CN114500155B - CANFD bus load rate calculation method - Google Patents

CANFD bus load rate calculation method Download PDF

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Publication number
CN114500155B
CN114500155B CN202210134266.XA CN202210134266A CN114500155B CN 114500155 B CN114500155 B CN 114500155B CN 202210134266 A CN202210134266 A CN 202210134266A CN 114500155 B CN114500155 B CN 114500155B
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message
data
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frame
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CN114500155A (en
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韩嵩嵬
雷永富
杨华
陶华胜
赵松岭
吴浩
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Chery Automobile Co Ltd
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Chery Commercial Vehicle Anhui Co Ltd
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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0876—Network utilisation, e.g. volume of load or congestion level
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Environmental & Geological Engineering (AREA)
  • Small-Scale Networks (AREA)

Abstract

The invention discloses a CANFD bus load rate calculation method, which comprises the following steps: (1) Defining and setting the baud rate of an arbitration section and the baud rate of a data section of the CANFD bus; (2) Collecting the transmission time of each frame of message of the CANFD message and converting the transmission time into a load rate corresponding to each frame of message; (3) And summing the load rates corresponding to each frame of message in the CANFD message to obtain the load rate corresponding to the CANFD message. The invention has the advantages that: the method is suitable for calculating the load rate of the CANFD message, can accurately and reliably calculate the maximum load rate and the minimum load rate, can calculate the average load rate, and can evaluate the communication feasibility according to the average load rate.

Description

CANFD bus load rate calculation method
Technical Field
The invention relates to the field of automobile bus communication, in particular to a CANFD bus load rate calculation method.
Background
With the advent of intelligent automobiles, the communication technology of automobiles is rapidly transited to a CAN bus era from a K line and a LIN line, and with the continuous upgrading of the communication bandwidth, the CAN bus is also upgraded to a CANFD (CAN with Flexible Data Rate) bus. The arbitration section baud rate and the data section baud rate of the CAN (FD) bus are inconsistent, which results in that the traditional method for calculating the load rate based on the bit time cannot be realized; however, no related art disclosure of calculating a load factor for a CANFD bus is disclosed in the prior art, and based on this, the present application designs a CANFD bus load factor calculating method based on message time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a CANFD bus load rate calculation method based on message time.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a CANFD bus load factor calculation method comprising the steps of:
(1) Defining and setting the baud rate of an arbitration section and the baud rate of a data section of the CANFD bus;
(2) Collecting the transmission time of each frame of message of the CANFD message and converting the transmission time into a load rate corresponding to each frame of message;
(3) And summing the load rates corresponding to each frame of message in the CANFD message to obtain the load rate corresponding to the CANFD message.
The CAN total load rate comprises a load rate Min_BusLoad at the minimum filling amount and a load rate Max_BusLoad at the maximum filling amount; when calculating the load rate Min_BusLoad of the minimum filling quantity corresponding to each frame of message, respectively solving the minimum transmission Time Time_ID_min of the message ID section and the minimum transmission Time Time_data_min of the single byte of the data section, and solving the load rate Min_BusLoad of the minimum filling quantity of each frame according to Time_ID_min and Time_data_min;
when calculating the maximum filling quantity load rate Max_BusLoad corresponding to each frame of message, respectively solving the maximum transmission Time Time_ID_max of the message ID section and the maximum transmission Time Time_data_max of the single byte of the data section, and solving the maximum filling quantity load rate Max_BusLoad of each frame according to Time_ID_max and Time_data_max.
The load factor min_busload calculation formula at the minimum filling amount of each frame is as follows:
Min_BusLoad＝(Time_ID_min+DLC*Time_data_min)/100/Cycle_1*10；
the load rate max_busload calculation formula at the time of the maximum filling amount of each frame is as follows:
Max_BusLoad＝(Time_ID_max+DLC*Time_data_max)/100/Cycle_1*10；
wherein: min_busload: load factor at minimum fill, i.e., load factor minimum; max_BusLoad: the load factor at maximum fill, i.e., the maximum load factor; time_id_min: minimum transmission time of ID segment (according to baud rate conversion); time_ID_max: maximum transmission time of the ID segment (according to baud rate conversion); DLC: the data segment byte length of the CANFD message; time_data_min: minimum transmission time of a single byte of a data segment; time_data_max: maximum transmission time of single bytes of the data segment; cycle_1: CANFD message period.
And (3) converting the minimum transmission time of the single bytes of the data segment and the maximum transmission time of the single bytes of the data segment according to the baud rate predefined and set in the step (1).
The transmission time of each frame of the CANFD message includes a message ID segment transmission time and a message data segment transmission time.
Judging whether to correct the calculated baud rate according to the byte length DLC of the data segment; if the DLC value is greater than the set threshold, the correction value is added to correct the calculated data period time when calculating the load rate of each frame of the message.
DLC sets the threshold to 16.
The added correction value is a time correction value, the ID section transmission time and the data section transmission time of each frame of information are added with the correction value to be used as the transmission time of each frame of information, and the corresponding load rate of each frame of information is converted.
And comparing the average load rate of the calculated maximum filling quantity with the average load rate of the minimum filling quantity with a load rate threshold value, and sending out an alarm prompt when the average load rate is larger than the load rate threshold value.
The invention has the advantages that: the method is suitable for calculating the load rate of the CANFD message, can accurately and reliably calculate the maximum load rate and the minimum load rate, can calculate the average load rate, and can evaluate the communication feasibility according to the average load rate; the solving precision is high, and the solving speed block is high; and a compensation value is set in the calculation method, and the calculation accuracy is compensated, so that the calculation result is more accurate.
Drawings
The contents of the drawings and the marks in the drawings of the present specification are briefly described as follows:
FIG. 1 is a flow chart of a calculation method of the present invention;
FIG. 2 is a schematic diagram of the storage of data collected in the present invention in an excle;
FIG. 3 is a schematic diagram of development of a forming tool software based on the computing method of the present invention.
Detailed Description
The following detailed description of the invention refers to the accompanying drawings, which illustrate preferred embodiments of the invention in further detail.
The invention provides a CAN (FD) load rate calculation method, which CAN complete the analysis of the load rate before the actual loading, has great significance on the communication of vehicles, and has high calculation precision and quick calculation. The specific scheme is as follows:
the load factor is the proportion of time the bus is occupied per unit time (1 second). If the load rate is 40%, this means that this bus is 40% of the time sending CANFD messages and the remaining 60% of the time is idle. In this way, to calculate the load factor is to calculate the total duration of all messages on the bus, and then convert the total duration into the occupied time of the bus in unit time:
total duration of all messages = algebraic sum of transmission times of each frame message;
transmission time of each frame message = ID period time + data period time;
as shown in fig. 1, a CANFD bus load factor calculation method includes the steps of:
(1) Firstly, initializing data of a CANFD message, including defining and setting the baud rate of an arbitration section and the baud rate of a data section of a CANFD bus;
(2) Calculating the transmission time of each frame of message of the CANFD message and converting the transmission time into a corresponding load rate of each frame of message;
(3) And summing the load rates corresponding to each frame of message in the CANFD message to obtain the load rate corresponding to the CANFD message.
CANFD adds per frame time and then converts to a load factor = CANFD per frame load factor addition. Therefore, when solving, the total time can be calculated and then converted into the time percentage occupied by the bus, or the percentage occupied by the transmission time of each frame of message can be directly solved and added to obtain the total load rate.
In step (2), calculating the transmission time of each frame of message includes calculating a message ID period time and a data period time; when the ID period time is calculated, conversion according to a preset baud rate is required to be calculated, and when the data period transmission time is calculated, the data period byte length DLC and the data period single byte transmission time in each frame of information in the information are required to be acquired;
according to the ISO11898 specification, the CAN bus inserts a reverse fill bit after 5 consecutive identical logical values during transmission, so that the actual length of each frame of message is related to the signal value of the message, so that only the load factor at the maximum fill level and the load factor at the minimum fill level CAN be calculated when estimating the load factor, while the actual load factor varies randomly within this interval.
The calculation of the load factor provided herein therefore actually means that the CANFD total load factor includes the load factor min_busload at the minimum fill amount and the load factor max_busload at the maximum fill amount;
the bus load rates of CANFD messages are evaluated based on the average load rates after the average load rates of the balls after the maximum load rate and the minimum load rate are calculated respectively; when calculating the load rate Min_BusLoad of the minimum filling quantity corresponding to each frame of message, respectively solving the minimum transmission Time Time_ID_min of the message ID section and the minimum transmission Time Time_data_min of the single byte of the data section, and solving the load rate Min_BusLoad of the minimum filling quantity of each frame according to Time_ID_min and Time_data_min;
when calculating the maximum filling quantity load rate Max_BusLoad corresponding to each frame of message, respectively solving the maximum transmission Time Time_ID_max of the message ID section and the maximum transmission Time Time_data_max of the single byte of the data section, and solving the maximum filling quantity load rate Max_BusLoad of each frame according to Time_ID_max and Time_data_max.
The load factor min_busload calculation formula at the minimum filling amount of each frame is as follows:
Min_BusLoad＝(Time_ID_min+DLC*Time_data_min)/100/Cycle_1*10；
the load rate max_busload calculation formula at the time of the maximum filling amount of each frame is as follows:
Max_BusLoad＝(Time_ID_max+DLC*Time_data_max)/100/Cycle_1*10；
wherein: min_busload: load factor at minimum fill, i.e., load factor minimum; max_BusLoad: the load factor at maximum fill, i.e., the maximum load factor; time_id_min: minimum transmission time of ID segment (according to baud rate conversion); time_ID_max: maximum transmission time of the ID segment (according to baud rate conversion); DLC: the data segment byte length of the CANFD message; time_data_min: minimum transmission time of a single byte of a data segment; time_data_max: maximum transmission time of single bytes of the data segment; cycle_1: CANFD message period.
And (3) converting the minimum transmission time of the single bytes of the data segment and the maximum transmission time of the single bytes of the data segment according to the baud rate predefined and set in the step (1).
The transmission time of each frame of the CANFD message includes a message ID segment transmission time and a message data segment transmission time. Judging whether to correct the calculated baud rate according to the byte length DLC of the data segment; if the DLC value is greater than the set threshold, the correction value is added to correct the calculated data period time when calculating the load rate of each frame of the message.
CANFD has a characteristic transmission characteristic that when the data segment byte length (DLC) is greater than 16, the bit time of the padding bit will be different from the normal bit time, which affects the calculation of the load factor, the following formula is added with correction values to correct the deviation of the bit time; typically DLC sets a threshold of 16, and when greater than 16, correction is required. The added correction value is a time correction value, the ID section transmission time and the data section transmission time of each frame of information are added with the correction value to be used as the transmission time of each frame of information, and the corresponding load rate of each frame of information is converted.
The correction values are generally set according to actual requirements, as in the present application, the correction values set by the applicant are 1.5 and 2.5, specifically as follows:
Min_BusLoad＝(Time_ID_min+DLC*Time_data_min+1.5)/100/Cycle_1*10；
Max_BusLoad＝(Time_ID_max+DLC*Time_data_max+2.5)/100/Cycle_1*10；
and comparing the average load rate of the calculated maximum filling quantity with the average load rate of the minimum filling quantity with a load rate threshold value, and sending out an alarm prompt when the average load rate is larger than the load rate threshold value. Bus load rates not exceeding 50% are generally considered safe, and if the calculated load rate exceeds 50%, the communication load rate is higher, and a prompt needs to be sent.
As shown in fig. 2, the collected CANFD message is stored in EXCEL according to formats of a sending end, a message identifier, a message name and a message type, and the CANFD message is read through software call during actual calculation to realize data acquisition so as to realize calculation, and the calculation method of the present application can be integrated and developed into a software tool, so that the use is convenient; as shown in fig. 3, in order to develop VBA language integrated by Excel2013 version, the applicant has integrated the computing method, and mainly controls the program to run in a key triggering manner.
As shown in fig. 3, the "bus baud rate" needs to be selected according to the bus parameters to be actually calculated, and since the arbitration band baud rate and the data band baud rate of the CAN (FD) bus are different, the arbitration band baud rate and the data band baud rate need to be selected and set respectively, and the definition of the CANFD bus by the vehicle model developed by the applicant is that the arbitration band baud rate is 500Kbps and the data band baud rate is 2Mbps;
the present application is primarily concerned with the calculation of the load factor of CANFD bus of this type, but at the time of development the applicant has integrated the calculation of the load factor of the CAN bus of the prior art into the tool, but it is primarily CANFD that the present application is improved and developed.
The motor in fig. 3 calculates the load factor button, which is integrated with the code mainly used for implementing the calculation method of the present application: by collecting two parameters of "message length" (DLC length of CANFD message) and "period" in the signal list, the time required to send this CANFD message can be calculated from the message length. The number of times the frame message is transmitted in one second can be calculated from the message period. Multiplication of these two parameters yields how much bus time the message occupies in 1 second. And adding the time of occupying the bus in 1 second by all the messages to obtain the total time of occupied the bus, and calculating the load rate. And the result display is carried out on the display window, and the test result prompts the currently selected bus type, baud rate information and the like. The calculation results include three values, "load factor at maximum filling amount", "load factor at minimum filling amount", "average load factor". The CAN bus inserts a reverse fill bit after 5 consecutive identical logical values during transmission, so that the actual length of each message is related to the signal value of the message, so that only the load factor at the maximum fill level and the load factor at the minimum fill level CAN be calculated when estimating the load factor, while the actual load factor varies randomly within this interval.
Bus load rates not exceeding 50% are generally considered safe, and if the calculated load rate exceeds 50%, risk is automatically prompted in tools developed based on the calculation method of the present application.
The following formula is a simplified calculation formula, the occupied time of each frame of information (according to baud and period conversion) is calculated, the occupied time of the whole bus is obtained by adding, and the load rate is calculated according to the time. The load factor of each frame is added to be the total load factor,
Min_BusLoad＝(Time_ID_min+DLC*Time_data_min)/100/Cycle_1*10
Max_BusLoad＝(Time_ID_max+DLC*Time_data_max)/100/Cycle_1*10
min_busload: the load factor at the minimum filling amount of each frame, namely the minimum value of the load factor;
Max_BusLoad: the load rate at the maximum filling amount of each frame, namely the maximum load rate;
time_id_min: minimum transmission time of ID segment (according to baud rate conversion);
Time_ID_max: maximum transmission time of the ID segment (according to baud rate conversion);
DLC: the data segment byte length of the CANFD message;
time_data_max: maximum transmission time of single byte of data segment (according to baud rate conversion);
time_data_max: maximum transmission time of single byte of data segment (according to baud rate conversion);
cycle_1: CANFD message periods;
CANFD has a characteristic transmission characteristic that when the data segment byte length (DLC) is greater than 16, the bit time of the padding bit will be different from the normal bit time, which affects the calculation of the load factor, the following formula is added with correction values to correct the deviation of the bit time; the tool automatically matches formulas according to the length of the DLC without manual selection by an engineer.
Min_BusLoad＝(Time_ID_min+DLC*Time_data_min+1.5)/100/Cycle_1*10
Max_BusLoad＝(Time_ID_max+DLC*Time_data_max+2.5)/100/Cycle_1*10
Min_busload: the load factor at the minimum filling amount of each frame, namely the minimum value of the load factor;
Max_BusLoad: the load rate at the maximum filling amount of each frame, namely the maximum load rate;
time_id_min: minimum transmission time of ID segment (according to baud rate conversion);
Time_ID_max: maximum transmission time of the ID segment (according to baud rate conversion);
DLC: the data segment byte length of the CANFD message;
time_data_max: maximum transmission time of single byte of data segment (according to baud rate conversion);
time_data_max: maximum transmission time of single byte of data segment (according to baud rate conversion);
cycle_1: CANFD message periods;
1.5 and 2.5 in the formula are converted correction values.
The calculation method has the advantages that the accuracy is extremely high, and the error between the actual measured value and the theoretical calculated value of the load rate is not more than 5 per mill (five thousandths) after multiple times of verification; the error of the traditional empirical value algorithm is larger, and the difference between the measured value and the calculated value is often more than 8 percent (eight percent).
It is obvious that the specific implementation of the present invention is not limited by the above-mentioned modes, and that it is within the scope of protection of the present invention only to adopt various insubstantial modifications made by the method conception and technical scheme of the present invention.

Claims (5)

1. A CANFD bus load rate calculation method is characterized in that: the method comprises the following steps:
(1) Defining and setting the baud rate of an arbitration section and the baud rate of a data section of the CANFD bus;
(2) Collecting the transmission time of each frame of message of the CANFD message and converting the transmission time into a load rate corresponding to each frame of message;
(3) Summing the load rates corresponding to each frame of message in the CANFD message to obtain the load rate corresponding to the CANFD message;
the Canfd total load factor includes a load factor min_busload at a minimum fill amount and a load factor max_busload at a maximum fill amount; when calculating the load rate Min_BusLoad of the minimum filling quantity corresponding to each frame of message, respectively solving the minimum transmission Time Time_ID_min of the message ID section and the minimum transmission Time Time_data_min of the single byte of the data section, and solving the load rate Min_BusLoad of the minimum filling quantity of each frame according to Time_ID_min and Time_data_min;
when calculating the maximum filling quantity load rate Max_BusLoad corresponding to each frame of message, respectively solving the maximum transmission Time Time_ID_max of the message ID section and the maximum transmission Time Time_data_max of the single byte of the data section, and solving the maximum filling quantity load rate Max_BusLoad of each frame according to Time_ID_max and Time_data_max;
the load factor min_busload calculation formula at the minimum filling amount of each frame is as follows:
Min_BusLoad = (Time_ID_min + DLC * Time_data_min) / 100 / Cycle_1 * 10；
the load rate max_busload calculation formula at the time of the maximum filling amount of each frame is as follows:
Max_BusLoad = (Time_ID_max + DLC * Time_data_max) / 100 / Cycle_1 * 10；
wherein: min_busload: load factor at minimum fill, i.e., load factor minimum; max_BusLoad: the load factor at maximum fill, i.e., the maximum load factor; time_id_min: minimum transmission time of the ID segment; time_ID_max: maximum transmission time of the ID segment; DLC: the data segment byte length of the CANFD message; time_data_min: minimum transmission time of a single byte of a data segment; time_data_max: maximum transmission time of single bytes of the data segment; cycle_1: CANFD message periods;
judging whether to correct the calculated baud rate according to the byte length DLC of the data segment; if the DLC value is larger than the set threshold value, adding a correction value to correct the calculated data period time when calculating the load rate of each frame of the message;
the added correction value is a time correction value, the ID section transmission time and the data section transmission time of each frame of information are added with the correction value to be used as the transmission time of each frame of information, and the corresponding load rate of each frame of information is converted.
2. The CANFD bus load factor calculation method of claim 1, wherein: and (3) converting the minimum transmission time of the single bytes of the data segment and the maximum transmission time of the single bytes of the data segment according to the baud rate predefined and set in the step (1).
3. A CANFD bus load factor calculation method as claimed in claim 1 or 2, wherein: the transmission time of each frame of the CANFD message includes a message ID segment transmission time and a message data segment transmission time.
4. The CANFD bus load factor calculation method of claim 1, wherein: DLC sets the threshold to 16.
5. The CANFD bus load factor calculation method of claim 1, wherein: and comparing the average load rate of the calculated maximum filling quantity with the average load rate of the minimum filling quantity with a load rate threshold value, and sending out an alarm prompt when the average load rate is larger than the load rate threshold value.
CN202210134266.XA 2022-02-14 2022-02-14 CANFD bus load rate calculation method Active CN114500155B (en)

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Publication number Priority date Publication date Assignee Title
JP2016158105A (en) * 2015-02-24 2016-09-01 株式会社デンソー Communication system
CN106992879A (en) * 2017-03-14 2017-07-28 中国第汽车股份有限公司 A kind of computational methods of CAN load factor
CN111211954A (en) * 2019-12-04 2020-05-29 一汽解放汽车有限公司 Method and device for determining load rate of CANFD bus

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016158105A (en) * 2015-02-24 2016-09-01 株式会社デンソー Communication system
CN106992879A (en) * 2017-03-14 2017-07-28 中国第汽车股份有限公司 A kind of computational methods of CAN load factor
CN111211954A (en) * 2019-12-04 2020-05-29 一汽解放汽车有限公司 Method and device for determining load rate of CANFD bus

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