CN112193204A - Locking control method for diesel engine muck truck - Google Patents
Locking control method for diesel engine muck truck Download PDFInfo
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- CN112193204A CN112193204A CN202011103577.7A CN202011103577A CN112193204A CN 112193204 A CN112193204 A CN 112193204A CN 202011103577 A CN202011103577 A CN 202011103577A CN 112193204 A CN112193204 A CN 112193204A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/01—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
- B60R25/04—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens operating on the propulsion system, e.g. engine or drive motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/2018—Central base unlocks or authorises unlocking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/24—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user
- B60R25/241—Means to switch the anti-theft system on or off using electronic identifiers containing a code not memorised by the user whereby access privileges are related to the identifiers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/01—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
- B60R25/04—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens operating on the propulsion system, e.g. engine or drive motor
- B60R2025/0405—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens operating on the propulsion system, e.g. engine or drive motor from the external
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/01—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
- B60R25/04—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens operating on the propulsion system, e.g. engine or drive motor
- B60R2025/0415—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens operating on the propulsion system, e.g. engine or drive motor with safe immobilisation
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a locking control method of a diesel engine muck vehicle, which is realized based on a locking control device, wherein the locking control device comprises an ECU (electronic control unit) (1) and a vehicle-mounted terminal (2), and a muck vehicle remote management platform (3) is in wireless connection with the vehicle-mounted terminal; the method comprises the following steps: 1. the vehicle-mounted terminal initializes and activates a vehicle locking function; 2. powering up the muck truck, sending a truck locking control message to the ECU by the vehicle-mounted terminal according to the limitation type, and executing a truck locking action on the muck truck by the ECU; the type A car locking message comprises a limiting function type and a function limiting parameter thereof, a random code and a check code, and the type B car locking message comprises a limiting function type and a function limiting parameter thereof; and 3, the ECU feeds back the vehicle locking state to the vehicle-mounted terminal through the broadcast message. The invention realizes the limitation of the rotation speed, the speed and the starting of the engine of the slag car through the message communication between the vehicle-mounted terminal and the ECU, and realizes the real-time remote control and management of each slag car by the remote management platform of the slag car.
Description
Technical Field
The invention relates to a control method for managing a muck truck, in particular to a locking control method for a diesel engine muck truck.
Background
The muck truck is a large-scale vehicle for transporting building materials such as sand and stones, and is a vehicle type with multiple traffic accidents because the vehicle is large in size and the cab is high, and a muck truck driver has multiple blind areas in the driving process. Meanwhile, as the muck truck has large dead weight and load, once a traffic accident occurs, rollover and building materials are easy to fall off, and further great personal injury and property loss are caused. In order to ensure smooth and safe traffic, all cities provide restriction regulations for the operation of the muck truck according to related laws and regulations, such as vehicle speed limitation, engine speed limitation, starting limitation and the like.
In the remote locking control process of the muck truck in the prior art, a remote management platform needs to position the muck truck through a GPS technology, then an intelligent vehicle-mounted terminal is used for sending preset short messages to a remote control module of the muck truck through wireless networks such as GSM/GPRS (global system for mobile communications/general packet radio service), the remote control module generates control instructions according to the preset short messages and sends the control instructions to a locking loop connected with an engine of the muck truck, and the engine anti-theft controller in the locking loop is used for controlling the on-off of the engine. However, the muck truck operation company or the driver often removes the intelligent vehicle-mounted terminal privately or even maliciously for economic benefit, or makes the locking loop invalid through modes such as short circuit, thereby avoiding remote locking control, having poor locking effect, and causing the remote management platform to be unable to effectively control and supervise the muck truck.
Disclosure of Invention
The invention aims to provide a locking control method of a diesel engine slag car, which CAN realize the functional limitation of the engine speed, the vehicle speed, the starting and the like of the slag car through the CAN message communication between a vehicle-mounted terminal and an ECU (electronic control unit), and realize the real-time remote control and management of each slag car by a slag car remote management platform.
The invention is realized by the following steps:
a locking control method of a diesel engine muck truck is realized based on a locking control device, the locking control device comprises an ECU of the muck truck and a vehicle-mounted terminal which is arranged on the muck truck and is connected to the ECU through a CAN (controller area network) wire harness, and a muck truck remote management platform is connected with the vehicle-mounted terminal through a wireless network;
the vehicle locking control method comprises the following steps:
step 1: initializing a vehicle-mounted terminal and activating a vehicle locking function of the muck vehicle;
step 2: after the muck truck is powered on, the vehicle-mounted terminal sends a truck locking control message corresponding to the limitation type to the ECU according to the limitation type, and the ECU executes corresponding truck locking action on the muck truck engine according to the received truck locking control message;
the vehicle locking control message comprises a class A vehicle locking message or a class B vehicle locking message;
when the vehicle locking control message is a class A vehicle locking message, namely the vehicle locking function activated in the step 1 is a restriction type A, wherein the class A vehicle locking message comprises a restriction function type, a function restriction parameter, a random code and a check code;
when the vehicle locking control message is a type B vehicle locking message, namely the vehicle locking function activated in the step 1 is a restriction type B, wherein the type B vehicle locking message comprises a restriction function type and a function restriction parameter thereof;
and step 3: the ECU feeds back the current car locking state to the vehicle-mounted terminal through the broadcast message, and the vehicle-mounted terminal knows the car locking state through the broadcast message.
The step 1 further comprises:
step 1.1: pre-storing a limit type initial value, a vehicle-mounted terminal ID and a fixed key in an EEPROM of an ECU;
step 1.2: the vehicle-mounted terminal sends a vehicle locking function activation message to the ECU; the vehicle locking function activation message comprises a restriction type value, a vehicle-mounted terminal ID and a fixed key, wherein the restriction type value represents a vehicle locking scheme comprising one or more restriction function types and function restriction parameters thereof;
step 1.3: the ECU judges whether the information in the locking function activation message meets the activation condition, if so, the locking function of the muck truck is activated, the limit type value is written into an EEPROM, the limit type initial value is replaced, the step 1.4 is carried out, if not, the locking function of the muck truck is not activated, and the step 1.4 is carried out;
step 1.4: and the ECU sends a response message to the vehicle-mounted terminal, and feeds back the activation state to the vehicle-mounted terminal, and the vehicle-mounted terminal knows the activation condition of the vehicle locking function through the response message.
The activation condition comprises:
i. and the limit type value in the vehicle locking function activation message is not consistent with the limit type initial value prestored in the EEPROM.
ii. And the vehicle-mounted terminal ID in the vehicle locking function activation message is consistent with the vehicle-mounted terminal ID prestored in the EEPROM.
And iii, matching the fixed key in the vehicle locking function activation message with the fixed key prestored in the EEPROM.
When the activation conditions i, ii, and iii are simultaneously satisfied, the ECU considers that the activation conditions are satisfied, and otherwise, they are not satisfied.
The response message comprises the activation state of the car locking function and the reason of the failure of the activation.
In the step 1.4, if the vehicle-mounted terminal knows that the activation of the car locking function fails through the response message, the step 1.1 can be switched to, and the activation is carried out again; if the activation fails for a plurality of times, the ECU does not feed back the reason of the activation failure any more, and the limitation type value is not written into the EEPROM any more.
The type A car locking message and the type B car locking message are periodic messages.
When the vehicle locking control message is a class A vehicle locking message, the step 2 comprises the following sub-steps:
step 2.1: when the muck truck is powered on every time, the vehicle-mounted terminal randomly generates a random code with two bytes, calculates the random code and a fixed secret key stored in the vehicle-mounted terminal, takes the lower two bytes of the calculated value as a check code, and puts the random code and the check code into a class A truck locking message and sends the message to the ECU;
step 2.2: after receiving the A-type vehicle locking message sent by the vehicle-mounted terminal, the ECU (1) calculates the received random code and a fixed key stored in an EEPROM of the ECU, takes the lower two bytes of the calculated value and compares the lower two bytes with a check code, if the two bytes are equal to the check code, the check is passed, and if the two bytes are not equal to the check code, the check is failed;
step 2.3: and the ECU executes limiting operation on the engine of the muck truck according to the limiting function type and the function limiting parameters in the class-A truck locking message.
In the step 2.1, starting from the electrifying moment of the muck truck, the ECU starts to time, and if the ECU does not receive the class-A vehicle locking message within a period of time, the ECU limits the rotating speed of the engine to a set value;
in the step 2.2, if the class-a car locking messages received by the ECU for multiple times are not verified, and the random codes in the class-a car locking messages for multiple times are the same, the ECU executes the car locking operation.
When the locking control message is a B-type locking message, the ECU executes limiting operation on the engine of the muck truck according to the limiting function type and the function limiting parameters in the B-type locking message; the vehicle-mounted terminal sends periodic heartbeat messages to the ECU when the muck truck is electrified, the ECU starts to time from the electrifying moment of the muck truck, and if the ECU does not receive the heartbeat messages within a period of time, the ECU limits the rotating speed of the engine to a set value.
In the operation process of the muck truck, the vehicle-mounted terminal can send a truck locking function closing message to the ECU at any time, the truck locking function closing message comprises a limit type value, a vehicle-mounted terminal ID and a fixed secret key, the ECU judges whether a truck locking function closing condition is met or not according to the truck locking function closing message, if yes, the truck locking function is closed, an initial limit type value 0 is written into the EEPROM, and if not, the operation is not carried out;
the shutdown condition of the vehicle locking function comprises the following steps:
i. and the limit type value in the vehicle locking function closing message is consistent with the limit type initial value stored in the EEPROM.
ii. And the vehicle-mounted terminal ID in the vehicle locking function closing message is consistent with the vehicle-mounted terminal ID prestored in the EEPROM.
And iii, matching the fixed key in the vehicle locking function closing message with the fixed key prestored in the EEPROM.
And when the vehicle locking function closing conditions i, ii and iii are simultaneously met, the ECU considers that the vehicle locking function closing conditions are met, otherwise, the vehicle locking function closing conditions are not met.
Compared with the prior art, the invention has the following beneficial effects:
1. the locking function of the muck truck can be selectively activated according to different muck trucks and operation rules of the muck trucks in different areas, so that the aims of the remote muck truck management platform on the muck trucks and the real-time remote locking control are met, the safe operation of the muck trucks is ensured, and the influence on traffic is reduced.
2. According to the invention, the ID and the fixed key of the vehicle-mounted terminal are prestored in the EEPROM of the ECU, so that whether the vehicle-mounted terminal is matched or not can be verified, and the problem of failure in activating the vehicle locking function caused by replacement, short circuit, removal and the like of the vehicle-mounted terminal is effectively avoided.
3. The A-type vehicle locking message provided by the invention is provided with the check code and the random code, is used for message check between the ECU and the vehicle-mounted terminal, further strengthens the anti-disassembly logic of the vehicle-mounted terminal, ensures the effective execution of the remote vehicle locking function, and realizes the effective limitation on the rotating speed, the vehicle speed, the starting and the like of the engine of the muck vehicle.
4. The combination of the B-type vehicle locking message and the heartbeat message can ensure normal communication of the vehicle-mounted terminal, further strengthen the anti-disassembly logic of the vehicle-mounted terminal, ensure the effective execution of the remote vehicle locking function and realize the effective limitation of the rotating speed of the engine of the muck vehicle.
5. The ECU sends the response message and the broadcast message to the vehicle-mounted terminal, so that the vehicle-mounted terminal can read the vehicle locking function activation state and the vehicle locking state in real time, and the message is used as a diagnosis basis when the vehicle is locked, the function is limited and the like, thereby reducing the troubleshooting time and improving the processing efficiency.
The invention CAN realize the function limitation of the engine speed, the vehicle speed, the starting and the like of the muck truck through the CAN message communication between the vehicle-mounted terminal and the ECU, realize the real-time remote control and management of the muck truck remote management platform on each muck truck, and effectively avoid the problem of the failure of the remote truck locking function caused by short circuit or private or even malicious disassembly of the vehicle-mounted terminal through various verification, heartbeat messages and other modes.
Drawings
FIG. 1 is a schematic diagram of a method of controlling locking of a diesel engine dregs car according to the present invention;
fig. 2 is a schematic diagram illustrating a method for controlling locking of a diesel engine slag car according to the present invention.
In the figure, 1 ECU, 2 vehicle-mounted terminals and 3 a remote management platform for a muck truck.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1, a locking Control method for a diesel engine muck truck is implemented based on a locking Control device, the locking Control device includes an ECU 1 (Electronic Control Unit) of the muck truck and a vehicle-mounted terminal 2 installed on the muck truck and connected to the ECU 1 through a CAN harness, and a muck truck remote management platform 3 is connected to the vehicle-mounted terminal 2 through a wireless network and used for controlling and managing various muck trucks in real time, such as: remotely controlling the locking action of the muck truck, checking the locking condition and the like. The vehicle-mounted terminal 2 may employ a vehicle-mounted device such as a T-BOX of the related art.
Referring to fig. 2, the locking control method includes the following steps:
step 1: the vehicle-mounted terminal 2 initializes and activates the locking function of the muck truck.
Step 1.1: according to the restriction requirement of the operation area of the muck truck on the muck truck, a restriction type initial value is prestored in an EEPROM (Electrically Erasable and Programmable read only memory) of the ECU 1; in order to avoid the vehicle-mounted terminal from being removed privately or even maliciously, the vehicle-mounted terminal ID of the vehicle-mounted terminal 2 installed on the slag car and a fixed key for verification are prestored in the EEPROM at the same time.
Step 1.2: the in-vehicle terminal 2 transmits a lock function activation message (0 CFF41 FD) to the ECU 1.
The vehicle locking function activation message comprises a limit type value, a vehicle-mounted terminal ID and a fixed key, wherein the limit type value represents a vehicle locking scheme comprising one or more limit function types and function limit parameters thereof, the limit function types and the function limit parameters thereof in the vehicle locking scheme are determined by specific laws and regulations of provinces/areas operated by the slag vehicles, such as limit type A (the limit function types are one or more of limiting the rotating speed of the engine, limiting the starting of the engine and limiting the speed of the vehicle), limit type B (the limit function types are limiting the rotating speed of the engine, and the like, and the limit types can be expanded according to the conditions of the operation areas of the slag vehicles, and the like.
Step 1.3: and the ECU 1 judges whether the information in the locking function activation message meets the activation condition, if so, the locking function of the muck truck is activated, the limit type value is written into an EEPROM, the limit type initial value is replaced, the step 1.4 is carried out, if not, the locking function of the muck truck is not activated, and the step 1.4 is carried out.
The activation condition comprises:
i. the value of the restriction type in the vehicle locking function activation message (0 CFF41 FD) is inconsistent with the initial value of the restriction type prestored in the EEPROM.
ii. The vehicle-mounted terminal ID in the vehicle locking function activation message (0 CFF41 FD) is consistent with the vehicle-mounted terminal ID prestored in the EEPROM.
And iii, matching the fixed key in the vehicle locking function activation message (0 CFF41 FD) with the fixed key prestored in the EEPROM.
When the activation conditions i, ii, and iii are simultaneously satisfied, the ECU 1 regards the activation conditions as satisfied, and otherwise, does not.
Step 1.4: the ECU 1 sends a response message (18 FF 2300) to the vehicle-mounted terminal 2, and feeds back the activation state to the vehicle-mounted terminal 2, so that the vehicle-mounted terminal 2 can know the activation condition of the vehicle locking function through the response message at any time.
The response message (18 FF 2300) comprises the activation state of the car locking function (namely activation success or activation failure) and the reason of the activation failure (namely the ID of the vehicle-mounted terminal is inconsistent, the fixed key is not matched, or the car locking function is in the activation state and does not need to be activated again, etc.).
In the step 1.4, if the vehicle-mounted terminal 2 knows that the activation of the car locking function fails through the response message, the step 1.1 can be switched to, and the activation is carried out again; if the activation fails for a plurality of times in the current driving cycle, the ECU 1 does not feed back the reason of the activation failure any more, and even if the matched vehicle-mounted terminal ID and the fixed key are received later, the limitation type value is not written into the EEPROM any more. The number of times of continuous activation failure can be adjusted and calibrated according to specific vehicle type information, for example, the number of times of continuous activation failure is 5, the ECU 1 does not feed back the reason of activation failure any more, and the limitation type value is not written into the EEPROM any more.
Step 2: after the muck truck is powered on, the vehicle-mounted terminal 2 sends a truck locking control message corresponding to the limitation type to the ECU 1 according to the limitation type, and the ECU 1 executes corresponding truck locking action on the engine of the muck truck according to the received truck locking control message.
The locking control messages comprise A-type locking messages, B-type locking messages and the like, the A-type locking messages, the B-type locking messages and the like are periodic messages, and the sending period can be calibrated according to the performance parameters of the muck truck.
When the vehicle locking control message is a class a vehicle locking message (0 CFF44 FD), that is, the vehicle locking function activated in step 1 is a restriction type a, and the class a vehicle locking message includes a restriction function type and a function restriction parameter, a random code and a check code thereof; the step 2 comprises the following sub-steps:
step 2.1: when the muck truck is powered on every time, the vehicle-mounted terminal 2 randomly generates a random code seed with two bytes, calculates the random code seed and a fixed secret key stored in the vehicle-mounted terminal 2, takes the lower two bytes of the calculated value as a check code, puts the random code and the check code into a class A truck locking message and sends the message to the ECU 1. Preferably, the random code seed and the fixed key may adopt an algorithm of subtracting and taking an absolute value.
Step 2.2: after receiving the class-A vehicle locking message sent by the vehicle-mounted terminal 2, the ECU 1 calculates the received random code and a fixed key stored in an EEPROM of the ECU 1, takes the lower two bytes of the calculated value and compares the lower two bytes with the check code, if the two bytes are equal to the check code, the check is passed, and if the two bytes are not equal to the check code, the check is failed. In steps 2.1 and 2.2, the same algorithm should be used for the random code and the fixed key to ensure that the two are matched.
Step 2.3: and the ECU 1 executes limiting operation on the engine of the muck truck according to the limiting function type and the function limiting parameters in the class A vehicle locking message. Preferably, when the rotating speed or the vehicle speed of the engine is limited, the rotating speed or the vehicle speed of the engine can be gradually reduced in a slope ramp mode in the prior art, the time of the slope ramp can be flexibly calibrated according to the requirements of users, and the influence of great speed reduction on the safe running of the muck truck is avoided.
In the step 2.1, the ECU 1 starts timing from the time of powering on the muck truck, and if the ECU 1 does not receive the class a vehicle locking message within a period of time, the ECU 1 limits the engine speed to a set value, and the set value can be adjusted and set in real time according to the management department, the requirements of laws and regulations, working conditions, vehicle conditions and the like. Preferably, the period of time may be 5-10 s. By timing the sending of the class-A vehicle locking message, the problem that the message cannot be sent due to incomplete initialization or failure of the vehicle-mounted terminal 2 can be effectively prevented, and the situation of mistaken vehicle locking is further prevented.
In the step 2.2, if the class a vehicle locking messages received by the ECU 1 for multiple times are not verified, and the random codes in the class a vehicle locking messages for multiple times are the same, the ECU 1 executes a vehicle locking operation, and the vehicle locking operation may preferably be to limit the engine start. .
When the locking control message is a class B locking message (0C 000003), namely the locking function activated in the step 1 is a limitation type B, the class B locking message (0C 000003) comprises a limitation function type and a function limitation parameter thereof, and the ECU 1 performs limitation operation on the engine of the muck vehicle, such as limitation on the rotating speed of the engine, according to the limitation function type and the function limitation parameter thereof in the class B locking message (0C 000003). Preferably, when the rotating speed of the engine is limited, the rotating speed of the limited engine can be gradually reduced by adopting a slope ramp mode in the prior art, the time of the slope ramp can be flexibly calibrated according to the requirements of users, and the influence on the safe running of the muck truck is avoided.
From the moment of electrifying the muck vehicle, the ECU 1 starts timing, if the ECU 1 does not receive the B-type vehicle locking message (0C 000003) within a period of time, the ECU 1 limits the rotating speed of the engine to a set value, and the set value can be adjusted and set in real time according to the requirements of administrative departments, laws and regulations, working conditions, vehicle conditions and the like. Preferably, the period of time may be 5-10 s. By timing the transmission of the class-B vehicle locking message (0C 000003), the problem that the message cannot be transmitted due to incomplete initialization or failure of the vehicle-mounted terminal 2 can be effectively prevented, and the situation of mistaken vehicle locking is further prevented.
The class B car locking message (0C 000003) itself may be used as a heartbeat message, but in a state of communication abnormality or equipment failure, the vehicle-mounted terminal 2 cannot normally transmit or the ECU 1 cannot normally receive the class B car locking message (0C 000003), and after a period of time, the ECU 1 may directly execute a car locking action. In order to avoid the false locking operation, the vehicle-mounted terminal 2 sends a periodic heartbeat message (0 CF 00203) to the ECU 1 when the muck vehicle is powered on, the B-type vehicle locking message (0C 000003) is not used as the heartbeat message any more, the ECU 1 starts to time from the moment when the muck vehicle is powered on, and if the ECU 1 does not receive the heartbeat message (0 CF 00203) within a period of time, the ECU 1 limits the rotating speed of the engine to a set value which can be adjusted and set in real time according to the requirements of a management department, laws and regulations, working conditions, vehicle conditions and the like. Whether the periodic communication through the heartbeat message is normal can be used to confirm whether the in-vehicle terminal 2 is detached. Preferably, the period of time may be 5-10 s.
And step 3: the ECU 1 feeds back the current locking state to the vehicle-mounted terminal 2 through a broadcast message (18 FF 2400), and the vehicle-mounted terminal 2 can know the locking state through the broadcast message at any time.
In the operation process of the muck truck, the vehicle-mounted terminal 2 can send a truck locking function closing message to the ECU 1 at any time, the truck locking function closing message comprises a limit type value, a vehicle-mounted terminal ID and a fixed secret key, the ECU 1 judges whether a truck locking function closing condition is met or not according to the truck locking function closing message, if yes, the truck locking function is closed, an initial limit type value 0 is written into an EEPROM, and if not, the operation is not carried out.
The shutdown condition of the vehicle locking function comprises the following steps:
i. the limit type value in the lock function close message is consistent with the limit type value stored in the EEPROM.
ii. And the vehicle-mounted terminal ID in the vehicle locking function closing message is consistent with the vehicle-mounted terminal ID prestored in the EEPROM.
And iii, matching the fixed key in the vehicle locking function closing message with the fixed key prestored in the EEPROM.
When the lock function shutdown conditions i, ii, and iii are simultaneously satisfied, the ECU 1 regards that the lock function shutdown is satisfied, and otherwise, it is not satisfied.
Example 1:
initializing a vehicle-mounted terminal 2, and pre-storing a restriction type initial value 0 in an EEPROM of an ECU 1 according to the restriction requirement of a city A in which a muck truck operates on the muck truck; in order to avoid the vehicle-mounted terminal from being removed privately or even maliciously, the vehicle-mounted terminal ID of the vehicle-mounted terminal 2 installed on the slag car and a fixed key for verification are prestored in the EEPROM at the same time. The in-vehicle terminal 2 transmits a lock function activation message (0 CFF41 FD) including 0x01, TCD _ ID, and a fixed key to the ECU 1. Wherein, 0x01 represents the restriction type value of locking the car as A, which can be used to restrict any one or more functions of engine speed, vehicle speed and engine start; TCD _ ID represents a vehicle-mounted terminal ID.
The ECU 1 judges: the limit type value A is inconsistent with the limit type initial value 0, the TCD _ ID is consistent with the vehicle-mounted terminal ID, the fixed keys are matched and meet the activation condition, the limit type value A is stored in the EEPROM, the ECU 1 sends a response message (18 FF 2300) to the vehicle-mounted terminal 2 and feeds back the activation state to the vehicle-mounted terminal 2, the vehicle-mounted terminal 2 can know the activation condition of the vehicle locking function through the response message at any time, and the response message (18 FF 2300) comprises the activation success 0. The vehicle-mounted terminal 2 can check the successful activation state through the response message.
After the muck vehicle is powered on, the vehicle-mounted terminal 2 periodically sends a class A vehicle locking message (0 CFF44 FD) to the ECU 1, wherein the sending period is 100ms, and the class A vehicle locking message comprises 0x01, 0x03, 0.125rpm/bit, 1km/h/bit, a random code and a check code. Wherein, 0x01 represents the limit of the engine speed, the specific limit value is x bits, the bit value is 1000, the engine speed limit value is 1250rpm, 0x03 represents the limit of the vehicle speed, the specific limit value is x bits, the bit value is 10, the vehicle speed limit value is 10 km/h. After the check code and the random code are checked by the ECU 1, the rotating speed and the vehicle speed of the engine of the muck vehicle are limited according to the class A vehicle locking message, and the current vehicle locking state is fed back to the vehicle-mounted terminal 2 through a broadcast message (18 FF 2400), wherein the broadcast message (18 FF 2400) comprises 01 (1 st bit, which represents the vehicle locking type A), 1 (2 nd bit, which represents the locked vehicle), 0 (2 nd bit, which represents the verification of the random code and the check code, 2 nd bit, which represents the real-time limitation of the rotating speed of the engine of the muck vehicle), 1 (3 rd bit, which represents the real-time limitation of the vehicle speed of the muck vehicle), 4 th bit, which represents the real-time limitation of the vehicle speed of the muck vehicle. The vehicle-mounted terminal 2 can check the broadcast message (18 FF 2400) at any time to know the vehicle locking state.
Example 2:
initializing the vehicle-mounted terminal 2, and pre-storing a limit type initial value 0 in an EEPROM of the ECU 1 according to the limit requirement of a city B in which the muck truck is operated on the muck truck; in order to avoid the vehicle-mounted terminal from being removed privately or even maliciously, the vehicle-mounted terminal ID of the vehicle-mounted terminal 2 installed on the slag car and a fixed key for verification are prestored in the EEPROM at the same time. The in-vehicle terminal 2 transmits a lock function activation message (0 CFF41 FD) including 0x02, TCD _ ID, and a fixed key to the ECU 1. Wherein, 0x02 represents the restriction type value of locking the car as B, which can be used for restricting the engine speed; TCD _ ID represents a vehicle-mounted terminal ID.
The ECU 1 judges: the limit type value B is not consistent with the limit type initial value 0, the TCD _ ID is consistent with the vehicle-mounted terminal ID, the fixed keys are matched and meet the activation condition, the limit type value B is stored in the EEPROM, the ECU 1 sends a response message (18 FF 2300) to the vehicle-mounted terminal 2 and feeds back the activation state to the vehicle-mounted terminal 2, the vehicle-mounted terminal 2 can know the activation condition of the vehicle locking function through the response message at any time, and the response message (18 FF 2300) comprises the activation success 0. The vehicle-mounted terminal 2 can check the successful activation state through the response message.
After the muck truck is powered on, the vehicle-mounted terminal 2 periodically sends a class B truck locking message (0C 000003) and a heartbeat message (0 CF 00203) to the ECU 1, the sending period of the class B truck locking message is 100ms, the sending period of the heartbeat message is 100ms, the class B truck locking message comprises engine rotation speed limit and engine maximum rotation speed 0.125rpm/bit, the ECU 1 limits the rotation speed of the muck truck engine according to the class B truck locking message and feeds back the current truck locking state to the vehicle-mounted terminal 2 through a broadcast message (18 FF 2400), and the broadcast message (18 FF 2400) comprises 10 (1 st bit, which represents a truck locking type B), 1 (2 nd bit, which represents a locked truck), 0 (3 rd bit, which represents that the heartbeat message is normally communicated), and 1 (3 rd bit, which represents real-time limit of the rotation speed of the muck truck engine). The vehicle-mounted terminal 2 can check the broadcast message (18 FF 2400) at any time to know the vehicle locking state.
Example 3:
because of engineering requirements, two muck vehicles are newly purchased by a city government, and because the operation of the remote management platform 3 of the muck vehicles is wrong, the vehicle-mounted terminal 2 of the muck vehicle I is configured with the fixed key of the muck vehicle II, and the vehicle-mounted terminal 2 of the muck vehicle II is configured with the fixed key of the muck vehicle I. After the muck vehicle is powered on, the ECU 1 judges that the fixed key in the received vehicle locking function activation message (0 CFF41 FD) is not matched with the fixed key prestored in the EEPROM, and if the activation condition is not met, the vehicle locking function activation fails. The ECU 1 sends a response message (18 FF 2300) to the vehicle-mounted terminal 2, the response message (18 FF 2300) comprises 0 (1 st bit, which represents the activation failure of the locking function) and 0x0011 (2 nd to 3 rd bits, which represent the reason of the activation failure of the locking function, namely the fixed keys are not matched), and a management department can check the response message (18 FF 2300) received by the vehicle-mounted terminal 2 through the remote muck vehicle management platform 3, so that the configuration error of the vehicle-mounted terminal 2 is found and corrected in time.
The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A locking control method of a diesel engine slag car is characterized by comprising the following steps: the locking control method is realized based on a locking control device, the locking control device comprises an ECU (1) of the muck truck and a vehicle-mounted terminal (2) which is arranged on the muck truck and is connected to the ECU (1) through a CAN (controller area network) wire harness, and a muck truck remote management platform (3) is connected with the vehicle-mounted terminal (2) through a wireless network;
the vehicle locking control method comprises the following steps:
step 1: initializing a vehicle-mounted terminal (2) and activating a vehicle locking function of the muck vehicle;
step 2: after the muck truck is powered on, the vehicle-mounted terminal (2) sends a truck locking control message corresponding to the limitation type to the ECU (1) according to the limitation type, and the ECU (1) executes corresponding truck locking action on the engine of the muck truck according to the received truck locking control message;
the vehicle locking control message comprises a class A vehicle locking message or a class B vehicle locking message;
when the vehicle locking control message is a class A vehicle locking message, namely the vehicle locking function activated in the step 1 is a restriction type A, wherein the class A vehicle locking message comprises a restriction function type, a function restriction parameter, a random code and a check code;
when the vehicle locking control message is a type B vehicle locking message, namely the vehicle locking function activated in the step 1 is a restriction type B, wherein the type B vehicle locking message comprises a restriction function type and a function restriction parameter thereof;
and step 3: the ECU (1) feeds back the current vehicle locking state to the vehicle-mounted terminal (2) through the broadcast message, and the vehicle-mounted terminal (2) learns the vehicle locking state through the broadcast message.
2. The method for controlling locking of the diesel engine slag car as set forth in claim 1, wherein: the step 1 further comprises:
step 1.1: pre-storing a limit type initial value, a vehicle-mounted terminal ID and a fixed key in an EEPROM of an ECU (1);
step 1.2: the vehicle-mounted terminal (2) sends a vehicle locking function activation message to the ECU (1); the vehicle locking function activation message comprises a restriction type value, a vehicle-mounted terminal ID and a fixed key, wherein the restriction type value represents a vehicle locking scheme comprising one or more restriction function types and function restriction parameters thereof;
step 1.3: the ECU (1) judges whether the information in the locking function activation message meets the activation condition, if so, the locking function of the muck car is activated, the limit type value is written into an EEPROM, the limit type initial value is replaced, the step 1.4 is carried out, if not, the locking function of the muck car is not activated, and the step 1.4 is carried out;
step 1.4: the ECU (1) sends a response message to the vehicle-mounted terminal (2), the activation state is fed back to the vehicle-mounted terminal (2), and the vehicle-mounted terminal (2) learns the activation condition of the vehicle locking function through the response message.
3. The method for controlling locking of the diesel engine slag car as set forth in claim 2, wherein: the activation condition comprises:
i. the limit type value in the vehicle locking function activation message is not consistent with the limit type initial value prestored in the EEPROM;
ii. The vehicle-mounted terminal ID in the vehicle locking function activation message is consistent with the vehicle-mounted terminal ID prestored in the EEPROM;
iii, matching the fixed key in the vehicle locking function activation message with a fixed key prestored in the EEPROM;
when the activation conditions i, ii, and iii are simultaneously satisfied, the ECU (1) considers that the activation conditions are satisfied, and otherwise, they are not satisfied.
4. The method for controlling locking of the diesel engine slag car as set forth in claim 2, wherein: the response message comprises the activation state of the car locking function and the reason of the failure of the activation.
5. The method for controlling locking of the diesel engine slag car as set forth in claim 2, wherein: in the step 1.4, if the vehicle-mounted terminal (2) knows that the activation of the vehicle locking function fails through the response message, the step 1.1 can be switched to, and the vehicle locking function is activated again; if the activation fails for a plurality of times, the ECU (1) does not feed back the reason of the activation failure any more, and the limitation type value is not written into the EEPROM any more.
6. The method for controlling locking of the diesel engine slag car as set forth in claim 1, wherein: the type A car locking message and the type B car locking message are periodic messages.
7. The method for controlling locking of the diesel engine slag car as set forth in claim 1, wherein: when the vehicle locking control message is a class A vehicle locking message, the step 2 comprises the following sub-steps:
step 2.1: when the muck truck is powered on every time, the vehicle-mounted terminal (2) randomly generates a random code with two bytes, calculates the random code and a fixed secret key stored in the vehicle-mounted terminal (2), takes the lower two bytes of the calculated value as a check code, puts the random code and the check code into a class A truck locking message and sends the message to the ECU (1);
step 2.2: after receiving the A-type vehicle locking message sent by the vehicle-mounted terminal (2), the ECU (1) calculates a received random code and a fixed key stored in an EEPROM of the ECU (1), takes the lower two bytes of the calculated value and compares the lower two bytes with a check code, if the two bytes are equal to the check code, the check is passed, and if the two bytes are not equal to the check code, the check is failed;
step 2.3: and the ECU (1) executes limiting operation on the engine of the muck truck according to the limiting function type and the function limiting parameters in the class A car locking message.
8. The method for controlling locking of the diesel engine slag car as set forth in claim 7, wherein: in the step 2.1, starting from the electrifying moment of the muck truck, the ECU (1) starts to time, and if the ECU (1) does not receive the class-A vehicle locking message within a period of time, the ECU (1) limits the rotating speed of the engine to a set value;
in the step 2.2, if the class-a car locking messages received by the ECU (1) for multiple times continuously do not pass the verification, and the random codes in the class-a car locking messages for multiple times continuously are the same, the ECU (1) executes the car locking operation.
9. The method for controlling locking of the diesel engine slag car as set forth in claim 1, wherein: when the locking control message is a B-type locking message, the ECU (1) executes limiting operation on the engine of the muck truck according to the limiting function type and the function limiting parameters in the B-type locking message; the vehicle-mounted terminal (2) sends periodic heartbeat messages to the ECU (1) when the muck truck is electrified, the ECU (1) starts to time from the electrifying moment of the muck truck, and if the ECU (1) does not receive the heartbeat messages within a period of time, the ECU (1) limits the rotating speed of the engine to a set value.
10. The method for controlling locking of the diesel engine slag car as set forth in claim 1, wherein: in the operation process of the muck truck, the vehicle-mounted terminal (2) can send a truck locking function closing message to the ECU (1) at any time, the truck locking function closing message comprises a limit type value, a vehicle-mounted terminal ID and a fixed secret key, the ECU (1) judges whether a truck locking function closing condition is met or not according to the truck locking function closing message, if yes, the truck locking function is closed, an initial limit type value 0 is written into an EEPROM, and if not, the operation is not carried out;
the shutdown condition of the vehicle locking function comprises the following steps:
i. the limit type value in the vehicle locking function closing message is consistent with the limit type value stored in the EEPROM;
ii. The vehicle-mounted terminal ID in the vehicle locking function closing message is consistent with the vehicle-mounted terminal ID prestored in the EEPROM;
iii, matching the fixed key in the vehicle locking function closing message with a fixed key prestored in the EEPROM;
when the vehicle locking function closing conditions i, ii and iii are simultaneously satisfied, the ECU (1) considers that the vehicle locking function closing conditions are satisfied, otherwise, the vehicle locking function closing conditions are not satisfied.
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Address after: 2636 Jungong Road, Yangpu District, Shanghai 200438 Patentee after: Shanghai New Power Automotive Technology Co.,Ltd. Address before: 2636 Jungong Road, Yangpu District, Shanghai 200438 Patentee before: SHANGHAI DIESEL ENGINE Co.,Ltd. |