Network management method and device based on CAN bus, and readable storage medium

Abstract

The embodiment of the invention discloses a network management method and device based on a CAN bus and a readable storage medium, and belongs to the technical field of network management. The method comprises the following steps: a transceiver corresponding to a node receives a CAN wake-up message and judges whether the CAN wake-up message is a message for waking up a controller corresponding to the node, and when the transceiver determines that the CAN wake-up message is the message for waking up the controller corresponding to the node, the controller is waken up, so that when the node needs to be waken up, the node is waken up, and the wakeup time of the node is shortened. According to the invention, the wakeup between the nodes does not have associated effect, and each node can be waken up according to the needs of the functional system where the node is located, so that the wakeup of irrelevant nodes is avoided, and the energy consumption caused by wakeup is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of network management, and in particular to a network management method, device and readable storage medium based on a CAN bus. Background Art

[0002] With the development of science and technology, the application scope of network management based on CAN (Controller Area Network) bus in the whole vehicle is becoming more and more extensive. In the CAN network, network management can make any node connected to the CAN bus sleep and wake up in an orderly manner.

[0003] In the related art, when a node is in a dormant state, upon receiving any message, the node is awakened. After the node is awakened, it detects whether the awakening message meets the awakening conditions. If the awakening conditions are not met, the node is controlled to continue sleeping.

[0004] In the above network management, since any message can wake up a node, and node wake-up requires both the controller and the transceiver to remain operational, this will result in the wake-up of other nodes that do not perform corresponding functions, thereby wasting the power of the vehicle battery. Summary of the invention

[0005] The embodiments of the present application provide a network management method, device and storage medium based on a CAN bus to reduce the energy consumption caused by waking up unrelated nodes.

[0006] On the one hand, a network management method based on a controller area network (CAN) bus is provided, which is applied to any node connected to the CAN bus, wherein the node includes: a controller and a transceiver, and the method includes:

[0007] When the network state of the node is a dormant state, if the transceiver receives a CAN wake-up message, it is determined whether the CAN wake-up message is a message for waking up the controller, and the transceiver shields a variable-rate controller area network CANFD message in the dormant state;

[0008] If so, the transceiver wakes up the controller to switch the network state of the node from the sleep state to the repeated message state.

[0009] Optionally, the method also includes: after the controller is awakened, if the controller receives a preset number of the CAN wake-up messages within a preset time period, controlling the network state of the node corresponding to the controller to switch from the sleep state to the repeated message state, and the transceiver receives the CAN FD message in the repeated message state.

[0010] Optionally, the method further includes:

[0011] When the network state of the node is a pre-sleep state, the controller determines whether the node meets a sleep condition;

[0012] If the node meets the sleep condition, the controller controls the transceiver to shield the CAN FD message, so that the transceiver is prohibited from receiving the CAN FD message in the sleep state;

[0013] The network state of the node is switched from the pre-sleep state to the sleep state.

[0014] Optionally, the controller controls the transceiver to shield the CAN FD message, including:

[0015] The controller controls a CAN FD message shielding function on the transceiver so that the transceiver shields the CAN FD message in the sleep state.

[0016] Optionally, the method further includes:

[0017] When the network state of the node is the repeated message state, if the node meets the normal operation condition, the network state of the node is switched from the repeated message state to the normal operation state;

[0018] When the network state of the node is the repeated message state, if the node meets a ready-to-sleep condition, the network state of the node is switched from the repeated message state to the ready-to-sleep state.

[0019] Optionally, the method further includes:

[0020] When the network state of the node is the normal operation state, if the node meets the preparation-to-sleep condition, the network state of the node is switched from the normal operation state to the preparation-to-sleep state;

[0021] When the network state of the node is the normal operation state, if the node meets the message duplication condition, the network state of the node is switched from the normal operation state to the repeated message state.

[0022] Optionally, the method further includes:

[0023] When the network state of the node is a ready-to-sleep state, if the node meets a message repetition condition, the network state of the node is switched from the ready-to-sleep state to the message repetition state;

[0024] When the network state of the node is a ready-to-sleep state, if the node meets a pre-sleep condition, the network state of the node is switched from the ready-to-sleep state to the pre-sleep state;

[0025] When the network state of the node is in the sleep-ready state, if the node meets the normal operation condition, the network state of the node is switched from the sleep-ready state to the normal operation state.

[0026] Optionally, the method further includes:

[0027] When the network state of the node is a pre-sleep state, if the node meets a message repetition condition, the network state of the node is switched from the pre-sleep state to the message repetition state.

[0028] On the other hand, a network management device based on a controller area network (CAN) bus is provided, wherein the device is any node connected to the CAN bus, and the device comprises: a controller and a transceiver;

[0029] The transceiver is used to determine whether the CAN wake-up message is a message for waking up the controller when a CAN wake-up message is received when the network state of the node is a sleep state. The transceiver shields the variable-rate controller area network CANFD message in the sleep state; if so, wakes up the controller to switch the network state of the node from the sleep state to the repeated message state.

[0030] Optionally, the controller is used to control the network state of the node corresponding to the controller to switch from the sleep state to the repeated message state after the controller is awakened, if a preset number of the CAN wake-up messages are received within a preset time period, and the transceiver receives CANFD messages in the repeated message state.

[0031] Optionally, the controller is used to:

[0032] When the network state of the node is a pre-sleep state, determining whether the node meets a sleep condition;

[0033] If the node meets the sleep condition, controlling the transceiver to shield the CAN FD message, so that the transceiver is prohibited from receiving the CAN FD message in the sleep state;

[0034] The network state of the node is switched from the pre-sleep state to the sleep state.

[0035] Optionally, the controller is used to: control a CAN FD message shielding function on the transceiver so that the transceiver shields CAN FD messages in the sleep state.

[0036] Optionally, the controller is used to:

[0037] When the network state of the node is the repeated message state, if the node meets the normal operation condition, the network state of the node is switched from the repeated message state to the normal operation state;

[0038] When the network state of the node is the repeated message state, if the node meets a ready-to-sleep condition, the network state of the node is switched from the repeated message state to the ready-to-sleep state.

[0039] Optionally, the controller is used to:

[0040] When the network state of the node is the normal operation state, if the node meets the preparation-to-sleep condition, the network state of the node is switched from the normal operation state to the preparation-to-sleep state;

[0041] When the network state of the node is the normal operation state, if the node meets the message duplication condition, the network state of the node is switched from the normal operation state to the repeated message state.

[0042] Optionally, the controller is used to:

[0043] When the network state of the node is a ready-to-sleep state, if the node meets a message repetition condition, the network state of the node is switched from the ready-to-sleep state to the message repetition state;

[0044] When the network state of the node is a ready-to-sleep state, if the node meets a pre-sleep condition, the network state of the node is switched from the ready-to-sleep state to the pre-sleep state;

[0045] When the network state of the node is in the sleep-ready state, if the node meets the normal operation condition, the network state of the node is switched from the sleep-ready state to the normal operation state.

[0046] Optionally, the controller is used to:

[0047] When the network state of the node is a pre-sleep state, if the node meets a message repetition condition, the network state of the node is switched from the pre-sleep state to the message repetition state.

[0048] On the other hand, a computer device is provided, which includes one or more processors and one or more memories, wherein at least one instruction is stored in the one or more memories, and the instruction is loaded and executed by the one or more processors to implement the operations performed by a CAN bus-based network management method provided in the above embodiment.

[0049] On the other hand, a computer-readable storage medium is provided, on which instructions are stored. When the instructions are executed by a processor, the operations performed by the network management method based on the CAN bus provided in the above embodiment are implemented.

[0050] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0051] The CAN wake-up message is received by the transceiver corresponding to the node and it is determined whether the CAN wake-up message is a message for waking up the controller corresponding to the node. When the transceiver determines that the CAN wake-up message is a message for waking up the controller corresponding to the node, the controller is woken up. In this way, the node is woken up only when it needs to be woken up, so that there is no joint effect between the awakening of each node. Each node can be awakened according to the needs of its own functional system. Therefore, the awakening of irrelevant nodes is avoided and the energy consumption caused by the awakening is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0053] Figure 1 is a flow chart of a network management method based on CAN bus provided by an embodiment of the present application;

[0054] Figure 2 is a flow chart of another CAN bus-based network management method provided by an embodiment of the present application;

[0055] Figure 3 This is a state diagram of switching between states of nodes provided in an embodiment of the present application;

[0056] Figure 4 It is a structural diagram of a network management device based on CAN bus provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0058] In order to facilitate the description of a network management method based on a CAN (Controller Area Network) bus provided in the following embodiments, the nodes involved in each embodiment are first introduced. Specifically, a node refers to a unit that can be connected to a CAN bus, and communication between nodes can be achieved through the CAN bus. The node may include: a controller and a transceiver.

[0059] Figure 1 FIG. 1 is a flow chart of a network management method based on a CAN bus according to an embodiment of the present application. The following is an example of applying the method to any node connected to the CAN bus. Figure 1 As shown, the method includes the following steps.

[0060] Step 101, when the network state of the node is in the sleep state, if the transceiver receives a CAN wake-up message, it is determined whether the CAN wake-up message is a message for waking up the controller, and the transceiver shields CAN FD (Controller Area Network with Flexible Data rate) messages in the sleep state.

[0061] Step 102: If yes, the transceiver wakes up the controller to switch the network state of the node from the sleep state to the repeated message state.

[0062] The embodiment of the present application provides a network management method based on the CAN bus, in which a CAN wake-up message is received by a transceiver corresponding to a node and it is determined whether the CAN wake-up message is a message for waking up a controller corresponding to the node. The controller is awakened only when the transceiver determines that the CAN wake-up message is a message for waking up the controller corresponding to the node. In this way, the node is awakened only when it needs to be awakened, so that there is no chain effect between the awakening of each node. Each node can be awakened according to the needs of its own functional system, thereby avoiding the awakening of irrelevant nodes and reducing the energy consumption caused by the awakening.

[0063] Figure 2 FIG. 1 is a flow chart of a network management method based on a CAN bus according to an embodiment of the present application. The following is an example of applying the method to any node connected to the CAN bus. Figure 2 As shown, the method includes the following steps.

[0064] Step 201, when the network state of the node is in the dormant state, the transceiver receives a CAN wake-up message. It should be noted that when the network state of the node is in the dormant state, the node does not send a message, but the transceiver corresponding to the node can receive a CAN wake-up message sent by other nodes, and if it is a message to wake up the node, the node is awakened. The node being awakened means that the transceiver and controller corresponding to the node are awakened, so that the node can communicate normally with other nodes.

[0065] Among them, when the node is in sleep state, the transceiver can receive a CAN wake-up message. The transceiver can also shield the CAN FD message when the node is in sleep state. Shielding the CAN FD message means ignoring the CAN FD message, so that the node waits for the CAN wake-up message to wake up the node in sleep state.

[0066] In an embodiment of the present application, the controller controls the CAN FD message shielding function on the transceiver so that the transceiver shields the CAN FD message in the sleep state. Specifically, the controller is pre-set with a CAN FD message shielding function, and the CAN FD message shielding function can pre-configure the state of the CAN FD message function before the node enters the sleep state. When the state of the CAN FD message shielding function is turned on, the CAN FD message will be shielded. If the state of the CAN FD message shielding function is turned off, the transceiver will receive the CAN FD message.

[0067] In an embodiment of the present application, the status of the CAN FD message function can be configured by a status identifier, for example: if the status identifier of the CAN FD message function is 1, then the status of the CAN FD message function is indicated as being on; if the status identifier of the CAN FD message function is 0, then the status of the CAN FD message function is indicated as being off.

[0068] Step 202: When the CAN wake-up message is a message for waking up the controller, the transceiver wakes up the controller to switch the network state of the node from the sleep state to the repeat message state.

[0069] In the embodiment of the present application, it is necessary to determine whether the CAN wake-up message is a message for waking up the controller. If so, execute step 202; if not, execute step 201.

[0070] In an embodiment of the present application, in a group of CAN networks, each node communicates through a message. First, the message is transmitted to each node on the bus in the form of broadcast. The message transmitted in this frame contains the controller local area network identifier CANID. The CANID corresponding to the wake-up source is obtained by parsing the CAN message. When the CANID corresponding to the wake-up source matches the CANID pre-stored in this controller, it will be awakened by the message. The CANID pre-stored in this controller is used to indicate the ID range of the wake-up source that can wake up the controller.

[0071] It should be noted that the controller sets the register of the transceiver through the SPI interface to set the ID range of the wake-up source for waking up the controller.

[0072] When the controller corresponding to the node is awakened, it means that the node is awakened, and the node can send and receive messages after being awakened. After the node is awakened, the node switches between the repeat message state, normal operation state, ready to sleep state, pre-sleep state, and sleep state. Figure 3 The diagram below shows the state diagram of the node switching between states. The conditions for switching between the node states can be found in Figure 2 Steps in .

[0073] Step 203: After the controller is awakened, if the controller receives a preset number of CAN wake-up messages within a preset time period, the network state of the node corresponding to the controller is switched from the sleep state to the repeated message state.

[0074] It should be noted that when the network state of the node is the repeated message state, the node starts to send network messages and application messages. After entering the repeated message state, it will decide whether to enter the fast sending state according to whether the wake-up reason is active wake-up or passive wake-up: For example: If it is an active wake-up: send 10 network management messages quickly with a cycle of 20ms, the purpose is to quickly wake up other nodes on the bus. If it is passively awakened by other nodes, it means that other nodes on the bus have already woken up, and there is no need to wake up other nodes on the bus by itself. It only needs to send network management messages with a cycle of 1s.

[0075] In an embodiment of the present application, the controller switches from the sleep state to the repeated message state only when it receives a preset number of CAN wake-up messages within a preset time length. If the number of CAN wake-up messages received within the preset time length is less than the preset number, the node will not switch to the repeated message state.

[0076] The transceiver receives the CAN FD message in the repeated message state. In the embodiment of the present application, in the repeated message state, the controller turns on the CAN FD message function, so that the transceiver receives the CAN FD message in the repeated message state.

[0077] Step 204: when the network state of the node is the repeated message state, if the node meets the ready-to-sleep condition, the network state of the node is switched from the repeated message state to the ready-to-sleep state.

[0078] The sleep preparation condition includes: the time after the node detects that the release active request reaches a second preset time.

[0079] It should be noted that if the controller releases the active request, it does not need to remain awake.

[0080] In an embodiment of the present application, when the network state of a node is ready to sleep, the node does not send a network management message.

[0081] Step 205: When the network state of the node is a repeated message state, if the node meets normal operation conditions, the network state of the node is switched from the repeated message state to a normal operation state.

[0082] The normal operation conditions include: when the controller actively wakes up, the active request has not been released after the node has been in the current state for a first preset time; or

[0083] When the controller is passively awakened, the node detects an active request and the time the node has been in the current state reaches a first preset time.

[0084] In an embodiment of the present application, when the network state of the node is a normal operating state, the node sends a network management message and an application message.

[0085] Step 206: When the network state of the node is a normal operation state, if the node meets the message duplication condition, the network state of the node is switched from the normal operation state to the duplication message state.

[0086] The message repetition condition includes: setting Bit 0 of Byte 1 of the network management message received on the bus to 1.

[0087] Step 207: When the network state of the node is in the normal operation state, if the node meets the preparation-to-sleep condition, the network state of the node is switched from the normal operation state to the preparation-to-sleep state.

[0088] Step 208: When the network state of the node is the sleep-ready state, if the node meets the message repetition condition, the network state of the node is switched from the sleep-ready state to the message repetition state.

[0089] Step 209: When the network state of the node is in the sleep-ready state, if the node meets the normal operation conditions, the network state of the node is switched from the sleep-ready state to the normal operation state.

[0090] Step 210: When the network state of the node is the ready-to-sleep state, if the node meets the pre-sleep condition, the network state of the node is switched from the ready-to-sleep state to the pre-sleep state.

[0091] The pre-sleep condition includes: the time of receiving the network management message exceeds the second preset time. The pre-sleep condition is used to indicate that all controllers on the bus have no active request and all controllers need to enter the pre-sleep state.

[0092] When the network state of the node is in the pre-sleep state, the controller stops sending network management messages and application messages.

[0093] Step 211 , when the network state of the node is a pre-sleep state, if the node meets a message repetition condition, the network state of the node is switched from the pre-sleep state to the message repetition state.

[0094] Step 212, when the network state of the node is the pre-sleep state, if the node meets the sleep condition, the controller controls the transceiver to shield the CAN FD message so that the transceiver is prohibited from receiving the CAN FD message in the sleep state; the network state of the node is switched from the pre-sleep state to the sleep state.

[0095] The sleep condition includes: no local or network request is received within a third preset time period.

[0096] In the embodiment of the present application, when the network state of the node is in the sleep state, the transceiver pin INH corresponding to the node will be pulled low, the power controlled by the INH pin will be turned off, and the current flowing into the BAT pin will be reduced to the minimum. However, the transceiver will also detect whether there is a wake-up source in the sleep state. After detecting the wake-up source that wakes up the controller, the pin INH will be pulled high to power the controller normally.

[0097] The embodiment of the present application provides a network management method based on the CAN bus, in which a CAN wake-up message is received by a transceiver corresponding to a node and it is determined whether the CAN wake-up message is a message for waking up a controller corresponding to the node. The controller is awakened only when the transceiver determines that the CAN wake-up message is a message for waking up the controller corresponding to the node. In this way, the node is awakened only when it needs to be awakened, so that there is no chain effect between the awakening of each node. Each node can be awakened according to the needs of its own functional system, thereby avoiding the awakening of irrelevant nodes and reducing the energy consumption caused by the awakening.

[0098] Figure 4 A network management device 400 based on a controller area network (CAN) bus is provided in an embodiment of the present application. The device is any node connected to the CAN bus. The device includes: a controller 401 and a transceiver 402;

[0099] The transceiver is used for, when the network state of the node is in the sleep state, if a CAN wake-up message is received, determining whether the CAN wake-up message is a message for waking up the controller, and the transceiver shields the variable-rate controller area network CANFD message in the sleep state; if so, waking up the controller to switch the network state of the node from the sleep state to the repeated message state.

[0100] Optionally, controller 401 is used to control the network state of the node corresponding to the controller to switch from the sleep state to the repeated message state after the controller is awakened, if a preset number of CAN wake-up messages are received within a preset time period, and the transceiver receives CANFD messages in the repeated message state.

[0101] Optionally, the controller 401 is configured to:

[0102] When the network state of the node is in the pre-sleep state, determine whether the node meets the sleep condition;

[0103] If the node meets the sleep condition, the transceiver is controlled to shield the CANFD message, so that the transceiver is prohibited from receiving the CANFD message in the sleep state;

[0104] Switch the network state of the node from pre-sleep state to sleep state.

[0105] Optionally, the controller is used to: control the CAN FD message shielding function on the transceiver so that the transceiver shields the CAN FD message in a sleep state.

[0106] Optionally, the controller 401 is configured to:

[0107] When the network state of the node is a duplicate message state, if the node meets the normal operation conditions, the network state of the node is switched from the duplicate message state to the normal operation state;

[0108] When the network state of the node is a repeated message state, if the node meets the preparation-to-sleep condition, the network state of the node is switched from the repeated message state to the preparation-to-sleep state.

[0109] Optionally, the controller 401 is configured to:

[0110] When the network state of the node is in the normal operation state, if the node meets the preparation for sleep condition, the network state of the node is switched from the normal operation state to the preparation for sleep state;

[0111] When the network state of the node is a normal operation state, if the node meets the message duplication condition, the network state of the node is switched from the normal operation state to the duplication message state.

[0112] Optionally, the controller 401 is configured to:

[0113] When the network state of the node is in the ready-to-sleep state, if the node meets the message duplication condition, the network state of the node is switched from the ready-to-sleep state to the message duplication state;

[0114] When the network state of the node is in the ready-to-sleep state, if the node meets the pre-sleep condition, the network state of the node is switched from the ready-to-sleep state to the pre-sleep state;

[0115] When the network state of the node is in the sleep-ready state, if the node meets the normal operation conditions, the network state of the node is switched from the sleep-ready state to the normal operation state.

[0116] Optionally, the controller 401 is configured to:

[0117] When the network state of the node is the pre-sleep state, if the node meets the message duplication condition, the network state of the node is switched from the pre-sleep state to the message duplication state.

[0118] In an embodiment of the present application, a CAN wake-up message is received by a transceiver corresponding to a node and it is determined whether the CAN wake-up message is a message for waking up a controller corresponding to the node. When the transceiver determines that the CAN wake-up message is a message for waking up a controller corresponding to the node, the controller is woken up. In this way, the node is woken up only when it needs to be woken up, so that there is no chain effect between the awakening of each node. Each node can be awakened according to the needs of its own functional system, thereby avoiding waking up irrelevant nodes and reducing the energy consumption caused by the awakening.

[0119] It should be noted that: the network management device based on the CAN bus provided in the above embodiment only uses the division of the above functional modules as an example when performing network management. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device is divided into different functional modules to complete all or part of the functions described above. In addition, the network management device based on the CAN bus provided in the above embodiment and the network management method embodiment based on the CAN bus belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0120] An embodiment of the present application also provides a computer device, which includes one or more processors and one or more memories, wherein the one or more memories store at least one instruction, and the instruction is loaded and executed by the one or more processors to implement the operations performed by the network management method based on the CAN bus.

[0121] An embodiment of the present application also provides a computer-readable storage medium, in which at least one instruction is stored. The instruction is loaded and executed by a processor to implement the operations performed by the network management method based on the CAN bus.

[0122] An embodiment of the present application also provides a computer program product containing instructions, which, when executed on a terminal, enables the terminal to execute the operations performed by the CAN bus-based network management provided in the above embodiment.

[0123] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0124] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0125] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A network management method based on a controller area network (CAN) bus, characterized in that: Applied to any node connected to the CAN bus, the node includes: a controller and a transceiver, the method includes: When the network state of the node is a dormant state, if the transceiver receives a CAN wake-up message, it is determined whether the CAN wake-up message is a message for waking up the controller, and the transceiver shields a variable-rate controller area network CANFD message in the dormant state; If so, the transceiver wakes up the controller to switch the network state of the node from the sleep state to the repeated message state.

2. The method according to claim 1, characterized in that: The method also includes: after the controller is awakened, if the controller receives a preset number of the CAN wake-up messages within a preset time period, controlling the network state of the node corresponding to the controller to switch from the sleep state to the repeated message state, and the transceiver receives the CAN FD message in the repeated message state.

3. The method according to claim 1, characterized in that The method further comprises: When the network state of the node is a pre-sleep state, the controller determines whether the node meets a sleep condition; If the node meets the sleep condition, the controller controls the transceiver to shield the CAN FD message, so that the transceiver is prohibited from receiving the CAN FD message in the sleep state; The network state of the node is switched from the pre-sleep state to the sleep state.

4. The method according to claim 3, characterized in that The controller controls the transceiver to shield the CAN FD message, including: The controller controls a CAN FD message shielding function on the transceiver so that the transceiver shields the CAN FD message in the sleep state.

5. The method according to claim 1, characterized in that The method further comprises: When the network state of the node is the repeated message state, if the node meets the normal operation condition, the network state of the node is switched from the repeated message state to the normal operation state; When the network state of the node is the repeated message state, if the node meets a ready-to-sleep condition, the network state of the node is switched from the repeated message state to the ready-to-sleep state.

6. The method according to claim 1, characterized in that The method further comprises: When the network state of the node is the normal operation state, if the node meets the preparation-to-sleep condition, the network state of the node is switched from the normal operation state to the preparation-to-sleep state; When the network state of the node is the normal operation state, if the node meets the message duplication condition, the network state of the node is switched from the normal operation state to the repeated message state.

7. The method according to claim 1, characterized in that The method further comprises: When the network state of the node is a ready-to-sleep state, if the node meets a message repetition condition, the network state of the node is switched from the ready-to-sleep state to the message repetition state; When the network state of the node is a ready-to-sleep state, if the node meets a pre-sleep condition, the network state of the node is switched from the ready-to-sleep state to the pre-sleep state; When the network state of the node is in the sleep-ready state, if the node meets the normal operation condition, the network state of the node is switched from the sleep-ready state to the normal operation state.

8. The method according to claim 1, characterized in that The method further comprises: When the network state of the node is a pre-sleep state, if the node meets a message repetition condition, the network state of the node is switched from the pre-sleep state to the message repetition state.

9. A network management device based on a controller area network (CAN) bus, characterized in that: The device is any node connected to the CAN bus, and the device includes: a controller and a transceiver; The transceiver is used to determine whether the CAN wake-up message is a message for waking up the controller when a CAN wake-up message is received when the network state of the node is a sleep state. The transceiver shields the variable-rate controller area network CANFD message in the sleep state; if so, wakes up the controller to switch the network state of the node from the sleep state to the repeated message state.

10. A storage medium, characterized in that: The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the operation performed by the CAN bus-based network management method according to any one of claims 1 to 8.

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