CN117938570A - Vehicle hybrid bus message forwarding method and system and vehicle - Google Patents

Vehicle hybrid bus message forwarding method and system and vehicle Download PDF

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Publication number
CN117938570A
CN117938570A CN202311812478.XA CN202311812478A CN117938570A CN 117938570 A CN117938570 A CN 117938570A CN 202311812478 A CN202311812478 A CN 202311812478A CN 117938570 A CN117938570 A CN 117938570A
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CN
China
Prior art keywords
message
canfd
information
data field
bus
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311812478.XA
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Chinese (zh)
Inventor
邵常峰
吕志伟
张兆龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BAIC Motor Co Ltd
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BAIC Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BAIC Motor Co Ltd filed Critical BAIC Motor Co Ltd
Priority to CN202311812478.XA priority Critical patent/CN117938570A/en
Publication of CN117938570A publication Critical patent/CN117938570A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
    • H04L1/0056—Systems characterized by the type of code used
    • H04L1/0061—Error detection codes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/22—Parsing or analysis of headers
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle

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

Abstract

The invention discloses a vehicle hybrid bus message forwarding method and system and a vehicle. This may include: receiving a CAN message from a CAN bus; identifying ID information and data field information of the CAN message; filling ID information and data field information into a set CANFD message data field to generate a CANFD message; the CANFD message is sent to the CANFD bus. According to the invention, through the arrangement mode of the self-defined CANFD message data field, ID information and data field information of a plurality of CAN messages are stored by utilizing the CANFD message data field, so that the conversion from the CAN messages to the CANFD messages is realized; the invention CAN fully utilize the prior CAN communication protocol and standard, ensure the maximum edge of the original CAN network section, reduce the influence on the whole vehicle to the maximum extent, reduce the network load rate, improve the expansibility and ensure the compatibility of the hybrid network.

Description

Vehicle hybrid bus message forwarding method and system and vehicle
Technical Field
The invention belongs to the technical field of vehicle networks, and particularly relates to a vehicle hybrid bus message forwarding method and system and a vehicle.
Background
Along with the rapid development of the intelligent degree of the whole vehicle, the development and the carrying of the vehicle-mounted intelligent vehicle machine and the mobile phone terminal APP bring new requirements to the signal transmission of the whole vehicle, the signals of the whole vehicle are more and more, and the load rate of the CAN bus continuously rises, so that the CAN FD network starts to be gradually applied to a vehicle-mounted network architecture. At present, all host factories and suppliers are upgrading CAN to CANFD, the frame structure of CANFD is changed for CAN, but not all ECUs of all manufacturers CAN be switched to CANFD, and the technology of CANFD is still immature, which brings a practical problem, and two ECUs of CANFD and common CAN CAN coexist on the whole vehicle.
The information disclosed in the background section of the invention is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a vehicle hybrid bus message forwarding method, a system and a vehicle, which realize the mutual forwarding from CAN messages to CANFD messages, ensure the maximum edge of the original CAN network segment and furthest reduce the influence on the whole vehicle.
In order to achieve the above purpose, the invention provides a vehicle hybrid bus message forwarding method, a system and a vehicle.
According to a first aspect of the present invention, a method for forwarding a vehicle hybrid bus message is provided, including:
receiving a CAN message from a CAN bus;
Identifying ID information and data field information of the CAN message;
filling the ID information and the data field information into a set CANFD message data field to generate a CANFD message;
and sending the CANFD message to a CANFD bus.
Optionally, the method further comprises:
receiving, from said CANFD bus, CANFD messages generated with said CANFD message data fields set;
analyzing the CANFD message to obtain ID information and data field information of the CAN message;
generating a CAN message based on the ID information and the corresponding data field information;
And sending the CAN message to a CAN bus.
Optionally, the set CANFD packet data field includes:
The 8 internet standard usage octets store the ID information by the first 2 internet standard usage octets, and the last 6 internet standard usage octets store the corresponding data field information, respectively.
Optionally, the CANFD message data field CAN store ID information and corresponding data field information of at most 6 CAN messages.
Alternatively, each of the internet standards uses 8 bytes of octets, each of the bytes being 8 bits.
Alternatively, each of the ID information requires 11 bits to be stored.
Optionally, the first 12 bytes of the CANFD message data field are used to store the ID information, and every 2 consecutive bytes are used to store 1 ID information.
Optionally, the 13 th byte of the CANFD packet data field is used to perform CRC8 check on the ID information.
According to a second aspect of the present invention, a vehicle hybrid bus message forwarding system is provided, comprising:
The gateway is used for receiving the CAN message from the CAN bus; identifying ID information and data field information of the CAN message; filling the ID information and the data field information into a set CANFD message data field to generate a CANFD message; and sending the CANFD message to a CANFD bus.
According to a third aspect of the present invention, a vehicle is provided, which comprises the vehicle hybrid bus message forwarding system according to the second aspect.
The invention has the beneficial effects that: according to the invention, through the arrangement mode of the self-defined CANFD message data field, ID information and data field information of a plurality of CAN messages are stored by utilizing the CANFD message data field, the conversion from the CAN messages to the CANFD messages is realized, and the content of the CANFD messages is analyzed through the arrangement mode of the CANFD message data field, so that the CAN messages are obtained; the invention CAN fully utilize the prior CAN communication protocol and standard, ensure the maximum edge of the original CAN network section, reduce the influence on the whole vehicle to the maximum extent, reduce the network load rate, improve the expansibility and ensure the compatibility of the hybrid network.
The system of the present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular descriptions of exemplary embodiments of the invention as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the invention.
Fig. 1 shows a flow chart of the steps of a vehicle hybrid bus message forwarding method according to the present invention.
Fig. 2 shows a schematic diagram of a vehicle-mounted local area network according to embodiment 1 of the present invention.
FIG. 3 shows a schematic diagram of the layout of a CANFD data field according to embodiment 1 of the present invention.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are illustrated in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As shown in fig. 1, a method for forwarding a vehicle hybrid bus message according to the present invention includes:
receiving a CAN message from a CAN bus;
Identifying ID information and data field information of the CAN message;
filling ID information and data field information into a set CANFD message data field to generate a CANFD message;
the CANFD message is sent to the CANFD bus.
Specifically, the gateway fills a plurality of CAN messages to corresponding positions in the CANFD message data field according to the set CANFD message data field to generate the CANFD message, so as to realize conversion from the CAN message to the CANFD message, and then sends the CANFD message to the CANFD bus, so as to realize message forwarding from the CAN bus to the CANFD bus; the invention CAN fully utilize the existing CAN communication protocol and standard, ensure the maximum use of the original CAN network section and reduce the influence on the whole vehicle to the maximum extent.
In one example, further comprising:
Receive, from the CANFD bus, CANFD messages generated with a set CANFD message data field;
analyzing the CAN information to obtain the ID information and the data field information of the CAN information;
Generating a CAN message based on the ID information and the corresponding data field information;
And sending the CAN message to a CAN bus.
Specifically, the gateway receives a CANFD message generated by a set CANFD message data field from the CANFD bus, analyzes the CANFD message, acquires ID information and data field information of the CAN message according to an arrangement rule of the CANFD message data field, generates the CAN message according to the ID information and the corresponding data field information, realizes conversion from the CANFD message to the CAN message, sends the CAN message to the CAN bus, and realizes message forwarding from the CANFD bus to the CAN bus.
In one example, the set CANFD message data field includes:
the 8 internet standards use octets, store ID information by using octets through the first 2 internet standards, and store corresponding data field information by using octets through the last 6 internet standards, respectively.
Specifically, the set CANFD message data field is composed of 8 internet standard usage octets, the first 2 internet standard usage octets are used for storing ID information, and the last 6 internet standard usage octets are used for storing corresponding data field information, i.e., each of the last 6 internet standard usage octets stores data field information of 1 CAN message.
In one example, CANFD message data fields CAN store ID information and data field information for up to 6 CAN messages.
Specifically, since each of the last 6 internet standard usage octets stores data field information of 1 CAN message using octets, the CANFD message data field CAN store ID information and corresponding data field information of at most 6 CAN messages.
In one example, each internet standard uses 8 octets of 8 bits each.
Specifically, each internet standard uses 8 bytes of octets, 8 bits per byte, and 64 bytes of CANFD packet data field.
In one example, 11 bits of storage are required for each ID information.
In one example, the first 12 bytes of the CANFD message data field are used to store 6 ID information, and every 2 bytes are used to store 1 ID information.
Specifically, the set CANFD packet data field stores ID information by its first 12 bytes, and since each ID information requires 11 bits to store and each byte is 8 bits, 2 consecutive bytes are required to store 1 ID information.
In one example, the 13 th byte of the CANFD packet data field is used to CRC8 check the ID information.
Specifically, CRC8 check is set in the data field of the CANFD message, so that the ID information of the CAN CAN be checked during forwarding, and the safety and accuracy of data transmission are improved.
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
Example 1
The embodiment provides a vehicle hybrid bus message forwarding method, which comprises the following steps:
as shown in fig. 2, each controller is used as a node to transmit shared data through a CAN network or a CANFD network, and each controller receives and transmits related messages according to requirements and forwards the messages through a gateway. CAN message is divided into ID field and data field, the data field of CAN message is 8 bytes, and the data field of CANFD is 64 bytes.
The arrangement of CANFD messages is shown in fig. 3, where the first 12 bytes of the CANFD data field are used to store the ID information (6 total) of the CAN message ID field, each ID needs 11 bits to be stored, and the rest positions are reserved temporarily. The 13 th byte is used for carrying out CRC8 check on the ID data, so that the integrity of the data is ensured, and errors and falsification are avoided. The 3 rd to the 8 th Octet are used for storing data field information of each CAN message. When CAN network segment message needs to be sent to CANFD network segment, the gateway packs and forwards according to the rule set, and fills the identified message ID information and data field information into the data field of CANFD; when the CAN network segment needs to be forwarded to the CAN network segment, the gateway analyzes the received CAN message according to the content of the data field, and unpacks the CAN message and sends the unpacked CAN message to the CAN network segment.
Example 2
The embodiment provides a vehicle hybrid bus message forwarding system, which comprises:
The gateway is used for receiving the CAN message from the CAN bus; identifying ID information and data field information of the CAN message; filling ID information and data field information into a set CANFD message data field to generate a CANFD message; the CANFD message is sent to the CANFD bus.
Example 3
The present embodiment provides a vehicle, which includes the vehicle hybrid bus message forwarding system of embodiment 2.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described.

Claims (10)

1. The vehicle hybrid bus message forwarding method is characterized by comprising the following steps:
receiving a CAN message from a CAN bus;
Identifying ID information and data field information of the CAN message;
filling the ID information and the data field information into a set CANFD message data field to generate a CANFD message;
and sending the CANFD message to a CANFD bus.
2. The vehicle hybrid bus message forwarding method of claim 1, further comprising:
receiving, from said CANFD bus, CANFD messages generated with said CANFD message data fields set;
analyzing the CANFD message to obtain ID information and data field information of the CAN message;
generating a CAN message based on the ID information and the corresponding data field information;
And sending the CAN message to a CAN bus.
3. The vehicle hybrid bus message forwarding method of claim 1 wherein the CANFD message data field is configured to include:
The 8 internet standard usage octets store the ID information by the first 2 internet standard usage octets, and the last 6 internet standard usage octets store the corresponding data field information, respectively.
4. A vehicle hybrid bus message forwarding method according to claim 3 wherein the CANFD message data field is capable of storing ID information and corresponding data field information of at most 6 CAN messages.
5. The vehicle hybrid bus message forwarding method of claim 4 wherein each of the internet standards uses 8 bytes of octets, each of the bytes being 8 bits.
6. The vehicle hybrid bus message forwarding method of claim 5 wherein each of the ID information requires 11 bits to be stored.
7. The vehicle hybrid bus message forwarding method of claim 6 wherein the first 12 bytes of the CANFD message data field are used to store the ID information, and every 2 consecutive bytes are used to store 1 of the ID information.
8. The vehicle hybrid bus message forwarding method of claim 7 wherein the 13 th byte of the CANFD message data field is used to perform a CRC8 check on the ID information.
9. A vehicle hybrid bus message forwarding system, comprising:
The gateway is used for receiving the CAN message from the CAN bus; identifying ID information and data field information of the CAN message; filling the ID information and the data field information into a set CANFD message data field to generate a CANFD message; and sending the CANFD message to a CANFD bus.
10. A vehicle comprising the vehicle hybrid bus messaging system of claim 9.
CN202311812478.XA 2023-12-26 2023-12-26 Vehicle hybrid bus message forwarding method and system and vehicle Pending CN117938570A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311812478.XA CN117938570A (en) 2023-12-26 2023-12-26 Vehicle hybrid bus message forwarding method and system and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311812478.XA CN117938570A (en) 2023-12-26 2023-12-26 Vehicle hybrid bus message forwarding method and system and vehicle

Publications (1)

Publication Number Publication Date
CN117938570A true CN117938570A (en) 2024-04-26

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311812478.XA Pending CN117938570A (en) 2023-12-26 2023-12-26 Vehicle hybrid bus message forwarding method and system and vehicle

Country Status (1)

Country Link
CN (1) CN117938570A (en)

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