Control apparatus and vehicle

Abstract

Embodiments of the present application provide a control apparatus. The control apparatus 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. The two interfaces are used to form a CAN communication channel between the processing module and the CAN bus. The control apparatus further comprises a circuit connecting the two interfaces, an impedance and a switch connected to the impedance in series being provided within the circuit. The processing module is used to: when the control apparatus is configured as a terminal node of the CAN bus, control the switch connected to the impedance in series in the circuit to close; or, when the control apparatus is configured as a non-terminal node of the CAN bus, control the switch connected to the impedance in series in series in the circuit to open. The embodiments of the present application are applicable to smart vehicles or new energy vehicles. For different vehicle models, flexible configuration of the control apparatus on the CAN bus can be achieved without adjusting the hardware structure of the control apparatus, thereby reducing costs and management difficulty.

Description

Control devices and vehicles

[0001] This application claims priority to Chinese Patent Application No. 202411217066.6, filed on August 29, 2024, entitled "Control Device and Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of vehicle technology, and more specifically, to a control device and a vehicle. Background Technology

[0003] Because of its high performance and high reliability, the Controller Area Network (CAN) bus is widely used in many fields, such as vehicle communication.

[0004] With the increasing variety of in-vehicle electronic devices, platform-based design is gradually becoming a trend. For component suppliers, using the same hardware, such as printed circuit board assemblies (PCBAs) and complete units, to match the needs of different OEMs can reduce costs and simplify management. However, in different vehicles, the same electronic component may correspond to different nodes on the CAN bus. This situation necessitates separate adaptation for different vehicle models. Summary of the Invention

[0005] This application provides a control device and a vehicle 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.

[0006] 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 constitute a CAN communication channel between the processing module and the CAN bus. The control device further includes a first circuit connecting the first interface and the second interface; wherein the first circuit includes a first impedance and a switch connected in series with the first impedance. The processing module is configured to: close the switch connected in series with the first impedance in the first circuit when the control device is configured as a terminal node of the CAN bus; or, open the switch connected in series with the first impedance in the first circuit when the control device is configured as a non-terminal node of the CAN bus.

[0007] For example, taking control device 300 as an example, interfaces 301 and 302 can correspond to the first interface and the second interface mentioned above, respectively, and can constitute a communication channel between processing module 310 and the CAN bus; circuit 321 can correspond to the first circuit mentioned above. As another example, taking control device 400 as an example, interfaces #1 and #2 can correspond to the first interface and the second interface mentioned above, respectively; the microcontroller unit (MCU) can correspond to the processing module mentioned above; circuit 421 can correspond to the first circuit mentioned above.

[0008] In this application, by controlling the switch connected in series with the first impedance in the first circuit to be in a closed state, the first impedance can be connected to the CAN bus and form a terminating resistor; by controlling the switch to be open, the first impedance can be prevented from being connected to the CAN bus. Since terminating resistors are often required at the terminal nodes when configuring the CAN bus, otherwise the CAN bus communication quality will be affected (e.g., waveform distortion), the hardware structure of the same electronic component often needs to be adjusted to adapt to different vehicle models. The above method allows for flexible placement of the control device on the CAN bus without adjusting its hardware structure, which is beneficial for ensuring the communication quality of the CAN bus. For this control device, the same hardware structure can be used to adapt to different vehicle models, thereby reducing costs and management complexity.

[0009] In some possible implementations, the processing module may be used to: acquire a first identifier, which indicates whether the control device is configured as a CAN bus terminal node; and control the switch in the first circuit connected in series with the first impedance to close or open according to the first identifier.

[0010] In this application, a first identifier indicates whether the control device is configured as a CAN bus terminal node. The control device can independently determine whether a first impedance needs to be connected to the CAN bus to form a terminating resistor. In particular, when the development phase involves adjusting the position and number of nodes on the CAN bus, the above method can greatly simplify the node configuration process on the CAN bus.

[0011] In some possible implementations, the first impedance may include a first resistor and a second resistor connected in series; a grounding capacitor may be provided at the connection point of the first resistor and the second resistor.

[0012] In this application, when the first impedance in the first circuit is composed of two resistors connected in series, these two resistors can form the terminating resistor of the CAN bus when connected to the CAN bus, which can reduce the waveform distortion of the CAN signal; the grounding capacitor set at the connection of these two resistors can reduce the noise in the CAN signal and effectively improve the quality of the CAN signal.

[0013] 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.

[0014] In some possible implementations, the processing module can be used to: acquire the voltage at a detection point, which may be located at the connection between the first resistor and the second resistor; and determine the operating state of the first switch and the second switch based on the voltage.

[0015] In this application, when the control device is configured as a CAN bus terminator, the first switch and the second switch should be closed to allow the first impedance to be connected to the CAN bus as its terminating resistor. When the control device is configured as a non-terminator of the CAN bus, the switch connected in series with the first impedance in the first circuit should be open to prevent the first impedance from being connected to the CAN bus. If the first impedance is incorrectly connected or incorrectly not connected to the CAN bus, the quality of the CAN signal will be affected. Based on the above method, by determining the operating states of the first and second switches, it is possible to determine whether the impedance in the first circuit is connected to the CAN bus, simplifying fault detection during the CAN bus configuration process.

[0016] In some possible implementations, the processing module can be used to: determine that the first switch and the second switch are working properly when the voltage is a first value; determine that the first switch is faulty and the second switch is working properly when the voltage is a second value; or, determine that the second switch is faulty and the first switch is working properly when the voltage is a third value.

[0017] In this application, the faulty component in the first and second switches can be accurately located based on the voltage value, which is beneficial for quickly responding to faults during the CAN bus configuration process.

[0018] Secondly, another control device is provided. This 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 the Controller Area Network (CAN) bus, and the second interface is used to connect to a second signal line of the CAN bus; the first and second interfaces 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 and fourth interfaces, the first circuit having a first impedance.

[0019] For example, taking control device 100 as an example, interfaces 101 and 102 can correspond to the first interface and the second interface respectively, and can be used to form a communication channel between processing module 110 and the CAN bus; interfaces 103 and 104 can correspond to the third interface and the fourth interface respectively, and circuit 121 can correspond to the first circuit. As another example, taking control device 200 as an example, interfaces 201 and 202 can correspond to the first interface and the second interface respectively, and can be used to form a communication channel between processing module 210 and the CAN bus; interfaces 203 and 204 can correspond to the third interface and the fourth interface respectively, and circuit 221 can correspond to the first circuit.

[0020] In this application, since a first impedance is provided in the first circuit used to connect the third and fourth interfaces, by connecting the third and fourth interfaces to the CAN bus, this first impedance can be connected to the CAN bus and form a terminating resistor. By adjusting the connection relationship between the interface of the control device and the CAN bus, the terminating resistor can be connected to or not connected to the CAN bus, enabling flexible arrangement of the control device on the CAN bus without adjusting its hardware structure, which is beneficial to ensuring the communication quality of the CAN bus. For this control device, different vehicle models can be adapted to the same hardware structure; thereby reducing costs and management difficulty.

[0021] In some possible implementations, the control device may also include a second circuit for connecting the first interface and the second interface; the second circuit may be provided with a second impedance.

[0022] For example, taking control device 100 as an example, circuit 122 can correspond to the second circuit. As another example, taking control device 200 as an example, circuit 222 can correspond to the second circuit.

[0023] 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.

[0024] In this application, when the control device is configured as a CAN bus terminator, by connecting the third and fourth interfaces to the CAN bus, the impedance in the first circuit can be connected to the CAN bus, making it the CAN bus terminating resistor. Conversely, when the control device is configured as a non-terminator 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. This method avoids the first impedance being incorrectly connected or incorrectly not connected to the CAN bus, effectively improving the quality of the CAN signal in both configurations.

[0025] 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 and fourth interfaces can be used to form a second CAN communication channel between the processing module and the CAN bus.

[0026] For example, taking control device 200 as an example, regardless of whether control device 200 is configured as a terminal node or a non-terminal node of CAN bus, interfaces 201 to 204 can be connected to the signal lines corresponding to CAN bus respectively; wherein, processing module 210 can have two CAN communication channels with CAN bus, the CAN channel formed by interfaces 201 and 202 can correspond to the first CAN communication channel, and the communication channel formed by interfaces 203 and 204 can correspond to the second CAN communication channel.

[0027] In this application, by setting up 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, which simplifies the node configuration process on the CAN bus.

[0028] In some possible implementations, the processing module can be used to: communicate with the CAN bus via a second CAN communication channel when the control device is configured as a terminal node of the CAN bus; or, communicate with the CAN bus via a first CAN communication channel when the control device is configured as a non-terminal node of the CAN bus.

[0029] In this 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; while 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 can effectively improve the quality of the CAN signal.

[0030] In some possible implementations, the processing module may be used to: obtain a first identifier, which indicates whether the control device is configured as a terminal node of the CAN bus; and determine, based on the first identifier, whether to communicate with the CAN bus through a first CAN communication channel or a second CAN communication channel.

[0031] In this application, a first identifier indicates whether the control device is configured as a CAN bus terminal node, allowing the control device to independently determine which CAN communication channel to use for communication with the CAN bus. In particular, this method greatly simplifies the configuration process of nodes on the CAN bus when the position and number of nodes need to be adjusted during the development phase.

[0032] 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.

[0033] In this application, by arranging multiple interfaces for connection to the same signal line adjacently, it is beneficial to reduce the length of the cable required when connecting the control device to the CAN bus, thereby reducing costs.

[0034] 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 point of the first resistor and the second resistor.

[0035] In this 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 CAN bus termination resistor, which can reduce the waveform distortion of the CAN signal; the grounding capacitor can reduce the noise in the CAN signal and effectively improve the quality of the CAN signal.

[0036] Thirdly, a vehicle is provided that may include the control device of the first aspect or the second aspect and any possible implementation thereof. Attached Figure Description

[0037] Figure 1 is a schematic diagram of a CAN bus system architecture provided in an embodiment of this application;

[0038] Figure 2 is a schematic diagram of the structure of the control device 100 provided in an embodiment of this application;

[0039] Figure 3 is a schematic diagram of a circuit provided in an embodiment of this application;

[0040] Figure 4 is a schematic diagram of the interface layout provided in the embodiments of this application;

[0041] Figure 5 is a schematic diagram of the structure of the control device 200 provided in an embodiment of this application;

[0042] Figure 6 is a schematic diagram of the structure of the control device 300 provided in an embodiment of this application;

[0043] Figure 7 is a schematic diagram of the structure of the control device 400 provided in an embodiment of this application;

[0044] Figure 8 is a schematic block diagram of the vehicle 600 provided in an embodiment of this application. Detailed Implementation

[0045] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0046] The CAN bus can use a serial protocol and communicate using two signal lines (such as twisted-pair cables). These two signal lines can be denoted as CAN_H and CAN_L. Differential signal transmission is possible through CAN_H and CAN_L; that is, the signals on the two signal lines are differentially related. The level difference between the two signal lines can represent logic 0 and logic 1 respectively, thus enabling communication.

[0047] The following description, with reference to Figure 1, uses a closed-loop structure as an example to illustrate the system architecture of the CAN bus.

[0048] A CAN bus can have multiple nodes, such as node 1 to node n (n is a positive integer), as shown in Figure 1. Each node can correspond to an electronic device, electronic component, or control device. Node 1 and node n can be called terminal nodes; other nodes besides node 1 and node n can be called non-terminal nodes.

[0049] The CAN bus network structure can be divided into open-loop and closed-loop structures. In the closed-loop structure, a resistor can be set at each terminal node, as shown in Figure 1; this resistor can be called the CAN bus terminating resistor, or simply the terminating resistor. This terminating resistor can match the impedance of the CAN bus, thereby improving the CAN bus's anti-interference capability.

[0050] For example, a device (such as an electronic device, a control device, etc.) may correspond to different nodes on different CAN buses. For instance, on the CAN bus of vehicle A, the device may correspond to node 1; while on the CAN bus of vehicle B, the device may correspond to non-terminal nodes such as node 2.

[0051] For component manufacturers, the device may include two models (e.g., model A and model B); or, although the device may only include one model, its hardware structure needs to be adjusted for different vehicle models. For example, the hardware structure of model A may include a module for forming a terminating resistor, which can act as a terminating resistor for the CAN bus when model A is connected as a terminal node to the CAN bus of vehicle model A. Alternatively, the hardware structure of model B may not require the aforementioned module; model B can exist as a non-terminal node when connected to the CAN bus of vehicle model B. Or, if the device only includes one model, the module for forming the terminating resistor needs to be added or removed to adapt to different vehicle models. All of these scenarios lead to higher costs and management difficulties.

[0052] Assuming the device does not include the aforementioned terminating resistor module for the CAN bus, for vehicle manufacturers, when this device is configured as a CAN bus terminator, additional terminating resistors are required for the CAN bus, potentially necessitating individual adaptation for different vehicle models.

[0053] In view of this, 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.

[0054] Exemplarily, this 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 can be used to connect to a first signal line of a CAN bus, and the second interface can be used to connect to a second signal line of the CAN bus; the first and second interfaces can form a first CAN communication channel between the processing module and the CAN bus. The third interface can be used to connect to the first signal line of the CAN bus, and the fourth interface can be used 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 provided with a first impedance. For example, the first signal line of the CAN bus can be one of CAN_H and CAN_L; the second signal line of the CAN bus can 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 can be connected to the corresponding signal lines of the CAN bus; in this case, the first impedance in the first circuit can serve as a terminating resistor. For another example, when the control device is configured as a non-terminal node of the CAN bus, the first and second interfaces can be connected to the CAN bus; simultaneously, the third and fourth interfaces are left unused to disconnect their connection with the signal lines of the CAN bus.

[0055] In this embodiment, by adjusting the connection relationship between the various interfaces of the control device and the CAN bus, the terminating resistor can be connected to or not connected to the CAN bus, enabling flexible arrangement of the control device on the CAN bus without adjusting its hardware structure. This allows the control device to adapt to different vehicle models using the same hardware structure, thereby reducing costs and management complexity.

[0056] The structure of the control device will be described below with reference to Figures 2 to 5.

[0057] For example, FIG2 is a schematic diagram of the structure of a control device 100 provided in an embodiment of this application. The control device 100 may include interface 101, interface 102, interface 103 and interface 104. The control device 100 may also include a processing module 110. Interfaces 101 to 104 may respectively correspond to the first to fourth interfaces of the control device.

[0058] 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 the processing module 110 and the CAN bus. For example, the processing module 110 can be connected to interfaces 101 and 102, which can be connected to CAN_H and CAN_L respectively; through interfaces 101 and 102, the processing module 110 communicates with the CAN bus.

[0059] Interface 103 can be used to connect CAN_H, and interface 104 can be used to connect CAN_L. The control device 100 may also include circuitry 121 for connecting interfaces 103 and 104. Circuitry 121 may have an impedance, which may consist of one or more resistors. For example, the impedance in circuitry 121 may be 120 ohms (Ω), 120.5 Ω, 120.6 Ω, or other values ​​approximately 120 Ω. Circuitry 121 may correspond to the first circuitry of the control device.

[0060] In one embodiment, when the control device 100 is configured as a CAN bus terminal node, interfaces 103 and 104 can be connected to CAN_H and CAN_L respectively; in this case, the resistors in circuit 121 can constitute terminating resistors.

[0061] 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 interfaces 103 and 104 to CAN_H and CAN_L respectively.

[0062] In some possible implementations, the control device 100 may also include a circuit 122 for connecting interfaces 101 and 102. The circuit 122 may have an impedance; this impedance may consist of one or more resistors. For example, the impedance in the circuit 122 may be 2600Ω or 2200Ω. The impedance in the circuit 122 may also be determined according to actual requirements.

[0063] The following description, in conjunction with Figure 3, illustrates the impedance settings in circuits 121 and 122.

[0064] As shown in Figure 3(a), a resistor #1 can be included in circuit #1. For example, assuming circuit #1 corresponds to circuit 121, the resistance of resistor #1 can be 120.6Ω to form the impedance in circuit 121. As another example, assuming circuit #1 corresponds to circuit 122, the resistance of resistor #1 can be 2600Ω to form the impedance in circuit 122.

[0065] As shown in Figure 3(b), circuit #2 can include resistors #2 and #3 connected in series; the resistance values ​​of resistors #2 and #3 can be the same or different. Furthermore, to reduce noise in the CAN signal and effectively improve its quality, a grounding capacitor can be installed at the connection point of resistors #2 and #3. That is, one end of this capacitor can be located at the connection point of resistors #2 and #3, and the other end can be connected to ground, as shown in Figure 3(b). The capacitance value of this grounding capacitor can be set according to specific requirements.

[0066] In one embodiment, when circuit 121 corresponds to circuit #2, two resistors can be provided in circuit 121. For example, assuming the impedance in circuit 121 is 120.6Ω, circuit 121 can be connected in series with two resistors with a resistance of 60.3Ω. As another example, a grounding capacitor can be provided at the connection point of these two resistors; the capacitance of the grounding capacitor can be 47nF.

[0067] In this embodiment of the application, when the impedance in circuit 121 is composed of two resistors connected in series, by setting a grounding capacitor at the connection of the two resistors, when the impedance in circuit 121 is connected to the CAN bus to form a terminating resistor, the grounding capacitor can reduce the noise in the CAN signal and effectively improve the quality of the CAN signal.

[0068] In another embodiment, when circuit 122 corresponds to circuit #2, two resistors can be provided in circuit 122. For example, assuming the impedance in circuit 122 is 2600Ω, circuit 122 can be connected in series with two resistors with a resistance of 1300Ω, and a grounding capacitor can be provided at the connection point of these two resistors.

[0069] In some possible implementations, multiple interfaces on the control device 100 for connecting to CAN_H can be adjacent, and / or multiple interfaces for connecting to CAN_L can be adjacent. The arrangement of interfaces 101 to 104 is illustrated below with reference to Figure 4.

[0070] For example, when the interfaces are arranged in a single row, the positional relationship between interfaces 101 to 104 can be shown in Figure 4(a). In this case, interfaces 101 and 103, which are used to connect to CAN_H, are adjacent, and interfaces 102 and 104, which are used to connect to CAN_L, are adjacent. As another example, when the interfaces are arranged in a double row, the positional relationship between interfaces 101 to 104 can be shown in Figure 4(b). In this case, interfaces 101 and 103, which are used to connect to CAN_H, are adjacent, and interfaces 102 and 104, which are used to connect to CAN_L, are adjacent.

[0071] In this embodiment of the application, by arranging multiple interfaces connected to the same signal line adjacently, the length of the cable required to connect the control device to the CAN bus can be reduced, which helps to reduce costs.

[0072] The structure of the control device 100 has been described above with reference to Figures 2 and 3. The structure of the control device 200 will be described below with reference to Figure 5.

[0073] For example, FIG5 is a schematic diagram of the structure of a control device 200 provided in an embodiment of this 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 respectively correspond to the first to fourth interfaces of the control device.

[0074] Interface 201 can be used to connect CAN_H, and interface 202 can be used to connect CAN_L. Interfaces 201 and 202 can be used to form CAN communication channel 0 (referred to as CAN channel 0) between the processing module 210 and the CAN bus. Interface 203 can be used to connect CAN_H, and interface 204 can be used to connect CAN_L. Interfaces 203 and 204 can be used to form CAN communication channel 1 (referred to as CAN channel 1) between the processing module 210 and the CAN bus.

[0075] The control device 200 may also include a circuit 221 connecting the interface 203 and the interface 204. The circuit 221 has an impedance, which can be achieved by one or more resistors. For example, the impedance in the circuit 221 can be 120Ω or 120.6Ω. The circuit 221 may correspond to the first circuit of the control device.

[0076] For example, processing module 210 can be connected to interfaces 201 and 202, which can be connected to CAN_H and CAN_L respectively; through interfaces 201 and 202, processing module 210 can communicate with the CAN bus, that is, communicate through CAN channel 0. As another example, processing module 210 can be connected to interfaces 203 and 204, which can be connected to CAN_H and CAN_L respectively; through interfaces 203 and 204, processing module 210 can communicate with the CAN bus.

[0077] In one embodiment, when the control device 200 is configured as a non-terminal node of the CAN bus, only interfaces 201 and 202 need to 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 through CAN channel 0, while CAN channel 1 of the control device 200 remains idle. When the control device 200 is configured as a terminal node of the CAN bus, only interfaces 203 and 204 need to 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 through CAN channel 1, while CAN channel 0 of the control device 200 remains idle.

[0078] 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, 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 through 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 through CAN channel 1.

[0079] In some possible implementations, a first identifier can be used to indicate whether a control device (such as control device 200, control device 300, 400, etc. hereinafter) is configured as a CAN bus terminal node. For example, processing module 210 can acquire this first identifier; based on this first identifier, processing module 210 can determine which of CAN channels, 0 and 1, is used to communicate with the CAN bus. Alternatively, the control device can acquire the first identifier through hardware or software.

[0080] In one embodiment, the connection state of a pin of the control device can correspond to the first identifier. For example, when the pin is unconnected, it can be determined that the control device is configured as a non-terminal node; when the pin is grounded, it can be determined that the control device is configured as a terminal node. Alternatively, the opposite configuration can be used; for example, when the pin is grounded, the control device can be considered configured as a non-terminal node.

[0081] In another embodiment, the configuration file of the control device may include an identifier indicating whether the control device is configured as a terminal node.

[0082] In this embodiment, a first identifier indicates whether the control device is configured as a terminal node of the CAN bus, allowing the control device to determine which channel to use for communication with the CAN bus. In particular, this method greatly simplifies the configuration process of nodes on the CAN bus when the position and number of nodes need to be adjusted during the development phase.

[0083] In some possible implementations, the control device 200 may also include a circuit 222 connecting the interface 201 and the interface 202. The circuit 222 is provided with an impedance, which can be achieved by one or more resistors. For example, the impedance in the circuit 222 can be 2600Ω or 2200Ω.

[0084] In one embodiment, circuits 221 and / or 222 may correspond to circuit #1 shown in (a) of FIG3.

[0085] In another embodiment, circuits 221 and / or 222 may correspond to circuit #2 shown in Figure 3(b). For example, assuming the impedance in circuit 221 is 120.6Ω, circuit 221 may have two resistors with a resistance of 60.3Ω connected in series; a grounding capacitor may be provided at the connection point of these two resistors. As another example, assuming the impedance in circuit 222 is 2600Ω, circuit 222 may have two resistors with a resistance of 1300Ω connected in series; a grounding capacitor may be provided at the connection point of these two resistors.

[0086] In some possible implementations, to reduce the length of external cables, multiple interfaces on the control device 200 used for connection to CAN_H can be adjacent, and / or multiple interfaces used for connection to CAN_L can be adjacent. For example, interfaces 201 and 203 used for connection to CAN_H can be adjacent; interfaces 202 and 204 used for connection to CAN_L can be adjacent. Furthermore, in single-row and double-row layout schemes, the arrangement of interfaces 201 to 204 can be similar to the arrangement of interfaces 101 to 104 shown in Figure 4.

[0087] The above description, in conjunction with the control devices 100 and 200 shown in Figures 2 to 5, provides an exemplary description of the structure of a control device provided in this application embodiment. The following describes another control device provided in this application embodiment, with its structure described exemplarily in conjunction with Figures 6 and 7.

[0088] 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 the 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 constitute a CAN communication channel between the processing module and the CAN bus. The control device may further 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 configured 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 close; 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 open.

[0089] In this embodiment, by controlling the closing of the switch connected in series with the first impedance in the first circuit, the first impedance can be connected to the CAN bus and used as a terminating resistor; by controlling the opening of the switch connected in series with the first impedance in the first circuit, the first impedance can be prevented from being connected to the CAN bus. In this way, flexible placement of the control device on the CAN bus can be achieved without adjusting its hardware structure. For this control device, different vehicle models can be adapted to the same hardware structure; thereby reducing costs and management complexity.

[0090] The structure of the control device will be described exemplarily below with reference to Figures 6 and 7.

[0091] For example, FIG6 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.

[0092] 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 the processing module 310 and the CAN bus. For example, the 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, the processing module 310 can communicate with the CAN bus.

[0093] The control device 300 may also include a circuit 321 for connecting the interface 301 and the interface 302. The circuit 321 may have an impedance, which may consist of one or more resistors. For example, the impedance in the circuit 321 may be 120Ω or 120.6Ω. The circuit 321 may correspond to the first circuit of the control device.

[0094] Circuit 321 may also include a switch, such as switch 322, connected in series with the impedance. For example, as shown in Figure 6, when switch 322 is closed, interface 301 can be electrically connected to interface 302 through circuit 321. Alternatively, when control device 300 is configured as a non-terminal node of the CAN bus, switch 322 can be controlled to open. Or, when control device 300 is configured as a terminal node of the CAN bus, switch 322 can be controlled to close; in this scenario, the impedance in circuit 321 can constitute a terminating resistor. Furthermore, processing module 310 can acquire a first identifier; based on this first identifier, switch 322 can be controlled to open or close. For a description of the first identifier, refer to the relevant description in control device 200.

[0095] In this embodiment, a 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 it is necessary to adjust the position and number of nodes on the CAN bus during the development phase, this method can greatly simplify the configuration process of nodes on the CAN bus.

[0096] For example, circuit 321 can be configured with reference to circuit #1 or circuit #2 shown in Figure 3. For instance, corresponding to circuit #1, circuit 321 may contain only one resistor. As another example, corresponding to circuit #2, circuit 321 may contain two resistors connected in series; a grounding capacitor may also be provided at the connection point of these two resistors.

[0097] In this embodiment of the application, when the impedance in circuit 321 is composed of two resistors connected in series, by setting a grounding capacitor at the connection of these two resistors, when the impedance in the circuit is connected to the CAN bus to form a terminating resistor, the grounding capacitor can reduce the noise in the CAN signal and effectively improve the quality of the CAN signal.

[0098] In some possible implementations, the impedance in circuit 321 may include two resistors connected in series, with a grounding capacitor at the connection point. In this scenario, circuit 321 may have two switches: one switch connects one resistor in the circuit to interface 301, and the other switch connects another resistor in the circuit to interface 302. For example, when control device 300 is configured as a CAN bus terminator, both switches can be closed; when control device 300 is configured as a non-terminator of the CAN bus, both switches can be opened. Alternatively, a detection point can be set at the connection point of the two resistors; by detecting the voltage at the connection point, the operating state of the two switches can be determined. The following, with reference to Figure 7, provides an illustrative example of how to detect the operating state of the switches.

[0099] For example, FIG7 is a schematic diagram of the structure of the control device 400 provided in an embodiment of the present application.

[0100] As shown in Figure 7, the control device 400 may include an MCU; the MCU can communicate with the CAN bus through interface #1 and interface #2; circuit 421 can connect to interface #1 and interface #2. This MCU may correspond to the processing module 310, interface #1 and interface #2 may correspond to interface 301 and 302 respectively, and circuit 421 may correspond to circuit 321.

[0101] Circuit 421 can be connected in series with resistors 1 and 2. One end of resistors 1 and 2 can be connected to each other, and the other end can be connected to interface #1 and interface #2 respectively via switches 1 and 2. A grounding capacitor can be placed at the connection point of the two resistors. For example, switches 1 and / or 2 can be MOSFET switches. As another example, assuming the impedance in circuit 421 is 120.6Ω, the resistance values ​​of resistors 1 and 2 can both be 60.3Ω; the capacitance value of the grounding capacitor can be 47nF.

[0102] A detection point can be set at the connection between resistor 1 and resistor 2. The MCU can determine whether the switch is working properly by detecting the voltage at this point. For example, the working states of switch 1 and switch 2 can include the following situations: switch 1 is closed and switch 2 is closed (referred to as situation 1), switch 1 is closed and switch 2 is open (referred to as situation 2), switch 1 is open and switch 2 is closed (referred to as situation 3), and switch 1 is open and switch 2 is open (referred to as situation 4).

[0103] For example, the voltage detected at the detection point may differ under different conditions. Based on the detected voltage, it can be determined whether switch 1 and switch 2 are functioning correctly. For instance, if the detected voltage value is the first value, switch 1 and switch 2 can be considered to be functioning correctly; if the voltage value is the second value, switch 1 can be considered to be faulty but switch 2 is functioning correctly; if the voltage value is the third value, switch 1 can be considered to be functioning correctly but switch 2 is faulty; if the voltage value is the fourth value, both switch 1 and switch 2 can be considered to be faulty. As another example, when configured as a terminal node, the switch is considered to be functioning correctly when it is in the closed state; when configured as a non-terminal node, the switch is considered to be functioning correctly when it is in the open state.

[0104] Assume 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. As another example, when the detected voltage is 3V, it can be determined that switch 1 is closed and switch 2 is open, i.e., switch 1 and switch 2 are in situation #2. As yet another example, when the detected voltage is 0.5V, it can be determined that switch 1 is open and switch 2 is closed, i.e., switch 1 and switch 2 are in situation #3. As yet another example, when the detected voltage is 0V, it can be determined that both switch 1 and switch 2 are open, i.e., switch 1 and switch 2 are in situation #4.

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

[0106] In another embodiment, when device 400 is configured as a non-terminal node of the CAN bus, switches 1 and 2 should be in scenario 4. For example, when both switches 1 and 2 are open (i.e., switches 1 and 2 are in scenario #4), both switches 1 and 2 operate normally; when switch 1 is open and switch 2 is closed (i.e., switches 1 and 2 are in scenario #3), switch 1 operates normally but switch 2 malfunctions; when switch 1 is closed and switch 2 is open (i.e., switches 1 and 2 are in scenario #2), switch 1 malfunctions but switch 2 operates normally; when switches 1 and 2 are in scenario #1, both switches 1 and 2 malfunction. That is, in this scenario, a voltage value of 0V can correspond to the first value; a voltage value of 3V can correspond to the second value; a voltage value of 0.5V can correspond to the third value; and a voltage value of 2.5V can correspond to the fourth value.

[0107] In real-world scenarios, incorrect connection or non-connection of the impedance in circuit 421 to the CAN bus can affect the quality of the CAN signal. In this embodiment, determining the operating states of switches 1 and 2 based on the detected voltage enables the determination of whether the impedance in circuit 421 is connected to the CAN bus, simplifying fault detection during CAN bus configuration. Furthermore, since different operating states of switches 1 and 2 correspond to different voltage values, precise fault location can be achieved, facilitating rapid response to faults present during CAN bus configuration.

[0108] The structure of the control device in the embodiments of this application has been illustrated above with reference to Figures 2 to 7.

[0109] This application also provides a vehicle that may include any of the control devices described above.

[0110] Figure 8 is a functional block diagram of a vehicle 600 provided in an embodiment of this application. The vehicle 600 may include a perception system 620 and a computing platform 650. 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 Navigation Satellite System, or other positioning systems. The perception system 620 may also include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0111] Some or all of the functions of vehicle 600 can be controlled by computing platform 650. Computing platform 650 may include one or more processors, such as processors 651 to 65n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. In addition, it can also be hardware circuitry designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. Furthermore, the computing platform 650 may also include memory for storing instructions, and some or all of the processors 651 to 65n can call the instructions in memory to implement the corresponding functions.

[0112] It should be understood that the division of units in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. All units of the above device can be implemented entirely through processor-invoked software, entirely through hardware circuits, or partially through processor-invoked software with the remaining parts implemented through hardware circuits.

[0113] In specific implementation, the aforementioned processing modules 110, 210, and 310 can be implemented by at least one processor or processor-related circuitry. In one example, the aforementioned control devices 100, 200, 300, and 400 can be a computing platform 650, or a chip or processor disposed within the computing platform 650. In yet another example, the aforementioned control devices 100, 200, 300, and 400 can be a controller or other control device in the sensing system 620, or an electronic device containing the controller.

[0114] The term "vehicle" in this application refers to vehicles in a broad sense, including 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 lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. For example, vehicles in this application may include pure electric vehicles (pure electric vehicles / battery electric vehicles, pure EVs / battery EVs), hybrid electric vehicles (HEVs), range-extended electric vehicles (REEVs), plug-in hybrid electric vehicles (PHEVs), or new energy vehicles (NEVs), etc.

[0115] The detailed description and accompanying drawings of the above embodiments are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application, that is, this application is not limited to the described embodiments.

[0116] The terms "first" and "second" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0117] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0118] The terms “about,” “approximately,” or “approximately” used in this application embodiment include the stated value and the average value within an acceptable deviation range of a particular value, wherein the acceptable deviation range is determined by a person skilled in the art taking into account the measurement under discussion and the error associated with the measurement of the particular quantity, i.e., the limitations of the measurement system.

[0119] 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 modules is only a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0120] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art 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.

[0121] 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 illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0122] The units described as separate components may or may not be physically separate. 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0123] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0124] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control device (300), characterized in that, The control device (300) includes a first interface (301), a second interface (302), and a processing module (310). The first interface (301) is used to connect to the first signal line of the controller local area network CAN bus, and the second interface (302) is used to connect to the 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 includes 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 for: When the control device (300) is configured as the terminal node of the CAN bus, the switch (322) connected in series with the first impedance in the first circuit (321) is controlled to close. or, When the control device (300) is configured as a non-terminal node of the CAN bus, the switch (322) connected in series with the first impedance in the first circuit (321) is opened.

2. The control device (300) according to claim 1, characterized in that, The processing module (310) is used for: Obtain a first identifier, which is 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) connected in series with the first impedance in the first circuit (321) is controlled to close or open.

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 point of 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 for: The voltage at the detection point is obtained, and the detection point is located at the connection between the first resistor and the second resistor; The operating states of the first switch and the second switch are determined based on the voltage.

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

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

8. The control device (100, 200) according to claim 7, characterized in that, The control device (100, 200) further includes a second circuit (121, 221) for connecting the first interface (101, 201) and the second interface (102, 202), the second circuit (121, 221) being 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 for: When the control device (200) is configured as the terminal node of the CAN bus, it communicates with the CAN bus through 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 through the first CAN communication channel.

12. The control device (200) according to claim 10 or 11, characterized in that, The processing module (210) is used for: Obtain a first identifier, which is used to indicate whether the control device (200) is configured as a terminal node of the CAN bus; Based on the first identifier, it is determined that communication with the CAN bus is via the first CAN communication channel or the second CAN communication channel.

13. The control device (100, 200) according to any one of claims 7 to 12, 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 any one of claims 7 to 13, 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 point of the first resistor and the second resistor.

15. A vehicle, characterized in that, Includes the control device as described in any one of claims 1 to 14.

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