超聲波雷達(dá)CAN總線通信報(bào)文UltrasonicRadarControllerAreaNetwork(CAN)BusCommunicationMessages超聲波雷達(dá)數(shù)據(jù)采集Ultrasonicradardataacquisition超聲波雷達(dá)

UltrasonicradarPART01通信邏輯與目標(biāo)CommunicationLogicandObjectives超聲波雷達(dá)UltrasonicRadar-超聲波雷達(dá)安裝位置示意圖-Diagramfortheinstallationpositionoftheultrasonicradars-超聲波雷達(dá)數(shù)據(jù)線-Ultrasonicradardatacable超聲波雷達(dá)數(shù)量：?jiǎn)诬囕v通常配置4-8個(gè)，典型布局為前保險(xiǎn)杠2個(gè)+后保險(xiǎn)杠4個(gè)?Numberofultrasonicradars:Asinglevehicleisusuallyequippedwith4–8ultrasonicradars,typicallywith2atthefrontbumperand4attherearbumper.核心接入方式：每個(gè)雷達(dá)獨(dú)立作為CAN總線節(jié)點(diǎn)，接入車載CAN網(wǎng)絡(luò)?Coreconnectionmethod:Eachradarisconnectedtothevehicle-mountedCANnetworkasanindependentCANbusnode.核心控制單元：ECU（電子控制單元）與雷達(dá)節(jié)點(diǎn)構(gòu)成通信核心Corecontrolunit:Electroniccontrolunits(ECUs)andradarnodesconstitutethecoreofthecommunication.超聲波雷達(dá)UltrasonicRadar“發(fā)送-接收”通信鏈路"Send-Receive"communicationlink角色

Role設(shè)備

Device核心功能

CoreFunction發(fā)送方

Sender超聲波雷達(dá)

Ultrasonicradar周期性發(fā)送CAN報(bào)文，包含兩類關(guān)鍵信息：1.距離檢測(cè)數(shù)據(jù)（核心業(yè)務(wù)數(shù)據(jù)）2.雷達(dá)故障狀態(tài)（診斷數(shù)據(jù)）

PeriodicallysendCANmessages,includingtwotypesofkeyinformation:1.Distancedetectiondata(corebusinessdata);2.Radarfaultstate(diagnosticdata).接收方

ReceiverMCU解析CAN報(bào)文數(shù)據(jù)，執(zhí)行反饋操作：1.距離異常時(shí)觸發(fā)報(bào)警（聲音/燈光）2.顯示距離信息與故障提示

AnalyzeCANmessagedataandperformfeedbackoperations:1.Triggeranalarm(viasound/light)whenthedistanceisabnormal;2.Displaydistanceinformationandindicatefaults.誰(shuí)在說(shuō)話誰(shuí)又在聽WhoIsSpeakingandWhoIsListening超聲波雷達(dá)的距離信息報(bào)文遵循CAN2.0B標(biāo)準(zhǔn)，通常采用擴(kuò)展幀格式，其核心結(jié)構(gòu)由“ID段”“數(shù)據(jù)段”和“校驗(yàn)段”三部分組成。ThedistanceinformationmessageofultrasonicradarfollowstheCAN2.0Bstandardandisusuallyintheextendedframeformat.Itscorestructureconsistsofthreeparts:IDsegment,datasegment,andchecksegment.-Can總線網(wǎng)絡(luò)-CANbusnetworkPART02距離報(bào)文拆解BreakdownofDistanceMessagesID里藏著位置與意圖LocationandIntentioninID?ID段結(jié)構(gòu)：29位ID段由前綴0x18F0、雷達(dá)編號(hào)和功能碼組成，前綴標(biāo)識(shí)超聲波模塊類，雷達(dá)編號(hào)區(qū)分不同探頭，功能碼0x01表示距離功能。1.IDsegmentstructure:The29-bitIDsegmentconsistsoftheprefix0x18F0,radarnumber,andfunctioncode.Theprefixidentifiestheultrasonicmoduleclass,theradarnumberdistinguishesdifferentprobes,andthefunctioncode0x01indicatesthedistancefunction.?示例解析：以0x18F00501為例，0x18F0標(biāo)識(shí)超聲波模塊，0x05對(duì)應(yīng)后左探頭，0x01表示距離功能，通過(guò)ID即可快速定位雷達(dá)位置和功能。1.Exampleanalysis:Take0x18F00501asanexample.0x18F0identifiestheultrasonicmodule,0x05correspondstotherearleftprobe,and0x01indicatesthedistancefunction.TheradarpositionandfunctioncanbequicklylocatedbyID.?快速識(shí)別能力：掌握ID段結(jié)構(gòu)后，看到ID即可知道哪個(gè)探頭在報(bào)告什么，為后續(xù)多探頭并行解析提供快速識(shí)別能力。3.Rapididentificationcapability:AftermasteringtheIDsegmentstructure,youcanknowwhichprobeisreportingandwhatitisreportingbyviewingtheID.Thisprovidesrapididentificationcapabilitiesforsubsequentmulti-probeparallelanalysis.兩字節(jié)算出毫米級(jí)距離CalculatingtheMillimeter-LevelDistanceUsingTwoBytes數(shù)據(jù)段結(jié)構(gòu)Datasegmentstructure8字節(jié)數(shù)據(jù)段中，Byte0表示探測(cè)狀態(tài)，Byte1和Byte2組合為16位距離值，通過(guò)高字節(jié)乘以256加上低字節(jié)計(jì)算實(shí)際距離。Inthe8-bytedatasegment,Byte0indicatesthedetectionstate,andByte1andByte2arecombinedintoa16-bitdistancevalue.Theactualdistanceiscalculatedbymultiplyingthehighbyteby256plusthelowbyte.換算示例Conversionexample以0x012C為例，高字節(jié)0x01乘以256加上低字節(jié)0x2C，得到實(shí)際距離300毫米，掌握換算公式即可快速獲取毫米級(jí)距離。Take0x012Casanexample.Thehighbyte0x01ismultipliedby256plusthelowbyte0x2Ctogettheactualdistanceof300mm.Masteringtheconversionformulacanhelpyouquicklyobtainthemillimeter-leveldistance.工程單位轉(zhuǎn)換Engineeringunitconversion將原始十六進(jìn)制數(shù)據(jù)轉(zhuǎn)換為毫米級(jí)距離，便于工程應(yīng)用和實(shí)際測(cè)量，為駕駛輔助功能提供準(zhǔn)確數(shù)據(jù)支持。Therawhexadecimaldataisconvertedintomillimeter-leveldistancestofacilitateengineeringapplicationsandactualmeasurements,providingaccuratedatasupportfordriverassistancefunctions.PART03故障報(bào)文拆解BreakdownofFaultMessages故障ID與DTC定位法FaultIDandDTCLocatingMethod故障ID結(jié)構(gòu)FaultIDstructure故障ID與距離ID類似，僅功能碼從0x01變?yōu)?x02，通過(guò)ID即可快速定位故障源，確定是哪個(gè)雷達(dá)出現(xiàn)故障。ThefaultIDissimilartothedistanceID,withonlythefunctioncodechangingfrom0x01to0x02.ThroughtheID,thefaultsourcecanbequicklylocatedtodeterminewhichradarhasafault.示例解析Exampleanalysis以U0422為例，U表示CAN網(wǎng)絡(luò)故障，0422是具體故障代碼，通過(guò)DTC即可快速定位故障類型。TakeU0422asanexample.UindicatesaCANnetworkfault,and0422indicatesaspecificfaultcode.ThefaulttypecanbequicklylocatedthroughDTC.DTC結(jié)構(gòu)DTCstructureDTC由兩字節(jié)組成，遵循ISO15031-6標(biāo)準(zhǔn)，首字母表示系統(tǒng)類別，如U代表CAN網(wǎng)絡(luò)故障，P代表動(dòng)力系統(tǒng)故障。DTCconsistsoftwobytesandfollowstheISO15031-6standard.Thefirstletterindicatesthesystemcategory.Forexample,UindicatesaCANnetworkfaultandPindicatesapowertrainfault.等級(jí)與次數(shù)補(bǔ)全故障畫像CompletingPortraitbytheLevelandNumberofFaults故障等級(jí)FaultlevelByte3表示故障等級(jí)，0x01表示輕微故障，車輛仍可繼續(xù)行駛；0x02表示嚴(yán)重故障，需立即檢修，為維修提供參考。

Byte3indicatesthefaultlevel,and0x01indicatesaminorfault,whichallowsthevehicletorun;0x02indicatesaseriousfault,whichrequiresimmediatemaintenance,providingaclueformaintenance.故障次數(shù)NumberoffaultsByte0記錄故障發(fā)生次數(shù)，通過(guò)次數(shù)判斷是間歇性故障還是持續(xù)性故障，為維修策略制定提供依。

Byte0recordsthenumberoffaultsanddetermineswhetherthefaultsoccurintermittentlyorcontinuouslythroughthenumber,providingabasisfortheformulationofmaintenancestrategies.維修策略Maintenancestrategy綜合故障等級(jí)和次數(shù)，制定合理的維修策略，確保車輛安全可靠運(yùn)行。

Basedonthelevelandnumberoffaults,areasonablemaintenancestrategyisformulatedtoensurethesafeandreliableoperationofthevehicle.PART04實(shí)戰(zhàn)過(guò)濾技巧PracticalFilteringSkillsDBC文件與變量控制法DBCFilesandtheVariableControlMethods解析手段Analysism