A method, system, device and medium for adaptively adjusting the baud rate of an on-vehicle CAN network

Abstract

The present invention relates to a method, system, device and medium for adaptively adjusting the baud rate of an on-vehicle CAN network, wherein the method comprises: capturing and sampling the high and low level pulse widths of a received signal on a CAN bus through a pulse capture port; recording the minimum values ​​of the high and low level pulse widths and judging the size; when the minimum values ​​of the high and low level pulse widths are equal, generating a communication cycle based on the sum of the minimum values ​​of the high and low level pulse widths; when the minimum values ​​of the high and low level pulse widths are not equal, generating a communication cycle based on a dynamic combination of the minimum values ​​of the high and low level pulse widths determined by a signal duty cycle and a sampling error; solving the communication baud rate according to the communication cycle, and shaking hands or interacting with a target node according to the communication baud rate. The present invention provides a reliable, efficient and adaptive solution for on-vehicle CAN bus communication through accurate sampling at the hardware level, intelligent dynamic adjustment, flexible communication cycle generation mechanism and adaptive baud rate setting.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted CAN network control, and in particular to a vehicle-mounted CAN network baud rate adaptive adjustment method, system, equipment and medium. Background Art

[0002] In the field of engineering machinery or engineering vehicles, the on-board CAN network (Controller Area Network) has become the most commonly used networking method. Through the CAN network, multiple devices such as motion controllers, intelligent distributed IO, on-board display screens, and operation panels can be interconnected to form a complex network system with multiple nodes. However, in such a network environment, when the baud rate of the sub-node device does not match that of other devices on the CAN network, it will cause communication failures and may even cause the entire CAN network to paralyze, seriously affecting the normal operation of the system.

[0003] To solve this problem, the industry has proposed a baud rate adaptive method. In this method, after the child node is started, it will send data or handshake signals to the device with a specific ID by default. The receiving device will try to receive this data at different baud rates (such as 25kbit / s, 50kbit / s, 100kbit / s, 125kbit / s, 250kbit / s, etc.) according to certain rules. In order to achieve successful communication, the child node needs to repeatedly send data or handshake signals, and the receiving device also needs to continue to try to receive at different baud rates until a successful handshake is achieved.

[0004] However, this method has two significant disadvantages. First, due to the need to repeatedly send data and test different baud rates, the adaptation time may be long and uncertain, which seriously affects the efficiency and real-time performance of the system. Second, this method only supports specific baud rates, and may not be able to adapt to special baud rates customized by some customers, thus limiting its wide application and flexibility. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a method, system, device and medium for adaptively adjusting the baud rate of an in-vehicle CAN network, which solves the technical problems that the existing baud rate adaptive method has a long and uncertain adaptation time and cannot adapt to all specific baud rates.

[0007] (II) Technical solution

[0008] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0009] In a first aspect, an embodiment of the present invention provides a method for adaptively adjusting the baud rate of a vehicle-mounted CAN network, comprising:

[0010] The high and low level pulse widths of the received signal on the CAN bus are captured and sampled through the pulse capture port;

[0011] In a set sampling period, record the minimum value of the sampled high and low level pulse widths, and determine the size between the minimum values ​​of the high and low level pulse widths;

[0012] When the minimum values ​​of the high and low level pulse widths are equal, a communication cycle is generated based on the sum of the minimum values ​​of the high and low level pulse widths;

[0013] When the minimum values ​​of the high and low level pulse widths are not equal, generating at least one communication cycle based on a dynamic combination of the minimum values ​​of the high and low level pulse widths determined by the signal duty cycle and the sampling error;

[0014] The communication baud rate of the CAN bus is solved according to the generated communication cycle, and handshake or interaction is performed with the target node on the CAN bus according to the communication baud rate corresponding to the communication cycle.

[0015] Optionally, capturing and sampling the high and low level pulse widths of the received signal on the CAN bus through the pulse capture port includes:

[0016] The first pulse capture port is configured as a rising edge trigger mode to capture the high level pulse width of the received signal on the CAN bus;

[0017] The second pulse capture port is configured as a falling edge trigger mode to capture the low level pulse width of the received signal on the CAN bus;

[0018] Continuously track and monitor the received signal on the CAN bus from any node through the first pulse capture port and the second pulse capture port;

[0019] When a rising edge appears in the received signal on the CAN bus, the high level pulse width of the received signal on the CAN bus is captured and sampled through the configured first pulse capture port;

[0020] When a falling edge occurs in the received signal on the CAN bus, the low level pulse width of the received signal on the CAN bus is captured and sampled through the configured second pulse capture port.

[0021] Optionally, within a set sampling period, recording the minimum value of the sampled high and low level pulse widths, and determining the size between the minimum values ​​of the high and low level pulse widths includes:

[0022] Determine a fixed sampling period;

[0023] In a determined sampling period, the timing or count between a rising edge and a next falling edge monitored by the first pulse capture port is obtained, and the initial high-level pulse width is calculated according to the timing or count between a rising edge and a next falling edge;

[0024] Whenever a new high-level pulse width is detected, it is compared with the initial high-level pulse width. If the new high-level pulse width is smaller than the initial high-level pulse width, the value of the initial high-level pulse width is updated to the value of the new high-level pulse width, and the initial high-level pulse width is continuously recorded and updated, and finally the minimum value of the high-level pulse width within the sampling period is obtained;

[0025] In a determined sampling period, the timing or count between a falling edge and a next rising edge monitored by the second pulse capture port is obtained, and the initial low-level pulse width is calculated according to the timing or count between a rising edge and a next falling edge;

[0026] Whenever a new low-level pulse width is detected, it is compared with the initial low-level pulse width. If the new low-level pulse width is smaller than the initial low-level pulse width, the value of the initial low-level pulse width is updated to the value of the new low-level pulse width. The initial low-level pulse width is continuously recorded and updated, and finally the minimum value of the low-level pulse width within the sampling period is obtained;

[0027] At the end of the sampling period, the final minimum value of the high-level pulse width and the minimum value of the low-level pulse width are recorded and compared to determine the size relationship.

[0028] Optionally, when the minimum values ​​of the high and low level pulse widths are not equal, generating at least one communication cycle based on a dynamic combination of the minimum values ​​of the high and low level pulse widths determined by the signal duty cycle and the sampling error comprises:

[0029] The signal duty cycle is obtained according to the ratio of the acquired high level duration to the corresponding sampling period;

[0030] A sampling error is obtained according to the statistical distribution of multiple sampling results or known sampling receiver characteristics and signal characteristics;

[0031] According to the stored historical data, for different duty cycle and sampling error combinations, the corresponding minimum high-level pulse width and minimum low-level pulse width are measured or calculated;

[0032] Record each combination of duty cycle and sampling error and the corresponding minimum high-level pulse width and minimum low-level pulse width in a record table;

[0033] Using the obtained duty cycle and sampling error as input, a dynamic combination of a corresponding high-level pulse width minimum value and a low-level pulse width minimum value is retrieved from the record table;

[0034] Output at least one dynamic combination of minimum values ​​of high and low level pulse widths according to the dynamic combination found or the input combination instruction, and generate a corresponding number of communication cycles according to the dynamic combination;

[0035] Continuously monitor the signal's duty cycle and sampling error, and adjust the dynamic combination rules in real time based on the monitoring results;

[0036] The dynamic combination rules include:

[0037] Selecting a ratio value of any one of the minimum value of the high level pulse width and the minimum value of the low level pulse width;

[0038] Calculate the ratio of the sum of the minimum value of the high-level pulse width and the minimum value of the low-level pulse width.

[0039] Optionally, the dynamic combination of minimum values ​​of high and low level pulse widths includes:

[0040] Generate a first combination value according to a ratio of the sum of the minimum value of the high-level pulse width and the minimum value of the low-level pulse width;

[0041] Generate a second combination value according to the ratio value of the minimum value of the high-level pulse width;

[0042] Generate a third combination value according to the ratio value of the minimum value of the high-level pulse width;

[0043] The output includes a dynamic combination of the first combination value, the second combination value, and the third combination value.

[0044] Optionally, solving the communication baud rate of the CAN bus according to the generated communication cycle, and performing handshake or interaction with the target node on the CAN bus according to the communication baud rate corresponding to the communication cycle includes:

[0045] Calculate the communication baud rate of the CAN bus based on the generated communication cycle;

[0046] Send a handshake or interaction request to the target node on the CAN bus at the communication baud rate obtained, so that the target node responds at the same communication baud rate after receiving the request;

[0047] After confirming that the handshake is successful, data is sent and received with the target node according to the obtained communication cycle and communication baud rate.

[0048] Optionally, after solving the communication baud rate of the CAN bus according to the generated communication cycle, and performing handshake or interaction with the target node on the CAN bus according to the communication baud rate corresponding to the communication cycle, the method further includes:

[0049] If the handshake or interaction with the target node fails in the previous sampling cycle, then in the subsequent sampling cycle, the process returns to the step of capturing and sampling the high and low level pulse widths of the received signal on the CAN bus through the pulse capture port, and handshakes or interacts with the target node again until the handshake or interaction with the target node succeeds;

[0050] If the handshake or interaction failure with the target node reaches the set threshold, an error handling mechanism is triggered, including issuing an alarm, recording an error log, and requesting human intervention.

[0051] In a second aspect, an embodiment of the present invention provides a vehicle-mounted CAN network baud rate adaptive adjustment system, comprising:

[0052] The capture sampling module is used to capture and sample the high and low level pulse widths of the received signal on the CAN bus through the pulse capture port;

[0053] The pulse width comparison module is used to record the minimum value of the sampled high and low level pulse widths within a set sampling period, and to determine the size between the minimum values ​​of the high and low level pulse widths;

[0054] A communication cycle generating module, for generating a communication cycle based on the sum of the minimum values ​​of the high and low level pulse widths when the minimum values ​​of the high and low level pulse widths are equal; and for generating at least one communication cycle based on a dynamic combination of the minimum values ​​of the high and low level pulse widths determined by a signal duty cycle and a sampling error when the minimum values ​​of the high and low level pulse widths are not equal;

[0055] The communication baud rate obtaining module is used to solve the communication baud rate of the CAN bus according to the generated communication cycle;

[0056] The communication establishment module is used to handshake or interact with the target node on the CAN bus according to the communication baud rate corresponding to the communication cycle.

[0057] In a third aspect, an embodiment of the present invention provides a vehicle-mounted CAN network baud rate adaptive adjustment device, comprising:

[0058] A master control node, including a transceiver and a processor, wherein the transceiver is used to exchange data with a CAN bus, and the processor is used to execute the above-mentioned vehicle-mounted CAN network baud rate adaptive adjustment method;

[0059] And, at least one sub-node interacting with the master control node via the CAN bus.

[0060] In a fourth aspect, an embodiment of the present invention provides a computer-readable medium having computer executable instructions stored thereon, and when the executable instructions are executed by a processor, the above-mentioned vehicle-mounted CAN network baud rate adaptive adjustment method is implemented.

[0061] (III) Beneficial effects

[0062] The beneficial effects of the present invention are:

[0063] First, the present invention captures and samples the high and low level pulse widths of the received signal on the CAN bus through the pulse capture port, ensuring the accuracy and real-time performance of the sampled data. This hardware-level sampling method has higher efficiency and accuracy than software sampling.

[0064] In the set sampling period, the minimum values ​​of the high and low level pulse widths are recorded, and the signal status is judged by comparing these minimum values, which can quickly identify and adapt to signal changes on the CAN bus. When the minimum values ​​of the high and low level pulse widths are equal, a stable communication cycle can be quickly generated, thereby ensuring the stability and reliability of communication.

[0065] When the minimum values ​​of the high and low level pulse widths are not equal, the dynamic combination of the minimum values ​​of the high and low level pulse widths can be intelligently determined based on the signal duty cycle and sampling error, thereby generating at least one communication cycle. With this dynamic adjustment capability, high efficiency and stability can be maintained in a complex communication environment.

[0066] Finally, the communication baud rate of the CAN bus is solved according to the generated communication cycle, and handshake or interaction is performed with the target node on the CAN bus according to the communication baud rate corresponding to the communication cycle. This adaptive baud rate setting method not only improves communication efficiency, but also greatly reduces the risk of communication failure.

[0067] Therefore, the present invention provides a reliable, efficient and adaptive solution for vehicle-mounted CAN bus communication through accurate sampling at the hardware level, intelligent dynamic adjustment, flexible communication cycle generation mechanism and adaptive baud rate setting. This not only improves the quality and speed of data transmission, but also enhances the stability and compatibility of the entire system, and has a significant beneficial effect on improving the performance of the CAN bus in various application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 A flow chart of a method for adaptively adjusting the baud rate of a vehicle-mounted CAN network provided by an embodiment of the present invention;

[0069] Figure 2 A specific flow chart of step S1 of a method for adaptively adjusting the baud rate of a vehicle-mounted CAN network provided by an embodiment of the present invention;

[0070] Figure 3 A specific flow chart of step S2 of a method for adaptively adjusting the baud rate of a vehicle-mounted CAN network provided by an embodiment of the present invention;

[0071] Figure 4A specific flow chart of step S3 of a method for adaptively adjusting the baud rate of a vehicle-mounted CAN network provided by an embodiment of the present invention;

[0072] Figure 5 A specific flow chart of step S4 of a method for adaptively adjusting the baud rate of a vehicle-mounted CAN network provided by an embodiment of the present invention;

[0073] Figure 6 A schematic diagram of the overall process of a method for adaptively adjusting the baud rate of a vehicle-mounted CAN network provided by an embodiment of the present invention;

[0074] Figure 7 A schematic diagram of the composition of a vehicle-mounted CAN network baud rate adaptive adjustment device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0075] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0076] like Figure 1 As shown, an on-vehicle CAN network baud rate adaptive adjustment method proposed in an embodiment of the present invention includes: capturing and sampling the high and low level pulse widths of a received signal on a CAN bus through a pulse capture port; within a set sampling period, recording the minimum values ​​of the sampled high and low level pulse widths, and judging the size between the minimum values ​​of the high and low level pulse widths; when the minimum values ​​of the high and low level pulse widths are equal, generating a communication cycle based on the sum of the minimum values ​​of the high and low level pulse widths; when the minimum values ​​of the high and low level pulse widths are not equal, generating at least one communication cycle based on a dynamic combination of the minimum values ​​of the high and low level pulse widths determined by a signal duty cycle and a sampling error; solving the communication baud rate of the CAN bus according to the generated communication cycle, and performing handshake or interaction with a target node on the CAN bus according to the communication baud rate corresponding to the communication cycle.

[0077] First, the present invention captures and samples the high and low level pulse widths of the received signal on the CAN bus through the pulse capture port, ensuring the accuracy and real-time performance of the sampled data. This hardware-level sampling method has higher efficiency and accuracy than software sampling.

[0078] In the set sampling period, the minimum values ​​of the high and low level pulse widths are recorded, and the signal status is judged by comparing these minimum values, which can quickly identify and adapt to signal changes on the CAN bus. When the minimum values ​​of the high and low level pulse widths are equal, a stable communication cycle can be quickly generated, thereby ensuring the stability and reliability of communication.

[0079] When the minimum values ​​of the high and low level pulse widths are not equal, the dynamic combination of the minimum values ​​of the high and low level pulse widths can be intelligently determined based on the signal duty cycle and sampling error, thereby generating at least one communication cycle. With this dynamic adjustment capability, high efficiency and stability can be maintained in a complex communication environment.

[0080] Finally, the communication baud rate of the CAN bus is solved according to the generated communication cycle, and handshake or interaction is performed with the target node on the CAN bus according to the communication baud rate corresponding to the communication cycle. This adaptive baud rate setting method not only improves communication efficiency, but also greatly reduces the risk of communication failure.

[0081] Therefore, the present invention provides a reliable, efficient and adaptive solution for vehicle-mounted CAN bus communication through accurate sampling at the hardware level, intelligent dynamic adjustment, flexible communication cycle generation mechanism and adaptive baud rate setting. This not only improves the quality and speed of data transmission, but also enhances the stability and compatibility of the entire system, and has a significant beneficial effect on improving the performance of the CAN bus in various application scenarios.

[0082] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0083] Specifically, an embodiment of the present invention provides a method for adaptively adjusting the baud rate of a vehicle-mounted CAN network, which includes:

[0084] S1. Capture and sample the high and low level pulse widths of the received signal on the CAN bus through the pulse capture port.

[0085] Furthermore, if Figure 2 As shown, step S1 includes:

[0086] S11. Configure the first pulse capture port to a rising edge trigger mode to capture the high level pulse width of a received signal on the CAN bus.

[0087] S12, configuring the second pulse capture port to be in a falling edge trigger mode, so as to capture the low level pulse width of the received signal on the CAN bus.

[0088] S13, continuously tracking and monitoring a received signal on the CAN bus from any node through the first pulse capture port and the second pulse capture port.

[0089] S14. When a rising edge appears in the received signal on the CAN bus, the high level pulse width of the received signal on the CAN bus is captured and sampled through the configured first pulse capture port.

[0090] S15. When a falling edge appears in the received signal on the CAN bus, the low level pulse width of the received signal on the CAN bus is captured and sampled through the configured second pulse capture port.

[0091] Specifically, when the received signal on the CAN bus has a rising edge, the configured first pulse capture port triggers pulse capture. The time when the rising edge occurs is recorded, and timing starts until the signal becomes a low level (i.e., a falling edge occurs). The duration of the high level, i.e., the high level pulse width, is calculated and recorded. Similarly, when the received signal on the CAN bus has a falling edge, the configured second pulse capture port triggers pulse capture. The time when the falling edge occurs is recorded, and timing starts until the signal becomes a high level (i.e., a rising edge occurs). The duration of the low level, i.e., the low level pulse width, is calculated and recorded.

[0092] S2. Within a set sampling period, record the minimum value of the sampled high and low level pulse widths, and determine the size between the minimum values ​​of the high and low level pulse widths.

[0093] Furthermore, if Figure 3 As shown, step S2 includes:

[0094] S21. Determine a fixed sampling period.

[0095] S22. Within a determined sampling period, obtain the timing or count from a rising edge to the next falling edge monitored by the first pulse capture port, and calculate the initial high-level pulse width according to the timing or count from the rising edge to the next falling edge.

[0096] When the processor MCU detects a rising edge, the MCU triggers the PI level detection and calculates the pulse width through timer counting internally until the next falling edge pulse is encountered, then the timing and counting are stopped to obtain the pulse width. However, this pulse width may not have just one "digital 1", but may be composed of several "1s". Therefore, it is necessary to iterate continuously and repeatedly collect different cycles or pulse widths to find the minimum value.

[0097] S23. Whenever a new high-level pulse width is detected, it is compared with the initial high-level pulse width. If the new high-level pulse width is smaller than the initial high-level pulse width, the value of the initial high-level pulse width is updated to the value of the new high-level pulse width, and the initial high-level pulse width is continuously recorded and updated to finally obtain the minimum value of the high-level pulse width within the sampling period.

[0098] S24. Within a determined sampling period, obtain the timing or count between a falling edge and the next rising edge monitored by the second pulse capture port, and calculate the initial low-level pulse width according to the timing or count between a rising edge and the next falling edge.

[0099] Start collecting the low-level pulse width at the falling edge, and end the sampling when the rising edge comes, thus obtaining the low-level pulse width. However, this pulse width may not have just one digit 1, but may be composed of several "0s". Therefore, it is necessary to iterate continuously and repeatedly collect different cycles or pulse widths to find the minimum value.

[0100] S25. Whenever a new low-level pulse width is detected, it is compared with the initial low-level pulse width. If the new low-level pulse width is smaller than the initial low-level pulse width, the value of the initial low-level pulse width is updated to the value of the new low-level pulse width. The initial low-level pulse width is continuously recorded and updated, and finally the minimum value of the low-level pulse width within the sampling period is obtained.

[0101] S26. At the end of the sampling period, the final minimum value of the high-level pulse width and the minimum value of the low-level pulse width are recorded and compared to determine the size relationship.

[0102] In another embodiment, considering that the high level width (or low level) collected within the set time may be one transceiver cycle of the CAN-RX TTL level, or it may be multiple transceiver cycles (that is, multiple 1s or multiple 0s), if it is multiple transceiver cycles, to obtain the CAN cycle, 1 / n is taken. If it is one transceiver cycle, it may be the high level width or the low level width, or the weighted average of the two (taking into account the error in the sampling process).

[0103] Therefore, the calculation of the subsequent CAN communication cycle can be obtained based on a high level width "1" or a low level width "0" in the TTL level on CAN-RX. Since the transmitted data may have multiple "1"s or multiple "0"s in a period of time, the high level width or low level width obtained by sampling may be the superposition of multiple CAN transceiver cycles.

[0104] S3. When the minimum values ​​of the high and low level pulse widths are equal, a communication cycle is generated based on the sum of the minimum values ​​of the high and low level pulse widths. When the minimum values ​​of the high and low level pulse widths are not equal, at least one communication cycle is generated based on a dynamic combination of the minimum values ​​of the high and low level pulse widths determined by the signal duty cycle and the sampling error.

[0105] Furthermore, when the minimum values ​​of the high and low level pulse widths are equal, preferably, the sum of the minimum values ​​of the high and low level pulse widths can be multiplied by a coefficient α , the coefficient α Possible values ​​are 1 / 2, 1 / 3, etc.

[0106] Furthermore, if Figure 4 As shown, when the minimum values ​​of the high and low level pulse widths are not equal, generating at least one communication cycle based on a dynamic combination of the minimum values ​​of the high and low level pulse widths determined by the signal duty cycle and the sampling error includes:

[0107] S31 . Obtain a signal duty cycle according to the ratio of the acquired high level duration to the corresponding sampling period.

[0108] Based on the sampled data, the duty cycle of the signal is calculated. The duty cycle here refers to the ratio of the time occupied by the high level in one cycle to the entire cycle time. For example, if the duration of the high level in one cycle is twice that of the low level, then the duty cycle is 2 / 3.

[0109] S32. Obtain a sampling error according to the statistical distribution of multiple sampling results or known sampling receiver characteristics and signal characteristics.

[0110] Evaluate the sampling error based on the characteristics of the sampling receiver and the actual situation during the sampling process. The sampling error may come from factors such as sampling frequency limitations, nonlinear response of the equipment, noise interference, etc. The range of the sampling error can be determined by taking the average of multiple samples, analyzing the statistical distribution of the sampled data, or using other error estimation techniques.

[0111] S33. According to the stored historical data, for different duty cycle and sampling error combinations, the corresponding minimum high-level pulse width and minimum low-level pulse width are measured or calculated.

[0112] S34, recording each combination of duty cycle and sampling error and the corresponding minimum high-level pulse width and minimum low-level pulse width in a record table. This table can be a multidimensional array, database table or other data structure for fast retrieval.

[0113] S35. Using the obtained duty cycle and sampling error as input, retrieve the corresponding dynamic combination of the minimum high-level pulse width and the minimum low-level pulse width from the record table.

[0114] It is worth noting that if the entries in the lookup table are not consecutive, or if the desired combination of duty cycle and sampling error lies between two table entries, interpolation can be used to calculate intermediate values. The interpolation can be linear, bilinear, cubic, or any other suitable interpolation method.

[0115] S36. Output at least one dynamic combination of minimum values ​​of high and low level pulse widths according to the dynamic combination found or the input combination instruction, and generate a corresponding number of communication cycles according to the dynamic combination.

[0116] In this step, first, a group of dynamic combination instructions or combination instructions input by the user are searched or received. These instructions may come from a preset rule base, real-time input by the user, or dynamically generated by a certain algorithm. Based on the combination instructions found or input, a minimum dynamic combination of at least one high and low level pulse width is calculated. According to the determined dynamic combination of the minimum high and low level pulse widths, a corresponding number of communication cycles are generated. The communication cycle is the basic time unit in the communication process, which determines the rate and frequency of data transmission.

[0117] S37. Continuously monitor the duty cycle and sampling error of the signal, and adjust the dynamic combination rules in real time based on the monitoring results. This adjustment is to optimize signal quality, reduce distortion, and ensure the stability and reliability of communication.

[0118] Then, the dynamic combination rule includes: selecting a ratio value of any one of the minimum value of the high level pulse width and the minimum value of the low level pulse width; and calculating a ratio value of the sum of the minimum value of the high level pulse width and the minimum value of the low level pulse width.

[0119] At the same time, the dynamic combination of the minimum values ​​of the high and low level pulse widths includes: generating a first combination value based on the ratio of the sum of the minimum value of the high level pulse width and the minimum value of the low level pulse width; generating a second combination value based on the ratio of the minimum value of the high level pulse width; generating a third combination value based on the ratio of the minimum value of the high level pulse width; and outputting a dynamic combination including the first combination value, the second combination value and the third combination value.

[0120] Considering that the main purpose of sampling the first pulse capture port and the first pulse capture port is to sample the pulse width of the high and low levels on the received CAN_RX signal, so as to obtain the communication cycle, but since the minimum value of the sampled high and low level pulse width may not necessarily be only one 0 or only one 1 within a certain period of time, therefore, only sampling the high level or sampling the low level alone within that period of time cannot guarantee that the sampling value can obtain the communication cycle, therefore, the method adopted is multiple iterative sampling, and it should be emphasized that in addition to sampling the high level, the low level must also be sampled, because in the actual sampling process, due to the sampling accuracy, even if there is only one 1 or one 0, the pulse width collected by the processor MCU for the sampling time may be different, therefore, when processing the cycle, the high level pulse width sampling value or the low level pulse width sampling value is used as the communication cycle, or the weighted average of the two can be used as the high level pulse width sampling value or the low level pulse width value, and the weighting coefficient is determined by the machine learning algorithm or the expert scoring.

[0121] S4. Calculate the communication baud rate of the CAN bus according to the generated communication cycle, and perform handshake or interaction with the target node on the CAN bus according to the communication baud rate corresponding to the communication cycle.

[0122] Furthermore, if Figure 5 As shown, step S4 includes:

[0123] S41, solving the communication baud rate of the CAN bus according to the generated communication cycle.

[0124] S42, sending a handshake or interaction request to the target node on the CAN bus at the communication baud rate obtained by the solution, so that the target node responds at the same communication baud rate after receiving the request.

[0125] S43: After determining that the handshake is successful, data is sent and received with the target node according to the obtained communication cycle and communication baud rate.

[0126] Furthermore, after step S4, it also includes: if the handshake or interaction with the target node fails in the previous sampling cycle, then in the subsequent sampling cycle, returning to the step of capturing and sampling the high and low level pulse widths of the received signal on the CAN bus through the pulse capture port, and shaking hands or interacting with the target node again until the handshake or interaction with the target node is successful; if the handshake or interaction failure with the target node reaches a set threshold, triggering an error handling mechanism including issuing an alarm, recording an error log, and requesting personnel intervention.

[0127] In a specific embodiment, if Figure 6 As shown, the overall implementation process of the above method is:

[0128] First, when a node N sends CAN data to the master control node 0, the master control node tracks and monitors the CAN_RX signal through the pulse capture port of the processor MCU, and enters the pulse capture port PI00 / PI01 at the same time. The processor MCU initializes PI00 and PI01 as pulse capture respectively, where PI00 is triggered by the rising edge and PI01 is triggered by the falling edge.

[0129] Secondly, the processor MCU performs statistical calculations on the time between two consecutive rising edges of the PI00 input signal to obtain the level pulse width D h0 , if the next value D h1 <D h0 , then the original D h0 The value of D h1 , continue to count the time Ts, and get the minimum pulse width T0 within this period of time min .

[0130] Next, the processor MCU performs statistical calculations on the time between two consecutive falling edges of the PI01 input signal to obtain the level pulse width D L0 , if the next value D L1 <D L0 , then the original D L0 The value of D L1 , continue to count the time Ts, and get the minimum pulse width T1 within this period of time min .

[0131] If T0 min =T1 min , then the CAN communication cycle TC0 = 1 / 2 (T0 min +T1 min ).

[0132] If T0 min ≠T1 min Considering the possible burrs of the actual sampling pulse, the sampling accuracy changes can be obtained by 3 cycles TC0 = 1 / 2 (T0 min +T1 min ),TC1=T0 min , TC2=T1 min , corresponding to three communication frequencies f0=1 / TC0, f1=1 / TC1, f2=11 / TC2 respectively.

[0133] The processor MCU communicates with the node N successively at the frequency generated above. If the communication is successful, the frequency f of the CAN bus is determined. Otherwise, the pulse width on CAN_RX is captured and sampled by PI00 / PI01 in the next sampling period Ts, thereby achieving the final CAN communication frequency adaptation.

[0134] In addition, an embodiment of the present invention provides a vehicle-mounted CAN network baud rate adaptive adjustment system, comprising:

[0135] The capture sampling module is used to capture and sample the high and low level pulse widths of the received signal on the CAN bus through the pulse capture port.

[0136] The pulse width comparison module is used to record the minimum value of the sampled high and low level pulse widths within a set sampling period, and to determine the size between the minimum values ​​of the high and low level pulse widths.

[0137] A communication cycle generation module is used to generate a communication cycle based on the sum of the minimum values ​​of the high and low level pulse widths when the minimum values ​​of the high and low level pulse widths are equal; and to generate at least one communication cycle based on a dynamic combination of the minimum values ​​of the high and low level pulse widths determined by a signal duty cycle and a sampling error when the minimum values ​​of the high and low level pulse widths are not equal.

[0138] The communication baud rate obtaining module is used to solve the communication baud rate of the CAN bus according to the generated communication cycle.

[0139] The communication establishment module is used to handshake or interact with the target node on the CAN bus according to the communication baud rate corresponding to the communication cycle.

[0140] In addition, the present invention provides an on-vehicle CAN network baud rate adaptive adjustment device, including: a master control node, including a transceiver and a processor, the transceiver is used to interact with the CAN bus for data, and the processor is used to execute the on-vehicle CAN network baud rate adaptive adjustment method as described above; and at least one sub-node that interacts with the master control node through the CAN bus.

[0141] like Figure 7 As shown, there is a master node 0 on the CAN bus, and the remaining nodes are 1, 2, and extend to node N. The terminal resistors R2 and R3 are 120Ω respectively. The entire bus adopts a daisy chain layout. The master node 0 communicates with the remaining nodes through the CAN transceiver U1. Inside the master node, after the transceiver U1 exchanges data with the CAN bus, the TxD and RxD signals converted to TTL levels are connected to the CAN_TX and CAN_RX of the processor U2 respectively, and the RxD enters the pulse capture ports PI00 and PI01 inside the processor.

[0142] Inside the master node, after transceiver U1 exchanges data with the CAN bus, the TxD and RxD signals are converted to TTL levels and connected to CAN_TX and CAN_RX of processor U2 respectively, while RxD enters the pulse capture ports PI00 and PI01 inside the processor. When a node sends data to the CAN bus and wants to communicate with master node 0 through the CAN bus, processor U2 first samples the TTL level of CAN_RX through pulse capture ports PI00 and PI01, where PI00 samples the high-level pulse width signal of CAN_RX, and PI01 samples the low-level pulse width signal of CAN_RX, and U2 only records the minimum value T0 of the sampled pulse widths of PI00 and PI01. min and T1 min , after a sampling time Ts, if T0 min =T1 min , then the communication cycle TC0 on CAN_RX = 1 / 2 (T0 min +T1 min ), if T0 min ≠T1 min , it is necessary to generate multiple cycles TC0, TC1, TC2..., where TC0=1 / 2 (T0 min +T1 min )TC1=T0min , TC2=T1 min , TC3=1 / 2T0 min Or TC3=1 / 2T1 min ...TCn=1 / (n-1)T0 min Or TCn=1 / (n-1)T1 min The reason for the inequality is that the sampling accuracy error and the duty cycle of the signal itself are taken into account. If the CAN_RX signal has a 50% duty cycle, then T0 min and T1 min equal.

[0143] After obtaining the waveform period on the CAN bus, the CAN communication baud rate on the bus can be calculated. At this point, the processor U2 can perform CAN communication according to the frequencies f0=1 / TC0, f1=1 / TC1 and f2=1 / TC2 corresponding to multiple periods including TC0, TC1, TC2, TC3...TCn, and try to shake hands or interact with the node. If unsuccessful, repeat the above process and the minimum pulse width on CAN_RX will always be found. The processor U2 calculates the CAN bus communication frequency through the period, thereby realizing CAN communication between the master node and the remaining nodes.

[0144] Through the above method, since the frequency is calculated by MCU to capture the pulse width on CAN_RX, this method is applicable to baud rate adaptation within all CAN frequency ranges, which not only improves the flexibility and versatility of communication, but also can easily cope with communication requirements in different environments. And since the pulse capture signal pulse width is realized by the internal hardware of MCU, the entire adaptation time is short.

[0145] Furthermore, an embodiment of the present invention provides a computer-readable medium having computer-executable instructions stored thereon, and when the executable instructions are executed by a processor, the above-mentioned method for adaptively adjusting the baud rate of an in-vehicle CAN network is implemented.

[0146] The embodiment of the present invention provides a special computer-readable medium. The medium stores instructions executable by a computer. When these instructions are executed by a processor, they implement a specific function, namely, a baud rate adaptive adjustment method for a vehicle-mounted CAN network.

[0147] In simple terms, the present invention allows program instructions stored on a readable medium (such as a hard disk, flash memory, etc.) to automatically adjust the baud rate of the vehicle CAN network when read and executed by a computer processor. Baud rate is a unit of data transmission rate, and adaptive adjustment means that the system can automatically select the most appropriate transmission rate according to the current network environment and requirements to ensure stable and efficient data transmission.

[0148] This adaptive adjustment method is particularly important for in-vehicle network systems because it can help vehicles maintain the stability and efficiency of network communications under complex electromagnetic environments and changing data transmission requirements. In this way, the vehicle's various electronic control systems can exchange information more reliably, thereby improving the overall performance and safety of the vehicle.

[0149] In summary, the embodiment of the present invention comprehensively and innovatively proposes a method for adaptively adjusting the baud rate of an in-vehicle CAN network, constructs a corresponding system, designs a dedicated device, and provides the required storage medium. This comprehensive solution aims to optimize the communication efficiency and stability of the in-vehicle CAN network. Specifically:

[0150] The present invention proposes a method for adaptively adjusting the baud rate of a vehicle-mounted CAN network. The method can intelligently adjust the baud rate of the CAN network according to the actual communication environment and data transmission requirements, thereby ensuring efficient and stable data transmission. This adaptive adjustment method not only improves the data transmission rate, but also effectively reduces the risk of communication errors and data loss.

[0151] In order to implement the above method, the present invention also constructs a complete vehicle-mounted CAN network baud rate adaptive adjustment system. The system integrates advanced monitoring mechanisms, analysis algorithms and adjustment strategies, can monitor the network status in real time, accurately evaluate the communication quality, and automatically adjust the baud rate according to the actual situation, ensuring that the CAN network can maintain optimal performance in various complex environments.

[0152] In order to realize the practical application of the above method and system, the present invention also designs dedicated vehicle-mounted devices. These devices not only have powerful data processing capabilities, but also can be seamlessly connected with the CAN network to achieve real-time and accurate adjustment of the baud rate. At the same time, these devices also have good compatibility and scalability, and can easily adapt to different vehicle models and CAN network configurations.

[0153] In addition, the present invention also provides a special storage medium for storing and executing the program code and data required by the above method and system. This storage medium has the characteristics of high reliability, high performance and long life, and can ensure the long-term stable operation of the vehicle-mounted CAN network baud rate adaptive adjustment function.

[0154] In general, the embodiments of the present invention provide a method, system, device and medium for adaptively adjusting the baud rate of an in-vehicle CAN network. This innovative solution aims to solve the problem of the fixed baud rate of the in-vehicle CAN network under different environments and application requirements, and realize dynamic adaptive adjustment of the baud rate. This innovation not only improves the performance and stability of the in-vehicle communication system, but also lays a solid foundation for the development of advanced technologies such as intelligent driving and Internet of Vehicles.

[0155] Since the system / device described in the above embodiments of the present invention is a system / device used to implement the method of the above embodiments of the present invention, a person skilled in the art can understand the specific structure and deformation of the system / device based on the method described in the above embodiments of the present invention, and thus will not be described in detail here. All systems / devices used in the method of the above embodiments of the present invention belong to the scope of protection of the present invention.

[0156] It should be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0157] In addition, it should be noted that, in the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0158] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments after knowing the basic creative concept. Therefore, the present invention should be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0159] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention belong to the scope of the present invention and its equivalent technology, the present invention should also include these modifications and variations.

Claims

1. A method for adaptively adjusting the baud rate of a vehicle-mounted CAN network, characterized in that: include: The high and low level pulse widths of the received signal on the CAN bus are captured and sampled through the pulse capture port; In a set sampling period, record the minimum value of the sampled high and low level pulse widths, and determine the size between the minimum values ​​of the high and low level pulse widths; When the minimum values ​​of the high and low level pulse widths are equal, the sum of the minimum values ​​of the high and low level pulse widths is multiplied by a coefficient α Generate a communication cycle; where the coefficient α 1 / 2 or 1 / 3; When the minimum values ​​of the high and low level pulse widths are not equal, generating at least one communication cycle based on a dynamic combination of the minimum values ​​of the high and low level pulse widths determined by the signal duty cycle and the sampling error; The communication baud rate of the CAN bus is solved according to the generated communication cycle, and handshake or interact with the target node on the CAN bus according to the communication baud rate corresponding to the communication cycle; in, Capturing and sampling the high and low level pulse widths of the received signal on the CAN bus through the pulse capture port includes: The first pulse capture port is configured as a rising edge trigger mode to capture the high level pulse width of the received signal on the CAN bus; The second pulse capture port is configured as a falling edge trigger mode to capture the low level pulse width of the received signal on the CAN bus; Continuously track and monitor the received signal on the CAN bus from any node through the first pulse capture port and the second pulse capture port; When a rising edge appears in the received signal on the CAN bus, the high level pulse width of the received signal on the CAN bus is captured and sampled through the configured first pulse capture port; When a falling edge occurs in the received signal on the CAN bus, the low level pulse width of the received signal on the CAN bus is captured and sampled through the configured second pulse capture port; In a set sampling period, record the minimum value of the sampled high and low level pulse widths, and determine the size between the minimum values ​​of the high and low level pulse widths: Determine a fixed sampling period; In a determined sampling period, the timing or count between a rising edge and a next falling edge monitored by the first pulse capture port is obtained, and the initial high-level pulse width is calculated according to the timing or count between a rising edge and a next falling edge; Whenever a new high-level pulse width is detected, it is compared with the initial high-level pulse width. If the new high-level pulse width is smaller than the initial high-level pulse width, the value of the initial high-level pulse width is updated to the value of the new high-level pulse width, and the initial high-level pulse width is continuously recorded and updated, and finally the minimum value of the high-level pulse width within the sampling period is obtained; In a determined sampling period, the timing or count between a falling edge and a next rising edge monitored by the second pulse capture port is obtained, and the initial low-level pulse width is calculated according to the timing or count between a rising edge and a next falling edge; Whenever a new low-level pulse width is detected, it is compared with the initial low-level pulse width. If the new low-level pulse width is smaller than the initial low-level pulse width, the value of the initial low-level pulse width is updated to the value of the new low-level pulse width. The initial low-level pulse width is continuously recorded and updated, and finally the minimum value of the low-level pulse width within the sampling period is obtained; At the end of the sampling period, the final minimum value of the high-level pulse width and the minimum value of the low-level pulse width are recorded and compared to determine the size relationship; When the minimum values ​​of the high and low level pulse widths are not equal, generating at least one communication cycle based on a dynamic combination of the minimum values ​​of the high and low level pulse widths determined by the signal duty cycle and the sampling error comprises: The signal duty cycle is obtained according to the ratio of the acquired high level duration to the corresponding sampling period; A sampling error is obtained according to the statistical distribution of multiple sampling results or known sampling receiver characteristics and signal characteristics; According to the stored historical data, for different duty cycle and sampling error combinations, the corresponding minimum high-level pulse width and minimum low-level pulse width are measured or calculated; Record each combination of duty cycle and sampling error and the corresponding minimum high-level pulse width and minimum low-level pulse width in a record table; Using the obtained duty cycle and sampling error as input, a dynamic combination of a corresponding high-level pulse width minimum value and a low-level pulse width minimum value is retrieved from the record table; Output at least one dynamic combination of minimum values ​​of high and low level pulse widths according to the dynamic combination found or the input combination instruction, and generate a corresponding number of communication cycles according to the dynamic combination; Continuously monitor the duty cycle and sampling error of the signal, and adjust the dynamic combination rule in real time according to the monitoring result; wherein the dynamic combination rule includes: selecting a ratio value of any one of the minimum value of the high-level pulse width and the minimum value of the low-level pulse width; calculating a ratio value of the sum of the minimum value of the high-level pulse width and the minimum value of the low-level pulse width; And, the dynamic combination of minimum values ​​of high and low level pulse widths includes: Generate a first combination value according to a ratio of the sum of the minimum value of the high-level pulse width and the minimum value of the low-level pulse width; Generate a second combination value according to the ratio value of the minimum value of the high-level pulse width; Generate a third combination value according to the ratio value of the minimum value of the high-level pulse width; The output includes a dynamic combination of the first combination value, the second combination value, and the third combination value.

2. The vehicle-mounted CAN network baud rate adaptive adjustment method according to claim 1, characterized in that: The communication baud rate of the CAN bus is solved according to the generated communication cycle, and handshake or interaction with the target node on the CAN bus is performed according to the communication baud rate corresponding to the communication cycle, including: Calculate the communication baud rate of the CAN bus based on the generated communication cycle; Send a handshake or interaction request to the target node on the CAN bus at the communication baud rate obtained, so that the target node responds at the same communication baud rate after receiving the request; After confirming that the handshake is successful, data is sent and received with the target node according to the obtained communication cycle and communication baud rate.

3. The vehicle-mounted CAN network baud rate adaptive adjustment method according to claim 1 or 2, characterized in that: The communication baud rate of the CAN bus is solved according to the generated communication cycle, and after handshaking or interacting with the target node on the CAN bus according to the communication baud rate corresponding to the communication cycle, it also includes: If the handshake or interaction with the target node fails in the previous sampling cycle, then in the subsequent sampling cycle, the process returns to the step of capturing and sampling the high and low level pulse widths of the received signal on the CAN bus through the pulse capture port, and handshakes or interacts with the target node again until the handshake or interaction with the target node succeeds; If the handshake or interaction failure with the target node reaches the set threshold, an error handling mechanism is triggered, including issuing an alarm, recording an error log, and requesting human intervention.

4. A vehicle-mounted CAN network baud rate adaptive adjustment system, characterized in that: include: The capture sampling module is used to capture and sample the high and low level pulse widths of the received signal on the CAN bus through the pulse capture port; The pulse width comparison module is used to record the minimum value of the sampled high and low level pulse widths within a set sampling period, and to determine the size between the minimum values ​​of the high and low level pulse widths; Communication cycle generation module, used when the minimum values ​​of high and low level pulse widths are equal, based on the sum of the minimum values ​​of high and low level pulse widths multiplied by a coefficient α Generate a communication cycle, where the coefficient α 1 / 2 or 1 / 3; and, when the minimum values ​​of the high and low level pulse widths are not equal, generating at least one communication cycle based on a dynamic combination of the minimum values ​​of the high and low level pulse widths determined by the signal duty cycle and the sampling error; The communication baud rate obtaining module is used to solve the communication baud rate of the CAN bus according to the generated communication cycle; The communication establishment module is used to perform handshake or interaction with the target node on the CAN bus according to the communication baud rate corresponding to the communication cycle; in, Capturing and sampling the high and low level pulse widths of the received signal on the CAN bus through the pulse capture port includes: The first pulse capture port is configured as a rising edge trigger mode to capture the high level pulse width of the received signal on the CAN bus; The second pulse capture port is configured as a falling edge trigger mode to capture the low level pulse width of the received signal on the CAN bus; Continuously track and monitor the received signal on the CAN bus from any node through the first pulse capture port and the second pulse capture port; When a rising edge appears in the received signal on the CAN bus, the high level pulse width of the received signal on the CAN bus is captured and sampled through the configured first pulse capture port; When a falling edge occurs in the received signal on the CAN bus, the low level pulse width of the received signal on the CAN bus is captured and sampled through the configured second pulse capture port; In a set sampling period, record the minimum value of the sampled high and low level pulse widths, and determine the size between the minimum values ​​of the high and low level pulse widths: Determine a fixed sampling period; In a determined sampling period, the timing or count between a rising edge and a next falling edge monitored by the first pulse capture port is obtained, and the initial high-level pulse width is calculated according to the timing or count between a rising edge and a next falling edge; Whenever a new high-level pulse width is detected, it is compared with the initial high-level pulse width. If the new high-level pulse width is smaller than the initial high-level pulse width, the value of the initial high-level pulse width is updated to the value of the new high-level pulse width, and the initial high-level pulse width is continuously recorded and updated, and finally the minimum value of the high-level pulse width within the sampling period is obtained; In a determined sampling period, the timing or count between a falling edge and a next rising edge monitored by the second pulse capture port is obtained, and the initial low-level pulse width is calculated according to the timing or count between a rising edge and a next falling edge; Whenever a new low-level pulse width is detected, it is compared with the initial low-level pulse width. If the new low-level pulse width is smaller than the initial low-level pulse width, the value of the initial low-level pulse width is updated to the value of the new low-level pulse width. The initial low-level pulse width is continuously recorded and updated, and finally the minimum value of the low-level pulse width within the sampling period is obtained; At the end of the sampling period, the final minimum value of the high-level pulse width and the minimum value of the low-level pulse width are recorded and compared to determine the size relationship; When the minimum values ​​of the high and low level pulse widths are not equal, generating at least one communication cycle based on a dynamic combination of the minimum values ​​of the high and low level pulse widths determined by the signal duty cycle and the sampling error comprises: The signal duty cycle is obtained according to the ratio of the acquired high level duration to the corresponding sampling period; A sampling error is obtained according to the statistical distribution of multiple sampling results or known sampling receiver characteristics and signal characteristics; According to the stored historical data, for different duty cycle and sampling error combinations, the corresponding minimum high-level pulse width and minimum low-level pulse width are measured or calculated; Record each combination of duty cycle and sampling error and the corresponding minimum high-level pulse width and minimum low-level pulse width in a record table; Using the obtained duty cycle and sampling error as input, a dynamic combination of a corresponding high-level pulse width minimum value and a low-level pulse width minimum value is retrieved from the record table; Output at least one dynamic combination of minimum values ​​of high and low level pulse widths according to the dynamic combination found or the input combination instruction, and generate a corresponding number of communication cycles according to the dynamic combination; Continuously monitor the duty cycle and sampling error of the signal, and adjust the dynamic combination rule in real time according to the monitoring result; wherein the dynamic combination rule includes: selecting a ratio value of any one of the minimum value of the high-level pulse width and the minimum value of the low-level pulse width; calculating a ratio value of the sum of the minimum value of the high-level pulse width and the minimum value of the low-level pulse width; And, the dynamic combination of minimum values ​​of high and low level pulse widths includes: Generate a first combination value according to a ratio of the sum of the minimum value of the high-level pulse width and the minimum value of the low-level pulse width; Generate a second combination value according to the ratio value of the minimum value of the high-level pulse width; Generate a third combination value according to the ratio value of the minimum value of the high-level pulse width; The output includes a dynamic combination of the first combination value, the second combination value, and the third combination value.

5. A vehicle-mounted CAN network baud rate adaptive adjustment device, characterized in that: include: A master control node, comprising a transceiver and a processor, wherein the transceiver is used to interact with a CAN bus for data, and the processor is used to execute the vehicle-mounted CAN network baud rate adaptive adjustment method according to any one of claims 1 to 3; And, at least one sub-node interacting with the master control node via the CAN bus.

6. A computer-readable medium having computer-executable instructions stored thereon, characterized in that: When the executable instructions are executed by the processor, the vehicle-mounted CAN network baud rate adaptive adjustment method as described in any one of claims 1 to 3 is implemented.

Images