CAN bus network topology, configuration method of CAN bus terminal resistor and vehicle

Abstract

The invention discloses a CAN bus network topology, a CAN bus terminal resistor configuration method and a vehicle, and relates to the technical field of vehicle CAN buses, and the CAN bus network topology comprises a first remote electric control terminal, a second remote electric control terminal, a third remote electric control terminal, a plurality of first node electric control terminals and a plurality of second node electric control terminals. The first remote electric control terminal, the second remote electric control terminal and the third remote electric control terminal are respectively provided with a terminal resistor; when the vehicle is in a low-configuration vehicle type, the second remote electric control terminal works in a first state, and the terminal resistors of the first remote electric control terminal and the second remote electric control terminal are connected in parallel; and when the vehicle is a high-configuration vehicle type, the second remote electric control terminal works in a second state, and the terminal resistors of the first remote electric control terminal and the third remote electric control terminal are connected in parallel. According to the invention, the second remote electric control terminal only needs to be configured with one terminal resistor, so that the requirement of a high-configuration vehicle model can be met, a CAN bus network does not need to be newly added, and the cost is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle CAN bus, and in particular to a CAN bus network topology, a configuration method of a CAN bus terminal resistor and a vehicle. Background Art

[0002] The CAN bus terminal resistor has two main functions in the car: one is to speed up the discharge, so that the bus quickly enters the invisible state and improves the anti-interference ability; the other is to eliminate impedance discontinuity and mismatch to improve the signal quality of the entire CAN bus. Therefore, the reasonable design of the CAN bus terminal resistor is a very important link in the automotive development process. In order to ensure the quality of the CAN bus, a terminal resistor of 120Ω must be configured on each of the two farthest terminals (electronic control terminals) on the same high-speed CAN network, so that it can be connected in parallel in the entire high-speed CAN network loop to form a resistance value equal to 60Ω.

[0003] The existing patent CN113497769A discloses a configuration method, device and related network topology of CAN bus terminal resistors, which describes how to configure terminal resistors in newly developed projects. The core content is that when the project architecture is selected, the terminal resistors are fixed, that is, the terminal resistors are on the two farthest controllers. However, once the project involves evolution (adding controller configuration), the selection of terminal resistors needs to be redesigned and developed.

[0004] Therefore, in order to meet the demand for increasing controller configuration, the new technical solution has made the following changes to different configuration levels (high configuration, low configuration): Figure 2 The network topology design shown in the figure has two terminal resistors in B1: for low-end vehicles, A and B1 are the two farthest electronic control terminals of the CAN1 bus network, and the others D1 to Dn are nodes on the network, with terminal resistors on the two electronic control terminals A and B1; for high-end vehicles, a new CAN2 bus network is added, so that A and B1 are the two farthest electronic control terminals on the CAN1 bus network; B2 and C are the two farthest electronic control terminals on the CAN2 bus network.

[0005] However, this solution adds a CAN2 bus network, and the electronic control terminal B1 needs to be configured with two terminal resistors, which increases the cost. Summary of the invention

[0006] The embodiments of the present invention provide a CAN bus network topology, a configuration method of a CAN bus terminal resistor, and a vehicle to solve the technical problem in the related art that the CAN bus network topology of existing vehicles needs to meet the needs of high-end and low-end models, requires a remote electronic control to configure two terminal resistors, and also needs to add a CAN network, resulting in increased costs.

[0007] In a first aspect, a CAN bus network topology is provided, including:

[0008] A first remote electric control terminal, a second remote electric control terminal, a third remote electric control terminal, a plurality of first node electric control terminals and a plurality of second node electric control terminals, wherein the first remote electric control terminal, the second remote electric control terminal and the third remote electric control terminal are respectively provided with a terminal resistor;

[0009] When the vehicle is a low-end model, the first remote electronic control terminal, the plurality of the first node electronic control terminals and the second remote electronic control terminal are connected, and the second remote electronic control terminal works in a first state, and the terminal resistors of the first remote electronic control terminal and the second remote electronic control terminal are connected in parallel;

[0010] When the vehicle is a high-end model, the first remote electronic control terminal, multiple first node electronic control terminals, the second remote electronic control terminal, multiple second node electronic control terminals and the third remote electronic control terminal are connected, and the second remote electronic control terminal works in the second state, and the terminal resistors of the first remote electronic control terminal and the third remote electronic control terminal are connected in parallel.

[0011] In some embodiments, the second remote electronic control terminal is provided with a first pin, a second pin, a third pin, a fourth pin, a fifth pin, and a sixth pin; wherein the first pin and the third pin are connected inside the second remote electronic control terminal, the second pin and the fourth pin are connected inside the second remote electronic control terminal, the first pin and the second pin are connected to a terminal resistor of the first remote electronic control terminal, and the fifth pin and the sixth pin are connected to the terminal resistor thereof inside the second remote electronic control terminal;

[0012] When the vehicle is a low-end model, the third pin and the fourth pin are connected to the fifth pin and the sixth pin respectively;

[0013] When the vehicle is a high-end model, the third pin and the fourth pin are connected to the terminal resistor of the third remote electronic control terminal, and the fifth pin and the sixth pin are suspended.

[0014] In some embodiments, the first remote electronic control terminal is an engine controller or a vehicle controller.

[0015] In some embodiments, the second remote electronic control terminal is an intelligent control box.

[0016] In some embodiments, the third remote electronic control terminal is a multi-function camera controller.

[0017] In some embodiments, the first node electronic control terminal includes a transmission controller, an electronic power steering controller, and an electronic stability controller.

[0018] In some embodiments, the second node electronic control terminal includes a headlight controller and a variable suspension controller.

[0019] In a second aspect, a method for configuring a CAN bus terminal resistor is provided, using the aforementioned CAN bus network topology, comprising the following steps:

[0020] When the vehicle is a low-end model, the first remote electronic control terminal, the plurality of first node electronic control terminals and the second remote electronic control terminal are connected, and the second remote electronic control terminal is operated in the first state, so that the terminal resistances of the first remote electronic control terminal and the second remote electronic control terminal are connected in parallel;

[0021] When the vehicle is a high-end model, the first remote electronic control terminal, multiple first node electronic control terminals, the second remote electronic control terminal, multiple second node electronic control terminals and the third remote electronic control terminal are connected, and the second remote electronic control terminal is operated in the second state to connect the terminal resistances of the first remote electronic control terminal and the third remote electronic control terminal in parallel.

[0022] In some embodiments, the second remote electric control terminal is provided with a first pin, a second pin, a third pin, a fourth pin, a fifth pin, and a sixth pin; wherein the first pin and the third pin are connected inside the second remote electric control terminal, the second pin and the fourth pin are connected inside the second remote electric control terminal, the first pin and the second pin are connected to a terminal resistor of the first remote electric control terminal, and the fifth pin and the sixth pin are connected to a terminal resistor of the second remote electric control terminal;

[0023] The step of making the second remote electric control terminal work in the first state comprises: connecting the third pin and the fourth pin to the fifth pin and the sixth pin respectively;

[0024] The step of making the second remote electric control terminal work in the second state includes: connecting the third pin and the fourth pin to the terminal resistor of the third remote electric control terminal, and leaving the fifth pin and the sixth pin suspended.

[0025] In a third aspect, a vehicle is provided, comprising the aforementioned CAN bus network topology.

[0026] The beneficial effects brought about by the technical solution provided by the present invention include:

[0027] The embodiments of the present invention provide a CAN bus network topology, a configuration method for a CAN bus terminal resistor, and a vehicle. The second remote electronic control terminal set in the CAN bus network topology only needs to be configured with one terminal resistor to meet the demand for adding electronic control terminals in high-end models, and there is no need to add a new CAN bus network to realize signal transmission. Point-to-point or point-to-multipoint signal transmission functions can be realized on a CAN bus network, saving costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 It is a structural schematic diagram of the CAN bus network topology of a low-end vehicle model in the prior art;

[0030] Figure 2 It is a structural schematic diagram of the CAN bus network topology of a high-end vehicle model in the prior art;

[0031] Figure 3 A schematic diagram of a CAN bus network topology provided by an embodiment of the present invention;

[0032] Figure 4 Another structural schematic diagram of a CAN bus network topology provided by an embodiment of the present invention;

[0033] Figure 5 A flowchart of a method for configuring a CAN bus terminal resistor provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The embodiment of the present invention provides a CAN bus network topology, which can solve the technical problem that the CAN bus network topology of existing vehicles needs to increase the demand for electronic control terminals to meet the needs of high-end models, requires a remote electronic control to be configured with two terminal resistors, and also requires an additional CAN network, which leads to increased costs.

[0036] See also Figure 3 and Figure 4 As shown, an embodiment of the present invention provides a CAN bus network topology, including: a first remote electric control terminal, a second remote electric control terminal, a third remote electric control terminal, a plurality of first node electric control terminals and a plurality of second node electric control terminals, wherein the first remote electric control terminal, the second remote electric control terminal and the third remote electric control terminal are respectively configured with a terminal resistor.

[0037] When the vehicle is a low-end model, the first remote electronic control terminal, multiple first node electronic control terminals and the second remote electronic control terminal are connected, and the second remote electronic control terminal works in the first state, and the terminal resistors of the first remote electronic control terminal and the second remote electronic control terminal are connected in parallel.

[0038] When the vehicle is a high-end model, the first remote electronic control terminal, multiple first node electronic control terminals, the second remote electronic control terminal, multiple second node electronic control terminals and the third remote electronic control terminal are connected, and the second remote electronic control terminal works in the second state, and the terminal resistors of the first remote electronic control terminal and the third remote electronic control terminal are connected in parallel.

[0039] See also Figure 3 As shown, for low-end models, the CAN1 bus network topology includes a first remote electronic control terminal, a second remote electronic control terminal and multiple first node electronic control terminals, the first remote electronic control terminal is A, the second remote electronic control terminal is B2, and multiple first node electronic control terminals are D1~Dn. The second remote electronic control terminal B works in the first state, and the first remote electronic control terminal A and the second remote electronic control terminal B2 each have a terminal resistor of 120 ohms, and the total parallel resistance is 60 ohms, which meets the use requirements.

[0040] See also Figure 4 As shown, for high-end models, the CAN1 bus network topology includes a first remote electronic control terminal, a second remote electronic control terminal, a third remote electronic control terminal, multiple first node electronic control terminals and multiple second node electronic control terminals, the first remote electronic control terminal is A, the second remote electronic control terminal is B2, the first remote electronic control terminal is C, multiple first node electronic control terminals are D1~Dn, and multiple second node electronic control terminals are Dn+1~Dn+n. When each of the three electronic control terminals A, B2, and C has a terminal resistor of 120 ohms, if they are directly connected in parallel, the total resistance is 40 ohms (120 / 3=40), which will affect the transmission quality of the CAN network signal. For this reason, the second remote electronic control terminal B is made to work in the first state, and only the terminal resistors of the first remote electronic control terminal A and the third remote electronic control terminal C are connected in parallel, and the total parallel resistance is 60 ohms, which meets the use requirements.

[0041] The CAN bus network topology in the embodiment of the present invention has a second remote electronic control terminal that only needs to be configured with a terminal resistor to meet the needs of high-end models to increase electronic control terminals, and there is no need to add a new CAN bus network to realize signal transmission. Point-to-point or point-to-multipoint signal transmission functions can be realized on one CAN bus network, saving costs.

[0042] As an optional implementation, in an embodiment of the invention, see Figure 4 As shown, the second remote electronic control terminal is provided with a first pin, a second pin, a third pin, a fourth pin, a fifth pin and a sixth pin; wherein, the first pin and the third pin are connected inside the second remote electronic control terminal, the second pin and the fourth pin are connected inside the second remote electronic control terminal, the first pin and the second pin are connected via a terminal resistor to the first remote electronic control terminal, and the fifth pin and the sixth pin are connected to the terminal resistor thereof inside the second remote electronic control terminal.

[0043] When the vehicle is a low-end model, the third pin and the fourth pin are connected to the fifth pin and the sixth pin respectively.

[0044] When the vehicle is a high-end model, the third pin and the fourth pin are connected to the terminal resistor of the third remote electronic control terminal, and the fifth pin and the sixth pin are suspended.

[0045] See also Figure 4 As shown, in the internal circuit of the second remote electronic control terminal B2, the line points a and c corresponding to the first pin and the third pin are connected, and the second pin is connected to the fourth pins b and d, so that the first pin and the third pin form a path, and the second pin and the fourth pin form a path.

[0046] When the vehicle is of low configuration, a CAN twisted pair is added to the peripheral circuit of the second remote electric control terminal B1, wherein the CAN twisted pair connects the third pin and the fourth pin to the fifth pin and the sixth pin. Since there is no resistance in the CAN interface of the node electric control terminal Dn, these nodes are in an open circuit state in the entire CAN1 bus network loop, that is, only R1 (resistance value is 120Ω) in the first remote electric control terminal A and R2 (resistance value is 120Ω) in the second remote electric control terminal B2 form a parallel loop, so that the total resistance of the CAN1 bus network is 60Ω, which meets the design requirements of the CAN1 bus network terminal resistance.

[0047] When the vehicle is in high configuration, the entire circuit is added with electronic control terminals such as Dn+n and C, the fifth pin and the sixth pin of the second remote electronic control terminal B2 are cancelled, and the terminal resistor R2 between the fifth pin and the sixth pin is in an open circuit state, and the corresponding resistance value is 0. A CAN twisted pair is added to the peripheral circuit of the second remote electronic control terminal B1, wherein the CAN twisted pair connects the third pin and the fourth pin with the third remote electronic control terminal C. At this time, there is no resistance in the CAN interface of the electronic control terminals of the nodes Dn~Dn+n, so in the entire CAN1 bus network loop, these nodes are equivalent to being in an open circuit state, and the second remote electronic control terminal B2 with terminal resistor has a resistance value of 0Ω due to the open circuit of the fifth pin and the sixth pin. That is, only R1 (resistance value of 120Ω) in the first remote electronic control terminal A and R3 (resistance value of 120Ω) in the third remote electronic control terminal C form a parallel circuit, so that the total resistance of the CAN1 bus network is 60Ω, which meets the design requirements of the terminal resistor of the CAN1 bus network.

[0048] Below, we take a certain car model P of the company as an example. There are three configuration levels in total, of which the first and second level configurations are low-end models, and the third level configuration is a high-end model. For low-end models, the wiring harness field involved in the electronic control terminal is small (generally concentrated on the main wiring harness), mainly including the engine controller CMM or the vehicle controller VCU, the transmission controller BVA, the electronic power steering controller DAE, the electronic stability controller ESP, the intelligent control box BSI, etc. Because the intelligent control box BSI is the core key component in the entire network topology, it shoulders the functions of gateway, power distribution, function distribution, etc., so the intelligent control box BSI hardware will inevitably be designed with terminal resistance. For low-end models, the two electronic control terminals farthest apart on the CAN1 bus network are the engine controller CMM or the vehicle controller VCU and the intelligent control box BSI, that is, the engine controller CMM or the vehicle controller VCU is the first remote electronic control terminal of the embodiment of the present invention, and the intelligent control box BSI is the second remote control terminal of the embodiment of the present invention. The transmission controller BVA, the electronic power steering controller DAE, and the electronic stability controller ESP are the first node electronic control terminals of the embodiment of the present invention.

[0049] In high-end models, the headlight controller BEMP, variable suspension controller AMVAR, multi-function camera controller CVM, etc. are newly added. The headlight controller BEMP and variable suspension controller AMVAR are still on the main wiring harness, but the multi-function camera controller CVM is arranged on the ceiling wiring harness. Therefore, since all these electronic control terminals are arranged on the CAN1 bus network, the two farthest electronic control terminals are not the engine controller CMM or the vehicle controller VCU and the intelligent control box BSI, but the engine controller CMM or the vehicle controller VCU and the multi-function camera controller CVM. That is, the multi-function camera controller CVM serves as the third remote control terminal of the embodiment of the present invention, and the headlight controller BEMP and the variable suspension controller AMVAR serve as the second node electronic control terminal of the embodiment of the present invention.

[0050] Since the intelligent control box BSI needs a terminal resistor for low-end vehicles, but not for high-end vehicles. Therefore, it is necessary to design it on the electronic control terminal of the intelligent control box BSI (B2). First, design two ports of the CAN bus network cable on the intelligent control box BSI, one of which is on the E connector of the intelligent control box BSI, and the other is on the F connector of the intelligent control box BSI. There are the first and second pins on the E connector, and the third, fourth, fifth and sixth pins on the F connector. There is a resistor with a resistance of 120 ohms between the fifth and sixth pins. The first and second pins on the E connector are connected to the third and fourth pins on the F connector through the internal layout of the intelligent control box BSI.

[0051] When the vehicle is low-end, the first and second pins on the E connector are responsible for connecting to the CAN (CAN1-H, CAN1-L) interface of the electronic control terminal such as CMM / BVA / ESP / DAE. The first and second pins on the E connector are connected to the third and fourth pins on the F connector through the internal layout of the intelligent control box BSI. The third and fourth pins on the F connector are externally connected to the fifth and sixth pins through a CAN twisted pair, and the shape is similar to an arch bridge. Among them, the third pin and the fifth pin are connected, and the fourth pin and the sixth pin are connected. Since then, the terminal resistance on the low-end vehicle has reached the design requirement of the longest distance and the sum of the parallel resistance is 60 ohms.

[0052] When the vehicle belongs to a high-end level, the first and second pins on the E connector are still responsible for connecting to the CAN (CAN1-H, CAN1-L) interface of the electronic control terminal such as CMM / BVA / ESP / DAE. The first and second pins on the E connector are still connected to the third and fourth pins on the F connector through the internal layout of the intelligent control box BSI, but the third and fourth pins on the F connector no longer need to be connected to the fifth and sixth pins with an external CAN twisted pair. The fifth and sixth pins are equivalent to an open circuit, and the resistance value on the intelligent control box BSI is equivalent to 0Ω. Instead, the third and fourth pins on the F connector are directly connected to the newly added electronic control unit BEMP, AMAVR, CVM and other control units on the CAN1 bus network. Since the multi-function camera controller CVM is at the farthest end of the CAN1 bus network, a 120-ohm terminal resistor is also required on the multi-function camera controller CVM. Other node electronic control terminals are equivalent to open circuits in the entire CAN1 bus network loop. Since then, the terminal resistance on the high-end vehicle has also reached the design requirement of the farthest distance and the sum of the parallel resistance is 60 ohms.

[0053] The above design ensures the consistency of the hardware of the smart control box BSI. No matter what level of configuration, one smart control box BSI hardware is sufficient, which reduces the development cost and facilitates vehicle manufacturing and software implementation management. At the same time, it does not require a new CAN1 bus network to realize signal transmission, ensuring that the vehicle realizes point-to-point or point-to-multipoint signal transmission on a CAN1 bus network. At the same time, for other CAN bus networks different from the CAN1 bus network of the embodiment of the present invention, the design method of the terminal resistor is also applicable.

[0054] See also Figure 5 As shown, an embodiment of the present invention further provides a method for configuring a CAN bus terminal resistor, comprising the following steps:

[0055] Step S10, when the vehicle is a low-end model, the first remote electronic control terminal, the plurality of first node electronic control terminals and the second remote electronic control terminal are connected, and the second remote electronic control terminal is operated in a first state, so that the terminal resistances of the first remote electronic control terminal and the second remote electronic control terminal are connected in parallel;

[0056] Step S20, when the vehicle is a high-end model, the first remote electronic control terminal, multiple first node electronic control terminals, the second remote electronic control terminal, multiple second node electronic control terminals and the third remote electronic control terminal are connected, and the second remote electronic control terminal is operated in the second state to connect the terminal resistances of the first remote electronic control terminal and the third remote electronic control terminal in parallel.

[0057] The configuration method of the CAN bus terminal resistor in the embodiment of the present invention is that the second remote electronic control terminal only needs to be configured with one terminal resistor, which can meet the demand of adding electronic control terminals in high-end models, and there is no need to add a new CAN bus network to realize signal transmission. Point-to-point or point-to-multipoint signal transmission functions can be realized on one CAN bus network, saving costs.

[0058] As an optional implementation, in one embodiment of the invention, the second remote electric control terminal is provided with a first pin, a second pin, a third pin, a fourth pin, a fifth pin, and a sixth pin; wherein the first pin and the third pin are connected inside the second remote electric control terminal, the second pin and the fourth pin are connected inside the second remote electric control terminal, the first pin and the second pin are connected to the terminal resistor of the first remote electric control terminal, and the fifth pin and the sixth pin are connected to the terminal resistor of the second remote electric control terminal;

[0059] The step of making the second remote electric control terminal work in the first state comprises: connecting the third pin and the fourth pin to the fifth pin and the sixth pin respectively;

[0060] The step of making the second remote electric control terminal work in the second state includes: connecting the third pin and the fourth pin to the terminal resistor of the third remote electric control terminal, and leaving the fifth pin and the sixth pin suspended.

[0061] See also Figure 4 As shown, in the internal circuit of the second remote electronic control terminal B2, the line points a and c corresponding to the first pin and the third pin are connected, and the second pin is connected to the fourth pins b and d, so that the first pin and the third pin form a path, and the second pin and the fourth pin form a path.

[0062] When the vehicle is of low configuration, a CAN twisted pair is added to the peripheral circuit of the second remote electric control terminal B1, wherein the CAN twisted pair connects the third pin and the fourth pin to the fifth pin and the sixth pin. Since there is no resistance in the CAN interface of the node electric control terminal Dn, these nodes are in an open circuit state in the entire CAN1 bus network loop, that is, only R1 (resistance value is 120Ω) in the first remote electric control terminal A and R2 (resistance value is 120Ω) in the second remote electric control terminal B2 form a parallel loop, so that the total resistance of the CAN1 bus network is 60Ω, which meets the design requirements of the CAN1 bus network terminal resistance.

[0063] When the vehicle is in high configuration, the entire circuit is added with electronic control terminals such as Dn+n and C, the fifth pin and the sixth pin of the second remote electronic control terminal B2 are cancelled, and the terminal resistor R2 between the fifth pin and the sixth pin is in an open circuit state, and the corresponding resistance value is 0. A CAN twisted pair is added to the peripheral circuit of the second remote electronic control terminal B1, wherein the CAN twisted pair connects the third pin and the fourth pin with the third remote electronic control terminal C. At this time, there is no resistance in the CAN interface of the electronic control terminals of the nodes Dn~Dn+n, so in the entire CAN1 bus network loop, these nodes are equivalent to being in an open circuit state, and the second remote electronic control terminal B2 with terminal resistor has a resistance value of 0Ω due to the open circuit of the fifth pin and the sixth pin. That is, only R1 (resistance value of 120Ω) in the first remote electronic control terminal A and R3 (resistance value of 120Ω) in the third remote electronic control terminal C form a parallel circuit, so that the total resistance of the CAN1 bus network is 60Ω, which meets the design requirements of the terminal resistor of the CAN1 bus network.

[0064] An embodiment of the present invention further provides a vehicle, comprising the aforementioned CAN bus network topology.

[0065] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0066] It should be noted that, in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0067] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features of the present invention.

Claims

1. A CAN bus network topology, characterized in that: include: A first remote electric control terminal, a second remote electric control terminal, a third remote electric control terminal, a plurality of first node electric control terminals and a plurality of second node electric control terminals, wherein the first remote electric control terminal, the second remote electric control terminal and the third remote electric control terminal are respectively provided with a terminal resistor; When the vehicle is a low-end model, the first remote electronic control terminal, the plurality of the first node electronic control terminals and the second remote electronic control terminal are connected, and the second remote electronic control terminal works in a first state, and the terminal resistors of the first remote electronic control terminal and the second remote electronic control terminal are connected in parallel; When the vehicle is a high-end model, the first remote electronic control terminal, multiple first node electronic control terminals, the second remote electronic control terminal, multiple second node electronic control terminals and the third remote electronic control terminal are connected, and the second remote electronic control terminal works in the second state, and the terminal resistors of the first remote electronic control terminal and the third remote electronic control terminal are connected in parallel.

2. The CAN bus network topology according to claim 1, characterized in that: The second remote electric control terminal is provided with a first pin, a second pin, a third pin, a fourth pin, a fifth pin, and a sixth pin; wherein the first pin and the third pin are connected inside the second remote electric control terminal, the second pin and the fourth pin are connected inside the second remote electric control terminal, the first pin and the second pin are connected to a terminal resistor of the first remote electric control terminal, and the fifth pin and the sixth pin are connected to a terminal resistor thereof inside the second remote electric control terminal; When the vehicle is a low-end model, the third pin and the fourth pin are connected to the fifth pin and the sixth pin respectively; When the vehicle is a high-end model, the third pin and the fourth pin are connected to the terminal resistor of the third remote electronic control terminal, and the fifth pin and the sixth pin are suspended.

3. The CAN bus network topology according to claim 1, characterized in that: The first remote electronic control terminal is an engine controller or a vehicle controller.

4. The CAN bus network topology according to claim 1, characterized in that: The second remote electric control terminal is an intelligent control box.

5. The CAN bus network topology according to claim 1, characterized in that: The third remote electronic control terminal is a multifunctional camera controller.

6. The CAN bus network topology according to claim 1, characterized in that: The first node electronic control terminal includes a transmission controller, an electronic power steering controller and an electronic stability controller.

7. The CAN bus network topology according to claim 1, characterized in that: The second node electronic control terminal includes a headlight controller and a variable suspension controller.

8. A method for configuring a CAN bus terminal resistor, using the CAN bus network topology described in claim 1, characterized in that: The following steps are involved: When the vehicle is a low-end model, the first remote electronic control terminal, the plurality of first node electronic control terminals and the second remote electronic control terminal are connected, and the second remote electronic control terminal is operated in the first state, so that the terminal resistances of the first remote electronic control terminal and the second remote electronic control terminal are connected in parallel; When the vehicle is a high-end model, the first remote electronic control terminal, multiple first node electronic control terminals, the second remote electronic control terminal, multiple second node electronic control terminals and the third remote electronic control terminal are connected, and the second remote electronic control terminal is operated in the second state to connect the terminal resistances of the first remote electronic control terminal and the third remote electronic control terminal in parallel.

9. The method for configuring the CAN bus terminal resistance according to claim 8, characterized in that: The second remote electric control terminal is provided with a first pin, a second pin, a third pin, a fourth pin, a fifth pin and a sixth pin; wherein the first pin and the third pin are connected inside the second remote electric control terminal, the second pin and the fourth pin are connected inside the second remote electric control terminal, the first pin and the second pin are connected to the terminal resistor of the first remote electric control terminal, and the fifth pin and the sixth pin are connected to the terminal resistor of the second remote electric control terminal; The step of making the second remote electric control terminal work in the first state comprises: connecting the third pin and the fourth pin to the fifth pin and the sixth pin respectively; The step of making the second remote electric control terminal work in the second state includes: connecting the third pin and the fourth pin to the terminal resistor of the third remote electric control terminal, and leaving the fifth pin and the sixth pin suspended.

10. A vehicle, characterized in that: Including the CAN bus network topology described in any one of claims 1-8.

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