WO2022242314A1

WO2022242314A1 - Can communication redundancy method and communication apparatus

Info

Publication number: WO2022242314A1
Application number: PCT/CN2022/083411
Authority: WO
Inventors: 裴建龙
Original assignee: 华为技术有限公司
Priority date: 2021-05-21
Filing date: 2022-03-28
Publication date: 2022-11-24
Also published as: CN115378754A

Abstract

The present application provides a CAN communication redundancy method and a communication apparatus, the method comprising: establishing a connection between multiple CAN channels and multiple network nodes, respectively; and when detected that a first CAN channel among the multiple CAN channels is faulty, controlling a multiplexer to switch a CAN channel connected to a first network node to a first backup CAN channel, the first CAN channel comprising a CAN channel connected to the first network node. Said technical solution may reduce the costs of a communication system and the complexity of a communication device while ensuring the reliability of in-vehicle network communication.

Description

CAN communication redundancy method and communication device

This application claims the priority of the Chinese patent application with the application number 202110557716.1 and the application name "CAN communication redundancy method and communication device" submitted to the China Patent Office on May 21, 2021, the entire contents of which are incorporated herein by reference Applying.

technical field

The present application relates to the communication field, and more specifically, relates to a CAN communication redundancy method and communication device.

Background technique

When designing the network communication in the car, in order to ensure the reliability of the communication, the redundant design of the controller area network (controller area network, CAN) communication is generally carried out. However, in the redundant design, although the reliability of the network communication system is improved, it inevitably brings about problems such as cost increase and complex wiring harness structure in the vehicle.

Therefore, how to reduce the cost of the in-vehicle CAN communication system and the complexity of the in-vehicle wiring harness structure while ensuring reliable communication has become a technical problem to be solved.

Contents of the invention

The present application provides a CAN communication redundancy method and communication device. The technical solution can reduce the cost of the in-vehicle communication system and the complexity of the in-vehicle wiring harness structure while ensuring the reliability of the in-vehicle communication.

In the first aspect, a method for CAN communication redundancy is provided, the method comprising: multiple CAN channels respectively establish connections with a plurality of network nodes; when it is detected that the first CAN channel in the multiple CAN channels fails and controlling the multiplexer to switch the CAN channel connected to the first network node to a first backup CAN channel, where the first CAN channel includes the CAN channel connected to the first network node.

Based on the embodiment of this application, a backup channel is designed for multiple CAN channels. When the CAN channel connected to the first network node fails, the multiplexer can be controlled to switch the CAN channel connected to the first network node to the first backup CAN channel. The technical solution can realize the backup of multiple CAN channels through a backup CAN channel, which not only ensures the reliability of in-vehicle communication, but also reduces the cost of the in-vehicle communication system and the complexity of the structure of the in-vehicle wiring harness.

With reference to the first aspect, in some implementation manners of the first aspect, the multiplexer includes a plurality of bidirectional switches, and the plurality of bidirectional switches correspond to the plurality of network nodes one by one, and when detecting When the first CAN channel in the multiple CAN channels fails, controlling the multiplexer to switch the CAN channel connected to the first network node to the first backup CAN channel includes: controlling the multiplexer to switch the first CAN channel to the first backup CAN channel. A bidirectional switch corresponding to a network node is disconnected from the first CAN channel and connected to the first backup CAN channel.

Based on the embodiment of the present application, the multiplexer includes a plurality of bidirectional switches. When it is detected that the CAN channel corresponding to one of the external network nodes fails, the faulty CAN channel can be connected to the backup channel by controlling the disconnection and connection of the bidirectional switch. switch.

With reference to the first aspect, in some implementation manners of the first aspect, the controlling the multiplexer disconnects the bidirectional switch corresponding to the first network node from the first CAN channel, and connects To the first backup CAN channel, including: sending first switching instruction information to the multiplexer, the first switching instruction information is used to instruct the multiplexer to switch the first network node corresponding to The bidirectional switch is disconnected from the first CAN channel and connected to the first backup CAN channel.

Based on the embodiment of the present application, when the CAN channel needs to be switched, the multiplexer is instructed to switch from the faulty channel to the backup channel by sending switching instruction information.

With reference to the first aspect, in some implementations of the first aspect, the method further includes: when it is detected that the second CAN channel in the multiple CAN channels fails, determining the relationship between the first CAN channel and the multiple CAN channels the priority of the second CAN channel; when the priority of the second CAN channel is greater than the priority of the first CAN channel, control the multiplexer to switch off the bidirectional switch corresponding to the first network node Open the connection with the first backup CAN channel, disconnect the bidirectional switch corresponding to the second network node from the second CAN channel, and connect the bidirectional switch corresponding to the second network node to the first A backup CAN channel.

Based on the embodiment of the present application, when the failure of two CAN channels is detected, the CAN channel with higher priority is switched to the backup channel, which is beneficial to ensure the communication reliability of important data.

With reference to the first aspect, in some implementation manners of the first aspect, the determining the priority of the first CAN channel and the second CAN channel includes: according to the first CAN channel and the second CAN channel The data transmitted by the CAN channel determines the priority of the first CAN channel and the second CAN channel.

Based on the embodiment of the present application, the priority of the CAN channel can be judged by the data transmitted in the CAN channel, which is beneficial to ensure the communication reliability of important data.

With reference to the first aspect, in some implementation manners of the first aspect, the controlling the multiplexer disconnects the bidirectional switch corresponding to the first network node from the first backup CAN channel, and disconnects the second The bidirectional switch corresponding to the network node is disconnected from the second CAN channel, and connecting the bidirectional switch corresponding to the second network node to the first backup CAN channel includes: sending a second switching instruction to the multiplexer information, the second switching indication information is used to instruct the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first backup CAN channel, and to disconnect the bidirectional switch corresponding to the second network node The switch disconnects the connection with the second CAN channel, and connects the bidirectional switch corresponding to the second network node to the first backup CAN channel.

With reference to the first aspect, in some implementations of the first aspect, the first CAN channel includes at least two CAN channels, and the priority of the CAN channel connected to the first network node is higher than that connected to the third network node. The priority of the CAN channel, the CAN channel connected to the third network node is a channel other than the CAN channel connected to the first network node among the at least two CAN channels.

Based on the embodiment of the present application, when the first CAN channel includes multiple CAN channels, the priority of the CAN channel connected to the first network node is higher, which is beneficial to ensure communication reliability of important data.

With reference to the first aspect, in some implementations of the first aspect, the method further includes: when it is detected that the third CAN channel in the multiple CAN channels fails, controlling the multiplexer to communicate with The CAN channel connected to the third network node is switched from the third CAN channel to a second backup CAN channel, and the second backup CAN channel is a different CAN channel from the first backup CAN channel.

Based on the embodiment of the present application, the technical solution designs two backup channels, thereby improving the reliability of in-vehicle communication.

With reference to the first aspect, in some implementations of the first aspect, the method further includes: when it is detected that the fourth CAN channel in the multiple CAN channels fails, determine the first CAN channel, the The priority of the third CAN channel and the fourth CAN channel; when the priority of the fourth CAN channel is greater than the priority of the first CAN channel, and the priority of the first CAN channel is greater than the third When the priority of the channel is selected, the multiplexer is controlled to disconnect the connection between the third network node and the second backup CAN channel, and the CAN channel connected to the fourth network node is switched from the fourth CAN channel to the second backup CAN channel; or when the priority of the fourth CAN channel is greater than the priority of the first CAN channel, and the priority of the first CAN channel is less than the priority of the third channel, controlling the multiplexer to disconnect the first network node from the first backup CAN channel, and switching the CAN channel connected to the fourth network node from the fourth CAN channel to the first backup CAN channel.

Based on the embodiment of the present application, when there are two backup channels, the two CAN channels with high priority are switched to the two backup channels, which is beneficial to ensure the communication reliability of important data in the vehicle.

In a second aspect, a method for CAN communication redundancy is provided, the method comprising: multiple CAN channels respectively establish connections with a plurality of network nodes; when at least two CAN channels in the multiple CAN channels are simultaneously detected to appear In case of failure, determine the priority of the at least two CAN channels; control the multiplexer to switch the two CAN channels with higher priority among the at least two CAN channels to the two backup CAN channels respectively.

In the embodiment of the present application, two backup CAN channels are designed for the communication system. When multiple CAN channels fail at the same time, the two CAN channels with higher priority can be switched to the two backup channels respectively.

Since the importance of data transmitted by each CAN channel may be different, this technical solution is beneficial to ensure the communication reliability of important data.

In a third aspect, there is provided a communication device, which is characterized in that it includes: a memory for storing instructions; a processor for reading the instructions, and when the instructions are executed by the processor, the communication The device performs the following steps: multiple CAN channels respectively establish connections with multiple network nodes; when it is detected that the first CAN channel in the multiple CAN channels fails, the control multiplexer will The CAN channel is switched to a first backup CAN channel, and the first CAN channel includes a CAN channel connected to the first network node.

With reference to the third aspect, in some implementation manners of the third aspect, the multiplexer includes a plurality of bidirectional switches, and the plurality of bidirectional switches correspond to the plurality of network nodes one by one, and when the instruction is When the processor is executed, the communication device performs the following steps: control the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first CAN channel and connect it to the Describe the first backup CAN channel.

With reference to the third aspect, in some implementation manners of the third aspect, when the instruction is executed by the processor, the communication device is caused to perform the following step: sending the first switching indication information to the multiplexer , the first switching instruction information is used to instruct the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first CAN channel and connect it to the first backup CAN channel .

With reference to the third aspect, in some implementation manners of the third aspect, when the instruction is executed by the processor, the communication device is made to perform the following steps: when the second CAN channel in the multiple CAN channels is detected When the CAN channel fails, determine the priority of the first CAN channel and the second CAN channel; when the priority of the second CAN channel is greater than the priority of the first CAN channel, control the multiple The road selector disconnects the bidirectional switch corresponding to the first network node from the first backup CAN channel, disconnects the bidirectional switch corresponding to the second network node from the second CAN channel, and The bidirectional switch corresponding to the second network node is connected to the first backup CAN channel.

With reference to the third aspect, in some implementation manners of the third aspect, when the instruction is executed by the processor, the communication device is made to perform the following steps: according to the first CAN channel and the second CAN channel, The data transmitted by the channel determines the priority of the first CAN channel and the second CAN channel.

With reference to the third aspect, in some implementation manners of the third aspect, when the instruction is executed by the processor, the communication device is caused to perform the following step: sending the second switching indication information to the multiplexer, so that The second switching instruction information is used to instruct the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first backup CAN channel, and to disconnect the bidirectional switch corresponding to the second network node connection with the second CAN channel, and connect the bidirectional switch corresponding to the second network node to the first backup CAN channel.

With reference to the third aspect, in some implementation manners of the third aspect, the first CAN channel includes at least two CAN channels, and the priority of the CAN channel connected to the first network node is higher than that connected to the third network node. The priority of the CAN channel, the CAN channel connected to the third network node is a channel other than the CAN channel connected to the first network node among the at least two CAN channels.

With reference to the third aspect, in some implementation manners of the third aspect, when the instruction is executed by the processor, the communication device is made to perform the following steps: when the third CAN channel in the multiple CAN channels is detected When the CAN channel fails, the multiplexer is controlled to switch the CAN channel connected to the third network node from the third CAN channel to the second backup CAN channel, and the second backup CAN channel is connected to the first The backup CAN channel is a different CAN channel.

With reference to the third aspect, in some implementation manners of the third aspect, when the instruction is executed by the processor, the communication device is made to perform the following steps: when the fourth CAN channel in the multiple CAN channels is detected When the CAN channel fails, determine the priority of the first CAN channel, the third CAN channel and the fourth CAN channel; when the priority of the fourth CAN channel is greater than the priority of the first CAN channel level, and the priority of the first CAN channel is greater than the priority of the third channel, control the multiplexer to disconnect the third network node from the second backup CAN channel, and the second The CAN channels connected by four network nodes are switched from the fourth CAN channel to the second backup CAN channel; or when the priority of the fourth CAN channel is greater than the priority of the first CAN channel, and the first CAN channel When the priority of a CAN channel is less than the priority of the third channel, control the multiplexer to disconnect the first network node from the first backup CAN channel, and connect the fourth network node to the CAN A channel is switched from the fourth CAN channel to the first backup CAN channel.

In a fourth aspect, a communication device is provided, including: a memory for storing instructions; a processor for reading the instructions, and when the instructions are executed by the processor, the communication device performs the following steps : Multiple CAN channels respectively establish connections with multiple network nodes; when at least two CAN channels in the multiple CAN channels are detected to be faulty, determine the priority of the at least two CAN channels; control multiple CAN channels The selector switches the two CAN channels with higher priority among the at least two CAN channels to the two backup CAN channels respectively.

In a fifth aspect, there is provided a chip, the chip includes a processor and a communication interface, the communication interface is used to receive a signal, and transmit the signal to the processor, and the processor processes the signal so that The method for CAN communication redundancy as described in the above first aspect and any possible implementation thereof is executed.

According to a sixth aspect, a chip is provided, the chip includes a processor and a communication interface, the communication interface is used to receive a signal, and transmit the signal to the processor, and the processor processes the signal so that The method of CAN communication redundancy as described in the second aspect above is performed.

In a seventh aspect, a computer-readable storage medium is provided. Computer instructions are stored in the computer-readable storage medium. When the computer instructions are run on a computer, the above-mentioned first aspect and any possible The method for implementing CAN communication redundancy described in the manner is implemented.

In an eighth aspect, a computer-readable storage medium is provided, wherein computer instructions are stored in the computer-readable storage medium, and when the computer instructions are run on a computer, the CAN communication as described in the second aspect above can be redundantly The rest of the methods are executed.

In the ninth aspect, there is provided a computer program product, including computer instructions, when the computer instructions are run on a computer, the CAN communication as described in the above first aspect and any possible implementation thereof is redundant. method is executed.

In a tenth aspect, a computer program product is provided, including computer instructions, and when the computer instructions are run on a computer, the CAN communication redundancy method described in the second aspect above is executed.

Description of drawings

FIG. 1 is a schematic diagram of a CAN communication system architecture provided by an embodiment of the present application.

FIG. 2 is a schematic diagram of another CAN communication system architecture provided by an embodiment of the present application.

FIG. 3 is a schematic diagram of another CAN communication system architecture provided by an embodiment of the present application.

Fig. 4 is a schematic flowchart of a CAN communication redundancy method provided by an embodiment of the present application.

Fig. 5 is a schematic flowchart of another CAN communication redundancy method provided by the embodiment of the present application.

Detailed ways

The technical solution in this application will be described below with reference to the accompanying drawings.

The technical solutions of the embodiments of the present application can be applied to an in-vehicle communication system of an automobile.

As shown in Figure 1, the external network node 100a, the network node 100b communicate with the communication device 100, and the communication device 100 may include a micro control unit (micro control unit, MCU) 110, which may include a plurality of CAN A controller, the communication device 100 may also include multiple CAN transceivers.

Wherein, one CAN channel may include a CAN transceiver and a CAN controller. Referring to Fig. 1, an external network node 110a is connected to a CAN channel through a bus 101a, and the CAN channel includes a CAN transceiver 102a and a CAN controller 103a. When receiving data, the CAN transceiver 102a receives data from the bus and transmits the data to the CAN controller 103a; when sending data, the CAN transceiver 102a receives the coded signal sent by the CAN controller 103a, and converts the coded signal is a differential signal and sent to the network node 100a via the bus 101a.

For example, the external network nodes 100a, 100b may be any functional units or devices that can be accessed through the CAN bus, such as an engine control unit, an electric power steering control unit, and an air conditioning control unit.

In order to ensure the stability of the CAN communication system, CAN communication is generally designed redundantly. Referring to FIG. The external network node 100a is connected to the backup channel a through the bus 106a. When the CAN channel normally connected to the external network node 100a fails, the external network node 100a can be switched to the backup channel a.

It should be understood that, in the embodiment of the present application, one CAN controller corresponds to one CAN transceiver.

Optionally, one CAN controller can correspond to multiple CAN transceivers. When the CAN channel fails, it may be that the CAN transceiver fails, or the CAN controller fails, or the bus fails, etc. .

For the external network node B, the design of the backup channel b is also carried out. When the CAN channel connected to it fails, it can be switched to the backup channel b, thereby improving the reliability of the in-vehicle network communication.

The external network node in Fig. 1 is respectively connected to two CAN channels through two buses. In some embodiments, the external network node can also be connected to two CAN channels through one bus. Although this solution saves one bus, the Overall it is still complex.

It can be seen that for each external network node, the communication device 100 has a backup design for its CAN channel. Although it can improve the reliability of in-vehicle network communication, when there are many external network nodes in the vehicle, the in-vehicle network The topology will become complicated, and the deployment of its wiring harness is also very cumbersome. In addition, a backup channel is designed for each network node, which further increases the cost of communication.

In view of this, the embodiments of the present application provide a CAN communication redundancy method and communication device. The technical solution can reduce the cost of the in-vehicle communication system and the complexity of the in-vehicle wiring harness structure while ensuring the reliability of the in-vehicle communication.

The CAN communication redundancy method and communication device in the embodiments of the present application will be introduced below with reference to FIG. 2 to FIG. 5 .

As shown in FIG. 2 , the communication device 200 may include an MCU 210, multiple CAN transceivers, and a multiplexer 230, the MCU 210 may include multiple CAN controllers, and the multiplexer 230 may include a selector 231 and a multiplexer 230. A plurality of bidirectional switches, each corresponding to an external network node.

Optionally, the CAN controller may not be in the MCU 210 but exist as an independent device, which is not limited in this embodiment of the present application.

Referring to FIG. 2 , the external network node A is connected to the bidirectional switch A0 through the bus, and A0 is connected to the access point A1 of the CAN transceiver 221 , so that the external network node A is connected to the CAN channel through the bidirectional switch A0 . When the CAN channel A connected to the external network node A fails, the bidirectional switch A0 disconnects the connection with A1, and is connected to the access point A2 of the CAN transceiver 225 in the backup channel, so that the external network node can connect to the CAN backup channel.

Specifically, when the MCU210 detects that the CAN transceiver 221 or the CAN controller 211 fails, the MCU210 will initialize the backup channel, and set the reception and transmission of the backup channel data as a complete mirror image of the CAN channel A connected to the external network node A; After the backup channel is completed, the MCU 210 sends switching instruction information to the selector 231 in the multiplexer 230; after the selector 231 receives the switching instruction information, it controls the bidirectional switch A0 to disconnect the CAN transceiver in the CAN channel A 221 access point A1, and connect A0 to the access point A2 of the CAN transceiver 225 of the backup channel, thereby completing the switch from the faulty channel to the backup channel.

Similarly, the external network node B is connected to the bidirectional switch B0 through the bus, and B0 is connected to the access point B1 of the CAN transceiver 222, so that the external network node B is connected to the CAN channel through the bidirectional switch B0. When the CAN channel connected to the external network node B fails, the bidirectional switch B0 disconnects the connection with B1, and connects to the access point B2 of the CAN transceiver 225 in the backup channel, so that the external network node can be connected to CAN backup channel.

Specifically, when the MCU210 detects that the CAN transceiver 222 or the CAN controller 214 fails, the MCU210 will initialize the backup channel, and set the receiving and sending of the backup channel data as a complete image of the CAN channel B connected to the external network node B; After the backup channel is completed, the MCU 210 sends switching instruction information to the selector 231 in the multiplexer 230; after the selector 231 receives the switching instruction information, it controls the bidirectional switch B0 to disconnect the CAN transceiver in the CAN channel B. 222 access point B1, and connect B0 to the access point B2 of the CAN transceiver 225 of the backup channel, thereby completing the switch from the faulty channel to the backup channel.

For the external network node C and the external network node D, reference may be made to the relevant descriptions of the external network node A and the external network node B, and for the sake of brevity, details are not repeated here.

In the embodiment of the present application, a backup channel is designed for multiple external communication nodes, the backup channel includes CAN transceiver 225 and CAN controller 213, and the CAN transceiver 225 has four access points A2, B2, C2, D2 , respectively corresponding to four external network nodes, when the CAN channel connected to one of the four external network nodes fails, the switch from the faulty CAN channel to the backup channel can be completed through the bidirectional switch in the multiplexer .

It should be understood that the embodiment of the present application uses four external network nodes as an example for description, but this should not cause any limitation to the present application. In practical applications, the number of external network nodes may not be specifically limited.

The above describes the situation that the CAN channel connected to one of the multiple external network nodes fails. In some examples, it is possible that the CAN channel connected to multiple network nodes fails.

Possible failure scenarios for CAN channels are:

Scenario 1:

When it is detected that the CAN channel corresponding to one of the network nodes has failed, and the CAN channel corresponding to the network node has been switched to a backup channel, it is detected that the CAN channel corresponding to another network node has failed.

For example, when the CAN channel corresponding to the external network node A fails (for example, the CAN transceiver 211 fails), the MACU 210 sends switching instruction information to the multiplexer, controls the bidirectional switch A0 to disconnect from A1, and connects A0 to A2, At this time, the external network node A has been connected to the backup channel. In this case, the MCU 210 detects that the CAN transceiver 222 fails again.

Scenario 2:

At the same time, it is detected that the CAN channel corresponding to the multi-channel network node fails.

For example, when CAN controller 211 and CAN controller 214 fail, CAN channel A and CAN channel B corresponding to the CAN controller will fail.

For the above-mentioned failure situations of CAN channels that may occur, in the initial design of the communication system in the embodiment of the present application, the priority of each CAN channel will be formulated according to the importance of the data transmitted in each CAN channel. When a fault occurs, according to the priority of each CAN channel, the CAN channel with higher priority will be switched to the backup channel.

For the above situation one:

Since the priority order of each CAN channel has been established during the initial design of the communication system, at this time, the priority of the CAN channel corresponding to the network node currently connected to the backup channel and the CAN channel corresponding to another network node detected later can be judged. The size of the priority of the channel. If the priority of the CAN channel corresponding to the network node currently connected to the backup channel is greater than the priority of the CAN channel corresponding to another network node detected later, then continue to maintain the current state; if the CAN channel corresponding to the network node currently connected to the backup channel If the priority is lower than the priority of the CAN channel corresponding to another network node detected later, the network node currently connected to the backup channel will be disconnected from the backup channel, and another network node detected later will be connected to the backup channel. aisle.

For example, the CAN channel A connected to the external network node A fails, and the network node A has been connected to the backup channel. At this time, it is detected that the CAN channel B corresponding to the external network node B has failed. If the priority of CAN channel A is greater than the priority of CAN channel B, then keep the current state, if the priority of CAN channel is lower than the priority of CAN channel B, disconnect the connection between external network node A and the backup channel, and connect the external network Node B is connected to the backup channel.

For the second case above:

When faults in multiple CAN channels are detected at the same time, the external network node corresponding to the CAN channel with the highest priority among the multiple faulty CAN channels can be connected to the backup channel to complete the switching from the faulty CAN channel to the backup channel.

For example, if CAN channel A and CAN channel B are detected to be faulty at the same time, if the priority of CAN channel A is higher than that of CAN channel B, the external network node corresponding to CAN channel A is connected to the backup channel. For example, the data transmitted in CAN channel A is the data of the car engine control unit, and the data transmitted in CAN channel B is the data for adjusting the air conditioner in the car, then the data of the car engine control unit is obviously more important than the data for adjusting the air conditioner in the car .

Based on the embodiment of the present application, multiple external network nodes are respectively connected to multiple CAN channels through bidirectional switches in the multiplexer, and a backup channel is designed. When it is detected that the CAN channel corresponding to one of the external network nodes fails, The switch from the faulty CAN channel to the backup channel can be realized by controlling the disconnection and connection of the bidirectional switch. The technical solution can not only ensure the reliability of the in-vehicle communication, but also reduce the cost of the in-vehicle communication system and the complexity of the structure of the in-vehicle wiring harness.

Furthermore, when a failure of two CAN channels is detected, the CAN channel with higher priority is switched to the backup channel, which is beneficial to ensure the communication reliability of important data.

The above describes the design of one backup channel in the CAN communication system, and the following describes the design of two backup channels in the CAN communication system in conjunction with Figure 3.

As shown in FIG. 3 , the communication device 300 may include an MCU 210 , multiple CAN transceivers, and a multiplexer 230 , and the MCU 210 may include multiple CAN controllers. The multiplexer 230 may include a selector 231 and a plurality of switches, each switch corresponding to an external network node.

Different from the communication device 200, two backup channels are designed in the communication device 300, namely backup channel a, including CAN controller 213, CAN transceiver 225, and backup channel b, including CAN controller 216, CAN transceiver 226 .

Referring to Fig. 3, the CAN transceiver 225 in the backup channel a has four access points A2, B2, C2, D2 respectively, and the CAN transceiver 226 in the backup channel b has four access points A3, B3, C3 and D3 respectively correspond to four external network nodes.

In the case that the communication device 3 has two backup channels, the possible failure situations are:

Scenario 1:

A CAN channel failure was detected.

Scenario 2:

A fault has been detected on two CAN channels.

Case three:

At the same time, more than two CAN channels are detected to be faulty.

Situation 4:

Two CAN channels are detected to be faulty, and the network nodes corresponding to the two faulty CAN channels have been respectively connected to the two backup channels, and one CAN channel is detected to be faulty.

For the above situation one:

Since there are two CAN backup channels in the communication system, when a fault is detected in one of the normally used CAN channels, the network node corresponding to the faulty CAN channel can be connected to one of the two backup channels.

Exemplarily, the order in which the two backup channels are used can be set in the system. Alternatively, the order in which the two backup channels are used is not limited, and one of them is randomly selected during use.

Taking the external network node A as an example, under normal circumstances, it is connected to the access point A1 of the CAN transceiver 221 by default through the switch A0. At a certain moment, when the MCU 210 detects that the CAN channel A connected to the external network node A fails, Switch A0 can be disconnected from A1, and A0 can be connected to point A2 or point A3, so that the CAN channel connected to the external network node can be switched from faulty CAN channel A to backup channel.

For example, when the CAN channel A connected to the external network node A fails, the switch A0 disconnects the connection with A1 and connects to A2, then the CAN channel connected to the external network node is the backup channel a.

For the second case above:

Since there are two CAN backup channels in the communication system, when a failure of the two CAN channels is detected, the network nodes corresponding to the two faulty CAN channels can be connected to the two backup channels respectively.

In a possible implementation, the two CAN backup channels fail successively. For example, when the external network node A has been connected to one backup channel, the MCU 210 detects that the CAN channel B connected to the network node B fails again. , then connect the network node B to another backup channel.

In another possible implementation, if the two CAN backup channels fail at the same time, then the network nodes corresponding to the two faulty CAN channels can be respectively connected to the two backup channels.

For the above situation three:

In the initial design of the communication system in the embodiment of the present application, the priority of each CAN channel will be formulated according to the importance of the data transmitted in each CAN channel. According to the priority of the two or more faulty CAN channels, the network nodes corresponding to the first two faulty CAN channels with higher priorities are selected to be connected to the two backup CAN channels.

For the above situation four:

In the initial design of the communication system, the priority of each CAN channel will be determined according to the importance of the data transmitted in each CAN channel. When the network nodes are respectively connected to two backup channels, if a CAN channel failure is detected at this time, the priority order of the three faulty CAN channels can be used to determine whether to maintain the current state or to detect the fault in the future The network node corresponding to the CAN channel is connected to one of the backup channels.

For example, if the CAN channel A and CAN channel B connected by default to network node A and network node B fail, and the network node A and network node B have also been connected to two backup channels respectively, such as network node A connected to Backup channel a, network node B is connected to backup channel b, at this time, MCU210 detects that the CAN channel C connected to network node C by default fails, then MCU210 can size decision.

If the priority of CAN channel C is lower than the priorities of CAN channel A and CAN channel B, the current state is maintained.

If the priority of CAN channel C is greater than the priority of CAN channel A, and the priority of CAN channel A is greater than the priority of CAN channel B, disconnect the connection between network node B and backup channel b, and connect network node C to backup channel b.

If the priority of CAN channel C is greater than the priority of CAN channel A, and the priority of CAN channel A is lower than the priority of CAN channel B, disconnect the connection between network node A and backup channel a, and connect network node C to backup channel a.

Based on the embodiment of this application, multiple external network nodes are respectively connected to multiple CAN channels through switches in the multiplexer, and two backup channels are designed. When it is detected that the CAN channels corresponding to one or two external network nodes appear In case of failure, the switch from the faulty CAN channel to the backup channel can be realized by disconnecting and connecting the control switch. The technical solution can not only ensure the reliability of the in-vehicle communication, but also reduce the cost of the in-vehicle communication system and the complexity of the structure of the in-vehicle wiring harness.

Furthermore, when it is detected that two or more CAN channels fail, the two CAN channels with higher priority are switched to two backup channels, which is beneficial to ensure the communication reliability of important data.

Fig. 4 is a schematic flowchart of a CAN redundant communication method provided by an embodiment of the present application. As shown in FIG. 4 , the method may include steps 410 to 420 .

410. Establish connections between multiple CAN channels and multiple network nodes respectively.

Among them, each CAN channel can include a CAN controller and a CAN transceiver, and multiple CAN channels respectively establish connections with multiple network nodes, which can be understood as multiple network nodes respectively transmit and receive with CAN in multiple CAN channels device to communicate.

For example, a CAN transceiver receives data sent by a network node via the bus and transmits this data to a CAN controller.

The network node may be an engine control unit, an electric power steering control unit, an air conditioning control unit, and the like.

420. When it is detected that the first CAN channel in the multiple CAN channels fails, control the multiplexer to switch the CAN channel connected to the first network node to the first backup CAN channel, and the first CAN channel A CAN channel connected to the first network node is included.

Wherein, the first CAN channel may include one CAN channel, or may include multiple CAN channels.

The multiplexer can include multiple bidirectional switches, and each bidirectional switch corresponds to a CAN channel. Under normal circumstances, each bidirectional switch is connected to a normal communication CAN channel by default, and each bidirectional switch can be connected to another CAN channel. The entry point is the access point of the first backup CAN channel. When the CAN channel connected to the first network node fails, the multiplexer can be controlled to switch the CAN channel connected to the first network node to the first backup CAN channel.

Optionally, the multiplexer includes a plurality of bidirectional switches, the plurality of bidirectional switches correspond to the plurality of network nodes one by one, and when it is detected that the first CAN channel in the multiple CAN channels fails , controlling the multiplexer to switch the CAN channel connected to the first network node to the first backup CAN channel includes: controlling the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the The first CAN channel is connected and connected to the first backup CAN channel.

In this embodiment, the CAN channel connected to the first network node is the first CAN channel.

Exemplarily, referring to FIG. 2 , the multiplexer 230 includes a plurality of bidirectional switches A0 , B0 , C0 and D0 . The first network node can be network node A, and the CAN channel connected to network node A is CAN channel A. The switch disconnects the CAN channel A and connects to the backup channel.

Optionally, the controlling the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first CAN channel and connect to the first backup CAN channel includes: The multiplexer sends first switching instruction information, and the first switching instruction information is used to instruct the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first CAN channel. connected, and connected to the first backup CAN channel.

Exemplarily, referring to Fig. 2, the first backup CAN channel may be the backup channel in Fig. 2, including the CAN controller 213 and the CAN transceiver 225, the first network node may be the network node A, when the network node is detected When the CAN channel A connected to A fails, the MCU210 will send the first switching instruction information to the multiplexer, and after the selector 231 in the 230 of the multiplexer receives the first switching instruction information, it will control the switch A0 to turn off. Open the connection with A1 and connect to A2, so as to complete the switching from the faulty CAN channel to the first backup CAN channel.

Optionally, the method may also include steps 430 to 440:

430. Determine the priority of the first CAN channel and the second CAN channel when it is detected that a failure occurs in the second CAN channel in the multiple CAN channels.

For example, referring to FIG. 2 , the first CAN channel may be CAN channel A connected to network node A, and the second CAN channel may be CAN channel B connected to network node B. When network node A fails first, and CAN channel A has been switched to the first backup channel, and CAN channel B connected to network node B is detected to be faulty, CAN channel A and CAN channel B can be judged at this time The priority of the switch is determined according to the size of its priority.

440. When the priority of the second CAN channel is greater than the priority of the first CAN channel, control the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first backup The connection of the CAN channel disconnects the bidirectional switch corresponding to the second network node from the second CAN channel, and connects the bidirectional switch corresponding to the second network node to the first backup CAN channel.

Exemplarily, as described in step 430, when the priority of CAN channel B is greater than the priority of CAN channel A, it is determined to switch CAN channel B to the first backup channel, then control the multiplexer to switch network node A The corresponding bidirectional switch A0 is disconnected from A2, the bidirectional switch B0 corresponding to the network node B is disconnected from point B1, and B0 is connected to B2. In this way, the connection of the network node B to the backup channel is completed.

Specifically, switching instruction information may be sent to the multiplexer to instruct it to perform the above switching operation.

Optionally, when the priority of the second CAN channel is lower than that of the first CAN channel, the current state may be maintained, that is, the connection between the first network node and the first backup channel may be maintained.

Optionally, the determining the priority of the first CAN channel and the second CAN channel includes:

determining the priorities of the first CAN channel and the second CAN channel according to the data transmitted by the first CAN channel and the second CAN channel.

For example, when the communication system is initially involved, the priority of each CAN channel can be set according to the importance of the data that each CAN channel needs to transmit. For example, the priority of the CAN channel that transmits the control data of the automobile engine is higher than that of the data that adjusts the air conditioner of the automobile. The priority of the CAN channel.

The technical solution switches the CAN channel with high priority to the backup channel, thereby helping to ensure the communication reliability of important data.

Optionally, controlling the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first backup CAN channel, and disconnecting the bidirectional switch corresponding to the second network node from the disconnected The connection of the second CAN channel, and connecting the bidirectional switch corresponding to the second network node to the first backup CAN channel, including:

sending second switching instruction information to the multiplexer, where the second switching instruction information is used to instruct the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first backup CAN channel Connecting, disconnecting the bidirectional switch corresponding to the second network node from the second CAN channel, and connecting the bidirectional switch corresponding to the second network node to the first backup CAN channel.

In this embodiment, when it is determined to connect the second network node to the first backup channel, second switching instruction information may be sent to the multiplexer to instruct it to perform switching.

Optionally, the first CAN channel includes at least two CAN channels, and the priority of the CAN channel connected to the first network node is higher than that of the CAN channel connected to the third network node. The CAN channels connected to the three network nodes are channels other than the CAN channel connected to the first network node among the at least two CAN channels.

In this embodiment, the first CAN channel may include multiple CAN channels. For example, the first CAN channel includes two CAN channels, that is, if two CAN channels are detected to be faulty at the same time, then the CAN channel connected to the first network node with high priority is switched to the first backup channel, which is beneficial to ensure Communication reliability of important data.

Optionally, when it is detected that the third CAN channel in the multiple CAN channels fails, the multiplexer is controlled to switch the third CAN channel connected to the third network node to the second backup CAN channel channels, the second backup CAN channel and the first backup CAN channel are different CAN channels.

In this embodiment, the communication system has two backup channels. For example, referring to FIG. 3 , the first network node may be network node A, and the third network node may be network node B. After the CAN channel A connected to the first network node is switched to the first backup CAN channel, it is detected that If the CAN channel B corresponding to the network node B fails, the CAN channel connected to the network node B may be switched to the second backup CAN channel.

In the case of two backup CAN channels, the use sequence of the two backup CAN channels can be set, for example, when only one CAN channel fails, the first backup CAN channel is used preferentially.

Optionally, when it is detected that the fourth CAN channel in the multiple CAN channels fails, determine the priorities of the first CAN channel, the third CAN channel, and the fourth CAN channel;

When the priority of the fourth CAN channel is greater than the priority of the first CAN channel, and the priority of the first CAN channel is greater than the priority of the third channel, control the multiplexer to disconnect all the connection between the third network node and the second backup CAN channel, and switch the CAN channel connected to the fourth network node from the fourth CAN channel to the second backup CAN channel; or

When the priority of the fourth CAN channel is greater than the priority of the first CAN channel, and the priority of the first CAN channel is less than or equal to the priority of the third channel, control the multiplexer to turn off Opening the connection between the first network node and the first backup CAN channel, and switching the CAN channel connected to the fourth network node from the fourth CAN channel to the first backup CAN channel.

Exemplarily, referring to FIG. 3, the first network node may be a network node A, the first CAN channel is the CAN channel A connected to the network node A, the third network node may be a network node B, and the second CAN channel For the CAN channel B connected to the network node B, the fourth network node may be the network node C, and the third CAN channel is the CAN channel C connected to the network node C. When the CAN channels originally connected to network node A and network node B fail, and have been switched to two backup CAN channels respectively, and it is detected that the CAN channel C connected to network node C fails, at this time, the CAN Switching decisions are made based on the priorities of channel A, CAN channel B, and CAN channel C.

For example, when the priority of CAN channel C is higher than that of CAN channel A, and the priority of CAN channel A is higher than that of CAN channel B, the multiplexer is controlled to disconnect switch B0 of network node B from B3 , disconnect C0 corresponding to network node C from C1, and connect C0 to C3, so that network node C can be connected to the backup CAN channel.

When the priority of CAN channel C is greater than the priority of CAN channel A, and the priority of CAN channel A is lower than the priority of CAN channel B, control the multiplexer to disconnect switch A0 of network node A from A2, and C0 corresponding to network node C disconnects from C1 and connects C0 to C2, so that network node C can be connected to the backup CAN channel.

When the priority of CAN channel C is lower than that of CAN channel A and CAN channel B, keep the current state, that is, continue to maintain the connection between network node A and network node B and the backup channel.

The technical solution is beneficial to ensure the communication reliability of important data.

Fig. 5 is a schematic flowchart of another CAN redundant communication method provided by the embodiment of the present application.

As shown in FIG. 5 , the method may include step 510 to step 530 .

510. Establish connections between multiple CAN channels and multiple network nodes respectively.

For this step 510, reference may be made to the related description in step 410, and for the sake of brevity, details are not repeated here.

520. Determine priorities of the at least two CAN channels when faults are detected in at least two CAN channels among the multiple CAN channels at the same time.

When multiple CAN channels are detected to be faulty at the same time, switching decisions can be made according to the priorities of the multiple CAN channels.

530. Control the multiplexer to switch the two CAN channels with higher priority among the at least two CAN channels to the two backup CAN channels respectively.

The embodiment of the present application also provides a communication device, including a processing unit, the processing unit is configured to execute the CAN communication redundancy method described in any one of the above.

The embodiment of the present application also provides a communication device, including a memory for storing instructions; a processor for reading the instructions, and when the instructions are executed by the processor, the communication device performs the above-mentioned The CAN communication redundancy method described in any one.

The embodiment of the present application also provides a chip, the chip includes a processor and a communication interface, the communication interface is used to receive a signal, and transmit the signal to the processor, and the processor processes the signal, A method of making CAN communication redundant as described in any one of the above is performed.

The embodiment of the present application also provides a computer-readable storage medium, including computer instructions, and when the computer instructions are run on the communication device, the communication device is made to perform the CAN communication redundancy method described in any one of the above .

The embodiment of the present application also provides a computer program product, including computer instructions, when the computer instructions are run on the computer, the CAN communication redundancy method described in any one of the above is executed.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the 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 May be integrated into another system, or some features may be ignored, 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 units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

If the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disk or optical disc and other media that can store program codes. .

The above is only a 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. Should be covered within the protection scope of this application. Therefore, the protection scope of the present application should be determined by the protection scope of the claims.

Claims

A method for CAN communication redundancy, characterized in that, comprising:

Multiple CAN channels respectively establish connections with multiple network nodes;

When it is detected that the first CAN channel in the multiple CAN channels fails, the multiplexer is controlled to switch the CAN channel connected to the first network node to the first backup CAN channel, and the first CAN channel includes and A CAN channel to which the first network node is connected.
The method according to claim 1, wherein the multiplexer includes a plurality of bidirectional switches, the plurality of bidirectional switches correspond to the plurality of network nodes one by one, and when multiple CAN When the first CAN channel in the channel fails, the multiplexer is controlled to switch the CAN channel connected to the first network node to the first backup CAN channel, including:

Controlling the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first CAN channel and connect it to the first backup CAN channel.
The method according to claim 2, wherein the control of the multiplexer disconnects the bidirectional switch corresponding to the first network node from the first CAN channel and connects it to the The first backup CAN channel, including:

Sending first switching indication information to the multiplexer, where the first switching indication information is used to instruct the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first CAN channel connection and connect to the first backup CAN channel.
The method according to any one of claims 1-3, further comprising:

When detecting that the second CAN channel in the multiple CAN channels fails, determine the priority of the first CAN channel and the second CAN channel;

When the priority of the second CAN channel is greater than the priority of the first CAN channel, control the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first backup CAN channel disconnect the bidirectional switch corresponding to the second network node from the second CAN channel, and connect the bidirectional switch corresponding to the second network node to the first backup CAN channel.
The method according to claim 4, wherein the determining the priority of the first CAN channel and the second CAN channel comprises:

determining the priorities of the first CAN channel and the second CAN channel according to the data transmitted by the first CAN channel and the second CAN channel.
The method according to claim 4 or 5, characterized in that the control of the multiplexer disconnects the bidirectional switch corresponding to the first network node from the first backup CAN channel, and disconnects the second network node The bidirectional switch corresponding to the node is disconnected from the second CAN channel, and the bidirectional switch corresponding to the second network node is connected to the first backup CAN channel, including:

sending second switching instruction information to the multiplexer, where the second switching instruction information is used to instruct the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first backup CAN channel Connecting, disconnecting the bidirectional switch corresponding to the second network node from the second CAN channel, and connecting the bidirectional switch corresponding to the second network node to the first backup CAN channel.
The method according to claim 1, wherein the first CAN channel comprises at least two CAN channels, and the priority of the CAN channel connected to the first network node is greater than that of the CAN channel connected to the third network node priority, the CAN channel connected to the third network node is one of the at least two CAN channels except the CAN channel connected to the first network node.
The method according to claim 1, further comprising:

When it is detected that the third CAN channel in the multiple CAN channels fails, the multiplexer is controlled to switch the CAN channel connected to the third network node from the third CAN channel to the second backup CAN channel , the second backup CAN channel and the first backup CAN channel are different CAN channels.
The method according to claim 8, characterized in that the method further comprises:

When detecting that the fourth CAN channel in the multiple CAN channels fails, determine the priorities of the first CAN channel, the third CAN channel, and the fourth CAN channel;

When the priority of the fourth CAN channel is greater than the priority of the first CAN channel, and the priority of the first CAN channel is greater than the priority of the third channel, control the multiplexer to disconnect all the connection between the third network node and the second backup CAN channel, and switch the CAN channel connected to the fourth network node from the fourth CAN channel to the second backup CAN channel; or

When the priority of the fourth CAN channel is greater than the priority of the first CAN channel, and the priority of the first CAN channel is less than the priority of the third channel, control the multiplexer to disconnect all The connection between the first network node and the first backup CAN channel, and switch the CAN channel connected to the fourth network node from the fourth CAN channel to the first backup CAN channel.
A method for CAN communication redundancy, characterized in that, comprising:

Multiple CAN channels respectively establish connections with multiple network nodes;

When detecting that at least two CAN channels in the multiple CAN channels fail at the same time, determine the priority of the at least two CAN channels;

Controlling the multiplexer to switch the two CAN channels with higher priority among the at least two CAN channels to the two backup CAN channels respectively.
A communication device, characterized by comprising:

memory for storing instructions;

a processor, configured to read the instruction, and when the instruction is executed by the processor, the communication device is made to perform the following steps:

Multiple CAN channels respectively establish connections with multiple network nodes;

When it is detected that the first CAN channel in the multiple CAN channels fails, the multiplexer is controlled to switch the CAN channel connected to the first network node to the first backup CAN channel, and the first CAN channel includes and A CAN channel to which the first network node is connected.
The device according to claim 11, wherein the multiplexer includes a plurality of bidirectional switches, and the plurality of bidirectional switches correspond to the plurality of network nodes one by one, and when the instruction is processed by the When the controller is executed, the communication device is made to perform the following steps:

Controlling the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first CAN channel and connect it to the first backup CAN channel.
The device according to claim 12, wherein when the instruction is executed by the processor, the communication device is made to perform the following steps:

Sending first switching indication information to the multiplexer, where the first switching indication information is used to instruct the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first CAN channel connection and connect to the first backup CAN channel.
The device according to any one of claims 11-13, wherein when the instruction is executed by the processor, the communication device is made to perform the following steps:

When it is detected that the second CAN channel in the multiple CAN channels fails, determine the priority of the first CAN channel and the second CAN channel;

When the priority of the second CAN channel is greater than the priority of the first CAN channel, control the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first backup CAN channel disconnect the bidirectional switch corresponding to the second network node from the second CAN channel, and connect the bidirectional switch corresponding to the second network node to the first backup CAN channel.
The device according to claim 14, wherein when the instruction is executed by the processor, the communication device is caused to perform the following steps:

determining the priorities of the first CAN channel and the second CAN channel according to the data transmitted by the first CAN channel and the second CAN channel.
The device according to claim 14, wherein when the instruction is executed by the processor, the communication device is caused to perform the following steps:

sending second switching instruction information to the multiplexer, where the second switching instruction information is used to instruct the multiplexer to disconnect the bidirectional switch corresponding to the first network node from the first backup CAN channel Connecting, disconnecting the bidirectional switch corresponding to the second network node from the second CAN channel, and connecting the bidirectional switch corresponding to the second network node to the first backup CAN channel.
The device according to claim 11, wherein the first CAN channel includes at least two CAN channels, and the CAN channel connected to the first network node has a higher priority than the CAN channel connected to the third network node priority, the CAN channel connected to the third network node is one of the at least two CAN channels except the CAN channel connected to the first network node.
The device according to claim 11, wherein when the instruction is executed by the processor, the communication device is made to perform the following steps:

When it is detected that the third CAN channel in the multiple CAN channels fails, the multiplexer is controlled to switch the CAN channel connected to the third network node from the third CAN channel to the second backup CAN channel , the second backup CAN channel and the first backup CAN channel are different CAN channels.
The device according to claim 18, wherein when the instructions are executed by the processor, the communication device is caused to perform the following steps:

When detecting that the fourth CAN channel in the multiple CAN channels fails, determine the priorities of the first CAN channel, the third CAN channel, and the fourth CAN channel;

When the priority of the fourth CAN channel is greater than the priority of the first CAN channel, and the priority of the first CAN channel is greater than the priority of the third channel, control the multiplexer to disconnect all the connection between the third network node and the second backup CAN channel, and switch the CAN channel connected to the fourth network node from the fourth CAN channel to the second backup CAN channel; or

When the priority of the fourth CAN channel is greater than the priority of the first CAN channel, and the priority of the first CAN channel is less than the priority of the third channel, control the multiplexer to disconnect all The connection between the first network node and the first backup CAN channel, and switch the CAN channel connected to the fourth network node from the fourth CAN channel to the first backup CAN channel.
A communication device, characterized by comprising:

memory for storing instructions;

a processor, configured to read the instruction, and when the instruction is executed by the processor, the communication device is made to perform the following steps:

Multiple CAN channels respectively establish connections with multiple network nodes;

When detecting that at least two CAN channels in the multiple CAN channels fail at the same time, determine the priority of the at least two CAN channels;

Controlling the multiplexer to switch the two CAN channels with higher priority among the at least two CAN channels to the two backup CAN channels respectively.
A computer-readable storage medium, comprising computer instructions, computer instructions are stored in the computer-readable storage medium, when the computer instructions are run on a computer, so that as described in any one of claims 1-9 or 10 The described CAN communication redundancy method is implemented.