CN110515370A - Control method for vehicle and device, electronic equipment based on intelligent network connection - Google Patents
Control method for vehicle and device, electronic equipment based on intelligent network connection Download PDFInfo
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- CN110515370A CN110515370A CN201910821885.4A CN201910821885A CN110515370A CN 110515370 A CN110515370 A CN 110515370A CN 201910821885 A CN201910821885 A CN 201910821885A CN 110515370 A CN110515370 A CN 110515370A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0286—Modifications to the monitored process, e.g. stopping operation or adapting control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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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
Abstract
This application discloses a kind of control method for vehicle and device, electronic equipment based on intelligent network connection, this method includes when vehicle receives the control instruction doped with error control signal by intelligent network connection, detection executes the Vehicular status signal after the control signal, wherein the Vehicular status signal refers to the information that can characterize Vehicular yaw state and vehicle roll state；By the difference between the preset value of Vehicular status signal and Vehicular status signal after the execution control signal, calculates faults-tolerant control signal and be sent to vehicle control system.The technical issues of lacking active redundancy or faults-tolerant control present application addresses the error control signal that network attack generates.The fault-tolerant and timely redistribution vehicle control system to error signal is completed by the application, eliminates influence of the error signal attack to Full Vehicle System.
Description
Technical field
This application involves intelligent networks to join automotive field, in particular to a kind of vehicle control side based on intelligent network connection
Method and device, electronic equipment.
Background technique
Intelligent network connection automobile is directly or indirectly connect with extraneous network will bring many benefits, such as the position of automobile
Status information and the malfunction of automobile can upload to monitoring center in real time or exchange with neighbouring vehicle.
Inventors have found that having the network attack of error control signal due to Netowrk tape, vehicle control device system can not
Identifying simultaneously will execute the error signal, and cause vehicle control system to lose tracking ability, breaking down even results in system and collapses
It bursts.
Aiming at the problem that error control signal that network attack in the related technology generates lacks active redundancy or faults-tolerant control,
Currently no effective solution has been proposed.
Summary of the invention
The main purpose of the application is to provide a kind of control method for vehicle based on intelligent network connection and device, electronics are set
It is standby, to solve the problems, such as that the error control signal that network attack generates lacks active redundancy or faults-tolerant control.
To achieve the goals above, according to a first aspect of the present application, a kind of vehicle control based on intelligent network connection is provided
Method processed.
The control method for vehicle based on intelligent network connection according to the application includes: to receive doping when vehicle is coupled by intelligent network
When the control instruction of wrong control signal, detection executes the Vehicular status signal after the control signal, wherein the vehicle
Status signal refers to the information that can characterize Vehicular yaw state and vehicle roll state；The control signal is executed by described
Difference between the preset value of Vehicular status signal and Vehicular status signal later calculates faults-tolerant control signal and is sent to
Vehicle control system.
Further, faults-tolerant control signal is calculated using Robust Control Algorithm and is sent to vehicle control system.
Further, by referring to the equipment of interior CAN bus physical connection receipts doped with the control of error control signal
It enables, the car CAN bus is also used to the faults-tolerant control signal being sent to vehicle control system.
Further, the vehicle control system includes:
Any two kinds in active steering control system, differential braking control system or Active suspension control system.
Further, the single wire transmission based on interior CAN bus is united in the vehicle control system a one by one in office and is executed
Doped with the control instruction of error control signal, wherein the control instruction includes: active steering additional rotation angle control signal, four
The active control force control signal of the driving force control signal of a wheel, four Active suspensions.
To achieve the goals above, according to a second aspect of the present application, a kind of vehicle control based on intelligent network connection is provided
Device processed.
It include: detection module according to the controller of vehicle based on intelligent network connection of the application, for passing through intelligence when vehicle
When can net control instruction of the connection receipts doped with error control signal, detection executes the vehicle-state letter controlled after signal
Number, wherein the Vehicular status signal refers to the information that can characterize Vehicular yaw state and vehicle roll state；Robust control mould
Block, between the preset value by Vehicular status signal and Vehicular status signal after the execution control signal
Difference calculates faults-tolerant control signal and is sent to vehicle control system.
Further, further includes: redundancy fault-tolerant module, for the single wire transmission based on interior CAN bus, it is in office one by one
System executes the control instruction doped with error control signal in a vehicle control system, wherein the control instruction includes: actively to turn
To additional rotation angle control signal, the driving force control signal of four wheels, four Active suspensions active control force control signal,
The vehicle control system includes: in active steering control system, differential braking control system or Active suspension control system
Any two kinds.
Further, the robust control module is also used to calculate faults-tolerant control signal simultaneously using Robust Control Algorithm
It is sent to vehicle control system.
The third aspect, the application provides a kind of electronic equipment, including memory, processor and storage are on a memory and can
The computer program run on a processor, the processor realize the vehicle based on intelligent network connection when executing described program
The step of control method.
Control method for vehicle and device, electronic equipment in the embodiment of the present application based on intelligent network connection, using working as vehicle
By intelligent network connection receive doped with error control signal control instruction when, detection execute it is described control signal after vehicle
The mode of status signal passes through the pre- of the Vehicular status signal executed after the control signal and Vehicular status signal
If value between difference, calculate faults-tolerant control signal and be sent to vehicle control system, reached error signal it is fault-tolerant simultaneously
The purpose of timely redistribution active control system, to realize the skill for eliminating influence of the error signal attack to Full Vehicle System
Art effect, and then solve the technical issues of error control signal shortage active redundancy or faults-tolerant control of network attack generation.
Error signal attack can be resisted using Robust Fault-tolerant Controller, by reducing virtual condition signal and perfect condition
Gap between signal completes sideway roll stability control task, and according to robust controller failure tolerance, completes to mistake
The fault-tolerant and timely redistribution vehicle control system of error signal eliminates influence of the error signal attack to Full Vehicle System.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the control method for vehicle flow diagram based on intelligent network connection according to the embodiment of the present application；
Fig. 2 is the controller of vehicle structural schematic diagram based on intelligent network connection according to the embodiment of the present application；
Fig. 3 is according to the sideway roll stability control flow chart under the attack of the error signal of the embodiment of the present application；
Fig. 4 is to be attacked to generate flow chart according to the error signal of the embodiment of the present application；
Fig. 5 is the electronic devices structure schematic diagram according to the embodiment of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, this method includes the following steps, namely S102 to step S104:
Step S102, when vehicle receives the control instruction doped with error control signal by intelligent network connection, detection is held
Vehicular status signal after the row control signal,
The Vehicular status signal refers to the information that can characterize Vehicular yaw state and vehicle roll state.
Specifically, when error signal network attack occurs, since the effect of error signal attack causes in interior CAN network
Doping false command, that is, vehicle receives the control instruction doped with error control signal by intelligent network connection in correct control instruction.
Specifically, the Vehicular status signal after the detection execution control signal refers to that detection executes above-mentioned control signal
Vehicular status signal later, including vehicle yaw velocity, side slip angle, vehicle angle of heel and vehicle roll velocity etc.
Characterize the information of Vehicular yaw and rolling condition.
It should be noted that network attack is generally currently divided into two kinds, one is packet loss attacks, and one is error signals
Attack considers in embodiments herein for network attack error signal.Since controller can not identify and should by executing
Error signal, this may cause, and control system loses tracking ability, breaking down even results in system crash.
Preferably, system instruction can by [active steering front-wheel additional rotation angle, it is independent to drive four-wheel drive torque, four
Active suspension active controlling force] state parameter that rolls of=Kr × characterization sideway solved.
Step S104, by it is described execute it is described control signal after Vehicular status signal and Vehicular status signal it is pre-
If the difference between value, calculates faults-tolerant control signal and is sent to vehicle control system.
Specifically, the gap between status information and ideal value obtained by above-mentioned measurement calculates new Correction and Control
Signal makes the car status information of next step level off to ideal value as far as possible.It is real by reducing by the control instruction calculated
Gap between border status signal and perfect condition signal completes sideway roll stability control task.And it preferably, can be with
According to robust controller failure tolerance, the fault-tolerant and timely redistribution active control system to error signal is completed, is eliminated wrong
Error signal attacks the influence to Full Vehicle System.
It can be seen from the above description that the application realizes following technical effect:
Referred to by intelligent network connection receipts doped with the control of error control signal in embodiments herein using when vehicle
When enabling, detection executes the mode of the Vehicular status signal after the control signal, by it is described execute the control signal it
Difference between the preset value of Vehicular status signal and Vehicular status signal afterwards calculates faults-tolerant control signal and is sent to vehicle
Control system, has achieved the purpose that the fault-tolerant and timely redistribution active control system of error signal, has disappeared to realize
Except error signal attacks the technical effect of the influence to Full Vehicle System, and then solves the error control signal of network attack generation
The technical issues of lacking active redundancy or faults-tolerant control.
According to the embodiment of the present application, as preferred in the present embodiment, faults-tolerant control is calculated using Robust Control Algorithm
Signal is simultaneously sent to vehicle control system.
Specifically, Robust Control Algorithm may include H2 Robust Control Algorithm, L2-L ∞ Robust Control Algorithm, Mixed
H2/H ∞ Robust Control Algorithm.Preferably, H ∞ Robust Control Algorithm is used in embodiments herein.
Specifically,
Ideal angle of heel=0 °,
Ideal yaw angle speed=0deg/s.
WhereinThe factor of intact stability is characterized, V characterizes longitudinal direction of car speed, and L characterizes wheelbase, δ
Vehicle front wheel angle is characterized, b characterizes front axle to the horizontal distance of mass center, and a characterizes particle to the horizontal distance of rear axle, and m characterization is whole
Vehicle quality, k1Characterize front-wheel cornering stiffness, k2Characterize rear-wheel cornering stiffness.
For using H ∞ Robust Control Algorithm in embodiments herein, H∞Robust controller gain KrIt can pass through
Following linear matrix inequality solves:
Wherein, A, B1、B2, E, F be all the ginseng for characterizing the Vehicular system of integrated active steering, differential braking and Active suspension
Number, is obtained by mathematical derivation.Q is the symmetric positive definite matrix of unknown solution, and M, Y are the unknown matrix for needing to solve, and I is unit square
Battle array, κ H∞The coefficient of performance, controller gain KrBy minimizing κ2And above-mentioned MATRIX INEQUALITIES is solved simultaneously and is obtained
Kr=Y/M.
Further, control instruction can be solved by following formula:
[active steering front-wheel additional rotation angle, independent to drive four-wheel drive torque, four Active suspension active controlling forces]=
KrThe state parameter that × characterization sideway rolls.
According to the embodiment of the present application, as preferred in the present embodiment, pass through the equipment with interior CAN bus physical connection
The control instruction doped with error control signal is received, the car CAN bus is also used to for the faults-tolerant control signal being sent to
Vehicle control system.
Specifically, with the equipment of interior CAN network physical connection, in addition to OBD diagnostic equipment further includes other and CAN bus object
The other equipment of reason connection and known CAN protocol, such as UDS diagnosing protocol.
According to the embodiment of the present application, as preferred in the present embodiment, the vehicle control system includes: active steering control
Any two kinds in system processed, differential braking control system or Active suspension control system.
According to the embodiment of the present application, as preferred in the present embodiment, based on the single wire transmission of interior CAN bus, In
System executes the control instruction doped with error control signal in any vehicle control system, wherein the control instruction packet
Include: active steering additional rotation angle controls the active controlling force of signal, the driving force control signal of four wheels, four Active suspensions
Control signal.
Specifically, active steering control system, the vehicle of differential braking control system and Active suspension control are integrated
Control system receives right and wrong by CAN network and instructs the control instruction mixed and execute the control signal.Control signal
Including active steering additional rotation angle, the driving force of four wheels, four Active suspensions active controlling force, respectively correspond control master
Dynamic steering control system, differential braking control system and Active suspension control system.Above three system is that sideway rolls actively
Safety control system will directly influence vehicle sideway and roll safety if it is affected by false command.
Preferably, multi executors redundancy fault-tolerant reduces influence of the error signal to whole vehicle stability.Due to CAN bus
Single wire transmission, three execution systems will not be performed simultaneously error control signal.When an active control system executes mistake
When signal to attack, since the redundancy of multisystem acts on, other two active control systems still can guarantee that vehicle has centainly
Sideway roll stable ability.
As preferred in the present embodiment, acting on the first step by multi executors redundancy fault-tolerant reduces false command to vehicle
The influence of control system.Due to the single wire transmission of CAN bus, three execution systems will not be performed simultaneously error control signal.
When an active control system executes the signal to attack of mistake, since the redundancy of multisystem acts on, other two active controls
System still can guarantee that vehicle has certain sideway roll stable ability.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to the embodiment of the present application, additionally provide a kind of for implementing the vehicle control based on intelligent network connection of the above method
Device, as shown in Fig. 2, the device includes: detection module 10, for being received by intelligent network connection doped with error control when vehicle
When the control instruction of signal, detection executes the Vehicular status signal after the control signal, wherein the Vehicular status signal
Refer to the information that can characterize Vehicular yaw state and vehicle roll state；Robust control module 20, for passing through the execution institute
The difference between the preset value of the Vehicular status signal and Vehicular status signal after controlling signal is stated, faults-tolerant control letter is calculated
Number and be sent to vehicle control system.
Robust control module 20 includes at least, Robust Fault-tolerant Controller.
The Vehicular status signal described in the detection module 10 of the application, which refers to, can characterize Vehicular yaw state and vehicle side
The information for state of inclining.
Specifically, when error signal network attack occurs, since the effect of error signal attack causes in interior CAN network
Doping false command, that is, vehicle receives the control instruction doped with error control signal by intelligent network connection in correct control instruction.
Specifically, the Vehicular status signal after the detection execution control signal refers to that detection executes above-mentioned control signal
Vehicular status signal later, including vehicle yaw velocity, side slip angle, vehicle angle of heel and vehicle roll velocity etc.
Characterize the information of Vehicular yaw and rolling condition.
It should be noted that network attack is generally currently divided into two kinds, one is packet loss attacks, and one is error signals
Attack considers in embodiments herein for network attack error signal.Since controller can not identify and should by executing
Error signal, this may cause, and control system loses tracking ability, breaking down even results in system crash.
In the robust control module 20 of the application specifically, the status information and ideal value obtained by above-mentioned measurement it
Between gap calculate new Correction and Control signal, so that the car status information of next step is leveled off to ideal value as far as possible.Pass through meter
The control instruction calculated completes sideway roll stable by reducing the gap between virtual condition signal and perfect condition signal
Property control task.And preferably, it can complete to the fault-tolerant of error signal and weigh in time according to robust controller failure tolerance
New allotment active control system eliminates influence of the error signal attack to Full Vehicle System.
Error signal attack can be resisted using robust control module 20, by reducing virtual condition signal and perfect condition
Gap between signal completes sideway roll stability control task, and according to robust control module 20, completes to believe mistake
Number fault-tolerant and timely redistribution active control system, eliminate error signal and attack influence to Full Vehicle System.
According to the embodiment of the present application, as preferred in the present embodiment, further includes: redundancy fault-tolerant module 30, for being based on
The single wire transmission of interior CAN bus, system executes the control doped with error control signal in vehicle control system a one by one in office
Instruction, wherein the control instruction include: active steering additional rotation angle control signal, four wheels driving force control signal,
The active control force control signal of four Active suspensions, the vehicle control system include: active steering control system, differential system
Any two kinds in autocontrol system or Active suspension control system.
Specifically, active steering control system, the vehicle of differential braking control system and Active suspension control are integrated
Control system receives right and wrong by CAN network and instructs the control instruction mixed and execute the control signal.Control signal
Including active steering additional rotation angle, the driving force of four wheels, four Active suspensions active controlling force, respectively correspond control master
Dynamic steering control system, differential braking control system and Active suspension control system.Above three system is that sideway rolls actively
Safety control system will directly influence vehicle sideway and roll safety if it is affected by false command.
According to the embodiment of the present application, as preferred in the present embodiment, the robust control module 20, it is also used to using Shandong
Stick control algolithm calculates faults-tolerant control signal and is sent to vehicle control system.
Specifically, Robust Control Algorithm may include H2 Robust Control Algorithm, L2-L ∞ Robust Control Algorithm, Mixed
H2/H ∞ Robust Control Algorithm.Preferably, H ∞ Robust Control Algorithm is used in embodiments herein.
Embodiments herein also provides can be realized in above-described embodiment man-machine and drives Overall Steps in control method altogether
A kind of electronic equipment specific embodiment, referring to Fig. 5, the electronic equipment specifically includes following content:
Processor (processor) 501, memory (memory) 502, communication interface (Communications
Interface) 503 and bus 504；
Wherein, the processor 501, memory 502, communication interface 503 complete mutual lead to by the bus 504
Letter；The communication interface 503 for realizing joined based on intelligent network controller of vehicle, online operation system, client device
And other participate in the information transmission between mechanism；
The processor 501 is used to call the computer program in the memory 502, and the processor executes the meter
The Overall Steps in the control method for vehicle based on intelligent network connection in above-described embodiment are realized when calculation machine program, for example, described
Processor realizes following step when executing the computer program:
When vehicle receives the control instruction doped with error control signal by intelligent network connection, detection executes the control
Vehicular status signal after signal, wherein the Vehicular status signal, which refers to, can characterize Vehicular yaw state and vehicle roll shape
The information of state；
Between preset value by Vehicular status signal and Vehicular status signal after the execution control signal
Difference, calculate faults-tolerant control signal and be sent to vehicle control system.
Obviously, those skilled in the art should be understood that each module of above-mentioned the application or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the application be not limited to it is any specific
Hardware and software combines.
The realization of the application is former as follows, please refers to Fig. 3 and Fig. 4.
As shown in figure 3, being according to the sideway roll stability control flow under the attack of the error signal of the embodiment of the present application
Figure, specifically comprises the following steps:
Step S1, error signal network attack occur,
Step S2, since the effect of error signal attack causes to adulterate mistake in correct control instruction in interior CAN network
Instruction,
Step S3 integrates active steering control system, the Vehicular system of differential braking control system and Active suspension control
The right and wrong control instruction mixed of instruction is received by CAN network and executes the control signal,
Wherein control signal includes the active of active steering additional rotation angle, the driving force of four wheels, four Active suspensions
Control force respectively corresponds control active steering control system, differential braking control system and Active suspension control system.Above-mentioned three
A system is that sideway rolls active safety control system, if it is affected by false command, will directly influence vehicle cross
Pendulum rolls safety.
Step S4, multi executors redundancy fault-tolerant reduce influence of the error signal to whole vehicle stability,
Due to the single wire transmission of CAN bus, three execution systems will not be performed simultaneously error control signal.As a master
When autocontrol system executes the signal to attack of mistake, since the redundancy of multisystem acts on, other two active control systems are still
It can guarantee that vehicle has certain sideway roll stable ability.
Step S5, surveys Vehicular status signal after executing above-mentioned control signal, and detection executes the rear car of above-mentioned control signal
The characterization vehicle such as status signal, including vehicle yaw velocity, side slip angle, vehicle angle of heel and vehicle roll velocity
The information of sideway and rolling condition.
Step S6, Robust Control Algorithm calculate faults-tolerant control signal.Robust controller controller is measured by above-mentioned
To status information and ideal value between gap calculate new Correction and Control signal, keep the car status information of next step most
Amount levels off to ideal value.The ideal value of status signal can be calculated by following formula.
The control instruction calculated by step S6 is by reducing between virtual condition signal and perfect condition signal
Gap completes sideway roll stability control task, and according to robust controller failure tolerance, completes the appearance to error signal
The wrong and active control system of redistribution in time eliminates influence of the error signal attack to Full Vehicle System.
Finally, the calculated faults-tolerant control signal for guaranteeing sideway roll stability of Robust Fault-tolerant Controller is total by CAN
Line is sent to active steering control system, independent driving motor control system, in Active suspension control system.
Please referring to Fig. 4 is to be attacked to generate flow chart according to the error signal of the embodiment of the present application, specifically includes the following step of expansion
It is rapid:
Step S7, hacker and its remote computer apply error signal strike order
Step S8, network center or car owner APP receive application strike order
Step S9 receives the order for applying attack with the instrument such as OBD detector of interior CAN network physical connection, on
Information communication can directly be carried out by WIFI or mobile network and car owner APP or network center by stating instrument.
Step S10, OBD detector generates a large amount of error control signal, the diagnosis such as OBD detector to interior CAN network
Instrument has CAN bus communications protocol and key, can send stochastic instruction to Key Control to CAN bus, at random
False command be interspersed between right instructions.
Step S11, error signal strike order are completed
Step 9, OBD detector generate a large amount of error control signal to interior CAN network.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of control method for vehicle based on intelligent network connection characterized by comprising
When vehicle receives the control instruction doped with error control signal by intelligent network connection, detection executes the control signal
Vehicular status signal later, wherein the Vehicular status signal, which refers to, can characterize Vehicular yaw state and vehicle roll state
Information；
Pass through the difference between the preset value of Vehicular status signal and Vehicular status signal after the execution control signal
It is different, it calculates faults-tolerant control signal and is sent to vehicle control system.
2. the control method for vehicle according to claim 1 based on intelligent network connection, which is characterized in that calculated using robust control
Method calculates faults-tolerant control signal and is sent to vehicle control system.
3. it is according to claim 1 based on intelligent network connection control method for vehicle, which is characterized in that by with interior CAN
The equipment of bus physical connection receives the control instruction doped with error control signal, and the car CAN bus is also used to will be described
Faults-tolerant control signal is sent to vehicle control system.
4. the control method for vehicle according to claim 1 based on intelligent network connection, which is characterized in that the vehicle control system
System includes:
Any two kinds in active steering control system, differential braking control system or Active suspension control system.
5. the control method for vehicle according to claim 4 based on intelligent network connection, which is characterized in that total based on car CAN
The single wire transmission of line, system executes the control instruction doped with error control signal in the vehicle control system a one by one in office,
Wherein the control instruction includes: active steering additional rotation angle control signal, the driving force control signal of four wheels, four masters
The active control force control signal of dynamic suspension.
6. a kind of controller of vehicle based on intelligent network connection characterized by comprising
Detection module, for when vehicle receives the control instruction doped with error control signal by intelligent network connection, detection to be held
Row it is described control signal after Vehicular status signal, wherein the Vehicular status signal refer to can characterize Vehicular yaw state and
The information of vehicle roll state；
Robust control module, for passing through the Vehicular status signal and Vehicular status signal after the execution control signal
Preset value between difference, calculate faults-tolerant control signal and be sent to vehicle control system.
7. the controller of vehicle according to claim 6 based on intelligent network connection, which is characterized in that further include: redundancy is held
Mismatch block,
For the single wire transmission based on interior CAN bus, in vehicle control system a one by one in office, system, which is executed, adulterates wrong control
The control instruction of signal processed, wherein the control instruction includes: the driving of active steering additional rotation angle control signal, four wheels
The active control force control signal of force control signal, four Active suspensions, the vehicle control system includes: active steering control
Any two kinds in system, differential braking control system or Active suspension control system.
8. the controller of vehicle according to claim 6 based on intelligent network connection, which is characterized in that the robust control mould
Block is also used to be calculated faults-tolerant control signal using Robust Control Algorithm and be sent to vehicle control system.
9. the controller of vehicle according to claim 6 based on intelligent network connection, which is characterized in that the vehicle control system
System includes:
Any two kinds in active steering control system, differential braking control system or Active suspension control system.
10. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor is realized described in any one of claim 1 to 5 based on intelligence when executing described program
The step of control method for vehicle of connection can be netted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910821885.4A CN110515370A (en) | 2019-08-30 | 2019-08-30 | Control method for vehicle and device, electronic equipment based on intelligent network connection |
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