CN223231194U - Control devices and vehicles - Google Patents

Abstract

The embodiment of the application provides a control device. The control device comprises two interfaces and a processing module, wherein the two interfaces are respectively used for being connected to two signal wires of a Controller Area Network (CAN) bus, and the two interfaces are used for forming a CAN communication channel between the processing module and the CAN bus. The control device also comprises a circuit for connecting the two interfaces, wherein the circuit is provided with an impedance and a switch connected in series with the impedance. The processing module is used for controlling the switch connected with the impedance in series in the circuit to be closed when the control device is configured as a terminal node of the CAN bus, or controlling the switch connected with the impedance in series in the circuit to be opened when the control device is configured as a non-terminal node of the CAN bus. The embodiment of the application CAN be applied to intelligent automobiles or new energy automobiles, and CAN realize flexible configuration of the intelligent automobiles or new energy automobiles on the CAN bus without adjusting the hardware structure of the control device aiming at different automobile types, thereby reducing the cost and the management difficulty.

Description

Control device and vehicle

Technical Field

The present application relates to the field of vehicle technologies, and more particularly, to a control device and a vehicle.

Background

Because of the advantages of high performance and high reliability, the controller area network (controller area network, CAN) bus is widely used in various fields, such as vehicle-mounted communication.

As the variety of in-vehicle electronic devices increases, the design of the platform becomes a trend. For the parts suppliers, the same set of hardware, such as printed circuit board assemblies (printed circuit board assembly, PCBA), complete machines and the like, is adopted to match the requirements of different whole factories, so that the cost can be reduced, and the management difficulty can be simplified. However, in different vehicles, the same electronic component may correspond to different nodes of the CAN bus. The above situation results in the need for individual adaptation to different vehicle models.

Disclosure of utility model

The application provides a control device and a vehicle, which CAN realize flexible configuration of the control device on a CAN bus under the condition of not adjusting the hardware structure of the control device aiming at different vehicle types, and CAN reduce the cost and the management difficulty.

In a first aspect, a control device is provided. The control device comprises a first interface, a second interface and a processing module. The first interface is used for being connected to a first signal line of a Controller Area Network (CAN) bus, the second interface is used for being connected to a second signal line of the CAN bus, and the first interface and the second interface are used for forming a CAN communication channel between the processing module and the CAN bus. The control device further comprises a first circuit for connecting the first interface and the second interface, wherein a first impedance and a switch connected in series with the first impedance are arranged in the first circuit. The processing module is used for controlling a switch connected in series with the first impedance in the first circuit to be closed when the control device is configured as a terminal node of the CAN bus, or controlling the switch connected in series with the first impedance in the first circuit to be opened when the control device is configured as a non-terminal node of the CAN bus.

For example, taking the control device 300 as an example, the interfaces 301 and 302 may correspond to the first interface and the second interface, respectively, and may form a communication channel between the processing module 310 and the CAN bus, and the circuit 321 may correspond to the first circuit. For another example, taking the control device 400 as an example, the interface #1 and the interface #2 may correspond to the first interface and the second interface, respectively, the micro control unit (microcontroller unit, MCU) may correspond to the processing module, and the circuit 421 may correspond to the first circuit.

According to the application, the switch connected in series with the first impedance on the first circuit is controlled to be in the closed state, so that the first impedance is connected into the CAN bus to form the termination resistor, and the switch is controlled to be disconnected, so that the first impedance is prevented from being connected into the CAN bus. Because when the CAN bus is configured, terminal resistance is often required to be adapted to a terminal node, otherwise, the communication quality of the CAN bus (such as waveform distortion and the like) is affected, and therefore, for the same electronic component, the hardware structure of the same electronic component is often required to be adjusted to adapt to different vehicle types. Through the mode, the flexible arrangement of the control device on the CAN bus CAN be realized under the condition that the hardware structure of the control device is not required to be adjusted, and the communication quality of the CAN bus is guaranteed. For the control device, different vehicle types can be adapted through the same set of hardware structure, so that the cost can be reduced, and the management difficulty can be reduced.

In some possible implementations, the processing module may be configured to obtain a first identifier, where the first identifier is used to indicate whether the control device is configured as an end node of the CAN bus, and control a switch connected in series with the first impedance in the first circuit to be turned on or off according to the first identifier.

In the application, whether the control device is configured as the terminal node of the CAN bus is indicated by the first identifier, and the control device CAN automatically determine whether the first impedance is required to be connected into the CAN bus to form the terminal resistor. In particular, in the case that the development stage involves adjusting the positions and the number of nodes on the CAN bus, the node configuration process on the CAN bus CAN be greatly simplified by the above manner.

In some possible implementations, the first impedance may include a first resistor and a second resistor connected in series, and a ground capacitor may be disposed at a connection of the first resistor and the second resistor.

In the application, when the first impedance in the first circuit is formed by two resistors connected in series, the two resistors CAN form the terminal resistor of the CAN bus when being connected to the CAN bus, so that the waveform distortion of CAN signals CAN be reduced, and the grounding capacitor arranged at the joint of the two resistors CAN reduce the noise in the CAN signals and CAN effectively improve the quality of the CAN signals.

In some possible implementations, the switch in series with the first impedance may include a first switch that may be used to connect the first resistor and the first interface and a second switch that may be used to connect the second resistor and the second interface.

In some possible implementations, the processing module may be configured to obtain a voltage at a detection point, where the detection point may be located at a junction of the first resistor and the second resistor, and determine an operating state of the first switch and the second switch based on the voltage.

In the application, when the control device is configured as a terminal node of the CAN bus, the first switch and the second switch are in a closed state so that the first impedance is connected into the CAN bus to serve as a terminal resistor of the CAN bus, and when the control device is configured as a non-terminal node of the CAN bus, the switch connected in series with the first impedance in the first circuit is disconnected so as to prevent the first impedance from being connected into the CAN bus. If the first impedance is erroneously switched on or erroneously not switched on the CAN bus, the quality of the CAN signal will be affected. Based on the above mode, by determining the working states of the first switch and the second switch, whether the impedance in the first circuit is connected to the CAN bus or not CAN be determined, and fault detection in the CAN bus configuration process CAN be simplified.

In some possible implementations, the processing module may be configured to determine that the first switch and the second switch are operating properly when the voltage is at a first value, determine that the first switch is malfunctioning and the second switch is operating properly when the voltage is at a second value, or determine that the second switch is malfunctioning and the first switch is operating properly when the voltage is at a third value.

According to the application, the components with faults in the first switch and the second switch CAN be accurately positioned according to the voltage value, so that the quick response of the faults in the CAN bus configuration process is facilitated.

In a second aspect, a further control device is provided. The control device comprises a first interface, a second interface, a third interface, a fourth interface and a processing module. The first interface is used for being connected to a first signal line of a Controller Area Network (CAN) bus, the second interface is used for being connected to a second signal line of the CAN bus, and the first interface and the second interface are used for forming a first CAN communication channel between the processing module and the CAN bus. The third interface is used for being connected to the first signal line of the CAN bus, and the fourth interface is used for being connected to the second signal line of the CAN bus. The control device further comprises a first circuit for connecting the third interface and the fourth interface, the first circuit being provided with a first impedance.

For example, taking the control device 100 as an example, the interfaces 101 and 102 may correspond to a first interface and a second interface, respectively, may be used to form a communication channel between the processing module 110 and the CAN bus, the interfaces 103 and 104 may correspond to a third interface and a fourth interface, respectively, and the circuit 121 may correspond to a first circuit. For another example, taking the control device 200 as an example, the interfaces 201 and 202 may correspond to a first interface and a second interface, respectively, may be used to form a communication channel between the processing module 210 and the CAN bus, the interfaces 203 and 204 may correspond to a third interface and a fourth interface, respectively, and the circuit 221 may correspond to a first circuit.

In the present application, since the first circuit for connecting the third interface and the fourth interface is provided with the first impedance, the first impedance CAN be connected to the CAN bus and the termination resistor CAN be formed by connecting the third interface and the fourth interface to the CAN bus. By adjusting the connection relation between the interface of the control device and the CAN bus, the terminal resistor CAN be connected or disconnected to the CAN bus, and the flexible arrangement of the terminal resistor on the CAN bus CAN be realized without adjusting the hardware structure of the control device, thereby being beneficial to guaranteeing the communication quality of the CAN bus. The control device can adapt to different vehicle types through the same set of hardware structure, thereby reducing the cost and the management difficulty.

In some possible implementations, the control device may further include a second circuit for connecting the first interface and the second interface, and the second circuit may be provided with a second impedance.

For example, taking control device 100 as an example, circuit 122 may correspond to a second circuit. For another example, taking the control device 200 as an example, the circuit 222 may correspond to a second circuit.

In some possible implementations, the third interface may be connected to the first signal line and the fourth interface may be connected to the second signal line when the control device is configured as a terminal node of the CAN bus, or the third interface may be disconnected from the first signal line and the fourth interface may be disconnected from the second signal line when the control device is configured as a non-terminal node of the CAN bus.

In the application, when the control device is configured as the terminal node of the CAN bus, the impedance in the first circuit CAN be connected to the CAN bus to become the terminal resistance of the CAN bus by connecting the third interface and the fourth interface to the CAN bus, and when the control device is configured as the non-terminal node of the CAN bus, the impedance in the first circuit CAN be prevented from being connected to the CAN bus by disconnecting the third interface and the fourth interface from the CAN bus. By the method, the situation that the first impedance is wrongly accessed or wrongly not accessed to the CAN bus CAN be avoided, and the quality of CAN signals CAN be effectively improved under different arrangement modes.

In some possible implementations, when the control device is configured as a terminal node or a non-terminal node of the CAN bus, the third interface may be connected to the first signal line, and the fourth interface may be connected to the second signal line, and the third interface and the fourth interface may be used to form a second CAN communication channel between the processing module and the CAN bus.

Illustratively, taking the control device 200 as an example, the interfaces 201 to 204 may be respectively connected to signal lines corresponding to the CAN bus no matter whether the control device 200 is configured as a terminal node or a non-terminal node of the CAN bus, wherein two CAN communication channels may be provided between the processing module 210 and the CAN bus, the CAN channels formed by the interfaces 201 and 202 may correspond to a first CAN communication channel, and the communication channels formed by the interfaces 203 and 204 may correspond to a second CAN communication channel.

In the application, two CAN communication channels are arranged between the processing module and the CAN bus, which is beneficial for the control device to determine which CAN communication channel to use for communication with the CAN bus, and the node configuration process on the CAN bus CAN be simplified.

In some possible implementations, the processing module may be configured to communicate with the CAN bus via the second CAN communication channel when the control device is configured as a terminal node of the CAN bus, or to communicate with the CAN bus via the first CAN communication channel when the control device is configured as a non-terminal node of the CAN bus.

In the application, when the control device is configured as the terminal node of the CAN bus, the impedance in the first circuit does not influence the CAN signal of the first CAN communication channel, which is beneficial to guaranteeing the communication quality of the CAN bus, and when the control device is configured as the non-terminal node of the CAN bus, the control device is communicated with the CAN bus through the first CAN communication channel, and at the moment, the impedance in the first circuit CAN effectively improve the quality of the CAN signal.

In some possible implementations, the processing module may be configured to obtain a first identifier, where the first identifier is used to indicate whether the control device is configured as a terminal node of the CAN bus, and determine to communicate with the CAN bus through the first CAN communication channel or the second CAN communication channel according to the first identifier.

In the application, whether the control device is configured as the terminal node of the CAN bus is indicated by the first identifier, and the control device CAN determine which CAN communication channel is adopted to communicate with the CAN bus by itself. In particular, in the case that the positions and the number of the nodes on the CAN bus need to be adjusted in the development stage, the configuration process of the nodes on the CAN bus CAN be greatly simplified by the method.

In some possible implementations, the third interface may be adjacent to the first interface and/or the fourth interface may be adjacent to the second interface.

In the application, the plurality of interfaces for connecting with the same signal line are adjacently arranged, so that the length of a cable required for connecting the control device to the CAN bus is reduced, and the cost is reduced.

In some possible implementations, the first impedance may include a first resistor and a second resistor connected in series, and a connection between the first resistor and the second resistor may be provided with a ground capacitor.

In the application, when the first resistor and the second resistor in the first circuit are connected to the CAN bus, the first resistor and the second resistor CAN form the terminal resistor of the CAN bus, so that the waveform distortion of CAN signals CAN be reduced, the grounding capacitor CAN reduce the noise in the CAN signals, and the quality of the CAN signals CAN be effectively improved.

In a third aspect, a vehicle is provided, which may comprise the control device of the first or second aspect and any possible implementation thereof.

Drawings

Fig. 1 is a schematic diagram of a system architecture of a CAN bus according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a control device 100 according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a circuit according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an interface configuration provided in an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a control device 200 according to an embodiment of the present application;

Fig. 6 is a schematic structural diagram of a control device 300 according to an embodiment of the present application;

Fig. 7 is a schematic structural diagram of a control device 400 according to an embodiment of the present application;

Fig. 8 is a schematic block diagram of a vehicle 600 provided by an embodiment of the present application.

Detailed Description

The technical scheme of the application will be described below with reference to the accompanying drawings.

The CAN bus may use a serial protocol with two signal lines (e.g., twisted pair) for communication. The two signal lines may be denoted can_h and can_l, respectively. Differential signal transmission is possible via can_h and can_l, i.e. the signals on the two signal lines are in a differential relationship. Communication may be performed by representing a logical 0 and a logical 1, respectively, by a level difference on the two signal lines.

The system architecture of the CAN bus will be exemplarily described with reference to fig. 1 by taking a closed loop structure as an example.

The CAN bus may be provided with a plurality of nodes, such as node 1 to node n (n is a positive integer), as shown in fig. 1. A node may correspond to an electronic device, an electronic component, a control means. The node 1 and the node n may be referred to as terminal nodes, and the other nodes than the node 1 and the node n may be referred to as non-terminal nodes.

The network structure of the CAN bus CAN be divided into an open loop mechanism and a closed loop structure. In a closed loop configuration, a resistor may be provided at each termination node, as shown in fig. 1, which may be referred to as the termination resistor of the CAN bus, abbreviated as termination resistor. The terminal resistor CAN be matched with the impedance of the CAN bus, and the anti-interference capability of the CAN bus CAN be improved.

For example, a device (e.g., an electronic device, a control device, etc.) may correspond to different nodes on different CAN buses. For example, on the CAN bus of vehicle a, the device may correspond to node 1, while on the CAN bus of vehicle model B, the device may correspond to a non-terminal node such as node 2.

For the part manufacturer, the device may include two models (such as model a and model B), or while the device includes only one model, the hardware configuration thereof needs to be adjusted for different vehicle models. For example, in the hardware configuration of model a, a module for constituting a termination resistor that CAN be a termination resistor of a CAN bus when the model a is connected as a termination node to the CAN bus of model a may be included. For another example, in a model B hardware configuration, the above modules need not be included, and the model B CAN exist as a non-terminal node when connected to the CAN bus of the model B. For another example, in the case where the device includes only one model, it is necessary to add or remove the above-described module for constituting the termination resistor in the device to adapt to different vehicle models. Both of these situations result in higher costs and management difficulties.

It is assumed that the above-described module for constituting the termination resistance of the CAN bus is not provided in the apparatus. For the whole vehicle factory, when the device is configured as a terminal node of the CAN bus, a terminal resistor is additionally required to be additionally arranged for the CAN bus, and the device CAN be independently adapted according to different vehicle types.

In view of this, the embodiment of the application provides a control device, which CAN realize flexible configuration on a CAN bus for different vehicle types without adjusting the hardware structure of the control device, thereby reducing cost and management difficulty.

Exemplary, the embodiment of the application provides a control device. The control device may include a first interface, a second interface, a third interface, a fourth interface, and a processing module. The first interface may be for connection to a first signal line of a CAN bus and the second interface may be for connection to a second signal line of the CAN bus, the first interface and the second interface may be for constituting a first CAN communication channel between the processing module and the CAN bus. The third interface may be for connection to a first signal line of the CAN bus and the fourth interface may be for connection to a second signal line of the CAN bus. The control device may further comprise a first circuit for connecting the third interface and the fourth interface, the first circuit may be provided with a first impedance. For example, the first signal line of the CAN bus may be one of can_h and can_l, and the second signal line of the CAN bus may be the other of can_h and can_l. For another example, when the control device is configured as a termination node of the CAN bus, the first interface to the fourth interface may be connected to signal lines corresponding to the CAN bus, respectively, and in this case, the first impedance in the first circuit may be configured as a termination resistor. For another example, when the control device is configured as a non-terminal node of the CAN bus, the first interface and the second interface may be connected to the CAN bus, while the third interface and the fourth interface are left empty to disconnect them from the signal lines of the CAN bus.

In the embodiment of the application, the terminal resistor CAN be connected or disconnected to the CAN bus by adjusting the connection relation between each interface of the control device and the CAN bus, and the flexible arrangement of the terminal resistor on the CAN bus CAN be realized without adjusting the hardware structure of the control device. The control device can adapt to different vehicle types through the same set of hardware structure, thereby reducing the cost and the management difficulty.

The structure of the control device is exemplarily described below with reference to fig. 2 to 5.

Fig. 2 is a schematic structural diagram of a control device 100 according to an embodiment of the present application. The control device 100 may include an interface 101, an interface 102, an interface 103, and an interface 104. The control device 100 may also include a processing module 110. The interfaces 101 to 104 may correspond to the first interface to the fourth interface of the control device, respectively.

Interface 101 may be used to connect can_h and interface 102 may be used to connect can_l. The interface 101 and the interface 102 may be used to constitute a CAN communication channel between the processing module 110 and a CAN bus. For example, the processing module 110 may be connected to interfaces 101 and 102, and interfaces 101 and 102 may be connected to CAN_H and CAN_L, respectively, and the processing module 110 may communicate with the CAN bus via interfaces 101 and 102.

Interface 103 may be used to connect can_h and interface 104 may be used to connect can_l. The control device 100 may further comprise a circuit 121 for connecting the interface 103 and the interface 104. The circuit 121 may be provided with an impedance, which may be constituted by one to a plurality of resistors. For example, the impedance in the circuit 121 may be 120 ohms (Ω), 120.5 Ω, 120.6 Ω, or other values that may be about 120 Ω. The circuit 121 may correspond to a first circuit of the control device.

In one embodiment, in case the control device 100 is configured as a termination node of the CAN bus, the interfaces 103 and 104 may be connected to can_h and can_l, respectively, at which point the resistor in the circuit 121 may constitute a termination resistor.

In a further embodiment, in case the control device 100 is configured as a non-terminal node of the CAN bus, it may not be necessary to connect the interfaces 103 and 104 to can_h and can_l, respectively.

In some possible implementations, the control device 100 may also include circuitry 122 for connecting the interfaces 101 and 102. The circuit 122 may set an impedance, which may be comprised of one to a plurality of resistors. For example, the impedance in the circuit 122 may be 2600Ω, 2200 Ω. The impedance in the circuit 122 may also be determined according to actual requirements.

The manner in which the impedances in the circuits 121, 122 are set is exemplarily described below with reference to fig. 3.

As shown in (a) of fig. 3, a resistor #1 may be provided in the circuit #1. For example, assuming that the circuit #1 corresponds to the circuit 121, the resistance value of the resistor #1 may be 120.6Ω to constitute the impedance in the circuit 121. For another example, assuming that circuit #1 corresponds to circuit 122, the resistance of resistor #1 may be 2600Ω to constitute the impedance in circuit 122.

As shown in fig. 3 (b), a resistor #2 and a resistor #3 connected in series may be provided in the circuit #2, and the resistances of the resistor #2 and the resistor #3 may be the same or may be different. Further, in order to reduce noise in the CAN signal to effectively improve quality of the CAN signal, a junction of the resistor #2 and the resistor #3 may be provided with a ground capacitor. That is, one end of the capacitor may be provided at the junction of the resistor #2 and the resistor #3, and the other end of the capacitor may be connected to the ground line, as shown in (b) of fig. 3. The capacitance of the grounding capacitor can be set according to specific requirements.

In one embodiment, when the circuit 121 corresponds to the circuit #2, two resistors may be provided in the circuit 121. For example, assuming that the impedance in the circuit 121 is 120.6Ω, the circuit 121 may be connected in series with two resistors having a value of 60.3Ω. For another example, a grounding capacitor can be arranged at the connection position of the two resistors, and the capacitance value of the grounding capacitor can be 47nF.

In the embodiment of the application, when the impedance in the circuit 121 is formed by two resistors connected in series, the grounding capacitor is arranged at the connection position of the two resistors, and when the impedance in the circuit 121 is connected into the CAN bus to form the terminal resistor, the grounding capacitor CAN reduce noise in the CAN signal and CAN effectively improve the quality of the CAN signal.

In yet another embodiment, when the circuit 122 corresponds to the circuit #2, two resistors may be provided in the circuit 122. For example, assuming that the impedance in the circuit 122 is 2600Ω, the circuit 122 may be connected in series with two resistors having a resistance of 1300Ω, and a connection between the two resistors may be provided with a ground capacitor.

In some possible implementations, multiple interfaces on the control device 100 for connection with can_h may be adjacent and/or multiple interfaces for connection with can_l may be adjacent. The arrangement of interfaces 101 to 104 is exemplarily described below with reference to fig. 4.

For example, when the interfaces are arranged in a single row, the positional relationship of the interfaces 101 to 104 may be as shown in (a) of fig. 4, in which case the interfaces 101 and 103 for connection with can_h are adjacent, and the interfaces 102 and 104 for connection with can_l are adjacent. Also for example, when the interfaces are arranged in a double row manner, the positional relationship of the interfaces 101 to 104 may be as shown in (b) of fig. 4, in which case the interfaces 101 and 103 for connection with can_h are adjacent, and the interfaces 102 and 104 for connection with can_l are adjacent.

In the embodiment of the application, the plurality of interfaces connected with the same signal line are adjacently arranged, so that the length of the cable required when the control device is connected to the CAN bus CAN be reduced, and the cost is reduced.

The structure of the control device 100 is exemplified above with reference to fig. 2 and 3, and the structure of the control device 200 is exemplified below with reference to fig. 5.

Fig. 5 is a schematic structural diagram of a control device 200 according to an embodiment of the present application. The control device 200 may include interfaces 201 to 204. The control device 200 may also include a processing module 210. The interfaces 201 to 204 may correspond to the first to fourth interfaces of the control device, respectively.

Interface 201 may be used to connect can_h and interface 202 may be used to connect can_l. The interface 201 and the interface 202 may be used to constitute a CAN communication channel 0 (abbreviated as CAN channel 0) between the processing module 210 and the CAN bus. Interface 203 may be used to connect can_h and interface 204 may be used to connect can_l. The interface 203 and the interface 204 may be used to constitute a CAN communication channel 1 (abbreviated as CAN channel 1) between the processing module 210 and the CAN bus.

The control device 200 may further comprise a circuit 221 connecting the interface 203 and the interface 204. The circuit 221 is provided with an impedance, which may be implemented by one to a plurality of resistors. For example, the impedance in the circuit 221 may be 120Ω, 120.6Ω. The circuit 221 may correspond to a first circuit of the control device.

For example, the processing module 210 may be connected to interfaces 201 and 202, interfaces 201 and 202 may be connected to CAN_H and CAN_L, respectively, and the processing module 210 may communicate with the CAN bus via interfaces 201 and 202, i.e., via CAN channel 0. For another example, the processing module 210 may be connected to interfaces 203 and 204, interfaces 203 and 204 may be connected to CAN_H and CAN_L, respectively, and the processing module 210 may communicate with a CAN bus via the interfaces 203 and 204.

In one embodiment, when the control device 200 is configured as a non-terminal node of the CAN bus, interfaces 201 and 202 may be connected only to can_h and can_l without connecting interfaces 203 and 204 to the CAN bus, at which point the processing module 210 may communicate with the CAN bus via CAN channel 0 while CAN channel 1 of the control device 200 is empty. When the control device 200 is configured as a terminal node of the CAN bus, only the interfaces 203 and 204 may be connected to can_h and can_l without connecting the interfaces 201 and 202 to the CAN bus, at which time the processing module 210 may communicate with the CAN bus through CAN channel 1, while CAN channel 0 of the control device 200 is empty.

In yet another embodiment, the interfaces 201 to 204 may be connected to signal lines corresponding to the CAN bus, respectively, regardless of whether the control device 200 is configured as a terminal node or a non-terminal node of the CAN bus. Wherein, when the control device 200 is configured as a non-terminal node of the CAN bus, the processing module 210 CAN communicate with the CAN bus through the CAN channel 0, and when the control device 200 is configured as a terminal node of the CAN bus, the processing module 210 CAN communicate with the CAN bus through the CAN channel 1.

In some possible implementations, it may be indicated by the first identification whether a certain control device (such as the control device 200, the control devices 300, 400, etc., hereinafter) is configured as an end node of the CAN bus. For example, the processing module 210 may obtain the first identification, and based on the first identification, the processing module 210 may determine which of the CAN channels 0 and 1 to use for communication with the CAN bus. For another example, the control device may obtain the first identifier by means of hardware or software.

In one embodiment, the connection state of a certain pin of the control device may correspond to the first identifier. For example, when the pin is empty, it may be determined that the control device is configured as a non-terminal node, and when the pin is grounded, it may be determined that the control device is configured as a terminal node. Alternatively, the opposite arrangement may be used, for example, when the pin is grounded, the control device may be considered to be configured as a non-terminal node.

In yet another embodiment, the configuration file of the control device may include an identifier for indicating whether the control device is configured as a terminal node.

In the embodiment of the application, whether the control device is configured as the terminal node of the CAN bus is indicated by the first identifier, and the control device CAN determine which channel is adopted to communicate with the CAN bus by itself. In particular, in the case that the positions and the number of the nodes on the CAN bus need to be adjusted in the development stage, the configuration process of the nodes on the CAN bus CAN be greatly simplified by the method.

In some possible implementations, the control device 200 may also include circuitry 222 that connects the interface 201 and the interface 202. The circuit 222 is provided with an impedance, which may be implemented by one to a plurality of resistors. For example, the impedance in the circuit 222 may be 2600Ω, 2200 Ω.

In one embodiment, circuits 221 and/or 222 may correspond to circuit #1 shown in fig. 3 (a).

In yet another embodiment, the circuits 221 and/or 222 may correspond to the circuit #2 shown in (b) of fig. 3. For example, assuming that the impedance in the circuit 221 is 120.6Ω, the circuit 221 may be connected in series with two resistors having a value of 60.3Ω, and a connection between the two resistors may be provided with a ground capacitor. For another example, assuming that the impedance in the circuit 222 is 2600Ω, the circuit 222 may be connected in series with two resistors having a resistance of 1300Ω, and a ground capacitor may be disposed at the connection between the two resistors.

In some possible implementations, to reduce the length of the external cable, multiple interfaces on the control device 200 for connection with can_h may be adjacent and/or multiple interfaces for connection with can_l may be adjacent. For example, interfaces 201 and 203 for connection with CAN_H may be adjacent, and interfaces 202 and 204 for connection with CAN_L may be adjacent. For another example, in a single row arrangement, a double row arrangement, the arrangement of the interfaces 201 to 204 may be similar to the arrangement of the interfaces 101 to 104 shown in fig. 4.

The structure of a control device according to an embodiment of the present application is described above with reference to the control devices 100 and 200 of fig. 2 to 5. A further control device according to an embodiment of the present application is described below, and the structure thereof is exemplarily described with reference to fig. 6 and 7.

The control device may include, for example, a first interface, a second interface, and a processing module. The first interface may be used for connecting to a first signal line of a CAN bus, the second interface may be used for connecting to a second signal line of the CAN bus, and the first interface and the second interface are used for forming a CAN communication channel between the processing module and the CAN bus. The control device can further comprise a first circuit for connecting the first interface and the second interface, wherein the first circuit is provided with a first impedance and a switch connected with the first impedance in series. The processing module is used for controlling a switch connected in series with the first impedance in the first circuit to be closed when the control device is configured as a terminal node of the CAN bus, or controlling the switch connected in series with the first impedance in the first circuit to be opened when the control device is configured as a non-terminal node of the CAN bus.

In the embodiment of the application, the first impedance CAN be connected into the CAN bus to be used as a terminal resistor by controlling the switch connected with the first impedance in series on the first circuit to be closed, and the first impedance CAN be prevented from being connected into the CAN bus by controlling the switch connected with the first impedance in series on the first circuit to be opened. By this means, a flexible arrangement of the control device on the CAN bus CAN be achieved without adjusting the hardware structure of the control device. The control device can adapt to different vehicle types through the same set of hardware structure, thereby reducing the cost and the management difficulty.

The structure of the control device is exemplarily described below with reference to fig. 6 and 7.

Fig. 6 is a schematic structural diagram of a control device 300 according to an embodiment of the present application. The control device 300 may include an interface 301 and an interface 302. The control device 300 may also include a processing module 310. Wherein interfaces 301 and 302 may correspond to a first interface and a second interface of the control device, respectively.

Interface 301 may be used to connect can_h and interface 302 may be used to connect can_l. The interface 301 and the interface 302 may be used to constitute a CAN communication channel between the processing module 310 and the CAN bus. For example, the processing module 310 may be connected to interfaces 301 and 302, interfaces 101 and 102 may be connected to CAN_H and CAN_L, respectively, and the processing module 310 may be capable of communicating with a CAN bus via interfaces 301 and 302.

The control device 300 may further comprise a circuit 321 for connecting the interface 301 and the interface 302. The circuit 321 may be provided with an impedance, which may be constituted by one to a plurality of resistors. For example, the impedance in the circuit 321 may be 120Ω, 120.6Ω. The circuit 321 may correspond to a first circuit of the control device.

A switch, such as switch 322, may also be provided in circuit 321 in series with the impedance. For example, as shown in fig. 6, when the switch 322 is closed, the interface 301 can be electrically connected to the interface 302 through the circuit 321. For another example, the switch 322 may be controlled to open when the control device 300 is configured as a non-terminal node of the CAN bus. For another example, when the control device 300 is configured as a termination node of a CAN bus, the switch 322 may be controlled to close, in which case the impedance in the circuit 321 may constitute a termination resistance. For another example, the processing module 310 may obtain a first identification from which the switch 322 may be controlled to open or close. For the description of the first identifier, reference may be made to the relevant description in the control device 200.

In the embodiment of the present application, the first identifier indicates whether the control device is configured as a terminal node of the CAN bus, and the control device CAN determine whether the corresponding switch in the control circuit 321 is closed by itself. In particular, in the case that the positions and the number of the nodes on the CAN bus need to be adjusted in the development stage, the configuration process of the nodes on the CAN bus CAN be greatly simplified by the method.

Illustratively, the circuit 321 may be provided with reference to circuit #1 or circuit #2 shown in fig. 3. For example, only one resistor may be provided in the circuit 321 corresponding to the circuit # 1. For another example, corresponding to circuit #2, two resistors in series may be included in circuit 321, and a ground capacitor may be further disposed at the connection of the two resistors.

In the embodiment of the application, when the impedance in the circuit 321 is formed by two resistors connected in series, the grounding capacitor is arranged at the connection position of the two resistors, and when the impedance in the circuit is connected into the CAN bus to form the terminal resistor, the grounding capacitor CAN reduce noise in the CAN signal and CAN effectively improve the quality of the CAN signal.

In some possible implementations, the impedance in the circuit 321 may include two resistors in series, with a ground capacitance provided at the junction of the two resistors. In this scenario, the circuit 321 may be provided with two switches, one of which may be used to connect one resistor in the circuit with the interface 301 and the other of which may be used to connect the other resistor in the circuit with the interface 302. For example, both switches may be controlled to be closed when the control device 300 is configured as a terminal node of the CAN bus, and both switches may be controlled to be open when the control device 300 is configured as a non-terminal node of the CAN bus. For another example, a detection point may be provided at a junction of two resistors, and the operating states of the two switches may be determined by detecting the voltage at the junction of the two resistors. The manner in which the operating state of the switch is detected is exemplarily described below with reference to fig. 7.

Fig. 7 is a schematic structural diagram of a control device 400 according to an embodiment of the present application.

As shown in fig. 7, the control device 400 may include an MCU, which may communicate with the CAN bus through the interface #1 and the interface #2, and the circuit 421 may connect the interface #1 and the interface #2. The MCU may correspond to the processing module 310, the interface #1 and the interface #2 may correspond to the interfaces 301 and 302, respectively, and the circuit 421 may correspond to the circuit 321.

The circuit 421 may be connected in series with a resistor 1 and a resistor 2. One ends of the resistor 1 and the resistor 2 may be connected to each other, and the other ends may be connected to the interface #1 and the interface #2 through the switch 1 and the switch 2, respectively. The connection of the two resistors can be provided with a grounding capacitor. For example, switch 1 and/or switch 2 may be MOS transistor switches. For another example, assuming that the impedance in the circuit 421 is 120.6Ω, the resistances of the resistor 1 and the resistor 2 may each be 60.3Ω, and the capacitance of the ground capacitor may be 47nF.

The junction of resistance 1 and resistance 2 can set up the check point, and MCU can confirm whether the switch is normal through detecting the voltage here. For example, the operating states of switch 1 and switch 2 may include the case where switch 1 is closed and switch 2 is closed (denoted as case 1), switch 1 is closed and switch 2 is open (denoted as case 2), switch 1 is open and switch 2 is closed (denoted as case 3), switch 1 is open and switch 2 is open (denoted as case 4).

Illustratively, the voltages detected at the detection points may differ in different situations. From the detected voltages, it can be determined whether the switch 1 and the switch 2 are operating normally. For example, when the detected voltage value is a first value, the switch 1 and the switch 2 can be considered to operate normally, when the voltage value is a second value, the switch 1 can be considered to be faulty but the switch 2 is normal, when the voltage value is a third value, the switch 1 can be considered to operate normally but the switch 2 is faulty, and when the voltage value is a fourth value, the switch 1 and the switch 2 can be considered to be faulty. For another example, the switch may be considered to operate normally when configured as a terminal node and may operate normally when configured as an open terminal node.

Let the voltage of can_h be 3V and the voltage of can_l be 0.5V. For example, when the detected voltage is 2.5V, it can be determined that the switch 1 and the switch 2 are in the case #1. For another example, when the detected voltage is 3V, it may be determined that switch 1 is closed and switch 2 is open, i.e., switch 1 and switch 2 are in case #2. For another example, when the detected voltage is 0.5V, it may be determined that switch 1 is open and switch 2 is closed, i.e., switch 1 and switch 2 are in case #3. For another example, when the detected voltage is 0V, it may be determined that both switch 1 and switch 2 are open, i.e., switch 1 and switch 2 are in case #4.

In one embodiment, in case the device 400 is configured as a terminal node of a CAN bus, switch 1 and switch 2 should be in case 1. For example, when switch 1 and switch 2 are in case #1, switch 1 and switch 2 both work normally, when switch 1 is closed and switch 2 is open (i.e., switch 1 and switch 2 are in case #2 described above), switch 1 works normally but switch 2 fails, when switch 1 is open and switch 2 is closed (i.e., switch 1 and switch 2 are in case # 3), switch 1 works normally but switch 2 works normally, and when switch 1 and switch 2 are both open (i.e., switch 1 and switch 2 are in case # 4), switch 1 and switch 2 both fail. That is, in this scenario, a voltage value of 2.5V may correspond to a first value, a voltage value of 0.5V may correspond to a second value, a voltage value of 3V may correspond to a third value, and a voltage value of 0V may correspond to a fourth value.

In yet another embodiment, where the apparatus 400 is configured as a non-terminal node of a CAN bus, switch 1 and switch 2 should be in case 4. For example, when switch 1 and switch 2 are both open (i.e., switch 1 and switch 2 are in case # 4), switch 1 and switch 2 are both operating normally, when switch 1 is open and switch 2 is closed (i.e., switch 1 and switch 2 are in case # 3), switch 1 is operating normally but switch 2 is malfunctioning, when switch 1 is closed and switch 2 is open (i.e., switch 1 and switch 2 are in case # 2), switch 1 is malfunctioning but switch 2 is operating normally, and when switch 1 and switch 2 are in case #1, switch 1 and switch 2 are both malfunctioning. That is, in this scenario, the voltage value 0V may correspond to a first value, the voltage value 3V may correspond to a second value, the voltage value 0.5V may correspond to a third value, and the voltage value 2.5V may correspond to a fourth value.

In a practical scenario, the impedance in the circuit 421 may be erroneously switched on or erroneously not switched on the CAN bus, which may affect the quality of the CAN signal. In the embodiment of the application, the working states of the switch 1 and the switch 2 are determined according to the detected voltage, so that whether the impedance in the circuit 421 is connected to the CAN bus CAN be determined, and the fault detection in the CAN bus configuration process CAN be simplified. Further, since the switch 1 and the switch 2 are in different working states and CAN correspond to different voltage values, accurate positioning of the switch faults CAN be achieved, and rapid coping of faults existing in the CAN bus configuration process is facilitated.

The structure of the control device in the embodiment of the present application is exemplarily described above with reference to fig. 2 to 7.

The embodiment of the application also provides a vehicle, which can comprise any control device.

Fig. 8 is a functional block diagram representation of a vehicle 600 provided in an embodiment of the present application. The vehicle 600 may include a perception system 620 and a computing platform 650, wherein the perception system 620 may include one or more sensors that sense information regarding the environment surrounding the vehicle 600. For example, the perception system 620 may include a positioning system, which may be a global positioning system (global positioning system, GPS), a Beidou system, or other positioning system. The perception system 620 may also include one or more of inertial measurement units (inertial measurement unit, IMU), lidar, millimeter wave radar, ultrasonic radar, and camera devices.

Some or all of the functions of the vehicle 600 may be controlled by the computing platform 650. The computing platform 650 may include one or more processors, such as processors 651-65 n (n being a positive integer), which are circuits with signal processing capabilities, in one implementation, which may be circuits with instruction reading and execution capabilities, such as a central processing unit (central processing unit, CPU), microprocessor, graphics processor (graphics processing unit, GPU) (which may be understood as a microprocessor), or digital signal processor (DIGITAL SIGNAL processor, DSP), etc., and in another implementation, which may implement a function through the logical relationship of hardware circuits, which may be fixed or reconfigurable, such as hardware circuits implemented by application-specific integrated circuits (ASICs) or programmable logic devices (programmable logic device, PLDs), such as field programmable gate arrays (field programmable GATE ARRAY, FPGAs). In the reconfigurable hardware circuit, the processor loads the configuration document, and the process of implementing the configuration of the hardware circuit may be understood as a process of loading instructions by the processor to implement the functions of some or all of the above units. Furthermore, a hardware circuit designed for artificial intelligence may be also be considered as an ASIC, such as a neural network processing unit (neural network processing unit, NPU), tensor processing unit (tensor processing unit, TPU), deep learning processing unit (DEEP LEARNING processing unit, DPU), etc. In addition, computing platform 650 may also include memory for storing instructions that some or all of processors 651-65 n may call for to implement corresponding functions.

It should be understood that the division of the units in the above apparatus is only a division of a logic function, and may be fully or partially integrated into one physical entity or may be physically separated. All units of the above device may be realized in the form of processor calling software, or in the form of hardware circuits, or in part in the form of processor calling software, and in the rest in the form of hardware circuits.

In a specific implementation, the processing modules 110, 210, 310 may be implemented by at least one processor or processor-related circuit. In an example, the control device 100, 200, 300, 400 may be a computing platform 650, or may be a chip or a processor disposed in the computing platform 650. In yet another example, the control device 100, 200, 300, 400 may be a control device such as a controller in the sensing system 620, or an electronic device including the controller.

The vehicle related in the embodiment of the application is a vehicle in a broad concept, and can be a transportation tool (such as a commercial vehicle, a passenger vehicle, a motorcycle, an aerocar, a train and the like), an industrial vehicle (such as a forklift, a trailer, a tractor and the like), an engineering vehicle (such as an excavator, a soil-pushing vehicle, a crane and the like), agricultural equipment (such as a mower, a harvester and the like), recreation equipment, a toy vehicle and the like. For example, the vehicles in the present application may include pure ELECTRIC VEHICLE/battery ELECTRIC VEHICLE, pure EV/battery EV, hybrid ELECTRIC VEHICLE, HEV, range extended ELECTRIC VEHICLE, REEV, plug-in hybrid ELECTRIC VEHICLE, PHEV, new energy vehicle (NEW ENERGY VEHICLE, NEV), etc.

The detailed description of the above embodiments and the accompanying drawings are intended to illustrate the principles of the application and are not intended to limit the scope of the application, i.e., the application is not limited to the embodiments described.

The terms "first" and "second" in the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" means two or more.

The term "and/or" in the present application is merely an association relation describing the association object, and indicates that three kinds of relations may exist, for example, a and/or B may indicate that a exists alone, while a and B exist together, and B exists alone. In the present application, the character "/" generally indicates that the front and rear related objects are an or relationship.

The terms "about", "approximately" or "approximately" as used in the embodiments of the present application include the values stated as well as average values within the acceptable deviation ranges of the particular values as determined by one of ordinary skill in the art in view of the measurement in question and the errors associated with the measurement of the particular quantities, i.e., limitations of the measurement system.

In the several embodiments provided in the present application, it should be understood that the above-described embodiments are merely illustrative, and for example, the division of the modules is merely a logic function division, and there may be other division manners in which a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided by the present application, it should be understood that the disclosed systems and apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (15)

1. A control device (300), characterized in that the control device (300) comprises a first interface (301), a second interface (302) and a processing module (310),

The first interface (301) is used for being connected to a first signal line of a Controller Area Network (CAN) bus, the second interface (302) is used for being connected to a second signal line of the CAN bus, and the first interface (301) and the second interface (302) are used for forming a CAN communication channel between the processing module (310) and the CAN bus;

The control device (300) further comprises a first circuit (321) for connecting the first interface (301) and the second interface (302), wherein a first impedance and a switch (322) connected in series with the first impedance are arranged in the first circuit (321);

The processing module (310) is configured to:

when the control device (300) is configured as a terminal node of the CAN bus, the switch (322) in the first circuit (321) connected in series with the first impedance is controlled to be closed, or,

When the control device (300) is configured as a non-terminal node of the CAN bus, the switch (322) connected in series with the first impedance in the first circuit (321) is controlled to be opened.

2. The control device (300) according to claim 1, wherein the processing module (310) is configured to:

Acquiring a first identifier, wherein the first identifier is used for indicating whether the control device (300) is configured as a terminal node of the CAN bus;

The switch (322) connected in series with the first impedance in the first circuit (321) is controlled to be closed or opened according to the first identifier.

3. The control device (300) according to claim 1 or 2, characterized in that,

The first impedance comprises a first resistor and a second resistor which are connected in series, and a grounding capacitor is arranged at the joint of the first resistor and the second resistor.

4. A control device (300) according to claim 3, characterized in that the switch (322) in series with the first impedance comprises a first switch for connecting the first resistor and the first interface (301) and a second switch for connecting the second resistor and the second interface (302).

5. The control device (300) according to claim 4, wherein the processing module (310) is configured to:

Acquiring voltage at a detection point, wherein the detection point is positioned at the joint of the first resistor and the second resistor;

and determining the working states of the first switch and the second switch according to the voltage.

6. The control device (300) according to claim 5, wherein the processing module (310) is configured to:

When the voltage is a first value, determining that the first switch and the second switch work normally;

When the voltage is at a second value, determining that the first switch is malfunctioning and the second switch is functioning properly, or,

And when the voltage is a third value, determining that the second switch is faulty and the first switch works normally.

7. A control device (100, 200), characterized in that it comprises a first interface (101, 201), a second interface (102, 202), a third interface (103, 203), a fourth interface (104, 204) and a processing module (110, 210),

-The first interface (101, 201) is for connection to a first signal line of a controller area network, CAN, bus, the second interface (102, 202) is for connection to a second signal line of the CAN bus, the first interface (101, 201) and the second interface (102, 202) are for constituting a first CAN communication channel between the processing module (110, 210) and the CAN bus;

-the third interface (103, 203) is for connection to the first signal line and the fourth interface (104, 204) is for connection to the second signal line;

The control device (100, 200) further comprises a first circuit (122, 222) for connecting the third interface (103, 203) and the fourth interface (104, 204), the first circuit being provided with a first impedance.

8. The control device (100, 200) according to claim 7, wherein the control device (100, 200) further comprises a second circuit (121, 221) for connecting the first interface (101, 201) and the second interface (102, 202), the second circuit (121, 221) being provided with a second impedance.

9. The control device (100) according to claim 7 or 8, characterized in that,

When the control device (100) is configured as a terminal node of the CAN bus, the third interface (103) is connected with the first signal line and the fourth interface (104) is connected with the second signal line, or,

At the control device (100) configured as a non-terminal node of the CAN bus, the third interface (103) is disconnected from the first signal line and the fourth interface (104) is disconnected from the second signal line.

10. The control device (200) according to claim 7 or 8, characterized in that,

When the control device (200) is configured as a terminal node or a non-terminal node of the CAN bus, the third interface (203) is connected with the first signal line, and the fourth interface (204) is connected with the second signal line;

the third interface (203) and the fourth interface (204) are configured to form a second CAN communication channel between the processing module (210) and the CAN bus.

11. The control device (200) according to claim 10, wherein the processing module (210) is configured to:

When the control device (200) is configured as a terminal node of the CAN bus, it communicates with the CAN bus via the second CAN communication channel, or,

When the control device (200) is configured as a non-terminal node of the CAN bus, it communicates with the CAN bus via the first CAN communication channel.

12. The control device (200) according to claim 10, wherein the processing module (210) is configured to:

Acquiring a first identifier, wherein the first identifier is used for indicating whether the control device (200) is configured as a terminal node of the CAN bus;

And according to the first identification, determining to communicate with the CAN bus through the first CAN communication channel or the second CAN communication channel.

13. The control device (100, 200) according to claim 7 or 8, characterized in that,

The third interface (103, 203) being adjacent to the first interface (101, 201), and/or,

The fourth interface (104, 204) is adjacent to the second interface (102, 202).

14. The control device (100, 200) according to claim 7 or 8, characterized in that,

The first impedance comprises a first resistor and a second resistor which are connected in series, and a grounding capacitor is arranged at the joint of the first resistor and the second resistor.

15. A vehicle comprising a control apparatus according to any one of claims 1 to 14.