Control device and vehicle

Abstract

The embodiment of the utility model provides a control device. The control device comprises two interfaces and a processing module. The two interfaces are respectively used for being connected to two signal lines of a controller area network (CAN) bus; and the two interfaces are used for forming a CAN communication channel between the processing module and the CAN bus. The control device further comprises a circuit for connecting the two interfaces; wherein an impedance and a switch connected in series with the impedance are arranged in the circuit. The processing module is used for controlling the switch connected in series with the impedance in the circuit to be closed when the control device is configured as a terminal node of the CAN bus; or when the control device is configured to be a non-terminal node of the CAN bus, the switch, connected with the impedance in series, in the circuit is controlled to be switched off. The embodiment of the utility model can be applied to intelligent automobiles or new energy automobiles, flexible configuration of the control device on the CAN bus can be realized under the condition that the hardware structure of the control device does not need to be adjusted for different automobile types, the cost can be reduced, and the management difficulty can be reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more particularly, to a control device and a vehicle. Background Art

[0002] Due to the advantages of high performance and high reliability, the controller area network (CAN) bus is widely used in many fields, for example, in the field of in-vehicle communications.

[0003] As the variety of in-vehicle electronic devices increases, platform design is becoming a trend. For component suppliers, using the same set of hardware, such as printed circuit board assemblies (PCBAs) and complete machines, to meet the needs of different vehicle manufacturers can reduce costs and simplify management. However, in different vehicles, the same electronic component may correspond to different nodes on the CAN bus. The above situation requires separate adaptation for different vehicle models. Utility Model Content

[0004] The present application provides a control device and a vehicle, which can realize flexible configuration on the CAN bus for different vehicle models without adjusting the hardware structure of the control device, thereby reducing costs and reducing management difficulty.

[0005] In a first aspect, a control device is provided. The control device includes a first interface, a second interface, and a processing module. The first interface is used to connect to a first signal line of a controller area network (CAN) bus, and the second interface is used to connect to a second signal line of the CAN bus; the first interface and the second interface are used to constitute a CAN communication channel between the processing module and the CAN bus. The control device also includes a first circuit connecting the first interface and the second interface; wherein a first impedance and a switch connected in series with the first impedance are provided in the first circuit. The processing module is used to: when the control device is configured as a terminal node of the CAN bus, control the switch connected in series with the first impedance in the first circuit to be closed; or, when the control device is configured as a non-terminal node of the CAN bus, control the switch connected in series with the first impedance in the first circuit to be disconnected.

[0006] For example, using control device 300 as an example, interfaces 301 and 302 may correspond to the first and second interfaces, respectively, and may constitute a communication channel between processing module 310 and the CAN bus; circuit 321 may correspond to the first circuit. For another example, using control device 400 as an example, interfaces #1 and #2 may correspond to the first and second interfaces, respectively; a microcontroller unit (MCU) may correspond to the processing module; and circuit 421 may correspond to the first circuit.

[0007] In the present application, by controlling the switch in series with the first impedance on the first circuit to be in a closed state, the first impedance can be connected to the CAN bus and constitute a terminal resistor; by controlling the switch to be disconnected, the first impedance can be avoided from being connected to the CAN bus. Since it is often necessary to adapt the terminal resistor at the terminal node when configuring the CAN bus, otherwise, it will affect the communication quality of the CAN bus (such as waveform distortion, etc.); therefore, for the same electronic component, it is often necessary to adjust its hardware structure to adapt to different vehicle models. In the above manner, it is possible to achieve flexible arrangement of the control device on the CAN bus without adjusting the hardware structure, which is beneficial to ensuring the communication quality of the CAN bus. For the control device, it is possible to adapt to different vehicle models through the same set of hardware structure, thereby reducing costs and reducing management difficulty.

[0008] In some possible implementations, the processing module can be used to: obtain a first identifier, where the first identifier is used to indicate whether the control device is configured as a terminal node of the CAN bus; and control the switch in the first circuit connected in series with the first impedance to be closed or opened according to the first identifier.

[0009] In this application, a first identifier indicates whether the control device is configured as a terminal node on the CAN bus. The control device can then independently determine whether to connect the first impedance to the CAN bus to form a terminal resistor. In particular, during the development phase, when the location and number of nodes on the CAN bus need to be adjusted, this approach can greatly simplify the node configuration process on the CAN bus.

[0010] In some possible implementations, the first impedance may include a first resistor and a second resistor connected in series; and a grounding capacitor may be provided at the connection between the first resistor and the second resistor.

[0011] In the present application, when the first impedance in the first circuit is composed of two resistors connected in series, when these two resistors are connected to the CAN bus, they can constitute the terminal resistance of the CAN bus, which can reduce the waveform distortion of the CAN signal; the grounding capacitor arranged at the connection between the two resistors can reduce the noise in the CAN signal and effectively improve the quality of the CAN signal.

[0012] In some possible implementations, the switch connected in series with the first impedance may include a first switch and a second switch; the first switch may be used to connect the first resistor and the first interface, and the second switch may be used to connect the second resistor and the second interface.

[0013] In some possible implementations, the processing module may be configured to: obtain a voltage at a detection point, which may be located at a connection point between a first resistor and a second resistor; and determine operating states of the first switch and the second switch based on the voltage.

[0014] In this application, when the control device is configured as a terminal node of the CAN bus, the first switch and the second switch should be in a closed state so that the first impedance is connected to the CAN bus as a terminal resistor of the CAN bus. When the control device is configured as a non-terminal node of the CAN bus, the switch in the first circuit connected in series with the first impedance should be disconnected to prevent the first impedance from connecting to the CAN bus. If the first impedance is incorrectly connected to or incorrectly not connected to the CAN bus, the quality of the CAN signal will be affected. Based on the above approach, by determining the operating state of the first switch and the second switch, it is possible to determine whether the impedance in the first circuit is connected to the CAN bus, which can simplify fault detection during the CAN bus configuration process.

[0015] In some possible implementations, the processing module may be used to: determine, when the voltage is a first value, that the first switch and the second switch are operating normally; determine, when the voltage is a second value, that the first switch is faulty and the second switch is operating normally; or, when the voltage is a third value, determine, when the voltage is a third value, that the second switch is faulty and the first switch is operating normally.

[0016] In the present application, faulty components in the first switch and the second switch can be accurately located according to the voltage values, which is beneficial for quickly responding to faults in the CAN bus configuration process.

[0017] In a second aspect, another control device is provided. The control device includes a first interface, a second interface, a third interface, a fourth interface, and a processing module. The first interface is used to connect to a first signal line of a controller area network (CAN) bus, and the second interface is used to connect to a second signal line of the CAN bus; the first interface and the second interface are used to form a first CAN communication channel between the processing module and the CAN bus. The third interface is used to connect to the first signal line of the CAN bus, and the fourth interface is used to connect to the second signal line of the CAN bus. The control device also includes a first circuit for connecting the third interface and the fourth interface, and the first circuit is provided with a first impedance.

[0018] For example, taking control device 100 as an example, interfaces 101 and 102 may correspond to the first interface and the second interface, respectively, and may be used to form a communication channel between processing module 110 and the CAN bus; interfaces 103 and 104 may correspond to the third interface and the fourth interface, respectively, and circuit 121 may correspond to the first circuit. For another example, taking control device 200 as an example, interfaces 201 and 202 may correspond to the first interface and the second interface, respectively, and may be used to form a communication channel between processing module 210 and the CAN bus; interfaces 203 and 204 may correspond to the third interface and the fourth interface, respectively, and circuit 221 may correspond to the first circuit.

[0019] In the present application, since a first impedance is provided in the first circuit for connecting the third interface and the fourth interface, by connecting the third interface and the fourth interface to the CAN bus, the first impedance can be connected to the CAN bus and constitute a terminal resistor. By adjusting the connection relationship between the interface of the control device and the CAN bus, the terminal resistor can be connected or disconnected from the CAN bus, and its flexible arrangement on the CAN bus can be achieved without adjusting the hardware structure of the control device, which is conducive to ensuring the communication quality of the CAN bus. For the control device, different vehicle models can be adapted through the same hardware structure; thereby, costs can be reduced and management difficulty can be reduced.

[0020] In some possible implementations, the control device may further include a second circuit for connecting the first interface and the second interface; the second circuit may be provided with a second impedance.

[0021] For example, taking the control device 100 as an example, the circuit 122 may correspond to the second circuit. For another example, taking the control device 200 as an example, the circuit 222 may correspond to the second circuit.

[0022] In some possible implementations, when the control device is configured as a terminal node of the CAN bus, the third interface can be connected to the first signal line, and the fourth interface can be connected to the second signal line; or, when the control device is configured as a non-terminal node of the CAN bus, the third interface can be disconnected from the first signal line, and the fourth interface can be disconnected from the second signal line.

[0023] In this application, when the control device is configured as a terminal node of the CAN bus, by connecting the third and fourth interfaces to the CAN bus, the impedance in the first circuit can be connected to the CAN bus, thereby forming the terminal resistance of the CAN bus. When the control device is configured as a non-terminal node of the CAN bus, by disconnecting the third and fourth interfaces from the CAN bus, the impedance in the first circuit can be prevented from being connected to the CAN bus. In this way, the first impedance can be prevented from being mistakenly connected to or not connected to the CAN bus, and the quality of the CAN signal can be effectively improved in all different arrangements.

[0024] In some possible implementations, when the control device is configured as a terminal node or a non-terminal node of the CAN bus, the third interface can be connected to the first signal line, and the fourth interface can be connected to the second signal line; the third interface and the fourth interface can be used to constitute a second CAN communication channel between the processing module and the CAN bus.

[0025] For example, taking the control device 200 as an example, regardless of whether the control device 200 is configured as a terminal node or a non-terminal node of the CAN bus, the interfaces 201 to 204 can be respectively connected to the signal lines corresponding to the CAN bus; wherein, there can be two CAN communication channels between the processing module 210 and the CAN bus, the CAN channel formed by the interfaces 201 and 202 can correspond to the first CAN communication channel, and the communication channel formed by the interfaces 203 and 204 can correspond to the second CAN communication channel.

[0026] In the present application, by setting two CAN communication channels between the processing module and the CAN bus, the control device can determine which CAN communication channel to use to communicate with the CAN bus, thereby simplifying the node configuration process on the CAN bus.

[0027] In some possible implementations, the processing module can be used to: communicate with the CAN bus through the second CAN communication channel when the control device is configured as a terminal node of the CAN bus; or communicate with the CAN bus through the first CAN communication channel when the control device is configured as a non-terminal node of the CAN bus.

[0028] In the present application, when the control device is configured as a terminal node of the CAN bus, the impedance in the first circuit will not affect the CAN signal of the first CAN communication channel, which is beneficial to ensuring the communication quality of the CAN bus; and when the control device is configured as a non-terminal node of the CAN bus, it communicates with the CAN bus through the first CAN communication channel. At this time, the impedance in the first circuit will be able to effectively improve the quality of the CAN signal.

[0029] In some possible implementations, the processing module can be used to: obtain a first identifier, the first identifier is used to indicate whether the control device is configured as a terminal node of the CAN bus; and determine, based on the first identifier, to communicate with the CAN bus through a first CAN communication channel or a second CAN communication channel.

[0030] In this application, the first identifier indicates whether the control device is configured as a terminal node on the CAN bus. The control device can then independently determine which CAN communication channel to use to communicate with the CAN bus. This approach can greatly simplify the configuration process of CAN bus nodes, especially when the location or number of nodes on the CAN bus needs to be adjusted during the development phase.

[0031] In some possible implementations, the third interface may be adjacent to the first interface; and / or the fourth interface may be adjacent to the second interface.

[0032] In the present application, by arranging multiple interfaces connected to the same signal line adjacent to each other, it is helpful to reduce the length of the cable required when connecting the control device to the CAN bus, which is helpful to reduce costs.

[0033] In some possible implementations, the first impedance may include a first resistor and a second resistor connected in series, and a grounding capacitor may be provided at the connection between the first resistor and the second resistor.

[0034] In the present application, when the first resistor and the second resistor in the first circuit are connected to the CAN bus, the first resistor and the second resistor can constitute the terminal resistor of the CAN bus, which can reduce the waveform distortion of the CAN signal; the grounding capacitor can reduce the noise in the CAN signal and can effectively improve the quality of the CAN signal.

[0035] In a third aspect, a vehicle is provided, which may include the control device in the first aspect or the second aspect and any possible implementation thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic diagram of a CAN bus system architecture provided by an embodiment of the present application;

[0037] Figure 2 1 is a schematic structural diagram of a control device 100 provided in an embodiment of the present application;

[0038] Figure 3 This is a schematic diagram of a circuit structure provided by an embodiment of the present application;

[0039] Figure 4 This is a schematic diagram of the interface arrangement provided in the embodiment of the present application;

[0040] Figure 5is a schematic structural diagram of a control device 200 provided in an embodiment of the present application;

[0041] Figure 6 is a schematic structural diagram of a control device 300 provided in an embodiment of the present application;

[0042] Figure 7 is a schematic structural diagram of a control device 400 provided in an embodiment of the present application;

[0043] Figure 8 It is a schematic block diagram of a vehicle 600 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The technical solution in this application will be described below with reference to the accompanying drawings.

[0045] The CAN bus uses a serial protocol and two signal lines (such as twisted-pair cables) for communication. These two signal lines can be labeled CAN_H and CAN_L. CAN_H and CAN_L enable differential signal transmission; that is, the signals on the two lines are differential. The difference in level between the two lines represents logic 0 and logic 1, respectively, for communication.

[0046] The following combination Figure 1 , taking the closed-loop structure as an example, the system architecture of the CAN bus is illustrated.

[0047] There can be multiple nodes on the CAN bus, such as node 1 to node n (n is a positive integer), Figure 1 As shown in Figure 1, a node can correspond to an electronic device, electronic component, or control device. Node 1 and node n can be called terminal nodes; nodes other than node 1 and node n can be called non-terminal nodes.

[0048] The network structure of CAN bus can be divided into open loop and closed loop. In the closed loop structure, a resistor can be set at each terminal node, such as Figure 1 As shown in the figure, this resistor can be called the terminal resistor of the CAN bus, or simply the terminal resistor. This terminal resistor can match the impedance of the CAN bus and improve the anti-interference ability of the CAN bus.

[0049] For example, a device (such as an electronic device or control device) can correspond to different nodes on different CAN buses. For example, on the CAN bus of vehicle A, the device can correspond to node 1; on the CAN bus of vehicle B, the device can correspond to node 2, or other non-terminal nodes.

[0050] For parts manufacturers, the device may include two models (such as model A and model B); or, although the device only includes one model, its hardware structure needs to be adjusted for different car models. For example, the hardware structure of model A may include a module for forming a terminal resistor. When the model A is connected to the CAN bus of the car model A as a terminal node, the module can serve as the terminal resistor of the CAN bus. For another example, the hardware structure of model B may not need to include the above module; when connected to the CAN bus of the car model B, the model B can exist as a non-terminal node. For another example, if the device only includes one model, it is necessary to add or remove the above module for forming a terminal resistor in the device to adapt to different car models. The above situations will lead to higher costs and management difficulties.

[0051] Assuming that the device does not have the module for forming the terminal resistor of the CAN bus, the vehicle manufacturer will need to add additional terminal resistors to the CAN bus when the device is configured as a terminal node of the CAN bus, and this may need to be adapted according to different vehicle models.

[0052] In view of this, an embodiment of the present application provides a control device that can be flexibly configured on the CAN bus for different vehicle models without adjusting the hardware structure of the control device, thereby reducing costs and management difficulty.

[0053] For example, an embodiment of the present application provides a control device. The control device may include a first interface, a second interface, a third interface, a fourth interface, and a processing module. The first interface may be configured to connect to a first signal line of a CAN bus, and the second interface may be configured to connect to a second signal line of the CAN bus. The first and second interfaces may be configured to form a first CAN communication channel between the processing module and the CAN bus. The third interface may be configured to connect to the first signal line of the CAN bus, and the fourth interface may be configured to connect to the second signal line of the CAN bus. The control device may also include a first circuit for connecting the third and fourth interfaces, and the first circuit may be configured with a first impedance. For example, the first signal line of the CAN bus may be one of CAN_H and CAN_L, and the second signal line of the CAN bus may be the other of CAN_H and CAN_L. For another example, when the control device is configured as a terminal node of the CAN bus, the first to fourth interfaces may be connected to corresponding signal lines of the CAN bus, respectively. In this case, the first impedance in the first circuit may serve as a terminal resistor. For another example, when the control device is configured as a non-terminal node of the CAN bus, the first and second interfaces may be connected to the CAN bus, while the third and fourth interfaces may be left unconnected to disconnect them from the signal lines of the CAN bus.

[0054] In the embodiments of the present application, by adjusting the connection relationship between the various interfaces of the control device and the CAN bus, the terminal resistor can be connected or disconnected from the CAN bus, enabling flexible placement on the CAN bus without adjusting the hardware structure of the control device. This allows the control device to adapt to different vehicle models using the same hardware structure, thereby reducing costs and simplifying management.

[0055] The following combination Figures 2 to 5 , the structure of the control device is illustrated as an example.

[0056] For example, Figure 2 1 is a schematic diagram of the structure of a control device 100 provided in an embodiment of the present application. The control device 100 may include an interface 101, an interface 102, an interface 103, and an interface 104. The control device 100 may also include a processing module 110. Among them, interfaces 101 to 104 may correspond to the first interface to the fourth interface of the control device, respectively.

[0057] Interface 101 can be used to connect to CAN_H, and interface 102 can be used to connect to CAN_L. Interfaces 101 and 102 can be used to form a CAN communication channel between processing module 110 and the CAN bus. For example, processing module 110 can be connected to interfaces 101 and 102, which can be connected to CAN_H and CAN_L, respectively; processing module 110 communicates with the CAN bus through interfaces 101 and 102.

[0058] Interface 103 can be used to connect to CAN_H, and interface 104 can be used to connect to CAN_L. The control device 100 may also include a circuit 121 for connecting interface 103 and interface 104. Circuit 121 may be provided with an impedance, which may be composed of one or more resistors. For example, the impedance in circuit 121 may be 120 ohms (Ω), 120.5Ω, 120.6Ω, or other values approximately 120Ω. Circuit 121 may correspond to the first circuit of the control device.

[0059] In one embodiment, when the control device 100 is configured as a terminal node of a CAN bus, the interfaces 103 and 104 may be connected to CAN_H and CAN_L, respectively; in this case, the resistor in the circuit 121 may constitute a terminal resistor.

[0060] In another embodiment, when the control device 100 is configured as a non-terminal node of the CAN bus, it is not necessary to connect the interfaces 103 and 104 to CAN_H and CAN_L respectively.

[0061] In some possible implementations, the control device 100 may further include a circuit 122 for connecting interfaces 101 and 102. Circuit 122 may be configured with an impedance; this impedance may be comprised of one or more resistors. For example, the impedance of circuit 122 may be 2600Ω or 2200Ω. The impedance of circuit 122 may also be determined based on actual needs.

[0062] The following combination Figure 3 , an exemplary description is given of the setting method of the impedance in circuits 121 and 122.

[0063] like Figure 3 As shown in (a) of FIG, circuit #1 may include resistor #1. For example, assuming circuit #1 corresponds to circuit 121, the resistance of resistor #1 may be 120.6Ω, thereby constituting the impedance of circuit 121. For another example, assuming circuit #1 corresponds to circuit 122, the resistance of resistor #1 may be 2600Ω, thereby constituting the impedance of circuit 122.

[0064] like Figure 3 As shown in (b) of FIG, circuit #2 can be provided with resistor #2 and resistor #3 connected in series; the resistance values of resistor #2 and resistor #3 can be the same or different. Furthermore, in order to reduce the noise in the CAN signal and effectively improve the quality of the CAN signal, a grounding capacitor can be provided at the connection between resistor #2 and resistor #3. That is, one end of the capacitor can be provided at the connection between resistor #2 and resistor #3, and the other end of the capacitor can be connected to the ground line, as shown in FIG. Figure 3 As shown in (b) in the figure, the capacitance of the grounding capacitor can be set according to specific requirements.

[0065] In one embodiment, when circuit 121 corresponds to circuit #2, two resistors may be provided in circuit 121. For example, assuming the impedance in circuit 121 is 120.6Ω, circuit 121 may be connected in series with two resistors each having a resistance of 60.3Ω. For another example, a grounding capacitor may be provided at the junction of the two resistors; the capacitance of the grounding capacitor may be 47nF.

[0066] In an embodiment of the present application, when the impedance in circuit 121 is composed of two resistors connected in series, a grounding capacitor is set at the connection between the two resistors. When the impedance in circuit 121 is connected to the CAN bus to form a terminal resistor, the grounding capacitor can reduce the noise in the CAN signal and effectively improve the quality of the CAN signal.

[0067] In another embodiment, when circuit 122 corresponds to circuit #2, two resistors may be provided in circuit 122. For example, assuming the impedance of circuit 122 is 2600Ω, circuit 122 may be connected in series with two resistors each having a resistance of 1300Ω, and a grounding capacitor may be provided at the junction of the two resistors.

[0068] In some possible implementations, multiple interfaces on the control device 100 for connecting to CAN_H may be adjacent, and / or multiple interfaces for connecting to CAN_L may be adjacent. Figure 4 , an exemplary description is given of the arrangement of interfaces 101 to 104.

[0069] For example, when the interfaces are arranged in a single row, the positional relationship between interfaces 101 to 104 can be as follows: Figure 4 As shown in (a); in this case, interfaces 101 and 103 for connecting to CAN_H are adjacent, and interfaces 102 and 104 for connecting to CAN_L are adjacent. For another example, when the interfaces are arranged in a double row, the positional relationship between interfaces 101 to 104 can be as follows: Figure 4 In this case, the interfaces 101 and 103 for connecting to CAN_H are adjacent, and the interfaces 102 and 104 for connecting to CAN_L are adjacent.

[0070] In the embodiment of the present application, by arranging multiple interfaces connected to the same signal line adjacent to each other, the length of the cable required to connect the control device to the CAN bus can be reduced, which is conducive to reducing costs.

[0071] Combination of the above Figure 2 and Figure 3 The structure of the control device 100 is described as an example. Figure 5 The structure of the control device 200 is exemplarily described.

[0072] For example, Figure 5 2 is a schematic diagram of the structure of a control device 200 provided in an embodiment of the present application. The control device 200 may include interfaces 201 to 204. The control device 200 may also include a processing module 210. Interfaces 201 to 204 may correspond to the first to fourth interfaces of the control device, respectively.

[0073] Interface 201 can be used to connect to CAN_H, and interface 202 can be used to connect to CAN_L. Interfaces 201 and 202 can be used to form CAN communication channel 0 (referred to as CAN channel 0) between processing module 210 and the CAN bus. Interface 203 can be used to connect to CAN_H, and interface 204 can be used to connect to CAN_L. Interfaces 203 and 204 can be used to form CAN communication channel 1 (referred to as CAN channel 1) between processing module 210 and the CAN bus.

[0074] Control device 200 may further include circuit 221 connecting interface 203 and interface 204. Circuit 221 is provided with an impedance, which may be implemented by one or more resistors. For example, the impedance in circuit 221 may be 120Ω or 120.6Ω. Circuit 221 may correspond to the first circuit of the control device.

[0075] For example, processing module 210 may be connected to interfaces 201 and 202, which may be connected to CAN_H and CAN_L, respectively. Through interfaces 201 and 202, processing module 210 may communicate with the CAN bus, that is, communicate through CAN channel 0. For another example, processing module 210 may be connected to interfaces 203 and 204, which may be connected to CAN_H and CAN_L, respectively. Through interfaces 203 and 204, processing module 210 may communicate with the CAN bus.

[0076] In one embodiment, when the control device 200 is configured as a non-terminal node of the CAN bus, only interfaces 201 and 202 may be connected to CAN_H and CAN_L, without connecting interfaces 203 and 204 to the CAN bus. In this case, the processing module 210 can communicate with the CAN bus via CAN channel 0, while CAN channel 1 of the control device 200 is unused. When the control device 200 is configured as a terminal node of the CAN bus, only interfaces 203 and 204 may be connected to CAN_H and CAN_L, without connecting interfaces 201 and 202 to the CAN bus. In this case, the processing module 210 can communicate with the CAN bus via CAN channel 1, while CAN channel 0 of the control device 200 is unused.

[0077] In another embodiment, regardless of whether the control device 200 is configured as a terminal node or a non-terminal node of the CAN bus, the interfaces 201 to 204 can be connected to the corresponding signal lines of the CAN bus. Specifically, when the control device 200 is configured as a non-terminal node of the CAN bus, the processing module 210 can communicate with the CAN bus via CAN channel 0; when the control device 200 is configured as a terminal node of the CAN bus, the processing module 210 can communicate with the CAN bus via CAN channel 1.

[0078] In some possible implementations, a first identifier can be used to indicate whether a control device (e.g., control device 200, control devices 300 and 400, etc., described below) is configured as a terminal node on the CAN bus. For example, processing module 210 can obtain the first identifier; based on the first identifier, processing module 210 can determine which of CAN channels 0 and 1 to use for communication with the CAN bus. For another example, the control device can obtain the first identifier through hardware or software.

[0079] In one embodiment, the connection status of a pin of the control device may correspond to the first identifier. For example, when the pin is unconnected, the control device may be determined to be configured as a non-terminal node; when the pin is grounded, the control device may be determined to be configured as a terminal node. Alternatively, the opposite configuration may be employed; for example, when the pin is grounded, the control device may be considered to be configured as a non-terminal node.

[0080] In yet another embodiment, the configuration file of the control device may include an identifier for indicating whether the control device is configured as a terminal node.

[0081] In the embodiments of the present application, a first identifier indicates whether the control device is configured as a terminal node on the CAN bus. The control device can then independently determine which channel to use for communication with the CAN bus. This approach can significantly simplify the configuration of CAN bus nodes, particularly during the development phase when the location or number of nodes on the CAN bus needs to be adjusted.

[0082] In some possible implementations, the control device 200 may further include a circuit 222 connecting the interface 201 and the interface 202. The circuit 222 is provided with an impedance, which may be implemented by one or more resistors. For example, the impedance in the circuit 222 may be 2600Ω or 2200Ω.

[0083] In one embodiment, circuits 221 and / or 222 may correspond to Figure 3 Circuit #1 shown in (a).

[0084] In another embodiment, the circuit 221 and / or 222 may correspond to Figure 3 For example, assuming the impedance of circuit 221 is 120.6Ω, circuit 221 can be connected in series with two 60.3Ω resistors; a grounding capacitor can be provided at the junction of these two resistors. For another example, assuming the impedance of circuit 222 is 2600Ω, circuit 222 can be connected in series with two 1300Ω resistors; a grounding capacitor can be provided at the junction of these two resistors.

[0085] In some possible implementations, in order to reduce the length of external cables, multiple interfaces on the control device 200 for connecting to CAN_H can be adjacent, and / or multiple interfaces for connecting to CAN_L can be adjacent. For example, interfaces 201 and 203 for connecting to CAN_H can be adjacent; interfaces 202 and 204 for connecting to CAN_L can be adjacent. For another example, in single-row and double-row arrangements, the arrangement of interfaces 201 to 204 can be similar to Figure 4 The interfaces 101 to 104 are shown arranged in a similar manner.

[0086] Combination of the above Figures 2 to 5 The control devices 100 and 200 in the embodiment of the present application are used to illustrate the structure of a control device provided by the embodiment of the present application. The following introduces another control device provided by the embodiment of the present application, and combines Figure 6 and Figure 7 Its structure is explained exemplarily.

[0087] Exemplarily, the control device may include a first interface, a second interface, and a processing module. The first interface may be used to connect to a first signal line of a CAN bus, and the second interface may be used to connect to a second signal line of the CAN bus; the first interface and the second interface are used to constitute a CAN communication channel between the processing module and the CAN bus. The control device may also include a first circuit connecting the first interface and the second interface; wherein the first circuit is provided with a first impedance and a switch connected in series with the first impedance. The processing module is used to: when the control device is configured as a terminal node of the CAN bus, control the switch connected in series with the first impedance in the first circuit to be closed; or, when the control device is configured as a non-terminal node of the CAN bus, control the switch connected in series with the first impedance in the first circuit to be disconnected.

[0088] In an embodiment of the present application, by controlling the switch connected in series with the first impedance on the first circuit to close, the first impedance can be connected to the CAN bus to function as a terminating resistor; by controlling the switch connected in series with the first impedance on the first circuit to open, the first impedance can be prevented from being connected to the CAN bus. In this way, the control device can be flexibly arranged on the CAN bus without having to adjust its hardware structure. The control device can adapt to different vehicle models using the same hardware structure, thereby reducing costs and simplifying management.

[0089] The following combination Figure 6 and Figure 7 , the structure of the control device is illustrated as an example.

[0090] For example, Figure 6 3 is a schematic diagram of the structure of a control device 300 provided in an embodiment of the present application. The control device 300 may include an interface 301 and an interface 302. The control device 300 may also include a processing module 310. The interfaces 301 and 302 may correspond to the first interface and the second interface of the control device, respectively.

[0091] Interface 301 can be used to connect to CAN_H, and interface 302 can be used to connect to CAN_L. Interfaces 301 and 302 can be used to form a CAN communication channel between processing module 310 and the CAN bus. For example, processing module 310 can be connected to interfaces 301 and 302, and interfaces 101 and 102 can be connected to CAN_H and CAN_L, respectively; through interfaces 301 and 302, processing module 310 can communicate with the CAN bus.

[0092] Control device 300 may further include circuit 321 for connecting interface 301 and interface 302. Circuit 321 may be provided with an impedance, which may be composed of one or more resistors. For example, the impedance in circuit 321 may be 120Ω or 120.6Ω. Circuit 321 may correspond to the first circuit of the control device.

[0093] The circuit 321 may also be provided with a switch connected in series with the impedance, such as switch 322. Figure 6 As shown, when the switch 322 is closed, the interface 301 can be electrically connected to the interface 302 through the circuit 321. For another example, when the control device 300 is configured as a non-terminal node of the CAN bus, the switch 322 can be controlled to be disconnected. For another example, when the control device 300 is configured as a terminal node of the CAN bus, the switch 322 can be controlled to be closed; in this scenario, the impedance in the circuit 321 can constitute a terminal resistance. For another example, the processing module 310 can obtain a first identifier; based on the first identifier, the switch 322 can be controlled to be opened or closed. For the description of the first identifier, please refer to the relevant records in the control device 200.

[0094] In the embodiment of the present application, the first identifier indicates whether the control device is configured as a terminal node of the CAN bus, and the control device can independently determine whether to close the corresponding switch in the control circuit 321. In particular, when the location and number of nodes on the CAN bus need to be adjusted during the development phase, this approach can greatly simplify the configuration process of the nodes on the CAN bus.

[0095] For example, reference may be made to Figure 3 Circuit #1 or circuit #2 shown in FIG. 1 may include circuit 321. For example, corresponding to circuit #1, circuit 321 may include only one resistor. For another example, corresponding to circuit #2, circuit 321 may include two resistors connected in series; a grounding capacitor may also be provided at the junction of these two resistors.

[0096] In an embodiment of the present application, when the impedance in circuit 321 is composed of two resistors connected in series, a grounding capacitor is set at the connection between the two resistors. When the impedance in the circuit is connected to the CAN bus to form a terminal resistor, the grounding capacitor can reduce the noise in the CAN signal and effectively improve the quality of the CAN signal.

[0097] In some possible implementations, the impedance in the circuit 321 may include two resistors connected in series, and a grounding capacitor is provided at the connection between the two resistors. In this scenario, the circuit 321 may be provided with two switches, one of which may be used to connect a resistor in the circuit and the interface 301, and the other switch may be used to connect another resistor in the circuit and the interface 302. For example, when the control device 300 is configured as a terminal node of the CAN bus, both switches may be controlled to be closed; when the control device 300 is configured as a non-terminal node of the CAN bus, both switches may be controlled to be disconnected. For another example, a detection point may be set at the connection between the two resistors, and the working status of the above two switches may be determined by detecting the voltage at the connection between the two resistors. The following is combined with Figure 7 , an example is given to illustrate the method of detecting the working status of the switch.

[0098] For example, Figure 7 4 is a schematic structural diagram of the control device 400 provided in an embodiment of the present application.

[0099] like Figure 7 As shown, control device 400 may include an MCU; the MCU may communicate with the CAN bus via interface #1 and interface #2; and circuit 421 may connect interface #1 and interface #2. The MCU may correspond to processing module 310, interface #1 and interface #2 may correspond to interfaces 301 and 302, respectively, and circuit 421 may correspond to circuit 321.

[0100] Circuit 421 can have resistor 1 and resistor 2 connected in series. One end of resistor 1 and resistor 2 can be connected to each other, and the other ends can be connected to interface #1 and interface #2 via switch 1 and switch 2, respectively. A grounding capacitor can be provided at the junction of the two resistors. For example, switch 1 and / or switch 2 can be MOS transistor switches. For another example, assuming the impedance in circuit 421 is 120.6Ω, the resistance of resistor 1 and resistor 2 can both be 60.3Ω; the capacitance of the grounding capacitor can be 47nF.

[0101] A detection point can be set at the connection between resistors 1 and 2. The MCU can determine whether the switches are operating properly by detecting the voltage there. For example, the operating states of switches 1 and 2 can include the following situations: switch 1 is closed and switch 2 is closed (case 1), switch 1 is closed and switch 2 is open (case 2), switch 1 is open and switch 2 is closed (case 3), and switch 1 is open and switch 2 is open (case 4).

[0102] For example, the voltage detected at the detection point may vary under different circumstances. Based on the detected voltage, it can be determined whether switch 1 and switch 2 are operating normally. For example, when the detected voltage value is a first value, it can be considered that switch 1 and switch 2 are operating normally; when the voltage value is a second value, it can be considered that switch 1 is faulty but switch 2 is normal; when the voltage value is a third value, it can be considered that switch 1 is operating normally but switch 2 is faulty; and when the voltage value is a fourth value, it can be considered that both switch 1 and switch 2 are faulty. For another example, when configured as a terminal node, if the switch is in the closed state, it can be considered that the switch is operating normally; when configured as a non-terminal node, if the switch is in the open state, it can be considered that the switch is operating normally.

[0103] Assume that the voltage of CAN_H is 3V and the voltage of CAN_L is 0.5V. For example, when the detected voltage is 2.5V, it can be determined that switch 1 and switch 2 are in situation #1. For another example, when the detected voltage is 3V, it can be determined that switch 1 is closed and switch 2 is open, that is, switch 1 and switch 2 are in situation #2. For another example, when the detected voltage is 0.5V, it can be determined that switch 1 is open and switch 2 is closed, that is, switch 1 and switch 2 are in situation #3. For another example, when the detected voltage is 0V, it can be determined that both switch 1 and switch 2 are open, that is, switch 1 and switch 2 are in situation #4.

[0104] In one embodiment, when device 400 is configured as a terminal node of a CAN bus, switch 1 and switch 2 should be in situation 1. For example, when switch 1 and switch 2 are in situation #1, both switches 1 and 2 are operating normally. When switch 1 is closed and switch 2 is open (i.e., switches 1 and 2 are in situation #2), switch 1 is operating normally but switch 2 is faulty. When switch 1 is open and switch 2 is closed (i.e., switches 1 and 2 are in situation #3), switch 1 is faulty but switch 2 is operating normally. When both switches 1 and 2 are open (i.e., switches 1 and 2 are in situation #4), both switches 1 and 2 are faulty. In other words, in this scenario, a voltage value of 2.5V may correspond to a first value; a voltage value of 0.5V may correspond to a second value; a voltage value of 3V may correspond to a third value; and a voltage value of 0V may correspond to a fourth value.

[0105] In another embodiment, when device 400 is configured as a non-terminal node of a CAN bus, switch 1 and switch 2 should be in situation 4. For example, when switch 1 and switch 2 are both open (i.e., switch 1 and switch 2 are in situation #4), both switches 1 and 2 are operating normally; when switch 1 is open and switch 2 is closed (i.e., switch 1 and switch 2 are in situation #3), switch 1 is operating normally but switch 2 is faulty; when switch 1 is closed and switch 2 is open (i.e., switch 1 and switch 2 are in situation #2), switch 1 is faulty but switch 2 is operating normally; and when switch 1 and switch 2 are in situation #1, both switches 1 and 2 are faulty. That is, in this scenario, a voltage value of 0V may correspond to a first value; a voltage value of 3V may correspond to a second value; a voltage value of 0.5V may correspond to a third value; and a voltage value of 2.5V may correspond to a fourth value.

[0106] In practical scenarios, the quality of the CAN signal may be affected if the impedance in circuit 421 is incorrectly connected to or incorrectly not connected to the CAN bus. In this embodiment of the present application, the operating states of switches 1 and 2 are determined based on the detected voltages, and whether the impedance in circuit 421 is connected to the CAN bus can be determined, simplifying fault detection during the CAN bus configuration process. Furthermore, because different operating states of switches 1 and 2 correspond to different voltage values, precise location of switch faults can be achieved, facilitating rapid response to faults during the CAN bus configuration process.

[0107] Combination of the above Figures 2 to 7 The structure of the control device in the embodiment of the present application is exemplarily described.

[0108] An embodiment of the present application also provides a vehicle, which may include any one of the above-mentioned control devices.

[0109] Figure 8 6 is a functional block diagram of a vehicle 600 provided in an embodiment of the present application. The vehicle 600 may include a perception system 620 and a computing platform 650, wherein the perception system 620 may include one or more sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a positioning system, which may be a global positioning system (GPS), a BeiDou system, or other positioning systems. The perception system 620 may also include an inertial measurement unit (IMU), one or more of a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0110] Some or all functions of vehicle 600 may be controlled by a computing platform 650. Computing platform 650 may include one or more processors, such as processors 651 to 65n (n is a positive integer). A processor is a circuit capable of processing signals. In one implementation, the processor may be a circuit capable of reading and executing instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor may implement certain functions through the logical relationships of hardware circuits. The logical relationships of the hardware circuits may be fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration file to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 650 can also include a memory for storing instructions, and some or all of the processors 651 to 65n can call the instructions in the memory to implement corresponding functions.

[0111] It should be understood that the division of the various units in the above devices is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity, or physically separated. All units in the above devices may be implemented entirely through a processor calling software, entirely through hardware circuits, or partially through a processor calling software, with the remainder implemented through hardware circuits.

[0112] In a specific implementation, the processing modules 110, 210, and 310 may be implemented by at least one processor or processor-related circuit. In one example, the control devices 100, 200, 300, and 400 may be a computing platform 650, or a chip or processor disposed within the computing platform 650. In another example, the control devices 100, 200, 300, and 400 may be a controller or other control device within the perception system 620, or an electronic device including such a controller.

[0113] The vehicles involved in the embodiments of the present application are vehicles in a broad sense, and may be transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as mowers, harvesters, etc.), amusement equipment, toy vehicles, etc. For example, the vehicles in the present application may include pure electric vehicles (pure electric vehicles / battery electric vehicles, pure EV / battery EV), hybrid electric vehicles (hybrid electric vehicles, HEV), range extended electric vehicles (REEV), plug-in hybrid electric vehicles (PHEV) or new energy vehicles (NEV), etc.

[0114] The detailed description and drawings of the above embodiments are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0115] The terms "first" and "second" described in the embodiments of this application are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, unless otherwise specified, the meaning of "plurality" refers to two or more.

[0116] The term "and / or" in this application simply describes an association between related objects, indicating that three possible relationships exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects are in an "or" relationship.

[0117] The terms "about," "approximately," or "approximately" as used in the examples of this application include the stated value and an average value that is within an acceptable range of deviation for the particular value, where the acceptable range of deviation is determined by one of ordinary skill in the art taking into account the measurement in question and the errors associated with the measurement of the particular quantity, i.e., the limitations of the measurement system.

[0118] In the several embodiments provided in this application, it should be understood that the embodiments described above are merely illustrative. For example, the division of the modules is merely a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0119] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed systems and devices can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0121] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0122] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0123] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A control device (300), characterized in that: The control device (300) comprises a first interface (301), a second interface (302) and a processing module (310). The first interface (301) is used to connect to a first signal line of a controller area network (CAN) bus, and the second interface (302) is used to connect to a second signal line of the CAN bus. The first interface (301) and the second interface (302) are used to form a CAN communication channel between the processing module (310) and the CAN bus. The control device (300) further comprises a first circuit (321) connecting the first interface (301) and the second interface (302), wherein the first circuit (321) is provided with a first impedance and a switch (322) connected in series with the first impedance; The processing module (310) is used to: When the control device (300) is configured as a terminal node of the CAN bus, controlling the switch (322) in the first circuit (321) connected in series with the first impedance to be closed; or, When the control device (300) is configured as a non-terminal node of the CAN bus, the switch (322) in the first circuit (321) connected in series with the first impedance is controlled to be disconnected.

2. The control device (300) according to claim 1, characterized in that The processing module (310) is used to: Acquiring a first identifier, the first identifier being used to indicate whether the control device (300) is configured as a terminal node of the CAN bus; According to the first identifier, the switch (322) in the first circuit (321) connected in series with the first impedance is controlled to be closed or opened.

3. The control device (300) according to claim 1 or 2, characterized in that The first impedance includes a first resistor and a second resistor connected in series, and a grounding capacitor is provided at the connection between the first resistor and the second resistor.

4. The control device (300) according to claim 3, characterized in that The switch (322) connected in series with the first impedance includes a first switch and a second switch, the first switch is used to connect the first resistor and the first interface (301), and the second switch is used to connect the second resistor and the second interface (302).

5. The control device (300) according to claim 4, characterized in that The processing module (310) is used to: Obtaining a voltage at a detection point, where the detection point is located at a connection point between the first resistor and the second resistor; The operating states of the first switch and the second switch are determined according to the voltage.

6. The control device (300) according to claim 5, characterized in that The processing module (310) is used to: When the voltage is a first value, determining that the first switch and the second switch are operating normally; When the voltage is a second value, determining that the first switch is faulty and the second switch is operating normally; or, When the voltage is a third value, it is determined that the second switch is faulty and the first switch is operating normally.

7. A control device (100, 200), characterized in that: The control device comprises a first interface (101, 201), a second interface (102, 202), a third interface (103, 203), a fourth interface (104, 204) and a processing module (110, 210). The first interface (101, 201) is used to connect to a first signal line of a controller area network (CAN) bus, the second interface (102, 202) is used to connect to a second signal line of the CAN bus, and the first interface (101, 201) and the second interface (102, 202) are used to form a first CAN communication channel between the processing module (110, 210) and the CAN bus; The third interface (103, 203) is used to connect to the first signal line, and the fourth interface (104, 204) is used to connect to the second signal line; The control device (100, 200) further comprises a first circuit (122, 222) for connecting the third interface (103, 203) and the fourth interface (104, 204), wherein the first circuit is provided with a first impedance.

8. The control device (100, 200) according to claim 7, characterized in that The control device (100, 200) further comprises a second circuit (121, 221) for connecting the first interface (101, 201) and the second interface (102, 202), and the second circuit (121, 221) is provided with a second impedance.

9. The control device (100) according to claim 7 or 8, characterized in that When the control device (100) is configured as a terminal node of the CAN bus, the third interface (103) is connected to the first signal line, and the fourth interface (104) is connected to the second signal line; or, When the control device (100) is configured as a non-terminal node of the CAN bus, the third interface (103) is disconnected from the first signal line, and the fourth interface (104) is disconnected from the second signal line.

10. The control device (200) according to claim 7 or 8, characterized in that: When the control device (200) is configured as a terminal node or a non-terminal node of the CAN bus, the third interface (203) is connected to the first signal line, and the fourth interface (204) is connected to the second signal line; The third interface (203) and the fourth interface (204) are used to form a second CAN communication channel between the processing module (210) and the CAN bus.

11. The control device (200) according to claim 10, characterized in that The processing module (210) is used to: When the control device (200) is configured as a terminal node of the CAN bus, it communicates with the CAN bus via the second CAN communication channel; or When the control device (200) is configured as a non-terminal node of the CAN bus, it communicates with the CAN bus via the first CAN communication channel.

12. The control device (200) according to claim 10, characterized in that The processing module (210) is used to: Acquiring a first identifier, the first identifier being used to indicate whether the control device (200) is configured as a terminal node of the CAN bus; According to the first identifier, it is determined to communicate with the CAN bus through the first CAN communication channel or the second CAN communication channel.

13. The control device (100, 200) according to claim 7 or 8, characterized in that The third interface (103, 203) is adjacent to the first interface (101, 201); and / or, The fourth interface (104, 204) is adjacent to the second interface (102, 202).

14. The control device (100, 200) according to claim 7 or 8, characterized in that The first impedance includes a first resistor and a second resistor connected in series, and a grounding capacitor is provided at the connection between the first resistor and the second resistor.

15. A vehicle, characterized in that: Comprising the control device according to any one of claims 1 to 14.

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