CN110879561B - Control method and device for reducing CAN bus congestion - Google Patents

Control method and device for reducing CAN bus congestion Download PDF

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CN110879561B
CN110879561B CN201911342138.9A CN201911342138A CN110879561B CN 110879561 B CN110879561 B CN 110879561B CN 201911342138 A CN201911342138 A CN 201911342138A CN 110879561 B CN110879561 B CN 110879561B
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vehicle
preset
filter
channel event
event trigger
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CN110879561A (en
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叶春兰
徐向阳
李想
张辉
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Shanghai Maxieye Automobile Technology Co ltd
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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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
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    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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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
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Abstract

The invention discloses a control method and a control device for reducing CAN bus congestion, aiming at finding an effective implementation scheme for reducing CAN bus congestion, wherein the method comprises the following steps: step S101: calling a preset input channel event trigger filter embedded in a first vehicle controller to filter vehicle signals collected according to a preset sampling period; step S102: transmitting the filtered vehicle signals to a second vehicle controller through a CAN bus, and calling an embedded preset output channel event trigger filter to filter the filtered vehicle signals again; step S103: and sending an output signal of the output channel event trigger filter to a vehicle execution system through the CAN bus so as to enable the vehicle to execute. According to the invention, the CAN bus congestion is reduced by double filtering of the preset input channel event trigger filter and the preset output channel event trigger filter.

Description

Control method and device for reducing CAN bus congestion
Technical Field
The invention relates to the field of automotive electronics, in particular to a control method and device for reducing CAN bus congestion.
Background
With the development of intelligent networked vehicles, more and more electronic controllers are arranged on automobiles to assist driving. During the driving process of an automobile, external traffic information including base stations or satellites around the automobile, automobile states, automobile environment signals and the like needs to be continuously collected, and the data is often interacted with other information in the automobile through a Controller Area Network (CAN), wherein a CAN bus is one of field buses which are most widely applied internationally.
However, due to the network bandwidth limitation and the influence of a large amount of environment image information, traffic information and other factors on the CAN bus, congestion is caused on the CAN bus, and a real-time signal is delayed. These will have a significant impact on vehicle stability control systems, vehicle safety, and vehicle comfort.
Disclosure of Invention
In order to find an effective implementation scheme for reducing CAN bus congestion, the invention provides a control method and a control device for reducing CAN bus congestion.
The first scheme is as follows:
the control method for reducing the CAN bus congestion comprises the following steps:
step S101: calling a preset input channel event trigger filter embedded in a first vehicle controller to filter vehicle signals collected according to a preset sampling period, wherein the vehicle signals comprise vehicle state information representing the self state of a vehicle and vehicle environment information representing a vehicle motion scene; the conditions for the preset input channel event triggering filter to allow the vehicle signal to pass are as follows:
Figure BDA0002332551190000021
wherein k represents the kth sampling period;
y (k) is the acquired vehicle signal;
Figure BDA0002332551190000022
is the output signal of the preset input channel event trigger filter;
Δ y (k) is
Figure BDA0002332551190000023
Absolute value of (d);
α 1 is a first preset coefficient;
step S102: transmitting the filtered vehicle signal to a second vehicle control unit through a CAN bus, and calling a preset output channel event trigger filter embedded in the second vehicle control unit to filter the filtered vehicle signal again, wherein the preset output channel event trigger filter allows the filtered vehicle signal to pass through the conditions that:
Figure BDA0002332551190000024
Figure BDA0002332551190000025
in the formula, K is a preset gain matrix of the second vehicle control unit;
k represents the kth sampling period;
u (k) is the input signal of the preset output channel event trigger filter;
Figure BDA0002332551190000026
is the output signal of the preset output channel event trigger filter;
Δ u (k) is
Figure BDA0002332551190000027
Absolute value of (d);
α 2 is a second preset coefficient;
step S103: and sending the output signal of the preset output channel event trigger filter to a vehicle execution system through a CAN (controller area network) bus so as to enable the vehicle to execute, wherein the vehicle execution system comprises one or more of a vehicle starting module, a vehicle steering module, a vehicle braking module and a vehicle driving system.
Preferably, after the calling of the preset input channel event trigger filter embedded in the first vehicle control unit filters the vehicle signal collected according to the preset sampling period, the method further includes the following steps:
and replacing the vehicle signal which is not allowed to pass through the preset input channel event trigger filter by the vehicle signal of the last sampling period and repeating the step S101.
Preferably, after invoking a preset output channel event trigger filter embedded in the second vehicle control unit to filter the filtered vehicle signal again, the method further includes the following steps:
the filtered vehicle signal that is not allowed to pass by the preset output channel event trigger filter is replaced with the vehicle signal of the last sampling period and step S101 is repeated.
Preferably, the first preset coefficient α 1 And said second preset coefficient alpha 2 Identical and are all 0.001.
Preferably, the preset gain matrix K is determined based on MATLAB simulation.
Scheme II:
the control device for reducing the CAN bus congestion comprises a first filtering module, a second filtering module and an execution module, wherein:
the first filtering module is used for calling a preset input channel event embedded in a first vehicle controller to trigger a filter to filter vehicle signals collected according to a preset sampling period, wherein the vehicle signals comprise vehicle state information representing the self state of a vehicle and vehicle environment information representing a vehicle motion scene; the conditions for the preset input channel event triggering filter to allow the vehicle signal to pass are as follows:
Figure BDA0002332551190000031
wherein k represents the kth sampling period;
y (k) is the acquired vehicle signal;
Figure BDA0002332551190000032
is the output signal of the preset input channel event trigger filter;
Δ y (k) is
Figure BDA0002332551190000033
Absolute value of (d);
α 1 is a first preset coefficient;
the second filtering module is configured to transmit the filtered vehicle signal to a second vehicle controller through a CAN bus, and call a preset output channel event trigger filter embedded in the second vehicle controller to filter the filtered vehicle signal again, where the preset output channel event trigger filter allows the filtered vehicle signal to pass through if:
Figure BDA0002332551190000034
Figure BDA0002332551190000035
in the formula, K is a preset gain matrix of the second vehicle control unit; k represents the kth sampling period;
u (k) is the input signal of the preset output channel event trigger filter;
Figure BDA0002332551190000041
is the output signal of the preset output channel event trigger filter;
Δ u (k) is
Figure BDA0002332551190000042
Absolute value of (d);
α 2 is a second preset coefficient;
and the execution module is used for sending the output signal of the preset output channel event trigger filter to a vehicle execution system through a CAN bus so as to enable the vehicle to execute, wherein the vehicle execution system comprises one or more of a vehicle starting module, a vehicle steering module, a vehicle braking module and a vehicle driving system.
Preferably, the control device for reducing the CAN bus congestion further comprises a first reset module, and the first reset module is configured to, after a preset input channel event trigger filter embedded in the first vehicle control unit is called to filter the vehicle signal collected according to the preset sampling period, replace the vehicle signal that is not allowed to pass through by the preset input channel event trigger filter with the vehicle signal of the previous sampling period, and repeatedly execute the first filtering module.
Preferably, the control device for reducing CAN bus congestion further comprises a second reset module, and the second reset module is used for replacing the filtered vehicle signal which is not allowed to pass through by the preset output channel event trigger filter with the vehicle signal of the last sampling period after the filtered vehicle signal is filtered again by calling the preset output channel event trigger filter embedded in the second vehicle controller and repeating the execution of the first filtering module.
Preferably, the first preset coefficient α 1 And said second preset coefficient alpha 2 Identical and are all 0.001.
Preferably, the preset gain matrix K is determined based on MATLAB simulation.
Compared with the prior art, the control method and the control device for reducing the CAN bus congestion have the following beneficial effects:
according to the control method and device for reducing the CAN bus congestion, disclosed by the embodiment of the invention, the CAN bus congestion is reduced through double filtering of the preset input channel event trigger filter and the preset output channel event trigger filter, and the stability, the safety and the comfort of a vehicle are enhanced to a certain extent. Meanwhile, the control method and the control device for reducing the CAN bus congestion have small change on the existing system, and are convenient for large-scale popularization and application.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic block diagram of a control apparatus for reducing CAN bus congestion according to another embodiment of the present invention.
The labels in the figures illustrate:
202. a first filtration module;
204. a second filtration module;
206. and executing the module.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The embodiment of the invention provides a control method for reducing CAN bus congestion, which is applied to the field of automatic control of automobiles and comprises the following steps of S101-S103:
step S101: calling a preset input channel event trigger filter embedded in a first vehicle controller to filter vehicle signals collected according to a preset sampling period, wherein the vehicle signals comprise vehicle state information representing the self state of a vehicle and vehicle environment information representing a vehicle motion scene; the conditions for the preset input channel event triggering filter to allow the vehicle signal to pass are as follows:
Figure BDA0002332551190000051
wherein k represents the kth sampling period;
y (k) is the acquired vehicle signal;
Figure BDA0002332551190000052
is the output signal of the preset input channel event trigger filter;
Δ y (k) is
Figure BDA0002332551190000061
Absolute value of (d);
α 1 is a first preset coefficient.
A Vehicle Controller Unit (VCU), wherein the VCU is a core control component of the entire vehicle, and collects an accelerator pedal signal, a brake pedal signal and other component signals, and controls the actions of the controllers of the components on the lower layer after making corresponding determinations, so as to drive the vehicle to normally run. As a command management center of an automobile, a power assembly controller mainly has the following functions: the system comprises a driving torque control device, a brake energy optimization control device, a whole vehicle energy management device, a CAN network maintenance and management device, a fault diagnosis and treatment device, a vehicle state monitoring device and the like, wherein the driving torque control device, the brake energy optimization control device, the whole vehicle energy management device, the CAN network maintenance and management device, the fault diagnosis and treatment device, the vehicle state monitoring device and the like play a role in controlling vehicle operation.
Preferably, the predetermined input channel event trigger filter is embedded in a separate vehicle control unit, i.e. the first vehicle control unit.
In some embodiments, after invoking a preset input channel event trigger filter embedded in the first vehicle control unit to filter the vehicle signal collected according to the preset sampling period, the method further comprises the following steps:
the vehicle signal that is not allowed to pass through the filter filtering triggered by the preset input channel event is replaced by the vehicle signal of the last sampling period and the step S101 is repeated.
Step S102: transmitting the filtered vehicle signal to a second vehicle control unit through a CAN bus, and calling a preset output channel event trigger filter embedded in the second vehicle control unit to filter the filtered vehicle signal again, wherein the preset output channel event trigger filter allows the filtered vehicle signal to pass through the conditions that:
Figure BDA0002332551190000062
Figure BDA0002332551190000063
in the formula, K is a preset gain matrix of the second vehicle control unit; k represents the kth sampling period;
u (k) is the input signal of the preset output channel event trigger filter;
Figure BDA0002332551190000064
is the output signal of the preset output channel event trigger filter;
Δ u (k) is
Figure BDA0002332551190000065
Absolute value of (d);
α 2 is the second preset coefficient.
In some embodiments, the preset gain matrix K is determined based on MATLAB simulations. The control algorithm of the preset gain matrix K may be an off-line algorithm, such as a robust algorithm, or an on-line algorithm, such as a model predictive control, which is not limited in this embodiment of the present invention.
Preferably, K ═ 0.26, -1.63, -2.55, 3.31.
In some embodiments, the second preset coefficient α 2 And a first preset coefficient alpha 1 Identical and are all 0.001.
Preferably, after invoking a preset output channel event trigger filter embedded in the second vehicle control unit to filter the filtered vehicle signal again, the method further comprises the following steps:
replacing the filtered vehicle signal not allowed to pass by the preset output channel event trigger filter with the vehicle signal of the last sampling period and repeating step S101
Step S103: and sending the output signal of the preset output channel event trigger filter to a vehicle execution system through a CAN (controller area network) bus so as to enable the vehicle to execute, wherein the vehicle execution system comprises one or more of a vehicle starting module, a vehicle steering module, a vehicle braking module and a vehicle driving system.
Compared with the prior art, the control method for reducing CAN bus congestion provided by the embodiment of the invention has the following beneficial effects:
according to the control method for reducing the CAN bus congestion, disclosed by the embodiment of the invention, the CAN bus congestion is reduced through double filtering of the preset input channel event trigger filter and the preset output channel event trigger filter, and the stability, the safety and the comfort of a vehicle are enhanced to a certain extent. Meanwhile, the control method for reducing the CAN bus congestion has small change to the existing system, and is convenient for large-scale popularization and application.
Referring to fig. 1, based on the same inventive concept as the method for controlling a CAN bus congestion reduction according to an embodiment of the present invention, another embodiment of the present invention provides a control apparatus for reducing a CAN bus congestion, which includes a first filtering module 202, a second filtering module 204, and an executing module 206, wherein:
the first filtering module 202 is configured to invoke a preset input channel event embedded in the first vehicle controller to trigger a filter to filter a vehicle signal acquired according to a preset sampling period, where the vehicle signal includes vehicle state information representing a vehicle state and vehicle environment information representing a vehicle motion scene; the conditions for the preset input channel event triggering filter to allow the vehicle signal to pass are:
Figure BDA0002332551190000081
wherein k represents the kth sampling period;
y (k) is the acquired vehicle signal;
Figure BDA0002332551190000082
is the output signal of the preset input channel event trigger filter;
Δ y (k) is
Figure BDA0002332551190000083
Absolute value of (d);
α 1 is a first preset coefficient;
a second filtering module 204, configured to transmit the filtered vehicle signal to a second vehicle controller through a CAN bus, and call a preset output channel event trigger filter embedded in the second vehicle controller to filter the filtered vehicle signal again, where the condition that the preset output channel event trigger filter allows the filtered vehicle signal to pass through is:
Figure BDA0002332551190000084
Figure BDA0002332551190000085
in the formula, K is a preset gain matrix of the second vehicle controller; k represents the kth sampling period;
u (k) is the input signal of the preset output channel event trigger filter;
Figure BDA0002332551190000086
is the output signal of the preset output channel event trigger filter;
Δ u (k) is
Figure BDA0002332551190000087
Absolute value of (d);
α 2 is a second preset coefficient;
and the execution module 206 is used for sending the output signal of the preset output channel event trigger filter to a vehicle execution system through a CAN bus so as to enable the vehicle to execute, wherein the vehicle execution system comprises one or more of a vehicle starting module, a vehicle steering module, a vehicle braking module and a vehicle driving system.
Preferably, the control device for reducing the CAN bus congestion further comprises a first reset module, and the first reset module is configured to replace the vehicle signal that is not allowed to be filtered by the preset input channel event trigger filter with the vehicle signal of the previous sampling period and repeatedly execute the first filtering module 202 after the preset input channel event trigger filter embedded in the first vehicle control unit is called to filter the vehicle signal collected according to the preset sampling period.
Preferably, the control apparatus for reducing CAN bus congestion further comprises a second reset module, configured to replace the filtered vehicle signal that is not allowed to pass by the preset output channel event trigger filter with the vehicle signal of the previous sampling period and repeatedly execute the first filtering module 202 after the filtered vehicle signal is filtered again by invoking the preset output channel event trigger filter embedded in the second vehicle controller.
In some embodiments, the first preset coefficient α 1 And a second preset coefficient alpha 2 Identical and are all 0.001.
In some embodiments, the preset gain matrix K is determined based on MATLAB simulation.
Compared with the prior art, the control device for reducing the CAN bus congestion in the other embodiment of the invention has the following beneficial effects:
according to another embodiment of the control device for reducing the CAN bus congestion, the CAN bus congestion is reduced through double filtration of the first filtering module 202 and the second filtering module 204, and the stability, the safety and the comfort of a vehicle are enhanced to a certain extent. Meanwhile, the control device for reducing the CAN bus congestion has small change on the existing system, and is convenient for large-scale popularization and application.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A control method for reducing CAN bus congestion is characterized by comprising the following steps:
step S101: calling a preset input channel event trigger filter embedded in a first vehicle controller to filter vehicle signals collected according to a preset sampling period, wherein the vehicle signals comprise vehicle state information representing the self state of a vehicle and vehicle environment information representing a vehicle motion scene; the conditions for the preset input channel event triggering filter to allow the vehicle signal to pass are as follows:
Figure FDA0002332551180000011
wherein k represents the kth sampling period;
y (k) is the acquired vehicle signal;
Figure FDA0002332551180000016
is the output signal of the preset input channel event trigger filter;
Δ y (k) is
Figure FDA0002332551180000017
Absolute value of (d);
α 1 is a first preset coefficient;
step S102: transmitting the filtered vehicle signal to a second vehicle control unit through a CAN bus, and calling a preset output channel event trigger filter embedded in the second vehicle control unit to filter the filtered vehicle signal again, wherein the preset output channel event trigger filter allows the filtered vehicle signal to pass through the conditions that:
Figure FDA0002332551180000012
Figure FDA0002332551180000013
in the formula, K is a preset gain matrix of the second vehicle control unit;
k represents the kth sampling period;
u (k) is the input signal of the preset output channel event trigger filter;
Figure FDA0002332551180000014
is the output signal of the preset output channel event trigger filter;
Δ u (k) is
Figure FDA0002332551180000015
The absolute value of (a);
α 2 is a second preset coefficient;
step S103: and sending the output signal of the preset output channel event trigger filter to a vehicle execution system through a CAN (controller area network) bus so as to enable the vehicle to execute, wherein the vehicle execution system comprises one or more of a vehicle starting module, a vehicle steering module, a vehicle braking module and a vehicle driving system.
2. The method of controlling CAN bus congestion reduction as set forth in claim 1, wherein after invoking the preset input channel event trigger filter embedded in the first vehicle controller to filter the vehicle signal collected according to the preset sampling period, further comprising the steps of:
and replacing the vehicle signal which is not allowed to pass through the preset input channel event trigger filter by the vehicle signal of the last sampling period and repeating the step S101.
3. The control method for reducing CAN bus congestion as set forth in claim 2, wherein after invoking a preset output channel event trigger filter embedded in the second vehicle controller to re-filter the filtered vehicle signal, further comprising the steps of:
the filtered vehicle signal that is not allowed to pass by the preset output channel event trigger filter is replaced with the vehicle signal of the last sampling period and step S101 is repeated.
4. The control method for reducing CAN bus congestion as set forth in claim 1, wherein the first preset factor α is 1 And said second preset coefficient alpha 2 Identical and are all 0.001.
5. The control method for reducing CAN bus congestion as set forth in claim 1, wherein the preset gain matrix K is determined based on MATLAB simulation.
6. The control device for reducing the CAN bus congestion is characterized by comprising a first filtering module, a second filtering module and an execution module, wherein:
the first filtering module is used for calling a preset input channel event embedded in a first vehicle controller to trigger a filter to filter vehicle signals collected according to a preset sampling period, wherein the vehicle signals comprise vehicle state information representing the self state of a vehicle and vehicle environment information representing a vehicle motion scene; the conditions for the preset input channel event triggering filter to allow the vehicle signal to pass are as follows:
Figure FDA0002332551180000021
wherein k represents the kth sampling period;
y (k) is the acquired vehicle signal;
Figure FDA0002332551180000031
is the output signal of the preset input channel event trigger filter;
Δ y (k) is
Figure FDA0002332551180000032
Absolute value of (d);
α 1 is a first preset coefficient;
the second filtering module is configured to transmit the filtered vehicle signal to a second vehicle controller through a CAN bus, and call a preset output channel event trigger filter embedded in the second vehicle controller to filter the filtered vehicle signal again, where the preset output channel event trigger filter allows the filtered vehicle signal to pass through if:
Figure FDA0002332551180000033
Figure FDA0002332551180000034
in the formula, K is a preset gain matrix of the second vehicle control unit; k represents the kth sampling period;
u (k) is the input signal of the preset output channel event trigger filter;
Figure FDA0002332551180000035
is the output signal of the preset output channel event trigger filter;
Δ u (k) is
Figure FDA0002332551180000036
Absolute value of (d);
α 2 is a second preset coefficient;
and the execution module is used for sending the output signal of the preset output channel event trigger filter to a vehicle execution system through a CAN bus so as to enable the vehicle to execute, wherein the vehicle execution system comprises one or more of a vehicle starting module, a vehicle steering module, a vehicle braking module and a vehicle driving system.
7. The CAN bus congestion reduction control apparatus as claimed in claim 6, further comprising a first reset module, wherein the first reset module is configured to replace the vehicle signal that is not allowed to pass through by the preset input channel event trigger filter after the preset input channel event trigger filter embedded in the first vehicle control unit is invoked to filter the vehicle signal collected according to the preset sampling period with the vehicle signal of the previous sampling period and repeatedly execute the first filtering module.
8. The CAN bus congestion reduction control apparatus of claim 7, further comprising a second reset module for replacing and repeating said executing the first filtering module with a vehicle signal of a previous sampling period for the filtered vehicle signal that is not allowed to pass by a preset output channel event trigger filter embedded in the second vehicle controller after invoking the preset output channel event trigger filter to re-filter the filtered vehicle signal.
9. The CAN bus congestion reduction control apparatus of claim 6, wherein the first preset factor α is 1 And said second preset coefficient alpha 2 Identical and are all 0.001.
10. The control apparatus for reducing CAN bus congestion as set forth in claim 6, wherein the preset gain matrix K is determined based on MATLAB simulation.
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