CN108337143B - Communication structure, communication system, and communication method - Google Patents
Communication structure, communication system, and communication method Download PDFInfo
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- CN108337143B CN108337143B CN201810111417.3A CN201810111417A CN108337143B CN 108337143 B CN108337143 B CN 108337143B CN 201810111417 A CN201810111417 A CN 201810111417A CN 108337143 B CN108337143 B CN 108337143B
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- 238000004891 communication Methods 0.000 title claims abstract description 299
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000008054 signal transmission Effects 0.000 claims description 33
- 239000000178 monomer Substances 0.000 claims description 2
- 238000003466 welding Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 3
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- 238000002955 isolation Methods 0.000 description 2
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- 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
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- 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]
- H04L12/44—Star or tree networks
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- 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
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Abstract
The invention discloses a communication structure, a communication system and a communication method. The communication structure comprises a main control unit, a plurality of slave control units respectively corresponding to the communication nodes and a CAN bus; the main control unit comprises a singlechip, a CAN transceiver and a first functional chip; the slave control unit comprises a second functional chip and reserves the positions of the welding CAN transceiver and the singlechip; wherein the first functional chip and the second functional chip both support a daisy chain topology; the communication mode between the master control unit and each slave control unit is suitable for switching between adopting a daisy chain topology structure for communication or adopting a CAN bus for communication according to requirements. The technical scheme provides a flexible communication structure capable of flexibly switching between two communication modes.
Description
Technical Field
The present invention relates to the field of communication topology structures and communication protocols, and in particular, to a communication structure, a communication system, and a communication method.
Background
Currently, daisy-Chain (Daisy-Chain) communication is a commonly used multi-device connection communication topology.
A schematic diagram of a conventional daisy chain connection structure is shown in fig. 1. In fig. 1, an instruction is issued by a single chip microcomputer to a functional chip supporting a daisy chain, and the acquisition instruction is transmitted downwards in the form of a signal through a daisy chain topology. In practical applications, the single chip microcomputer can transmit signals downwards through the two-wire communication signals RDTX+ and RDTX-of the isolation chip paired with the functional chip supporting the daisy chain. The information and the instruction sent by the singlechip are transmitted downwards from the 1 st node through the daisy chain structure until the last 1 node receives the instruction.
For example, in a battery management system (Battery Management System, BMS), by means of a BMU (Battery Management Unit ) in such a Daisy Chain (Daisy-Chain) structure BMS, it is possible to send instructions (e.g., voltage measurement and voltage reading) to all cell management unit (Cell Management Unit, CMU) nodes at the same time, or to send instructions to a certain node, which is operated individually. The Daisy Chain (Daisy-Chain) network topology structure has low cost, can realize communication of a plurality of nodes at the same time, is a very common topology structure in the field of automobile electronics, and a plurality of chips support the Daisy Chain (Daisy-Chain) structure.
The prior common Daisy Chain structure often connects adjacent nodes by a twisted pair to form a long and long 'queue' structure, and the structure has the obvious defect that a signal transmitted from a first node is transmitted to a next node through a Daisy Chain (Daisy-Chain), so that a certain signal attenuation exists, the attenuation phenomenon becomes more and more obvious after the signal continues to be transmitted to the next node, the signal received by a last node is inevitably the most serious in attenuation, the maximum number of nodes supported by the Daisy Chain structure is relatively low due to the fact that BMS (battery management system) usually needs relatively more CMU nodes according to actual demands, and therefore, the Daisy Chain structure cannot be directly applied to the BMS due to the characteristic of signal attenuation, and the characteristic of the Daisy Chain signal attenuation needs to be improved.
Disclosure of Invention
The present invention is directed to the above-mentioned problems, and provides a communication structure, including: the device comprises a main control unit, a plurality of slave control units respectively corresponding to the communication nodes and a CAN bus; wherein,
the main control unit comprises: the system comprises a singlechip, a CAN transceiver and a first functional chip;
the slave control unit includes: the second functional chip is reserved and welded with the CAN transceiver and the singlechip; wherein the first functional chip and the second functional chip both support a daisy chain topology;
the communication mode between the master control unit and each slave control unit is suitable for switching between adopting a daisy chain topology structure for communication or a CAN bus for communication according to requirements.
Optionally, the switching between communication using the daisy chain topology or communication using the CAN bus according to the requirements includes:
the communication mode between the master control unit and each slave control unit is determined by whether the signal attenuation of each communication node is within the range of the signal transmission accuracy requirement;
if the signal attenuation of the communication node is within the signal transmission accuracy requirement range, the master control unit and the slave control unit corresponding to the communication node communicate by adopting a daisy chain topology structure; and if the signal attenuation of the communication node exceeds the signal transmission accuracy requirement range, the master control unit and the slave control unit corresponding to the communication node communicate by adopting a CAN bus.
Optionally, the master control unit further comprises a first transformer, and each slave control unit further comprises a second transformer and a connector; a channel selection switch is arranged between the second transformer of each slave control unit and the connector; the connector is used for multiplexing an interface of the daisy chain topology structure and an interface of the CAN bus;
if the main control unit and the slave control unit adopt a daisy chain topology structure for communication, a channel selection switch in the slave control unit is closed,
if the main control unit and the slave control unit communicate by adopting a CAN bus, a channel selection switch in the slave control unit is disconnected, and a CAN transceiver and a singlechip are welded at the position where the CAN transceiver and the singlechip are reserved in the slave control unit.
Optionally, if the signal attenuation of the communication node exceeds the signal transmission accuracy requirement range, and if the signal attenuation of the communication node exceeds the signal transmission accuracy requirement range for the first time, the slave control unit corresponding to the communication node and the slave control unit corresponding to the next communication node of the communication node adopt a daisy chain topology structure for communication.
Optionally, the slave control unit corresponding to the next communication node of the communication node and the master control unit are communicated by the slave control unit corresponding to the communication node with signal attenuation for the first time by adopting a CAN bus.
Optionally, if the signal attenuation of the next communication node of the communication node exceeds the signal transmission accuracy requirement range compared with the signal attenuation of the communication node, the slave control unit and the master control unit corresponding to the next communication node of the communication node adopt a CAN bus for communication.
Optionally, if the signal attenuation of the communication node exceeds the signal transmission accuracy requirement range, the master control unit and the slave control unit corresponding to the communication node adopt a CAN bus for communication; the communication mode between the slave control unit and the master control unit corresponding to each subsequent communication node of the communication node is suitable for switching between adopting a daisy chain topology structure for communication or a CAN bus for communication according to requirements.
Optionally, the master control unit is a battery management unit, and the slave control unit is a monomer management unit.
The embodiment of the invention also provides a communication system which comprises the communication structure.
The embodiment of the invention also provides a communication method based on the communication structure, which comprises the following steps:
and determining the communication mode between the master control unit and each slave control unit to switch between adopting a daisy chain topology structure for communication or a CAN bus for communication according to the requirements.
Compared with the prior art, the technical scheme of the invention has at least the following beneficial effects:
in the communication structure provided by the embodiment of the invention, a master control unit comprises a singlechip, a CAN transceiver and a functional chip supporting a daisy chain topology structure; and the slave control unit corresponding to each communication node comprises a functional chip supporting a daisy chain topology structure, and the positions of the welding CAN transceiver and the singlechip are reserved. Therefore, two communication modes of CAN bus communication or daisy chain topology structure communication between the master control unit and the slave control unit CAN be realized by using one set of circuit board, two different circuit boards are not required to be additionally designed, and therefore hardware cost is saved.
The main control unit and the slave control units are respectively provided with a transformer (playing an isolating role in communication), a channel selection switch is further arranged between the transformer and the connector in each slave control unit, and signal transmission is realized between the main control unit and the slave control units by controlling state switching (opening or closing) of the channel selection switch, so that switching between CAN bus communication or daisy chain topology communication is flexible. Further, the CAN bus interface and the daisy chain communication interface (the interfaces of each node of the daisy chain topology structure) are multiplexing connectors, and the CAN bus interface and the daisy chain communication interface are switched by a channel selection switch.
The above embodiment adopts a daisy chain topology structure with 1 and the rest of communication nodes adopting a CAN bus communication mode to realize the communication between the master control unit and the slave control unit. However, because the daisy chain topology structure has low cost, the 2 nd daisy chain topology structure CAN be formed by the rest communication nodes again, and the communication of all the communication nodes in the daisy chain topology structure is completed by the slave control unit with the singlechip and the CAN transceiver (namely, the slave control unit corresponding to the communication node with signal attenuation for the first time), and all the sampling data are sent to the master control unit in a CAN bus communication mode, so that the communication structure is changed into a structure with staggered communication of the daisy chain topology structure and the CAN bus, and the cost of the communication system is further reduced.
Drawings
FIG. 1 is a schematic diagram of a prior art daisy chain connection structure;
FIG. 2 is a schematic diagram of an embodiment of a communication structure in accordance with an embodiment of the present invention;
fig. 3 is a schematic diagram of another embodiment of a communication structure in accordance with an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
A schematic diagram of a communication structure according to an embodiment of the present invention is shown in fig. 2.
Referring to fig. 2, the communication structure includes a master unit 11, slave units (slave units 21, 22 as shown in the drawing, the.+ -.), 2N, 2n+1, 2n+2) respectively corresponding to communication nodes, and a CAN bus 31.
Specifically, the main control unit 11 includes a single chip microcomputer 111, a CAN transceiver 112, a first functional chip 113, and a first transformer 114. The first transformer 114 serves as an isolation during communication. Each slave control unit (for example, the slave control unit 21) corresponding to the communication node includes a second functional chip 211 and a second transformer 212, and reserves the positions of the welding CAN transceiver and the single chip microcomputer. Wherein the first functional chip 113 and the second functional chip 211 each support a daisy chain topology.
The main control unit 11 sends an acquisition instruction (for example, an instruction for acquiring voltage data of the battery pack) to the first functional chip through the single chip microcomputer 111. The acquisition instructions are transmitted in the form of signals downwards from the first communication node (corresponding slave unit 21) via the daisy chain topology.
Different from the prior art, the communication mode between the master control unit and each slave control unit is suitable for switching between adopting a daisy chain topology structure to communicate or adopting a CAN bus to communicate according to requirements. In each slave control unit, the CAN bus interface and the daisy chain communication interface (the interfaces of each node of the daisy chain topology structure) are multiplexed with the same connector, and the CAN bus interface and the daisy chain communication interface are switched by a channel selection switch.
In a preferred embodiment, it is possible to determine how to switch between different communication modes based on the signal attenuation of each communication node.
Specifically, if the signal attenuation of the communication node is within the range of the signal transmission accuracy requirement, the master control unit 11 and the slave control unit corresponding to the communication node communicate by adopting a daisy chain topology structure; if the signal attenuation of the communication node exceeds the signal transmission accuracy requirement range, the master control unit 11 and the slave control unit corresponding to the communication node communicate by adopting a CAN bus.
A channel selection switch is arranged between the second transformer of each slave control unit and a connector, and the communication mode between the master control unit and the slave control unit CAN be flexibly switched by controlling the on/off of the channel selection switch, wherein the connector is a connector for multiplexing an interface of a daisy chain topology structure and an interface of a CAN bus.
Specifically, if the master control unit 11 and the slave control unit adopt a daisy chain topology structure to communicate, the channel selection switch in the slave control unit is closed, and two interfaces of the connector are daisy chain communication interfaces, so that signals are guaranteed to flow in from the last communication node, and flow out to the next communication node after being processed by the connector.
If the master control unit 11 and the slave control unit communicate by adopting the CAN bus 31, a channel selection switch in the slave control unit is disconnected, and a CAN transceiver and a singlechip are welded at a position where the CAN transceiver and the singlechip are reserved in the slave control unit. Under the condition, the slave control unit collects signals through the singlechip, the connector originally inputs two interfaces of the daisy chain signal, and the two interfaces of the connector output CANH and CANL signals at the moment due to the switching of the channel selection switch, and collected data values are transmitted to the main control unit 11 through the CAN bus.
In practical applications, it is not limited to determining how to switch between different communication modes according to the signal attenuation condition of each communication node. The user CAN flexibly switch the communication structure of the daisy chain topology structure or the CAN bus communication according to different requirements.
In the communication structure shown in fig. 2, the daisy chain topology of N communication nodes and the CAN bus structure of the rest of the communication nodes, the attenuation of signals in the N communication nodes are all within the accuracy requirement range. The value of N often will be different in different situations, because the influence of different functional chips on signal processing is different, the daisy chain communication lines with different lengths, materials and structures have different influence on signal attenuation, and the accuracy requirements of different functional chips are different, so that the different functional chips have larger influence on the communication requirements.
In other embodiments, if the signal attenuation of the first communication node exceeds the signal transmission accuracy requirement range, the master control unit and the slave control unit corresponding to the communication node communicate by using a CAN bus; the communication mode between the slave control unit and the master control unit corresponding to each subsequent communication node of the communication node CAN also be switched between adopting a daisy chain topology structure for communication or adopting a CAN bus for communication according to the requirements.
Because the daisy chain topology structure has low cost, for each subsequent communication node of the communication node with the signal attenuation exceeding the signal transmission accuracy requirement range for the first time, if the signal attenuation of the next communication node of the communication node is within the signal transmission accuracy requirement range compared with the signal attenuation of the communication node, the slave control unit corresponding to the communication node and the slave control unit corresponding to the next communication node of the communication node adopt the daisy chain topology structure for communication. That is, subsequent communication nodes may also be grouped again into a 2 nd daisy chain topology.
However, if the signal attenuation of the next communication node (the communication node with the signal attenuation exceeding the signal transmission accuracy requirement range appears for the first time) of the communication node exceeds the signal transmission accuracy requirement range compared with the signal attenuation of the communication node, the slave control unit and the master control unit corresponding to the next communication node of the communication node adopt a CAN bus for communication.
Shown in fig. 3 is a schematic diagram of another embodiment of a communication structure according to an embodiment of the present invention. The difference between the communication structure shown in fig. 3 and fig. 2 is that the slave units 2n+1 and 2n+2 communicate through a daisy chain topology, that is, the slave units 2n+1 and 2n+2 form a 2 nd daisy chain topology, and the communication between the two slave units and the master unit 11 is completed by the slave unit (i.e., the slave unit 2n+1) having a single chip microcomputer and a CAN transceiver, and the slave unit 2n+1 transmits all sampling data to the master unit 11 through a CAN bus communication manner, so that the communication structure is changed into a structure of a daisy chain topology and a CAN bus communication interleaving, thereby further reducing the cost of the communication system. The communication structure shown in fig. 3 is only a specific example, and in practical applications, the subsequent slave units may also form one or more daisy chain topologies.
Therefore, the whole communication structure is formed by changing the original 1 daisy chain topology structure and the communication nodes corresponding to the slave control units with the single chip microcomputer into 2 daisy chain topology structures and the communication nodes corresponding to the slave control units with the single chip microcomputer. According to the method, the communication nodes corresponding to the residual slave control units with the single chip microcomputer CAN be continuously split into more daisy chain topological structures, so that the communication structure is changed into a structure with a daisy chain topological structure and a CAN bus communication staggered structure, and the cost of the system is further reduced.
The embodiments of the present invention shown in fig. 2 and 3 described above may be applied to a battery management system to reduce the communication signal attenuation phenomenon generated by using a daisy chain topology, aiming at the problems of the conventional battery management system in the background art. Thus, in the above embodiments, the master unit is a battery management unit (BMU, battery Management Unit) and the slave unit is a cell management unit (CMU, cell Management Unit). In practical applications, the communication structure provided in the embodiment of the present invention may also be applied to other communication systems, which will not be described herein.
Based on the above communication structure, the embodiment of the invention also provides a communication method, which comprises the following steps: and determining the communication mode between the master control unit and each slave control unit to switch between adopting a daisy chain topology structure for communication or a CAN bus for communication according to the requirements.
In a preferred embodiment, the steps are as follows: determining, according to the requirement, that the communication mode between the master control unit and each slave control unit is switched between communication adopting a daisy chain topology structure or communication adopting a CAN bus includes:
step S1: determining whether the signal attenuation of the communication node is within the signal transmission accuracy requirement range;
step S2: if yes, the master control unit and the slave control unit corresponding to the communication node communicate by adopting a daisy chain topology structure; if not, the master control unit and the slave control unit corresponding to the communication node adopt a CAN bus for communication.
Further, if the signal attenuation of the communication node exceeds the signal transmission accuracy requirement range, the communication mode between the slave control unit corresponding to each subsequent communication node of the communication node and the master control unit is suitable for switching between communication adopting a daisy chain topology structure or communication adopting a CAN bus according to requirements when the master control unit and the slave control unit corresponding to the communication node adopt the CAN bus for communication.
In a preferred embodiment, if the signal attenuation of the communication node is first occurrence and exceeds the signal transmission accuracy requirement range, and the signal attenuation of the next communication node of the communication node is within the signal transmission accuracy requirement range compared with the signal attenuation of the communication node, the slave control unit corresponding to the communication node and the slave control unit corresponding to the next communication node of the communication node communicate in a daisy chain topology. The slave control unit corresponding to the next communication node of the communication node is communicated with the master control unit by the slave control unit corresponding to the communication node with signal attenuation for the first time through the CAN bus.
The specific implementation process of the communication method may refer to the embodiment of the above communication structure, which is not described herein.
In summary, by adopting the technical scheme, the main control unit of the communication structure comprises a singlechip, a CAN transceiver and a functional chip supporting a daisy chain topology structure; and the slave control unit corresponding to each communication node comprises a functional chip supporting a daisy chain topology structure, and the positions of the welding CAN transceiver and the singlechip are reserved. Therefore, two communication modes of CAN bus communication or daisy chain topology structure communication between the master control unit and the slave control unit CAN be realized by using one set of circuit board, two different circuit boards are not required to be additionally designed, and therefore hardware cost is saved.
The main control unit and the slave control units are respectively provided with a transformer (playing an isolating role in communication), a channel selection switch is further arranged between the transformer and the connector in each slave control unit, and signal transmission is realized between the main control unit and the slave control units by controlling state switching (opening or closing) of the channel selection switch, so that switching between CAN bus communication or daisy chain topology communication is flexible. Further, the CAN bus interface and the daisy chain communication interface (the interfaces of each node of the daisy chain topology structure) are multiplexing connectors, and the CAN bus interface and the daisy chain communication interface are switched by a channel selection switch.
The above embodiment adopts a daisy chain topology structure with 1 and the rest of communication nodes adopting a CAN bus communication mode to realize the communication between the master control unit and the slave control unit. However, because the daisy chain topology structure has low cost, the 2 nd daisy chain topology structure CAN be formed by the rest communication nodes again, and the communication of all the communication nodes in the daisy chain topology structure is completed by the slave control unit with the singlechip and the CAN transceiver (namely, the slave control unit corresponding to the communication node with signal attenuation for the first time), and all the sampling data are sent to the master control unit in a CAN bus communication mode, so that the communication structure is changed into a structure with staggered communication of the daisy chain topology structure and the CAN bus, and the cost of the communication system is further reduced.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (13)
1. A communication structure, comprising: the device comprises a main control unit, a plurality of slave control units respectively corresponding to the communication nodes and a CAN bus; wherein,
the main control unit comprises: the system comprises a singlechip, a CAN transceiver and a first functional chip;
the slave control unit includes: the second functional chip is reserved and welded with the CAN transceiver and the singlechip; wherein the first functional chip and the second functional chip both support a daisy chain topology;
the main control unit is a battery management unit, and the slave control unit is a monomer management unit;
the communication mode between the master control unit and each slave control unit is suitable for switching between adopting a daisy chain topology structure for communication or adopting a CAN bus for communication according to requirements;
said adapting to switch between communication using a daisy chain topology or CAN bus communication according to demand comprises:
the communication mode between the master control unit and each slave control unit is determined by whether the signal attenuation of each communication node is within the range of the signal transmission accuracy requirement;
if the signal attenuation of the communication node is within the signal transmission accuracy requirement range, the master control unit and the slave control unit corresponding to the communication node communicate by adopting a daisy chain topology structure; and if the signal attenuation of the communication node exceeds the signal transmission accuracy requirement range, the master control unit and the slave control unit corresponding to the communication node communicate by adopting a CAN bus.
2. The communication structure of claim 1, wherein the master control unit further comprises a first transformer, each slave control unit further comprises a second transformer and a connector; a channel selection switch is arranged between the second transformer of each slave control unit and the connector; the connector is used for multiplexing an interface of the daisy chain topology structure and an interface of the CAN bus;
if the main control unit and the slave control unit adopt a daisy chain topology structure for communication, a channel selection switch in the slave control unit is closed,
if the main control unit and the slave control unit communicate by adopting a CAN bus, a channel selection switch in the slave control unit is disconnected, and a CAN transceiver and a singlechip are welded at the position where the CAN transceiver and the singlechip are reserved in the slave control unit.
3. The communication structure according to claim 1, wherein if the signal attenuation of the communication node exceeds the signal transmission accuracy requirement range, the master control unit and the slave control unit corresponding to the communication node communicate by using a CAN bus; if the signal attenuation of the communication node is beyond the signal transmission accuracy requirement range for the first time, and the signal attenuation of the next communication node of the communication node is within the signal transmission accuracy requirement range compared with the signal attenuation of the communication node, the slave control unit corresponding to the communication node and the slave control unit corresponding to the next communication node of the communication node adopt a daisy chain topology structure for communication.
4. A communication structure as claimed in claim 3, characterized in that the slave unit corresponding to the next communication node of the communication node communicates with the master unit by means of a CAN bus with the slave unit corresponding to the communication node in which signal attenuation occurs for the first time.
5. A communication structure according to claim 3, wherein the slave unit and the master unit corresponding to the next communication node of the communication node communicate with each other by using the CAN bus if the signal attenuation of the next communication node of the communication node exceeds the signal transmission accuracy requirement range.
6. The communication structure according to claim 1, wherein if the signal attenuation of the communication node exceeds the signal transmission accuracy requirement range, the master control unit and the slave control unit corresponding to the communication node communicate by using a CAN bus; the communication mode between the slave control unit and the master control unit corresponding to each subsequent communication node of the communication node is suitable for switching between adopting a daisy chain topology structure for communication or adopting a CAN bus for communication according to requirements.
7. A communication system, characterized in that it comprises a communication structure according to any of claims 1 to 6.
8. The communication system of claim 7, wherein the communication system is a battery management system.
9. A communication method, characterized in that it is based on a communication structure according to any of claims 1 to 6, said communication method comprising the steps of:
and determining the communication mode between the master control unit and each slave control unit to switch between adopting a daisy chain topology structure for communication or a CAN bus for communication according to the requirements.
10. The communication method as claimed in claim 9, wherein determining, according to the requirement, that the communication mode between the master control unit and each slave control unit is switched between communication using a daisy chain topology or CAN bus comprises:
determining whether the signal attenuation of the communication node is within the signal transmission accuracy requirement range;
if yes, the master control unit and the slave control unit corresponding to the communication node communicate by adopting a daisy chain topology structure; if not, the master control unit and the slave control unit corresponding to the communication node adopt a CAN bus for communication.
11. The communication method according to claim 10, wherein if the signal attenuation of the communication node is beyond the signal transmission accuracy requirement, the master control unit and the slave control unit corresponding to the communication node communicate using a CAN bus,
if the signal attenuation of the communication node is beyond the signal transmission accuracy requirement range for the first time, and the signal attenuation of the next communication node of the communication node is within the signal transmission accuracy requirement range compared with the signal attenuation of the communication node, the slave control unit corresponding to the communication node and the slave control unit corresponding to the next communication node of the communication node adopt a daisy chain topology structure for communication.
12. The communication method according to claim 11, wherein a slave unit corresponding to a next communication node of the communication node and the master unit are communicated by a slave unit corresponding to the communication node where signal attenuation occurs for the first time using a CAN bus.
13. The communication method according to claim 10, wherein if the signal attenuation of the communication node exceeds the signal transmission accuracy requirement range, the communication mode between the slave control unit corresponding to each subsequent communication node of the communication node and the master control unit is adapted to switch between communication using a daisy chain topology or communication using a CAN bus according to the requirement in the case that the slave control unit corresponding to the communication node uses the CAN bus for communication.
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