CN111625282A - Multi-subnet cooperative sleep method and system based on CAN bus - Google Patents
Multi-subnet cooperative sleep method and system based on CAN bus Download PDFInfo
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- CN111625282A CN111625282A CN202010409848.5A CN202010409848A CN111625282A CN 111625282 A CN111625282 A CN 111625282A CN 202010409848 A CN202010409848 A CN 202010409848A CN 111625282 A CN111625282 A CN 111625282A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/4401—Bootstrapping
- G06F9/4418—Suspend and resume; Hibernate and awake
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/4401—Bootstrapping
- G06F9/4416—Network booting; Remote initial program loading [RIPL]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- 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
- H04L12/403—Bus networks with centralised control, e.g. polling
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- 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
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
Abstract
The invention belongs to the technical field of software, and particularly relates to a CAN bus-based multi-subnet cooperative sleep method and a system, which are applied to the cooperative sleep processing of a whole vehicle under the coexistence condition of Autosar network management, OSEK network management and master-slave sleep management in the vehicle and ensure the normal communication of the vehicle after IGOFF. The gateway is used as a master control ECU for cooperative sleep, judges whether the ECU1 node meets the sleep condition through a CAN1 port, judges whether the ECU2 meets the sleep condition through a CAN2 port, and directly commands the ECU3 to sleep through a CAN3 port. The invention can realize cooperative sleep under the condition that the sleep modes and strategies of all controllers of the whole vehicle are different, thereby ensuring the universality of parts of all controllers and further shortening the project development period and the cost.
Description
Technical Field
The invention belongs to the technical field of software, and particularly relates to a CAN bus-based multi-subnet cooperative sleep method and a system, which are applied to the cooperative sleep processing of a whole vehicle under the coexistence condition of Autosar network management, OSEK network management and master-slave sleep management in the vehicle and ensure the normal communication of the vehicle after IGOFF.
Background
The communication of the vehicle is mainly used for meeting the vehicle functions, some functions require the vehicle to still be capable of normally communicating after IGOFF, the network management used at present comprises an Autosar network management mode, an OSEK network management mode and a master-slave sleep management mode, the borrowing and using modes are commonly adopted by various vehicle type controllers for saving cost and reducing development amount, so that the Autosar network management mode, the OSEK network management mode and the master-slave sleep management mode exist in the same vehicle at the same time, and a strategy is needed for cooperating the whole vehicle sleep mode.
In order to realize cooperative sleep, similar design also needs to monitor and analyze the conditions of each subnet and node based on the gateway, but the specific implementation process and strategy may be different. And the current patent condition is inquired, most of the strategies relate to that the whole vehicle is distributed with different network groups according to functions, and a controller among the network groups carries out step-by-step sleep according to the functions.
Disclosure of Invention
The invention provides a method and a system for cooperative sleep under the condition that different network management modes coexist in a vehicle type with a CAN bus as a backbone network, which solve the problem of cooperative sleep of a whole vehicle under the condition that three network management modes, namely an Autosar network management mode, an OSEK network management mode and a master-slave sleep management mode, coexist in a vehicle.
The technical scheme of the invention is described as follows by combining the attached drawings:
a multi-subnet cooperative sleep method based on a CAN bus comprises the following steps:
step one, the ECU1 stops sending the Autosar network management message when the sleep condition meets the requirement, the gateway monitors the Autosar network management message of the ECU1 through the CAN1 port, if the ECU1 stops sending the Autosar network management message, the step two is carried out, otherwise, the step one is continuously carried out;
step two, if the sleep condition of the ECU2 is met, sending an OSEK network management message with a sleep indication, monitoring the OSEK network management message of the ECU2 by the gateway through a CAN2 port, and executing the step three if the gateway monitors that the ECU2 sends the OSEK network management message with the sleep indication bit through the CAN2 port, otherwise, continuously executing the step two;
step three, the gateway CAN1 port stops sending the self Autosar network management message;
step four, the gateway judges the stop time of the Autosar network management message of the CAN1 port, if the stop time reaches 1 second, the step five is entered, otherwise, the step four is continuously executed;
step five, the gateway sends an OSEK network management message with a sleep response to the CAN2 port and sends a sleep signal instruction to the CAN3 port;
step six, the gateway, the ECU1, the ECU2 and the ECU3 enter a sleep state simultaneously, so that the cooperative sleep of the whole vehicle is realized;
and seventhly, after the whole vehicle is in cooperative sleep, if any node of the gateway, the ECU1, the ECU2 and the ECU3 is awakened, the whole vehicle is awakened to carry out normal communication, and the sleep process after the whole vehicle is awakened is the same as the above.
The ECU1 employs Autosar network management.
The ECU2 employs OSEK network management.
The ECU3 employs master-slave network management with a gateway as the master controller.
A CAN bus-based multi-subnet cooperative sleep comprises a first node 1-1, a second node 2-1, a third node 2-2 and a fourth node 2-3; the CAN1 port of the first node 1-1 is connected with the second node 2-1 through a CAN line; the CAN2 port of the first node 1-1 is connected with the third node 2-2 through a CAN line; the CAN3 port of the first node 1-1 is connected to the fourth node 2-3 via a CAN line.
The first node 1-1 is a gateway.
The second node 2-1 is the ECU 1.
The third node 2-2 is the ECU 2.
The fourth node 2-3 is the ECU 3.
The invention has the beneficial effects that:
the invention can realize cooperative sleep under the condition that the sleep modes and strategies of all controllers of the whole vehicle are different, thereby ensuring the universality of parts of all controllers and further shortening the project development period and the cost.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
In the figure: 1-1, a first node; 2-1, a second node; 2-2, and a third node.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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.
Referring to fig. 1, a multi-subnet cooperative sleep based on CAN bus includes a first node 1-1, a second node 2-1, a third node 2-2, and a fourth node 2-3; the CAN1 port of the first node 1-1 is connected with the second node 2-1 through a CAN line; the CAN2 port of the first node 1-1 is connected with the third node 2-2 through a CAN line; the CAN3 port of the first node 1-1 is connected to the fourth node 2-3 via a CAN line. The first node 1-1 is a gateway. The second node 2-1 is the ECU 1. The third node 2-2 is the ECU 2. The ECU1 employs Autosar network management. The ECU2 employs OSEK network management. The ECU3 employs master-slave network management with a gateway as the master controller.
Referring to fig. 2, a multi-subnet cooperative sleep method based on a CAN bus includes the following steps:
step one, the ECU1 stops sending the Autosar network management message when the sleep condition meets the requirement, the gateway monitors the Autosar network management message of the ECU1 through the CAN1 port, if the ECU1 stops sending the Autosar network management message, the step two is carried out, otherwise, the step one is continuously carried out;
step two, if the sleep condition of the ECU2 is met, sending an OSEK network management message with a sleep indication, monitoring the OSEK network management message of the ECU2 by the gateway through a CAN2 port, and executing the step three if the gateway monitors that the ECU2 sends the OSEK network management message with the sleep indication bit through the CAN2 port, otherwise, continuously executing the step two;
step three, the gateway CAN1 port stops sending the self Autosar network management message;
step four, the gateway judges the stop time of the Autosar network management message of the CAN1 port, if the stop time reaches 1 second, the step five is entered, otherwise, the step four is continuously executed;
step five, the gateway sends an OSEK network management message with a sleep response to the CAN2 port and sends a sleep signal instruction to the CAN3 port;
step six, the gateway, the ECU1, the ECU2 and the ECU3 enter a sleep state simultaneously, so that the cooperative sleep of the whole vehicle is realized;
and seventhly, after the whole vehicle is in cooperative sleep, if any node of the gateway, the ECU1, the ECU2 and the ECU3 is awakened, the whole vehicle is awakened to carry out normal communication, and the sleep process after the whole vehicle is awakened is the same as the above.
Example one
When the local sleep condition of the OSEK network management node ECU1 of a certain vehicle is preferentially met and the local sleep condition of the Autosar network management node ECU2 is met, the whole vehicle is in a cooperative sleep mode.
Referring to fig. 2, the overall cooperative sleep process is as follows:
1) according to the Autosar gateway management strategy, the controller stops sending the Autosar network management message after the sleep condition is met. Since the ECU1 sleep condition is preferentially satisfied, the ECU1 stops transmitting the Autosar network management message. The port of the gateway CAN1 is connected with the ECU1 through a CAN line, so the gateway CAN immediately monitor the message after the ECU1 stops sending the Autosar network management message.
2) According to the OSEK network management policy, the controller will send out an OSEK network management message with a sleep indication after the sleep condition is satisfied, so the ECU2 will send out an OSEK network management message with a sleep indication after the sleep condition is satisfied. The gateway CAN2 port is connected with the ECU2 through a CAN line, so that the gateway CAN immediately monitor the message after the ECU2 sends the OSEK network management message with the sleep indication.
3) And when the gateway monitors that the Autosar network management message of the ECU1 is stopped and the ECU2 sends an OSEK network management message with a sleep instruction, the Autosar network management message of the CAN1 port of the gateway is stopped.
4) After the gateway stops sending the Autosar network management message of the CAN1 port of the gateway, the gateway judges the self stop time and determines whether the stop time is equal to 1 second or not.
5) After judging that the stop time of the Autosar network management message of the CAN1 port of the gateway is 1 second, the gateway sends an OSEK network management message with a sleep response to the CAN2 port and sends a sleep command signal to the CAN3 port.
6) At the moment, the gateway CAN1 port and the ECU1 stop sending the Autosar network management message for more than 1 second, the gateway CAN2 sends an OSEK network management message with a sleep response, the ECU2 also receives the network management message, the gateway serving as a master control node of master-slave sleep management also sends a sleep command signal through the CAN3 port, and the ECU3 correctly receives the sleep command signal; therefore, the whole vehicle can sleep cooperatively.
7) After the whole vehicle is in cooperative sleep, if any node of the gateway, the ECU1, the ECU2 and the ECU3 is awakened, the whole vehicle is awakened to carry out normal communication. The sleeping process after the whole vehicle is awakened is the same as the above.
Example two
And the local sleep condition of the OSEK network management node 2-2 of a certain vehicle is preferentially met, but the Autosar network management node 2-1 meets the whole vehicle cooperative sleep mode of the local sleep condition later.
Referring to fig. 2, the overall cooperative sleep process is as follows:
1) according to the OSEK network management policy, the controller will send out an OSEK network management message with a sleep indication after the sleep condition is satisfied, so the ECU2 will send out an OSEK network management message with a sleep indication after the sleep condition is satisfied. The gateway CAN2 port is connected with the ECU2 through a CAN line, so that the gateway CAN immediately monitor the message after the ECU2 sends the OSEK network management message with the sleep indication. However, at this time, the sleep condition of the ECU1 is not satisfied, so the ECU2 and the gateway need to wait for the ECU1 to satisfy the sleep condition before proceeding to the subsequent processes.
2) According to the Autosar gateway management strategy, the controller stops sending the Autosar network management message after the sleep condition is met. Since the ECU1 sleep condition is subsequently satisfied, the ECU1 discontinues the Autosar network management message. The port of the gateway CAN1 is connected with the ECU1 through a CAN line, so the gateway CAN immediately monitor the message after the ECU1 stops sending the Autosar network management message.
3) Since the ECU2 has already satisfied the sleep condition, the determination proceeds to step 4).
4) The gateway monitors that the Autosar network management message of the ECU1 stops sending, the ECU2 sends an OSEK network management message with a sleep instruction, and the Autosar network management message of the CAN1 port of the gateway stops sending.
5) After the gateway stops sending the Autosar network management message of the CAN1 port of the gateway, the gateway judges the self stop time and determines whether the stop time is equal to 1 second or not.
6) After the gateway stops sending the Autosar network management message of the CAN1 port for 1 second, the gateway sends an OSEK network management message with a sleep response to the CAN2 port and sends a sleep command signal to the CAN3 port.
7) At the moment, the gateway CAN1 port and the ECU1 stop sending the Autosar network management message for more than 1 second, the gateway CAN2 sends an OSEK network management message with a sleep response, the ECU2 also receives the network management message, the gateway serving as a master control node of master-slave sleep management also sends a sleep command signal through the CAN3 port, and the ECU3 correctly receives the sleep command signal; therefore, the whole vehicle can sleep cooperatively.
8) After the whole vehicle is in cooperative sleep, if any node of the gateway, the ECU1, the ECU2 and the ECU3 is awakened, the whole vehicle is awakened to carry out normal communication. The sleeping process after the whole vehicle is awakened is the same as the above.
Claims (9)
1. A multi-subnet cooperative sleep method based on a CAN bus is characterized by comprising the following steps:
step one, the ECU1 stops sending the Autosar network management message when the sleep condition meets the requirement, the gateway monitors the Autosar network management message of the ECU1 through the CAN1 port, if the ECU1 stops sending the Autosar network management message, the step two is carried out, otherwise, the step one is continuously carried out;
step two, if the sleep condition of the ECU2 is met, sending an OSEK network management message with a sleep indication, monitoring the OSEK network management message of the ECU2 by the gateway through a CAN2 port, and executing the step three if the gateway monitors that the ECU2 sends the OSEK network management message with the sleep indication bit through the CAN2 port, otherwise, continuously executing the step two;
step three, the gateway CAN1 port stops sending the self Autosar network management message;
step four, the gateway judges the stop time of the Autosar network management message of the CAN1 port, if the stop time reaches 1 second, the step five is entered, otherwise, the step four is continuously executed;
step five, the gateway sends an OSEK network management message with a sleep response to the CAN2 port and sends a sleep signal instruction to the CAN3 port;
step six, the gateway, the ECU1, the ECU2 and the ECU3 enter a sleep state simultaneously, so that the cooperative sleep of the whole vehicle is realized;
and seventhly, after the whole vehicle is in cooperative sleep, if any node of the gateway, the ECU1, the ECU2 and the ECU3 is awakened, the whole vehicle is awakened to carry out normal communication, and the sleep process after the whole vehicle is awakened is the same as the above.
2. The CAN-bus-based multi-subnet cooperative sleep method as claimed in claim 1, wherein the ECU1 employs Autosar network management.
3. The CAN-bus-based multi-subnet cooperative sleep method as claimed in claim 1, wherein the ECU2 employs OSEK network management.
4. The CAN-bus-based multi-subnet cooperative sleep method as claimed in claim 1, wherein the ECU3 employs a master-slave network management using a gateway as a master controller.
5. A CAN bus-based multi-subnet cooperative sleep is characterized by comprising a first node (1-1), a second node (2-1), a third node (2-2) and a fourth node (2-3); the CAN1 port of the first node (1-1) is connected with the second node (2-1) through a CAN line; the CAN2 port of the first node (1-1) is connected with the third node (2-2) through a CAN line; the CAN3 port of the first node (1-1) is connected with the fourth node (2-3) through a CAN line.
6. A CAN-bus based multi-subnet cooperative sleep as claimed in claim 5 wherein the first node (1-1) is a gateway.
7. A CAN-bus based multi-subnet cooperative sleep as claimed in claim 5 wherein the second node (2-1) is ECU 1.
8. A CAN-bus based multi-subnet cooperative sleep as claimed in claim 5 wherein the third node (2-2) is ECU 2.
9. A CAN-bus based multi-subnet cooperative sleep as claimed in claim 5 wherein the fourth node (2-3) is ECU 3.
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