CN111625282B - 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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- CN111625282B CN111625282B CN202010409848.5A CN202010409848A CN111625282B CN 111625282 B CN111625282 B CN 111625282B CN 202010409848 A CN202010409848 A CN 202010409848A CN 111625282 B CN111625282 B CN 111625282B
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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 collaborative sleep method and system for ensuring normal communication of a vehicle after IGOFF, which are applied to the collaborative sleep processing of the whole vehicle under the coexistence of Autosar network management, OSEK network management and master-slave sleep management in the vehicle. The gateway is used as a main control ECU for cooperative sleep, judges whether the ECU1 node meets the sleep condition through the CAN1 port, judges whether the ECU2 meets the sleep condition through the CAN2 port, and directly commands the ECU3 to sleep through the CAN3 port. The invention can realize cooperative sleep under the condition of different sleep modes and strategies of all controllers of the whole vehicle, thereby guaranteeing the universality of all controller parts 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 collaborative sleep method and system for ensuring normal communication of a vehicle after IGOFF, which are applied to the collaborative sleep processing of the whole vehicle under the coexistence of Autosar network management, OSEK network management and master-slave sleep management in the vehicle.
Background
The communication of the vehicle is mainly used for meeting the vehicle functions, some functions require the vehicle to still perform normal communication after IGOFF, and the current network management in use is Autosar network management, OSEK network management and master-slave sleep management modes.
In order to realize cooperative sleep, similar designs also need to monitor and analyze the conditions of each sub-network and node based on the gateway, but the specific implementation process and strategy may be different. And the current patent situation is queried, most of the problems are related to the strategy that the whole vehicle distributes different network groups according to functions, and controllers among the network groups sleep step by step according to the functions.
Disclosure of Invention
The invention provides a method and a system for collaborative sleep under the condition that different network management modes coexist in a vehicle type taking a CAN bus as a backbone network, which solve the problem of collaborative sleep of the whole vehicle under the condition that three network management modes of Autosar network management, OSEK network management and master-slave sleep management coexist in the vehicle.
The technical scheme of the invention is as follows in combination with the accompanying drawings:
a multi-subnet cooperative sleep method based on a CAN bus comprises the following steps:
step one, the ECU1 sleep condition meets the requirement that an Autosar network management message is stopped, a gateway monitors the Autosar network management message of the ECU1 through a CAN1 port, if the ECU1 stops sending the Autosar network management message, the step two is entered, otherwise, the step one is continuously executed;
step two, if the sleep condition of the ECU2 is met, an OSEK network management message with a sleep indication is sent, if the gateway monitors the OSEK network management message of the ECU2 through a CAN2 port, the step three is executed, otherwise, the step two is continuously executed;
step three, the gateway CAN1 port stops sending self Autosar network management messages;
step four, the gateway judges the stopping time of the CAN1 port self Autosar network management message, if the stopping 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 at the same time, so that the cooperative sleep of the whole vehicle is realized;
and step seven, after the whole vehicle is cooperatively sleepy, if any one node among the gateway, the ECU1, the ECU2 and the ECU3 is awakened, the whole vehicle is awakened to perform normal communication, and the sleeping process after the whole vehicle is awakened is the same as the above.
The ECU1 adopts Autosar network management.
The ECU2 adopts OSEK network management.
The ECU3 adopts master-slave network management with a gateway as a master controller.
A multi-subnet collaborative sleep based on a CAN bus 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 with the fourth node 2-3 through a CAN line.
The first node 1-1 is a gateway.
The second node 2-1 is an ECU1.
The third node 2-2 is an ECU2.
The fourth node 2-3 is an ECU3.
The beneficial effects of the invention are as follows:
the invention can realize cooperative sleep under the condition of different sleep modes and strategies of all controllers of the whole vehicle, thereby guaranteeing the universality of all controller parts and further shortening the project development period and the cost.
Drawings
FIG. 1 is a system block diagram 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, third node.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a multi-subnet cooperative sleep based on a 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 with the fourth node 2-3 through a CAN line. The first node 1-1 is a gateway. The second node 2-1 is an ECU1. The third node 2-2 is an ECU2. The ECU1 adopts Autosar network management. The ECU2 adopts OSEK network management. The ECU3 adopts master-slave network management with a gateway as a 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 sleep condition meets the requirement that an Autosar network management message is stopped, a gateway monitors the Autosar network management message of the ECU1 through a CAN1 port, if the ECU1 stops sending the Autosar network management message, the step two is entered, otherwise, the step one is continuously executed;
step two, if the sleep condition of the ECU2 is met, an OSEK network management message with a sleep indication is sent, if the gateway monitors the OSEK network management message of the ECU2 through a CAN2 port, the step three is executed, otherwise, the step two is continuously executed;
step three, the gateway CAN1 port stops sending self Autosar network management messages;
step four, the gateway judges the stopping time of the CAN1 port self Autosar network management message, if the stopping 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 at the same time, so that the cooperative sleep of the whole vehicle is realized;
and step seven, after the whole vehicle is cooperatively sleepy, if any one node among the gateway, the ECU1, the ECU2 and the ECU3 is awakened, the whole vehicle is awakened to perform normal communication, and the sleeping process after the whole vehicle is awakened is the same as the above.
Example 1
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 whole vehicle 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 satisfied. Because the sleep condition of the ECU1 is preferentially satisfied, the ECU1 stops sending the Autosar network management message. The gateway CAN1 port is connected with the ECU1 through a CAN line, so that the gateway CAN immediately monitor 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 that 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 monitor immediately after the ECU2 sends out an OSEK network management message with a sleep indication.
3) After the gateway monitors that the Autosar network management message of the ECU1 stops sending and the ECU2 sends out the OSEK network management message with the sleep indication, the Autosar network management message of the CAN1 port of the gateway stops sending.
4) After the gateway stops sending the Autosar network management message of the CAN1 port of the gateway, the gateway judges the self-stopping time and determines whether the stopping time is equal to 1 second.
5) After judging that the stop time of the Autosar network management message of the CAN1 port is 1 second, the gateway sends out an OSEK network management message with sleep response to the CAN2 port and sends out a sleep command signal to the CAN3 port.
6) At this time, the gateway CAN1 port and the ECU1 stop sending Autosar network management messages are both more than 1 second, the gateway CAN2 sends out OSEK network management messages with sleep response, the ECU2 also receives the network management messages, the gateway as a master control node for master-slave sleep management also sends out sleep command signals through the CAN3 port, and the ECU3 receives the sleep command signals correctly; so the whole vehicle can sleep cooperatively.
7) After the whole vehicle is cooperatively sleepy, if any node among the gateway, the ECU1, the ECU2 and the ECU3 is awakened, the whole vehicle is awakened to perform normal communication. The sleeping process after the whole car is awakened is the same as that above.
Example two
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 subsequently meets the whole vehicle collaborative sleep mode of the local sleep condition.
Referring to fig. 2, the whole vehicle 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 that 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 monitor immediately after the ECU2 sends out an OSEK network management message with a 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 flow.
2) According to the Autosar gateway management strategy, the controller stops sending the Autosar network management message after the sleep condition is satisfied. Since the ECU1 sleep condition is subsequently satisfied, the ECU1 stops sending Autosar network management messages. The gateway CAN1 port is connected with the ECU1 through a CAN line, so that the gateway CAN immediately monitor after the ECU1 stops sending the Autosar network management message.
3) Since the ECU2 has already satisfied the sleep condition, the step 4) is entered after the judgment.
4) The gateway monitors that the Autosar network management message of the ECU1 stops sending, and the ECU2 sends out the OSEK network management message with the sleep indication, and stops sending the Autosar network management message of the CAN1 port of the gateway.
5) After the gateway stops sending the Autosar network management message of the CAN1 port of the gateway, the gateway judges the self-stopping time and determines whether the stopping time is equal to 1 second.
6) After the gateway stops sending the Autosar network management message of the CAN1 port of the gateway for 1 second, the gateway sends out an OSEK network management message with sleep response to the CAN2 port and sends out a sleep command signal to the CAN3 port.
7) At this time, the gateway CAN1 port and the ECU1 stop sending Autosar network management messages are both more than 1 second, the gateway CAN2 sends out OSEK network management messages with sleep response, the ECU2 also receives the network management messages, the gateway as a master control node for master-slave sleep management also sends out sleep command signals through the CAN3 port, and the ECU3 receives the sleep command signals correctly; so the whole vehicle can sleep cooperatively.
8) After the whole vehicle is cooperatively sleepy, if any node among the gateway, the ECU1, the ECU2 and the ECU3 is awakened, the whole vehicle is awakened to perform normal communication. The sleeping process after the whole car is awakened is the same as that above.
Claims (4)
1. The multi-subnet cooperative sleep method based on the CAN bus is realized by a multi-subnet cooperative sleep system based on the CAN bus, and the multi-subnet cooperative sleep system based on the CAN bus 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 with the fourth node (2-3) through a CAN line; the first node (1-1) is a gateway; the second node (2-1) is an ECU1; the third node (2-2) is an ECU2; the fourth node (2-3) is an ECU3, and is characterized by comprising the steps of:
step one, the ECU1 sleep condition meets the requirement that an Autosar network management message is stopped, a gateway monitors the Autosar network management message of the ECU1 through a CAN1 port, if the ECU1 stops sending the Autosar network management message, the step two is entered, otherwise, the step one is continuously executed;
step two, if the sleep condition of the ECU2 is met, an OSEK network management message with a sleep indication is sent, if the gateway monitors the OSEK network management message of the ECU2 through a CAN2 port, the step three is executed, otherwise, the step two is continuously executed;
step three, the gateway CAN1 port stops sending self Autosar network management messages;
step four, the gateway judges the stopping time of the CAN1 port self Autosar network management message, if the stopping 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 at the same time, so that the cooperative sleep of the whole vehicle is realized;
and step seven, after the whole vehicle is cooperatively sleepy, if any one node among the gateway, the ECU1, the ECU2 and the ECU3 is awakened, the whole vehicle is awakened to perform normal communication, and the sleeping process after the whole vehicle is awakened is the same as the above.
2. The CAN bus-based multi-subnet collaborative sleep method according to claim 1, wherein the ECU1 adopts Autosar network management.
3. The CAN bus based multi-subnet collaborative sleep method according to claim 1 wherein the ECU2 employs OSEK network management.
4. The method for collaborative sleep based on multiple subnets of a CAN bus according to claim 1, wherein the ECU3 employs a master-slave network management with a gateway as a master controller.
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| CN113359570B (en) * | 2021-06-30 | 2023-04-11 | 一汽奔腾轿车有限公司 | Network substitution message sending system and method after power off of whole vehicle |
| CN115460034B (en) * | 2022-08-05 | 2023-10-17 | 东风汽车集团股份有限公司 | Controlled power supply network management system and method |
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