CN101670814B - Car door control system and control method based on CAN bus network - Google Patents

Abstract

The invention discloses a car door control system and control method based on CAN bus network, which comprises a master station module and a slave station module which are communicated and connected through CAN bus; the slave station module is communicated and connected with a car door device, and comprises a first processor, a first storage cell as well as an input and output image buffer zones of a slave station; the input pin of the first processor is connected with the door status signal end of the car door device; the output pin of the first processor is connected with the door control signal end of the car door device; the first storage cell stores the mapping relation between the input pin and output pin of the first processor and the representation of the door status signal function; the master module comprises a second processor, a second storage cell as well as an input and output image buffer zones of a master station; and the second storage cell stores the mapping relation between the memory addresses of the input signal and output signal of the master station respectively in the input image buffer zone and the output image buffer zone of the master station door and the representation of the door status signal function. The car door control system and control method based on CAN bus network realize the flexible configuration of the mapping relation between the pin and the representation of the door status signal function.

Description

Door control system and control method based on the CAN bus network

Technical field

The present invention relates to passenger vehicle and CAN bus, particularly relate to door control system and control method based on the CAN bus network, particularly output logic management process.

Background technology

CAN (Controller Area Network, controller local area network) bus is that German Bosch company is for solving a kind of serial data communication agreement that control numerous in the modern automobile and the data exchange between the testing tool are developed.Because the CAN bus network has distinct advantages such as price is low, reliability is high, error correcting capability is strong, has become one of manufacturing main body industry standard of world car at present, is representing the main flow development tendency of Vehicle Electronic Control network.

In recent years, the development of CAN bus vehicle electric field was very fast, and domestic independent research design-calculated automobile CAN-bus product is more and more, a lot of body control systems based on the CAN bus occurred.And the control of car door is the most complicated in body control system, especially motor omnibus is for guaranteeing passenger safety, its CAN network car door control output logic relation is very complicated, handle these logical relations well, be the necessary condition that guarantees system high efficiency, reliable, safe operation, often need use controller and come the car door actuating unit is controlled with logical process function.

For example: application number is 200520123914.3, the Chinese utility model patent of " the car door control setup that is used for the automotive networking system " by name discloses a kind of car door control setup of the CAN of use bus, it is as four nodes of the vehicle body CAN network system, by having realized a series of car door Based Intelligent Control function with combining of other nodes of vehicle body network.This device comprises micro controller module, power management and CAN communication module, incoming signal adjusting module and comprises the output driver module that is made of glass lifting motor control chip, centrally controrlled locking system control chip and back mirror control adjusting control chip that described micro controller module is connected with described output driver module by the I/O interface; Described micro controller module is connected with described incoming signal adjusting module with described power management and CAN communication module respectively by the SPI mode, and described micro controller module is connected with the output driver module by the I/O interface.

The existing method that with above-mentioned patent is the processing of car door control output logic in the passenger vehicle CAN bus car body control system of representative is generally: before system dispatches from the factory, the IO of the some control car doors of regulation on a certain specific CAN module of system, its output control logic is carried out in bottom software rigidly.That is to say that depot can only the as prescribed wiring, order can not be changed, and logic can not change.As seen, it is not strong that this mode exists commonality, alerting ability, and the wiring inconvenience is installed, and is unfavorable for a series of shortcomings such as system update upgrading.

Summary of the invention

The objective of the invention is to, it is inflexible with control input and output (I/O) corresponding relation to solve car door, the problem that promptly can't change after vehicle dispatches from the factory.For addressing this problem, the passenger vehicle CAN network car door control output logic processing method that a kind of highly versatile, logical relation are distinct, make things convenient for the system update upgrading has been proposed.

For this reason, the present invention proposes a kind of door control system based on the CAN bus network, described system comprises by CAN bus communication bonded assembly master station module and slave station module, and described slave station module and motor vehicle door arrangement communicate to connect, it is characterized in that,

Described slave station module comprises first processor, first memory cell, slave station input mapped buffer and slave station output mapped buffer, the input pin of described first processor is connected to the door status signal end of described motor vehicle door arrangement, the output pin of described first processor is connected to the gate control signal end of described motor vehicle door arrangement, and described first cell stores has the input and output pin of described first processor and the mapping relations between the described door status signal functional representation;

Described master station module comprises second treater, second memory cell, main website input mapped buffer and main website output mapped buffer, and described second cell stores has the input and output signal of main website respectively in the memory address of main website door input mapped buffer and output mapped buffer and the mapping relations between the door status signal functional representation.

Wherein, the mapping relations between the input pin of described first processor and the described door status signal functional representation comprise: input pin number, the status signal functional representation of described first processor and the slave station gate input signal corresponding relation between the memory address of slave station door input mapped buffer; Mapping relations between the output pin of described first processor and the described door status signal functional representation comprise: output pin number, the status signal functional representation of described first processor and the slave station door output signal corresponding relation between the memory address of slave station door output mapped buffer.

Simultaneously, the invention allows for a kind of control method of the door control system based on the CAN bus network, described door control system comprises by CAN bus communication bonded assembly master station module and slave station module, and described slave station module and motor vehicle door arrangement communicate to connect, it is characterized in that, said method comprising the steps of:

P1: the slave station module scans its treater input pin, obtains a status information, and the treater of slave station is designated as first processor;

P2: the slave station module generates incoming message according to input pin number, the status signal functional representation and the corresponding relation of slave station gate input signal between the memory address of slave station door input mapped buffer of the first processor of its storage, and sends described incoming message to master station module;

P3: master station module is resolved described incoming message according to the incoming signal of the main website of its storage in the memory address of main website door input mapped buffer and the mapping relations between the door status signal functional representation;

P4: master station module is according to its analysis result and door current state canned data to incoming message, and a control logic matrix of using its storage generates an out gate control signal;

P5: master station module generates outgoing message according to the output signal of the main website of its storage in the memory address of main website door output mapped buffer and the mapping relations between the door status signal functional representation; And send outgoing message to the slave station module; Simultaneously, refresh the door current state canned data of its storage according to described gate control signal;

P6: the slave station module receives described outgoing message, and according to output pin number, the status signal functional representation and the corresponding relation of slave station door output signal between the memory address of slave station door output mapped buffer of the described first processor of its storage described outgoing message is resolved;

P7: the slave station module will generate the output pin of control signal to first processor according to the analysis result of step P6, the action of control actr.

Effect of the present invention is, according to the passenger vehicle CAN network car door control output logic processing method based on master-slave mode CAN network of the present invention, when slave station module gate I/O wiring occurrence positions changes, need not update routine, only need find out the quantity of state of change, the mapping of revising corresponding mapping table gets final product.More excellent: when the door initial conditions changes (increase or reduce), only need to change the dimension of (increase or reduce) logic matrix, adjust the map listing line number, need not to revise in a large number bottom code.In addition, this method also can be in the bodywork system miscellaneous part output control logic and handles reference is provided.Therefore, the characteristics that this method has highly versatile, alerting ability is good and be easy to revise.

Description of drawings

Figure 1A is the embodiment of master station module function number and the tabulation of gate input signal previous status buffer stores unit maps;

Figure 1B is the embodiment of master station module function number and the tabulation of gate input signal current state buffer stores unit maps;

Fig. 1 C is the embodiment of slave station module handler pin number and gate input signal state buffer memory cell map listing;

Fig. 1 D is the embodiment of slave station functions of modules number and treater input pin map listing;

Fig. 2 A is the embodiment of master station module door output state signal buffer stores unit and function map listing;

Fig. 2 B is the embodiment of slave station modular door output state signal buffer stores unit and function map listing;

Fig. 2 C is the embodiment of slave station module handler output pin number and function map listing;

Fig. 3 is a master-salve station intermodule door output control communication process diagram of circuit.

The specific embodiment

For making the solution of the present invention is had understanding more clearly, at first principle and the general rule to the control of passenger vehicle CAN network car door control output logic describes.

General passenger vehicle has Qianmen, middle door and back door, and what have also has only Qianmen and Zhong Men or Qianmen and back door.From the logical relation angle, the control output logic of each all is consistent.According to this, for complete distinct for the purpose of, the passenger vehicle that all possesses with Qianmen, middle door and back door is that example illustrates passenger vehicle CAN network car door control output logic relation.The control of opposite house should be divided into Men Kai and door closes two parts.The output actr state at Qianmen is determined by following initial conditions: door main supply switch, gate inhibition's switch, preceding door switch, Qianmen anti-pinch switch, the speed of a motor vehicle＜3Km/h condition, stopping brake lock, booking-clerk Qianmen door contact; The output actr state of middle door is determined by following initial conditions: door main supply switch, gate inhibition's switch, middle door switch, middle door anti-pinch switch, the speed of a motor vehicle＜3Km/h condition, stopping brake lock, every control switch in the booking-clerk; Several initial conditions decisions under the output actr state at back door: door main supply switch, gate inhibition's switch, back door switch, back door anti-pinch switch, the speed of a motor vehicle＜3Km/h condition, stopping brake lock, booking-clerk back door door contact.

For making things convenient for the description of logical relation, the define symbol mark is as follows:

" 1 " presentation logic " very ", " 0 " presentation logic " vacation ";

" " presentation logic " with ", "+" presentation logic " or ";

Q _oThe expression door is opened output, Q _cThe expression door closes output;

X ₁Expression door main supply switch, X ₂Expression gate inhibition switch;

X ₃The expression speed of a motor vehicle＜3Km/h condition, X ₄The expression stopping brake lock;

X _fDoor switch before the expression, X _F1Expression Qianmen anti-pinch switch, X _F2Expression booking-clerk Qianmen door contact;

X _mDoor switch in the expression, X _M1Door anti-pinch switch in the expression, X _M2Every control switch in the expression booking-clerk;

X _bExpression back door switch, X _B1Expression back door anti-pinch switch, X _D2Expression booking-clerk back door door contact;

FD represents the Qianmen, door during MD represents, and BD represents the back door.

Wherein, the meaning of door main supply switch is: when the door main supply switch was " 1 ", all Men Jun opened; The meaning of gate inhibition's switch is: have only when gate inhibition's switch is " 0 ", all just allow operation (comprising independent opening/closing or whole opening/closing); The meaning of stopping brake lock is: have only when stopping brake lock and pull on, when promptly the parking brake signal was " 1 ", all just allowed operation (comprising independent opening/closing or whole opening/closing).According to the control convention of this area, representative type car door control logic relation describes below.

The Qianmen is opened output logic and can be described with following relational expression:

$Q_o\left(\mathrm{FD}\right)=(X_1+X_f+{\mathrm{<figure-callout\; id="1"\; label="X\; f"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_f+X_{f2}).\stackrel{\&OverBar;}{X_2}.X_3.X_4---\left(1\right)$

Pass, Qianmen output logic can be described with following relational expression:

$Q_c\left(\mathrm{FD}\right)=(\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_1}+\stackrel{\&OverBar;}{X_f}+\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="X\; f"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_f}+\stackrel{\&OverBar;}{X_{f2}}).\stackrel{\&OverBar;}{X_2}.X_3.X_4---\left(2\right)$

Middle door is opened output logic and can be described with following relational expression:

$Q_o\left(\mathrm{MD}\right)=(X_1+X_m+{\mathrm{<figure-callout\; id="1"\; label="X\; m"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_m+X_{m2}).\stackrel{\&OverBar;}{X_2}.X_3.X_4---\left(3\right)$

Middle door closes an output logic can be described with following relational expression:

$Q_c\left(\mathrm{MD}\right)=(\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_1}+\stackrel{\&OverBar;}{X_m}+\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="X\; m"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_m}+\stackrel{\&OverBar;}{X_{m2}}).\stackrel{\&OverBar;}{X_2}.X_3.X_4---\left(4\right)$

The back door is opened output logic and can be described with following relational expression:

$Q_o\left(\mathrm{BD}\right)=({\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_1+X_b+{\mathrm{<figure-callout\; id="1"\; label="X\; b"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_b+X_{b2}).\stackrel{\&OverBar;}{X_2}.X_3.X_4---\left(5\right)$

Pass, back door output logic can be described with following relational expression:

$Q_c\left(\mathrm{BD}\right)=(\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_1}+\stackrel{\&OverBar;}{X_b}+\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="X\; b"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_b}+\stackrel{\&OverBar;}{X_{b2}}).\stackrel{\&OverBar;}{X_2}.X_3.X_4---\left(6\right)$

Being controlled to be example with the car door of realizing above-mentioned logic control relation below describes method of the present invention.Those skilled in the art are when understanding; described logic control relation can be adjusted according to the practical design demand; carry out the increase and decrease of control variable and the redesign of control logic, and the change of this logic control relation does not influence enforcement of the present invention, and all can fall into protection scope of the present invention.In fact, one of beneficial effect of the present invention is convenient to carry out the flexible setting of logic control relation just.

According to one embodiment of the invention, method of the present invention can be implemented on the basis of master-slave mode CAN network, i.e. the CAN network of main website several slave stations of band.Wherein master station module has functions such as the processing of car door logical relation, network service management and configuration slave station; The slave station module has functions such as the collection of car door incoming signal, execution output, thereby the I/O of reality is separated with information management.Two kinds of messages of transmission over networks: a kind of is the door incoming message of being issued main website by slave station; Another kind is an output control message of being issued slave station by main website.Two kinds of messages all are periodic transfer.

In general, the slave station module comprises first processor, first memory cell, slave station input mapped buffer and slave station output mapped buffer, the input pin of first processor is connected to the door status signal end of motor vehicle door arrangement, the output pin of described first processor is connected to the gate control signal end of described motor vehicle door arrangement, and described first cell stores has the input and output pin of described first processor and the mapping relations between the described door status signal functional representation.

Master station module comprises second treater, second memory cell, main website input mapped buffer and main website output mapped buffer, and described second cell stores has the input and output signal of main website respectively in the memory address of main website door input mapped buffer and output mapped buffer and the mapping relations between the door status signal functional representation.

For the clear description of method is done as giving a definition again: function number, system are the numbering that each function title is set.Master station module and slave station module are all used this numbering.For example, door main supply switch X ₁Function number can be made as 1, gate inhibition's switch X ₂Function number can be made as 2 or the like, is followed successively by above-mentioned each switch and other function that may be provided with is numbered.Corresponding relation between each function number and the function is called a status signal functional representation.When being used to characterize memory contents, a door status signal functional representation also can only refer to function number.

The present invention is by setting up mapping table, and the I/O pin of abstract function, treater is organically connected with the CAN message.In the present embodiment, need set up following map listing:

Table 1: master station module function number and the tabulation of gate input signal previous status buffer stores unit maps;

Table 2: master station module function number and the tabulation of gate input signal current state buffer stores unit maps;

Table 3: slave station module handler pin number and gate input signal state buffer memory cell map listing;

Table 4: slave station functions of modules number and treater input pin map listing;

Table 5: master station module door output state signal buffer stores unit and function map listing;

Table 6: slave station modular door output state signal buffer stores unit and function map listing;

Table 7: slave station module handler output pin number and function map listing.

The important link of another of the inventive method is the logical relation processing that main website forms output control result.At first must open up one section logical relation memory buffer.Formula (1) is launched and abbreviation to (6), can obtain the reduced form that it is convenient to carry out the Digital Logic program design, this reduced form is only expressed by logical "or" and logical.6 logical formulas that the front was described are all deployable to be following form:

$Q_o\left(\mathrm{FD}\right)={\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_1.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+X_f.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+{\mathrm{<figure-callout\; id="1"\; label="X\; f"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_f.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+X_{f2}.\stackrel{\&OverBar;}{X_2}.X_3.X_4---\left(7\right)$

$Q_c\left(\mathrm{FD}\right)=\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_1}.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+\stackrel{\&OverBar;}{X_f}.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="X\; f"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_f}.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+\stackrel{\&OverBar;}{X_{f2}}.\stackrel{\&OverBar;}{X_2}.X_3.X_4---\left(8\right)$

$Q_o\left(\mathrm{MD}\right)={\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_1.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+X_m.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+{\mathrm{<figure-callout\; id="1"\; label="X\; m"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_m.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+X_{m2}.\stackrel{\&OverBar;}{X_2}.X_3.X_4---\left(9\right)$

$Q_c\left(\mathrm{MD}\right)=\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_1}.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+\stackrel{\&OverBar;}{X_m}.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="X\; m"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_m}.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+\stackrel{\&OverBar;}{X_{m2}}.\stackrel{\&OverBar;}{X_2}.X_3.X_4---\left(10\right)$

$Q_o\left(\mathrm{BD}\right)={\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_1.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+X_b.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+{\mathrm{<figure-callout\; id="1"\; label="X\; b"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_b.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+X_{b2}.\stackrel{\&OverBar;}{X_2}.X_3.X_4---\left(11\right)$

$Q_c\left(\mathrm{BD}\right)=\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_1}.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+\stackrel{\&OverBar;}{X_b}.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="X\; b"\; filenames="H2009101681076E00013.png,H2009101681076E00014.png"\; state="\{\{state\}\}">X</figure-callout>}}_b}.\stackrel{\&OverBar;}{X_2}.X_3.{\mathrm{<figure-callout\; id="4"\; label="X"\; filenames="H2009101681076E00031.png"\; state="\{\{state\}\}">X</figure-callout>}}_4+\stackrel{\&OverBar;}{X_{b2}}.\stackrel{\&OverBar;}{X_2}.X_3.X_4---\left(12\right)$

By the above-mentioned relation formula as can be seen, the output of each is controlled by 7 conditional decisions, relates to 4 inclusive-OR operations altogether, and each logical formula the inside of carrying out inclusive-OR operation relates to the AND operation of 4 signals again.Can be complex logic in body control system, therefore adopt the logic matrix form, set up one 4 * 4 logic matrix, wherein the relation of " non-" be indicated in advance.So only need to write predetermined logical relation, when incoming message carries the gate input signal status information, just can judge output control result according to logic matrix in the logical relation district.When if condition has increase, it is also extremely convenient to revise, and the dimension that only needs to increase matrix gets final product, and foundation, abbreviation and the computing of the logic matrix under given logical relation condition, modification all are prior aries, method of the present invention only is to adopt, so do not add detailed description.

In the method according to the embodiment of the invention, communication process is between master-salve station: slave station periodically (for example, cycle is 500ms) scan its treater the door input port, and will scan detected gate input signal state and be stored in slave station status input signal buffer zone (SIB) memory cell, slave station generates incoming message by the operation to the correlation map tabulation, and incoming message sent to main website, after described incoming message and parsing are received by main website, the gate input signal state is stored in main website gate input signal current state buffer zone (MIOB) memory cell, and according to corresponding logical relation (for example formula (6) is to (12) or its corresponding logic matrix), handle and generate the output execution result, and put into main website and export the mapped buffer, generate output control message, issue slave station, refresh slave station output mapped buffer behind the slave station analytic message, and write output.

Main website and 4 related map listings of slave station modular door input mapped buffer operation, promptly above-mentioned table 1 arrives shown in Fig. 1 D as Figure 1A to the embodiment of table 4.

Wherein, master station module and slave station module respectively are provided with door input mapped buffer, and this buffer zone definable is in the RAM district or DFlash district (if any).The effect of main website door input mapped buffer is the gate input signal status information that storage door incoming message carries, the current state and the previous state of its storage gate input signal.The effect of slave station door input mapped buffer is the gate input signal status information that storage is used to form an incoming message, only stores current state.

Be to realize parsing, need to determine the relation of function number and the storage location of its state function correspondence state of living in.This can realize with setting up function number and the relation table of its state between the memory address of corresponding buffer zone.Memory address can be that absolute address also can be offset address, preferably offset address.And in following embodiment, for clear logic with the operation in being convenient to programme, all tabulations all are that the preferred embodiment with the relation table of the corresponding relation of representing two variablees provides.But those skilled in the art should understand that obviously also (the having public variable) form of being correlated with can be merged into a table realizes that such variation belongs to protection scope of the present invention equally.

---master station module function number and gate input signal previous status buffer zone (DIOB) memory cell map listing and table 2---the master station module function of preferably setting up two two-dimensional table: table 1 number and gate input signal current state buffer zone (DICB) memory cell map listing.Main website has judged whether that according to these two tabulations variation has taken place status input signal, controls message if having then form output by certain logical relation processing, and previous status is refreshed into current state, with the previous status as following one-period.

For the effect of finishing slave station door input mapped buffer also need be set up two two-dimensional table: table 3---slave station module handler pin number and gate input signal state buffer (SIB) memory cell map listing and table 4---slave station functions of modules number and treater input pin map listing.Slave station can be set up one-to-one relationship between function number and the gate input signal state according to these two tabulations, and utilizes it to generate incoming message.Can realize the flexible configuration of mapping relations between function number and the treater pin by change table 3 and table 4, thereby make it no longer be subject to the Default Value of automobile.

Set up main website and slave station module output 3 required map listings of mapped buffer, promptly above-mentioned table 5 is to table 7, as Fig. 2 A to shown in Fig. 2 C.

Master station module and slave station module respectively are provided with door output mapped buffer, and this buffer zone definable is in the RAM district or Dflash district (if any).The effect of main website door output mapped buffer is the door output state signal information that storage is used to form output control message.The effect of slave station door output mapped buffer is the output state signal information that storage is carried by main website output control message, and slave station utilizes its control and treatment device output pin, thus control gate output actr.

For the effect of finishing main website door output mapped buffer must be set up a two-dimensional table: table 5 master station module door output state signal buffer zone (MOB) memory cell and function map listing.Main website will put into output state signal buffer stores unit through the output control result that logic operation is handled earlier.Main website tabulates according to this and sets up one-to-one relationship between a function number and the output state signal then, and utilizes it to generate outgoing message.

For the effect of finishing slave station door output mapped buffer must be set up two two-dimensional table: table 6 slave station modular door output state signal buffer zone (SOB) memory cell and function map listing; Table 7 slave station module handler output pin number and function map listing.Slave station at first will be put into corresponding buffer stores unit by the status input signal that output control packet parsing comes out.Set up one-to-one relationship between a treater output pin number and the output state signal according to these two tabulations then, and utilize it to control cooresponding output pin, thus control gate output actr.

Wherein, for slave station, the mapping relations between treater pin number, function number and the pin value memory address (or claiming status information memory cell) all need be set up in its input and output mapped buffer.In theory, input or output for the slave station door, all can be integrated in corresponding three variablees in the table, perhaps incite somebody to action wherein two corresponding tables that constitute two variablees arbitrarily, in addition make up corresponding relation between three required variablees with the corresponding tables of two different described two variablees again, this has multiple way of realization.For example: for the situation of 2 two argument tables, input, output respectively have C ₃ ²=3 kinds of modes, combining is 9 kinds of different ways of realization; One is used two argument tables, and another uses the situation of ternary sheet form then to have 6 kinds.These all can realize function of the present invention, also all will fall in the scope of claim of the present invention.

Table 1 is the preferred embodiments of the present invention to the structure form of table 7.Wherein, for the slave station input,, therefore, make up from the station processor pin number to be the table 3 of public variable and establishment and the search operation that table 4 can make things convenient for application program owing to being that input pin is scanned from station processor.And export for slave station, so with the control output that produces pin according to output control message, therefore, make up with function number be public variable table 6, table 7 can so that application program to containing the control output that produces pin after the pin number output control packet parsing.

In conjunction with above-mentioned narration, the present invention is based on the control method of the door control system of CAN bus network, described method mainly may further comprise the steps:

P1: the slave station module scans its treater input pin, obtains a status information, and the treater of slave station is designated as first processor;

P2: the slave station module generates incoming message according to input pin number, the status signal functional representation and the corresponding relation of slave station gate input signal between the memory address of slave station door input mapped buffer of the first processor of its storage, and sends described incoming message to master station module;

P3: master station module is resolved described incoming message according to the incoming signal of the main website of its storage in the memory address of main website door input mapped buffer and the mapping relations between the door status signal functional representation;

P4: master station module is according to its analysis result and door current state canned data to incoming message, and a control logic matrix of using its storage generates an out gate control signal;

P5: master station module generates outgoing message according to the output signal of the main website of its storage in the memory address of main website door output mapped buffer and the mapping relations between the door status signal functional representation; And send outgoing message to the slave station module; Simultaneously, refresh the door current state canned data of its storage according to described gate control signal;

P6: the slave station module receives described outgoing message, and according to output pin number, the status signal functional representation and the corresponding relation of slave station door output signal between the memory address of slave station door output mapped buffer of the described first processor of its storage described outgoing message is resolved;

P7: the slave station module will generate the output pin of control signal to first processor according to the analysis result of step P6, the action of control actr.

See also shown in Figure 3ly, it is a master-salve station intermodule door involved in the present invention output control communication process embodiment diagram of circuit.Flow process shown in Figure 3 is to be that example describes to set up table 1 to the mapping table of table 7, and those skilled in the art are according to the instruction of following embodiment, the control communication process when being not difficult to draw the mapping table of other form of structure.Present embodiment control communication process flow process may further comprise the steps:

Step S1: master-salve station module power-up initializing;

Step S2: slave station module handler scanning gate control input end mouth;

Step S3: the slave station module writes the gate input signal buffer zone according to map listing 3 with the gate input signal status information that scans;

Step S4: the slave station module generates incoming message according to map listing 3 and 4; Only comprise function number and its corresponding state information in the incoming message and get final product, thereby can realize the flexible transformation of logical relation between function number and the input pin.

Step S5: the slave station module sends incoming message to main website;

Step S6: after master station module receives and resolves incoming message, according to map listing 2 just the gate input signal current state deposit the current state buffer zone in;

Step S7: master station module compares gate input signal current state and previous status according to map listing 1 and 2, has judged whether that the state change has taken place incoming signal.If there is not incoming signal generation state to change, execution in step S8 and S14 have incoming signal generation state to change execution in step S10-S14;

Step S8: abandon carrying out logical relation and judge;

Step S9: the module of standing determines it is which incoming signal, and generates output control result according to logic matrix;

Step S10: the module of standing will be exported control control result and write main website output state signal buffer zone according to map listing 5, and generate output control message; Equally, outgoing message also contains function number and its corresponding state control signal only.Like this, for main website, as long as it number operate function, and need not to consider the relation between function number and the slave station pin, separating on the slave station pin wiring that has realized motor vehicle door arrangement and the main website car door control logic.

Step S11: the module of standing will be exported the control message and send to slave station, and be the current input signal state according to map listing 1 and 2 freshness map tabulation 1;

Step S12: piece writes slave station output state signal buffer zone according to map listing 6 with output state signal after receiving output control message and parsing;

Step S13: the module handler of standing writes the corresponding output end mouth according to map listing 6 and 7 with output state signal, thus control output actr;

Step S14: finish this communication process.

The above description of this invention is illustrative, and nonrestrictive, and those skilled in the art is understood, and can carry out many modifications, variation or equivalence to it within spirit that claim limits and scope, but they will fall within the scope of protection of the present invention all.

Claims (6)

1. door control system based on the CAN bus network, described system comprises by CAN bus communication bonded assembly master station module and slave station module, and described slave station module and motor vehicle door arrangement communicate to connect, it is characterized in that,

Described slave station module comprises first processor, first memory cell, slave station input mapped buffer and slave station output mapped buffer, the input pin of described first processor is connected to the door status signal end of described motor vehicle door arrangement, the output pin of described first processor is connected to the gate control signal end of described motor vehicle door arrangement, and described first cell stores has the input and output pin of described first processor and the mapping relations between the described door status signal functional representation;

Described master station module comprises second treater, second memory cell, main website input mapped buffer and main website output mapped buffer, and described second cell stores has the input and output signal of main website respectively in the memory address of main website door input mapped buffer and output mapped buffer and the mapping relations between the door status signal functional representation.

2. the door control system based on the CAN bus network according to claim 1, it is characterized in that the mapping relations between the input pin of described first processor and the described door status signal functional representation comprise: input pin number, the status signal functional representation of described first processor and the slave station gate input signal corresponding relation between the memory address of slave station door input mapped buffer; Mapping relations between the output pin of described first processor and the described door status signal functional representation comprise: output pin number, the status signal functional representation of described first processor and the slave station door output signal corresponding relation between the memory address of slave station door output mapped buffer.

3. the door control system based on the CAN bus network according to claim 2, it is characterized in that input pin number, the status signal functional representation of described first processor and the slave station gate input signal corresponding relation between the memory address of slave station door input mapped buffer is made of following two tables:

The input pin of first processor number and the slave station gate input signal mapping table between the memory address of slave station door input mapped buffer;

Mapping table between the input pin of door status signal functional representation and first processor number.

4. the door control system based on the CAN bus network according to claim 2, it is characterized in that output pin number, the status signal functional representation of described first processor and the slave station door output signal corresponding relation between the memory address of slave station door output mapped buffer is made of following two tables:

Slave station door output signal is at the memory address of slave station door output mapped buffer and the mapping table between the door status signal functional representation;

Mapping table between the output pin AND gate status signal functional representation of first processor.

5. the door control system based on the CAN bus network according to claim 1, it is characterized in that the door input and output signal of described master station module is made of following table in the memory address of main website door input mapped buffer and output mapped buffer and the mapping relations between the door status signal functional representation respectively:

Door status signal functional representation and the gate input signal previous status mapping table between the memory address of main website door input mapped buffer;

Door status signal functional representation and the gate input signal current state mapping table between the memory address of main website door input mapped buffer;

Master station module door output signal is at the memory address of main website door output mapped buffer and the mapping table between the door status signal functional representation.

6. control method based on the door control system of CAN bus network, described door control system comprises by CAN bus communication bonded assembly master station module and slave station module, and described slave station module and motor vehicle door arrangement communicate to connect, and it is characterized in that, said method comprising the steps of:

P1: the slave station module scans its treater input pin, obtains a status information, and the treater of slave station is designated as first processor;

P2: the slave station module generates incoming message according to input pin number, the status signal functional representation and the corresponding relation of slave station gate input signal between the memory address of slave station door input mapped buffer of the first processor of its storage, and sends described incoming message to master station module;

P3: master station module is resolved described incoming message according to the incoming signal of the main website of its storage in the memory address of main website door input mapped buffer and the mapping relations between the door status signal functional representation;

P4: master station module is according to its analysis result and door current state canned data to incoming message, and a control logic matrix of using its storage generates an out gate control signal;

P5: master station module generates outgoing message according to the output signal of the main website of its storage in the memory address of main website door output mapped buffer and the mapping relations between the door status signal functional representation; And send outgoing message to the slave station module; Simultaneously, refresh the door current state canned data of its storage according to described gate control signal;

P6: the slave station module receives described outgoing message, and according to output pin number, the status signal functional representation and the corresponding relation of slave station door output signal between the memory address of slave station door output mapped buffer of the described first processor of its storage described outgoing message is resolved;

P7: the slave station module will generate the output pin of control signal to first processor according to the analysis result of step P6, the action of control actr.

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