CN1719782A - On vehicle network central control unit and its managing and controlling method for on-vehicle network - Google Patents

On vehicle network central control unit and its managing and controlling method for on-vehicle network Download PDF

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CN1719782A
CN1719782A CN 200510038544 CN200510038544A CN1719782A CN 1719782 A CN1719782 A CN 1719782A CN 200510038544 CN200510038544 CN 200510038544 CN 200510038544 A CN200510038544 A CN 200510038544A CN 1719782 A CN1719782 A CN 1719782A
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control unit
network
central control
node
system
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CN 200510038544
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CN100341283C (en )
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袁光辉
李劲松
朱艳婷
袁博
金浩
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袁光辉
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Abstract

This invention relates to a central control unit of a car carried network and a method for controlling and managing the car-carried network, among which, the central control unit includes a microprocessor CPU, a CAN T/R device, a CAN controller, a CAN bus, interface, a regulated supply, an input/output interface circuit and a switch signal test circuit. The network system is composed of several electronic control units with CAN interface, the PCU and all nodes of the car-carried network keep communication therefore, the CPU stores node database originally matched, the central control unit and other nodes interact via data communication of matched data request, response and network management request and response to realize the network management of configuration, diagnosis, sleep and awaking.

Description

车载网络中央控制单元及其对车载网络管理、控制方法 A central control unit onboard network of the vehicle and network management control method

技术领域 FIELD

本发明车载网络(CAN控制器局域网)中央控制单元及其对车载网络管理、控制方法涉及的是一种汽车车载网络系统的中央控制单元(简称车身电脑)及其网络管理和系统配置、诊断的方法。 The present invention is vehicle network (CAN Controller Area Network) and a central control unit of the vehicle network management control method according to the vehicle electrical network system is a central control unit (referred to as computer body), and network management and system configuration, diagnostics method.

背景技术 Background technique

目前,采用电子控制装置来控制汽车某种功能的现象越来越多,如安全气囊、ABS,各个控制装置的工作是独立的,没有形成系统,缺乏有机联系,发生故障时存储的故障代码也是孤立的,没有发生故障时的其他相关技术数据,缺乏对整个系统所有电子控制装置的配置、诊断和管理。 At present, the electronic control device to control the car a certain function of the phenomenon of more and more work as airbags, ABS, various control devices are independent, there is no system, the lack of organic links, when a fault occurs a fault code is stored isolated, other relevant technical data when there is no failure, lack of configuration, diagnostics and management of all the electronic control unit of the entire system.

发明内容 SUMMARY

本发明的目的是针对上述不足之处,提供一种车载网络中央控制单元及其对车载网络管理、控制方法,通过中央控制单元对整个车载网络进行系统控制和管理的方法,该车载网络中央控制单元由微处理器CPU和嵌入式控制软件构成,是汽车控制器局域网CAN系统的核心和关键部件,作为低速CAN控制器局域网控制的主节点,和网络其他节点具有强烈的交互,采用计算机通讯方式向网络发送网络管理的CAN帧,控制网络其他节点的休眠、唤醒、以及系统节点的配置管理、系统节点的诊断和故障检测,检测到的故障存储在中央控制单元的非易失性内存中,由中央控制单元根据动态链接库的状态驱动仪表液晶屏闪烁或用汉字显示故障内容,实现对整个网络管理职能。 The present invention is directed to the above-described shortcomings, to provide an in-vehicle network and a central control unit of the vehicle network management, control method, a method of control and management system for the entire vehicle network is performed by a central control unit, the central control board network means controlled by a microprocessor CPU and embedded software configuration, the core and the key components of the car controller area network CAN system, the master node as a low-speed CAN controller Area network control, and other nodes having a strong interaction, the use of computer communication sending to the network management network CAN frame, the other nodes control the sleep, wake, fault detection and diagnosis, and configuration management, system node system node detects faults stored in nonvolatile memory in the central control unit, by the central control unit in accordance with a driving state of the dynamic link library or a display instrument LCD blinking fault content with Chinese characters, the whole network management functions to achieve.

车载网络中央控制单元及其对车载网络管理、控制方法是采取以下方式实现的:车载网络中央控制单元包括集成CAN控制器的微处理器,CAN收发器,输入、输出接口电路,开关信号检测电路,稳压电源等。 A central control unit onboard network of the vehicle and network management control method is adopted in the following manner: a central vehicle control unit comprises a network controller microprocessor integrated CAN, CAN transceiver, an input, an output interface circuit, the switching signal detecting circuit , power supply and other.

CAN总线通过输入输出接口与CAN收发器相连,CAN收发器与微处理器CPU相连,组合开关与输入输出接口相连,通过开关信号检测电路与微处理器CPU相连,稳压电源给系统提供工作电压。 CAN bus is connected via the input-output interface CAN transceiver, a microprocessor coupled to the CPU and CAN transceiver connected to the combination switch and input and output interfaces, a switch signal detecting circuit are connected by the CPU and a microprocessor, power supply to provide operating voltage to the system . 控制器局域网CAN控制器集成在微处理器CPU内。 Controller Area Network CAN controller is integrated in the microprocessor CPU.

组合开关发出的开关信号通过开关信号检测电路送给微处理器CPU,微处理器CPU收到信号按规定的编码规则进行编码,变成数字信号通过CAN收发器向CAN总线发送,其他接点接到CAN报文后根据规定的解码规则进行解码,控制执行机构进行动作,其他接点发送的CAN故障诊断报文通过CAN收发器送给微处理器CPU,微处理器对报文进行分析计算,实现对系统的配置、诊断和网络管理。 Combination switch of a switching signal to the microprocessor CPU emitted by the switching signal detecting circuit, a microprocessor CPU a received signal encoded according to predetermined coding rules, into a digital signal is sent to the CAN bus via the CAN transceiver, other contacts to CAN packets after decoding rule according to a predetermined decoding control actuator is operated, the contact failure of other CAN messages sent to the diagnostic CPU microprocessor by the CAN transceiver, a microprocessor for packet analysis and calculation, to achieve system configuration, diagnostics and network management.

车载网络的中央控制单元对车载网络管理、控制方法:根据整车设计要求确定若干个带CAN接口的电子控制单元,组成车载网络,每个电子控制单元必须有一个确定的物理地址和诊断地址,这是网络管理和系统诊断报文标识符的目标地址和源地址的依据,中央控制单元和车载网络的其他节点通过“配置数据请求、应答”,以及“网络管理请求、应答”等数字通信进行交互,实现对整个车载网络进行配置、诊断、休眠、唤醒等一系列网络管理;中央控制单元必须和车载网络的所有的节点保持通信,将所有节点捆绑在一起,形成系统,协调工作,所以中央控制单元CPU中存有系统原始配置的节点数据库,中央控制单元不断发出网络管理报文,对系统节点进行询问,掌握每个节点的活动情况,形成系统“节点状态的数据库”;针对某一个特定的车型、特定的 A central control unit onboard network of the vehicle network management, control method of: determining a plurality of CAN interface with the electronic control unit in accordance with the design requirements of the vehicle, the composition vehicle network, each electronic control unit must have a physical address and determination of the diagnostic address, this diagnosis is based on the message identifier and the destination address and the source address of the network management system, the central control unit and other nodes via the vehicle network "configuration data request, response," and "network management requests, replies," digital communications, etc. interaction, to achieve configuration, diagnostics, sleep, wake-up and a series of network management of the whole vehicle network; a central control unit must communicate with all nodes vehicle network, all nodes will be bundled together to form the system, coordination, so the central the control unit CPU in there original configuration node database system, the central control unit continuously emits a network management message, the system node interrogation track the activities of each node, forming system "database node status"; for a particular models, specific 统,中央控制单元原始配置数据和配置要求是一定的,对不同的车型和系统,有不同的配置要求和配置数据,原始配置数据要存储在中央控制单元非易失性内存中,如果中央控制单元已经按照特定车型进行正确配置,开机后在规定时间内,它就会发送“配置数据请求”报文到网络,以请求其他ECU发送“配置-数据-代码-响应”报文,同时对其他节点写入配置数据,如果中央控制单元未按照系统要求进行正确配置,报文就不会发出,此时将立刻开始查找错误并发送一条无内容的配置报文到网络;中央控制单元是车载网络的管理者,中央控制单元将按照固定的周期在网络上发送“网络管理”报文,报文长度根据信息量确定,报文中含有网络唤醒、网络休眠、节点激活状态、故障状态等信息,分别在规定字节用0和1表示;从属节点收到中央控制单元的“网 System, the central control unit the original configuration data and configuration requirements are constant, and systems of different models have different configuration requirements and configuration data, the original configuration data to be stored in the nonvolatile memory, central control unit, if the central control unit has correctly configured according to a specific vehicle, within a predetermined time after the start, it sends "configuration data request" message to the network to request another ECU sends a "configuration - data - Code - response" packets, while other node writes the configuration data, if the central control unit is not correctly configured according to the system requirements, the message will not be sent, then immediately begin to look for the error and send a message with no content to the network configuration; central control unit is a vehicle network manager, the central control unit sends a "network management" packets in the network according to a fixed cycle, the amount of information determined according to the length of the packet, the packet containing WOL dormant network, node activation status, fault status information, respectively, in a predetermined byte is represented by 0 and 1; slave nodes receive the "network a central control unit 络管理请求”报文以后,以带有自身物理地址为标识符的“网络管理响应”报文予以回复,响应报文中含有“动态链接库状态,故障状态、配置状态和激活状态等信息。 Network management request "message later, with its own physical address to identifier" Network Management Response "message reply in response message containing" dynamic link library information, Fault, Configuration status and activation status.

中央控制单元根据所有节点的响应报文,将各节点当前的活动状态在“节点状态数据库”中进行标志,再和原始配置予以比较,起到网络管理和系统诊断的作用;汽车电子控制单元的在线配置和系统诊断必须通过系统诊断服务实现,诊断服务CAN帧的长度固定8个字节,未使用的字节填上0,目标地址和源地址受传输协议控制,源地址在CAN标识符内被编码,在CAN报文中,报文标识符有级别、种类、节点地址组成;级别:最紧急的应用为000,网络管理和诊断为111,种类:优先级最高为000,优先级最低为111;数据长度信息从“诊断服务识别码”开始,在测试器的请求报文中,目标地址是ECU的物理地址,在ECU的响应报文中,目标地址是测试器的地址F1;“诊断请求报文”由测试仪器发出,请求报文的目标地址总是节点的物理地址,节点的“诊断响应报文”的目 Central control unit, the current activity state of each flag in the node "node status database" in the response packet to all the nodes, and the original configuration again be compared functions of network management and system diagnostics; automotive electronic control unit online configuration and diagnostics systems must be implemented by the system diagnostics service, the fixed length of 8 bytes diagnostic service CAN frame, fill the unused byte 0, the destination address and source address by the transmission control protocol, source address in the CAN identifier is encoded in the CAN message, the message identifier has the level, type, node address composition; level: the most urgent applications 000, network management and diagnostics as 111 species: the highest priority is 000, the lowest priority 111; data length information from the "diagnostic service identification code" start request packets tester, the destination address is the ECU physical address in the response packet of the ECU, the destination address is the address F1 tester; "diagnosis request message "sent by the test equipment, the physical address of the request packet destination address is always the node, the node" diagnosis response packet "goal 标地址总是测试仪器的物理地址F1,通过系统诊断,可以改变系统参数,改变输出、输入关系;系统节点收到测试仪器的“诊断请求”报文以后,要按照固定的格式予以响应,如果接受请求,以“诊断请求正响应”回复,如果不接受,则以“诊断请求负响应”回复,正响应和负响应有不同的代码予以区分;为确保系统安全,系统关键参数的修改必须采用安全访问法则,通过数次交换密码后才能进行;中央控制单元中有固定的区域,采用规划好的格式存储故障信息,由于某些故障在特定的条件下出现,所以在故障存储区要有发生故障时的相关条件参数,在发生故障的瞬间,将条件参数一并存储,以便修理时参考、分析。 Address is always a physical address F1 test equipment, system diagnostics, system parameters can be changed, change the output, the relationship between the input; After the system node receives the "Diagnostic Request" message test equipment, to be responsive in a fixed format, if accept the request, a "positive response to the diagnostic request" reply, if not accepted, by the "negative response to the diagnostic request" replies, in response to positive and negative responses are different codes be distinguished; to ensure system security, to modify the parameters of the system must be critical security access rule, after several exchange can be performed by the password; a central control unit in a fixed region, using the failure information storage format planned, due to some failure under certain conditions, have a storage area so that the fault occurred in the when a failure condition parameter related at the moment of failure, the condition parameter stored together, to repair a reference analysis. 读取故障代码ECU必须保证发送给测试仪器的数据是申请时最新更新的,ECU必须确保在KEY OFF和断开电源时不丢失任何故障存储的内容;每一个故障存储区分为若干字节的块,以便测试器“看见”故障。 Read the fault code data to the ECU must ensure that the test equipment is the latest update time of application, ECU KEY OFF and must ensure that any faults without losing stored contents when power is removed; each defective memory block is divided into a number of bytes to test the device "see" the fault. 每一个块都应当包括在描述一个诊断故障代码时需要的所有数据。 All data in each block should be included in the description of a required diagnostic trouble codes.

中央控制单元内存中存有网络节点状态的动态数据库,包括节点物理地址、节点诊断地址、节点激活状态、故障状态、总线故障或系统兼容状态。 The central control unit memory database contains dynamic network node status, including the physical address of the node, the node address of the diagnosis, the node activation, Fault, or compatible bus fault state. 整个系统的故障内容和提示信息,由中央控制单元通过网络通信,触发液晶屏幕用汉字进行显示。 Fault message content and the overall system, by the central control unit via a communication network, triggering the LCD screen display characters. 车载网络中央控制单元及其对车载网络管理、控制方法特点:1、车载网络配置若干带微处理器的电子控制单元(以下简称节点),组成控制器局域网,由中央控制单元(简称车身电脑)管理网络,是车载网络的主节点,其他控制单元作为从属节点,所有节点都具有确定的物理地址和诊断地址,以便系统配置、诊断和网络管理。 A central control unit and the vehicle on-board network management network, a control method features: 1, the network configuration vehicle electronic control unit (hereinafter referred to as node) with a plurality of microprocessors, controller area network composition, by the central control unit (referred to as the body computer) network management, vehicle network is the master node, the other control units as slave nodes, all having a physical address and determination of the diagnostic address to system configuration, diagnostics, and network management.

2、系统具有共同遵守的诊断协议和诊断服务内容。 2, the system has a diagnostic protocol and diagnostic services to abide by.

3、中央控制单元存储了系统原始配置节点的所有数据,在运行中,中央控制单元每隔固定的时间发出网络管理请求报文,所有从属节点依次发回响应报文。 3, the central control unit stores all the data of the original system configuration node, in operation, the central control unit at fixed time request packet issued by the network manager, all slave nodes are sequentially sends back response packet. 报文采用规定好的格式编码,用某些特定的字位表示网络唤醒、网络休眠的命令和节点故障状态和在网络中的活动状态等信息,中央控制单元收到这些报文,根据规定格式进行解码,判断节点配置情况和故障状态,和系统原始配置进行对比,根据两个表格的差异判断故障,触发故障报警。 Good packet using a predetermined encoding format, the network represents wake, sleep commands and network node failure state and an active state, etc. in the network with certain information bit word, the central control unit receives these packets, in accordance with a predetermined format decoding determination node configuration and fault state, and the system compare the original configuration, two tables is determined based on the difference of the fault, the fault alarm is triggered.

4、中央控制单元在故障存储区存储故障代码的同时,储存故障发生时的条件参数,以便进行系统分析。 4, the central control unit while the malfunction of fault code storage area, the storage time of the fault condition parameters for system analysis.

5、总线开路,造成丢失某个节点或修理时更换了与系统不兼容的电子控制单元,中央控制单元通过网络通信,触发里程表显示液晶屏闪烁。 5, the bus open, resulting in the loss of a node replacement is not compatible with the system when the electronic control unit or repair, the central control unit via a communication network, triggers the LCD display flashes odometer.

6、节点发生故障后,由中央控制单元根据存储的故障代码,驱动仪表液晶屏用汉字滚动显示故障内容。 6, after node failure, by the central control unit in accordance with stored fault code, the drive fault display contents of the LCD meter with Chinese characters scroll.

附图说明 BRIEF DESCRIPTION

以下将结合附图对发明作进一步说明。 DRAWINGS The invention will be further described.

图1是车载网络中央控制单元电路结构图图2是车载网络的网络节点示意图具体实施方式参照附图1、2,车载网络中央控制单元包括集成CAN控制器的微处理器,CAN收发器,输入、输出接口电路,开关信号检测电路,稳压电源等。 FIG 1 is a vehicle central network control unit 2 is a circuit configuration diagram of a network node of the vehicle network diagram showing a specific reference to the figures 1 and 2, the vehicle network comprises a central control unit a microprocessor controller integrated CAN, CAN transceiver, the input , an output interface circuit, the switching signal detecting circuit, power supply and other.

CAN总线通过输入输出接口与CAN收发器相连,CAN收发器与微处理器CPU相连,组合开关与输入输出接口相连,通过开关信号检测电路与微处理器CPU相连,稳压电源给系统提供工作电压。 CAN bus is connected via the input-output interface CAN transceiver, a microprocessor coupled to the CPU and CAN transceiver connected to the combination switch and input and output interfaces, a switch signal detecting circuit are connected by the CPU and a microprocessor, power supply to provide operating voltage to the system . 控制器局域网CAN控制器集成在微处理器CPU内。 Controller Area Network CAN controller is integrated in the microprocessor CPU.

微处理器CPU可以采用MC68HC08GZ16,控制器局域网CAN收发器采用TJA1054,电源模块采用LM2576-5,开关信号检测芯片采用MC33993。 CPU microprocessor may be employed MC68HC08GZ16, using a controller area network CAN transceiver TJA1054, power module LM2576-5, the switching signal detecting chip MC33993.

车载网络的中央控制单元对车载网络管理、控制方法:根据整车设计,确定若干个车载网络接点,每个接点必须有一个确定的物理地址和诊断地址,中央控制单元为车载网络管理者。 A central control unit onboard network of the vehicle network management control method: according to the vehicle design, determining a plurality of vehicle network contacts, each contact must have a diagnostic address and a physical address is determined, the central control unit is a vehicle-mounted network manager. 中央控制单元CPU中存有系统原始配置节点的数据库,中央控制单元不断发出“网络管理请求”报文,对系统节点进行询问,掌握每个节点的活动情况,形成系统“节点状态的数据库”。 The central control system of the original configuration database node there unit CPU, the central control unit continues to issue a "Network Management Request 'message, the system node interrogation track the activities of each node, forming system" Database node status. " 节点状态的数据库包括节点次序、节点地址、激活状态、故障状态、总线故障或系统兼容状态等。 The node includes a node database state order, node address, active state, a fault state, a bus failure or a system compatible with status. 节点地址包括物理地址、诊断地址。 Node address including a physical address, the diagnostic address. 原始配置数据要存储在中央控制单元非易失性内存中。 Original configuration data stored in the central control unit to the nonvolatile memory. 如果中央控制单元已经按照特定车型进行正确配置,开机后在规定时间内,如1秒钟后它就会发送“配置数据请求”报文到网络,以请求其他ECU发送“配置数据代码响应”报文,同时对其他节点写入配置数据。 If the central control unit has been correctly configured according to a specific vehicle, within a predetermined time after the start, as it will be sent in one second, "Configuration Data Request" message to the network to request additional transmission ECU "Configuration Data Response Code" message Wen, while writing the configuration data to other nodes. 中央控制单元根据所有节点的响应报文,将各节点当前的活动状态在“节点状态数据库”中进行标志,再和原始配置予以比较,起到网络管理和系统诊断的作用。 Central control unit, the current activity state of each flag in the node "node status database" in the response packet to all the nodes, and the original configuration again be compared functions of network management and system diagnostics.

中央控制单元是车载网络的管理者,中央控制单元将按照固定的周期在网络上发送“网络管理”报文,报文长度根据信息量确定,报文中含有网络唤醒、网络休眠、节点激活状态、故障状态等信息,分别在规定字节用0和1表示。 The central control unit is a vehicle network manager, the central control unit sends a "network management" packets in the network according to a fixed cycle, the amount of information determined according to the length of the packet, the packet containing WOL network hibernation, activated state node , fault status information, respectively, in a predetermined byte represented by 0 and 1.

根据整车设计,确定若干个车载网络接点,例如:中央控制单元节点(车身电脑节点)、灯光控制节点、仪表显示节点、发动机信号接点、转向器节点、方向盘控制节点、制动节点、行李箱接点、空调节点等,如图2所示。 The design of the vehicle, determining a plurality of vehicle network contacts, for example: a central control unit node (node ​​computer body), lighting control node, the node instrument display, the engine signal contacts, diverter node, the control node of the steering wheel, brake nodes, trunk contacts air conditioning nodes, etc., as shown in FIG. 每个接点必须有一个确定的物理地址和诊断地址,这是网络管理和系统诊断报文标识符的目标地址和源地址的依据。 Each contact must have a physical address and a diagnostic to determine the address, which is based on the destination and source addresses network management and system diagnostics message identifier. 从下表可以看出节点物理地址与标识符的关系: As can be seen the relationship between the physical address and the node identifier from the following table:

中央控制单元为车载网络管理者。 Vehicle control unit is a central network manager. 车载网络配置了多少节点,中央控制单元简称车身电脑必须了解,以便将所有节点捆绑在一起,形成系统,协调工作。 How many nodes vehicle network configuration, referred to the central control unit must know the computer body, so as to bundle together all of the nodes, forming system coordination. 所以中央控制单元CPU中存有系统原始配置节点的数据库,中央控制单元不断发出“网络管理请求”报文,对系统节点进行询问,掌握每个节点的活动情况,形成系统“节点状态的数据库”。 Therefore, the central control system of the original configuration database node there unit CPU, the central control unit continues to issue a "Network Management Request 'message, the system node interrogation track the activities of each node, forming system" database node status " . 节点状态的数据库包括节点次序、节点地址、激活状态、故障状态、总线故障或系统兼容状态等。 The node includes a node database state order, node address, active state, a fault state, a bus failure or a system compatible with status. 节点地址包括物理地址、诊断地址。 Node address including a physical address, the diagnostic address.

数据库的格式大致如下: Database format is as follows:

针对某一个特定的车型、特定的系统,中央控制单元原始配置数据和配置要求是一定的,对不同的车型和系统,有不同的配置要求和配置数据,原始配置数据要存储在中央控制单元非易失性内存中,这一过程应该在汽车制造厂的生产线在线写入,在线写入需要专用的写入设备(仪器),在线测试仪器和车载网络采用同样的诊断协议和诊断服务代码,遵守安全访问的法则,写入特定系统需要的数据和关键参数。 For a particular model, a particular system, the central control unit the original configuration data and configuration requirements are constant for different models and systems have different configuration requirements and configuration data, the original configuration data to be stored in the central control unit a non- volatile memory, this process should be written in the automobile factory production line online, write online requires a dedicated writing device (equipment), on-line test equipment and on-board network using the same protocols and diagnostic services diagnostic code compliance secure access rule, write data and key parameters of the particular system needs. 如仪表量程、速比等。 The range of the instrument, ratios and the like. 但鉴于目前汽车制造厂的生产技术水平,这一过程也可以在ECU生产厂完成。 However, given the current level of production technology automobile factory, the process can be completed in ECU production plant.

如果中央控制单元已经按照特定车型进行正确配置,开机后在规定时间内,如1秒钟后它就会发送“配置数据请求”报文到网络,以请求其他ECU发送“配置-数据-代码-响应”报文,同时对其他节点写入配置数据。 If the central control unit has been correctly configured according to specific vehicle in a predetermined period of time after the start, as it will be sent in one second, "Configuration Data Request" message to the network to request another ECU sends a "configuration - Data - Code - response "message while writing the configuration data to other nodes. 如果中央控制单元未按照系统要求进行正确配置,报文就不会发出,此时将立刻开始查找错误并发送一条无内容的配置报文到网络。 If the central control unit is not correctly configured according to the system requirements, the message will not be sent at this time will immediately start looking for errors and send a message with no content to configure the network.

发送消息“配置数据请求”报文后的一秒钟内车身电脑将检查:是否所有来自需要被编程节点的应答都已经收到,各被编程节点按照配置报文内容而定;是否收到那些不存在节点的应答;是否节点在收到的网络管理和状态报文后都确认了编程请求;是否所有收到的配置-数据-代码都与其原始设计要求相同;在配置出问题的情况下,中央控制单元将操纵仪表触发液晶显示屏LCD开始闪烁,提示驾驶员尽快处理;中央控制单元将把获得的包含系统配置状态的信息组成“系统节点状态数据库”的数据表格,此时的表格将用做网络管理和系统诊断的工具。 Send message "Configuration Data Request", a message body after the second computer checks: if all nodes from the need to be programmed responses have been received, each node is programmed in accordance with the message content may be arranged; whether it has received that the responding node does not exist; if the node after receiving the status messages and network management are identified program request; whether all the received configuration - data - code identical with its original design requirements; the problem in the case of the configuration, the central control unit triggers the actuating instrument LCD display starts blinking LCD, the driver is prompted as soon as possible; system configuration information includes the state of the central control unit will be obtained form the "state of the database system node" data table, with the table at this time do network management and system diagnostic tool.

中央控制单元是车载网络的管理者,中央控制单元将按照固定的周期在网络上发送“网络管理”报文,报文长度根据信息量确定,报文中含有网络唤醒、网络休眠、节点激活状态、故障状态等信息,分别在规定字节用0和1表示。 The central control unit is a vehicle network manager, the central control unit sends a "network management" packets in the network according to a fixed cycle, the amount of information determined according to the length of the packet, the packet containing WOL network hibernation, activated state node , fault status information, respectively, in a predetermined byte represented by 0 and 1.

网络管理报文格式如下表所示: Network management packet format shown in the following table:

从属节点收到中央控制单元的“网络管理请求”报文以后,以带有自身物理地址为标识符的“网络管理响应”报文予以回复,响应报文中含有“动态链接库状态,故障状态、配置状态和激活状态等信息。 After the slave node receives the "Network Management Request" message the central control unit, with its own physical address of the packet to be replied to "Network Management Response" message identifier, a response message containing "dynamic link library, Fault , configuration status and activation status.

从属节点报文格式如下: Slave packet format is as follows:

中央控制单元根据所有节点的响应报文,将各节点当前的活动状态在“节点状态数据库”中进行标志,再和原始配置予以比较,起到网络管理和系统诊断的作用。 Central control unit, the current activity state of each flag in the node "node status database" in the response packet to all the nodes, and the original configuration again be compared functions of network management and system diagnostics. 如车辆启动时,手刹没有放开,液晶屏幕会出现“请松手刹"的提示。 When the vehicle is started, the handbrake not let go, the LCD screen will prompt "please loose the hand brake," the.

汽车电子控制单元的在线配置和系统诊断必须通过系统诊断服务实现,诊断服务CAN帧的长度固定8个字节,未使用的字节填上0,目标地址和源地址受传输协议控制。 Online configuration of automotive electronic control units and must be implemented by the system diagnostics system diagnostics service, the fixed length of 8 bytes diagnostic service CAN frame, fill the unused byte 0, the destination address and source address by the transmission control protocol. 源地址在CAN标识符内被编码。 Source address is encoded in the CAN identifier. 在CAN报文中,报文标识符有级别、种类、节点地址组成。 In the CAN message, the message identifier has the level, type, node addresses.

报文标识符: Message identifier:

级别:最紧急的应用为000,网络管理和诊断为111。 Level: The most urgent applications 000, network management and diagnostics 111.

种类:优先级最高为000,优先级最低为111。 Category: the highest priority to 000, the lowest priority to 111.

数据长度信息从“诊断服务识别码”开始,在测试器的请求报文中,目标地址是ECU的物理地址,在ECU的响应报文中,目标地址是测试器的地址F1。 Data length information from the "diagnostic service ID" Start, in the tester request packet, the destination address is the physical address of the ECU, the ECU in the response packet, the destination address is the address F1 tester.

“诊断请求报文”由测试仪器发出,请求报文的目标地址总是节点的物理地址,节点的“诊断响应报文”的目标地址总是测试仪器的物理地址F1。 "Diagnostic request message" sent by the test equipment, the physical address of the request packet destination address is always the node, the node "diagnosis response packet" target address is always a physical address F1 test equipment. 通过系统诊断,可以改变系统参数,改变输出、输入关系。 System diagnostics, system parameters can be changed, change the output, the input relationship.

服务内容和服务识别码: Service content and service ID:

系统节点收到测试仪器的“诊断请求”报文以后,要按照固定的格式予以响应,如果接受请求,以“诊断请求正响应”回复,如果不接受,则以“诊断请求负响应”回复。 The system node receives a test instrument "diagnostic request" after the message, to be fixed in accordance with the format of the response, if the request is accepted, the "diagnosis request is in response to" reply, if not accept, by the "diagnostic request negative response" replies. 正响应和负响应有不同的代码。 Positive response and negative response have a different code. 负响应又分“一般拒绝”“忙—重复请求”“请求超范围”等,用不同的代码予以区分。 Divided negative response "generally reject", "busy - Repeat Request," "super Request" and the like, to be distinguished with different codes.

诊断服务报文格式: Diagnostic services message format:

例如: E.g:

为确保系统安全,系统关键参数的修改必须采用安全访问法则,通过数次交换密码后才能进行。 To ensure system security, to modify key parameters of the system must be safe access rules, in order to exchange several times by the password.

中央控制单元中有固定的区域,采用规划好的格式存储故障信息,由于某些故障在特定的条件下出现,所以在故障存储区要有发生故障时的相关条件参数,在发生故障的瞬间,将条件参数一并存储,以便修理时参考、分析。 The central control unit in a fixed region, using the failure information storage format planned, due to some failure under certain conditions, the conditions related parameters have upon the malfunctioning storage area, at the moment of failure, the condition parameter stored together, for reference, analysis repair. 读取故障代码ECU必须保证发送给测试仪器的数据是申请时最新更新的,ECU必须确保在KEY OFF和断开电源时不丢失任何故障存储的内容每一个故障存储区分为若干字节的块,以便测试器“看见”故障。 Read the fault code data to the ECU must ensure that the test equipment is the latest update time of application, must ensure that the ECU is divided into a number of bytes in the KEY OFF and blocks without losing any stored fault when a fault disconnect the power content of each storage area, so that testers 'see' fault. 每一个块都应当包括在描述一个诊断故障代码时需要的所有数据。 All data in each block should be included in the description of a required diagnostic trouble codes.

故障存储结构: Fault storage structure:

Claims (4)

  1. 1.车载网络的中央控制单元,其特征在于包括微处理器CPU、控制器局域网CAN收发器、控制器局域网CAN控制器、CAN总线接口、稳压电源、输入、输出接口电路、开关信号检测电路;CAN总线通过输入输出接口与CAN收发器相连,CAN收发器与微处理器CPU相连,组合开关与输入输出接口相连,通过开关信号检测电路与微处理器CPU相连,稳压电源与微处理器CPU相连,给系统提供工作电压。 1. The central control unit of the vehicle network, wherein the CPU includes a microprocessor, a controller area network CAN transceiver, CAN controller Controller Area Network, CAN bus interface, power supply, input and output interface circuit, the switching signal detecting circuit ; CAN bus input-output interface is connected via the CAN transceiver, coupled to the CPU CAN transceiver and a microprocessor, a combination of input-output interface connected to the switch, the switch signal detection circuit are connected by the CPU and a microprocessor, power supply and a microprocessor CPU connected to the system operating voltage. 控制器局域网CAN控制器集成在微处理器CPU内。 Controller Area Network CAN controller is integrated in the microprocessor CPU.
  2. 2.车载网络的中央控制单元对车载网络管理、控制方法,其特征在于:根据整车设计要求确定若干个带CAN接口的电子控制单元,组成车载网络,每个电子控制单元必须有一个确定的物理地址和诊断地址,这是网络管理和系统诊断报文标识符的目标地址和源地址的依据,中央控制单元和车载网络的其他节点通过“配置数据请求、应答”,以及“网络管理请求、应答”等数字通信进行交互,实现对整个车载网络进行配置、诊断、休眠、唤醒等一系列网络管理;中央控制单元必须和车载网络的所有的节点保持通信,将所有节点捆绑在一起,形成系统,协调工作,所以中央控制单元CPU中存有系统原始配置的节点数据库,中央控制单元不断发出网络管理报文,对系统节点进行询问,掌握每个节点的活动情况,形成系统“节点状态的数据库”;针对某一个特定 2. The vehicle network a central control unit of the vehicle network management, control method, comprising: determining a plurality of electronic control units with a CAN interface, the composition of the vehicle-mounted network, each design requirements according to the vehicle electronic control unit must have a certain diagnostic address and a physical address, which is based on the destination address and source address diagnostic message identifier and the network management system, the central control unit and other nodes via the vehicle network "configuration data request, response," and "network management requests, response "and other digital communication interact to achieve configuration, diagnostics, sleep, wake-up and a series of network management of the whole vehicle network; a central control unit must communicate with all nodes vehicle network, all nodes will be bundled together to form a system coordinate the work, the central control unit CPU there originally configured node database system, the central control unit was issued with network management packets, the system node for questioning, grasp the activities of each node to form a system "node status database "; for a particular 车型、特定的系统,中央控制单元原始配置数据和配置要求是一定的,对不同的车型和系统,有不同的配置要求和配置数据,原始配置数据要存储在中央控制单元非易失性内存中,如果中央控制单元已经按照特定车型进行正确配置,开机后在规定时间内,它就会发送“配置数据请求”报文到网络,以请求其他ECU发送“配置-数据-代码-响应”报文,同时对其他节点写入配置数据,如果中央控制单元未按照系统要求进行正确配置,报文就不会发出,此时将立刻开始查找错误并发送一条无内容的配置报文到网络;中央控制单元是车载网络的管理者,中央控制单元将按照固定的周期在网络上发送“网络管理”报文,报文长度根据信息量确定,报文中含有网络唤醒、网络休眠、节点激活状态、故障状态等信息,分别在规定字节用0和1表示;从属节点收到中央 Models, specific system, the central control unit the original configuration data and configuration requirements are constant, and systems of different models have different configuration requirements and configuration data, the original configuration data to be stored in the central control unit in the nonvolatile memory if the central control unit has been correctly configured according to specific vehicle in a predetermined time after startup, it will send a "configuration data request" message to the network to request another ECU sends a "configuration - data - Code - response" message simultaneously writes the configuration data to other nodes, if the central control unit is not correctly configured according to the system requirements, the message will not be sent, then immediately begin to look for the error and send a configuration message with no content to the network; a central control the network manager unit is a vehicle, the central control unit sends a "network management" packets in the network according to a fixed cycle, the amount of information determined according to the length of the packet, the packet containing WOL dormant network, node activation status, fault status information, respectively, with a predetermined byte 0 and 1; slave node receives the central 制单元的“网络管理请求”报文以后,以带有自身物理地址为标识符的“网络管理响应”报文予以回复,响应报文中含有“动态链接库状态,故障状态、配置状态和激活状态等信息。中央控制单元根据所有节点的响应报文,将各节点当前的活动状态在“节点状态数据库”中进行标志,再和原始配置予以比较,起到网络管理和系统诊断的作用;汽车电子控制单元的在线配置和系统诊断必须通过系统诊断服务实现,诊断服务CAN帧的长度固定8个字节,未使用的字节填上0,目标地址和源地址受传输协议控制,源地址在CAN标识符内被编码,在CAN报文中,报文标识符有级别、种类、节点地址组成;级别:最紧急的应用为000,网络管理和诊断为111,种类:优先级最高为000,优先级最低为111;数据长度信息从“诊断服务识别码”开始,在测试器的请求报文中,目 After the "Network Management Request" message system unit, with its own physical address to be reply packets to "Network Management Response" message identifier, a response message containing "dynamic link library, Fault, Configuration status and activation status information such as the central control unit, the current activity state of each flag in the node "node status database" in the response packet to all the nodes, and then be compared and the original configuration of the network management functions and system diagnostics; Cars online configuration and system diagnostics of the electronic control unit must be implemented by the system diagnostics service, the fixed length of 8 bytes diagnostic service CAN frame, fill the unused byte 0, the destination address and source address by the transmission control protocol, source address is encoded within the CAN identifier in the CAN message, the message identifier has the level, type, node address composition; level: the most urgent applications 000, network management and diagnostics as 111 species: the highest priority for the 000, 111 is the lowest priority; data length information from the "diagnostic service ID" start, in the tester request packet, the mesh 标地址是ECU的物理地址,在ECU的响应报文中,目标地址是测试器的地址F1;“诊断请求报文”由测试仪器发出,请求报文的目标地址总是节点的物理地址,节点的“诊断响应报文”的目标地址总是测试仪器的物理地址F1,通过系统诊断,可以改变系统参数,改变输出、输入关系;系统节点收到测试仪器的“诊断请求”报文以后,要按照固定的格式予以响应,如果接受请求,以“诊断请求正响应”回复,如果不接受,则以“诊断请求负响应”回复,正响应和负响应有不同的代码予以区分;为确保系统安全,系统关键参数的修改必须采用安全访问法则,通过数次交换密码后才能进行;中央控制单元中有固定的区域,采用规划好的格式存储故障信息,由于某些故障在特定的条件下出现,所以在故障存储区要有发生故障时的相关条件参数,在发生故障的瞬间 Address is the physical address of the ECU, the ECU in the response packet, the destination address is the address F1 tester; "diagnostic request message" sent by the test equipment, the physical address of the request packet destination address is always the node, the node "diagnostic response packet" target address is always a physical address F1 test equipment, system diagnostics, system parameters can be changed, change the output, the relationship between the input; system node receives a test instrument "diagnostic request" message later, to be according to a fixed format of the response, if the request is accepted, a "positive response to the diagnostic request" reply, if not accepted, by the "negative response to the diagnostic request" replies, in response to positive and negative responses are different codes be distinguished; to ensure system security modify key parameters must secure access system rules, can be carried out by the exchange after several passwords; a central control unit in a fixed region, using the failure information storage format planned, due to some failure under certain conditions, Therefore, the relevant conditions at the time of the malfunctioning storage area have parameters at the moment of failure ,将条件参数一并存储,以便修理时参考、分析。 The condition parameter stored together, to repair a reference analysis. 读取故障代码ECU必须保证发送给测试仪器的数据是申请时最新更新的,ECU必须确保在KEY OFF和断开电源时不丢失任何故障存储的内容;每一个故障存储区分为若干字节的块,以便测试器“看见”故障。 Read the fault code data to the ECU must ensure that the test equipment is the latest update time of application, ECU KEY OFF and must ensure that any faults without losing stored contents when power is removed; each defective memory block is divided into a number of bytes to test the device "see" the fault. 每一个块都应当包括在描述一个诊断故障代码时需要的所有数据。 All data in each block should be included in the description of a required diagnostic trouble codes.
  3. 3.根据权利要求2所述的车载网络中央控制单元对车载网络管理、控制方法,其特征在于中央控制单元内存中存有网络节点状态的动态数据库,包括节点物理地址、节点诊断地址、节点激活状态、故障状态、总线故障或系统兼容状态,整个系统的故障内容和提示信息,由中央控制单元通过网络通信,触发液晶屏幕用汉字进行显示。 The central control unit of the vehicle network as claimed in claim 2, the network management on the vehicle, a control method, wherein the central control unit memory there dynamic database network node status, including the physical address of the node, the node address of the diagnosis, the node activation state, failure state, or compatible bus fault state, the fault message and the content of the entire system, the central control unit triggers the LCD screen display characters through the communication network.
  4. 4.根据权利要求2所述的车载网络中央控制单元对车载网络管理、控制方法,其特征在于中央控制单元发送消息“配置数据请求”报文后的一秒钟将检查:是否所有来自需要被编程节点的应答都已经收到,各被编程节点按照配置报文内容而定;是否收到那些不存在节点的应答;是否节点在收到的网络管理和状态报文后都确认了编程请求;是否所有收到的配置-数据-代码都与其原始设计要求相同;在配置出问题的情况下,中央控制单元将操纵仪表触发液晶显示屏LCD开始闪烁,提示驾驶员尽快处理;中央控制单元将把获得的包含系统配置状态的信息组成“系统节点状态数据库”的数据表格,此时的表格将用做网络管理和系统诊断的工具。 The central control unit of the vehicle network as claimed in claim 2, the network management on the vehicle, a control method, wherein a unit to send a second message after the central control "Configuration Data Request" message will be checked: Are all need to be derived from responses have been received programming nodes, each node is programmed in accordance with the message content may be arranged; whether it has received a response that is not present node; if the node after receiving the status messages and network management are identified program request; whether all the received configuration - data - code identical with its original design requirements; the problem in the case of the configuration, the central control unit triggers the actuating instrument LCD display starts blinking LCD, the driver is prompted as soon as possible; the central control unit will information contained system configuration status obtained form the "system node status database" data table, the table at this time will be used as tool for network management and system diagnostics.
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