CN109379232A - A kind of Controller Area Network BUS closing fault treating method and apparatus - Google Patents

A kind of Controller Area Network BUS closing fault treating method and apparatus Download PDF

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Publication number
CN109379232A
CN109379232A CN201811404388.6A CN201811404388A CN109379232A CN 109379232 A CN109379232 A CN 109379232A CN 201811404388 A CN201811404388 A CN 201811404388A CN 109379232 A CN109379232 A CN 109379232A
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China
Prior art keywords
bus
failure
duration
controller
reforestation practices
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CN201811404388.6A
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Chinese (zh)
Inventor
陆群
孙乃振
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CH Auto Technology Co Ltd
Beijing Changcheng Huaguan Automobile Technology Development Co Ltd
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Beijing Changcheng Huaguan Automobile Technology Development Co Ltd
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Priority to CN201811404388.6A priority Critical patent/CN109379232A/en
Publication of CN109379232A publication Critical patent/CN109379232A/en
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00Data switching networks
    • H04L12/28Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40Bus networks
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/06Management of faults, events, alarms or notifications
    • H04L41/0654Management of faults, events, alarms or notifications using network fault recovery
    • H04L41/0663Performing the actions predefined by failover planning, e.g. switching to standby network elements
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00Data switching networks
    • H04L12/28Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40Bus networks
    • H04L2012/40208Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215Controller Area Network CAN
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00Data switching networks
    • H04L12/28Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40Bus networks
    • H04L2012/40267Bus for use in transportation systems
    • H04L2012/40273Bus for use in transportation systems the transportation system being a vehicle

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

Abstract

Embodiment of the present invention discloses a kind of controller LAN (CAN) bus-off fault handling method and device.It include: to detect the bus-off failure of Vehicle Controller, and enter the first reforestation practices when failures are detected;In the first reforestation practices, stops sending CAN message according to the first duration and send CAN message to detect whether failure still remains after growing to when first;When it be not present, the first reforestation practices are exited;When still remaining, cycle detection enters the second reforestation practices when cycle-index reaches cycle-index threshold value;In the second reforestation practices, stops sending CAN message according to the second duration and send CAN message to detect whether failure still remains after growing to when second;When it be not present, the second reforestation practices are exited;When still remaining, cycle detection;Second duration is greater than the first duration.Embodiment of the present invention is handled differently chance failure and sustained fault, reduces handling duration.

Description

A kind of Controller Area Network BUS closing fault treating method and apparatus
Technical field
The present invention relates to automobile technical fields, more particularly, to a kind of controller LAN (CAN) bus-off failure Treating method and apparatus.
Background technique
Energy shortage, oil crisis and environmental pollution grow in intensity, and bring tremendous influence, direct relation to people's lives To the sustainable development of national economy and society.Countries in the world are all in active development new energy technology.Electric car is as a kind of Reduce the new-energy automobile of consumption of petroleum, low pollution, low noise, it is considered to be solve the important way of energy crisis and environmental degradation Diameter.Hybrid vehicle combines the advantage of pure electric automobile and traditional combustion engine automobile, is meeting vehicle dynamic quality requirement Under the premise of being required with continual mileage, effectively improve fuel economy, reduce discharge, it is considered to be current energy conservation with subtract One of active path of row.
CAN is one of most widely used fieldbus in the world.CAN is designed as the microcontroller in automotive environment Communication exchanges information between vehicle-mounted each electronic control unit ECU, forms electronic control network of automobile.Such as: engine management System, gearbox control, instrument are equipped, in electronics trunk system, insertion CAN control device.One is made of CAN bus Single network in, can theoretically mount numerous node.In practical application, electrical characteristic of the interstitial content by the network hardware It is limited.For example, allowing to mount 110 nodes in consolidated network when using P82C250 as CAN transceiver.CAN can be mentioned For being up to the message transmission rate of 1Mbit/s, this makes real-time control become very easy.In addition, the mistake calibrating characteristic of hardware Also enhance the anti-electromagnetic interference capability of CAN.
It is more than pre-determined number (such as 255 times) when wrong number occurs for controller, it will Trigger Bus closing fault (BUS-OFF) mistake.The general condition that BUS-OFF occurs is that CAN bus is interfered by ambient enviroment, and CAN transmitting terminal is caused to send Data to bus are judged as abnormal by BUS bus, and abnormal number is more than 255 times, and BUS bus is automatically set as BUS-OFF State, bus is in busy state at this time, and data can not send, can not also receive.In the prior art, when controller determine into When entering BUS-OFF state, controller is restarted at once, and transmission report is reattempted to after longer duration (for example, 200 milliseconds) Text.
However, this processing mode is not handled differently for chance failure with sustained fault, when leading to processing Longer, data communication restores slower.
Summary of the invention
The purpose of the present invention is to propose to a kind of CAN bus closing fault treating method and apparatus.
The technical solution of embodiment of the present invention is as follows:
A kind of CAN bus closing fault processing method, comprising:
The bus-off failure of Vehicle Controller is detected, and enters first when detecting bus-off failure and restores mould Formula;
In first reforestation practices, stops sending CAN message according to the first duration and send after growing to when first CAN message is to detect whether bus-off failure still remains;Wherein described first is exited when bus-off failure is not present Reforestation practices;When still remaining bus-off failure, circulation is described to be stopped sending CAN message and when first according to the first duration When grow to after send CAN message to detect whether bus-off failure still remains, until cycle-index reaches cycle-index door Enter the second reforestation practices when limit value;
In second reforestation practices, stops sending CAN message according to the second duration and send after growing to when second CAN message is to detect whether bus-off failure still remains;Wherein described second is exited when bus-off failure is not present Reforestation practices;When still remaining bus-off failure, circulation is described to be stopped sending CAN message and when second according to the second duration When grow to after send CAN message to detect whether bus-off failure still remains;When second duration is greater than described first It is long.
In one embodiment, the bus-off failure of the detection Vehicle Controller, and work as and detect bus-off Entering the first reforestation practices when failure includes:
Enabled Vehicle Controller sends controller LAN message to CAN bus;
When detecting that the lasting frequency of failure for sending CAN message reaches predetermined threshold, confirmation detects bus-off Failure.
In one embodiment, described first when it is 40 milliseconds a length of, the cycle-index threshold value is 5 times, described the A length of 200 milliseconds when two.
In one embodiment, the value range of first duration is [40 milliseconds, 50 milliseconds].
In one embodiment, the value range of second duration is [200 milliseconds, 1000 milliseconds].
A kind of CAN bus closing fault processing unit, comprising:
Detection module, for detecting the bus-off failure of Vehicle Controller, and when detecting bus-off failure into Enter the first reforestation practices;
First reforestation practices processing module sends CAN for stopping in first reforestation practices according to the first duration Message simultaneously sends CAN message after growing to when first to detect whether bus-off failure still remains;Wherein when there is no total First reforestation practices are exited when line closing fault;When still remaining bus-off failure, when described in circulation according to first It is long to stop sending CAN message and send CAN message after growing to when first to detect whether bus-off failure still remains, directly Enter the second reforestation practices when reaching cycle-index threshold value to cycle-index;
Second reforestation practices processing module sends CAN for stopping in second reforestation practices according to the second duration Message simultaneously sends CAN message after growing to when second to detect whether bus-off failure still remains;Wherein when there is no total Second reforestation practices are exited when line closing fault;When still remaining bus-off failure, when described in circulation according to second It is long to stop sending CAN message and send CAN message after growing to when second to detect whether bus-off failure still remains;Institute The second duration is stated greater than first duration.
In one embodiment, detection module sends CAN message to CAN bus for enabling Vehicle Controller;Work as inspection The lasting frequency of failure for sending CAN message is measured when reaching predetermined threshold, confirmation detects bus-off failure.
In one embodiment, described first when it is 40 milliseconds a length of, the cycle-index threshold value is 5 times, described the A length of 200 milliseconds when two.
In one embodiment, the value range of first duration is [40 milliseconds, 50 milliseconds].
In one embodiment, the value range of second duration is [200 milliseconds, 1000 milliseconds].
It can be seen from the above technical proposal that in embodiments of the present invention, detecting the bus-off event of Vehicle Controller Barrier, and enter the first reforestation practices when failures are detected;In the first reforestation practices, stop sending CAN according to the first duration Message simultaneously sends CAN message after growing to when first to detect whether failure still remains;When it be not present, the first recovery is exited Mode;When still remaining, cycle detection enters the second reforestation practices when cycle-index reaches cycle-index threshold value;? In second reforestation practices, stop sending CAN message according to the second duration and send CAN message after growing to when second to detect therefore Whether barrier still remains;When it be not present, the second reforestation practices are exited;When still remaining, cycle detection;Second duration is greater than First duration.As it can be seen that the first duration of the first reforestation practices of embodiment of the present invention is more of short duration, when the bus-off of generation When failure is chance failure, chance failure can be quickly handled.After chance failure is eliminated, based on the first more of short duration duration It can fast quick-recovery communication.
In addition, by the cycle count in the first reforestation practices of setting, when the bus-off failure of generation is sustained fault When, embodiment of the present invention, which ensure that, will not be constantly in the first reforestation practices, and be available with longer second duration Sustained fault is handled, so that reducing CAN message sends frequency, and reduces processing pressure.
Detailed description of the invention
Only illustratively description and explain the present invention for the following drawings, not delimit the scope of the invention.
Fig. 1 is the flow chart according to CAN bus closing fault processing method of the present invention.
Fig. 2 is the exemplary flow chart according to CAN bus closing fault processing method of the present invention.
Fig. 3 is the structure chart according to CAN bus closing fault processing unit of the present invention.
Specific embodiment
In order to which the technical features, objects and effects of invention are more clearly understood, the Detailed description of the invention present invention is now compareed Specific embodiment, identical label indicates identical part in the various figures.
It is succinct and intuitive in order to what is described, hereafter by describing several representative embodiments come to side of the invention Case is illustrated.A large amount of details is only used for helping to understand the solution of the present invention in embodiment.However, it will be apparent that of the invention Technical solution can be not limited to these details when realizing.In order to avoid unnecessarily having obscured the solution of the present invention, Yi Xieshi It applies mode not described meticulously, but only gives frame.Hereinafter, " comprising " refers to " including but not limited to ", " root According to ... " refer to " according at least to ..., but be not limited to according only to ... ".Due to the speech habits of Chinese, hereinafter without spy When not pointing out the quantity of an ingredient, it is meant that the ingredient is either one or more, or can be regarded as at least one.
In embodiments of the present invention, a kind of CAN bus closing fault processing strategie is provided.Bus-off can be directed to The chance failure of failure is handled differently with sustained fault, improves treatment effeciency.
Fig. 1 is the flow chart according to CAN bus closing fault processing method of the present invention.
As shown in Figure 1, this method comprises:
Step 101: detecting the bus-off failure of Vehicle Controller, and enter first when detecting bus-off failure Reforestation practices.
Preferably, the bus-off failure of Vehicle Controller is detected, and enters first when detecting bus-off failure Reforestation practices, which include: enabled Vehicle Controller, sends CAN message to CAN bus;When the lasting failure for detecting transmission CAN message When number reaches predetermined threshold, confirmation detects bus-off failure.
Preferably, predetermined threshold is preferably 255 times.Preferably, Vehicle Controller may be embodied as entire car controller (VCU), electronic control unit (Electrical Control Unit, ECU) or other kinds of Vehicle Controller.
The above demonstration describes the representative instance of predetermined threshold and Vehicle Controller, and those skilled in the art can anticipate Know, this description is only exemplary, is not intended to limit the present invention the protection scope of embodiment.
Step 102: in the first reforestation practices, stopping after sending CAN message and growing to when first according to the first duration CAN message is sent to detect whether bus-off failure still remains;Wherein first is exited when bus-off failure is not present Reforestation practices;When still remaining bus-off failure, circulation stops sending CAN message and when the first duration according to the first duration CAN message is sent after to detect whether bus-off failure still remains, until cycle-index reaches cycle-index threshold value When enter the second reforestation practices.
Step 103: in the second reforestation practices, stopping after sending CAN message and growing to when second according to the second duration CAN message is sent to detect whether bus-off failure still remains;Wherein second is exited when bus-off failure is not present Reforestation practices;When still remaining bus-off failure, circulation stops sending CAN message and when the second duration according to the second duration CAN message is sent after to detect whether bus-off failure still remains;Second duration is greater than the first duration.
As it can be seen that in embodiments of the present invention, after Vehicle Controller detects bus-off failure, initially entering first Reforestation practices, first reforestation practices can be understood as fast reforestation practices (Quick Recovery Mode).Restore mould first It in formula, enables to listen to mode, that is, stops externally sending message, it is non-after waiting the first more of short duration duration overtime to enable to listen to mould Formula allows externally to send message again, if there are still cycle count increases and is again introduced into enabled listen to bus-off failure Mode repeats this process, and the second reforestation practices are entered when cycle count reaches cycle-index thresholding, if in the process, always Line closing fault disappears, and communication recovery is normal, then without entering slow reforestation practices, the second reforestation practices can be understood as restoring slowly Mode (Slow Recovery Mode).
It is enabled to listen to mode into after the second reforestation practices, that is, stop externally sending message, waits longer second duration super Shi Hou, it is non-to enable to listen to mode, that is, allow externally to send message again.If there are still be again introduced into enabled bus-off failure Listen to mode.This process is repeated, until bus-off failure vanishes, communication recovery are normal.
As it can be seen that the first duration of the first reforestation practices is more of short duration, when the bus-off failure of generation is chance failure, Chance failure can quickly be handled.It, can fast quick-recovery communication based on the first more of short duration duration after chance failure is eliminated. Moreover, when the bus-off failure of generation is sustained fault, ensure that by the cycle count in the first reforestation practices of setting It will not be constantly in the first reforestation practices, and be available with longer second duration processing sustained fault, to reduce CAN message sends frequency, and reduces processing pressure.
In one embodiment, first when it is 40 milliseconds a length of, cycle-index threshold value is 5 times, second when a length of 200 milli Second.Preferably, the value range of the first duration is [40 milliseconds, 50 milliseconds].Preferably, the value range of the first duration is [200 Millisecond, 1000 milliseconds].
One example of embodiment of the present invention is described below.Fig. 2 is according to CAN bus closing fault of the present invention processing side The exemplary flow chart of method.
As shown in Fig. 2, this method comprises:
Step 201: Vehicle Controller detects bus-off failure.Herein, Vehicle Controller sends CAN to CAN bus Message;When detecting that the lasting frequency of failure for sending CAN message reaches predetermined threshold, confirmation detects bus-off event Barrier.For example, predetermined threshold is 255.
Step 202: Vehicle Controller enters fast reforestation practices, and wherein cycle count i is set as 0.
Step 203: Vehicle Controller judges whether cycle count i is less than or equal to 5, if it is then follow the steps 204 and its Subsequent step;It is no to then follow the steps 301 and its subsequent step.
Step 204: Vehicle Controller, which enters, to enable to listen to mode.It is listened in mode enabled, Vehicle Controller stops hair Send CAN message.
Step 205: enabled mode of listening to continues to T_Q_Mode time-out, and wherein T_Q_Mode is to make in fast reforestation practices The duration of mode can be listened to.Preferably, T_Q_Mode is 40ms~50ms.
Step 206: Vehicle Controller enables to listen to mode into non-, and Vehicle Controller starts to send CAN message.
Step 207: Vehicle Controller judges whether line closing fault still remains based on the CAN message that step 206 is sent, If it is cycle count i adds one, and returns to step 203 and its subsequent step;It is no to then follow the steps 208 and terminate this stream Journey.
Step 208: confirmation communication recovery is normal.
Step 301: Vehicle Controller enters slow reforestation practices.
Step 302: Vehicle Controller, which enters, to enable to listen to mode.It is listened in mode enabled, Vehicle Controller stops hair Send CAN message.
Step 303: enabled mode of listening to continues to T_S_Mode time-out, and wherein T_S_Mode is to make in slow reforestation practices The duration of mode can be listened to.Preferably, T_S_Mode is 200ms~300ms.
Step 304: Vehicle Controller enables to listen to mode into non-, and Vehicle Controller starts to send CAN message.
Step 305: Vehicle Controller judges whether line closing fault still remains based on the CAN message that step 304 is sent, If it is returning to step 302 and its subsequent step;It is no to then follow the steps 306 and terminate this process.
Step 306: confirmation communication recovery is normal.
Based on foregoing description, embodiment of the present invention also proposed CAN bus closing fault processing unit.
Fig. 3 is the structure chart according to CAN bus closing fault processing unit of the present invention.
As shown in figure 3, CAN bus closing fault processing unit includes:
Detection module 401, for detecting the bus-off failure of Vehicle Controller, and when detecting bus-off failure Into the first reforestation practices;
First reforestation practices processing module 402, for stopping sending according to the first duration in first reforestation practices Controller LAN message and send after being grown to when first controller LAN message with detect bus-off failure whether according to So exist;Wherein first reforestation practices are exited when bus-off failure is not present;When still remaining bus-off failure When, circulation is described to be stopped sending controller LAN message according to the first duration and sends controller local after growing to when first Network packet enters second to detect whether bus-off failure still remains when cycle-index reaches cycle-index threshold value Reforestation practices;
Second reforestation practices processing module 403, for stopping sending according to the second duration in second reforestation practices Controller LAN message and send after being grown to when second controller LAN message with detect bus-off failure whether according to So exist;Wherein second reforestation practices are exited when bus-off failure is not present;When still remaining bus-off failure When, circulation is described to be stopped sending controller LAN message according to the second duration and sends controller local after growing to when second Network packet is to detect whether bus-off failure still remains;Second duration is greater than first duration.
In one embodiment, detection module 401 are sent for enabling Vehicle Controller to Controller Area Network BUS Controller LAN message;When detecting that the lasting frequency of failure for sending controller LAN message reaches predetermined threshold, Confirmation detects bus-off failure.
In one embodiment, described first when it is 40 milliseconds a length of, the cycle-index threshold value is 5 times, described the A length of 200 milliseconds when two.
In one embodiment, the value range of first duration is [40 milliseconds, 50 milliseconds].
In one embodiment, the value range of second duration is [200 milliseconds, 1000 milliseconds].
In conclusion in embodiments of the present invention, detecting the bus-off failure of Vehicle Controller, and work as and detect event Enter the first reforestation practices when barrier;In the first reforestation practices, stop sending CAN message and when the first duration according to the first duration CAN message is sent after to detect whether failure still remains;When it be not present, the first reforestation practices are exited;When still remaining When, cycle detection enters the second reforestation practices when cycle-index reaches cycle-index threshold value;In the second reforestation practices, Stop sending CAN message according to the second duration and sends CAN message to detect whether failure still remains after growing to when second; When it be not present, the second reforestation practices are exited;When still remaining, cycle detection;Second duration is greater than the first duration.As it can be seen that First duration of the first reforestation practices of embodiment of the present invention is more of short duration, when the bus-off failure of generation is chance failure When, it can quickly handle chance failure.After chance failure is eliminated, quick-recovery it can be led to fastly based on the first more of short duration duration Letter.
In addition, by the cycle count in the first reforestation practices of setting, when the bus-off failure of generation is sustained fault When, embodiment of the present invention, which ensure that, will not be constantly in the first reforestation practices, and be available with longer second duration Sustained fault is handled, so that reducing CAN message sends frequency, and reduces processing pressure.
It should be noted that step and module not all in above-mentioned each process and each structure chart be all it is necessary, can To ignore certain steps or module according to the actual needs.Each step execution sequence be not it is fixed, can according to need into Row adjustment.The division of each module is intended merely to facilitate the division functionally that description uses, and in actual implementation, a module can It is realized with point by multiple modules, the function of multiple modules can also be realized by the same module, these modules can be located at same In a equipment, it can also be located in different equipment.
Hardware module in each embodiment mechanically or can be realized electronically.For example, a hardware module It may include that the permanent circuit specially designed or logical device (such as application specific processor, such as FPGA or ASIC) are specific for completing Operation.Hardware module also may include programmable logic device or circuit by software provisional configuration (as included general procedure Device or other programmable processors) for executing specific operation.Mechanical system is used as specific, or using dedicated permanent Property circuit, or hardware module is realized using the circuit (such as being configured by software) of provisional configuration, can according to cost and Consideration in duration determines.
The present invention also provides a kind of machine readable storage medium, storage is for making a machine execute side as described herein The instruction of method.Specifically, system or device equipped with storage medium can be provided, store in realization on the storage medium State the software program code of the function of any embodiment in embodiment, and make the system or device computer (or CPU or MPU the program code being stored in a storage medium) is read and executed.Further, it is also possible to be made by the instruction based on program code Operating system of hands- operation etc. is calculated to complete partly or completely practical operation.It can also will read from storage medium The expansion being connected to a computer is write in memory set in the expansion board in insertion computer or write to program code In the memory being arranged in exhibition unit, then the instruction based on program code makes to be mounted on expansion board or expanding element CPU etc. comes execution part and whole practical operations, to realize the function of any embodiment in above embodiment.
Storage medium embodiment for providing program code include floppy disk, hard disk, magneto-optic disk, CD (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), tape, non-volatile memory card and ROM.Selectively, It can be by communication network from download program code on server computer or cloud.
On can apply the invention in various types of new-energy automobiles, such as pure electric automobile, hybrid power vapour Vehicle, fuel cell car etc..
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically Protection scope that is bright, and being not intended to limit the invention, it is all without departing from equivalent embodiments made by technical spirit of the present invention or Change, such as the combination, segmentation or repetition of feature, should all be included in the protection scope of the present invention.

Claims (10)

1. a kind of Controller Area Network BUS closing fault processing method characterized by comprising
The bus-off failure of Vehicle Controller is detected, and enters the first reforestation practices when detecting bus-off failure;
In first reforestation practices, stop after sending controller LAN message and growing to when first according to the first duration Controller LAN message is sent to detect whether bus-off failure still remains;Wherein when bus-off failure is not present Exit first reforestation practices;When still remaining bus-off failure, circulation is described to be stopped sending control according to the first duration General ability domain processed network packet simultaneously sends controller LAN message after growing to when first whether still to detect bus-off failure In the presence of into the second reforestation practices when cycle-index reaches cycle-index threshold value;
In second reforestation practices, stop after sending controller LAN message and growing to when second according to the second duration Controller LAN message is sent to detect whether bus-off failure still remains;Wherein when bus-off failure is not present Exit second reforestation practices;When still remaining bus-off failure, circulation is described to be stopped sending control according to the second duration General ability domain processed network packet simultaneously sends controller LAN message after growing to when second whether still to detect bus-off failure In the presence of;Second duration is greater than first duration.
2. Controller Area Network BUS closing fault processing method according to claim 1, which is characterized in that
The bus-off failure of the detection Vehicle Controller, and enter the first reforestation practices when detecting bus-off failure Include:
Enabled Vehicle Controller sends controller LAN message to Controller Area Network BUS;
When detecting that the lasting frequency of failure for sending controller LAN message reaches predetermined threshold, confirmation detects bus Closing fault.
3. Controller Area Network BUS closing fault processing method according to claim 1, which is characterized in that described first 40 milliseconds of Shi Changwei, the cycle-index threshold value is 5 times, and described second when is 200 milliseconds a length of.
4. Controller Area Network BUS closing fault processing method according to claim 1, which is characterized in that described first The value range of duration is [40 milliseconds, 50 milliseconds].
5. Controller Area Network BUS closing fault processing method according to claim 4, which is characterized in that described second The value range of duration is [200 milliseconds, 1000 milliseconds].
6. a kind of Controller Area Network BUS closing fault processing unit characterized by comprising
Detection module for detecting the bus-off failure of Vehicle Controller, and enters the when detecting bus-off failure One reforestation practices;
First reforestation practices processing module sends controller for stopping in first reforestation practices according to the first duration Local network packet simultaneously sends controller LAN message after growing to when first to detect whether bus-off failure still remains; Wherein first reforestation practices are exited when bus-off failure is not present;When still remaining bus-off failure, circulation It is described to stop sending controller LAN message according to the first duration and send controller LAN message after growing to when first To detect whether bus-off failure still remains, enters second when cycle-index reaches cycle-index threshold value and restore mould Formula;
Second reforestation practices processing module sends controller for stopping in second reforestation practices according to the second duration Local network packet simultaneously sends controller LAN message after growing to when second to detect whether bus-off failure still remains; Wherein second reforestation practices are exited when bus-off failure is not present;When still remaining bus-off failure, circulation It is described to stop sending controller LAN message according to the second duration and send controller LAN message after growing to when second To detect whether bus-off failure still remains;Second duration is greater than first duration.
7. Controller Area Network BUS closing fault processing unit according to claim 6, which is characterized in that
Detection module sends controller LAN message to Controller Area Network BUS for enabling Vehicle Controller;Work as detection When reaching predetermined threshold to the lasting frequency of failure for sending controller LAN message, confirmation detects bus-off failure.
8. Controller Area Network BUS closing fault processing unit according to claim 6, which is characterized in that described first 40 milliseconds of Shi Changwei, the cycle-index threshold value is 5 times, and described second when is 200 milliseconds a length of.
9. Controller Area Network BUS closing fault processing unit according to claim 6, which is characterized in that described first The value range of duration is [40 milliseconds, 50 milliseconds].
10. Controller Area Network BUS closing fault processing unit according to claim 9, which is characterized in that described The value range of two durations is [200 milliseconds, 1000 milliseconds].
CN201811404388.6A 2018-11-23 2018-11-23 A kind of Controller Area Network BUS closing fault treating method and apparatus Pending CN109379232A (en)

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CN114228783A (en) * 2020-12-29 2022-03-25 长沙市轨道交通集团有限公司 Train brake control module, device and system, train, brake control method and readable storage medium

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