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WO2018121349A1 - Procédé de commande de bus can et système de communication utilisant un bus can - Google Patents

Procédé de commande de bus can et système de communication utilisant un bus can Download PDF

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Publication number
WO2018121349A1
WO2018121349A1 PCT/CN2017/117204 CN2017117204W WO2018121349A1 WO 2018121349 A1 WO2018121349 A1 WO 2018121349A1 CN 2017117204 W CN2017117204 W CN 2017117204W WO 2018121349 A1 WO2018121349 A1 WO 2018121349A1
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WO
WIPO (PCT)
Prior art keywords
bus
message
nodes
control method
unified
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Application number
PCT/CN2017/117204
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English (en)
Chinese (zh)
Inventor
吕玉华
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蔚来汽车有限公司
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Filing date
Publication date
Application filed by 蔚来汽车有限公司 filed Critical 蔚来汽车有限公司
Publication of WO2018121349A1 publication Critical patent/WO2018121349A1/fr

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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
    • H04L12/40143—Bus networks involving priority mechanisms
    • 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

Definitions

  • the present invention generally relates to the field of controller area network CAN bus communication technology, and in particular, to a CAN bus communication method and a communication system using the CAN bus.
  • CAN Controller Area Network
  • the CAN bus is a digital signal communication protocol designed by Bosch in Germany to solve complex technical problems in automotive monitoring systems. It is a bus serial communication network.
  • the CAN bus is a car LAN that is extremely suitable for automotive environments, and it has the advantages of reliability, real-time and flexibility in data transmission.
  • the degree of electronic electronics is getting higher and higher, the amount of communication data is getting larger and larger, and the load carrying capacity of the CAN bus is also getting higher and higher.
  • the CAN bus communication quality may not be ideal under high load ratio conditions, such as signal delay or even frame loss.
  • the present invention provides a CAN bus control method, which includes: setting all nodes connected to a CAN bus to adopt a unified clock; and making all nodes follow a unified plan after all nodes are powered on and initialized. A message is sent on the CAN bus.
  • the unified planning comprises: setting a different packet start time delay length for each node.
  • the unified planning further comprises: setting, for each node, a different start transmission delay length according to a type of the message.
  • the unified planning further comprises: setting a minimum transmission time interval for the event message.
  • the unified planning further comprises: dynamically changing a transmission time period of the message according to the importance degree of the message.
  • the message comprises an event message and a periodic message.
  • the present invention also provides a communication system employing a CAN bus, comprising: a CAN bus; and a plurality of nodes connected to the CAN bus, wherein each of the plurality of nodes is set to A unified clock is employed, and each of the plurality of nodes transmits a message on the CAN bus in accordance with a unified plan after all of the plurality of nodes are powered up and initialization is completed.
  • FIG. 1 is a flow chart of a CAN bus control method in accordance with one example of the present invention.
  • FIG. 2 is a schematic diagram of a CAN bus message transmission situation according to an example of the present invention.
  • 3a-3b are diagrams showing the transmission of a CAN bus message in accordance with another example of the present invention.
  • FIG. 4 is a communication system employing a CAN bus in accordance with one example of the present invention.
  • the CAN bus control method will be described in the vehicle as an example, and more specifically, the vehicle is an electric vehicle.
  • node refers to a component, component, part, device, or system in a vehicle that uses the CAN bus to transmit message data.
  • FIG. 1 is a flow chart of a CAN bus control method in accordance with one example of the present invention. As shown in FIG. 1, first all the nodes connected to the CAN bus are set to adopt a unified clock in step 11; and in step 13, after all nodes are powered on and initialized, all nodes are uniformly planned on the CAN bus. Send a message.
  • a unified plan as described above may be pre-set for each node, and the set clock and the planned message transmission scheme may be pre-loaded to each node to power on all nodes connected to the CAN bus.
  • the CAN message can then be sent according to the above unified plan.
  • each message has a certain priority according to its ID (in conventional applications, the smaller the ID value is, the higher the priority), but because each node follows
  • ID in conventional applications, the smaller the ID value is, the higher the priority
  • the respective timings are transmitted on the CAN bus, and many messages with high priority still have to wait for idle on the bus to be successfully transmitted. In this way, most high-priority messages are delayed for a long time to be sent.
  • the unified plan includes setting a different packet start delay length for each node. Since all nodes on the same CAN bus use the same clock, this makes it possible for each node to start transmitting messages at the specified time. By enabling each node on the CAN bus to start message transmission with different delay times after all power-on, it avoids the situation that multiple messages are simultaneously transmitted at the same time, thereby greatly alleviating packet congestion on the bus.
  • the length of time the message is sent is set according to the priority of the message.
  • a plurality of high-priority messages may also be transmitted in a pre-planned time sequence.
  • different priorities of the messages are staggered from each other in advance planning to avoid A burst condition existing when an existing CAN bus message is transmitted.
  • the message containing the brake information during the running of the vehicle and the message containing the throttle information have high priority. According to the conventional CAN bus transmission mode, they may require simultaneous transmission, thereby causing a conflict situation. In the case that the subsequent transmission of the message through the CAN bus, the two messages will always conflict.
  • it is pre-planned at which time point the message containing the brake information is sent, and at what time point the message containing the throttle information is sent. Specifically, the message including the brake information is scheduled to be transmitted at time t0. And the message containing the throttle signal is transmitted at time t0 + ⁇ 1, thereby avoiding the conflict between the two.
  • the pre-planned t0 and t0+ ⁇ 1 refer to the time when the two messages are sent for the first time after the CAN bus is powered on. Because each message has a certain transmission period, conflicts can be avoided in subsequent transmissions.
  • different start transmission delay lengths can be further set according to the type of the message. For example, an event message (eg, a message including brake information, collision information, and the like that is not always occurring) may be determined to have a higher priority than a periodic message (eg, a message including a round speed). Therefore, the length of the start transmission delay of the event message is set smaller than the periodic message. That is to say, each node starts to send a delay time for different messages for different first-to-be-sent messages after power-on. Thereby, it is possible to avoid a delay set in advance so that a message having a high priority itself is unreasonably delayed to be transmitted.
  • an event message eg, a message including brake information, collision information, and the like that is not always occurring
  • a periodic message eg, a message including a round speed
  • a periodic message when the time is planned for it, its transmission period may be T1, and for an event message, its transmission period may be smaller than T1.
  • FIG. 2 is a schematic diagram of CAN bus message transmission in such cases.
  • the nodes transmitting these messages can be configured to transmit these messages in a shorter period of time T2.
  • the message including the brake information mentioned above has an extremely high priority during the running of the vehicle, but when the vehicle is in a state of charging or the like, the message has a low priority, correspondingly The transmission cycle for it will be adjusted longer.
  • variable period transmission of the message can also be pre-configured or planned in the node, that is, each node can adjust the message transmission based on the pre-configuration or planning of the packet transmission plan in the node based on the form state, mode, and the like of the vehicle.
  • the cycle and so on can be sorted according to the functions implemented by the message on the CAN bus, and the transmission period of the message is determined accordingly. This can for example be stored on the node in the form of a list.
  • Each node can adjust the corresponding transmission period according to the importance of the message on the bus. This can significantly reduce the load rate, thereby further improving the communication quality.
  • FIG. 3a is a message sequence in which the event message does not set a minimum time interval from the previous message.
  • T2 when the event message is continuously transmitted at a very short time interval T2, the periodic message originally transmitted in the time period T2 cannot maintain the previous transmission timing due to the continuous transmission of the event report.
  • the interval between the two messages is extended to T3, causing a delay in the cycle and the communication quality is lowered.
  • Figure 3b is a message sequence after setting a minimum transmission time interval for an event message, wherein the event message is set to be transmitted at least at time interval T2 between each message, thereby ensuring a period of T1
  • the periodic message is not delayed in the period during which the event message is sent, thereby improving the communication quality.
  • the CAN bus communication system can be used in a typical network topology. In such a network topology, multiple CAN buses can be included, and communication between different CANs is reproduced through the gateway.
  • On each CAN each of a plurality of nodes (A, B, C, ...) connected to the CAN bus can be set to use a unified clock, and each of the nodes is on the CAN bus. After all nodes are powered on and initialized, the packets are sent on the same CAN bus according to the unified plan. All of the other settings described above also apply to the example shown in FIG.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Small-Scale Networks (AREA)

Abstract

La présente invention concerne un procédé de commande de bus CAN, comprenant: configurer tous les nœuds connectés à un bus CAN pour utiliser une horloge unifiée; et amener tous les nœuds à envoyer des paquets sur le bus CAN selon un plan unifié après que tous les nœuds ont été mis sous tension et initialisés. De plus, la présente invention concerne également un système de communication utilisant un bus CAN, comprenant: un bus CAN; et une pluralité de nœuds connectés au bus CAN, chaque nœud de la pluralité de nœuds étant configuré pour utiliser une horloge unifiée, et chaque nœud de la pluralité de nœuds envoyant un paquet sur le bus CAN selon un plan unifié après que tous les nœuds de la pluralité de nœuds ont été mis sous tension et initialisés.
PCT/CN2017/117204 2016-12-30 2017-12-19 Procédé de commande de bus can et système de communication utilisant un bus can WO2018121349A1 (fr)

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CN201611257639.3 2016-12-30
CN201611257639.3A CN106921546A (zh) 2016-12-30 2016-12-30 Can总线控制方法及采用can总线的通信系统

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Cited By (6)

* Cited by examiner, † Cited by third party
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CN112532495A (zh) * 2020-11-16 2021-03-19 中国汽车技术研究中心有限公司 一种车载can总线延时优化方法
CN113702850A (zh) * 2021-08-27 2021-11-26 深圳市新威尔电子有限公司 基于工步流程发送can报文的电池检测方法
CN113740748A (zh) * 2021-09-03 2021-12-03 深圳市新威尔电子有限公司 基于can总线发送报文的电池检测方法
CN114760227A (zh) * 2021-03-16 2022-07-15 广州汽车集团股份有限公司 报文发送延时测试方法、测试上位机和存储介质
CN115664887A (zh) * 2022-10-20 2023-01-31 东风汽车股份有限公司 一种整车can总线负载率计算方法
CN119109831A (zh) * 2024-08-13 2024-12-10 阿维塔科技(重庆)有限公司 一种网络设计评估方法、装置及电子设备

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CN106921546A (zh) * 2016-12-30 2017-07-04 蔚来汽车有限公司 Can总线控制方法及采用can总线的通信系统
CN111327499A (zh) * 2018-12-14 2020-06-23 北京宝沃汽车有限公司 发送报文的方法、装置和汽车
CN112367634B (zh) * 2020-11-10 2022-12-13 上海汽车集团股份有限公司 报文发送方法及装置

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CN104283751B (zh) * 2014-10-28 2018-05-08 北京汽车研究总院有限公司 一种can总线上周期性发送的消息的处理方法及装置

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CN101719876A (zh) * 2009-12-18 2010-06-02 中控科技集团有限公司 网络通信调度方法及系统
CN103124233A (zh) * 2011-11-18 2013-05-29 北京旋极信息技术股份有限公司 一种信号中继系统及其实现方法
CN104434095A (zh) * 2014-09-19 2015-03-25 天津大学 基于can总线的生物电阻抗成像系统硬件电路系统
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112532495A (zh) * 2020-11-16 2021-03-19 中国汽车技术研究中心有限公司 一种车载can总线延时优化方法
CN114760227A (zh) * 2021-03-16 2022-07-15 广州汽车集团股份有限公司 报文发送延时测试方法、测试上位机和存储介质
CN114760227B (zh) * 2021-03-16 2023-02-28 广州汽车集团股份有限公司 报文发送延时测试方法、测试上位机和存储介质
CN113702850A (zh) * 2021-08-27 2021-11-26 深圳市新威尔电子有限公司 基于工步流程发送can报文的电池检测方法
CN113702850B (zh) * 2021-08-27 2024-04-16 深圳市新威尔电子有限公司 基于工步流程发送can报文的电池检测方法
CN113740748A (zh) * 2021-09-03 2021-12-03 深圳市新威尔电子有限公司 基于can总线发送报文的电池检测方法
CN113740748B (zh) * 2021-09-03 2024-04-26 深圳市新威尔电子有限公司 基于can总线发送报文的电池检测方法
CN115664887A (zh) * 2022-10-20 2023-01-31 东风汽车股份有限公司 一种整车can总线负载率计算方法
CN119109831A (zh) * 2024-08-13 2024-12-10 阿维塔科技(重庆)有限公司 一种网络设计评估方法、装置及电子设备

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