TTCAN 论文
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第 44 卷第 5 期
2008 年 5 月
机 械 工 程 学 报
CHINESE JOURNAL OF MECHANICAL ENGINEERING
Vol.44 No.5
May 2008
柔性时间触发控制器局域网络(CAN)系统
动态规划应用与性能分析
*
曹万科 张天侠 闻邦椿 王永富 张 超
(东北大学机械工程与自动化学院 沈阳 110004)
摘要：为满足汽车进一步智能化的需要，同时支持时间触发与事件触发服务兼具设计与调度灵活性成为汽车总线发展的方向，
针对当前现有车上控制器局域网络(Controller area network，CAN)总线不能有效处理时间触发的周期性信息，时间触发的控
制器局域网络(Time-triggered CAN，TTCAN)协议具有时间触发功能但缺乏信息调度的灵活性等问题，分析基于动态规划的
柔性时间触发控制器局域网络(Flexible time-triggered CAN，FTTCAN)，研究 FTTCAN 双相基本周期结构。分别推导出双相
内基于动态规划调度的信息传输时间特性参数分析方法，并基于 FTTCAN 原理具体设计出纯电动汽车 FTTCAN 总线控制系
统。采用动态规划方法设计出信息调度策略，对信息传输特性进行分析及与 CAN 方案对比。最后在 CAN 总线开发系统上
进行 FTTCAN 协议运行试验。对比与试验结果验证了采用 FTTCAN 的方案兼具时间触发与事件触发服务功能，且具有较好
灵活性特点，是汽车总线系统优化设计的好方法。
关键词：动态规划 柔性时间触发控制器局域网络 电动汽车 实时分析
中图分类号：U463.5 TP339
Application and Performance Analysis of Dynamic-planning-based
Flexible Time Triggered Controller Area Network
CAO Wanke ZHANG Tianxia WEN Bangchun WANG Yongfu ZHANG Chao
(School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004)
Abstract：To meet the requirement of automotive intelligentizing, the next step in the direction of automotive bus is to support both
time-and event-triggered communication services and to attain more flexible of design and scheduling. But controller area network
(CAN) protocol is inefficient for time-triggered messages, while time-triggered controller area network (TTCAN) can efficiently
fulfill joint support for both event- and time-triggered traffic but lacks flexibility in message scheduling. To these questions, a new
dynamic planning-based protocol that is flexible in time-triggered controller area network (FTTCAN) is analyzed. And the
elementary cycle comprising of two phases and real-time analysis method for communications of messages in the two phases are
explained. Then an FTTCAN-bus system of electric vehicle based on FTTCAN protocol is designed, and the scheduling strategy of
signals based on dynamic planning is adopted. And performance analysis of the new system is carried out by comparing with CAN
system. Finally, operation test of FTTCAN protocol is carried out on CAN bus development system. The comparison and test results
verify that FTTCAN is a good way to design automotive bus system, which can meet the requirements of supporting both time-and
event-triggered communication services and being flexible in design and scheduling.
Key words：Dynamic planning Flexible time triggered controller area network(FTTCAN) Electric vehicle Real time analysis
0 前言
随着汽车电子化和智能化的提高，汽车总线不
仅要能够高速、稳定和正确处理时间触发和事件触
* 国家自然科学基金(50535010)和沈阳市科技基金(63287-1-00)资助项
目。20070620 收到初稿，20080121 收到修改稿
发信息共网实时性通信，还必需具有足够的设计与
信息调度灵活性
[1-2]
，但现有汽车总线系统，即使是
被认为最成功的车载总线控制器局域网络
(Controller area network，CAN)，都未能满足这个要
求，有必要进一步研究信息调度机理，寻找更为优
化的协议调度方案。
目前车上广泛采用的互连方案是由德国
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