CN111682993A - Automobile CAN bus signal simulation method and device - Google Patents
Automobile CAN bus signal simulation method and device Download PDFInfo
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- CN111682993A CN111682993A CN202010801516.1A CN202010801516A CN111682993A CN 111682993 A CN111682993 A CN 111682993A CN 202010801516 A CN202010801516 A CN 202010801516A CN 111682993 A CN111682993 A CN 111682993A
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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
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/14—Network analysis or design
- H04L41/145—Network analysis or design involving simulating, designing, planning or modelling of a network
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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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Abstract
The invention provides a CAN bus signal simulation method for an automobile, which is characterized in that a diagnosis command is sent to a whole automobile network through an upper computer, one or more controllers are controlled to enter a message transmission forbidding mode, CAN messages sent by the controllers before transmission forbidding are obtained at the same time, the CAN messages are subjected to assignment processing again according to requirements to form simulation messages, and then the simulation messages are periodically sent to a CAN bus, so that CAN message signals of one CAN controller are simulated. The invention also provides a corresponding device. By implementing the invention, the CAN signal sent by the controller CAN be simulated without disconnecting the physical connection between the controller and the real vehicle, and meanwhile, the seamless switching between the CAN signal of the real controller and the simulated message signal CAN be realized.
Description
Technical Field
The invention relates to the technical field of Controller Area Network (CAN) bus verification in the automobile development process, in particular to a method and a device for simulating automobile CAN bus signals.
Background
In the process of automobile development, a processing logic for losing a CAN bus signal value and a signal of an analog controller connected to a CAN bus is needed.
In the existing CAN bus signal simulation method, a signal value and loss time in a CAN signal need to be simulated in an off-line state of a simulated controller (for example, a controller CAN line is disconnected or power supply is lost). In the existing mode, if simulation in a real vehicle environment is required, a simulated controller needs to be offline. Along with the increase of vehicle controllers, the arrangement positions of the controllers are more complex, and the plugging difficulty of the connectors is more and more large, so that the method in the prior art is very difficult and time-consuming to implement, and meanwhile, the simulation CAN signals and the actual controller CAN signals lack continuity, and the simulation signal effect is reduced.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a device for simulating a CAN bus signal of an automobile, which CAN simulate the CAN message signal of a simulated controller without making the simulated controller in an off-line state and have good connection linearity.
In order to solve the above technical problems, an aspect of the present invention provides a method for simulating a CAN bus signal of an automobile, implemented in an upper computer connected to the CAN bus, the method including the steps of:
step S10, after waking up the CAN network of the whole vehicle, determining at least one controller connected to the CAN bus as a simulated controller, and enabling the simulated controller to enter an extension mode through session service;
step S11, obtaining and storing the current message of the simulated controller;
step S12, the simulated controller enters a forbidding mode through the communication control service;
step S13, modifying the stored message according to the requirement to form a simulation message;
step S14, according to the message sending period of the simulated controller, starting a timer of the corresponding period, and periodically sending the simulated message to the CAN bus;
and step S15, receiving a feedback signal from the CAN bus to the simulation message, canceling the timer after the simulation is finished, and enabling the entering simulated controller to exit the forbidden mode through the communication control service.
Wherein the step S10 further includes:
and the upper computer continuously sends a 3E instruction to keep the simulated controller in the current session mode.
Wherein the step S13 further includes:
and modifying the stored signal value in the current message from the simulated controller, and correspondingly updating the counter value and the checksum value of the message to form the simulated message.
Wherein the communication control service is a 28 service in the ISO14229 standard.
Wherein the step S14 further includes:
and automatically updating the signal value in the simulation message through CAPL programming according to the requirement, waiting for the arrival of the next timing period, and automatically sending the updated simulation message to the CAN bus.
Correspondingly, the invention also provides a device for simulating the CAN bus signals of the automobile, which comprises:
the system comprises an extended mode enabling unit, a simulation unit and a simulation unit, wherein the extended mode enabling unit is used for determining at least one controller connected to a CAN bus as a simulated controller after awakening a whole vehicle CAN network, and enabling the simulated controller to enter an extended mode through session service;
the simulated controller message acquisition unit is used for acquiring and storing the current message of the simulated controller;
a disable mode enabling unit for enabling the simulated controller to enter a disable mode through a communication control service;
the simulation message generating unit is used for modifying the stored message according to the requirement to form a simulation message;
the period sending unit is used for starting a timer of a corresponding period according to the message sending period of the simulated controller and periodically sending the simulated message to the CAN bus;
and the forbidden sending mode exit unit is used for receiving a feedback signal of the CAN bus to the simulation message, canceling the timer after the simulation is finished, and enabling the entering simulated controller to exit the forbidden sending mode through the communication control service.
Wherein the extended mode enabling unit further comprises:
and the session maintaining unit is used for continuously sending a 3E instruction to maintain the current session mode with the simulated controller.
Wherein the analog packet generating unit is specifically configured to:
and modifying the stored signal value in the current message from the simulated controller, and correspondingly updating the counter value and the checksum value of the message to form the simulated message.
Wherein the communication control service is a 28 service in the ISO14229 standard.
Wherein the periodic transmission unit further includes:
and the automatic updating unit is used for automatically updating the signal value in the analog message through CAPL programming according to the requirement, waiting for the arrival of the next timing period and automatically sending the updated analog message to the CAN bus.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a method and a device for simulating an automobile CAN bus signal; in the whole vehicle environment, the simulated controller enters a signal forbidden mode through a diagnosis instruction, and then the simulated controller is simulated through a bus method to send a simulation message to a CAN bus, so that the effect of simulating the message sending without dismounting the controller is achieved;
meanwhile, the simulation message is retransmitted on the CAN bus according to the transmission period of the simulated controller, so that the signal transmitted by the actual controller and the simulation message signal have good continuity, the simulation effect is closer to the actual situation, and support is provided for verifying the logic of the signal processed by the controller.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.
FIG. 1 is a schematic main flow chart of an embodiment of a method for simulating a CAN bus signal of an automobile according to the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of a method and apparatus for simulating a CAN bus signal of an automobile according to the present invention;
FIG. 3 is a schematic diagram of the extended mode enable unit of FIG. 2;
fig. 4 is a schematic structural diagram of the periodic transmitting unit in fig. 2.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 shows a main flow diagram of an embodiment of a method for simulating a CAN bus signal of an automobile according to the present invention. In this embodiment, the method is implemented in an upper computer connected to the CAN bus, and includes the following steps:
step S10, after waking up the CAN network of the whole vehicle, determining at least one controller connected to the CAN bus as a simulated controller, and enabling the simulated controller to enter an extension mode through session service;
wherein the step S10 further includes:
the upper computer continuously sends a 3E instruction to keep the simulated controller in a current session mode;
step S11, obtaining and storing the current message of the simulated controller; specifically, the current message of the automatic simulated controller CAN be programmed through a CAPL (CAN bus Access programming language) in CANoe software;
step S12, the simulated controller enters a forbidding mode through the communication control service; the communication control service here is a 28 service in the ISO14229 standard;
step S13, modifying the stored message according to the requirement to form a simulation message; specifically, the stored signal value in the current message from the simulated controller is modified as required, and the count value (counter) and the check value (checksum) of the message are updated accordingly to form a simulated message, which can be used for fault simulation, for example.
Step S14, according to the message sending period of the simulated controller, starting a timer of the corresponding period, and periodically sending the simulated message to the CAN bus;
it is understood that, in some examples, the step S14 further includes:
and automatically updating the signal value in the simulation message through CAPL programming according to the requirement, waiting for the arrival of the next timing period, and automatically sending the updated simulation message to the CAN bus.
And step S15, receiving a feedback signal for the simulation message from the CAN bus, canceling the timer after the simulation is finished, and enabling the entering simulated controller to exit the forbidden mode through the communication control service (28 service).
To facilitate an understanding of the present invention, the following description is provided in connection with a specific application scenario:
in one application scenario, for example, the response condition of the new energy vehicle controller to the braking system torque request under a certain working condition needs to be tested. If the vehicle bends at a speed of 60Km/h, the brake system controller enters a forbidding mode, the upper computer stores all signal values (such as vehicle speed, yaw angular acceleration and the like) before forbidding, a simulation message is formed after the torque request value is modified (corresponding check signals are updated simultaneously, and other signal values are kept unchanged), and the simulation message signal is retransmitted to the bus by the transmission behavior of the simulation brake system. By analogy, other signal requests or faults can be simulated by using the method, and the simulation can be carried out according to different working conditions in the running process of the vehicle, so that the real controller and the simulation controller are repeatedly switched, and the receiving node is not sensed.
Fig. 2 is a schematic structural diagram of an automotive CAN bus signal simulation apparatus according to the present invention, which is shown in fig. 3 and 4. In this embodiment, the car CAN bus signal simulation device 1 CAN be realized by an upper computer, and includes:
the system comprises an extended mode enabling unit 10, a CAN bus and a simulation controller, wherein the extended mode enabling unit is used for determining at least one controller connected to the CAN bus as a simulated controller after a whole vehicle CAN network is awakened, and enabling the simulated controller to enter an extended mode through session service;
the simulated controller message acquisition unit 11 is configured to acquire and store a current message of the simulated controller;
a disable mode enabling unit 12 for enabling the simulated controller to enter a disable mode through a communication control service; wherein the communication control service is a 28 service in the ISO14229 standard;
the simulation message generating unit 13 is configured to modify the stored message according to a requirement to form a simulation message; specifically, in an example, the analog packet generating unit 13 is specifically configured to:
modifying the stored signal value in the current message from the simulated controller, and correspondingly updating the counter value and the checksum value of the message to form a simulated message;
a period sending unit 14, configured to start a timer of a corresponding period according to a message sending period of the simulated controller, and periodically send the simulated message to the CAN bus;
and the forbidden sending mode exit unit 15 is used for receiving a feedback signal of the CAN bus to the simulation message, canceling the timer after the simulation is finished, and enabling the entering simulated controller to exit the forbidden sending mode through the communication control service.
In a specific example, the extended mode enabling unit 10 further includes:
and the conversation maintaining unit 100 is used for continuously sending a 3E instruction to maintain the current conversation mode with the simulated controller.
In a specific example, the periodic transmission unit further includes:
and the automatic updating unit 150 is used for automatically updating the signal value in the analog message through CAPL programming according to the requirement, waiting for the arrival of the next timing period, and automatically sending the updated analog message to the CAN bus.
For more details, reference may be made to the preceding description of fig. 1, which is not detailed here.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a method and a device for simulating an automobile CAN bus signal; in the whole vehicle environment, the simulated controller enters a signal forbidden mode through a diagnosis instruction, and then the simulated controller is simulated through a bus method to send a simulation message to a CAN bus, so that the effect of simulating the message sending without dismounting the controller is achieved;
meanwhile, the simulation message is retransmitted on the CAN bus according to the transmission period of the simulated controller, so that the signal transmitted by the actual controller and the simulation message signal have good continuity, the simulation effect is closer to the actual situation, and support is provided for verifying the logic of the signal processed by the controller.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. A method for simulating automobile CAN bus signals is realized in an upper computer connected to a CAN bus, and is characterized by comprising the following steps:
step S10, after waking up the CAN network of the whole vehicle, determining at least one controller connected to the CAN bus as a simulated controller, and enabling the simulated controller to enter an extension mode through session service;
step S11, obtaining and storing the current message of the simulated controller;
step S12, making the simulated controller enter into a forbidden mode through a communication control service;
step S13, modifying the stored message according to the requirement to form a simulation message;
step S14, according to the message sending period of the simulated controller, starting a timer of the corresponding period, and periodically sending the simulated message to the CAN bus;
and step S15, receiving a feedback signal from the CAN bus to the simulation message, canceling the timer after the simulation is finished, and enabling the entering simulated controller to exit the forbidden mode through the communication control service.
2. The method of claim 1, wherein the step S10 further comprises:
and the upper computer continuously sends a 3E instruction to keep the simulated controller in the current session mode.
3. The method of claim 2, wherein the step S13 further comprises:
and modifying the stored signal value in the current message from the simulated controller, and correspondingly updating the count value and the check value of the message to form a simulated message.
4. The method of claim 3, wherein the communication control service is a 28 service in the ISO14229 standard.
5. The method according to any one of claims 1 to 4, wherein the step S14 further comprises:
and automatically updating the signal value in the simulation message through CAPL programming according to the requirement, waiting for the arrival of the next timing period, and automatically sending the updated simulation message to the CAN bus.
6. An automobile CAN bus signal simulation device is characterized by comprising:
the system comprises an extended mode enabling unit, a simulation unit and a simulation unit, wherein the extended mode enabling unit is used for determining at least one controller connected to a CAN bus as a simulated controller after awakening a whole vehicle CAN network, and enabling the simulated controller to enter an extended mode through session service;
the simulated controller message acquisition unit is used for acquiring and storing the current message of the simulated controller;
a disable mode enabling unit for enabling the simulated controller to enter a disable mode through a communication control service;
the simulation message generating unit is used for modifying the stored message according to the requirement to form a simulation message;
the period sending unit is used for starting a timer of a corresponding period according to the message sending period of the simulated controller and periodically sending the simulated message to the CAN bus;
and the forbidden sending mode exit unit is used for receiving a feedback signal of the CAN bus to the simulation message, canceling the timer after the simulation is finished, and enabling the entering simulated controller to exit the forbidden sending mode through the communication control service.
7. The apparatus of claim 6, wherein the extended mode enable unit further comprises:
and the session maintaining unit is used for continuously sending a 3E instruction to maintain the current session mode with the simulated controller.
8. The apparatus of claim 7, wherein the analog message generating unit is specifically configured to:
and modifying the stored signal value in the current message from the simulated controller, and correspondingly updating the count value and the check value of the message to form a simulated message.
9. The apparatus of claim 8, wherein the communication control service is a 28 service in the ISO14229 standard.
10. The apparatus of any of claims 6 to 9, wherein the periodic transmission unit further comprises:
and the automatic updating unit is used for automatically updating the signal value in the analog message through CAPL programming according to the requirement, and automatically sending the updated analog message to the CAN bus after waiting for the next timing period to arrive.
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Cited By (4)
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| CN112491681A (en) * | 2020-12-08 | 2021-03-12 | 浙江合众新能源汽车有限公司 | Method and system for reading automobile bus data |
| CN112651124A (en) * | 2020-12-24 | 2021-04-13 | 浙江合众新能源汽车有限公司 | Simulation test method and system for automobile compressor |
| CN113341923A (en) * | 2021-06-04 | 2021-09-03 | 奇瑞新能源汽车股份有限公司 | Low-voltage wire harness fault detection method of vehicle, signal diagnosis unit and vehicle |
| CN114221890A (en) * | 2021-12-13 | 2022-03-22 | 奇瑞汽车股份有限公司 | Message simulation device, message transmission method, device and computer storage medium |
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Application publication date: 20200918 |
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