An industrial vehicle CAN communication terminal resistance adaptation method, device, equipment and medium
By monitoring characteristic messages on the local area network bus in industrial vehicles, the battery system type can be automatically identified and the terminating resistor can be adapted, solving the problems of high production costs and cumbersome operation in existing technologies, and achieving cost reduction and improved communication stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- NOBLEELEVATOR INTELLIGENT EQUIP CO LTD
- Filing Date
- 2026-03-17
- Publication Date
- 2026-07-14
AI Technical Summary
The existing industrial vehicle communication terminal resistor adapter solution requires maintaining two sets of bills of materials and two sets of production line harness processes, resulting in high production costs and high management complexity. When changing the battery type after sales, the entire vehicle wiring harness needs to be replaced simultaneously or complex modifications need to be made. The operation is cumbersome and prone to communication failures, and the cause of the failure is hidden and difficult to troubleshoot.
By monitoring characteristic packets on the local area network bus, the battery system type is automatically identified, and the terminal resistor matching method is determined according to the type. A single universal wiring harness platform is used to achieve automatic battery type matching, avoid the risk of human operation, and ensure communication stability.
Significantly reduces procurement, production, management and warehousing costs, enhances after-sales value and user experience, avoids communication failures, strengthens system fault tolerance, and ensures vehicle communication stability.
Smart Images
Figure CN122394985A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of industrial technology, specifically relating to a method, device, equipment, and medium for CAN communication terminal resistor adaptation in industrial vehicles. Background Technology
[0002] Controller Area Network (CAN) is the core network for communication between electronic control units (ECUs) in industrial vehicles. According to the ISO 11898 standard, to eliminate signal reflections, a terminating resistor (typically 120Ω) must be connected to each of the two physical ends of the CAN bus network. The two resistors are connected in parallel to form an equivalent resistance of approximately 60Ω to ensure the integrity of signal transmission.
[0003] Currently, the closest solution in the industry is manual configuration or a fixed design, specifically: Solution A (two fixed wiring harnesses): A dedicated wiring harness with an external 120Ω resistor is designed for lead-acid battery vehicles; a dedicated wiring harness without an external resistor is designed for lithium battery vehicles. Solution B (manual switch / jump wire): A position for installing a 120Ω resistor is reserved in the wiring harness and connected via a manual switch or jumper cap; on the production line or during after-sales maintenance, workers manually close or open the switch to connect or disconnect the resistor according to the type of battery installed.
[0004] The above solution requires maintaining two sets of bills of materials, two sets of production line harness processes, and two sets of inventory, resulting in high production costs, high management complexity, and low production efficiency. When changing battery types after sales, the entire vehicle wiring harness must be replaced simultaneously or complex wiring modifications must be performed, leading to high after-sales upgrade / repair costs, cumbersome operations, and a high risk of malfunctions due to operational errors. There is a risk of human error, such as forgetting to disconnect the switch after installing a lithium battery, resulting in a resistance that is too low (40Ω); or forgetting to close the switch after installing a lead-acid battery, resulting in a resistance that is too high (120Ω). Such errors will directly cause communication failures, and the causes of these failures are often hidden and difficult to troubleshoot. Summary of the Invention
[0005] The purpose of this application is to provide a method, apparatus, equipment, and medium for CAN communication terminal resistor adaptation in industrial vehicles. The aim is to address the problems of existing industrial vehicle communication terminal resistor adaptation schemes, which require maintaining two sets of bills of materials, two sets of production harness processes, and two sets of inventory, resulting in high production costs, high management complexity, and low production efficiency. Furthermore, when changing battery types after sales, the entire vehicle wiring harness must be replaced simultaneously or complex wiring modifications must be performed, leading to high after-sales upgrade / repair costs, cumbersome operations, and susceptibility to malfunctions due to operational errors. There is also the risk of human error, which can directly cause communication failures, and the causes of these failures are often hidden and difficult to troubleshoot. By using a single universal wiring harness platform, the battery system type can be automatically identified based on characteristic messages, and the required terminal resistor adaptation method for vehicle communication can be intelligently determined. This significantly reduces procurement, production, management, and warehousing costs. Adaptation is automatically completed during battery upgrades or replacements, greatly improving the after-sales value and user experience of the vehicle, avoiding human error risks, reducing communication failure rates, and ensuring the stability of vehicle communication.
[0006] In a first aspect, embodiments of this application provide a method for adapting the CAN communication terminal resistor in an industrial vehicle, the method comprising: Listen for characteristic packets on the local area network bus and determine whether a characteristic packet has been detected within a preset time. Based on whether a characteristic message is detected, the type of the accessed battery system is determined, and the terminal resistor adaptation method for vehicle communication is determined based on the type of the accessed battery system.
[0007] Furthermore, before monitoring characteristic packets on the local area network bus and determining whether a characteristic packet from the battery management system is detected within a preset time, the method further includes: Power-on initialization, and control the controlled switch to be in the off state; wherein, the controlled switch is in the off state, and the external resistor is in the unconnected state; the external resistor refers to the terminal resistor additionally connected to the vehicle system; The vehicle system includes a vehicle power system and a resistance adaptive device; the resistance adaptive device includes a power management module, a local area network transceiver, a microcontroller, a controlled switch, and an external resistor; the controlled switch is controlled by the microcontroller to connect or disconnect the external resistor.
[0008] Furthermore, the step of monitoring characteristic packets on the local area network bus and determining whether a characteristic packet has been detected within a preset time includes: The microcontroller listens for characteristic messages on the local area network bus through a local area network transceiver; wherein, the characteristic message refers to a standardized data frame that can uniquely identify the lithium battery system. Within a preset time period, detect whether a feature message from the battery management system has been received.
[0009] Furthermore, the process of determining the type of battery system accessed based on whether a characteristic message is detected, and determining the terminal resistance adaptation method for vehicle communication based on the type of battery system accessed, includes: If the microcontroller detects a characteristic message, it determines that the connected battery system is a lithium battery system; the microcontroller keeps the controlled switch open to disconnect the external resistor. The lithium battery system incorporates a built-in terminal matching resistor to ensure stable communication.
[0010] Furthermore, the step of determining the type of battery system accessed based on whether a characteristic message is detected, and determining the terminal resistance adaptation method for vehicle communication based on the type of battery system accessed, further includes: If the microcontroller does not detect the characteristic message, it determines that the connected battery system is a lead-acid battery system; the microcontroller controls the controlled switch to close to connect the external resistor; The lead-acid battery system does not have a built-in terminating resistor, so an external resistor must be connected to ensure stable communication.
[0011] Furthermore, the external resistor can be a series resistor or two parallel resistors; the two parallel resistors are used to obtain the terminal resistors for different adaptation requirements of vehicle communication.
[0012] Furthermore, the method also includes: The system continuously monitors the characteristic messages of the connected lithium battery system. If the time for loss of characteristic messages exceeds a preset time threshold, the battery management system is determined to be faulty. The microcontroller then controls the controlled switch to close and connects the external resistor.
[0013] Secondly, embodiments of this application provide an industrial vehicle CAN communication terminal resistor adapter, the adapter comprising: The feature packet monitoring module is used to monitor feature packets on the local area network bus and determine whether a feature packet has been detected within a preset time. The terminal resistor adaptation module is used to determine the type of the accessed battery system based on whether a characteristic message is detected, and to determine the terminal resistor adaptation method for vehicle communication based on the type of the accessed battery system.
[0014] Thirdly, embodiments of this application provide an electronic device, which includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the steps of the industrial vehicle CAN communication terminal resistor adaptation method as described in any one of claims 1-7.
[0015] Fourthly, embodiments of this application provide a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the industrial vehicle CAN communication terminal resistor adaptation method as described above.
[0016] Fifthly, this application provides a chip that includes a processor and a communication interface. The communication interface and the processor are coupled together. The processor is used to run programs or instructions to implement the industrial vehicle CAN communication terminal resistor adaptation method as described above.
[0017] The technical solution provided in this application listens for characteristic packets on the local area network bus and determines whether a characteristic packet is detected within a preset time. Based on whether a characteristic packet is detected, the type of the connected battery system is determined, and the terminal resistor adaptation method for vehicle communication is determined based on the type of the connected battery system. This technical solution, by adopting a single universal wiring harness platform, can be compatible with different battery system types, solving the problem of two sets of materials and two sets of processes, significantly reducing procurement, production, management, and warehousing costs. By identifying the battery system type through characteristic packets, users can freely replace lead-acid batteries with lithium batteries when changing battery types without manually adjusting the wiring or resistors, automatically completing the adaptation, improving the after-sales value of the vehicle and the user experience, avoiding the risk of human operation, and ensuring the stability of vehicle communication. Attached Figure Description
[0018] Figure 1 This is a flowchart illustrating the CAN communication terminal resistor adaptation method for industrial vehicles provided in Embodiment 1 of this application. Figure 2 This is a schematic diagram of the vehicle system connection provided in Embodiment 1 of this application; Figure 3 This is a schematic diagram of the internal structure of the resistance adaptive device provided in Embodiment 1 of this application; Figure 4 This is a schematic flowchart of the vehicle communication terminal resistance adaptive matching method provided in Embodiment 1 of this application; Figure 5 This is a schematic diagram of the structure of the industrial vehicle CAN communication terminal resistor adapter provided in Embodiment 2 of this application; Figure 6 This is a schematic diagram of the structure of the electronic device provided in Embodiment 4 of this application. Detailed Implementation
[0019] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subroutine, etc.
[0020] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.
[0021] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0022] The following description, in conjunction with the accompanying drawings, details the industrial vehicle CAN communication terminal resistor adaptation method, apparatus, equipment, and medium provided in this application through specific embodiments and application scenarios.
[0023] Example 1 Figure 1 This is a flowchart illustrating the CAN communication terminal resistor adaptation method for industrial vehicles provided in Embodiment 1 of this application. Figure 1 As shown, the specific steps include the following: S101 listens for characteristic packets on the local area network bus and determines whether a characteristic packet has been detected within a preset time.
[0024] The local area network (LAN) bus can refer to the vehicle controller LAN bus, which is the most commonly used LAN communication bus within a vehicle, possessing high reliability and real-time performance; it is used for data exchange between various control units in the vehicle. For example, it is used to control data exchange between the battery management system, microcontroller, and electronic control unit.
[0025] Controller Area Network (CAN) is the core network for communication between Electronic Control Units (ECUs) in industrial vehicles. According to the ISO 11898 standard, to eliminate signal reflections, a terminating resistor, typically 120Ω, must be connected to each of the two physical ends of the CAN bus network. These two resistors, connected in parallel, form an equivalent resistance of approximately 60Ω to ensure signal transmission integrity. Therefore, this application requires monitoring of the CAN bus to ensure stable signal transmission.
[0026] In network communication, a characteristic message refers to a data packet with highly identifiable key field combinations or structural patterns that significantly reflect the protocol type, service intent, device identity, or potential threat. It is not a fixed type of message, but rather a message fingerprint that can be reliably extracted and used for identification / decision-making based on dimensions such as content, format, timing, or physical signals. In this application, the characteristic message refers to the status message issued by the local area network bus when a terminating resistor is connected, used to identify and determine whether a terminating resistor is connected on the local area network bus.
[0027] Monitoring can refer to listening to the local area network (LAN) bus to determine the presence of characteristic packets. For example, a vehicle's electronic control unit uses a LAN transceiver to capture and parse all packets transmitted on the LAN bus in real time, determining the presence of characteristic packets and eliminating invalid data such as bus interference and bit errors.
[0028] The preset time can refer to a pre-set window period for detecting characteristic messages, typically set to 3-5 characteristic message cycles, such as 300-500ms. Optionally, the preset time needs to cover the minimum transmission cycle of battery management unit messages, while avoiding excessive waiting time that could affect system response speed.
[0029] S102, based on whether a characteristic message is detected, determine the type of the accessed battery system, and based on the type of the accessed battery system, determine the terminal resistor adaptation method for vehicle communication.
[0030] The battery system type can refer to the type of battery system determined based on the characteristics of the message detection. The battery system type includes lithium battery systems and lead-acid battery systems.
[0031] Optionally, the chemical characteristics of lithium batteries necessitate the use of a Battery Management System (BMS) to monitor voltage, temperature, and charge / discharge status, preventing overcharging and over-discharging. One of the core functions of a BMS is to send characteristic messages via the CAN bus, allowing the vehicle controller to monitor the battery status at all times. Therefore, if a specific ID message from the BMS can be received on the CAN bus, it is undoubtedly a lithium battery system.
[0032] Lead-acid battery systems lack a Battery Management System (BMS). The charging and discharging management of lead-acid batteries is relatively simple, and traditional vehicles generally don't have a dedicated BMS, so they naturally don't send corresponding characteristic messages on the CAN bus. Therefore, if a characteristic message for the target ID is not received within a set time, it can be determined that it is a lead-acid battery system.
[0033] Vehicle communication can refer to data interaction between electronic control units inside the vehicle via the CAN bus, including but not limited to uploading battery status data to the vehicle controller, issuing vehicle control commands to the battery system, and information interaction between other electronic control units (such as motor controllers and instrument panels) and the battery system.
[0034] A terminating resistor can refer to a 120Ω resistor used to match the impedance of the CAN bus. The CAN bus physical layer requires a 120Ω terminating resistor at each end of the bus to eliminate signal reflections. Lithium-ion batteries have a built-in BMS, which typically includes a 120Ω terminating resistor, thus eliminating the need for an external resistor. Lead-acid batteries, however, do not have a built-in terminating resistor and require an external resistor connected via an external circuit.
[0035] The adaptation method can refer to the configuration logic of automatically switching the terminating resistor based on the battery system type. For example, when a characteristic message is detected and it is determined to be a lithium battery system, the external resistor is disconnected, leaving only the 120Ω resistor built into the BMS to avoid impedance mismatch in the local area network bus; if no characteristic message is detected, it is determined to be a lead-acid battery system, and the external resistor is closed to provide 120Ω impedance matching for the CAN bus, ensuring stable communication.
[0036] The technical solution provided in this embodiment automatically identifies and determines the battery system type of the connected vehicle by monitoring characteristic packets on the local area network bus, and intelligently determines the terminal resistor adaptation method required for vehicle communication based on the connected battery system type. This embodiment, by employing a single universal wiring harness platform, can be compatible with different battery system types, solving the problem of two sets of materials and two sets of processes, significantly reducing procurement, production, management, and warehousing costs; by intelligently identifying the connected battery system type through characteristic packets and determining the appropriate terminal resistor, it avoids human error risks, reduces communication failure rates, and ensures the stability of vehicle communication.
[0037] In this embodiment, optionally, before monitoring the characteristic packets on the local area network bus and determining whether a characteristic packet from the battery management system is detected within a preset time, the method further includes: Power-on initialization, and control the controlled switch to be in the off state; wherein, the controlled switch is in the off state, and the external resistor is in the unconnected state; the external resistor refers to the terminal resistor additionally connected to the vehicle system; The vehicle system includes a vehicle power system and a resistance adaptive device; the resistance adaptive device includes a power management module, a local area network transceiver, a microcontroller, a controlled switch, and an external resistor; the controlled switch is controlled by the microcontroller to connect or disconnect the external resistor.
[0038] Before monitoring characteristic packets on the local area network bus, the vehicle system needs to be powered on and initialized, and the controlled switch needs to be kept in the off state. In this embodiment, the controlled switch is kept in the off state during power-on initialization. This is a fail-safe design to prevent network impact caused by accidental connection of an external resistor due to device malfunction at the moment of power-on.
[0039] Optional, see Figure 2 The vehicle system includes, but is not limited to, the vehicle power system and a resistance adaptive device. The resistance adaptive device is connected in series on the vehicle local area network (LAN) bus backbone harness, located where the lead-acid battery system's external terminating resistor was originally. Its two signal lines (LAN bus high-level signal line and LAN bus low-level signal line) are connected to the LAN and bus respectively, the power line is connected to the vehicle power supply (e.g., +12V or +24V), and the ground line is connected to the vehicle ground. When the resistance adaptive device is connected, the original external terminating resistor is removed.
[0040] See Figure 3 The resistance-adaptive device includes a power management module, a local area network (LAN) transceiver, a microcontroller, a controlled switch, and an external resistor. The power management module provides a stable operating voltage for the internal circuitry of the resistance-adaptive device. The LAN transceiver provides electrical isolation and signal transmission / reception from the LAN bus. The microcontroller unit (MCU) is responsible for logic judgment and control output. The controlled switch and the external resistor constitute a terminating resistor module, which is controlled by the microcontroller to disconnect or connect the external resistor. The controlled switch can be a relay, but this is not specifically limited in this embodiment. This embodiment treats the resistance-adaptive device as a controllable and switchable independent functional module, which can be designed as a miniaturized and packaged independent module with minimal modification to the existing vehicle electrical architecture, facilitating its promotion and retrofitting on existing vehicle models.
[0041] In this embodiment, optionally, the external resistor is a series resistor or two parallel resistors; the two parallel resistors provide the terminal resistors for different adaptation requirements of vehicle communication. For example, the external resistor can be a series 120Ω external resistor to provide a stable communication signal for the lead-acid battery system. The external resistor can also be two parallel resistors, such as two parallel 240Ω external resistors, which can result in a total resistance of 120Ω. The parallel resistors can be combined in different ways to obtain the total resistance for multiple data volumes, adapting to more diverse network topologies, such as achieving multi-level matching of 60Ω, 80Ω, 120Ω, etc.
[0042] In this embodiment, optionally, the step of monitoring characteristic packets on the local area network bus and determining whether a characteristic packet is detected within a preset time includes: The microcontroller listens for characteristic messages on the local area network bus through a local area network transceiver; wherein, the characteristic message refers to a standardized data frame that can uniquely identify the lithium battery system. Within a preset time period, detect whether a feature message from the battery management system has been received.
[0043] Among them, see Figure 4 After the vehicle system is powered on and initialized, it enters detection mode. The microcontroller listens for characteristic messages on the local area network bus via a local area network transceiver to determine whether a characteristic message has been detected within a preset time. The characteristic message refers to a data frame that uniquely identifies the lithium battery system ID; for example, detecting whether a BMS status message in the range of 0x180 to 0x1FF has been received. Optionally, this embodiment can not only rely on the message ID but also further identify specific data fields in the message, such as the BMS version number and battery type code, making the battery system type determination more accurate. Optionally, it can also detect specific wake-up pulses sent by the lithium battery BMS after power-on or subtle differences in bus static levels as a basis for battery system type identification.
[0044] In one optional embodiment, an external resistor can be briefly connected during the initial power-on phase to detect the amplitude of the local area network bus differential voltage. The presence of a terminating resistor at a remote end can be determined by the amplitude of the local area network bus differential voltage, thereby determining the battery system type.
[0045] This embodiment can provide a basis for determining the battery system type by intelligently identifying characteristic messages on the local area network bus.
[0046] In this embodiment, optionally, the step of determining the type of the accessed battery system based on whether a characteristic message is detected, and determining the terminal resistance adaptation method for vehicle communication based on the type of the accessed battery system, includes: If the microcontroller detects a characteristic message, it determines that the connected battery system is a lithium battery system; the microcontroller keeps the controlled switch open to disconnect the external resistor; the lithium battery system has a built-in terminal matching resistor to ensure stable communication.
[0047] If a characteristic message is detected by the control system, the connected battery system type can be determined to be a lithium battery system. To ensure the stability of CAN bus communication, the lithium battery's BMS has already integrated a 120Ω terminating resistor internally. If an additional 120Ω external resistor is connected, it will create a 60Ω parallel resistance, disrupting the impedance matching of the local area network bus, leading to signal reflection, packet loss, or even complete communication failure. Therefore, the microcontroller must keep the controlled switch in the off state during power-on initialization to avoid connecting an external resistor.
[0048] In this embodiment, optionally, the step of determining the type of the accessed battery system based on whether a characteristic message is detected, and determining the terminal resistance adaptation method for vehicle communication based on the type of the accessed battery system, further includes: If the microcontroller does not detect the characteristic message, it determines that the connected battery system is a lead-acid battery system; the microcontroller controls the controlled switch to close to connect the external resistor; among them, the lead-acid battery system does not have a built-in terminating resistor, so an external resistor needs to be connected to ensure stable communication.
[0049] If the microcontroller does not detect a characteristic message, it determines that the connected battery system is a lead-acid battery system. Lead-acid battery systems do not have a BMS (Battery Management System), and the CAN bus typically lacks terminating resistors at both ends. However, the CAN bus physical layer specification requires a 120Ω terminating resistor at each end of the bus to absorb signal reflections and ensure communication quality. Therefore, an external 120Ω resistor is needed to fulfill the bus matching requirements of the lead-acid battery system. Consequently, the microcontroller controls the closed switch to connect the external resistor, ensuring the vehicle's communication quality.
[0050] In this embodiment, optionally, the method further includes: The system continuously monitors the characteristic messages of the connected lithium battery system. If the time for loss of characteristic messages exceeds a preset time threshold, the battery management system is determined to be faulty. The microcontroller then controls the controlled switch to close and connects the external resistor.
[0051] Even after identifying the connected battery system as a lithium battery system, the system continuously or periodically monitors characteristic packets. If packet loss exceeds a preset time threshold, such as 2 seconds, the system determines that the BMS may be faulty and automatically switches to lead-acid battery mode. The microcontroller then controls the closed switch to connect the external resistor to ensure basic compatibility of the local area network bus.
[0052] This embodiment employs a timeout monitoring fault safety mechanism: even after identifying a lithium battery, it continues to monitor characteristic messages. If a message is lost, it automatically switches to lead-acid battery mode, ensuring that the CAN bus still maintains basic matching even when the vehicle's BMS fails, thus improving system robustness. The timeout monitoring mechanism also ensures that the network maintains basic communication capabilities even when some nodes fail, enhancing the fault tolerance of the entire vehicle system.
[0053] In one optional embodiment, when changing the battery system type after sales, users can freely upgrade or replace between lead-acid and lithium batteries. The system automatically identifies the connected battery system type by detecting characteristic messages, automatically connecting or disconnecting the external resistor without any manual adjustment of wiring or resistors. This automatic adaptation greatly enhances the after-sales value of the vehicle and the user experience. It also eliminates resistor mismatch issues caused by human error, ensuring that the bus termination resistor is always maintained in an optimal state.
[0054] This embodiment intelligently identifies characteristic messages on the local area network (LAN) bus, providing a basis for determining the battery system type. Based on the accessed battery system type, it intelligently determines the terminal resistor adaptation method required for vehicle communication. This allows OEMs to use a single universal wiring harness platform, completely solving the problem of two sets of materials and two sets of processes, significantly reducing procurement, production, management, and warehousing costs. When changing the battery system type after sales, users can freely upgrade or replace between lead-acid and lithium batteries without any manual adjustment of wiring or resistors; the adaptation is automatically completed, greatly enhancing the after-sales value of the vehicle and the user experience. Automatic identification of characteristic messages and determination of battery system type eliminates resistor mismatch problems caused by human error, reducing the communication failure rate and ensuring the stability of vehicle communication. A timeout monitoring mechanism ensures that the LAN bus can still maintain basic communication capabilities even when some nodes fail, enhancing the fault tolerance of the entire vehicle system.
[0055] Example 2 Figure 5 This is a schematic diagram of the structure of the industrial vehicle CAN communication terminal resistor adapter provided in Embodiment 2 of this application. Figure 5 As shown, the device includes: The feature message monitoring module 510 is used to monitor feature messages on the local area network bus and determine whether a feature message has been detected within a preset time. The terminating resistor adapter module 520 is used to determine the type of the accessed battery system based on whether a characteristic message is detected, and to determine the terminating resistor adapter method for vehicle communication based on the type of the accessed battery system.
[0056] The industrial vehicle CAN communication terminal resistor adapter in this application embodiment can be a device, or a component, integrated circuit, or chip in the terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, mobile electronic devices can be mobile phones, tablets, laptops, PDAs, in-vehicle electronic devices, wearable devices, ultra-mobile personal computers (UMPCs), netbooks, or personal digital assistants (PDAs), etc., while non-mobile electronic devices can be servers, network attached storage (NAS), personal computers (PCs), televisions (TVs), ATMs, or self-service machines, etc. This application embodiment does not impose specific limitations.
[0057] The industrial vehicle CAN communication terminal resistor adapter in this embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this embodiment does not specifically limit its use.
[0058] The industrial vehicle CAN communication terminal resistor adapter provided in this application can realize the method described in the above embodiments, and will not be repeated here to avoid repetition.
[0059] Example 3 This application also provides a vehicle, which includes a central processing unit, a memory, a drive controller, and a drive motor. The central processing unit is used to execute the steps of the industrial vehicle CAN communication terminal resistor adaptation method as described in the above embodiments.
[0060] It is understandable that this vehicle can implement all the processes of the above-mentioned industrial vehicle CAN communication terminal resistor adaptation method and achieve the same technical effect. To avoid repetition, it will not be described in detail here.
[0061] Example 4 like Figure 6 As shown, this application embodiment also provides an electronic device 600, including a processor 601, a memory 602, and a program or instructions stored in the memory 602 and executable on the processor 601. When the program or instructions are executed by the processor 601, they implement the various processes of the above-described industrial vehicle CAN communication terminal resistor adaptation method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.
[0062] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.
[0063] Example 5 This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described industrial vehicle CAN communication terminal resistor adaptation method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.
[0064] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.
[0065] Example 6 This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described industrial vehicle CAN communication terminal resistor adaptation method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.
[0066] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.
[0067] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
[0068] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.
[0069] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.
[0070] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the claims.
Claims
1. A method for resistor adaptation in CAN communication terminals of industrial vehicles, characterized in that, The method includes: Listen for characteristic packets on the local area network bus and determine whether a characteristic packet has been detected within a preset time. Based on whether a characteristic message is detected, the type of the accessed battery system is determined, and the terminal resistor adaptation method for vehicle communication is determined based on the type of accessed battery system.
2. The industrial vehicle CAN communication terminal resistor adaptation method according to claim 1, characterized in that, Before monitoring characteristic packets on the local area network bus and determining whether a characteristic packet from the battery management system is detected within a preset time, the method further includes: Power-on initialization, and control the controlled switch to be in the off state; wherein, the controlled switch is in the off state, and the external resistor is in the unconnected state; the external resistor refers to the terminal resistor additionally connected to the vehicle system; The vehicle system includes a vehicle power system and a resistance adaptive device; the resistance adaptive device includes a power management module, a local area network transceiver, a microcontroller, a controlled switch, and an external resistor; the controlled switch is controlled by the microcontroller to connect or disconnect the external resistor.
3. The method for resistor adaptation of industrial vehicle CAN communication terminals according to claim 1, characterized in that, The step of monitoring characteristic packets on the local area network bus and determining whether a characteristic packet has been detected within a preset time includes: The microcontroller listens for characteristic messages on the local area network bus through a local area network transceiver; wherein, the characteristic message refers to a standardized data frame that can uniquely identify the lithium battery system. Within a preset time period, detect whether a feature message from the battery management system has been received.
4. The industrial vehicle CAN communication terminal resistor adaptation method according to claim 1, characterized in that, The process of determining the type of battery system accessed based on whether a characteristic message is detected, and determining the terminal resistance adaptation method for vehicle communication based on the type of battery system accessed, includes: If the microcontroller detects a characteristic message, it determines that the connected battery system is a lithium battery system; the microcontroller keeps the controlled switch open to disconnect the external resistor. The lithium battery system incorporates a built-in terminal matching resistor to ensure stable communication.
5. The method for resistor adaptation of industrial vehicle CAN communication terminal according to claim 1, characterized in that, The method of determining the type of battery system accessed based on whether a characteristic message is detected, and determining the terminal resistance adaptation method for vehicle communication based on the type of battery system accessed, further includes: If the microcontroller does not detect the characteristic message, it determines that the connected battery system is a lead-acid battery system; the microcontroller controls the controlled switch to close to connect the external resistor; The lead-acid battery system does not have a built-in terminating resistor, so an external resistor must be connected to ensure stable communication.
6. The method for resistor adaptation of industrial vehicle CAN communication terminal according to claim 2, characterized in that, The external resistor can be a series resistor or two parallel resistors; the terminal resistors for different adaptation requirements of vehicle communication are obtained through two parallel resistors.
7. The industrial vehicle CAN communication terminal resistor adaptation method according to claim 1, characterized in that, The method further includes: The system continuously monitors the characteristic messages of the connected lithium battery system. If the time for loss of characteristic messages exceeds a preset time threshold, the battery management system is determined to be faulty. The microcontroller then controls the controlled switch to close and connects the external resistor.
8. A resistor adapter for a CAN communication terminal in an industrial vehicle, characterized in that, The device includes: The feature packet monitoring module is used to monitor feature packets on the local area network bus and determine whether a feature packet has been detected within a preset time. The terminal resistor adaptation module is used to determine the type of the accessed battery system based on whether a characteristic message is detected, and to determine the terminal resistor adaptation method for vehicle communication based on the type of the accessed battery system.
9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein when the program or instructions are executed by the processor, they implement the steps of the industrial vehicle CAN communication terminal resistor adaptation method as described in any one of claims 1-7.
10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the industrial vehicle CAN communication terminal resistor adaptation method as described in any one of claims 1-7.