CN110727225A

CN110727225A - Automatically-controllable line connection control device and method and CAN control system

Info

Publication number: CN110727225A
Application number: CN201911019774.8A
Authority: CN
Inventors: 王天伦; 曾云洪; 杨波辉; 李伟进
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2019-10-24
Filing date: 2019-10-24
Publication date: 2020-01-24
Anticipated expiration: 2039-10-24
Also published as: CN110727225B

Abstract

The invention discloses a line connection control device and method capable of automatically controlling and a CAN control system. Wherein, the device includes: the detection module is connected with the CAN bus and used for detecting the voltage of the CAN bus; and the MCU is respectively connected with the detection module and the control module and is used for controlling the on-off of a switch in the control module according to the voltage of the CAN bus so as to further control the on-state between the communication line and the CAN bus. The invention CAN avoid the indirect reversal between the communication line and the CAN bus, improve the circuit connection efficiency and simultaneously improve the reliability of the CAN control system.

Description

Automatically-controllable line connection control device and method and CAN control system

Technical Field

The invention relates to the technical field of industrial control, in particular to a line connection control device and method capable of being automatically controlled and a CAN control system.

Background

In industrial CAN communication, when communication equipment is connected to a CAN bus, attention needs to be paid to the wiring sequence of high-level communication lines and low-level communication lines. At present, when a non-polar CAN chip is adopted, when a CAN bus of external equipment is reversely connected with a communication line, a line changing mode is usually adopted, manual connection is needed in the mode, time and labor are wasted, and the reliability of engineering application termination CAN be reduced.

Aiming at the problem that the connection mode of the circuit needs to be changed manually when the CAN bus of the external equipment is reversely connected with the communication line in the prior art, an effective solution is not provided at present.

Disclosure of Invention

The embodiment of the invention provides a line connection control device and method capable of automatically controlling and a CAN control system, which aim to solve the problem that in the prior art, when a CAN bus of external equipment is reversely connected with a communication line, the line connection mode needs to be manually changed.

In order to solve the above technical problem, the present invention provides an automatic line connection control device, wherein the device comprises:

the detection module is connected with the CAN bus and used for detecting the voltage of the CAN bus;

and the MCU is respectively connected with the detection module and the control module and is used for controlling the on-off of a switch in the control module according to the voltage of the CAN bus so as to further control the on-state between the communication line and the CAN bus.

Further, the communication line includes communication line altitude and communication line low line, the CAN bus includes the first line of CAN bus and CAN bus second line, the on-state includes:

the communication line high line is communicated with a first line of the CAN bus, and the communication line low line is communicated with a second line of the CAN bus; alternatively, the first and second electrodes may be,

the communication line high line is communicated with the second line of the CAN bus, and the communication line low line is communicated with the first line of the CAN bus.

Further, the control module comprises at least a first switch, a second switch, a third switch and a fourth switch, wherein,

the first switch sets up the communication line altitude with between the first line of CAN bus, the second switch sets up the communication line low line with between the CAN bus second line, the third switch sets up the communication line altitude with between the CAN bus second line, the fourth switch sets up the communication line low line with between the first line of CAN bus.

Further, the MCU is specifically configured to:

by controlling the first switch and the second switch to be closed, the third switch and the fourth switch to be opened, the communication line high line and the CAN bus first line are controlled to be connected, and the communication line low line and the CAN bus second line are controlled to be connected;

alternatively, the first and second electrodes may be,

and by controlling the third switch and the fourth switch to be closed, the first switch and the second switch are disconnected, the communication line high line and the CAN bus second line are controlled to be connected, and the communication line low line and the CAN bus first line are controlled to be connected.

The invention also provides a CAN control system which comprises the line connection control device.

The invention also provides a line connection control method capable of being automatically controlled, wherein the method comprises the following steps:

detecting CAN bus voltage, wherein the CAN bus voltage comprises a CAN bus first line voltage and a CAN bus second line voltage;

and controlling the conduction state of the communication line and the CAN bus according to the first line voltage of the CAN bus and the second line voltage of the CAN bus.

Further, according to the first line voltage of CAN bus and the second line voltage control communication line of CAN bus and the conducting state of CAN bus, include:

receiving a detection value of a first line voltage of the CAN bus and a detection value of a second line voltage of the CAN bus;

judging the magnitude relation between the detection value of the first line voltage of the CAN bus and the detection value of the second line voltage of the CAN bus;

and controlling the conduction state of the communication line and the CAN bus according to the size relation.

Further, it is characterized in that, according to the size relationship, controlling the conduction state of the communication line and the CAN bus comprises:

if the voltage detection value of the first line of the CAN bus is larger than the voltage detection value of the second line of the CAN bus, controlling the conduction between the first line of the CAN bus and the high line of the communication line and the conduction between the second line of the CAN bus and the low line of the communication line;

and if the voltage detection value of the second line of the CAN bus is greater than the voltage detection value of the first line of the CAN bus, controlling the second line of the CAN bus to be conducted with the high line of the communication line, and controlling the first line of the CAN bus to be conducted with the low line of the communication line.

Further, control switch on between the first line of CAN bus and the communication line altitude, switch on between the second line of CAN bus and the communication line low line includes:

controlling a first switch and a second switch to be closed, and a third switch and a fourth switch to be opened;

wherein the first switch is arranged between the communication line high line and the CAN bus first line, the second switch is arranged between the communication line low line and the CAN bus second line, the third switch is arranged between the communication line high line and the CAN bus second line, and the fourth switch is arranged between the communication line low line and the CAN bus first line.

Further, control switch on between CAN bus second line and the communication line altitude, switch on between CAN bus first line and the communication line low line includes:

and controlling the third switch and the fourth switch to be closed, and opening the first switch and the second switch.

The invention also provides a computer-readable storage medium, on which a computer program is stored, characterized in that the program realizes the above-mentioned method when executed by a processor.

By applying the technical scheme of the invention, the voltages on the two lines of the CAN bus of the external equipment are detected by the detection module, the on-off of the switch in the control module is controlled according to the voltages on the two lines of the CAN bus, so that the on-state between the communication line and the CAN bus is controlled, when the CAN bus of the external equipment is connected with the communication line, the high line and the low line of the CAN bus CAN be automatically identified through the voltages on the two lines of the CAN bus, and are correspondingly connected and conducted with the high line and the low line of the communication line, so that the on-state of the circuit is automatically controlled, the reverse connection is avoided, the circuit connection efficiency is improved, and the reliability of the CAN control system CAN be improved.

Drawings

FIG. 1 is a block diagram of a line connection control apparatus according to an embodiment of the present invention;

FIG. 2 is a detailed block diagram of a line connection control apparatus according to an embodiment of the present invention;

FIG. 3 is a block diagram of a control module according to an embodiment of the invention;

FIG. 4 is a block diagram of a line connection control apparatus according to another embodiment of the present invention;

FIG. 5 is a flow chart of a line connection control method according to an embodiment of the present invention;

fig. 6 is a flowchart of a line connection control method according to another embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used to describe the switches in embodiments of the present invention, the switches should not be limited to these terms. These terms are only used to distinguish between switches located at different positions in the circuit. For example, a first switch may also be referred to as a second switch, and similarly, a second switch may also be referred to as a first switch, without departing from the scope of embodiments of the present invention.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in the article or device in which the element is included.

Alternative embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Example 1

The present embodiment provides an automatically controllable line connection control device, and fig. 1 is a structural diagram of a line connection control device according to an embodiment of the present invention, as shown in fig. 1, the line connection control device includes:

the detection module 11 is connected with the CAN bus 12 and used for detecting the voltage of the CAN bus 12; the CAN bus controller also comprises an MCU13, the input end of the MCU13 is connected with the detection module 11, the output end of the MCU13 is connected with the control module 14 and is used for controlling the on-off of a switch in the control module 14 according to the voltage of the CAN bus 12 so as to further control the on-state between the communication line 15 and the CAN bus 12, the voltage on two lines of the CAN bus of an external device is detected through the detection module, the on-off of the switch in the control module is controlled according to the voltage on the two lines of the CAN bus, further the on-state between the communication line and the CAN bus is controlled, when the CAN bus of the external device is connected with the communication line, the high line and the low line of the CAN bus CAN be automatically identified through the voltage on the two lines of the CAN bus, and are correspondingly connected and conducted with the high line and the low line of the communication line, the on-state of the automatic control line is realized, the reverse connection is avoided, and CAN promote CAN control system's reliability.

Fig. 2 is a specific structural diagram of a line connection control device according to an embodiment of the present invention, and as shown in fig. 2, in the CAN control system, the communication line 15 includes a communication line high line 151 and a communication line low line 152, and the CAN bus 12 includes a CAN bus first line 121 and a CAN bus second line 122, so that the conducting state includes: the communication line high line 151 is communicated with the CAN bus first line 121, and the communication line low line 152 is communicated with the CAN bus second line 122; or, the communication line high line 151 is conducted with the second line 122 of the CAN bus, the communication line low line 152 is conducted with the first line 121 of the CAN bus, when the communication line 15 is connected with the CAN bus 12, the CAN bus is connected with an external device, the external device is provided with an interface for connecting the CAN bus high line and an interface for connecting the CAN bus low line, the level on the CAN bus high line is relatively high, and the level on the CAN bus low line is relatively low, therefore, the high line of the CAN bus, the low line of the CAN bus, the high line of the communication line and the low line of the communication line must be correspondingly connected one by one, the high line of the CAN bus is connected with the high line of the communication line, and the low line of the CAN bus is connected with the low line of.

Fig. 3 is a structural diagram of a control module according to an embodiment of the present invention, in order to implement switching of conduction relationships between two lines of a communication line and two lines of a CAN bus, the line connection control device according to the above embodiment is further configured, as shown in fig. 3, the control module 14 further includes at least a first switch 141, a second switch 142, a third switch 143, and a fourth switch 144, where the first switch 141 is disposed between the communication line high line 151 and the CAN bus first line 121, when the first switch 141 is closed, the communication line high line 151 is conducted between the CAN bus first line 121, the second switch is disposed between the communication line low line 152 and the CAN bus second line 122, when the second switch 142 is closed, the communication line low line 152 is conducted between the CAN bus second line 122, and the third switch 143 is disposed between the communication line 151 and the CAN bus second line 122, when the third switch 143 is closed, the communication line high line 151 and the CAN bus second line 122 are conducted, the fourth switch is arranged between the communication line low line 152 and the CAN bus first line 121, when the fourth switch 144 is closed, the communication line low line 152 and the CAN bus first line 121 are conducted, by providing the first switch 141 and the third switch 143 between the communication line high line 151 and the CAN bus first line 121, and between the communication line high line 151 and the CAN bus second line 122, switching of the conduction states between the communication line high line 151 and the CAN bus first line 121 and the CAN bus second line 122 CAN be realized, and similarly, by providing the second switch 142 and the fourth switch 144 between the communication line low line 152 and the CAN bus second line 122, and between the communication line low line 152 and the CAN bus first line 121, switching of the conduction state between the communication line low line 152 and the CAN bus second line 122 and the CAN bus first line 121 CAN be achieved.

In order to realize that the conduction state of the communication line and the CAN bus is automatically switched according to the voltages on the two lines of the CAN bus without manually switching the conduction state of the line, on the basis that the line is connected with the control device, the MCU is specifically used for: by controlling the first switch and the second switch to be closed, the third switch and the fourth switch to be opened, the communication line high line and the CAN bus first line are controlled to be connected, and the communication line low line and the CAN bus second line are controlled to be connected; or the third switch and the fourth switch are controlled to be closed, the first switch and the second switch are disconnected, the communication line high line is controlled to be connected with the second line of the CAN bus, the communication line low line is controlled to be connected with the first line of the CAN bus, and the MCU13 controls the switch to be automatically closed, so that the automatic switching of the conduction state of the communication line and the CAN bus is realized, and the manual switching of the conduction state of the line is not needed.

In order to control the switch to be turned on or off by the signal sent by the MCU13, the first switch 141, the second switch 142, the third switch 143, or the fourth switch 144 may be a relay, an IGBT, a MOSFET, or other switching devices capable of being controlled by an electrical signal, based on the line connection control device.

It should be noted that, as will be understood by those skilled in the art, other components or devices are also required for implementing CAN communication control, for example, as shown in fig. 2, a CAN transceiver 16 is further included between the MCU13 and the communication line 15, and the other ends of the first line of the CAN bus and the second line of the CAN bus are connected to external devices, and therefore, in order to highlight the focus of the present invention, detailed descriptions thereof are omitted here.

Example 2

Fig. 4 is a structural diagram of a line connection control device according to another embodiment of the present invention, and as shown in fig. 4, the device includes a main processor module 33 (i.e., the MCU13 in the above embodiment), a CAN transceiver module 36 (i.e., the CAN transceiver 16 in the above embodiment), a control unit 34 (i.e., the control module 14 in the above embodiment), and a voltage detection device 31 (i.e., the detection module 11 in the above embodiment), the control unit 34 is disposed between two communication lines, namely, a communication line a line 351 and a communication line B line 352 (i.e., the communication line high line 151 and the communication line low line 152 in the above embodiment) of the communication lines and two external CAN buses, namely, a line 321 and a CAN bus B line 322 (i.e., the CAN bus first line 121 and the CAN bus second line 122 in the above embodiment), and the main processor module 33 controls the on and off of a plurality of switches in the control unit 34, when the communication line a and the communication line B of the communication device are connected to the CAN bus a and the CAN bus B321, 322, the connection sequence of the lines may be changed, so as to achieve the purpose of adjusting the connection sequence according to the difference in the level of the CAN bus.

The line connection control device CAN solve the problem that in industrial CAN communication, two lines of a CAN bus and two lines of a communication line are connected with a sequence requirement, when the sequence is connected reversely, the connection needs to be changed manually, and meanwhile, the reliability and convenience of termination in engineering application are improved.

Example 3

The embodiment provides a CAN control system, which comprises a line connection control device in the above embodiment, and is used for automatically identifying a high line and a low line of a CAN bus, and enabling the high line and the low line of the CAN bus to be correspondingly connected and conducted with a high line and a low line of a communication line, so that the conducting state of the automatic control line is realized, reverse connection is avoided, the circuit connection efficiency is improved, and the reliability of the CAN control system CAN be improved.

Example 4

This embodiment provides an automatically controllable line connection control method, and fig. 5 is a flowchart of the line connection control method according to the embodiment of the present invention, as shown in fig. 5, the control method includes:

s501, detecting CAN bus voltage, wherein the CAN bus voltage comprises a first line voltage of a CAN bus and a second line voltage of the CAN bus.

During specific implementation, the CAN bus voltage including a first line voltage of the CAN bus and a second line voltage of the CAN bus is detected through a detection module.

And S502, controlling the conduction state of the communication line and the CAN bus according to the first line voltage of the CAN bus and the second line voltage of the CAN bus.

In order to ensure that a high line and a low line of a CAN bus are connected with a high line and a low line of a communication line in a one-to-one correspondence manner, during specific implementation, the method for controlling the conduction state of the communication line and the CAN bus according to the voltage of a first line of the CAN bus and the voltage of a second line of the CAN bus comprises the following steps: receiving a detection value of a first line voltage of the CAN bus and a detection value of a second line voltage of the CAN bus; judging the magnitude relation between the detection value of the first line voltage of the CAN bus and the detection value of the second line voltage of the CAN bus; and controlling the conduction state of the communication line and the CAN bus according to the size relation. Detect the voltage on two lines of external device's CAN bus through detection module, according to the closing and the disconnection of the switch in the voltage control module on two lines of CAN bus, and then the on-state between control communication line and the CAN bus, when external device CAN bus is connected with the communication line, CAN pass through the voltage on two lines of CAN bus, automatic identification CAN bus altitude and CAN bus low line, and make its altitude and the corresponding connection of low line with the communication line switch on, realize the on-state of automatic control circuit, avoid connecing conversely, improve circuit connection efficiency, and CAN promote CAN control system's reliability.

In order to further ensure the conduction between the high line of the CAN bus and the high line of the communication line, and the low line of the CAN bus and the low line of the communication line, when the method is implemented, the conduction state of the communication line and the CAN bus is controlled according to the size relationship, and the method comprises the following steps: if the voltage detection value of the first line of the CAN bus is greater than the voltage detection value of the second line of the CAN bus, the first line of the CAN bus is a high line of the CAN bus, and the second line of the CAN bus is a low line of the CAN bus, so that the first line of the CAN bus and the high line of the communication line are controlled to be conducted, and the second line of the CAN bus and the low line of the communication line are controlled to be conducted; if CAN bus second line voltage detection value is greater than CAN bus first line voltage detection value, indicates that CAN bus second line is CAN bus altitude, and CAN bus first line is CAN bus low line, then control switch on between CAN bus second line and the communication line altitude, switch on between CAN bus first line and the communication line low line, CAN judge which circuit is CAN bus altitude through comparing CAN bus first line voltage detection value and CAN bus second line voltage detection value, which is CAN bus low line to realized that CAN bus's altitude switches on with the altitude of communication line, CAN bus's low line switches on with the low line of communication line.

In order to realize the one-to-one corresponding conduction of two lines of a CAN bus and two lines of a communication line, on the basis of the line connection control method, the method controls the conduction between a first line of the CAN bus and a high line of the communication line, and controls the conduction between a second line of the CAN bus and a low line of the communication line, and comprises the following steps: controlling the first switch and the second switch to be closed, and controlling the third switch and the fourth switch to be opened; control switch on between CAN bus second line and the communication line altitude, switch on between CAN bus first line and the communication line low line includes: and controlling the third switch and the fourth switch to be closed, and opening the first switch and the second switch. Wherein, the first switch is arranged between the communication line high line and the first line of the CAN bus, when the first switch is closed, the communication line high line and the first line of the CAN bus are conducted, the second switch is arranged between the communication line low line and the second line of the CAN bus, when the second switch is closed, the communication line low line and the second line of the CAN bus are conducted, the third switch is arranged between the communication line high line and the second line of the CAN bus, when the third switch is closed, the communication line high line and the second line of the CAN bus are conducted, the fourth switch is arranged between the communication line low line and the first line of the CAN bus, when the fourth switch is closed, the communication line low line and the first line of the CAN bus are conducted, and through controlling the first switch or the third switch to be closed, the switching of the conduction state between the communication line high line and the first line of the CAN bus or the second line of the CAN bus CAN be realized, similarly, the switching of the conduction state between the low line of the communication line and the second line of the CAN bus or between the first lines of the CAN bus CAN be realized by controlling the closing of the second switch or the fourth switch.

Example 5

This embodiment provides another line connection control method capable of automatic control, which is applied to the line connection control device of embodiment 2, and fig. 6 is a flowchart of a line connection control method according to another embodiment of the present invention, as shown in fig. 6, where the control method includes:

s601, detecting high and low levels of an external CAN bus through a voltage detection device, and sending a detection result to a main processor module;

s602, the main processor module judges whether the high and low levels of the CAN bus line A and the CAN bus line B correspond to the high and low levels of the communication line A and the communication line B according to the detection result;

s603, when the CAN bus A line and the CAN bus B line correspond to the high level and the low level of the communication line A line and the communication line B line, the main processor module outputs a control signal through a control signal line to control the first switch and the second switch to be closed and the third switch and the fourth switch to be opened, wherein the high level and the low level of the CAN bus A line and the CAN bus B line and the two communication line A lines and the two communication line B lines are corresponding to each other, namely, the CAN bus A line and the two communication line A lines are both high-level lines, the CAN bus B line and the two communication line B lines are both low-level lines, or the CAN bus A line and the two communication line A lines are both low-level lines, and the CAN bus B line and the two communication line B lines are both high-level lines;

s604, when the high and low levels of the CAN bus A line and the CAN bus B line do not correspond to those of the communication line A line and the communication line B line, the main processor module outputs control signals through the control signal line to control the first switch and the second switch to be switched off, and the third switch and the fourth switch to be switched on, wherein the fact that the high and low levels of the CAN bus A line and the CAN bus B line and the communication line A line and the communication line B line do not correspond to each other means that the communication line A line is a line with a higher level, the CAN bus A line is a line with a lower level, the communication line B line is a line with a lower level, and the CAN bus B line is a line with a higher level; or the communication line A line is a line with lower level and the CAN bus A line is a line with higher level, and the communication line B line is a line with higher level and the CAN bus B line is a line with lower level;

and S605, finishing the correct connection of the communication line and the CAN bus.

The line connection control method CAN solve the problem that in industrial CAN communication, the connection sequence between two lines of a CAN bus and two lines of a communication line is required, and when the sequence is reversed, the connection needs to be changed manually, and meanwhile, the reliability and convenience of termination in engineering application are improved.

Example 6

The present embodiment provides a computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the method of the above-described embodiment.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A line connection control apparatus, characterized in that the apparatus comprises:

2. The apparatus of claim 1, wherein the communication line comprises a communication line high line and a communication line low line, the CAN bus comprises a CAN bus first line and a CAN bus second line, and the on state comprises:

3. The apparatus of claim 2, wherein the control module comprises at least a first switch, a second switch, a third switch, and a fourth switch, wherein,

4. The apparatus according to claim 1, wherein the MCU is specifically configured to: by controlling the first switch and the second switch to be closed, the third switch and the fourth switch to be opened, the communication line high line and the CAN bus first line are controlled to be connected, and the communication line low line and the CAN bus second line are controlled to be connected;

alternatively, the first and second electrodes may be,

5. A CAN control system comprising the line connection control apparatus of any one of claims 1 to 4.

6. A line connection control method applied to a line connection control apparatus according to any one of claims 1 to 4, comprising:

7. The method of claim 6, wherein controlling the communication line to be conductive to the CAN bus based on the CAN bus first line voltage and the CAN bus second line voltage comprises:

8. The method of claim 7, wherein controlling the communication line to be in communication with the CAN bus according to the magnitude relationship comprises:

9. The method of claim 8 wherein controlling the conduction between the first CAN bus line and the high communication line and the conduction between the second CAN bus line and the low communication line comprises:

10. The method of claim 9 wherein controlling the conduction between the second CAN bus line and the high communication line and the conduction between the first CAN bus line and the low communication line comprises:

11. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 6 to 10.