WO2011000250A1 - 混合动力汽车can总线侦测方法 - Google Patents
混合动力汽车can总线侦测方法 Download PDFInfo
- Publication number
- WO2011000250A1 WO2011000250A1 PCT/CN2010/073545 CN2010073545W WO2011000250A1 WO 2011000250 A1 WO2011000250 A1 WO 2011000250A1 CN 2010073545 W CN2010073545 W CN 2010073545W WO 2011000250 A1 WO2011000250 A1 WO 2011000250A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- bus
- information
- hybrid vehicle
- control system
- subsystem
- Prior art date
Links
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
- H04L1/0045—Arrangements at the receiver end
-
- 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
Definitions
- the invention relates to the field of fault diagnosis of a hybrid vehicle, and in particular to a CAN bus detection method for a hybrid vehicle, the detection method monitoring CAN bus information of each subsystem controller of the hybrid vehicle, judging the rationality thereof and giving Reference value.
- Hybrid vehicles are advanced technologies in all countries of the world. Their complex CAN network and reasonable control algorithms are the preconditions for ensuring the security and stability of the system. Therefore, the detection of the correctness of the CAN bus information of each sub-control system is particularly important.
- the hybrid vehicle has a reasonable combination of the motor and the engine drive system and the high-voltage battery, and many conventional control components of the original vehicle, the vehicle CAN network signal is very numerous, therefore, the signal The probability of a transient error will increase significantly. If these CAN network signals cannot be processed correctly, there is no reliable and reasonable CAN network signal detection scheme, which will not only affect the driver's normal driving, but also bring great danger to the safety of the hybrid vehicle. Therefore, it is necessary to change and improve the CAN network signal monitoring method of the existing ordinary car to adapt it to a more advanced and complex hybrid vehicle system. Summary of the invention
- the object of the present invention is to provide a CAN bus detection method for a hybrid vehicle, which can correctly determine whether the CAN bus information sent by the subsystem to the main control chip is reliable, and when the CAN bus information is incorrect, from the perspective of system security Reference values are used to protect the safety of the vehicle.
- a hybrid bus CAN bus detection method a hybrid vehicle's main control system HCU (Hybrid Control Unit) performs verification for each subsystem's transmitted information, and determines the CAN of the corresponding subsystem according to the verification result. Whether the bus information has been initialized successfully, whether the corresponding subsystem has new CAN bus information sent to the hybrid control system software, if the verification is successful, the CAN bus information unpacking processing of the corresponding subsystem is performed; If the verification fails, the corresponding fault is accumulated and confirmed until it is determined that the information reception failed.
- HCU Hybrid Control Unit
- the indicator light is illuminated to prompt the driver.
- the main control system HCU of the hybrid vehicle performs plausibility check on the unpacked information, and if it is determined that the information is unreasonable, enters a transient failure phase, and unpacks the CAN bus information of the subsystem.
- the last period value is used as the current value of the unpacking information; if the instantaneous fault has not been eliminated in the next few system cycles, the fault accumulates until a determined fault is formed.
- the main control system HCU of the hybrid vehicle will give a default value as a control signal of the HCU of the main control system of the hybrid vehicle from the perspective of system safety.
- the main control system HCU of the hybrid vehicle performs a corresponding fault action.
- the fault action includes breaking the motor, the high voltage battery, and the like.
- the main control system HCU of the hybrid vehicle includes an interface of the bottom layer 10, which is connected to each subsystem controller through a CAN bus.
- each subsystem controller of the hybrid vehicle first diagnoses the information to be sent before transmitting the corresponding CAN bus information, and if the diagnosis information is unreliable, the subsystem sends an identifier to the subsystem.
- the HCU of the hybrid vehicle's main control system represents that the current information is erroneous; if no fault is determined after the diagnosis, the subsystem will send this information to the HCU of the hybrid vehicle's main control system.
- the invention not only diagnoses the initialization of the CAN bus information and whether there is new information input, but also monitors the rationality of the input signals of the various subsystems of the hybrid vehicle, and double monitoring The stability of system control is helpful.
- the present invention adds CAN bus information monitoring based on the original on-board automatic diagnostic system OBD (On-Board Diagnostics), and the rationality of a large amount of information is ensured. And there is a corresponding substitute value when the CAN bus information is faulty. These two guarantee that the information can be recycled in the control process.
- OBD On-Board Diagnostics
- FIG. 1 is a schematic structural view of a main control system of a hybrid vehicle of the present invention
- FIG. 2 is a flow chart of the process of initializing and receiving new information of CAN bus information of the hybrid vehicle subsystem of the present invention
- FIG. 3 is a flow chart of signal processing after unpacking the main control system of the hybrid vehicle of the present invention.
- the hybrid system generally controls the coordination of each subsystem by a main control system HCU11.
- Each sub-control system interfaces with the main control system HCU11 through the CAN bus, and each external I/O interface 13 is directly sent through the hardware connection.
- this embodiment focuses on the detection of the CAN bus information of each sub-control system.
- Each subsystem packs the information required by the main control system HCU11 through the CAN bus to the underlying I/O interface 114 of the main control system HCU11, and the underlying I/O interface 114 converts the information of the peripheral chip of the independent chip into readable information, and then sends it to the readable information.
- the hybrid control system software 111 sets the corresponding status bits and the information transmitted by the underlying I/O interface 114 for verification, and thereby determines whether the CAN bus of the subsystem is successfully initialized or not. The CAN bus information of the new subsystem is sent.
- the CAN bus information unpacking process of the subsystem is performed; if the verification fails, the fault record function is called to accumulate and confirm the fault until the determined fault is formed, and the MIL light (fault indicator) is illuminated, prompting driving member.
- the fault record function is called to accumulate and confirm the fault until the determined fault is formed, and the MIL light (fault indicator) is illuminated, prompting driving member.
- the hybrid control system software 111 will diagnose the important signals to meet the needs of the on-board automatic diagnostic system OBD, and also ensure the safety of the system. Each subsystem will diagnose the corresponding signal before sending the CAN bus information. If the signal is unreliable before transmission, the subsystem will send FF or FFFF to indicate the current signal error; if the subsystem does not determine the fault and sends a signal to the main control system HCU11, the hybrid control system software 111 will also Check the rationality of the signal.
- the hybrid control system software 111 enters a fault accumulation phase in which the hybrid control system software 111 uses the value of the last cycle of the unpacked signal as the current value of the signal for hybrid system control. . If the fault has not been eliminated in the cycle of the next several hybrid control system software 111, a certain fault is formed, and the main control system HCU11 will give a default value as the main control system HCU11 from the perspective of system safety. The signal will also perform the corresponding fault action, such as breaking the motor, high voltage battery, etc. If the signal is reasonable, the hybrid control software 111 will send the signal to the next step of the program, and the hybrid control software 111 will execute the corresponding Hybrid control, the main control system HCU11 works normally.
- Embodiment 2 Embodiment 2
- the present invention not only diagnoses whether the CAN bus information is initialized and whether there is new information input, but also monitors the rationality of the input signal, and the dual monitoring is helpful for system control stability.
- OBD On-line automatic diagnostic system
- OBD has added CAN bus information monitoring, and the rationality of many signals is guaranteed. And there is a corresponding substitute value when the CAN bus information is faulty, which ensures that the signal can be recycled in the control process.
- the hybrid vehicle includes a plurality of hybrid vehicle subsystems, each having its own unique subsystem controller 12.
- the hybrid system is generally controlled by a main control system HCU11 to coordinate the various subsystems.
- the main control system HCU 11 includes hybrid control system software 111, diagnostic system 112, communication protocol 113, and underlying I/O interface 114.
- the hybrid control system software 111 is connected to the diagnostic system 112, the communication protocol 113, and the underlying I/O interface 114, respectively, and controls the operating modes and operating states of the three, and the control signals and data streams can be transmitted between each other.
- the bottom layer I/O interface 114 has two connection functions: First, each subsystem controller 12 of the hybrid vehicle is connected to the underlying I/O interface 114 via a CAN bus; second, each external I/O interface of the hybrid vehicle 13, such as sensors, hardware drivers, etc., are directly connected to the underlying I/O interface 114. That is, the main control system HCU11 is connected to the external system and the external interface through the underlying I/O interface 114.
- each subsystem of the hybrid vehicle is connected to the underlying I/O interface 114 of the main control system HCU11 via its unique subsystem controller 12, such as EMS, BMS, MCU, etc. via the CAN bus.
- the underlying I/O interface 114 converts the signals from the periphery of the main control system HCU 11 into readable information, which is then sent to the hybrid control system software 111 for processing.
- the hybrid control system software 111 sets a corresponding status bit for the information transmitted by each subsystem, for verifying the information with the underlying I/O interface 114, and determining the corresponding subsystem according to the verification result. Whether the CAN bus information has been initialized successfully, and whether new CAN bus information is sent to the hybrid control system software 111.
- the hybrid control system software 111 performs the CAN bus information unpacking process of the corresponding subsystem; if the verification fails, the fault record function is called to accumulate the corresponding faults. And confirm that if the fault is accumulated and confirmed until a certain fault is formed, the MIL light needs to be illuminated to alert the driver.
- Hybrid Vehicle Main Control System Hybrid Control System Software 111 in HCU11 performs diagnostic processing on each important piece of information. This diagnostic process not only meets the needs of the on-board automatic diagnostic system OBD, but also ensures the safety of the hybrid vehicle system.
- Each subsystem controller 12 of the hybrid vehicle system will first respond to the corresponding CAN bus information. Diagnose the corresponding signal to be sent in order to get the operating status of each subsystem in advance. If, prior to transmission, each subsystem controller 12 has diagnosed that the signal to be transmitted is unreliable, the subsystem will send FF or FFFF to the main control system HCU 11 to indicate that the current signal is erroneous. If each subsystem controller 12 diagnoses the signal to be transmitted and does not determine the fault, the subsystem will send this signal to the main control system HCU11 of the hybrid vehicle system, and then the hybrid control system software 111 will receive the signal. The subsystem information is checked for signal rationality.
- the main control system of the hybrid vehicle The hybrid control system software 111 in the HCU11 performs a signal plausibility check on the subsystem information. If it is determined that the signal is unreasonable, the hybrid control system software 111 enters the transient failure phase. In the transient failure phase, the hybrid control system software 111 takes the value of the last cycle of the unpacked signal of the CAN bus information of each subsystem as the current value of the signal, and uses the current value for hybrid system control. If the transient fault has not been eliminated during the period of the next few hybrid control system software 111, the fault accumulates until the system determines that the transient fault has formed a fault.
- the HCU11 of the hybrid vehicle's main control system will give a default value as the control signal of the hybrid vehicle's control system from the perspective of system safety, for the control of the hybrid system, and the main control of the hybrid vehicle.
- the system HCU11 also performs corresponding fault actions, such as breaking the motor, high voltage battery, and so on.
- the hybrid control system software 111 in the main control system HCU11 of the hybrid vehicle After the hybrid control system software 111 in the main control system HCU11 of the hybrid vehicle performs signal rationality check on the subsystem information, if it is determined that the signal is reasonable, the hybrid control system software 111 sends the signal to the program. Next, the hybrid control system software 111 then performs the corresponding hybrid control and the system enters a normal operating state.
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Small-Scale Networks (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Hybrid Electric Vehicles (AREA)
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BRPI1014945-7A BRPI1014945B1 (pt) | 2009-06-30 | 2010-06-04 | Método para detectar barramento can de veículo de motor híbrido |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200910144008.4 | 2009-06-30 | ||
CN2009101440084A CN101610142B (zh) | 2009-06-30 | 2009-06-30 | 一种混合动力车can侦测方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011000250A1 true WO2011000250A1 (zh) | 2011-01-06 |
Family
ID=41483743
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2010/073545 WO2011000250A1 (zh) | 2009-06-30 | 2010-06-04 | 混合动力汽车can总线侦测方法 |
Country Status (3)
Country | Link |
---|---|
CN (1) | CN101610142B (zh) |
BR (1) | BRPI1014945B1 (zh) |
WO (1) | WO2011000250A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10243941B2 (en) | 2016-11-01 | 2019-03-26 | Denso International America, Inc. | Need based controller area network bus authentication |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101610142B (zh) * | 2009-06-30 | 2013-03-27 | 奇瑞汽车股份有限公司 | 一种混合动力车can侦测方法 |
CN104954450B (zh) * | 2015-05-29 | 2018-07-24 | 北京奇虎科技有限公司 | 一种文件处理方法和装置 |
CN105882649B (zh) * | 2016-05-16 | 2018-01-26 | 吉林大学 | 一种混合动力汽车故障诊断方法 |
CN106125721A (zh) * | 2016-08-29 | 2016-11-16 | 许继集团有限公司 | 直流控制保护系统硬件开关量输入信息处理方法及装置 |
JP6620133B2 (ja) * | 2017-09-28 | 2019-12-11 | 株式会社Subaru | 車両用通信制御装置及び車両用通信制御システム |
CN115981289A (zh) * | 2023-02-10 | 2023-04-18 | 力高(山东)新能源技术股份有限公司 | 一种can特定帧唤醒的故障诊断处理方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040000887A1 (en) * | 2002-06-29 | 2004-01-01 | Han-Seung Lim | Method and apparatus for controlling a motor of a hybrid electric vehicle |
CN1721226A (zh) * | 2004-07-12 | 2006-01-18 | 天津大学 | 基于can总线的纯电动汽车主控制器装置及其控制方法 |
CN1909484A (zh) * | 2006-08-22 | 2007-02-07 | 哈尔滨工业大学 | 一种can错误帧产生与检测系统及其方法 |
JP2008312010A (ja) * | 2007-06-15 | 2008-12-25 | Fujitsu Microelectronics Ltd | Canのエラー検出評価方法およびcan通信装置 |
CN101610142A (zh) * | 2009-06-30 | 2009-12-23 | 奇瑞汽车股份有限公司 | 一种混合动力车can侦测方法 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1159174C (zh) * | 2002-12-06 | 2004-07-28 | 东风汽车公司 | 混合动力电动汽车的整车集成控制系统 |
CN1286687C (zh) * | 2003-12-31 | 2006-11-29 | 上汽集团奇瑞汽车有限公司 | 一种混合动力轿车控制系统 |
-
2009
- 2009-06-30 CN CN2009101440084A patent/CN101610142B/zh active Active
-
2010
- 2010-06-04 BR BRPI1014945-7A patent/BRPI1014945B1/pt active IP Right Grant
- 2010-06-04 WO PCT/CN2010/073545 patent/WO2011000250A1/zh active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040000887A1 (en) * | 2002-06-29 | 2004-01-01 | Han-Seung Lim | Method and apparatus for controlling a motor of a hybrid electric vehicle |
CN1721226A (zh) * | 2004-07-12 | 2006-01-18 | 天津大学 | 基于can总线的纯电动汽车主控制器装置及其控制方法 |
CN1909484A (zh) * | 2006-08-22 | 2007-02-07 | 哈尔滨工业大学 | 一种can错误帧产生与检测系统及其方法 |
JP2008312010A (ja) * | 2007-06-15 | 2008-12-25 | Fujitsu Microelectronics Ltd | Canのエラー検出評価方法およびcan通信装置 |
CN101610142A (zh) * | 2009-06-30 | 2009-12-23 | 奇瑞汽车股份有限公司 | 一种混合动力车can侦测方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10243941B2 (en) | 2016-11-01 | 2019-03-26 | Denso International America, Inc. | Need based controller area network bus authentication |
Also Published As
Publication number | Publication date |
---|---|
BRPI1014945B1 (pt) | 2021-01-26 |
CN101610142A (zh) | 2009-12-23 |
BRPI1014945A2 (pt) | 2016-04-26 |
CN101610142B (zh) | 2013-03-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2011000250A1 (zh) | 混合动力汽车can总线侦测方法 | |
WO2017187997A1 (ja) | 車両制御システム検証装置、車両制御システム、及び車両制御システム検証方法 | |
CN107745743B (zh) | 一种基于功能安全的电动助力转向控制系统 | |
CN110712677B (zh) | 一种自动驾驶车辆的冗余电动助力转向系统及其控制方法 | |
CN113165612A (zh) | 用于车辆系统的冗余传感器组件的运行方法和相应的冗余传感器组件 | |
JP5914315B2 (ja) | 車両制御システム | |
WO2022133997A1 (zh) | 控制方法、监控方法、电子控制单元、控制器和控制系统 | |
CN111619667B (zh) | 一种车辆控制方法、装置和车辆 | |
CN106864584B (zh) | 一种eps控制器无刷电机相线隔离电路及控制方法 | |
CN114802168B (zh) | 驻车制动控制系统及方法 | |
RU2494348C2 (ru) | Устройство и способ контроля датчика, а также датчик | |
US11820444B2 (en) | Control device for vehicle-mounted equipment | |
JPH08163151A (ja) | シリアル通信装置 | |
JP2020078107A (ja) | モータ制御装置 | |
JP2001312314A (ja) | 制御装置における誤り検出および制御システム | |
CN111907490B (zh) | 汽车制动踏板故障诊断方法和系统 | |
CN113954957A (zh) | 扭矩传感器冗余控制方法、装置、线控转向系统及车辆 | |
KR102214889B1 (ko) | 회로 장치 | |
CN113891824B (zh) | 车载控制装置和车载控制系统 | |
JP2009298220A (ja) | 漏電検出システム及び方法 | |
CN104767450B (zh) | 马达控制系统及方法 | |
JP7388303B2 (ja) | 異常検出システム | |
JP3830837B2 (ja) | センサ自己診断信号適正処理機能付き車載電子制御回路 | |
CN103628992A (zh) | 一种容错电子油门系统 | |
JPH04240997A (ja) | 車載電子装置の制御方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 10793545 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 10793545 Country of ref document: EP Kind code of ref document: A1 |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: PI1014945 Country of ref document: BR |
|
ENP | Entry into the national phase |
Ref document number: PI1014945 Country of ref document: BR Kind code of ref document: A2 Effective date: 20111227 |