CAN协议车载网络若干关键理论研究
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摘要
安全、节能、环保以及汽车智能化的需求推动了汽车电子技术飞速发展,网络化成为近年来汽车电子领域最为重要的发展趋势。车载网络是基于分布式控制理念采用数字化网络作为汽车电子系统互连的手段,实现汽车控制系统的高效集成、实时协作以及可靠的综合性能监控,是汽车电子系统网络化设计的平台、汽车智能化的关键。控制器局域网络CAN协议是最先被国际ISO组织标准化的车载网络协议,是汽车电子系统互连最为有效的手段之一。因此深入研究CAN协议车载网络的关键理论及其应用对于汽车进一步电子化、网络化、智能化具有十分重要的技术意义和经济意义。
CAN总线已经成为当今最成功的车载网络标准,被广泛应用于现代汽车控制中,但由于汽车应用环境的复杂性,CAN协议车载网络的安全(容错)性、实时性、可靠性以及带宽资源利用能力至今仍未能满足实际要求与发展需要。因此,除解决汽车强电磁干扰问题和网络本身电气故障外,如何提高网络的高效集成、如何针对不同应用设计网络调度算法提高网络实时性与灵活性、如何分析网络性能以保证网络可调度性与可靠性、如何提高带宽资源利用率,以及如何实现网络分析方法的可视化等问题都是CAN协议车载网络有待深入研究和解决的关键理论问题。
本文开展了CAN协议车载网络若干关键理论及其应用的研究,取得了一下成果：
1.车载网络系统的开发是一个分布式系统工程问题,涉及到节点开发、系统集成,信息交换、时间同步、功能协作和成本等多方面的因素,而且这些因素之间互相影响和制约。本文在分析现场总线集成理论基础上,提出了基于CAN协议的多层次车载网络集成策略,并在文献所提的总线级系统开发流程基础上,进一步提出了CAN协议车载网络级系统V字型系统工程开发方法,完善了整车网络级系统的系统集成策略。
2.面对汽车车身电子系统网络要求高扩展灵活性,高带宽资源利用效率和软实时特性,对比研究了单信号帧装载与组合信号帧装载RM调度算法方案,并针对经典RMA分析指标不具备评价网络扩展灵活性指标问题,提出扩展灵活性因子,理论分析和仿真实验证明了组合信号帧装载RM调度可扩展灵活性、带宽资源可利用裕度、信息实时性均优于单信号帧装载方案。
3.面对汽车动力传动系统网络要求严格实时协同、闭环时间触发以及高速容错特性,针对经典CAN方案不具备时间触发功能导致的信息协同能力差、传输不具有确定性、容错性差等问题,研究了时间触发的CAN (TTCAN)方案,并针对TTCAN系统矩阵构建多维复杂性问题,提出基于调度表的AL调度算法；进一步针对闭环时间触发应用,提出周期最糟糕抖动评价指标,经对比验证了所提方案在周期性信息传输确定性、实时性、容错性以及带宽资源利用方面优于经典CAN方案。
4.在3、4研究工作基础上,面对汽车整车网络不同应用,分别研究了单一TTCAN网络方案和CAN-TTCAN双网组网方案,针对前者提出混合调度算法及相应分析理论,针对后者提出分网调度策略,并导出了相应性能分析方案,理论分析结果表明单一TTCAN网络调度能力强,资源利用率高,集成度好；双网方案结构信息间冲突机率小、成本较低。
5.针对经典CAN协议扩展灵活性好、传输确定性差,TTCAN传输确定性强、灵活性差此类不平衡问题,为结合两方案优点,本文深入研究了柔性时间触发CAN(FTTCAN)协议原理,引入动态规划概念,设计了基于规划的调度策略,通过理论分析和实验验证了该方案在保证信息传输实时性能的前提下,具有扩展灵活性和确定性兼顾的平衡性、综合性特点。
6.针对调度算法及性能分析理论过于复杂、难以应用问题,本文采用了可视化技术,针对经典RMA递推复杂性问题,推导出等效单步递推关系式,采用Matlab设计了可视化分析软件。汽车信息综合监控系统由于集成了多种信息的采集、处理和传送,传统的分立系统很难实现。针对此情况,本文设计了基于CAN网络互联的分布式结构,并采用上诉可视化分析软件分析了基于DM算法的网络性能,并依据上诉所提V字型开发策略,设计了实验测试系统,通过仿真和实际实验系统运行验证了该方案的优越性。
Safety、energy conservation、environmental protection and automotive intelligentizing are the driving factors of automotive electronics development. Networked vehicle becomes the main trend of vehicle field in recent years. Automotive network is the platform of automotive electrical system and integration design, and also the key of automotive intelligentizing. Researches on automotive network theories based on CAN protocol have the aim of interlinking automotive electrical systems by the work, realizing the high efficiency integration of automotive electric controlling system、real-time cooperation and dependable comprehensive controlling. These researches have profound significances on technology and economy.
Till now CAN have already become the most successful standard of automotive network. But concerning the complicated vehicle utilization environment, there remains demanding on security、real-time、reliability and bandwidth resources utilization ability of CAN protocol network. Besides vehicle high-electromagnetism interference environment and network fault, the problems need to coped with that how to efficiently integrate the network, how to design scheduling algorithm to improve real-time and flexible ability of various requirement, how to ensure dependability by real time analysis, how to improve bandwidth resource utilization,how to carry out visual software of analysis still exist.
In this thesis, the research of certain key theories of CAN protocol for automotive network is developed and the engineering applications of those theories are explored. The works are as follows:
1. Automotive network development is project of system engineering, relating factors including node design, system integration, communication, time synchronization, function cooperation and cost. In this thesis, after analyzing integrated theories of fieldbus, the integration policy of automotive integrated network based on CAN protocol is proposed, and'V'development model is improved for automotive network system.
2. For higher flexible, more efficient and soft real time of automotive body electronic network system, comparing of single-signal frame and group-signal frame with RM scheduling algorithm is researched, and flexible factor is proposed to improve the flaw of RMA. The contrast analysis and simulation show that the group-signal frame is superior in flexibility, bandwidth utilizing margin and real time.
3. For hard real time, closed loop time trigger and fault tolerate of automotive power drive network system, time-triggered CAN (TTCAN) is analyzed to instead of CAN that is not good at cooperating, determinism and fault tolerate because of inability to time trigger. Then schedule based AL scheduling algorithm is proposed to construct the system matrix of TTCAN, and the worst jitter criterion is proposed to apply to time trigger service. The contrast result shows TTCAN scheme is superior to CAN scheme for periodical messages in determinism, real time, fault tolerate and bandwidth resource utilization.
4. For various applications of automotive whole networks, two schemes that single-TTCAN network and CAN-TTCAN based two-network network, are respectively researched. Mixed scheduling algorithm and analysis theories are proposed for the front, and two-network scheduling policy and relating analysis scheme are proposed for the latter. The analysis results show that the single-TTCAN network is superior in schedule ability, utilization, integration, and two-network network is superior in collision rate and cost.
5. Aiming at imbalance question that CAN protocol is not determinate but flexible, TTCAN is not flexible but determinate, in this thesis, flexible time trigger CAN (FTTCAN) is researched, dynamic programming conception is imported. And scheduling plicy based on programming is designed. Analysis and experiment results show the scheme is not only real time but also flexible and determinate.
6. for the question that CAN protocol based schedule algorithm and analyzing theory are too complicated to apply, visual technology is adopted to design visual analysis software, and single-step-recurrence relation (SSRR) expressions are deduced to simple the complicacy of RMA recurrence algorithm. And because automotive integration-message watch-control system implements various messages sampling, computing and interchanging, sporadic traditional system cannot support the reqiuement. In the thesis a distributing configuration based on CAN protocol is designed, DM scheduling algorithm is used to schedule network and analyzed by the designed analysis software. And an experiment and test system is designed according to V development model. The simulation and experiment results testify the superiority of the scheme.
CAN总线已经成为当今最成功的车载网络标准,被广泛应用于现代汽车控制中,但由于汽车应用环境的复杂性,CAN协议车载网络的安全(容错)性、实时性、可靠性以及带宽资源利用能力至今仍未能满足实际要求与发展需要。因此,除解决汽车强电磁干扰问题和网络本身电气故障外,如何提高网络的高效集成、如何针对不同应用设计网络调度算法提高网络实时性与灵活性、如何分析网络性能以保证网络可调度性与可靠性、如何提高带宽资源利用率,以及如何实现网络分析方法的可视化等问题都是CAN协议车载网络有待深入研究和解决的关键理论问题。
本文开展了CAN协议车载网络若干关键理论及其应用的研究,取得了一下成果：
1.车载网络系统的开发是一个分布式系统工程问题,涉及到节点开发、系统集成,信息交换、时间同步、功能协作和成本等多方面的因素,而且这些因素之间互相影响和制约。本文在分析现场总线集成理论基础上,提出了基于CAN协议的多层次车载网络集成策略,并在文献所提的总线级系统开发流程基础上,进一步提出了CAN协议车载网络级系统V字型系统工程开发方法,完善了整车网络级系统的系统集成策略。
2.面对汽车车身电子系统网络要求高扩展灵活性,高带宽资源利用效率和软实时特性,对比研究了单信号帧装载与组合信号帧装载RM调度算法方案,并针对经典RMA分析指标不具备评价网络扩展灵活性指标问题,提出扩展灵活性因子,理论分析和仿真实验证明了组合信号帧装载RM调度可扩展灵活性、带宽资源可利用裕度、信息实时性均优于单信号帧装载方案。
3.面对汽车动力传动系统网络要求严格实时协同、闭环时间触发以及高速容错特性,针对经典CAN方案不具备时间触发功能导致的信息协同能力差、传输不具有确定性、容错性差等问题,研究了时间触发的CAN (TTCAN)方案,并针对TTCAN系统矩阵构建多维复杂性问题,提出基于调度表的AL调度算法；进一步针对闭环时间触发应用,提出周期最糟糕抖动评价指标,经对比验证了所提方案在周期性信息传输确定性、实时性、容错性以及带宽资源利用方面优于经典CAN方案。
4.在3、4研究工作基础上,面对汽车整车网络不同应用,分别研究了单一TTCAN网络方案和CAN-TTCAN双网组网方案,针对前者提出混合调度算法及相应分析理论,针对后者提出分网调度策略,并导出了相应性能分析方案,理论分析结果表明单一TTCAN网络调度能力强,资源利用率高,集成度好；双网方案结构信息间冲突机率小、成本较低。
5.针对经典CAN协议扩展灵活性好、传输确定性差,TTCAN传输确定性强、灵活性差此类不平衡问题,为结合两方案优点,本文深入研究了柔性时间触发CAN(FTTCAN)协议原理,引入动态规划概念,设计了基于规划的调度策略,通过理论分析和实验验证了该方案在保证信息传输实时性能的前提下,具有扩展灵活性和确定性兼顾的平衡性、综合性特点。
6.针对调度算法及性能分析理论过于复杂、难以应用问题,本文采用了可视化技术,针对经典RMA递推复杂性问题,推导出等效单步递推关系式,采用Matlab设计了可视化分析软件。汽车信息综合监控系统由于集成了多种信息的采集、处理和传送,传统的分立系统很难实现。针对此情况,本文设计了基于CAN网络互联的分布式结构,并采用上诉可视化分析软件分析了基于DM算法的网络性能,并依据上诉所提V字型开发策略,设计了实验测试系统,通过仿真和实际实验系统运行验证了该方案的优越性。
Safety、energy conservation、environmental protection and automotive intelligentizing are the driving factors of automotive electronics development. Networked vehicle becomes the main trend of vehicle field in recent years. Automotive network is the platform of automotive electrical system and integration design, and also the key of automotive intelligentizing. Researches on automotive network theories based on CAN protocol have the aim of interlinking automotive electrical systems by the work, realizing the high efficiency integration of automotive electric controlling system、real-time cooperation and dependable comprehensive controlling. These researches have profound significances on technology and economy.
Till now CAN have already become the most successful standard of automotive network. But concerning the complicated vehicle utilization environment, there remains demanding on security、real-time、reliability and bandwidth resources utilization ability of CAN protocol network. Besides vehicle high-electromagnetism interference environment and network fault, the problems need to coped with that how to efficiently integrate the network, how to design scheduling algorithm to improve real-time and flexible ability of various requirement, how to ensure dependability by real time analysis, how to improve bandwidth resource utilization,how to carry out visual software of analysis still exist.
In this thesis, the research of certain key theories of CAN protocol for automotive network is developed and the engineering applications of those theories are explored. The works are as follows:
1. Automotive network development is project of system engineering, relating factors including node design, system integration, communication, time synchronization, function cooperation and cost. In this thesis, after analyzing integrated theories of fieldbus, the integration policy of automotive integrated network based on CAN protocol is proposed, and'V'development model is improved for automotive network system.
2. For higher flexible, more efficient and soft real time of automotive body electronic network system, comparing of single-signal frame and group-signal frame with RM scheduling algorithm is researched, and flexible factor is proposed to improve the flaw of RMA. The contrast analysis and simulation show that the group-signal frame is superior in flexibility, bandwidth utilizing margin and real time.
3. For hard real time, closed loop time trigger and fault tolerate of automotive power drive network system, time-triggered CAN (TTCAN) is analyzed to instead of CAN that is not good at cooperating, determinism and fault tolerate because of inability to time trigger. Then schedule based AL scheduling algorithm is proposed to construct the system matrix of TTCAN, and the worst jitter criterion is proposed to apply to time trigger service. The contrast result shows TTCAN scheme is superior to CAN scheme for periodical messages in determinism, real time, fault tolerate and bandwidth resource utilization.
4. For various applications of automotive whole networks, two schemes that single-TTCAN network and CAN-TTCAN based two-network network, are respectively researched. Mixed scheduling algorithm and analysis theories are proposed for the front, and two-network scheduling policy and relating analysis scheme are proposed for the latter. The analysis results show that the single-TTCAN network is superior in schedule ability, utilization, integration, and two-network network is superior in collision rate and cost.
5. Aiming at imbalance question that CAN protocol is not determinate but flexible, TTCAN is not flexible but determinate, in this thesis, flexible time trigger CAN (FTTCAN) is researched, dynamic programming conception is imported. And scheduling plicy based on programming is designed. Analysis and experiment results show the scheme is not only real time but also flexible and determinate.
6. for the question that CAN protocol based schedule algorithm and analyzing theory are too complicated to apply, visual technology is adopted to design visual analysis software, and single-step-recurrence relation (SSRR) expressions are deduced to simple the complicacy of RMA recurrence algorithm. And because automotive integration-message watch-control system implements various messages sampling, computing and interchanging, sporadic traditional system cannot support the reqiuement. In the thesis a distributing configuration based on CAN protocol is designed, DM scheduling algorithm is used to schedule network and analyzed by the designed analysis software. And an experiment and test system is designed according to V development model. The simulation and experiment results testify the superiority of the scheme.
引文
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