CN115701034A - Bus control method and related device - Google Patents

Abstract

The embodiment of the application discloses a bus control method and a related device, which are used for improving the communication efficiency of a bus control system. The method in the embodiment of the application comprises the following steps: the first node receives a first message sent by the second node, the first node identifies the bus protocol type of the second node according to the first message, the first node sends a second message to the second node based on the bus protocol type, and the protocol type of the second message is consistent with the bus protocol type of the second node.

Description

A bus control method and related device

technical field

The embodiments of the present application relate to the communication field, and in particular, to a bus control method and a related device.

Background technique

Controller Area Network (CAN) is a serial communication network that supports distributed control and implementation of control. The control area network includes a CAN protocol and a controller area network (controller area network flexible data-rate, CANFD) protocol with a flexible data rate.

Currently, the CAN protocol and the CAN FD protocol are two commonly used field bus protocols for automotive computer control systems. The whole vehicle communicates with the diagnostic equipment outside the vehicle through the vehicle gateway, and provides a CAN bus to the outside of the vehicle. The CAN bus can support CAN and CAN FD two protocols.

Since the bus protocol type of the vehicle will change with the adjustment of the vehicle architecture, and one CAN bus cannot be compatible with the CAN protocol and the CAN FD protocol at the same time, the vehicle gateway can only reconfigure the vehicle gateway bus according to the protocol type of the off-vehicle diagnostic equipment Type, which affects the diagnostic efficiency of the off-board diagnostic equipment for the whole vehicle.

Contents of the invention

Embodiments of the present application provide a bus control method and a related device, which are used to improve communication efficiency of a bus system.

The first aspect of the embodiments of the present application provides a bus control method. The method may be executed by the first node, or may be executed by components of the first node, such as a processor, a chip, or a chip system of the first node. It can be implemented by a logic module or software that can realize all or part of the network device functions, and the first node includes a bus controller including a vehicle gateway. The bus control method provided by the first aspect includes: after the first node receives the first message sent by the second node, the first message can indicate the bus protocol type of the first node, for example, the frame format of the first message and the identification bit can indicate the bus protocol type of the first node, therefore, the first node can identify the bus protocol type of the second node according to the first message, after the first node identifies the bus protocol type of the second bus, the first The node may send the second message to the second node according to the bus protocol type of the second node, where the protocol type of the second message is consistent with the bus protocol type of the second node.

In the embodiment of the present application, the first node automatically recognizes the bus protocol type of the second node according to the message sent by the second node, so that the first node can resend the service message according to the bus protocol type of the second node, thus improving the second node. Communication efficiency between a node and a second node.

Based on the first aspect, in a possible implementation manner, before the first node receives the first message sent by the second node, the first node sends at least one third message to the second node, and the third message is used for Detect the bus protocol type of the second node. Specifically, the first node sends a third message based on the first bus protocol to the second node, and the first node judges whether a response message is received, and if no response message is received , then the first node sends a third message based on the second bus protocol to the second node, and the first message received by the first node may be a response message, that is, when the first message is a response message, the first The message is used to respond to the third message according to the bus protocol type of the third message.

In the embodiment of the present application, the first node sends a detection message to the second node, so that the first node determines the bus protocol type of the second node according to the response message in response to the detection message. When the second node in the network system When changing, the bus protocol type of the second node can be automatically identified without modifying the bus protocol type of the first node, thereby improving the communication efficiency of the network system.

Based on the first aspect, in a possible implementation manner, the bus protocol type includes a CAN protocol or a CAN FD protocol. The first node includes an on-board gateway, and the second node includes an on-board electronic control ECU component or an off-board diagnostic device.

When the embodiment of the present application is applied to a vehicle diagnosis scenario, the vehicle-mounted gateway can automatically identify the bus protocol type supported by the off-vehicle diagnostic instrument according to the message sent by the off-vehicle diagnostic instrument, thereby improving the diagnostic efficiency of the vehicle.

Further, when the embodiment of the present application is applied to a vehicle-mounted network scenario, when the system architecture of the entire vehicle is expanded or modified, the vehicle-mounted gateway can determine the bus protocol type of the peer vehicle-mounted ECU component by sending a detection message, without modifying the vehicle-mounted gateway The bus protocol type directly communicates, thereby improving the communication efficiency of the vehicle.

Based on the first aspect, in a possible implementation manner, during the process of the first node identifying the bus protocol type of the second node according to the first message, the first node identifies the second node according to the FDF flag in the first message type of bus protocol. Specifically, the first node parses the first message through the CAN controller, and the first node identifies the bus protocol type of the first message according to the FDF mark in the parsed message, wherein, if there is an FDF mark in the first message, It indicates that the bus protocol type of the first message is the CAN FD protocol, and if there is no FDF identifier, the bus protocol type of the first message is the CAN protocol.

In the embodiment of the present application, the first node can identify the bus protocol type of the message according to the FDF identifier in the message, thereby improving the feasibility of the solution.

Based on the first aspect, in a possible implementation manner, after the first node identifies the bus protocol type of the second node according to the first packet, the first node records the bus protocol type of the second node. Specifically, the first node stores the bus protocol type of the second node in the memory of the first node, so that the service message sent by the first node to the second node can be sent directly based on the bus protocol type of the second node.

In the embodiment of the present application, the first node can store the bus protocol type of the second node, so that the next service message of the first node can query the bus protocol type of the second node, thereby improving the relationship between the first node and the second node. communication efficiency between them.

Based on the first aspect, in a possible implementation manner, before the first node sends the second message to the second node based on the bus protocol type, the method further includes: the first node queries the bus protocol type of the second node.

The second aspect of the embodiment of the present application provides a bus control method. The method may be executed by the second node, or may be executed by components of the second node, such as a processor, a chip, or a chip system of the second node. It can be implemented by logic modules or software that can realize all or part of the network equipment functions, and the second node includes on-board ECU components and off-vehicle diagnostic equipment. The bus control method provided by the second aspect includes: after the second node sends the first message to the first node, the first message may indicate the bus protocol type of the first node, for example, the frame of the first message The format and the identification bit can indicate the bus protocol type of the first node. Therefore, the first node can identify the bus protocol type of the second node according to the first message. After the first node identifies the bus protocol type of the second node, the first node Then the subsequent second message can be sent to the second node according to the bus protocol of the second node, and the second node receives the second message sent by the first node, and the second message is consistent with the bus protocol type of the second node.

In the embodiment of the present application, the second node sends the first message to the first node so that the first node can identify the bus protocol type of the second node according to the first message, thereby improving the communication efficiency between the first node and the second node .

Based on the second aspect, in a possible implementation manner, before the second node sends the first message to the first node, the second node receives at least one third message sent by the first node, specifically, the second node Receiving the third message based on the first bus protocol sent by the first node, the second node judges whether to recognize the first bus protocol type of the message, if the first bus protocol type of the message cannot be recognized, the second node Do not respond to the message, when the second node receives the third message based on the second bus protocol sent by the first node, if the second node can identify the second bus protocol type of the message, the second node Send a response message to the message to the second node. Therefore, the third message is used to detect the bus protocol type of the second node, and the first message is used to respond to the third message according to the bus protocol type of the third message.

In the embodiment of the present application, the second node responds to the detection message sent by the first node. When the second node in the network system changes, the first node can automatically identify the bus protocol type of the second node according to the response message, without modifying the first node. The bus protocol type of the node, thereby improving the communication efficiency of the network system.

Based on the second aspect, in a possible implementation manner, the bus protocol type includes a CAN protocol or a CAN FD protocol. The first node includes an on-board gateway, and the second node includes an on-board electronic control ECU component or an off-board diagnostic device.

The third aspect of the embodiment of the present application provides a bus control device. The device includes an interface unit and a processing unit, wherein the interface unit is used to receive the first message sent by the second node, and the processing unit is used to identify the first message according to the first message. The bus protocol type of the second node, the interface unit is further configured to send a second message to the second node based on the bus protocol type, and the protocol type of the second message is consistent with the bus protocol type of the second node.

In a possible implementation manner, before receiving the first message sent by the second node, the interface unit is further configured to send at least one third message to the second node, and the third message is used to detect the bus protocol of the second node type, the first packet is used to respond to the third packet according to the bus protocol type of the third packet.

In a possible implementation manner, the bus protocol type includes CAN protocol or CAN FD protocol, the first node includes a vehicle gateway, and the second node includes a vehicle electronic control ECU component or an off-vehicle diagnostic device.

In a possible implementation manner, the processing unit is specifically configured to identify the bus protocol type of the second node according to the FDF flag in the first message.

In a possible implementation manner, after identifying the bus protocol type of the second node according to the first packet, the processing unit is further configured to record the bus protocol type of the second node.

In a possible implementation manner, before sending the second message to the second node based on the bus protocol type, the processing unit is further configured to query the bus protocol type of the second node.

The fourth aspect of the embodiment of the present application provides a bus controller, including an interface unit and a processing unit, the interface unit is used to send a first message to the first node, and the first message is used by the first node to identify the second node The bus protocol type, the interface unit is also used to receive the second message sent by the first node, the second message is consistent with the bus protocol type of the second node.

In a possible implementation manner, before the interface unit sends the first message to the first node, the interface unit is further configured to receive at least one third message sent by the first node, and the third message is used to detect the second node's The bus protocol type, the first message is used to respond to the third message according to the bus protocol type of the third message.

In a possible implementation manner, the bus protocol type includes CAN protocol or CAN FD protocol. The first node includes an on-board gateway, and the second node includes an on-board electronic control ECU component or an off-board diagnostic device.

The fifth aspect of the embodiment of the present application provides a bus control device, including a processor, the processor is coupled with the memory, the processor is used to store instructions, and when the instructions are executed by the processor, the bus control device performs the above-mentioned first aspect or The method described in any possible implementation manner of the first aspect, or the bus control device executes the method described in the above second aspect or any possible implementation manner of the second aspect.

The sixth aspect of the embodiment of the present application provides a bus control system, which is characterized in that it includes: a first node and a second node, and the first node is used to implement the above-mentioned first aspect or any possible implementation manner of the first aspect In the method, the second node is configured to execute the method described in the second aspect or any possible implementation manner of the second aspect.

The seventh aspect of the embodiment of the present application provides a vehicle, including a vehicle-mounted gateway and a vehicle-mounted component. The vehicle-mounted gateway is used to execute the method performed by the first node in the first aspect or any possible implementation manner of the first aspect. The vehicle-mounted component Use the second aspect or the method executed by the second node in any possible implementation manner of the second aspect.

The eighth aspect of the embodiments of the present application provides a computer-readable storage medium on which instructions are stored. When the instructions are executed, the computer executes the above-mentioned first aspect or any one of the possible implementation manners of the first aspect. method, or to cause a computer to execute the method described in the second aspect or any possible implementation manner of the second aspect.

The ninth aspect of the embodiment of the present application provides a computer program product. The computer program product includes instructions. When the instructions are executed, the computer implements the method described in the above-mentioned first aspect or any possible implementation manner of the first aspect. , or, so that the computer implements the method described in the second aspect or any possible implementation manner of the second aspect.

It can be understood that the beneficial effects that can be achieved by any bus control device, bus control system, computer readable medium, or computer program product provided above can refer to the beneficial effects in the corresponding method, and will not be repeated here.

Description of drawings

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

FIG. 2 is a schematic diagram of a bus control method provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of another bus control method provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of another bus control method provided by the embodiment of the present application;

FIG. 5 is a schematic diagram of another bus control method provided by the embodiment of the present application;

FIG. 6 is a schematic structural diagram of a bus controller provided in an embodiment of the present application;

FIG. 7 is a schematic structural diagram of another bus controller provided in an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a bus control system provided by an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a vehicle provided in an embodiment of the present application.

Detailed ways

An embodiment of the present application provides a bus control method, which is used to improve the diagnostic efficiency of an off-vehicle diagnostic device for the entire vehicle.

The terms "first", "second", "third", "fourth", etc., if any, in the description and claims of the application and the above drawings are used to distinguish similar objects and not necessarily to Describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

In the embodiments of the present application, words such as "exemplary" or "for example" are used as examples, illustrations or illustrations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application shall not be interpreted as being more preferred or more advantageous than other embodiments or design schemes. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete manner.

Hereinafter, some terms used in this application are explained to facilitate the understanding of those skilled in the art.

The controller area network (CAN) belongs to the category of field bus, and it is a serial communication network that effectively supports distributed control or real-time control. Compared with many RS-485 distributed control systems, the distributed control system based on CAN bus has obvious advantages in terms of real-time data communication between nodes in the network.

Onboard diagnostics (OBD) is a system for detecting faults in the vehicle system. When a system fault occurs in the vehicle, the malfunction indicator lamp (MIL) or the check engine (Check Engine) warning light is on. At the same time, the power control module (PCM) stores the fault information in the memory, and the off-board diagnostic equipment can read the fault code from the PCM through a certain program. According to the prompt of the fault code, the maintenance personnel can quickly and accurately Determine the nature and location of the fault.

The electronic control unit (ECU) is used to detect, analyze and troubleshoot the whole vehicle. ECU generally has fault self-diagnosis and protection functions. When the system fails, it can also automatically record the fault code in the memory and use protective measures to read the replacement program from the above-mentioned inherent program to maintain the engine running. At the same time, these fault information will be displayed on the instrument panel, which can enable the owner to find out the fault of the vehicle in time.

The system architecture to which the method provided in the embodiment of the present application is applicable is described below by taking the vehicle system shown in FIG. 1 as an example.

The system architecture provided by the embodiment of the present application includes a first node and a second node. The first node will be described below using a vehicle-mounted gateway as an example, and the second node will use a vehicle-mounted electronic control unit (ECU) as an example.

Please refer to FIG. 1 . FIG. 1 is a schematic diagram of a system architecture diagram of a vehicle-mounted network provided by an embodiment of the present application. The vehicle-mounted network system architecture of the embodiment of the present application includes a vehicle-mounted gateway and at least one peer device. The peer device includes a vehicle-mounted electronic control unit (ECU) or an off-vehicle diagnostic device, wherein the off-vehicle diagnostic device includes a CAN diagnostic instrument and a CAN FD diagnostic instrument. The vehicle-mounted gateway and the peer device are connected through the CAN network. The bus protocol of the CAN network includes the CAN protocol and the CANFD protocol. Specifically, the vehicle-mounted gateway provides one or more CAN buses to the outside world. Among them, CAN messages or CANFD messages are transmitted on the CAN bus , depending on the peer ECU component, when the peer ECU component changes, the bus control method provided by the embodiment of the present application can automatically adapt to the change of the communication protocol.

In an application scenario of the embodiment of the present application, the vehicle-mounted gateway is used as an edge node of the vehicle, and provides a CAN bus for vehicle diagnosis. Equipment, off-vehicle diagnostic equipment is divided into CAN diagnostic instrument and CAN FD diagnostic instrument according to the type of bus protocol it supports. At present, most vehicle management offices use CAN diagnostic instrument, and most car manufacturers use CAN FD diagnostic instrument. In order to support the CAN diagnostic instrument when the vehicle leaves the factory, the vehicle manufacturer sets the OBD channel of the vehicle to support the CAN protocol channel. The vehicle manufacturer needs to flash the vehicle software through the CAN protocol channel before the vehicle leaves the factory. Due to the CAN protocol The channel transmission rate of the CANFD protocol is lower than that of the CANFD protocol, so it takes a long time to flash the vehicle software, which affects the efficiency of the vehicle software flashing.

In another application scenario of the embodiment of the present application, the vehicle-mounted gateway and the vehicle-mounted components are connected through a CAN network. As shown in FIG. Gateway communication, for example, in Figure 1, the vehicle ECU component 1 communicates with the vehicle gateway based on the CAN protocol, and the vehicle ECU component 2 communicates with the vehicle gateway based on the CAN FD protocol. When the structure of the vehicle is expanded or modified, the current vehicle gateway needs to re-refresh the software to adjust the bus protocol type of the original channel according to the bus protocol type supported by the replaced vehicle parts. For example, when the whole vehicle leaves the factory for maintenance, when the on-board ECU parts need to be replaced, the newly replaced on-board ECU parts may not belong to the same manufacturer as the original parts, and the bus protocol type of the newly replaced on-board ECU parts may change. At this time, maintenance Personnel need to refresh the vehicle gateway software to match the bus protocol type of the newly replaced vehicle ECU components, which cannot realize the plug-and-play of newly replaced components, thus increasing the difficulty of maintenance operations.

Please refer to FIG. 2 . FIG. 2 is a schematic flowchart of a bus control method provided by an embodiment of the present application. A bus control process provided by the embodiment of the present application includes:

201. The first node receives the first packet sent by the second node.

In the embodiment of this application, the first node receives the first message sent by the second node. The first message can be a message sent by the second node actively, or a response sent by the second node in response to the first node. message.

In a possible implementation manner, the content carried in the first message includes an acknowledgment (acknowledgment, ACK) identifier, a cyclic redundancy check (cyclic redundancy check, CRC) identifier, or a remote transmission request (remotetransmission request, RTR) identifier, Among them, the ACK mark is used to indicate that the message is received by the target node, the CRC mark is used to check the correctness of the message, and the RTR mark is used to distinguish the data frame or the remote frame. The type of the first message includes a CAN message and a CAN FD message. Compared with a CAN message, the CANFD message carries a content of an FD format (FD format, FDF) flag, an error state indicator (error state indicator), and a CAN FD message. , ESI) and bit rate switch (BRS) identification, wherein, the FDF identification is used to distinguish the CAN message or the CAN FD message, the ESI is used to indicate the error status of the node, and the BRS identification is used for the switching of the data transmission rate.

Please refer to FIG. 3 . FIG. 3 is a schematic flowchart of a bus control method provided by an embodiment of the present application. In an example shown in Figure 3, the first node is a vehicle-mounted gateway, and the second node is an off-vehicle diagnostic device. The off-vehicle diagnostic equipment is divided into a CAN diagnostic instrument and a CAN FD diagnostic instrument according to the type of bus protocol supported, wherein the CAN diagnostic instrument Can only recognize messages based on CAN protocol, CAN FD diagnostic instrument. In steps 301 to 302 shown in Figure 3, the off-vehicle diagnostic device sends the first message to the vehicle-mounted gateway, and the vehicle-mounted gateway receives the first message sent by the off-vehicle diagnostic device, and the first message can be sent by the CAN diagnostic instrument The message based on the CAN protocol can also be the message based on the CAN FD protocol sent by the CAN FD diagnostic instrument, which is not specifically limited.

In the embodiment shown in FIG. 2 of this application, only the scenario where the first message is actively sent by the first node is introduced, and the scenario where the first message is a response message is described in detail in the subsequent embodiment shown in FIG. 4 .

202. The first node identifies the bus protocol type of the second node according to the first packet.

In the embodiment of the present application, after receiving the first message sent by the second node, the first node identifies the bus protocol type of the second node according to the first message. Specifically, the first node parses the first message, and according to The FDF identifier of the first packet determines the bus protocol type of the first packet.

After the first node identifies the bus protocol type of the first message, the first node records the bus protocol type of the second node. Specifically, the first node stores the bus protocol type of the second node in a memory of the first node. Before the first node sends the service message to the second node again, the first node queries the bus protocol type of the second node, and sends the service message to the second node according to the bus protocol type of the second node.

Please refer to FIG. 3 . FIG. 3 is a schematic flowchart of a bus control method provided by an embodiment of the present application. In an embodiment shown in Figure 3, the first node is a vehicle-mounted gateway, and the second node is an off-vehicle diagnostic device. In steps 303 to 304, after the vehicle-mounted gateway receives the first message sent by the vehicle-mounted diagnostic device, the vehicle-mounted The gateway parses the first message through the CAN controller, and identifies whether the bus protocol type of the first message is the CAN protocol or the CAN FD protocol according to the FDF identifier of the first message. After the vehicle-mounted gateway identifies the bus protocol type of the first message, the vehicle-mounted gateway can determine the bus protocol type of the off-vehicle diagnostic device according to the bus protocol type of the first message, and the vehicle-mounted gateway records the bus protocol type of the off-vehicle diagnostic device, And store the bus protocol type of the off-vehicle diagnostic equipment.

203. The first node sends a second packet to the second node, and the bus protocol type of the second packet is consistent with that of the first packet.

In the embodiment of the present application, the first node sends a second message to the second node, the second message is consistent with the general protocol type of the second node, and the second message may be a service message sent by the first node to the second node , before the first node sends the second message to the second node, the first node queries the bus protocol type of the second node.

Please refer to FIG. 3 . FIG. 3 is a schematic flowchart of a bus control method provided by an embodiment of the present application. In an embodiment shown in FIG. 3 , the first node is a vehicle-mounted gateway, and the second node is an off-vehicle diagnostic device. In steps 305 to 308 shown in Figure 3, the vehicle-mounted gateway sends the second message to the vehicle-mounted diagnostic device, and before the vehicle-mounted gateway sends the second message to the vehicle-mounted diagnostic device, the vehicle-mounted gateway queries the bus protocol of the vehicle-mounted diagnostic device in the memory type, the vehicular network gateway sends the overall protocol type of the inquired vehicular diagnostic equipment to the CAN controller, and the vehicular gateway sends the second message to the external diagnostic equipment through the CAN controller.

In the embodiment of the present application, the first node can automatically identify the bus protocol type of the second node according to the message sent by the second node, which improves the communication efficiency between the first node and the second node. Furthermore, when the embodiment of the present application is applied to a vehicle diagnosis scenario, the on-board gateway can automatically identify the type of bus protocol supported by the off-vehicle diagnostic instrument according to the message sent by the off-vehicle diagnostic instrument, which improves the diagnostic efficiency of the vehicle.

Please refer to FIG. 4 . FIG. 4 is a schematic flowchart of another bus control method provided by an embodiment of the present application. Another bus control process provided by the embodiment of the present application includes:

401. The first node sends at least one third message to the second node, where the third message is used to detect the bus protocol of the second node.

In the embodiment of the present application, the first node sends at least one third message to the second node, and the third message can be used to detect the bus protocol type supported by the second node, and the first node can send multiple first messages to the second node. Three messages, wherein multiple third messages are sent for different bus protocol types, and different bus protocol types are used to detect the bus protocol type supported by the second node.

Please refer to FIG. 5 . FIG. 5 is a schematic flowchart of another bus control method provided by an embodiment of the present application. In an example shown in FIG. 5 , the first node is a vehicle gateway, and the second node is a vehicle ECU component. Different vehicle ECU components support different bus protocol types. The bus protocol types of vehicle ECU components include CAN protocol and CAN FD protocol. For example, in the vehicle architecture shown in Figure 1, the bus protocol type supported by vehicle ECU component 1 is CAN protocol, the type of bus protocol supported by the vehicle ECU component 2 is the CAN FD protocol. In steps 501 to 504 shown in FIG. 5 , when a vehicle-mounted ECU component is replaced, the vehicle-mounted gateway cannot determine the bus protocol type supported by the newly replaced vehicle-mounted ECU component. In this scenario, the vehicle-mounted gateway sends a third message to the vehicle-mounted ECU component. The third message includes a detection message based on the CAN protocol type or a detection message based on the CANFD protocol. Specifically, the vehicle-mounted gateway can first send the vehicle-mounted ECU component Send the detection message based on the CAN protocol, if the vehicle gateway does not receive the response message of the detection message based on the CAN protocol, the vehicle gateway sends the detection message based on the CAN FD protocol to the vehicle ECU component again.

402. The second node sends a first packet to the first node, and the first packet is used to respond to the third packet according to the protocol type of the third packet.

In the embodiment of the present application, the second node sends the first message to the first node, and the first message is used to respond to the third message according to the protocol type of the third message, that is, the first message is a response to the third message message.

In an example of the present application, the first message includes a response message based on the CAN protocol or a response message based on the CAN FD protocol.

Please refer to FIG. 5 . FIG. 5 is a schematic flowchart of another bus control method provided by an embodiment of the present application. In an example shown in FIG. 5 , the first node is a vehicle gateway, and the second node is a vehicle ECU component. In steps 501 to 504 shown in Figure 5, the vehicle-mounted gateway sends a third message to the vehicle-mounted ECU component, the third message is a detection message based on the CAN protocol, and the vehicle-mounted gateway sends a CAN protocol-based detection message to the vehicle-mounted ECU component. After the detection message, the vehicle-mounted gateway judges whether the first message in response to the detection message is received. If the first message in response to the detection message is not received within the preset time period, the vehicle-mounted gateway sends a message to the vehicle-mounted ECU component. Based on the detection message of the CANFD protocol, if the vehicle gateway receives the first message in response to the detection message, the vehicle gateway can determine the bus protocol type of the second node according to the first message.

403. The first node identifies the bus protocol type of the second node according to the first packet.

In the embodiment of the present application, after receiving the first message sent by the second node, the first node identifies the bus protocol type of the second node according to the first message. Specifically, the first node parses the first message, and according to The FDF identifier of the first packet determines the bus protocol type of the first packet.

After the first node identifies the bus protocol type of the first message, the first node records the bus protocol type of the second node. Specifically, the first node stores the bus protocol type of the second node in a memory of the first node. Before the first node sends the service message to the second node again, the first node queries the bus protocol type of the second node, and sends the service message to the second node according to the bus protocol type of the second node.

Please refer to FIG. 5 . FIG. 5 is a schematic flowchart of a bus control method provided by an embodiment of the present application. In an embodiment as shown in FIG. 5 , the first node is a vehicle-mounted gateway, and the second node is a vehicle-mounted ECU component. In steps 505 to 506 shown in FIG. 5, after the vehicle-mounted gateway receives the first message sent by the vehicle-mounted diagnostic device, the vehicle-mounted gateway parses the first message through the CAN controller, and identifies the first message according to the FDF identifier of the first message. Whether the bus protocol type of a message is the CAN protocol or the CAN FD protocol, if the first message has an FDF mark, the bus protocol type of the vehicle ECU component is the CAN FD protocol, if there is no FDF mark in the first message, the vehicle ECU The bus protocol type of the component is CAN protocol. After the vehicle gateway identifies the bus protocol type of the vehicle ECU component, it stores the bus protocol type of the vehicle ECU component.

404. The first node sends a second packet to the second node, and the protocol type of the second packet is consistent with the bus protocol type of the second node.

In the embodiment of the present application, the first node sends a second message to the second node. The second message is consistent with the general protocol type of the second node. The second message may be a service message sent by the first node to the second node. Before the first node sends the second message to the second node, the first node queries the bus protocol type of the second node.

Please refer to FIG. 5 . FIG. 5 is a schematic flowchart of a bus control method provided by an embodiment of the present application. In an embodiment as shown in FIG. 5 , the first node is a vehicle-mounted gateway, and the second node is a vehicle-mounted ECU component. In steps 507 to 510 shown in Figure 5, the vehicle-mounted gateway sends a second message to the vehicle-mounted ECU component, before sending the second message, inquires about the bus protocol type of the vehicle-mounted ECU component, and sends a message to the vehicle-mounted ECU component according to the bus protocol type of the vehicle-mounted ECU component. The ECU component sends the second message.

In the embodiment of the present application, the first node sends a detection message to the second node, so that the first node determines the bus protocol type of the second node according to the response message in response to the detection message. When the second node in the network system When changing, the bus protocol type of the second node can be automatically identified without modifying the bus protocol type of the first node, thereby improving the communication efficiency of the network system.

Further, when the embodiment of the present application is applied to the vehicle-mounted network, when the system architecture of the vehicle is expanded or modified, the vehicle-mounted gateway can determine the bus protocol type of the peer vehicle-mounted ECU component by sending a detection message, without modifying the vehicle-mounted network gateway The bus protocol type directly communicates, thereby improving the communication efficiency of the vehicle.

The bus control method provided by the embodiment of the present application has been described above, and the related devices involved in the embodiment of the present application will be described below with reference to the accompanying drawings.

Please refer to FIG. 6 . FIG. 6 is a schematic structural diagram of a bus control device provided by an embodiment of the present application. The bus control device is used to implement steps corresponding to the first node or the second node in the above embodiments. As shown in FIG. 6 , the bus control device 600 includes an interface unit 601 and a processing unit 602 .

In one embodiment, the bus control device 600 is used to implement the steps corresponding to the first node in the above embodiments:

The interface unit 601 is configured to receive the first message sent by the second node; for specific implementation, refer to the detailed description of step 201 in the implementation shown in FIG. 2 and the detailed description of steps 301 to 302 in the embodiment shown in FIG. 3 description, or the detailed description of step 401 in the embodiment shown in FIG. 4 and the detailed description of steps 501 to 504 in the embodiment shown in FIG. 5 , will not be repeated here.

The processing unit 602 is configured to identify the bus protocol type of the second node according to the first message; for a specific implementation, refer to the detailed description of step 202 in the implementation shown in Figure 2 and the steps 303 to 303 in the embodiment shown in Figure 3 The detailed description of 307, or the detailed description of step 403 in the embodiment shown in FIG. 4 and the detailed description of step 505 to step 509 in the embodiment shown in FIG. 5 will not be repeated here.

The interface unit 601 is also used to send a second message to the second node based on the bus protocol type, the protocol type of the second message is consistent with the bus protocol type of the second node, and the specific implementation method can refer to the steps in the implementation shown in Figure 2 203 and the detailed description of step 308 in the embodiment shown in FIG. 3, or the detailed description of step 404 in the embodiment shown in FIG. 4 and the detailed description of step 510 in the embodiment shown in FIG. Let me repeat.

In a possible implementation manner, the interface unit 601 is further configured to send at least one third message to the second node, the third message is used to detect the bus protocol type of the second node, and the first message is used to The bus protocol type of the message responds to the third message.

In a possible implementation manner, the bus protocol type includes CAN protocol or CAN FD protocol, the first node includes a vehicle gateway, and the second node includes a vehicle electronic control ECU component or an off-vehicle diagnostic device.

In a possible implementation manner, the processing unit 602 is specifically configured to identify the bus protocol type of the second node according to the FDF flag in the first packet.

In a possible implementation manner, after the first node identifies the bus protocol type of the second node according to the first message, the processing unit 602 is further configured to record the bus protocol type of the second node.

In a possible implementation manner, before the first node sends the second packet to the second node based on the bus protocol type, the processing unit 602 is further configured to query the bus protocol type of the second node.

In one embodiment, the bus control device 600 is used to implement the steps corresponding to the second node in the above embodiments:

The interface unit 601 is used to send a first message to the first node, the first message is used by the first node to identify the bus protocol type of the second node, and the interface unit 601 is also used to receive the second message sent by the first node, The second message is consistent with the bus protocol type of the second node.

The specific implementation of the interface unit 601 and the processing unit 602 can refer to the detailed description of steps 201 to 203 in the implementation shown in Figure 2 and the detailed description of steps 301 to 308 in the embodiment shown in Figure 3, or as shown in Figure 4 The detailed description of steps 401 to 404 in the illustrated embodiment and the detailed description of steps 501 to 510 in the embodiment shown in FIG. 5 are not repeated here.

In a possible implementation manner, before the interface unit 601 sends the first message to the first node, the interface unit 601 is also configured to receive at least one third message sent by the first node, and the third message is used to detect the second The bus protocol type of the node, the first message is used to respond to the third message according to the bus protocol type of the third message.

In a possible implementation manner, the bus protocol type includes CAN protocol or CAN FD protocol. The first node includes an on-board gateway, and the second node includes an on-board electronic control ECU component or an off-board diagnostic device.

Optionally, the above-mentioned communication device may also include a storage unit, which is used to store data or instructions (also referred to as codes or programs), and each of the above-mentioned units may interact or be coupled with the storage unit to implement corresponding methods or functions . For example, the processing unit 602 may read data or instructions in the storage unit, so that the communication device implements the methods in the foregoing embodiments.

It should be understood that the above division of units in the communication device is only a division of logical functions, and may be fully or partially integrated into a physical entity or physically separated during actual implementation. In addition, the units in the communication device can be implemented in the form of software calling through the processing elements; they can also be implemented in the form of hardware; some units can also be implemented in the form of software calling through the processing elements, and some units can be implemented in the form of hardware. For example, each unit can be an independently established processing element, or can be integrated into a certain chip of the communication device. In addition, it can also be stored in the memory in the form of a program, which is called and executed by a certain processing element of the communication device. function of the unit. In addition, all or part of these units can be integrated together, or implemented independently. The processing element mentioned here may also be a processor, which may be an integrated circuit with signal processing capability. In the process of implementation, each step of the above method or each unit above may be implemented by an integrated logic circuit of hardware in the processor element or implemented in the form of software called by the processing element.

In one example, the units in any of the above communication devices may be one or more integrated circuits configured to implement the above method, for example: one or more specific integrated circuits (application specific integrated circuits, ASICs), or, one or A plurality of microprocessors (digital signal processor, DSP), or, one or more field programmable gate arrays (field programmable gate array, FPGA), or a combination of at least two of these integrated circuit forms. For another example, when the units in the communication device can be implemented in the form of a processing element scheduler, the processing element can be a general processor, such as a central processing unit (central processing unit, CPU) or other processors that can call programs. For another example, these units can be integrated together and implemented in the form of a system-on-a-chip (SOC).

Please refer to FIG. 7 . FIG. 7 is a schematic diagram of a bus control device provided in an embodiment of the present application, which is used to realize the operation of the first node in the above embodiment. As shown in FIG. 7 , the bus control device includes: a processor 710 and an interface 730 , and the processor 710 is coupled to the interface 730 .

The interface 730 is used to receive the first message sent by the second node. For specific implementation, refer to the detailed description of step 201 in the implementation shown in FIG. 2 and the detailed description of steps 301 to 302 in the embodiment shown in FIG. 3 , Or the detailed description of step 401 in the embodiment shown in FIG. 4 and the detailed description of steps 501 to 504 in the embodiment shown in FIG. 5 will not be repeated here.

The processor 710 is configured to identify the bus protocol type of the second node according to the first message. For specific implementation, refer to the detailed description of step 202 in the implementation shown in FIG. 2 and steps 303 to 307 in the embodiment shown in FIG. 3 The detailed description of , or the detailed description of step 403 in the embodiment shown in FIG. 4 and the detailed description of steps 505 to 509 in the embodiment shown in FIG. 5 will not be repeated here.

The interface 730 is also used to send a second message to the second node based on the bus protocol type. The protocol type of the second message is consistent with the bus protocol type of the second node. The specific implementation can refer to step 203 in the implementation as shown in Figure 2 and the detailed description of step 308 in the embodiment shown in FIG. 3, or the detailed description of step 404 in the embodiment shown in FIG. 4 and the detailed description of step 510 in the embodiment shown in FIG. repeat.

The interface 730 is used to communicate with other devices. Interface 730 may be a transceiver or an input-output interface. Interface 730 may be, for example, an interface circuit.

Optionally, the communication device further includes a memory 720 for storing instructions executed by the processor 710 or storing input data required by the processor 710 to execute the instructions or storing data generated by the processor 710 after executing the instructions.

The method performed by the first node in the above embodiments may be implemented by the processor 710 calling a program stored in a memory (which may be the memory 720 in the network device or terminal, or may be an external memory). That is, the first node may include a processor 710, and the processor 710 executes the method executed by the first node in the above method embodiment by calling a program in the memory. The processor here may be an integrated circuit with signal processing capabilities, such as a CPU. A controller or server may be realized by one or more integrated circuits configured to implement the above methods. For example: one or more ASICs, or one or more microprocessors DSP, or one or more FPGAs, etc., or a combination of at least two of these integrated circuit forms. Alternatively, the above implementation manners may be combined.

Specifically, the functions/implementation process of the interface unit 601 and the processing unit 602 in FIG. 6 can be realized by calling the computer-executable instructions stored in the memory 720 by the processor 710 in the bus control device 700 shown in FIG. 7 . Alternatively, the function/implementation process of the processing unit 602 in FIG. 6 can be realized by the processor 710 in the bus control device 700 shown in FIG. The function/implementation process can be realized through the interface 730 in the bus control device 700 shown in FIG. accomplish.

The interface unit 601 in the above-mentioned bus control device 600 is equivalent to the interface 730 in the bus control device 700 , and the processing unit 602 in the bus control device 600 may be equivalent to the processor 710 in the bus control device 700 .

Please refer to FIG. 8. FIG. 8 is a schematic diagram of a bus control system provided by an embodiment of the present application. The bus control system 800 includes a first node 801 and a second node 802. The first node 801 may be the first node in the above method embodiment. A node, the second node 802 may be the second node in the foregoing method embodiments.

Please refer to FIG. 9. FIG. 9 is a schematic structural diagram of a vehicle provided by an embodiment of the present application. The vehicle 900 includes a vehicle-mounted gateway 901 and a vehicle-mounted component 902. The vehicle-mounted gateway 901 may be the first node in the above method embodiment, and the vehicle-mounted component 902 may be the second node in the foregoing method embodiment.

In another embodiment of the present application, a computer-readable storage medium is also provided. Computer-executable instructions are stored in the computer-readable storage medium. When the processor of the device executes the computer-executable instructions, the device executes the above-mentioned method embodiment. The method executed by the first node in .

In another embodiment of the present application, a computer program product is also provided, the computer program product includes computer-executable instructions, and the computer-executable instructions are stored in a computer-readable storage medium. When the processor of the device executes the computer-executed instruction, the device executes the steps of the method performed by the first node in the above method embodiment.

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 system, device and method can 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. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art or all or 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 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 (ROM, read-only memory), random access memory (RAM, random access memory), magnetic disk or optical disk, and other media that can store program codes.

Claims (12)

1. A bus control method, comprising:

a first node receives a first message sent by a second node;

the first node identifies the bus protocol type of the second node according to the first message;

and the first node sends a second message to a second node based on the bus protocol type, wherein the protocol type of the second message is consistent with the bus protocol type of the second node.

2. The method of claim 1, wherein before the first node receives the first packet sent by the second node, the method further comprises:

the first node sends at least one third message to the second node, the third message is used for detecting the bus protocol type of the second node, and the first message is used for responding to the third message according to the bus protocol type of the third message.

3. The method of claim 1 or 2, wherein the bus protocol type comprises a CAN protocol or a CANFD protocol, the first node comprises an onboard gateway, and the second node comprises an onboard electronic control ECU component or an offboard diagnostic device.

4. The method according to any of claims 1 to 3, wherein the first node identifying the bus protocol type of the second node from the first packet comprises:

and the first node identifies the bus protocol type of the second node according to the FDF mark in the first message.

5. The method according to any of claims 1 to 4, wherein after the first node identifies the bus protocol type of the second node from the first packet, the method further comprises:

and the first node records the bus protocol type of the second node.

6. The method according to any of claims 1 to 5, wherein before the first node sends a second packet to a second node based on the bus protocol type, the method further comprises:

the first node queries the second node for the bus protocol type.

7. A bus controller, characterized in that it comprises means or modules for performing the method of any of the preceding claims 1 to 6.

8. A bus controller comprising a processor coupled with a memory, the processor to store instructions that when executed by the processor cause the bus controller to perform the method of any of claims 1 to 6.

9. A bus control system, comprising: a first node and a second node, the first node being configured to perform the method of any of claims 1 to 6.

10. A vehicle comprising an onboard gateway and onboard means, said onboard gateway being adapted to perform the method performed by the first node of any one of claims 1 to 6.

11. A computer readable storage medium having instructions stored thereon that, when executed, cause a computer to perform the method of any of claims 1 to 6.

12. A computer program product comprising instructions therein, which when executed, cause a computer to implement the method of any of claims 1 to 6.

Images