CN101456392B

CN101456392B - Automobile complete vehicle electronic appliance CANBUS network control system

Info

Publication number: CN101456392B
Application number: CN2008102340089A
Authority: CN
Inventors: 李文娟
Original assignee: SAIC Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2008-10-31
Filing date: 2008-10-31
Publication date: 2011-07-13
Anticipated expiration: 2028-10-31
Also published as: CN101456392A

Abstract

The invention provides a novel CANBUS network control system for an integrated automotive electronic device, and relates to an integrated automotive network topology structure, a network management policy, network management and ID allocation. The system comprises a high-speed CAN bus and a plurality of CAN nodes electric control unit connected with the CAN bus, and is characterized in that the insides of the CAN node electric control units at utmost two ends of the high-speed CAN bus are connected with two serially-connected terminal resistors respectively; the system controls the initialized time and temporary time leaving the bus of each CAN node control unit; nodes are divided into main nodes, +30 nodes and +15 nodes; when +15 wires are not electrified, CANs of all +15 nodes do not work; when the +15 wires are electrified, all the +15 nodes are waken up; and under the condition that the +30 wires are electrified and the +15 wires are not electrified, the main nodes can wake up a CAN bus of +30 nodes. In the invention, an automotive network topology graph has strong expandability and flexibility, so as to meet the diversity of the same series automobile type configuration; and a network managing mode ensures the reduced integrated automobile static current and the real-time and order of the integrated automotive network. The ID allocation mode makes the utilization rate of the network maximized, and guarantees the high efficiency and the real-time of transmission information, and reduces the network load factor.

Description

Automobile complete vehicle electronic appliance CANBUS network control system

Technical field

The present invention relates to the Vehicle Electronic Control field.

Background technology

In recent years, along with day by day strict emission control standards, safety rate and user pursue automotive safety, comfortable, luxurious, make the increasing of ECU control unit, and ECU increase reliability that the increasing of wire harness, ECU function realize or the like a lot of problems of will inevitably bringing, in order to solve this a series of extremely urgent problems, in 1980's end, Germany BOSCH company proposes mono-network-bus of design, all peripheral components can be articulated on this bus, so the CAN bus just has been born.The CAN bus was formulated the international standard into ISO in 1993, and this also is a unique so far bus that has the ISO international standard.The CAN bus is favored by numerous automakers and customer rapidly with relative cheap cost with its very high data security, and undoubtedly, the CAN bus is doomed to continue and is used by numerous automakers in a very long time.

CAN bus characteristics and application advantage: low cost; Many main serial data communication protocol bus; ID according to message determines to receive or shield this message, realizes various communications flexibly; High total line use ratio; Message does not comprise source address or destination address, only comes deixis information, precedence information with identifier; Traffic rate can reach 1Mbps; The free of losses bus arbitration; Failure-free fault handling and error-detection mechanism, (suppose that a vehicle of having equipped CAN moves 2000 hours every year, Bus Speed is 500kbps to the reliability height, 25% bus load.In this case, just had in per 1000 an error detection less than); Node withdraws from bus automatically in wrong serious situation.

Each big automaker of the whole world has adopted the part parts in CAN bus or the car to have CAN bus communication function at the automobile (manned vehicle and commercial vehicle/comm..vehicle) of the later stage nineties in last century research and development at present.With the CAN bus is that the automobile-used bussing technique of representative has become each big automaker of the whole world and implements one of important measures of platform strategy and modularization strategy.At this moment, bus for the meaning of global auto-industry considerably beyond saving wire harness and being connected plug-in unit.Bus has become the neural network of modern automobile transmission car load control information.

CAN BUS becomes the integrated gordian technique of automobile electronic system, between with the CAN bus being the importance of the automobile-used bussing technique of representative in modern automobile industry, not only each big automaker of the whole world has set up corresponding bus research and development department at present, and has formulated corresponding bus industry standards.As: General Motors Coporation is the CAN bus standard GMLAN that the said firm has been formulated on the basis with the CAN bus, and bus research and development department just begins to get involved at the beginning of the new car design.The country of some advanced technology has also set up automobile bus standardization body and has released bus standard.Formulated commercial vehicle/comm..vehicle bus standard J1939 as SAE (SAE) based on the CAN bus.Relevant government department of part country and colleges and universities are also carrying out the bus basic research.C﹠amp as forms top self-propelled vehicle safety management office of the United States Federal, German applicating technology university; S laboratory etc.Other has some specialized companies also being absorbed in the research and development of total the Line tool, as the famous automobile bus instrument in whole world provider Germany VECTOR company.In addition, also have some parts merchants relevant just to research and develop parts with bus communication function according to the standards and norms of main engine plants with bus.

The CAN bus same industry at home belongs to the starting stage substantially, if untimely paces of catching up with world CANBUS development, will limit the development of Chinese automobile electronics to a great extent, also there are some vehicles also to use CAN BUS bussing technique to some extent in the automobile of producing at home at present, as: Ford Carnival, Passat B5, BORA, POLO, FIAT PALIO and SIENA etc., but the high-grade electronic product of other of CAN BUS and these vehicles is the same, all is directly to introduce the maturation design of coming from its external parent organization.Up to the present the CAN BUS system that goes back the neither one vehicle in China is by the domestic own development and Design of company.

Summary of the invention

The invention provides a kind of later-model automobile complete vehicle electronic appliance CANBUS network control system,

Relating to car load network topology structure, network management strategy and network management and ID distributes.

Described system comprise high-speed CAN bus and with a plurality of high-speed CAN node of CAN bus bonded assembly ECU (Electrical Control Unit), it is characterized in that:

Respectively be connected to two series connected terminal resistances in the CAN node ECU (Electrical Control Unit) at the two ends of high-speed CAN bus; System controls the initialization time and the bus time away from keyboard of each CAN node ECU (Electrical Control Unit); Node be divided into major joint ,+30 nodes and+15 nodes, the CAN of all+15 nodes does not work when+15 lines power on, after+15 lines powered on, all+15 nodes were waken up; + 30 lines have electricity ,+situation that 15 lines do not power under, major joint can wake up+30 node CAN buses.

Preferably, described a plurality of high-speed CAN node comprises that engine controller (EMS), gearbox control (TCU), safety air sac controller (ABM), anti-skid brake system (ABS), tire pressure detect controller (TPMS), combination instrument controller (ICM), Body Control Module (FBCM), and they are connected on the high-speed CAN bus separately.

Preferably, described major joint is Body Control Module (FBCM), and+30 nodes are combination instrument controller (ICM).

Preferably, described resistance is 60 ohm, is placed in engine controller (EMS) and the combination instrument controller (ICM).

Preferably, described when Body Control Module (FBCM) receives that incoming signal need wake combination instrument controller (ICM) up, the respective pin that Body Control Module (FBCM) will link to each other with instrument (CAN WakeUp) is arranged to low level.

Preferably, described incoming signal comprises that the car lampet leaves signal, dangerous flash signal, and the modulating signal of overtaking other vehicles, left front door, right front door, the door that breaks away, preceding hatchcover, boot do not close signal.

Preferably, when+30 lines have electricity, if there is no any signal demand notice instrument, after 3 minutes, the respective pin that Body Control Module (FBCM) will link to each other with instrument (CAN Wake Up) is arranged to high level, the instrument sleep.

Preferably, when+30 lines have electricity, if enabling signal is arranged all the time, Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument is low, after the change without any signal in 15 minutes, Body Control Module (FBCM) can stop to send the CAN data and put respective pin (CAN Wake Up) for high.

Preferably, when+30 lines have electricity, if little modulating signal, danger signal are arranged all the time, Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument is low, after the change without any signal in 15 minutes, Body Control Module (FBCM) can not stop to send the CAN data and put respective pin (CAN Wake Up) for low.

Preferably, when+30 lines have electricity, if overtake other vehicles signal all the time, Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument is low, after the change of 3 seconds without any signal, Body Control Module (FBCM) can stop to send the CAN data and put respective pin (CAN Wake Up) for high.

Preferably, according to factors such as the function of each message on the CAN bus, the real-time of transmitting information, offered loads, message priority is distributed

A kind of automobile complete vehicle electronic appliance CANBUS network control method, the control high-speed CAN bus and with a plurality of high-speed CAN node of CAN bus bonded assembly ECU (Electrical Control Unit), it is characterized in that comprising following steps: the step that in the CAN node ECU (Electrical Control Unit) at the two ends of high-speed CAN bus, respectively is connected to two series connected terminal resistances; System stipulates the initialization time of each CAN node ECU (Electrical Control Unit) and the step of bus time away from keyboard; Node be divided into major joint ,+30 nodes and+15 nodes, the CAN of all+15 nodes does not work when+15 lines power on, after+15 lines powered on, all+15 nodes were waken up; + 30 lines have electricity ,+situation that 15 lines do not power under, major joint can wake up+30 node CAN buses.

The invention has the beneficial effects as follows:

The car load network topological diagram of this patent has very strong expansion and alerting ability, can satisfy the variety of homologous series automobile type configuration, has reduced bus development engineer's work capacity simultaneously, has also avoided the change of each ECU (Electrical Control Unit) hardware.Network managing mode power-up state conversion and bus is closed and power-up initializing time or the like aspect unified management, assurance reduces the car load quiescent current, and the real-time of car load network and order.The ID allocation scheme of this patent makes the degree of utilization maximization of network, has also guaranteed the high efficiency and the real-time of transmission information, has reduced the offered load rate.

Description of drawings

Fig. 1 is an automobile complete vehicle electronic appliance CANBUS network control system network topological diagram of the present invention.

CANBUS: high-speed CAN bus;

EMS: engine controller;

TCU: gearbox control-choosing dress;

ABM: safety air sac controller;

ABS: anti-skid brake system;

TPMS: tire pressure detects controller;

ICM: combination instrument controller;

FBCM: Body Control Module.

The specific embodiment

The invention will be further described below in conjunction with accompanying drawing.

Car load network topology structure (seeing accompanying drawing one)

System comprises that engine controller (EMS), gearbox control (TCU), safety air sac controller (ABM), anti-skid brake system (ABS), tire pressure detect controller (TPMS), combination instrument controller (ICM), Body Control Module (FBCM), and they are connected on the high-speed CAN bus separately.High-speed CAN speed is 500kbit/s, and the terminal matched resistance is placed among EMS and the ICM.

Consider that car load disposes, builds the development tendency of commercial vehicle/comm..vehicle CAN development platform and following CANBUS or the like reason, the application adopts the single-rate network segment-high speed 500kbit/s, and has guaranteed that less than 30% the basic of whole network normally moves according to the emulation monitoring bus load factor before the exploitation.

Can respectively be connected to two series connected terminal resistances of 60 ohm in the ECU (Electrical Control Unit) at the two ends of high-speed CAN bus,, make bus become one " line segment " to prevent the reflection of the online end data of bus, rather than " straight line ".The cost that falls that the later stage car load may occur disposes, can reduce existing ECU (Electrical Control Unit), must when advanced design, guarantee the expansion and the alerting ability of whole network topology, in order to make the change that the later stage may occur easier, guarantee the property continued to use of automatically controlled unit hardware on all buses, therefore terminal resistance must be arranged in the indispensable ECU (Electrical Control Unit) of car load, instrument and EFI are optimal selections.

The car load network topological diagram of this patent has very strong expansion and alerting ability, can satisfy the variety of homologous series automobile type configuration, has reduced bus development engineer's work capacity simultaneously, has also avoided the change of each ECU (Electrical Control Unit) hardware.

Network management strategy

The initialization time of each ECU (Electrical Control Unit) has been controlled in strictness, to guarantee that each node can begin the running of function normally, can not have influence on the transmission of its message, need to receive this message to finish certain control policy on certain automobile to such an extent as to have influence on because the initialization time of certain node is long.

Each ECU (Electrical Control Unit) has been controlled in strictness because the time of wrong serious and away from keyboard bus all can normally be moved to guarantee bus each ECU (Electrical Control Unit) in the most of the time, has guaranteed the correctness of bus.

The application's car load network using single-rate high-speed CAN can adopt pin to wake mode up for single network segment network and realize network management.Waking up herein is meant that at+30 lines electricity is arranged, under the situation that+15 lines do not power on major joint right+CAN of 30 nodes wakes up.When+15 power on after network become many major states, do not exist in the case and wake up.

Being initialised to the time that it can send first frame after node powers on just is referred to as the initialization time of node for this reason.The initialization time of each module is as shown in table 1.

Remarks: TBD (To Be Defined)

Table 1

When the CAN node test to the CAN controller during at Bus Off state, the CAN node can network away from keyboard after a period of time, the CAN controller that resets again recovers normal communication.Each ECU (Electrical Control Unit) Busoff time is as shown in table 2

Table two

Network management strategy is described in detail

1.15 the job description of node

When 15 lines did not power on, the CAN of all 15 nodes did not work, and did not send out message on network; After 15 lines powered on, all 15 nodes were waken up immediately, and this moment, network became many major states.

2. waking up 30 nodes

At first, since have only FBCM and ICM can be operated in+30 lines have, under the situation that+15 lines do not power on, might carry out the CAN communication according to whole vehicle functions FBCM and ICM in this situation, FBCM is as major joint, so waking up herein is meant that at+30 lines electricity is arranged, FBCM wakes up the CAN of ICM under the situation that+15 lines do not power on.When+15 power on after, FBCM and ICM carry out the CAN communication all the time, network becomes many major states, does not exist in the case and wakes up.

3.CAN wake up and the state of CAN WAKE UP signal when sleeping

CAN Wake Up is the PIN pin signal of FBCM, is connected with the corresponding PIN pin of instrument, and when instrument need be waken up or sleep, FBCM was changed to corresponding high-low level to this PIN pin CAN Wake Up.

High level: (IGN-2) V～IGNV;

Low level: 0～1.5V.

1. when FBCM need wake ICM up, CAN WAKE UP signal was a low level.

At+30 o'clock, be (when instrument need show) need communicate by CAN and instrument the time when FBCM receives incoming signal and these signals, FBCM can drag down the level of CAN WAKE UP line, wakes instrument up.Concrete signal has: the car lampet leaves signal, dangerous flash signal, the modulating signal of overtaking other vehicles, door (left front door, right front door, door, preceding hatchcover, boot break away) and does not close signal.

2. and when the part that cooks noodle was set up, it was high level that FBCM can put CAN WAKE UP signal, allow the instrument sleep.At+30 o'clock, there is not any signal demand notice instrument (door recited above is opened and modulating signal), promptly its state is initial condition (no lamp is opened and do not had door and open), after 3 seconds, it is high level that FBCM can put CAN WAKE UP, stops to send the CAN data simultaneously, the instrument sleep.

3. at+30 o'clock, when following actual conditions occurred, it was corresponding level that FBCM can put CAN WAKE UP signal, allows instrument enter corresponding state.

A. when having a signal of opening and incoming signal not to change all the time, FBCM can send the CAN data all the time and keep CAN WAKE UP is low, and after 15 minutes (without any the change of signal), FBCM stops to send the CAN data and puts CAN WAKE UP for high.

B. when all the time the lampet signal being arranged, FBCM can send the CAN data all the time and keep CAN WAKE UP is low, and after 15 minutes (without any the change of signal), FBCM can not stop to send the CAN data and remain CANWAKE UP is low.

C. when overtaking other vehicles modulating signal, FBCM can send the CAN data and keep CAN WAKE UP is low, and after 3 seconds (without any the change of signal), FBCM stops to send the CAN data and puts CAN WAKE UP for high.

D. when dangerous modulating signal all the time, FBCM can send the CAN data all the time and keep CAN WAKE UP is low, and after 15 minutes (without any the change of signal), FBCM can not stop to send the CAN data and remain CAN WAKE UP is low.

Frame ID distributes

The priority that the ID decision message of Frame sends, ID is more little, and priority of messages is high more.Analysis according to factors such as the function of each message of H13, the real-time of transmitting information, offered loads distributes priority of messages, specifically is allocated as follows (according to priority arranging from high to low):

Engine torque management dependent event;

Engine speed, water temperature, cruise, discharge indicating fault, ECU (Electrical Control Unit) indicating fault dependent event;

The brake system dependent event;

The air bag system dependent event;

The Body control module dependent event;

Reverse Sensor module dependent event;

The speed of a motor vehicle, mileage relevant information;

Tire pressure system dependent event;

Engine configurations information;

Diagnostic message;

Version information.

The ID allocation scheme of this patent makes the degree of utilization maximization of network, has also guaranteed the high efficiency and the real-time of transmission information, has reduced the offered load rate.CANBUS communication matrix table as shown in Table 3.

ID

MessageName

Type

Period(mSec.)

Size(byte)

FBCM

ICM

ABM

ABS

EMS

TPMS

TESTER

$391h

FBCM_1

P

20

8

TX

RX

$398h

FBCM_2

P

100

8

TX

RX

$430h

ICM

P

20

8

RX

TX

RX

$31Ch

ABM

PE

500

8

RX

TX

$2E9h

ABS_1

P

10

8

RX

TX

RX

$310h

ABS_2

P

10

8

TX

RX

$FA?h

EMS_1

P

10

8

TX

$270h

EMS_2

P

10

8

RX

TX

$278h

EMS_3

P

10

8

RX

TX

$370h

EMS_4

P

10

8

TX

$378h

EMS_5

P

10

8

TX

$623h

EMS_6

P

1000

8

TX

$51bh

TPMS

P

500

8

RX

TX

$7C0h

FBCM_HW_SW

P

2000

6

TX

_REL

$7C6h

ICM_HW_SW_REL

P

2000

6

TX

$7C9h

ABM_HW_SW_REL

P

2000

6

TX

$7C2h

ABS_HW_SW_REL

P

2000

6

TX

$7C1h

EMS_HW_SW_REL

P

2000

6

TX

$7C8h

TPMS_HW_SW_REL

P

2000

6

TX

$700h

FBCM_DIAG_RESP

E

---

8

TX

RX

$720h

TESTER_DIAG_FBCM

E

---

8

RX

TX

$704h

ICM_DIAG_RESP

E

---

8

TX

RX

$724h

TESTER_DIAG_ICM

E

---

8

RX

TX

$707h

ABM_DIAG_RESP

E

---

8

TX

RX

$727h

TESTER_DIAG_ABM

E

---

8

RX

TX

$702h

ABS_DIAG_RESP

E

---

8

TX

RX

$722h

TESTER_DIAG_ABS

E

---

8

RX

TX

$701h

EMS_DIAG_RESP

E

---

8

TX

RX

$721h

TESTER_DIAG_EMS

E

---

8

RX

TX

$708h

TPMS_DIAG_RESP

E

---

8

TX

RX

$728h

TESTER_DIAG_TPMS

E

---

8

RX

TX

Table three

Table three explanation:

ID: identifier

Message Name: message name

FBCM_HW_SW_REL:FBCM hardware and software version message

TESTER_DIAG_FBCM: diagnostic equipment request message

The FBCM_DIAG_RESP:FBCM response message

Type: type

P: preiodic type

PE: periodic event type

E: event mode

Period (mSec.): cycle (millisecond)

Size (byte): length (byte)

RX: receive

TX: send

In conjunction with the accompanying drawings the present invention has been carried out exemplary description above; obviously specific implementation of the present invention is not subjected to the restriction of aforesaid way; as long as the various improvement of having adopted method design of the present invention and technical scheme to carry out; or directly apply to other occasion without improvement, all within protection scope of the present invention.

Claims

1. automobile complete vehicle electronic appliance CANBUS network control system, comprise high-speed CAN bus and with a plurality of high-speed CAN node of CAN bus bonded assembly ECU (Electrical Control Unit), it is characterized in that: respectively be connected to two series connected terminal resistances in the CAN node ECU (Electrical Control Unit) at the two ends of high-speed CAN bus; System controls the initialization time and the bus time away from keyboard of each CAN node ECU (Electrical Control Unit); Node be divided into major joint ,+30 nodes and+15 nodes, the CAN of all+15 nodes does not work when+15 lines power on, after+15 lines powered on, all+15 nodes were waken up; + 30 lines have electricity ,+situation that 15 lines do not power under, major joint can wake up+30 node CAN buses.

2. automobile complete vehicle electronic appliance CANBUS network control system according to claim 1, it is characterized in that, described a plurality of high-speed CAN node comprises that engine controller (EMS), gearbox control (TCU), safety air sac controller (ABM), anti-skid brake system (ABS), tire pressure detect controller (TPMS), combination instrument controller (ICM), Body Control Module (FBCM), and they are connected on the high-speed CAN bus separately.

3. automobile complete vehicle electronic appliance CANBUS network control system according to claim 1 is characterized in that, described major joint is Body Control Module (FBCM), and+30 nodes are combination instrument controller (ICM).

4. automobile complete vehicle electronic appliance CANBUS network control system according to claim 1 is characterized in that described resistance is 60 ohm, is placed in engine controller (EMS) and the combination instrument controller (ICM).

5. automobile complete vehicle electronic appliance CANBUS network control system according to claim 3, it is characterized in that, when described Body Control Module (FBCM) received that incoming signal need wake combination instrument controller (ICM) up, the respective pin that Body Control Module (FBCM) will link to each other with instrument (CAN Wake Up) was arranged to low level.

6. automobile complete vehicle electronic appliance CANBUS network control system according to claim 5, it is characterized in that described incoming signal comprises that the car lampet leaves signal, dangerous flash signal, the modulating signal of overtaking other vehicles, left front door, right front door, the door that breaks away, preceding hatchcover, boot do not close signal.

7. automobile complete vehicle electronic appliance CANBUS network control system according to claim 3, it is characterized in that, when+30 lines have electricity, if there is no any signal demand notice instrument, after 3 minutes, the respective pin that Body Control Module (FBCM) will link to each other with instrument (CAN Wake Up) is arranged to high level, the instrument sleep.

8. automobile complete vehicle electronic appliance CANBUS network control system according to claim 3, it is characterized in that, when+30 lines have electricity, if enabling signal is arranged all the time, Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument is a low level, after the change without any signal in 15 minutes, Body Control Module (FBCM) can stop to send the CAN data and put respective pin (CAN Wake up) is high level.

9. automobile complete vehicle electronic appliance CANBUS network control system according to claim 3, it is characterized in that, when+30 lines have electricity, if little modulating signal, danger signal are arranged all the time, Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument is a low level, after the change without any signal in 15 minutes, Body Control Module (FBCM) can not stop to send the CAN data and put respective pin (CAN Wake Up) is low level.

10. automobile complete vehicle electronic appliance CANBUS network control system according to claim 3, it is characterized in that, when+30 lines have electricity, if overtake other vehicles signal all the time, Body Control Module (FBCM) can send the CAN data all the time and the respective pin (CAN Wake Up) that keeps linking to each other with instrument is a low level, after the change of 3 seconds without any signal, Body Control Module (FBCM) can stop to send the CAN data and put respective pin (CAN Wake Up) is high level.

11. automobile complete vehicle electronic appliance CANBUS network control system according to claim 1 is characterized in that, according to the function of each message on the CAN bus, real-time, the offered load of transmission information, message priority is distributed.