CN108551416A - A kind of CAN bus communication means - Google Patents

A kind of CAN bus communication means Download PDF

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Publication number
CN108551416A
CN108551416A CN201810355677.5A CN201810355677A CN108551416A CN 108551416 A CN108551416 A CN 108551416A CN 201810355677 A CN201810355677 A CN 201810355677A CN 108551416 A CN108551416 A CN 108551416A
Authority
CN
China
Prior art keywords
node
management frame
bus
message
sent
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810355677.5A
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Chinese (zh)
Inventor
柯友恒
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vitesco Automotive Wuhu Co Ltd
Continental Automotive Body Electronic System Wuhu Co Ltd
Original Assignee
Continental Automotive Body Electronic System Wuhu Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive Body Electronic System Wuhu Co Ltd filed Critical Continental Automotive Body Electronic System Wuhu Co Ltd
Priority to CN201810355677.5A priority Critical patent/CN108551416A/en
Publication of CN108551416A publication Critical patent/CN108551416A/en
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0053—Allocation of signaling, i.e. of overhead other than pilot signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0078—Timing of allocation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle

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

Abstract

The present invention provides a kind of CAN bus communication means, is mounted with host node in CAN bus and at least one from node, the described method comprises the following steps：Host node sends management frame, and the management frame is specified each from the transmission period of node；Management frame is received from node；Know that the transmission period of oneself, transmitter only send message in the transmission period of oneself from management frame from node；If host node receives the message sent in the non-sent period, identify that CAN bus is attacked.CAN bus communication means provided by the invention sends message in the specified transmission period from node by each, identifies that CAN bus is attacked, and sends out CAN bus by attack alarm, so as to timely processing, to ensure traffic safety.

Description

A kind of CAN bus communication means
Technical field
The present invention relates to auto communication fields, and in particular to a method of being used for CAN bus message management.
Background technology
CAN bus is since its is easy-to-use, is efficiently widely used in automotive field.
It is possible to by injecting false CAN message, the functional component of vehicle is attacked, such as by vehicle Interior electronic control unit ECU (Electronic Control Unit) is reprogramed, or is mounted in CAN bus, Influence the driving safety of vehicle.
Invention content
For problems of the prior art, the problem to be solved in the present invention is to provide a kind of for CAN bus message The method of management sends period and coherent detection from the message of node by limitation, avoids attack of the false CAN message to ECU, To ensure the safety of driving.
The present invention provides a kind of CAN bus communication means, is mounted with host node in CAN bus and at least one from section Point, the described method comprises the following steps：Host node sends management frame, and the management frame is specified each from the transmission period of node； Management frame is received from node；The transmission period of oneself is known from management frame from node, transmitter is only in the transmission of oneself Message is sent in section；If host node receives the message sent in the non-sent period, identify that CAN bus is attacked, it is non- It refers to all periods sent except the period from node in sending cycle to send the period.
Further, the method is further comprising the steps of：Other transmissions from node are known from management frame from node Period；The receiver from node only receives the message sent in other transmission periods from node.
Further, the method is further comprising the steps of：Know from management frame from node relevant from section with oneself The transmission period of point；It each only receives from the receiver of node and disappears with what is sent in oneself relevant transmission period from node Breath.
Further, the method is further comprising the steps of：If arbitrated in the currently transmitted period of oneself from node Failure, it is described to send first message in the next transmission period of oneself from node；Host node receives sent out from node One message identifies that CAN bus is attacked.
Further, all positions of the identifier of first message are dominant bit.
Further, host node sends management frame with Fixed Time Interval or on-fixed time interval.
Further, the method is further comprising the steps of：Host node obtains newer from node listing；Host node according to Management frame is updated from node listing；Updated management frame is sent in next transmission period.
Further, the method is further comprising the steps of：Host node sends synchronization frame.
Further, the method is further comprising the steps of：After node receives management frame or synchronization frame, synchronised clock.
Compared with prior art, CAN bus communication means provided by the invention, has the advantages that：By each Message is sent from node in specified transmission period, identifies that CAN bus is attacked, sends out CAN bus by attack alarm, So as to timely processing, to ensure traffic safety.
Description of the drawings
Fig. 1 is the CAN bus communication system of one embodiment of the present of invention；
Fig. 2 is the transmission period schematic diagram from node；
Fig. 3 is that the schematic diagram of dummy message occur in the non-sent period；
Fig. 4 is that the schematic diagram of dummy message occur with the period is sent in the non-sent period.
Specific implementation mode
As shown in Figure 1, the CAN bus communication system of one embodiment of the present of invention is logical for the high-speed CAN bus in vehicle Letter system is mounted with host node in CAN bus and at least one from node.
In the present embodiment, host node is car body control module (Body control module, abbreviation in CAN bus ), BCM from node for example including engine management system (Engine manage system, EMS), gear box control unit (Transmission Control Unit, TCU), air bag control unit (Airbag control unit, ACU) are prevented Antilock brake system (Antilock brake system, ABS), tire pressure monitoring system (Tire pressure monitor System, TPMS) and combination instrument controller (Instrument cluster module, ICM).
High-speed CAN bus both ends need that terminal resistance is arranged, to prevent the reflection in bus termination, in the present embodiment, eventually End resistance is respectively arranged in BCM and ICM.
The CAN bus communication means that above-mentioned high-speed CAN bus communication system uses includes the following steps：Host node BCM hairs Send management frame, management frame it is specified each from the transmission period of node EMS, TCU, ACU, ABS, TPMS, ICM be respectively P1, P2, P3, P4, P5, P6, as shown in Fig. 2, S1 is carved at the beginning of a sending cycle；From node EMS, TCU, ACU, ABS, TPMS, ICM receives management frame；The transmission period of oneself is known from management frame from node EMS, TCU, ACU, ABS, TPMS, ICM, is sent out Device is sent only to send message in the transmission period of oneself, such as EMS only sends period transmission message in P1, ICM is only sent in P6 Period sends message；If host node BCM receives the message sent in the non-sent period, identify that CAN bus is attacked, The non-sent period refers to the period except all transmission periods (P1, P2, P3, P4, P5, P6) from node in sending cycle.
In the CAN communication system of the present embodiment, the transmission period specified in management frame is that system normally sends the period, is sent out It from the period of node sent except the period is the non-sent period to send all in the period, it is all from node only transmission at oneself when Message is sent in section, therefore does not have the message that the non-sent period sends out when system worked well in CAN bus.
If host node BCM receives the message M1 sent in the non-sent period, message M1 is certainly not sent out from node The message sent sends out CAN bus and is avoided so as to timely processing by attack alarm to identify that CAN bus is attacked Influence traffic safety.
As to how processing CAN bus attack is beyond the scope of this invention.
In another embodiment, CAN bus communication means is further comprising the steps of：Know it from management frame from node His the transmission period from node；The message sent in other transmission periods from node is only received from the receiver of node.
Such as from node ICM, know other from node EMS, TCU, ACU, ABS, TPMS, transmission period from management frame Respectively P1, P2, P3, P4, P5 only receive the message sent in P1, P2, P3, P4, P5 period, no from the receiver of node ICM Receive the message of other periods.Accordingly even when in other periods-non-sent period-there are the dummy message that attacker ATT is sent out, It will not be to being had an impact from node ICM, to ensure traffic safety.
In another embodiment, CAN bus communication means is further comprising the steps of：Know from management frame from node with Oneself relevant transmission period from node；It is each only received from the receiver of node relevant from when the transmission of node with oneself The message sent in section.
In practical applications, to be not each be required for receiving other all message from node from node, therefore from Node can only focus on it is relevant from node with oneself, that is, only receive sent out with oneself relevant transmission period from node The message sent.Accordingly even when in the non-sent period, there are the dummy messages that attacker ATT is sent, and/or unrelated with oneself from section There is the dummy message for attacking CAN bus in the period that sends of point, all will not be to being had an impact from node, to ensure traffic safety.
Such as TPMS, ACU is unrelated with TPMS, that is, TPMS does not need to receive the message that ACU is sent, this In the case of, it is attacked if existed there are the transmission period of attacker ATT the dummy message M1 and/or ACU sent out in the non-sent period The dummy message M2 that person ATT is sent out, as shown in figure 4, dummy message M2 wins in the P3 periods with the arbitration of the message of ACU, it can It transmits in CAN bus, but due to the message that TPMS does not receive ACU transmissions, TPMS will not be had an impact.
In this case, the slave node of only arbitration failure can recognize that CAN bus is attacked, in another reality It applies in example, CAN bus communication means is further comprising the steps of：If mistake is arbitrated in the currently transmitted period of oneself from node It loses, it is described to send first message in the next transmission period of oneself from node；Host node receives first sent out from node Message identifies that CAN bus is attacked.
As shown in figure 4, arbitrating failure in the currently transmitted period of oneself from node ACU, can know from node ACU at this time Do not go out CAN bus to be attacked, by sending first message in next transmission period, notifies host node BCM, host node BCM CAN bus is sent out by attack alarm.
All positions of the identifier of first message are dominant bit, to ensure that the when of being arbitrated can win, unless Attacker is also using same mark, to notify host node BCM：CAN bus is attacked.
In the present embodiment, host node sends management frame with Fixed Time Interval, from synchronised clock after node reception management frame.
In other examples, host node can also send management frame with on-fixed time interval, in this way can be to avoid Relevant management frame is found by monitoring CAN bus data, for example, by using the sequence of the time interval of all nodes sharings, As long as the transmission period of host node can be predicted.
In other examples, the method is further comprising the steps of：Host node obtains newer from node listing；It is main Node updates management frame according to from node listing；Updated management frame is sent in next transmission period.
In another embodiment, CAN bus communication means is further comprising the steps of：Host node sends synchronization frame.From section After point receives synchronization frame, synchronised clock.Using individual synchronization frame, the number of transmissions of management frame is reduced, avoids CAN bus as possible The monitored risk brought, to ensure traffic safety.
Although the present invention has been disclosed in the preferred embodiments as above, present invention is not limited to this.Any art technology Personnel, without departing from the spirit and scope of the present invention made by it is various change and modification, should all be included in the present invention protection model In enclosing, therefore protection scope of the present invention should be with claim limited range.

Claims (9)

  1. It is mounted with host node 1. a kind of CAN bus communication means, in CAN bus and at least one from node, which is characterized in that It the described method comprises the following steps：
    Host node sends management frame, and the management frame is specified each from the transmission period of node；
    Management frame is received from node；
    Know that the transmission period of oneself, transmitter only send message in the transmission period of oneself from management frame from node；
    If host node receives the message sent in the non-sent period, identify that CAN bus is attacked, the non-sent period is Refer to all periods sent except the period from node in sending cycle.
  2. 2. CAN bus communication means as described in claim 1, which is characterized in that the method is further comprising the steps of：
    Other transmission periods from node are known from management frame from node；
    The receiver from node only receives the message sent in other transmission periods from node.
  3. 3. CAN bus communication means as described in claim 1, which is characterized in that the method is further comprising the steps of：
    If failure is arbitrated in the currently transmitted period of oneself from node, it is described from node in the next transmission period of oneself Send first message；
    Host node receives the first message sent out from node, identifies that CAN bus is attacked.
  4. 4. CAN bus communication means as claimed in claim 2, which is characterized in that all positions of the identifier of first message For dominant bit.
  5. 5. CAN bus communication means as described in claim 1, which is characterized in that the method is further comprising the steps of：
    Know and oneself relevant transmission period from node from management frame from node；
    The message for each only receiving from the receiver of node and being sent in oneself relevant transmission period from node.
  6. 6. CAN bus communication means as described in claim 1, which is characterized in that host node is with Fixed Time Interval or non-solid It fixes time to be spaced and sends management frame.
  7. 7. CAN bus communication means as described in claim 1, which is characterized in that the method is further comprising the steps of：
    Host node obtains newer from node listing；
    Host node updates management frame according to from node listing；
    Updated management frame is sent in next transmission period.
  8. 8. CAN bus communication means as described in claim 1, which is characterized in that the method is further comprising the steps of：
    Host node sends synchronization frame.
  9. 9. the CAN bus communication means as described in claim 1 or 8, which is characterized in that the method is further comprising the steps of：
    After node receives management frame or synchronization frame, synchronised clock.
CN201810355677.5A 2018-04-19 2018-04-19 A kind of CAN bus communication means Pending CN108551416A (en)

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Application Number Priority Date Filing Date Title
CN201810355677.5A CN108551416A (en) 2018-04-19 2018-04-19 A kind of CAN bus communication means

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Application Number Priority Date Filing Date Title
CN201810355677.5A CN108551416A (en) 2018-04-19 2018-04-19 A kind of CAN bus communication means

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111245697A (en) * 2020-01-07 2020-06-05 深圳市蓝海华腾技术股份有限公司 Communication method and system of parallel bus, master station and slave station
WO2023025212A1 (en) * 2021-08-27 2023-03-02 北京车和家信息技术有限公司 Flashing method, apparatus and system for electronic control unit, and device and storage medium

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106125680A (en) * 2016-06-23 2016-11-16 北京东土科技股份有限公司 Industrial stokehold data safety processing method based on industry internet and device
CN107251491A (en) * 2016-01-18 2017-10-13 松下电器（美国）知识产权公司 Evaluating apparatus, evaluation system and evaluation method
CN107534560A (en) * 2015-10-09 2018-01-02 松下电器（美国）知识产权公司 Safety device, attack detection method and program
US20180091533A1 (en) * 2016-09-27 2018-03-29 Fujitsu Limited Attack detection device, attack detection method, and non-transitory computer-readable recording medium

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107534560A (en) * 2015-10-09 2018-01-02 松下电器（美国）知识产权公司 Safety device, attack detection method and program
CN107251491A (en) * 2016-01-18 2017-10-13 松下电器（美国）知识产权公司 Evaluating apparatus, evaluation system and evaluation method
CN106125680A (en) * 2016-06-23 2016-11-16 北京东土科技股份有限公司 Industrial stokehold data safety processing method based on industry internet and device
US20180091533A1 (en) * 2016-09-27 2018-03-29 Fujitsu Limited Attack detection device, attack detection method, and non-transitory computer-readable recording medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111245697A (en) * 2020-01-07 2020-06-05 深圳市蓝海华腾技术股份有限公司 Communication method and system of parallel bus, master station and slave station
WO2023025212A1 (en) * 2021-08-27 2023-03-02 北京车和家信息技术有限公司 Flashing method, apparatus and system for electronic control unit, and device and storage medium

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