reliability for influencing CAN communication mainly exempts from CAN network blocking.For practical vehicle-mounted
Network application, little change after bus communication rate is generally set, CAN network performance, which relies primarily on, reduces network delay and adjustment
CAN message strategy is sent to realize, the control of CAN bus load factor in a rationally constant range.Existing In-vehicle networking
It generally all analyzes total inorganic nitrogen situation by CAN networks analysis tools such as CANOE and then passes through and control program under linux system
Static settings CAN message sending cycle will match targeted loads rate, if increasing peripheral hardware CAN terminal, it is also necessary to readjust
CAN message sending cycle monitors total inorganic nitrogen by CANOE tool simultaneously to carry out matching targeted loads rate, to prevent bus
Block frame losing.Therefore, the control process of existing CANOE total inorganic nitrogen is comparatively laborious, and reliability is lower, and needs repeatedly
Program code is modified, the artificial workload using CANOE monitoring is also larger.
Summary of the invention
The object of the present invention is to provide a kind of CAN bus data processing methods, to solve existing CAN bus load factor
Control process it is comparatively laborious, the lower problem of reliability.Present invention simultaneously provides a kind of CAN bus data processing and control systems
System.
To achieve the above object, the present invention includes following technical scheme.
Method scheme one: this programme provides a kind of CAN bus data processing method, the CAN bus data processing method
Including following load factor control process: the actual loading rate situation of real-time detection CAN bus compares actual loading rate and setting is negative
Load rate threshold value, when actual loading rate is greater than setting load factor threshold value, control increases CAN bus message data sending cycle, with
Actual loading rate is adjusted to the setting load factor threshold value.
The load factor of CAN bus message data sending cycle and CAN bus has close relationship therefore to work as actual negative
When load rate is greater than setting load factor threshold value, control increases CAN bus message data sending cycle, according to pair in period and load factor
It should be related to, increasing sending cycle can reduce load factor, therefore, can be certainly by increasing CAN bus message data sending cycle
Dynamic adjusts total inorganic nitrogen to match targeted loads rate, guarantees the normal reliable operation of CAN bus, prevents high load rate pair
The data transmission of CAN bus impacts, and reduction total inorganic nitrogen is excessively high to cause data delay even frame losing probability.Moreover, phase
Then pass through control program static settings CAN report compared with total inorganic nitrogen situation is analyzed by CAN networks analysis tools such as CANOE
Literary sending cycle will match the control process of targeted loads rate, and the load factor control process that this programme provides is fairly simple, bear
The reliability of load rate adjustment is higher.And in existing method, if increasing peripheral hardware CAN terminal, it is also necessary to readjust CAN message
Sending cycle monitors total inorganic nitrogen by CANOE tool simultaneously to carry out matching targeted loads rate, to prevent bus blocking from losing
Frame, therefore, the method that this programme provides can be automatically adjusted according to the size relation of actual loading rate and setting load factor threshold value
Actual loading rate can save and modify program code and the artificial workload using CANOE monitoring repeatedly.
Method scheme two: on the basis of method scheme one, when CAN bus message data sending cycle is adjusted to permission
It so that actual loading rate is less than or equal to setting load factor threshold value when maximum value, then export corresponding alarm signal.
Method scheme three: on the basis of method scheme two, the load factor control process is run under linux system,
A CAN message monitoring thread is increased under linux system, the CAN message monitoring thread realizes that the load factor controlled
Journey.
Method scheme four: on the basis of method scheme three, the CAN bus data processing method further includes following data
CAN message data: being stored in the L2 cache queue of setting by transmission process in real time, and by the CAN in L2 cache queue
Message data is sent in CAN bus according to setting sending cycle and setting Sequential output, the CAN bus message data hair
Sending the period is the sending cycle that CAN bus message data is stored in L2 cache queue.
When carrying out the transmission of CAN bus data, CAN message data are stored in L2 cache queue, then from the second level
By CAN message data according in the sending cycle of setting and setting sequential delivery to CAN bus in buffer queue.Increase by one two
Grade buffer queue, different transmission times unify, no matter traditional CAN message data are transferred to CAN bus
What transmission time is, first stores it in L2 cache queue, is then transferred to CAN bus according to corresponding principle
On, therefore, unifies the sending instant that CAN message data are output to CAN bus, be equivalent under normal circumstances, such as bus
Play the role of peak load shifting to CAN message transmission under the non-overload situations of average load, avoids the idle and numerous of CAN bus
It is busy, it is too small or excessive to avoid bus momentary load, and then avoid the free time of the blocking of CAN bus, delay and CAN bus,
Improve the efficiency of transmission, utilization rate and reliability of CAN bus.Therefore, in this case, CAN bus message data is stored in
Sending cycle in L2 cache queue, i.e. resting period are just CAN bus message data sending cycle, by adjusting the storage
Period can actual loading rate be greater than setting load factor threshold value when by actual loading rate adjust to setting load factor threshold value with
Under.
Method scheme five: on the basis of method scheme four, the data transmission procedure is run under linux system,
A CAN data processing threads are increased under linux system, the CAN data processing threads will be in the L2 cache queue
CAN message data are sent in CAN bus according to setting sending cycle and setting Sequential output.
Method scheme six: on the basis of method scheme four or five, the principle of the setting sequence based on first in, first out,
CAN message data are sequentially output from L2 cache queue to CAN bus according to the principle of first in, first out.
System schema one: this programme provides a kind of CAN bus data processing and control system, including a kind of CAN bus data
Processing and control module, the control module include memory, processor and storage in memory and can transport on a processor
Capable computer program, the processor realize following load factor control process: real-time detection CAN bus when executing described program
Actual loading rate situation, compare actual loading rate and setting load factor threshold value, when actual loading rate be greater than setting load factor threshold
When value, control increase CAN bus message data sending cycle, by actual loading rate adjust to the setting load factor threshold value with
Under.
System schema two: on the basis of system schema one, when CAN bus message data sending cycle is adjusted to permission
It so that actual loading rate is less than or equal to setting load factor threshold value when maximum value, then export corresponding alarm signal.
System schema three: on the basis of system schema two, the load factor control process is run under linux system,
A CAN message monitoring thread is increased under linux system, the CAN message monitoring thread realizes that the load factor controlled
Journey.
System schema four: on the basis of system schema three, following number is also realized when the processor executes described program
According to transmission process: CAN message data being stored in the L2 cache queue of setting in real time, and will be in L2 cache queue
CAN message data are sent in CAN bus according to setting sending cycle and setting Sequential output, the CAN bus message number
It is the sending cycle that CAN bus message data is stored in L2 cache queue according to sending cycle.
System schema five: on the basis of system schema four, the data transmission procedure is run under linux system,
A CAN data processing threads are increased under linux system, the CAN data processing threads will be in the L2 cache queue
CAN message data are sent in CAN bus according to setting sending cycle and setting Sequential output.
System schema six: on the basis of system schema four or five, the principle of the setting sequence based on first in, first out,
CAN message data are sequentially output from L2 cache queue to CAN bus according to the principle of first in, first out.
Detailed description of the invention
Fig. 1 is intelligent controller CAN bus access infrastructure block diagram；
Fig. 2 is CAN bus monitoring thread single logical flow chart；
Fig. 3 is CAN bus monitoring thread circle logic flow chart.
Specific embodiment
CAN bus data processing method embodiment one
The present embodiment provides a kind of CAN bus data processing method, which includes following load
Rate control process: the actual loading rate situation of real-time detection CAN bus compares actual loading rate and setting load factor threshold value, when
When actual loading rate is greater than setting load factor threshold value, control increases CAN bus message data sending cycle, by actual loading rate
It adjusts to setting load factor threshold value.
Based on above-mentioned basic technical scheme, the present invention will be further described in detail with reference to the accompanying drawing.
In the present embodiment, above-mentioned CAN bus data processing method is applied in the intelligent controller of automatic driving car, the intelligence
It can control device operation Linux embedded system, CAN bus access terminal easy structure figure is as shown in Figure 1.
Increase the transmission control of CAN message data under linux system, i.e., CAN bus data transmission provided by the invention
Method.Master control program PA is loaded in intelligent controller, the cycle of operation of master control program PA is Tm.In the present embodiment,
By master control program PA load utility control program end in intelligent controller linux system.Master control program PA be exactly with
The corresponding software program of CAN bus data transmission method provided by the invention.Specially one L2 cache queue of setting, such as
Increase the L2 cache queue on the transmission end-o f-pipe -control of CAN message.Master control program PA is in main program in intelligent controller
Cycle of operation Tm in by the channel CAN constantly from external equipment, for example radar and GPS peripheral hardware acquire data, while carrying out phase
Then analysis result or decision order are packaged into CAN message data and are real-time transmitted to entire car controller by the operational analysis answered.
When transmitting data, first the CAN message data of packing are stored in L2 cache queue according to corresponding sending cycle, here
Sending cycle be CAN message data be stored in L2 cache queue in sending cycle (alternatively referred to as resting period).Main control
Program PA runs a cycle and corresponds to CAN message data of L2 cache queue for storing or master control program PA fortune
Row multiple periods are corresponding to CAN message data of L2 cache queue for storing, and therefore, it is slow that CAN message data are stored in second level
The cycle of operation Tm that the sending cycle in queue can be master control program PA is deposited, the operation week of master control program PA is also possible to
The integral multiple of phase Tm, in the present embodiment, CAN message data are stored in the sending cycle in L2 cache queue with master control program PA
Cycle of operation Tm for.Under linux system, a CAN data processing threads are opened up using Linux control program
Thread1, CAN data processing threads Thread1 read CAN message data from L2 cache queue automatically, and second level is delayed
The CAN message data deposited in queue are sent in CAN bus according to the sending cycle and setting Sequential output of setting, i.e., automatically
Equably data taking-up in L2 cache queue is sent in CAN bus.Wherein, the sending cycle of setting is according to actual requirement
It is set, principle of the setting sequence based on first in, first out, the CAN message data being introduced into L2 cache queue are first sent to
In CAN bus.Certainly, it as other embodiments, can also be sent according to other principle of temporal sequence, such as: if
Sequentially data can be sent according to the priority if.It is this storage and successively send by way of can be equal
Weighing apparatus application layer sends data to the rate of CAN bus, avoids CAN bus from idle or busy situation occur, and then avoid CAN
The free time of the blocking of bus, delay and CAN bus, prevent data delay even frame losing the case where, improve the biography of CAN bus
Defeated efficiency, utilization rate and reliability.
During CAN message data are stored in L2 cache queue, the load factor of CAN bus can also be supervised
Control, then adjusts corresponding CAN message data and is stored in two according to present load rate situation come dynamic regulation present load rate
Storage rate (sending cycle i.e. in adjusting CAN message data deposit L2 cache queue) in grade buffer queue, Lai Wending
Total inorganic nitrogen.
In order to illustrate the dynamic adjustment process of load factor, illustrate the calculating process of load factor first below.
Under peripheral hardware stable case, real-time ensuring CAN bus load factor to stablize in a constant range, it is vehicle-mounted at present
CAN bus load factor is typically maintained in 30% or so, but as the peripheral hardware access terminal of intelligent vehicle is more and more, handles logic
Also in increasingly complexity, the control threshold value of CAN bus load factor is also stepped up in test, the research and development engineering of Fiat
This threshold is even expanded to 60%-70% by teacher.Load factor be exactly in bus actual data transfer rate than it is upper theoretically most
Big data transmission rate.Such as CAN bus baud rate is 500Kbit/s, bus message transmission time interval is 50ms, single frames report
Text is the longest data frame (extension frame maximum 128bit) of 8 byte datas, then 50ms can support to send under bus full load conditions
Data frame number be about 39, referring in detail to following calculation formula:
(500000bit/s)*(50ms)/(128bit)
At this point, control sends CAN report in 50ms if we want to maintain CAN bus load factor 40% or so
Literary quantity no more than about 15 (39*0.4).
For the ease of subsequent periodic adjustment, the hair in a CAN message data deposit L2 cache queue can be preset
The section in period is sent, then, the upper lower limit value of the sending cycle, i.e. the minimum allowable value and maximum permissible value in period are first set,
Period section is determined according to upper lower limit value.To determine that CAN bus the load factor F_load, the F_load that need to control are setting simultaneously
CAN bus load factor threshold value, i.e. target CAN bus load factor.
Then actual CAN bus load factor is calculated, a kind of calculating process is given below: according to relevant parameter, such as
CAN bus baud rate etc., calculating according to calculation formula provided above allows to receive and dispatch most in main program cycle of operation Tm
Big CAN message quantity Num_total, application program also has additional a CAN message monitoring thread in intelligent controller
The triggering period of Thread2, CAN message monitoring thread Thread2 are set as identical as the cycle of operation of master control program, in Tm
In period, the practical CAN that monitoring thread Thread2 real-time monitoring master control program PA reads and sent in CAN bus is reported
Literary item number Num_can, then calculates total inorganic nitrogen F_t=Num_can/Num_total.
As F_t > F_load, i.e., actual load factor is greater than the targeted loads rate of setting, in preset period section
CAN message data are stored in the sending cycle in L2 cache queue to adjust to big end, that is, increase the sending cycle, according to above-mentioned
Calculation formula can obtain, and when increasing in the period, maximum CAN message quantity Num_total increases, then, actual loading rate will subtract
It is small.As shown in Fig. 2, adjusting flow chart for single.It is possible to further to the CAN message data in deposit L2 cache queue
Classification processing is carried out according to the priority, and monitoring thread Thread2 single implements primary above-mentioned control process and just needs to compare
Adjustment once, classifies according to message priority and preferentially increases the message sending cycle of low priority, and rear increase priority is higher
Message sending cycle.Therefore, F_t can be down to target F_load value hereinafter, final meet by increasing the period: actual loading
Rate is less than or equal to the targeted loads rate of setting.
As shown in figure 3, in monitoring thread Thread2 persistent loop operation, since CAN message data are stored in L2 cache
Sending cycle in queue has a maximum value limitation, therefore, when maximum value of the period modulation to permission, if according to preferential
Grade height is exactly if being classified: the sending cycle of the message of all priority classifications is adjusted to preset period section
When maximum value, it can't guarantee that F_t falls back to target F_load value hereinafter, stopping adjustment at this time, and notify master control program PA
Issuing a warning CAN message reminds current bus to exceed predetermined load rate, needs to plan bus number of access terminals again.
Therefore, total inorganic nitrogen is monitored in real time, and dynamic adjusting and optimizing is total under the premise of guaranteeing that real-time property requires
Linear load rate, reduction total inorganic nitrogen is excessively high to cause data delay even frame losing probability.Also, by controlling above, Neng Goubao
It demonstrate,proves CAN peripheral channel or quantities of messages increases dynamic in less situation and controls CAN channel load rate in a certain range, can mention
The versatility of elevation sort run reduces maintenance workload.Moreover, when the external channel CAN or message amount increase to beyond CAN
When network load, it is huge that output warning CAN message reminds network load to become larger, and is more than bus load ability, need to plan CAN again
Network.
Specific embodiment is presented above, but the present invention is not limited to described embodiment.Base of the invention
This thinking is above-mentioned basic scheme, and for those of ordinary skill in the art, various changes are designed in introduction according to the present invention
The model of shape, formula, parameter do not need to spend creative work.It is right without departing from the principles and spirit of the present invention
The change, modification, replacement and modification that embodiment carries out are still fallen in protection scope of the present invention.
The above method can be used as a kind of computer program, be stored in CAN bus in CAN bus data transfer control system
It can run in memory in data transmission control module and on the processor in CAN bus data transmission control module.
CAN bus data processing method embodiment two
In above-described embodiment one, it is provided with a L2 cache queue, is stored in second level by adjusting CAN bus message data
Sending cycle in buffer queue, i.e. resting period adjust the actual loading rate of CAN bus, by actual loading rate adjust to
Set load factor threshold value or less.This only illustrates the control and regulation process of load factor according to a kind of specific application scenarios, when
So, load control and regulation process provided by the invention is not limited solely to above-mentioned scene, and therefore, the present embodiment has cast aside any tool
Body scene illustrates the process that load controls to adjust from essence, are as follows: the actual loading rate situation of real-time detection CAN bus, it is relatively more real
Border load factor and setting load factor threshold value, when actual loading rate is greater than setting load factor threshold value, control increases CAN bus message
Data transmitting period adjusts actual loading rate to setting load factor threshold value.
Claims (10)
1. a kind of CAN bus data processing method, which is characterized in that the CAN bus data processing method includes following load
Rate control process: the actual loading rate situation of real-time detection CAN bus compares actual loading rate and setting load factor threshold value, when
When actual loading rate is greater than setting load factor threshold value, control increases CAN bus message data sending cycle, by actual loading rate
It adjusts to the setting load factor threshold value.
2. CAN bus data processing method according to claim 1, which is characterized in that when CAN bus message data is sent
Actual loading rate can not be also set to be less than or equal to setting load factor threshold value, then output phase when period modulation is to the maximum value allowed
The alarm signal answered.
3. CAN bus data processing method according to claim 2, which is characterized in that the load factor control process exists
It is run under linux system, a CAN message monitoring thread is increased under linux system, the CAN message monitoring thread is realized
The load factor control process.
4. CAN bus data processing method according to claim 3, which is characterized in that the CAN bus data processing side
Method further includes following data transmission process: CAN message data being stored in the L2 cache queue of setting in real time, and by second level
CAN message data in buffer queue are sent in CAN bus according to setting sending cycle and setting Sequential output, described
CAN bus message data sending cycle is the sending cycle that CAN bus message data is stored in L2 cache queue.
5. CAN bus data processing method according to claim 4, which is characterized in that the data transmission procedure exists
It is run under linux system, a CAN data processing threads is increased under linux system, the CAN data processing threads are by institute
The CAN message data stated in L2 cache queue are sent in CAN bus according to setting sending cycle and setting Sequential output.
6. a kind of CAN bus data processing and control system, including a kind of CAN bus data processing and control module, the control mould
Block includes memory, processor and stores the computer program that can be run in memory and on a processor, and feature exists
In the processor realizes following load factor control process: the actual loading rate of real-time detection CAN bus when executing described program
Situation compares actual loading rate and setting load factor threshold value, and when actual loading rate is greater than setting load factor threshold value, control increases
CAN bus message data sending cycle adjusts actual loading rate to the setting load factor threshold value.
7. CAN bus data processing and control system according to claim 6, which is characterized in that when CAN bus message data
Sending cycle is adjusted to that actual loading rate can not also be made to be less than or equal to setting load factor threshold value when the maximum value allowed, then defeated
Corresponding alarm signal out.
8. CAN bus data processing and control system according to claim 7, which is characterized in that the load factor controlled
Journey is run under linux system, and a CAN message monitoring thread, the CAN message monitoring thread are increased under linux system
Realize the load factor control process.
9. CAN bus data processing and control system according to claim 8, which is characterized in that the processor executes institute
Following data transmission process is also realized when stating program: CAN message data being stored in the L2 cache queue of setting in real time, and
CAN message data in L2 cache queue are sent in CAN bus according to setting sending cycle and setting Sequential output,
The CAN bus message data sending cycle is the sending cycle that CAN bus message data is stored in L2 cache queue.
10. CAN bus data processing and control system according to claim 9, which is characterized in that the data transmission procedure
It is run under linux system, a CAN data processing threads is increased under linux system, the CAN data processing threads will
CAN message data in the L2 cache queue are sent to CAN bus according to setting sending cycle and setting Sequential output
On.
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