《智能传感器装调与测试（双语）》课件-21.超声波雷达CAN 总线通信报文

超声波雷达CAN总线通信报文UltrasonicRadarControllerAreaNetwork(CAN)BusCommunicationMessages超声波雷达数据采集Ultrasonicradardataacquisition超声波雷达

UltrasonicradarPART01通信逻辑与目标CommunicationLogicandObjectives超声波雷达UltrasonicRadar-超声波雷达安装位置示意图-Diagramfortheinstallationpositionoftheultrasonicradars-超声波雷达数据线-Ultrasonicradardatacable超声波雷达数量：单车辆通常配置4-8个，典型布局为前保险杠2个+后保险杠4个​Numberofultrasonicradars:Asinglevehicleisusuallyequippedwith4–8ultrasonicradars,typicallywith2atthefrontbumperand4attherearbumper.核心接入方式：每个雷达独立作为CAN总线节点，接入车载CAN网络​Coreconnectionmethod:Eachradarisconnectedtothevehicle-mountedCANnetworkasanindependentCANbusnode.核心控制单元：ECU（电子控制单元）与雷达节点构成通信核心Corecontrolunit:Electroniccontrolunits(ECUs)andradarnodesconstitutethecoreofthecommunication.超声波雷达UltrasonicRadar“发送-接收”通信链路"Send-Receive"communicationlink角色

Role设备

Device核心功能

CoreFunction发送方

Sender超声波雷达

Ultrasonicradar周期性发送CAN报文，包含两类关键信息：1.距离检测数据（核心业务数据）2.雷达故障状态（诊断数据）

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

ReceiverMCU解析CAN报文数据，执行反馈操作：1.距离异常时触发报警（声音/灯光）2.显示距离信息与故障提示

AnalyzeCANmessagedataandperformfeedbackoperations:1.Triggeranalarm(viasound/light)whenthedistanceisabnormal;2.Displaydistanceinformationandindicatefaults.谁在说话谁又在听WhoIsSpeakingandWhoIsListening超声波雷达的距离信息报文遵循CAN2.0B标准，通常采用扩展帧格式，其核心结构由“ID段”“数据段”和“校验段”三部分组成。ThedistanceinformationmessageofultrasonicradarfollowstheCAN2.0Bstandardandisusuallyintheextendedframeformat.Itscorestructureconsistsofthreeparts:IDsegment,datasegment,andchecksegment.-Can总线网络-CANbusnetworkPART02距离报文拆解BreakdownofDistanceMessagesID里藏着位置与意图LocationandIntentioninID▶ID段结构：29位ID段由前缀0x18F0、雷达编号和功能码组成，前缀标识超声波模块类，雷达编号区分不同探头，功能码0x01表示距离功能。1.IDsegmentstructure:The29-bitIDsegmentconsistsoftheprefix0x18F0,radarnumber,andfunctioncode.Theprefixidentifiestheultrasonicmoduleclass,theradarnumberdistinguishesdifferentprobes,andthefunctioncode0x01indicatesthedistancefunction.▶示例解析：以0x18F00501为例，0x18F0标识超声波模块，0x05对应后左探头，0x01表示距离功能，通过ID即可快速定位雷达位置和功能。1.Exampleanalysis:Take0x18F00501asanexample.0x18F0identifiestheultrasonicmodule,0x05correspondstotherearleftprobe,and0x01indicatesthedistancefunction.TheradarpositionandfunctioncanbequicklylocatedbyID.▶快速识别能力：掌握ID段结构后，看到ID即可知道哪个探头在报告什么，为后续多探头并行解析提供快速识别能力。3.Rapididentificationcapability:AftermasteringtheIDsegmentstructure,youcanknowwhichprobeisreportingandwhatitisreportingbyviewingtheID.Thisprovidesrapididentificationcapabilitiesforsubsequentmulti-probeparallelanalysis.两字节算出毫米级距离CalculatingtheMillimeter-LevelDistanceUsingTwoBytes数据段结构Datasegmentstructure8字节数据段中，Byte0表示探测状态，Byte1和Byte2组合为16位距离值，通过高字节乘以256加上低字节计算实际距离。Inthe8-bytedatasegment,Byte0indicatesthedetectionstate,andByte1andByte2arecombinedintoa16-bitdistancevalue.Theactualdistanceiscalculatedbymultiplyingthehighbyteby256plusthelowbyte.换算示例Conversionexample以0x012C为例，高字节0x01乘以256加上低字节0x2C，得到实际距离300毫米，掌握换算公式即可快速获取毫米级距离。Take0x012Casanexample.Thehighbyte0x01ismultipliedby256plusthelowbyte0x2Ctogettheactualdistanceof300mm.Masteringtheconversionformulacanhelpyouquicklyobtainthemillimeter-leveldistance.工程单位转换Engineeringunitconversion将原始十六进制数据转换为毫米级距离，便于工程应用和实际测量，为驾驶辅助功能提供准确数据支持。Therawhexadecimaldataisconvertedintomillimeter-leveldistancestofacilitateengineeringapplicationsandactualmeasurements,providingaccuratedatasupportfordriverassistancefunctions.PART03故障报文拆解BreakdownofFaultMessages故障ID与DTC定位法FaultIDandDTCLocatingMethod故障ID结构FaultIDstructure故障ID与距离ID类似，仅功能码从0x01变为0x02，通过ID即可快速定位故障源，确定是哪个雷达出现故障。ThefaultIDissimilartothedistanceID,withonlythefunctioncodechangingfrom0x01to0x02.ThroughtheID,thefaultsourcecanbequicklylocatedtodeterminewhichradarhasafault.示例解析Exampleanalysis以U0422为例，U表示CAN网络故障，0422是具体故障代码，通过DTC即可快速定位故障类型。TakeU0422asanexample.UindicatesaCANnetworkfault,and0422indicatesaspecificfaultcode.ThefaulttypecanbequicklylocatedthroughDTC.DTC结构DTCstructureDTC由两字节组成，遵循ISO15031-6标准，首字母表示系统类别，如U代表CAN网络故障，P代表动力系统故障。DTCconsistsoftwobytesandfollowstheISO15031-6standard.Thefirstletterindicatesthesystemcategory.Forexample,UindicatesaCANnetworkfaultandPindicatesapowertrainfault.等级与次数补全故障画像CompletingPortraitbytheLevelandNumberofFaults故障等级FaultlevelByte3表示故障等级，0x01表示轻微故障，车辆仍可继续行驶；0x02表示严重故障，需立即检修，为维修提供参考。

Byte3indicatesthefaultlevel,and0x01indicatesaminorfault,whichallowsthevehicletorun;0x02indicatesaseriousfault,whichrequiresimmediatemaintenance,providingaclueformaintenance.故障次数NumberoffaultsByte0记录故障发生次数，通过次数判断是间歇性故障还是持续性故障，为维修策略制定提供依。

Byte0recordsthenumberoffaultsanddetermineswhetherthefaultsoccurintermittentlyorcontinuouslythroughthenumber,providingabasisfortheformulationofmaintenancestrategies.维修策略Maintenancestrategy综合故障等级和次数，制定合理的维修策略，确保车辆安全可靠运行。

Basedonthelevelandnumberoffaults,areasonablemaintenancestrategyisformulatedtoensurethesafeandreliableoperationofthevehicle.PART04实战过滤技巧PracticalFilteringSkillsDBC文件与变量控制法DBCFilesandtheVariableControlMethods解析手段Analysism