ISO 15765-4:2021 Road vehicles - Diagnostic communication over Controller Area Network (DoCAN) - Part 4: Requirements for emissions-related systems

ISO 15765-4:2021
Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 4: Requirements for emissions-related systems
https://www.iso.org/standard/78384.html

ISO Road vehicles Diagnostics 規格調査中　100規格、100記事の方針
https://qiita.com/kaizen_nagoya/items/da41dbb1965ac4be0172

ISO Road vehicles - Diagnostics(11) 百規格百記事をめざし。
https://qiita.com/kaizen_nagoya/items/51e29d318585a4219985

# 2   Normative references
ISO/IEC 7498-1, Information technology — Open Systems Interconnection — Basic Reference Model: The Basic Model
ISO 11898-1, Road vehicles — Controller area network (CAN) — Part 1: Data link layer and physical signalling
ISO 11898-2, Road vehicles — Controller area network (CAN) — Part 2: High-speed medium access unit
ISO 14229-2, Road vehicles — Unified diagnostic services (UDS) — Part 2: Session layer services
ISO 15031-3, Road vehicles — Communication between vehicle and external equipment for emissions-related diagnostics — Part 3: Diagnostic connector and related electrical circuits: Specification and use
ISO 15765-2, Road vehicles — Diagnostic communication over Controller Area Network (DoCAN) — Part 2: Transport protocol and network layer services

# 3   Terms and definitions
For the purposes of this document, the terms and definitions given in ISO/IEC 7498-1, ISO 11898-1, ISO 11898-2, ISO 15765-2 and the following apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https://www.iso.org/obp
— IEC Electropedia: available at http://www.electropedia.org/
## 3.1 OBDonEDS
on-board diagnostics on emission diagnostic service
application protocol request and response messages defined in ISO 15031-5/SAE J1979[4] dedicated to the diagnostics of emissions-related systems
## 3.2 OBDonUDS
on-board diagnostics on unified diagnostic service
application protocol request and response messages defined in the ISO 14229 series and in ISO 27145-3 or SAE J1979-2[5] dedicated to the diagnostics of emissions-related systems



# 4 Symbols and abbreviated terms
## 4.1 Symbols
— empty table cell or feature undefined
B block size
C , C capacitance of AC termination
AC1 AC2
C capacitance between CAN_H and ground potential
CAN_H
C capacitance between CAN_L and ground potential
CAN_L
C capacitance between CAN_H and CAN_L
DIFF
ΔO oscillator frequency tolerance
F consecutive frame
F flow control frame
F first frame
F frame flow status
F single frame
l maximum cable length between diagnostic link connector and external test
CABLE
equipment
R , R resistance of AC termination
AC1 AC2
t bit time
BIT
t receive bit time
BIT_RX
t transmit bit time
BIT_TX
t external test equipment CAN interface propagation delay (without external test
ETE
equipment cable delay)
t external test equipment cable propagation delay (without external test equip-
ETE_CABLE
ment CAN interface delay)
t network layer timeout value (see ISO 15765-2)
N_Ar
t network layer timeout value (see ISO 15765-2)
N_As
t network layer timeout value (see ISO 15765-2)
N_Br
t network layer timeout value (see ISO 15765-2)
N_Bs
t network layer timeout value (see ISO 15765-2)
N_Cs
t network layer timeout value (see ISO 15765-2)
N_Cr
t client application wait time on server response on CAN
P2_CAN_Client
t timeout value of the client application to receive a response on a request mes-
P2_CAN_Client_Max
sage
t is the performance timing of the server to prepare the response information
P2_CAN_Server
t is the timeout value of the server to respond on a request message
P2_CAN_Server_Max
t nominal sample point position time
t timing segment 1
SEG1
t timing segment 2
SEG2
t resynchronization jump width time
SJW
t synchronization segment time
SYNCSEG
t frame separation time
STmin
t time quantum
## 4.2 Abbreviated terms
CAN controller area network
CBFF Classical Base Frame Format
DID data identifier
DLC data length code
DoCAN diagnostic communication over CAN
ECU electronic control unit
ECM engine control module
ETE external test equipment
OBD on-board diagnostics
PID parameter identifier
PhaseSeg1 phase segment 1
PhaseSeg2 phase segment 2
PropSeg propagation segment
SA source address
SJW synchronisation jump width
SP nominal sample point
SyncSeg synchronization segment
TA target address
TCM transmission control module
# 5 Conventions
This document is based on OSI service conventions as specified in ISO/IEC 10731.
# 6 Application
## 6.1 Vehicle communication initialisation sequence
### 6.1.1 OBDonUDS protocol identification
Vehicles that support OBDonUDS shall have ECUs that reply to the functional request service identifier
22 and DID F810 for protocol identification.
### 6.1.2 OBDonEDS protocol identification
Vehicles that support OBDonEDS shall have ECUs that reply to the functional request service identifier
01 and PID 00 for protocol identification.
### 6.1.3 Others
Vehicles that do not respond to either request (6.1.1, 6.1.2) do not support OBD diagnostics specified in
this document.
## 6.2 External test equipment communication initialisation sequence
The external test equipment shall support the initialisation sequence specified in this document.
The purpose of the external test equipment initialisation sequence is to automatically detect whether the vehicle supports OBDonUDS or OBDonEDS using CAN as the physical layer specified in Clause 12.
Furthermore, the initialisation sequence determines the communication conformance status of vehicles
by analysing their responses as specified in 6.1.1 and 6.1.2.
For each OBDonUDS or OBDonEDS service that requires the determination of “supported” information,
the external test equipment updates its list of expected responding ECUs prior to any data parameter
requests.
The external test equipment initialisation sequence supports single bit rate initialisation (e.g.
500 kbit/s) and multiple bit rate initialisation (e.g. 250 kbit/s and 500 kbit/s) and is separated into the following tests:
a) 11-bit CAN identifier validation (see 6.4.1 and 6.4.2);
b) 29-bit CAN identifier validation (see 6.4.1 and 6.4.2).
The external test equipment initialisation sequence shall contain provisions for legacy vehicles using
either CAN or a non-CAN protocol on the CAN pins of the ISO 15031-3 diagnostic link connector.
## 6.3 Bit rate validation procedure
### 6.3.1 bitrateRecord
The parameter “bitrateRecord” contains the bit rates as specified in 12.2.
The bitrateRecord shall be used to specify the type of initialisation to be performed. If the bitrateRecord
parameter contains a single bit rate, then a single bit rate initialisation sequence shall be performed
using the specified single bit rate (e.g. 500 kbit/s). If the bitrateRecord parameter contains multiple bit
rates, then a multiple bit rate initialisation sequence shall be performed including a bit rate detection
procedure as defined in Figure 2.
Figure 2 shall be performed using the specified multiple bit rates (e.g. 250 kbit/s and 500 kbit/s). The external test equipment shall use the appropriate CAN bit timing parameter values specified in 12.3.
### 6.3.2 Bit rate validation
If multiple bit rates are specified in the bitrateRecord parameter, the procedure as defined in Figure 2
shall be used to determine the bit rate to be used in communication with the vehicle's emissions-related
system.
The external test equipment shall set up its CAN interface using the first bit rate contained in the
bitrateRecord. It shall use the CAN bit timing parameter values specified for this bit rate (see 6.3).
Following the CAN interface setup, the external test equipment shall connect to the CAN network and transmit
a functionally addressed request message with service identifier 01 and PID "supported PIDs" using the
OBDonEDS 11-bit functional request CAN identifier as defined in 10.5.2.
NOTE The immediate transmission is needed in order to activate the CAN error frame monitoring, since
initialising the CAN controller at the wrong bit rate without transmitting any data can leave the CAN controller
in a state of generating error frames on the CAN network.
The external test equipment shall check for any CAN error frame. If the request message is successfully
transmitted onto the CAN network, the external test equipment shall indicate a successful transmission and proceed with the validation of the CAN identifier as specified in 6.4.1.
If an acknowledge (ACK) check error is detected, then the external test equipment shall continue to retry the transmission of the request message until the t timeout has elapsed.
N_As
If any other CAN error frame occurred, or an acknowledge check error still occurs after the t timeout has
N_As
elapsed, then the external test equipment shall stop CAN communication on the CAN network.
Proceed with sequence according to Figure 3, key 'a'.
The external test equipment shall check whether more bit rates are contained in the bitrateRecord. If the end
of the bitrateRecord is not reached, the external test equipment shall set up its CAN interface using the next
bit rate in the bitrateRecord and restart the bit rate validation at key 'a' in Figure 2. If no further bit rate is
contained in the bitrateRecord, it shall be assumed that the request was not transmitted successfully. This
indicates that the vehicle does not comply with this document.
Figure 2 — Perform bit rate validation
### 6.3.3 External test equipment error detection provisions Where the vehicle uses a physical layer different from that specified for OBDonEDS and OBDonUDS
(see Clause 12) or a non-CAN protocol on the CAN pins of the diagnostic link connector, the transmit
procedure, specified in this document, shall guarantee that in all cases, the external test equipment shall detect that the vehicle does not support CAN as specified for OBDonUDS or OBDonEDS and shall stop the transmission of the request message immediately.
Where the vehicle uses CAN and the physical layer in accordance with Clause 12, the transmit
procedure given as follows shall guarantee that in all cases, the external test equipment shall detect
that it uses the wrong bit rate for the transmission of the request message and shall stop disturbing
the CAN network. Under normal in-vehicle conditions (i.e. no error frames shall occur during in-vehicle
communication when the external test equipment is disconnected), the external test equipment shall
stop communication on the CAN network prior to the situation where the internal error counters of the
OBDonUDS or OBDonEDS ECU(s) reach critical values.
To achieve this, the external test equipment shall implement the following provisions:
— possibility to immediately stop sending during transmission of any CAN frame;
— the CAN interface should be disconnected within 12 µs from reception of a data frame error
signal. The maximum time for the disconnection is 100 µs;
— with the CAN interface disconnected, the external test equipment shall not be able to transmit
dominant bits on the CAN network;
— possibility to immediately detect any CAN error frame on the CAN network.
The second provision implies that the external test equipment cannot solely rely on the usual CAN
controller error handling since it does most likely flag a CAN error frame only after the “bus-off” state
has been reached (refer to ISO 11898-1 for further details).
## 6.4 CAN identifier validation procedure
### 6.4.1 CAN identifier validation procedure OBDonEDS
A functionally addressed service identifier 01 and PID 00 request using the OBDonEDS 11-bit
functional request CAN identifier, as defined in 10.5.2, shall be transmitted.
The response handling procedure shall be used to receive response messages mapped to data frames
in CBFF from the OBDonEDS ECU(s) or to indicate that no response message is received. If OBDonEDS-
related ECUs are detected, this procedure also builds the list of supported ECUs on the OBDonEDS-
conformant vehicle.
The response validation procedure shall be performed as specified in Figure 3, after the 11-bit CAN
identifier request message transmit procedure (see Figure 2) has succeeded (“OK”).
If the transmission of the previously transmitted request message was successful (“OK”), the external test
equipment shall start the P application timer and listen for the physical response CAN identifiers
2_CAN_Client
as defined in 10.5.
If the external test equipment determines a t timeout and no response message has been started,
P2_CAN_Client
then the external test equipment has verified that 11-bit or 29-bit CAN identifiers

# Bibliography
[1]	ISO/IEC 10731, Information technology — Open Systems Interconnection — Basic Reference Model — Conventions for the definition of OSI services
[2]	ISO 15031-5, Road vehicles — Communication between vehicle and external equipment for emissions-related diagnostics — Part 5: Emissions-related diagnostic services
[3]	ISO 27145-3, Road vehicles — Implementation of World-Wide Harmonized On-Board Diagnostics (WWH-OBD) communication requirements — Part 3: Common message dictionary
[4]	SAE J1979, E/E Diagnostic Test Modes — OBDonEDS
[5]	SAE J1979-2, E/E Diagnostic Test Modes — OBDonUDS
[6]	SAE J1979-DA, Digital Annex of E/E Diagnostic Test Modes
[7]	SAE J2178-1, Class B data communication network messages detailed header formats and physical address assignments

## 自己参照
ISO Diag規格類　調査中
https://qiita.com/kaizen_nagoya/items/51e29d318585a4219985

ISO/IEC OSIに学ぶ
https://qiita.com/kaizen_nagoya/items/89562c52f37d6bf0a80d

ISO 14229-1:2020 Road vehicles — Unified diagnostic services (UDS) — Part 1: Application layer
https://qiita.com/kaizen_nagoya/items/3231d9fea536d1b9b1f7

@kazuo_reveさんの「自動車の故障診断に関連するプログラマーになりたての方が参照するとよさそうな情報」の読み方
https://qiita.com/kaizen_nagoya/items/3231d9fea536d1b9b1f7

@kazuo_reve「AUTOSARのClassic PlatformとAdaptive PlatformにおけるDiagnosticsの違いを整理」で慌てて
https://qiita.com/kaizen_nagoya/items/d3ff6aba9b7402e8bde8

<この項は書きかけです。順次追記します。>
This article is not completed. I will add some words and/or centences in order.
Este artículo no está completo. Agregaré algunas palabras en orden.

## 知人資料
'@kazuo_reve 自動車の故障診断に関連するプログラマーになりたての方が参照するとよさそうな情報
https://qiita.com/kazuo_reve/items/f773b320dcbf2ab316da

'@kazuo_reve AUTOSARのClassic PlatformとAdaptive PlatformにおけるDiagnosticsの違いを整理
https://qiita.com/kazuo_reve/items/05c179d705c69286b94a
' @kazuo_reve 私が効果を確認した「小川メソッド」
https://qiita.com/kazuo_reve/items/a3ea1d9171deeccc04da

' @kazuo_reve 新人の方によく展開している有益な情報
https://qiita.com/kazuo_reve/items/d1a3f0ee48e24bba38f1

' @kazuo_reve Vモデルについて勘違いしていたと思ったこと
https://qiita.com/kazuo_reve/items/46fddb094563bd9b2e1e

## 自己記事一覧
Qiitaで逆リンクを表示しなくなったような気がする。時々、スマフォで表示するとあらわることがあり、完全に削除したのではなさそう。2024年４月以降、せっせとリンクリストを作り、統計を取って確率を説明しようとしている。2025年２月末を目標にしていた。

一覧の一覧( The directory of directories of mine.) Qiita(100)
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品質一覧 
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医工連携関連記事一覧
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自動車　記事　１００
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通信記事１００
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「@kazuo_reve 新人の方によく展開している有益な情報」確認一覧 
https://qiita.com/kaizen_nagoya/items/b9380888d1e5a042646b

鉄道（０）鉄道のシステム考察はてっちゃんがてつだってくれる
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https://qiita.com/kaizen_nagoya/items/7528a22a14242d2d58a3

coding (101) 一覧を作成し始めた。omake:最近のQiitaで表示しない5つの事象
https://qiita.com/kaizen_nagoya/items/20667f09f19598aedb68

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https://qiita.com/kaizen_nagoya/items/04ee6eaf7ec13d3af4c3

「はじめての」シリーズ　 ベクタージャパン　
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AUTOSAR(0)Qiita記事一覧, OSEK(75)
https://qiita.com/kaizen_nagoya/items/89c07961b59a8754c869

プログラマが知っていると良い「公序良俗」
https://qiita.com/kaizen_nagoya/items/9fe7c0dfac2fbd77a945

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https://qiita.com/kaizen_nagoya/items/7767a4e19a6ae1479e6b

Rust(0) 一覧　
https://qiita.com/kaizen_nagoya/items/5e8bb080ba6ca0281927

programの本質は計画だ。programは設計だ。
https://qiita.com/kaizen_nagoya/items/c8545a769c246a458c27

登壇直後版 色使い(JIS安全色) Qiita Engineer Festa 2023〜私しか得しないニッチな技術でLT〜 スライド編 0.15
https://qiita.com/kaizen_nagoya/items/f0d3070d839f4f735b2b

プログラマが知っていると良い「公序良俗」
https://qiita.com/kaizen_nagoya/items/9fe7c0dfac2fbd77a945

逆も真：社会人が最初に確かめるとよいこと。OSEK(69)、Ethernet(59)
https://qiita.com/kaizen_nagoya/items/39afe4a728a31b903ddc

統計の嘘。仮説（127）
https://qiita.com/kaizen_nagoya/items/63b48ecf258a3471c51b

自分の言葉だけで論理展開できるのが天才なら、文章の引用だけで論理展開できるのが秀才だ。仮説（136）
https://qiita.com/kaizen_nagoya/items/97cf07b9e24f860624dd

参考文献駆動執筆(references driven writing)・デンソークリエイト編
https://qiita.com/kaizen_nagoya/items/b27b3f58b8bf265a5cd1

「何を」よりも「誰を」。１０年後のために今見習いたい人たち
https://qiita.com/kaizen_nagoya/items/8045978b16eb49d572b2

Qiitaの記事に３段階または５段階で到達するための方法
https://qiita.com/kaizen_nagoya/items/6e9298296852325adc5e

出力(output)と呼ばないで。これは状態(state)です。
https://qiita.com/kaizen_nagoya/items/80b8b5913b2748867840

祝休日・謹賀新年 2025年の目標
https://qiita.com/kaizen_nagoya/items/dfa34827932f99c59bbc

Qiita 1年間をまとめた「振り返りページ」＠2024
https://qiita.com/kaizen_nagoya/items/ed6be239119c99b15828

2024 参加・主催Calendarと投稿記事一覧 Qiita(248)
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主催Calendar2024分析 Qiita(254)
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Calendar 統計
https://qiita.com/kaizen_nagoya/items/e315558dcea8ee3fe43e

LLM 関連 Calendar 2024 
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Large Language Model Related Calendar 
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博士論文 Calendar 2024 を開催します。 
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博士論文(0)関連記事一覧
https://qiita.com/kaizen_nagoya/items/8f223a760e607b705e78

coding (101) 一覧を作成し始めた。omake:最近のQiitaで表示しない5つの事象
https://qiita.com/kaizen_nagoya/items/20667f09f19598aedb68

あなたは「勘違いまとめ」から、勘違いだと言っていることが勘違いだといくつ見つけられますか。人間の間違い(human error(125))の種類と対策
https://qiita.com/kaizen_nagoya/items/ae391b77fffb098b8fb4

プログラマの「プログラムが書ける」思い込みは強みだ。３つの理由。仮説（168）統計と確率(17) , OSEK(79)
https://qiita.com/kaizen_nagoya/items/bc5dd86e414de402ec29

出力(output)と呼ばないで。これは状態(state)です。
https://qiita.com/kaizen_nagoya/items/80b8b5913b2748867840

これからの情報伝達手段の在り方について考えてみよう。炎上と便乗。
https://qiita.com/kaizen_nagoya/items/71a09077ac195214f0db

ISO/IEC JTC1 SC7 Software and System Engineering
https://qiita.com/kaizen_nagoya/items/48b43f0f6976a078d907

アクセシビリティの知見を発信しよう！（再び）
https://qiita.com/kaizen_nagoya/items/03457eb9ee74105ee618

統計論及確率論輪講（再び）
https://qiita.com/kaizen_nagoya/items/590874ccfca988e85ea3

読者の心をグッと惹き寄せる7つの魔法
https://qiita.com/kaizen_nagoya/items/b1b5e89bd5c0a211d862

「@kazuo_reve 新人の方によく展開している有益な情報」確認一覧
https://qiita.com/kaizen_nagoya/items/b9380888d1e5a042646b

ソースコードで議論しよう。日本語で議論するの止めましょう（あるプログラミング技術の議論報告）
https://qiita.com/kaizen_nagoya/items/8b9811c80f3338c6c0b0

脳内コンパイラの3つの危険
https://qiita.com/kaizen_nagoya/items/7025cf2d7bd9f276e382

心理学の本を読むよりはコンパイラ書いた方がよくね。仮説（34）
https://qiita.com/kaizen_nagoya/items/fa715732cc148e48880e

NASAを超えるつもりがあれば読んでください。
https://qiita.com/kaizen_nagoya/items/e81669f9cb53109157f6

データサイエンティストの気づき!「勉強して仕事に役立てない人。大嫌い!!」『それ自分かも?』ってなった!!! 
https://qiita.com/kaizen_nagoya/items/d85830d58d8dd7f71d07

「ぼくの好きな先生」「人がやらないことをやれ」プログラマになるまで。仮説（37）　
https://qiita.com/kaizen_nagoya/items/53e4bded9fe5f724b3c4

なぜ経済学徒を辞め、計算機屋になったか（経済学部入学前・入学後・卒業後対応） 転職(1)  
https://qiita.com/kaizen_nagoya/items/06335a1d24c099733f64    

プログラミング言語教育のXYZ。 仮説（52） 
https://qiita.com/kaizen_nagoya/items/1950c5810fb5c0b07be4

【24卒向け】9ヶ月後に年収１０００万円を目指す。二つの関門と三つの道。
https://qiita.com/kaizen_nagoya/items/fb5bff147193f726ad25

「【25卒向け】Qiita Career Meetup for STUDENT」予習の勧め
https://qiita.com/kaizen_nagoya/items/00eadb8a6e738cb6336f

大学入試不合格でも筆記試験のない大学に入って卒業できる。卒業しなくても博士になれる。
https://qiita.com/kaizen_nagoya/items/74adec99f396d64b5fd5

全世界の不登校の子供たち「博士論文」を書こう。世界子供博士論文遠隔実践中心 安全(99)
https://qiita.com/kaizen_nagoya/items/912d69032c012bcc84f2

日本のプログラマが世界で戦える16分野。仮説(53),統計と確率(25) 転職(32)、Ethernet(58)
https://qiita.com/kaizen_nagoya/items/a7e634a996cdd02bc53b

小川メソッド　覚え（書きかけ）
https://qiita.com/kaizen_nagoya/items/3593d72eca551742df68

DoCAP（ドゥーキャップ）って何ですか？
https://qiita.com/kaizen_nagoya/items/47e0e6509ab792c43327

views 20,000越え自己記事一覧
https://qiita.com/kaizen_nagoya/items/58e8bd6450957cdecd81

Views１万越え、もうすぐ１万記事一覧 最近いいねをいただいた213記事
https://qiita.com/kaizen_nagoya/items/d2b805717a92459ce853

amazon 殿堂入りNo1レビュアになるまで。仮説(102)
https://qiita.com/kaizen_nagoya/items/83259d18921ce75a91f4

100以上いいねをいただいた記事16選
https://qiita.com/kaizen_nagoya/items/f8d958d9084ffbd15d2a

水道局10年(1976,4-1986,3)を振り返る
https://qiita.com/kaizen_nagoya/items/707fcf6fae230dd349bf

小川清最終講義、最終講義（再）計画, Ethernet(100) 英語(100) 安全(100)
https://qiita.com/kaizen_nagoya/items/e2df642e3951e35e6a53

＜この記事は個人の過去の経験に基づく個人の感想です。現在所属する組織、業務とは関係がありません。＞
This article is an individual impression based on my individual experience. It has nothing to do with the organization or business to which I currently belong.
Este artículo es una impresión personal basada en mi experiencia personal. No tiene nada que ver con la organización o empresa a la que pertenezco actualmente.
### 文書履歴(document history)
ver. 0.01 初稿 20220204
### 最後までおよみいただきありがとうございました。
いいね　💚、フォローをお願いします。
#### Thank you very much for reading to the last sentence.
Please press the like icon 💚　and follow me for your happy life.
#### Muchas gracias por leer hasta la última oración.
Por favor, haz clic en el ícono Me gusta 💚 y sígueme para tener una vida feliz.