CN115941380A - Method and device for processing CAN (controller area network) signal of vehicle controller and vehicle - Google Patents

Abstract

The present application provides a method, a device and a vehicle for processing a CAN signal of a vehicle controller local area network. The method includes: receiving a target CAN signal sent by a first ECU; determining an identifier of the target CAN signal; The mapping relationship is to determine the target service interface corresponding to the target CAN signal, and the first mapping relationship is used to indicate the corresponding relationship between the identifier of the CAN signal and the identifier of the service interface; according to the target service interface, determine the communication data corresponding to the target CAN signal, and communicate The data is used to enable multiple ECUs to communicate via Ethernet communication via a gateway. This method can serve the CAN signal through the gateway, and obtain the communication data of the Ethernet communication mode corresponding to the CAN signal, so that the ECU in the vehicle can communicate not only through the common CAN communication mode, but also through the Ethernet communication mode. , providing a variety of communication methods for the ECU in the vehicle.

Description

Method, device and vehicle for processing CAN signal of vehicle controller local area network

technical field

The present application relates to the field of vehicles, and more specifically, to a method, device and vehicle for processing CAN signals of a vehicle controller area network in the field of vehicles.

Background technique

At present, in the vehicle industry, with the continuous development and improvement of network technology, the functions of vehicles are becoming more and more abundant. Multiple electronic control units (Electronic Control Unit, ECU) in the vehicle can communicate through various communication methods provided on the vehicle to control the vehicle to achieve different functions. Several common communication methods in vehicles include: Controller Area Network (Controller Area Network, CAN) bus communication, Local Interconnect Network (Local Interconnect Network, LIN) bus communication, Flex Ray bus communication, media-oriented system transmission (MediaOriented Systems Transport, MOST) bus communication, Ethernet communication, etc.

Exemplarily, at present, CAN bus communication is mainly used in vehicles to realize data interaction. However, with the rapid development of Ethernet communication technology, more and more vehicles are beginning to realize data interaction through Ethernet communication. CAN bus communication is signal-oriented communication, and Ethernet communication is service-oriented communication. Therefore, when multiple ECUs in a vehicle use Ethernet communication, they need to convert CAN signals into Ethernet data, so that the vehicle ECUs can communicate with each other. Ability to communicate via Ethernet.

To sum up, how to realize the CAN signal service of multiple ECUs in the vehicle, so that the ECUs of the vehicle can communicate through Ethernet, has become an urgent problem to be solved.

Contents of the invention

The application provides a method, device and vehicle for processing CAN signals in the vehicle controller local area network. The method can serve the CAN signals through the gateway, and obtain the communication data of the Ethernet communication mode corresponding to the CAN signals, so that the ECU in the vehicle can In addition to communicating through the common CAN communication method, it can also communicate through the Ethernet communication method, providing a variety of communication methods for the ECU in the vehicle.

In a first aspect, a method for processing a CAN signal of a vehicle controller local area network is provided, the method is executed by a gateway, and the method includes: receiving a target CAN signal sent by a first ECU; determining the identity of the target CAN signal; according to the target CAN The identification of the signal and the first mapping relationship determine the target service interface corresponding to the target CAN signal, and the first mapping relationship is used to indicate the corresponding relationship between the identification of the CAN signal and the identification of the service interface; according to the target service interface, determine The communication data corresponding to the target CAN signal, the communication data is used to enable multiple ECUs to communicate through the gateway in the form of Ethernet communication.

In the above technical solution, a method for processing CAN signals is proposed, specifically, after obtaining the target CAN signal sent by the ECU in the vehicle, the identification of the target CAN signal is determined, and further according to the identification of the target CAN signal and the first mapping relationship, to determine the service interface corresponding to the target CAN signal, wherein the first mapping relationship is used to indicate the correspondence between the identifier of the CAN signal and the identifier of the service interface. In this application, through the corresponding relationship between the CAN signal identification and the service interface identification in the gateway, the gateway can quickly determine the service interface corresponding to the target CAN signal after receiving the target CAN signal, which improves the CAN signal processing. efficiency. Finally, according to the service interface corresponding to the target CAN signal, the communication data corresponding to the target CAN signal is obtained. Among them, the communication data is used to enable a plurality of ECUs to communicate in an Ethernet communication manner through a gateway. Combining the service interface obtained in the preceding steps, in this process, the communication data corresponding to the target CAN signal can be directly determined according to the service interface corresponding to the target CAN signal, and the effect of converting the CAN signal into the communication data corresponding to the Ethernet communication mode is realized. Therefore, the types of communication modes of the ECU in the vehicle are enriched, the singleness of the communication mode of the ECU is solved, and the effect of more efficient communication of the ECU using the Ethernet communication mode is achieved.

With reference to the first aspect, in some possible implementation manners, determining the target service interface corresponding to the target CAN signal according to the identification of the target CAN signal and the first mapping relationship includes: determining according to the identification of the target CAN signal The identification of the target CAN message corresponding to the target CAN signal, wherein a CAN message includes at least one CAN signal; according to the identification of the target CAN message and the second mapping relationship, determine the target service corresponding to the target CAN message, the second mapping The relationship is used to indicate the corresponding relationship between the identifier of the CAN message and the identifier of the service, and the service includes at least one service interface; according to the identifier of the service and at least one service interface corresponding to the service, determine the identifier of the at least one service interface; According to the target service, the identifier of the at least one service interface and the identifier of the target CAN signal, determine the target service interface corresponding to the target CAN signal.

In the above technical solution, a method for determining the target service interface is proposed, specifically based on the identification of the target CAN signal, the identification of the target CAN message corresponding to the target CAN signal is determined, and according to the identification of the target CAN message and the second mapping relationship , to obtain the target service corresponding to the target CAN message, where the second mapping relationship is used to indicate the correspondence between the identifier of the CAN message and the identifier of the service. Further determine the identifiers of all service interfaces corresponding to the service according to the identifier of the service, and finally obtain the service interface corresponding to the target CAN signal according to the target service, the identifier of each service interface and the identifier of the target CAN signal. Through the above-mentioned relationship between the identification of the CAN message and the identification of the service, and the layer-by-layer correspondence between the identification of the service and the identification of the service interface, the CAN signal is converted to the corresponding Ethernet communication method in a step-by-step manner. The communication data ensures the accuracy and efficiency of the conversion of the target CAN signal into communication data.

With reference to the first aspect and the above-mentioned implementation manners, in some possible implementation manners, the method further includes: receiving a first request sent by the second ECU, where the first request is used to request to obtain communication data corresponding to the target CAN signal; In response to the first request, the communication data corresponding to the target CAN signal is sent to the second ECU.

In the above technical solution, after obtaining the communication data of the target CAN signal, the gateway may also send the communication data corresponding to the target CAN signal to other ECUs in the vehicle by receiving the first request. Realize the effect of communication between multiple ECUs in the vehicle by means of Ethernet communication.

With reference to the first aspect and the above-mentioned implementation manners, in some possible implementation manners, the method further includes: determining the service and at least one service interface corresponding to the service according to the parameter information of the CAN signal, where the parameter information includes Any one or more of the sending type of the CAN signal, the signal type of the CAN signal, and the type of equipment corresponding to the CAN signal.

In the above technical solution, the service and multiple service interfaces in the service can be determined in advance through the parameter information of the CAN signal. Therefore, when a CAN signal is received, the service interface corresponding to each CAN signal can be determined according to the preset service and service interface. The above method of pre-configuring the service and the service interface realizes the systematic management of the CAN signal, and improves the efficiency of transferring the CAN signal to the communication data corresponding to the Ethernet.

Combining the first aspect and the above implementation, in some possible implementations, the connection between the ECU and the gateway includes CAN connection, Ethernet connection, local area Internet network LIN connection, media-oriented system transmission MOST connection, FlexRay connection Any one or more of the connection methods.

With reference to the first aspect and the foregoing implementation manners, in some possible implementation manners, the type of the service interface includes any one or more of a method interface, an attribute interface, and an event interface.

To sum up, this application proposes a method for processing CAN signals, specifically, after obtaining the target CAN signal sent by the ECU in the vehicle, determine the identity of the target CAN signal, and further according to the identity of the target CAN signal and the first mapping relationship , determine the service interface corresponding to the target CAN signal, where the first mapping relationship is used to indicate the correspondence between the identifier of the CAN signal and the identifier of the service interface. In this application, through the corresponding relationship between the CAN signal identification and the service interface identification in the gateway, the gateway can quickly determine the service interface corresponding to the target CAN signal after receiving the target CAN signal, which improves the CAN signal processing. efficiency. Finally, according to the service interface corresponding to the target CAN signal, the communication data corresponding to the target CAN signal is obtained. Among them, the communication data is used to enable a plurality of ECUs to communicate in an Ethernet communication manner through a gateway. Combining the service interface obtained in the preceding steps, in this process, the communication data corresponding to the target CAN signal can be directly determined according to the service interface corresponding to the target CAN signal, and the effect of converting the CAN signal into the communication data corresponding to the Ethernet communication mode is realized. Therefore, the types of communication modes of the ECU in the vehicle are enriched, the singleness of the communication mode of the ECU is solved, and the effect of more efficient communication of the ECU using the Ethernet communication mode is achieved.

Specifically, the present application proposes a method for determining the target service interface, specifically based on the target CAN signal identification, determining the target CAN message identification corresponding to the target CAN signal, and according to the target CAN message identification and the second mapping relationship, A target service corresponding to the target CAN message is obtained, wherein the second mapping relationship is used to indicate a correspondence between the identifier of the CAN message and the identifier of the service. Further determine the identifiers of all service interfaces corresponding to the service according to the identifier of the service, and finally obtain the service interface corresponding to the target CAN signal according to the target service, the identifier of each service interface and the identifier of the target CAN signal. Through the above-mentioned relationship between the identification of the CAN message and the identification of the service, and the layer-by-layer correspondence between the identification of the service and the identification of the service interface, the CAN signal is converted to the corresponding Ethernet communication method in a step-by-step manner. The communication data ensures the accuracy and efficiency of the conversion of the target CAN signal into communication data.

Further, after obtaining the communication data of the target CAN signal, the gateway can also send the communication data corresponding to the target CAN signal to other ECUs in the vehicle by receiving the first request. Realize the effect of communication between multiple ECUs in the vehicle by means of Ethernet communication.

In this application, multiple services and multiple service interfaces in the services can be determined in advance through the parameter information of the CAN signal. Therefore, when a CAN signal is received, the service interface corresponding to each CAN signal can be determined according to the preset service and service interface. The above method of pre-configuring the service and the service interface realizes the systematic management of the CAN signal, and improves the efficiency of transferring the CAN signal to the communication data corresponding to the Ethernet.

In a second aspect, there is provided a device for processing a CAN signal of a vehicle controller local area network, the device is included in a gateway, and the device includes: a receiving module for receiving a target CAN signal sent by a first ECU; a first determining module for Determine the identification of the target CAN signal; determine the target service interface corresponding to the target CAN signal according to the identification of the target CAN signal and the first mapping relationship, and the first mapping relationship is used to indicate the difference between the identification of the CAN signal and the identification of the service interface The corresponding relationship among them; according to the target service interface, determine the communication data corresponding to the target CAN signal, and the communication data is used to enable multiple ECUs to communicate through the gateway via Ethernet communication.

With reference to the second aspect, in some possible implementation manners, the first determining module is specifically configured to: determine an identifier of a target CAN message corresponding to the target CAN signal according to the identifier of the target CAN signal, wherein a CAN message includes At least one CAN signal; determine the target service corresponding to the target CAN message according to the target CAN message identifier and a second mapping relationship, the second mapping relationship is used to indicate the correspondence between the CAN message identifier and the service identifier, The service includes at least one service interface; according to the identification of the service and at least one service interface corresponding to the service, determine the identification of the at least one service interface; according to the target service, the identification of the at least one service interface and the target CAN signal Identification, to determine the target service interface corresponding to the target CAN signal.

With reference to the second aspect and the above implementation manners, in some possible implementation manners, the device further includes: a processing module, configured to receive a first request sent by the second ECU, where the first request is used to request to obtain the target CAN signal Corresponding communication data: in response to the first request, sending the communication data corresponding to the target CAN signal to the second ECU.

With reference to the second aspect and the above-mentioned implementation manners, in some possible implementation manners, the device further includes: a second determining module, configured to determine the service and at least one service interface corresponding to the service according to the parameter information of the CAN signal , wherein the parameter information includes any one or more of the transmission type of the CAN signal, the signal type of the CAN signal, and the device type corresponding to the CAN signal.

Combining the second aspect and the above implementation, in some possible implementations, the connection between the ECU and the gateway includes CAN connection, Ethernet connection, local area Internet network LIN connection, media-oriented system transmission MOST connection, FlexRay connection Any one or more of the connection methods.

With reference to the second aspect and the above implementation manners, in some possible implementation manners, the type of the service interface includes any one or more of a method interface, an attribute interface, and an event interface.

In a third aspect, a gateway is provided, and the gateway includes: a memory and a processor. The memory is used to store executable program codes, and the processor is used to call and run the executable program codes from the memory, so that the gateway executes the method in the above first aspect or any possible implementation manner of the first aspect.

In a fourth aspect, a vehicle is provided, and the vehicle includes a gateway for performing the method in the above-mentioned first aspect or any possible implementation manner of the first aspect,

In a fifth aspect, a computer program product is provided, and the computer program product includes: computer program code, when the computer program code is run on a computer, the computer is made to execute any one of the above-mentioned first aspect or any one of the possible steps of the first aspect. method in the implementation.

In a sixth aspect, a computer-readable storage medium is provided, the computer-readable storage medium stores computer program codes, and when the computer program codes run on a computer, the computer executes the first aspect or any of the first aspects. A method in one possible implementation.

Description of drawings

FIG. 1 is a schematic diagram of a scene of communication between vehicle ECUs provided by an embodiment of the present application;

Fig. 2 is a schematic structural diagram of a CAN message provided by an embodiment of the present application;

Fig. 3 is a schematic structural diagram of a service provided by an embodiment of the present application;

Fig. 4 is a schematic flowchart of a method for processing a CAN signal of a vehicle controller local area network provided by an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a device for processing CAN signals of a vehicle controller local area network provided by an embodiment of the present application;

Fig. 6 is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

Detailed ways

The technical solution in this application will be described clearly and in detail below in conjunction with the accompanying drawings. Among them, in the description of the embodiments of this application, unless otherwise specified, "/" means or means, for example, A/B can mean A or B: "and/or" in the text is only a description of associated objects The association relationship indicates that there may be three kinds of relationships, such as A and/or B, which may indicate that A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiment of the present application, "A plurality" means two or more than two.

Hereinafter, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as implying or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of these features.

Fig. 1 is a schematic diagram of a scene of communication between vehicle ECUs provided by an embodiment of the present application.

Exemplarily, as shown in FIG. 1 , a gateway 101 , an ECU 102 and an ECU 103 are included in FIG. 1 . Wherein, the ECU 102 and the ECU 103 are respectively connected to the gateway 101 , and the ECU 102 and the ECU 103 can realize data mutual transmission through the gateway 101 .

Optionally, the gateway 101 may be a Signal to Service (S2S) gateway.

Optionally, the connection mode between ECU102 and ECU103 and gateway 101 includes any connection in CAN connection, Ethernet connection, LIN connection, MOST connection, and Flex Ray connection.

In a possible scenario, the ECU 102 may be connected to the gateway 101 via CAN, and the ECU 103 may be connected to the gateway 101 via Ethernet. In the following embodiment of the application, the ECU 102 is connected to the gateway 101 by CAN, and the ECU 103 is connected to the gateway 101 by Ethernet as an example, and a method for processing the CAN signal of the vehicle controller local area network provided by the embodiment of the application is described in detail.

It should be understood that CAN communication is a signal-oriented communication manner, and Ethernet communication is a service-oriented communication. Before introducing a method for processing the CAN signal of the vehicle controller area network provided by the embodiment of the present application, a brief introduction is given to the relationship between the CAN message, the CAN signal, the service and the service interface in the embodiment of the present application.

Fig. 2 is a schematic structural diagram of a CAN message provided by an embodiment of the present application.

Exemplarily, as shown in Figure 2, in order to meet the various needs of the user during the driving process and ensure the safety of the user's life and property, multiple ECUs configured in the vehicle can be used to obtain and process various driving data during the driving process of the vehicle. parameters, so as to timely process and report abnormal data during vehicle driving.

Among them, multiple ECUs in the vehicle include Engine Control Module (Engine Control Module, ECM), Battery Management System (Battery Manage System, BMS) controller, Transmission Control Unit (Transmission Control Unit, TCU, also known as transmission controller ), hybrid control unit (Hybrid Control Unit, HCU), battery management system (Battery Management System, BMS, also known as "energy storage system"), air conditioning controller (Automatic Temperature Control, ATC) and other ECUs.

As shown in Figure 2, in conjunction with Figure 1, the ECU 102 can be any one of the above-mentioned multiple ECUs. Various information such as temperature, status information, air volume, and current working mode of the air conditioner in the vehicle are sent to the gateway 101 in the form of CAN signals. For example, CAN signal 2011 , CAN signal 2012 , CAN signal 2013 and CAN signal 2014 in FIG. 2 .

However, since the CAN signal cannot be sent separately, when the ATC sends the above-mentioned air-conditioning temperature, status information, air volume, and current operating mode to the gateway 101, the above-mentioned CAN signal 2011, CAN signal 2012, CAN signal 2013, and CAN signal 2014 can be combined into one It is sent in the form of CAN message 201 (or called a frame of CAN message). That is to say, one CAN message can include multiple CAN signals.

Further, when other ECUs need to obtain information such as the air-conditioning temperature, status information, air volume, and current working mode of the ATC, they can send a request to the gateway 101. Based on the request, the gateway 101 can obtain the air-conditioning temperature, status Information, air volume, current working mode and other information are sent to other ECUs.

At present, with the continuous development of Ethernet communication, more and more ECUs in vehicles begin to adopt service-oriented Ethernet communication.

Fig. 3 is a schematic structural diagram of a service provided by an embodiment of the present application.

Exemplarily, as shown in FIG. 3 , with reference to FIG. 1 , the ECU 103 and the gateway 101 in FIG. 3 are connected by Ethernet. Assuming that the ECU 103 is an ECM, the ECM may have the following functions: for example, obtaining the engine speed, the working state of the engine, adjusting the engine speed, and so on.

When the ECU in the vehicle communicates using the Ethernet communication method, the functions of the ECM can be collectively represented by a service 301 . In the service 301, the above-mentioned different functions of the ECM can be correspondingly stored in different service interfaces in different services 301, for example, the service interface 3011 is used to realize the function of sending the rotational speed of the engine; the service interface 3012 is used to realize the reporting of the work of the engine The function of the state; the service interface 3013 is used to realize the function of adjusting the rotational speed of the engine.

Further, the ECM can send these service data to the gateway 101. When other ECUs need to obtain the current engine speed, they can send a request to the gateway 101 to call the service interface 3011 in the service 301 to realize the engine data acquisition process. The same applies to other service interfaces.

2 and 3, in the process of communication between multiple ECUs in the vehicle, when the corresponding communication connection modes of the multiple ECUs in the vehicle are different (for example, ECU102 is connected to the gateway 101 through CAN, and ECU103 is connected to the gateway 101 through Ethernet. ), if the ECU103 needs to obtain the data of the ECU102, after the gateway 101 receives the CAN signal of the ECU102, it first needs to convert the CAN signal into Ethernet data that the ECU103 can receive, and then the data of the ECU102 can be sent to the ECU103.

Fig. 4 is a schematic flowchart of a method for processing CAN signals of a vehicle local area network provided by an embodiment of the present application. It should be understood that the method can be applied to the scenario shown in FIG. 1 and executed by the gateway 101 in FIG. 1 .

Exemplarily, as shown in FIG. 4, the method 400 includes:

401. Receive a target CAN signal sent by a first ECU.

It should be understood that, in this embodiment of the present application, the first ECU is connected to the gateway through communication. So the gateway can receive the target CAN signal sent by the first ECU. Optionally, the first ECU is any one of multiple ECUs in the vehicle.

Optionally, for any ECU in the vehicle, the connection between the ECU and the gateway includes any one or more of CAN connection, Ethernet connection, LIN connection, MOST connection, and Flex Ray connection.

It should also be understood that in the embodiment of the present application, before the target CAN signal is serviced, the engineer can pre-set the CAN signal identifier and the service interface identifier in the gateway according to the parameter information of multiple CAN signals acquired before. multiple sets of corresponding relationships, and store these corresponding relationships as the first mapping relationship. In the actual CAN service process, after receiving the target CAN signal, the gateway can directly find the service interface corresponding to the target CAN signal according to the first pre-stored mapping relationship.

Optionally, the parameter information of the CAN signal includes the sending type of the CAN signal, the signal type of the CAN signal, and the device type corresponding to the CAN signal.

Optionally, the sending type of the CAN signal includes periodic (Cyclic) sending, event-type (On Change) sending, periodic event-type (cyclic and on event) sending, enabling type (if active) sending, periodic enabling type ( cyclic and if active) sending and any other sending type or more.

Optionally, the device types corresponding to the CAN include air conditioners, seats, engines, and the like.

Exemplarily, CAN signals can be classified according to different devices, for example, all CAN signals in the air conditioner (or ATC) correspond to multiple different services; all CAN signals corresponding to the seat (or seat controller) Signals correspond to several different services. Among the different services corresponding to the air conditioner, different services may represent different functions, for example, service 1 corresponding to temperature adjustment, service 2 corresponding to air volume adjustment, and so on. Then in service 1, according to the specific CAN signal type, (for example, some CAN signals indicate the current temperature of the air conditioner; some CAN signals indicate the working mode of the air conditioner (such as cooling, heating or air purification, etc.), different CAN signals are set to different service interfaces in one service.

Optionally, the type of the service interface includes any one or more of a method (method) interface, a property (Field) interface, and an event (Event) interface. Among them, Event means event sending, Method means method call, and Field means field processing.

It should be understood that for different types of service interfaces, Method and Event service interfaces are mainly service interfaces for actions, Method is a service interface for requesting a certain action, and Event is used to notify the other party when a certain action occurs The service interface; Field is mainly used to read and write a certain data service interface.

Exemplarily, for the ATC, some basic functions that can be provided include: turning on or off the air conditioner; increasing or decreasing the air volume of the air conditioner; notifying the current ambient temperature; notifying the current target temperature and so on.

In the above functions, "turn on or off the air conditioner, increase or decrease the air volume of the air conditioner" can be set to correspond to two Method interfaces; in the above functions, "inform the current temperature" can be represented by an Event interface, which can continuously report the current temperature. The ambient temperature; the "inform the current target temperature" in the above function is represented by a Field interface, because the target temperature can not only be set, but also read.

By analogy, through the above setting process, the corresponding relationship between the identifications of CAN signals of multiple different ECUs and the identifications of multiple service interfaces can be obtained.

Table 1 is a schematic table of a correspondence between a CAN signal and a service interface provided in an embodiment of the present application.

Table 1 - List of correspondence between CAN signals and service interfaces

Exemplarily, as shown in Table 1, there is not a one-to-one relationship between the service interface and the CAN signal. One service interface can correspond to multiple CAN signals, and one CAN signal can also correspond to different service interfaces. The specific setting method can be dynamically adjusted by the administrator according to the actual situation.

In the above technical solution, the service and multiple service interfaces in the service can be determined in advance through the parameter information of the CAN signal. Therefore, when a CAN signal is received, the service interface corresponding to each CAN signal can be determined according to the preset service and service interface. The above method of pre-configuring the service and the service interface realizes the systematic management of the CAN signal, and improves the efficiency of transferring the CAN signal to the communication data corresponding to the Ethernet.

Further, when the ECU and the gateway are connected through CAN, the gateway can receive the target CAN signal sent by the ECU, and obtain the target service interface corresponding to the target CAN signal according to the above-mentioned preset multi-group correspondence.

402. Determine the identity of the target CAN signal.

It should be understood that when each CAN signal is sent to the gateway, it may correspond to a unique identifier. Therefore, when the gateway receives the target CAN signal, it can determine the identifier of the target CAN signal. Wherein, the identifier of the CAN signal can be used to indicate the data type corresponding to the CAN signal and which CAN message it specifically belongs to.

It should also be understood that a CAN message is also called a CAN message, which refers to a frame in which a sending unit transmits data to a receiving unit. CAN messages can transmit multiple data from the sending unit to the receiving unit via the CAN bus. Multiple data are embodied on the CAN bus as multiple CAN signals.

403. Determine the target service interface corresponding to the target CAN signal according to the identifier of each CAN signal and the first mapping relationship, where the first mapping relationship is used to indicate the correspondence between the identifier of the CAN signal and the identifier of the service interface.

For each received CAN signal, the gateway can determine the service interface corresponding to each CAN signal according to the identification of each CAN signal and the preset multiple sets of correspondences stored in the gateway.

In a possible implementation manner, each CAN signal corresponds to a CAN message or CAN message, and each service interface has a corresponding unique service, and each service corresponds to a unique identifier. When determining the target interface corresponding to the target CAN signal according to the identification of the target CAN signal and the first mapping relationship, specifically include:

According to the identification of the target CAN signal, determine the identification of the target CAN message corresponding to the target CAN signal, wherein a CAN message includes at least one CAN signal;

According to the identification of the target CAN message and the second mapping relationship, determine the target service corresponding to the target CAN message, the second mapping relationship is used to indicate the corresponding relationship between the identification of the CAN message and the identification of the service, and the service includes at least one service interface;

Determine the identifier of at least one service interface according to the identifier of the service and at least one service interface corresponding to the service;

Determine the target service interface corresponding to the target CAN signal according to the target service, the identifier of at least one service interface, and the identifier of the target CAN signal.

After receiving the target CAN signal, in the embodiment of the present application, according to the identification of the target CAN signal, the CAN message to which the target CAN signal belongs and the identification of the CAN message can be determined first. Since each CAN message corresponds to a different service, the target service corresponding to the target CAN message is determined according to the correspondence between the CAN message identifier and the service identifier. Further, the target service interface corresponding to the target CAN signal is determined by combining the service identifier, the identifiers of all service interfaces corresponding to the service, and the identifier of the target CAN signal.

In the above technical solution, a method for determining the target service interface is proposed, specifically based on the identification of the target CAN signal, the identification of the target CAN message corresponding to the target CAN signal is determined, and according to the identification of the target CAN message and the second mapping relationship , to obtain the target service corresponding to the target CAN message, where the second mapping relationship is used to indicate the correspondence between the identifier of the CAN message and the identifier of the service. Further determine the identifiers of all service interfaces corresponding to the service according to the identifier of the service, and finally obtain the service interface corresponding to the target CAN signal according to the target service, the identifier of each service interface and the identifier of the target CAN signal. Through the above-mentioned relationship between the CAN message identification and the service identification, and the layer-by-layer correspondence between the service identification and the service interface identification, the CAN signal is converted to the corresponding Ethernet communication method in a step-by-step manner. The communication data ensures the accuracy and efficiency of the conversion of the target CAN signal into communication data.

404. According to the target service interface, determine the communication data corresponding to the target CAN signal, where the communication data is used to enable multiple ECUs to communicate in an Ethernet communication manner through the gateway.

According to step 403, the target service interface corresponding to the target CAN signal can be determined, and according to the target service interface, communication data corresponding to the target CAN signal, ie Ethernet data, can be obtained.

Furthermore, when other ECUs in the vehicle need to obtain the Ethernet data corresponding to the target CAN signal stored in the gateway, it can also be obtained by sending a request to the gateway, specifically including:

receiving a first request sent by the second ECU, where the first request is used to request to obtain communication data corresponding to the target CAN signal;

In response to the first request, the communication data corresponding to the target CAN signal is sent to the second ECU.

Specifically, if other ECUs (second ECUs) in the vehicle are connected to the gateway via Ethernet, and it is necessary to obtain the communication data corresponding to the target CAN signal of the first ECU, the gateway can transmit the communication data corresponding to the target CAN signal through Ethernet communication. The communication data is sent to the second ECU.

In the above technical solution, after obtaining the communication data of the target CAN signal, the gateway may also send the communication data corresponding to the target CAN signal to other ECUs in the vehicle by receiving the first request. Realize the effect of communication between multiple ECUs in the vehicle by means of Ethernet communication.

It should be understood that, in the embodiment of the present application, the gateway may also store the original CAN signal after serving the CAN signal. When receiving data requests sent by other ECUs, send the corresponding data to other ECUs according to the connection method of the ECU sending the request. For example, if the other ECU that sends the request is also connected to CAN, the gateway will send the CAN signal to other ECUs; if the ECU that sent the request is connected to Ethernet, the gateway will send the serviced Ethernet data to other ECUs. Similarly, if the data received by the gateway is Ethernet data, the Ethernet data can also be converted into CAN signals and sent to other ECUs connected with CAN. All the above methods can be regarded as the protection scope of the present application.

FIG. 5 is a schematic structural diagram of a device for processing CAN signals of a vehicle controller area network provided by an embodiment of the present application. The device is applied to the gateway 101 shown in FIG. 1 .

Exemplarily, as shown in FIG. 5, the device 500 includes:

A receiving module 501, configured to receive the target CAN signal sent by the ECU;

The first determination module 502 is used to determine the identification of the target CAN signal; according to the identification of the target CAN signal and the first mapping relationship, determine the target service interface corresponding to the target CAN signal, and the first mapping relationship is used to indicate the CAN signal The corresponding relationship between the identification of the service interface and the identification of the service interface; according to the target service interface, determine the communication data corresponding to the target CAN signal, and the communication data is used to enable multiple ECUs to communicate in Ethernet communication through the gateway.

In a possible implementation manner, the first determining module 502 is specifically configured to: determine the identifier of the target CAN message corresponding to the target CAN signal according to the identifier of the target CAN signal, wherein each CAN message includes at least one CAN signal ; According to the identification of the target CAN message and the second mapping relationship, determine the target service corresponding to the target CAN message, the second mapping relationship is used to indicate the correspondence between the identification of the CAN message and the identification of the service, the service includes at least A service interface; according to the identification of the service and at least one service interface corresponding to the service, determine the identification of the at least one service interface; according to the target service, the identification of the at least one service interface and the identification of the target CAN signal, determine the The target service interface corresponding to the target CAN signal.

Optionally, the device further includes: a processing module, configured to receive a first request sent by the first ECU, where the first request is used to request to obtain communication data corresponding to the target CAN signal; in response to the first request, the The communication data corresponding to the target CAN signal is sent to the first ECU.

Optionally, the device further includes: a second determining module, configured to determine the service and at least one service interface corresponding to the service according to parameter information of the CAN signal, wherein the parameter information includes the sending type of the CAN signal, Any one or more of the signal type of the CAN signal and the device type corresponding to the CAN signal.

In a possible implementation, the connection between the ECU and the gateway includes any one or more of CAN connection, Ethernet connection, local area interconnection network LIN connection, media-oriented system transmission MOST connection, and Flex Ray connection Way.

In a possible implementation manner, the type of the service interface includes any one or more of a method interface, an attribute interface, and an event interface.

Fig. 6 is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

Exemplarily, as shown in FIG. 6, with reference to FIG. 1, the vehicle 600 includes the gateway 101 in FIG. , the processor 602 is used to call and execute the executable program code 6011 to execute a method for processing a vehicle controller area network CAN signal.

In this embodiment, the functional modules of the vehicle can be divided according to the above-mentioned method examples. For example, each functional module can be corresponded to, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can use hardware The form is realized. It should be noted that the division of modules in this embodiment is schematic, and is only a logical function division, and there may be other division methods in actual implementation.

In the case of dividing each functional module corresponding to each function, the gateway may include: a receiving module, a first determining module, and the like. It should be noted that all the relevant content of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

The vehicle provided in this embodiment is used to implement the above-mentioned method for processing the CAN signal of the vehicle controller area network, so the same effect as the above-mentioned implementation method can be achieved.

In the case of integrated units, the vehicle may include processing modules, storage modules. Wherein, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute mutual program codes and data, etc.

Wherein, the processing module can be a processor or a controller, which can realize or execute various exemplary logic blocks, modules and circuits that are despised in conjunction with the disclosure of the present application. The processor can also be a combination of computing functions, for example, a combination of one or more microprocessors, a combination of digital signal processing (digital signal processing, DSP) and a microprocessor, etc., and the storage module can be a memory.

This embodiment also provides a computer-readable storage medium, where computer program code is stored in the computer-readable storage medium, and when the computer program code is run on the computer, the computer executes the above-mentioned related method steps to realize the steps in the above-mentioned embodiment. A method for processing CAN signals of a vehicle controller area network.

This embodiment also provides a computer program product. When the computer program product is run on a computer, it causes the computer to execute the above related steps, so as to realize the method for processing the CAN signal of the vehicle controller area network in the above embodiment.

Wherein, the vehicles, computer-readable storage media, computer program products or chips provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the corresponding methods provided above. The beneficial effects of the method will not be repeated here.

Through the description of the above embodiments, those skilled in the art can understand that for the convenience and brevity of the description, only the division of the above functional modules is used as an example for illustration. In practical applications, the above functions can be assigned by different Completion of functional modules means that the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

In the embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or It may be integrated into another device, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The above content is only the specific implementation of the application, but the scope of protection of the application is not limited thereto. Anyone familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application, and should covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (10)

1. A method for processing vehicle controller local area network CAN signals, characterized in that, the method is carried out by a gateway, and the method comprises: receiving the target CAN signal sent by the first ECU; determining the identity of the target CAN signal; According to the identification of the target CAN signal and the first mapping relationship, determine the target service interface corresponding to the target CAN signal, and the first mapping relationship is used to indicate the corresponding relationship between the identification of the CAN signal and the identification of the service interface; According to the target service interface, the communication data corresponding to the target CAN signal is determined, and the communication data is used to enable multiple ECUs to communicate in an Ethernet communication manner through the gateway. 2. The method according to claim 1, wherein said determining the target service interface corresponding to the target CAN signal according to the identification of the target CAN signal and the first mapping relationship comprises: According to the identification of the target CAN signal, determine the identification of the target CAN message corresponding to the target CAN signal, wherein a CAN message includes at least one CAN signal; Determine the target service corresponding to the target CAN message according to the identifier of the target CAN message and a second mapping relationship, the second mapping relationship is used to indicate the correspondence between the identifier of the CAN message and the identifier of the service, the The service includes at least one service interface; Determine the identifier of the at least one service interface according to the identifier of the service and at least one service interface corresponding to the service; Determine the target service interface corresponding to the target CAN signal according to the target service, the identifier of the at least one service interface, and the identifier of the target CAN signal. 3. The method according to claim 1 or 2, characterized in that the method further comprises: receiving a first request sent by the second ECU, where the first request is used to request to obtain communication data corresponding to the target CAN signal; In response to the first request, sending communication data corresponding to the target CAN signal to the second ECU. 4. The method according to claim 2, characterized in that the method further comprises: According to the parameter information of the CAN signal, determine the service and at least one service interface corresponding to the service, where the parameter information includes the transmission type of the CAN signal, the signal type of the CAN signal, the CAN Any one or more of the device types corresponding to the signal. 5. The method according to claim 1 or 2, wherein the connection mode between the ECU and the gateway comprises a CAN connection, an Ethernet connection, a local area Internet network LIN connection, a media-oriented system transmission MOST connection, a Flex Ray Any one or more connection methods in the connection. 6. The method according to claim 1 or 2, wherein the type of the service interface includes any one or more of a method interface, an attribute interface, and an event interface. 7. A device for processing vehicle controller local area network CAN signals, characterized in that the device is applied to a gateway, and the device comprises: a receiving module, configured to receive the target CAN signal sent by the first ECU; The first determination module is used to determine the identification of the target CAN signal; according to the identification of the target CAN signal and the first mapping relationship, determine the target service interface corresponding to the target CAN signal, and the first mapping relationship is used for Indicate the correspondence between the identification of the CAN signal and the identification of the service interface; according to the target service interface, determine the communication data corresponding to the target CAN signal, and the communication data is used to enable multiple ECUs to communicate with Ethernet through the gateway way of communication. 8. A gateway, characterized in that the gateway comprises: memory for storing executable program code; A processor, configured to call and run the executable program code from the memory, so that the gateway executes the method according to any one of claims 1-6. 9. A vehicle, characterized in that the vehicle comprises a gateway for performing the method according to any one of claims 1-6. 10. A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 6 is implemented .

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