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OBD介绍以及相关的CAN通信协议指令.pdf
2019/1/22
OBD-II PIDs - Wikipedia
OBD-II PIDs
OBD-II PIDs (On-board diagnostics Parameter IDs) are codes used to request data from a vehicle, used as a diagnostic tool.
SAE standard J1979 defines many OBD-II PIDs. All on-road vehicles and trucks sold in North America are required to support a subset of these codes, primarily for state mandated
emissions inspections. Manufacturers also define additional PIDs specific to their vehicles. Though not mandated, many motorcycles also support OBD-II PIDs.
In 1996, light duty vehicles (less than 8,500 lb [3,900 kg]) were the first to be mandated followed by medium duty vehicles (between 8,500–14,000 lb [3,900–6,400 kg]) in
2005.[1] They are both required to be accessed through a standardized data link connector defined by SAE J1962.
Heavy duty vehicles (greater than 14,000 lb [6,400 kg]) made after 2010,[1] for sale in the US are allowed to support OBD-II diagnostics through SAE standard J1939-73 (a round
diagnostic connector) according to CARB in title 13 CCR 1971.1. Some heavy duty trucks in North America use the SAE J1962 OBD-II diagnostic connector that is common with
passenger cars, notably Mack and Volvo Trucks, however they use 29 bit CAN identifiers (unlike 11 bit headers used by passenger cars).
Services
Standard PIDs
Service 01
Service 02
Service 03
Service 04
Service 05
Service 09
Bitwise encoded PIDs
Service 01 PID 00
Service 01 PID 01
Service 01 PID 41
Service 01 PID 78
Service 03 (no PID required)
Service 09 PID 08
Service 09 PID 0B
Enumerated PIDs
Service 01 PID 03
Service 01 PID 12
Service 01 PID 1C
Fuel Type Coding
Non-standard PIDs
CAN (11-bit) bus format
Query
Response
See also
References
Services
There are 10 diagnostic services described in the latest OBD-II standard SAE J1979. Before 2002, J1979 referred to these services as "modes". They are as follows:
Service (hex)
Description
01
02
03
04
05
06
07
08
09
0A
Show current data
Show freeze frame data
Show stored Diagnostic Trouble Codes
Clear Diagnostic Trouble Codes and stored values
Test results, oxygen sensor monitoring (non CAN only)
Test results, other component/system monitoring (Test results, oxygen sensor monitoring for CAN only)
Show pending Diagnostic Trouble Codes (detected during current or last driving cycle)
Control operation of on-board component/system
Request vehicle information
Permanent Diagnostic Trouble Codes (DTCs) (Cleared DTCs)
Vehicle manufacturers are not required to support all services. Each manufacturer may define additional services above #9 (e.g.: service 22 as defined by SAE J2190 for Ford/GM,
service 21 for Toyota) for other information e.g. the voltage of the traction battery in a hybrid electric vehicle (HEV).[2]
Standard PIDs
The table below shows the standard OBD-II PIDs as defined by SAE J1979. The expected response for each PID is given, along with information on how to translate the response
into meaningful data. Again, not all vehicles will support all PIDs and there can be manufacturer-defined custom PIDs that are not defined in the OBD-II standard.
https://en.wikipedia.org/wiki/OBD-II_PIDs
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OBD-II PIDs - Wikipedia
Note that services 01 and 02 are basically identical, except that service 01 provides current information, whereas service 02 provides a snapshot of the same data taken at the point
when the last diagnostic trouble code was set. The exceptions are PID 01, which is only available in service 01, and PID 02, which is only available in service 02. If service 02 PID 02
returns zero, then there is no snapshot and all other service 02 data is meaningless.
When using Bit-Encoded-Notation, quantities like C4 means bit 4 from data byte C. Each bit is numerated from 0 to 7, so 7 is the most significant bit and 0 is the least significant
bit.
A
B
C
D
A7 A6 A5 A4 A3 A2 A1 A0
B7
B6
B5
B4
B3
B2
B1
B0 C7 C6 C5 C4 C3 C2 C1 C0 D7 D6 D5 D4 D3 D2 D1
Service
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PID
(hex)
PID
(Dec)
Data
bytes
returned
Description
OBD-II PIDs - Wikipedia
Min value
Max
value
Units
Formula[a]
Bit encoded [A7..D0] ==
[PID $01..PID $20] See
below
Bit encoded. See below
Bit encoded. See below
(or
)
(or
)
%
°C
%
kPa
kPa
rpm
km/h
° before TDC
°C
655.35
grams/sec
100
%
Bit encoded. See below
[A0..A3] == Bank 1,
Sensors 1-4. [A4..A7] ==
Bank 2...
0
-40
100
215
99.2 (Add
Fuel: Too
Lean)
765
255
16,383.75
255
63.5
215
-100
(Reduce
Fuel: Too
Rich)
0
0
0
0
-64
-40
0
0
0
-100
1.275
99.2
%
volts
(if B==$FF, sensor is not
used in trim calculation)
PIDs supported [01 - 20]
Monitor status since DTCs cleared. (Includes
malfunction indicator lamp (MIL) status and number
of DTCs.)
Freeze DTC
Fuel system status
Calculated engine load
Engine coolant temperature
Short term fuel trim—Bank 1
Long term fuel trim—Bank 1
Short term fuel trim—Bank 2
Long term fuel trim—Bank 2
Fuel pressure (gauge pressure)
Intake manifold absolute pressure
Engine RPM
Vehicle speed
Timing advance
Intake air temperature
MAF air flow rate
Throttle position
Commanded secondary air status
Oxygen sensors present (in 2 banks)
Oxygen Sensor 1
A: Voltage
B: Short term fuel trim
Oxygen Sensor 2
A: Voltage
B: Short term fuel trim
Oxygen Sensor 3
A: Voltage
B: Short term fuel trim
Oxygen Sensor 4
A: Voltage
B: Short term fuel trim
Oxygen Sensor 5
A: Voltage
B: Short term fuel trim
Oxygen Sensor 6
A: Voltage
B: Short term fuel trim
Oxygen Sensor 7
A: Voltage
B: Short term fuel trim
Oxygen Sensor 8
A: Voltage
B: Short term fuel trim
OBD standards this vehicle conforms to
Oxygen sensors present (in 4 banks)
Auxiliary input status
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
14
20
15
21
16
22
17
23
18
24
19
25
1A
26
1B
1C
27
28
1D
29
1E
30
1F
20
31
32
4
4
2
2
1
1
1
1
1
1
1
1
2
1
1
1
2
1
1
1
2
2
2
2
2
2
2
2
1
1
1
2
4
Run time since engine start
0
65,535
seconds
PIDs supported [21 - 40]
https://en.wikipedia.org/wiki/OBD-II_PIDs
Bit encoded. See below
Similar to PID 13, but
[A0..A7] == [B1S1, B1S2,
B2S1, B2S2, B3S1, B3S2,
B4S1, B4S2]
A0 == Power Take Off
(PTO) status (1 ==
active)
[A1..A7] not used
Bit encoded [A7..D0] ==
[PID $21..PID $40] See
below
3/16
Distance traveled with malfunction indicator lamp
(MIL) on
OBD-II PIDs - Wikipedia
65,535
0
Fuel Rail Pressure (relative to manifold vacuum)
Fuel Rail Gauge Pressure (diesel, or gasoline direct
injection)
0
0
5177.265
655,350
km
kPa
kPa
0
0
< 2
< 8
ratio
V
0
-100
0
0
0
0
100
99.2
100
100
255
65,535
0
255
%
%
%
%
count
km
Pa
kPa
(AB is two's complement
signed)[3]
Evap. System Vapor Pressure
-8,192
8191.75
2019/1/22
21
22
23
33
34
35
24
36
25
37
26
38
27
39
28
40
29
41
2A
42
2B
2C
2D
2E
2F
30
31
43
44
45
46
47
48
49
32
50
33
34
51
52
35
53
36
54
37
55
38
56
39
57
3A
58
3B
3C
3D
3E
3F
59
60
61
62
63
2
2
2
4
4
4
4
4
4
4
4
1
1
1
1
1
2
2
1
4
4
4
4
4
4
4
4
2
2
2
2
Oxygen Sensor 1
AB: Fuel–Air Equivalence Ratio
CD: Voltage
Oxygen Sensor 2
AB: Fuel–Air Equivalence Ratio
CD: Voltage
Oxygen Sensor 3
AB: Fuel–Air Equivalence Ratio
CD: Voltage
Oxygen Sensor 4
AB: Fuel–Air Equivalence Ratio
CD: Voltage
Oxygen Sensor 5
AB: Fuel–Air Equivalence Ratio
CD: Voltage
Oxygen Sensor 6
AB: Fuel–Air Equivalence Ratio
CD: Voltage
Oxygen Sensor 7
AB: Fuel–Air Equivalence Ratio
CD: Voltage
Oxygen Sensor 8
AB: Fuel–Air Equivalence Ratio
CD: Voltage
Commanded EGR
EGR Error
Commanded evaporative purge
Fuel Tank Level Input
Warm-ups since codes cleared
Distance traveled since codes cleared
Absolute Barometric Pressure
Oxygen Sensor 1
AB: Fuel–Air Equivalence Ratio
CD: Current
Oxygen Sensor 2
AB: Fuel–Air Equivalence Ratio
CD: Current
Oxygen Sensor 3
AB: Fuel–Air Equivalence Ratio
CD: Current
Oxygen Sensor 4
AB: Fuel–Air Equivalence Ratio
CD: Current
Oxygen Sensor 5
AB: Fuel–Air Equivalence Ratio
CD: Current
Oxygen Sensor 6
AB: Fuel–Air Equivalence Ratio
CD: Current
Oxygen Sensor 7
AB: Fuel–Air Equivalence Ratio
CD: Current
Oxygen Sensor 8
AB: Fuel–Air Equivalence Ratio
CD: Current
Catalyst Temperature: Bank 1, Sensor 1
Catalyst Temperature: Bank 2, Sensor 1
Catalyst Temperature: Bank 1, Sensor 2
Catalyst Temperature: Bank 2, Sensor 2
0
-128
< 2
<128
ratio
mA
or
-40
6,513.5
°C
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40
64
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
60
61
62
63
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
64
100
65
66
67
68
69
101
102
103
104
105
4
4
2
2
2
1
1
1
1
1
1
1
1
2
2
4
4
1
1
2
2
2
2
2
2
2
1
1
1
2
2
1
4
1
1
2
5
2
5
3
7
7
OBD-II PIDs - Wikipedia
Bit encoded [A7..D0] ==
[PID $41..PID $60] See
below
Bit encoded. See below
0
0
0
0
-40
0
0
65.535
25,700
< 2
100
215
100
V
%
ratio
%
°C
%
65,535
minutes
0, 0, 0, 0
255, 255,
255, 2550
ratio, V, mA, kPa
A, B, C, D*10
0
0
0
2550
100
327.675
g/s
%
kPa
Pa
A*10, B, C, and D are
reserved for future use
From fuel type table see
below
((A*256)+B)-32767
-100
99.2
%
0
0
0
-40
655,350
100
100
210
-210.00
301.992
0
3212.75
kPa
%
%
°C
°
L/h
%
%
Nm
%
Bit Encoded
Bit encoded [A7..D0] ==
[PID $61..PID $80] See
below
A-125
A-125
A-125 Idle
B-125 Engine point 1
C-125 Engine point 2
D-125 Engine point 3
E-125 Engine point 4
Bit Encoded
PIDs supported [41 - 60]
Monitor status this drive cycle
Control module voltage
Absolute load value
Fuel–Air commanded equivalence ratio
Relative throttle position
Ambient air temperature
Absolute throttle position B
Absolute throttle position C
Accelerator pedal position D
Accelerator pedal position E
Accelerator pedal position F
Commanded throttle actuator
Time run with MIL on
Time since trouble codes cleared
Maximum value for Fuel–Air equivalence ratio,
oxygen sensor voltage, oxygen sensor current, and
intake manifold absolute pressure
Maximum value for air flow rate from mass air flow
sensor
Fuel Type
Ethanol fuel %
Absolute Evap system Vapor Pressure
Short term secondary oxygen sensor trim, A: bank 1,
B: bank 3
Long term secondary oxygen sensor trim, A: bank 1,
B: bank 3
Short term secondary oxygen sensor trim, A: bank 2,
B: bank 4
Long term secondary oxygen sensor trim, A: bank 2,
B: bank 4
Fuel rail absolute pressure
Relative accelerator pedal position
Hybrid battery pack remaining life
Engine oil temperature
Fuel injection timing
Engine fuel rate
Evap system vapor pressure
-32,767
32,768
Emission requirements to which vehicle is designed
PIDs supported [61 - 80]
Driver's demand engine - percent torque
Actual engine - percent torque
Engine reference torque
-125
-125
0
130
130
65,535
Engine percent torque data
-125
130
Auxiliary input / output supported
Mass air flow sensor
Engine coolant temperature
Intake air temperature sensor
Commanded EGR and EGR Error
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OBD-II PIDs - Wikipedia
6A
6B
6C
6D
6E
6F
70
71
72
73
74
75
76
77
78
79
7A
7B
7C
7D
7E
7F
80
81
82
83
84
85
86
87
88
89
8A
8B
8C
8D
8E
8F
90
91
92
93
94
98
99
9A
9B
9C
9D
9E
9F
A0
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
152
153
154
155
156
157
158
159
160
5
5
5
6
5
3
9
5
5
5
5
7
7
5
9
9
7
7
9
1
1
13
4
21
21
5
1
10
5
5
13
41
41
7
16
1
1
5
3
5
2
3
Commanded Diesel intake air flow control and
relative intake air flow position
Exhaust gas recirculation temperature
Commanded throttle actuator control and relative
throttle position
Fuel pressure control system
Injection pressure control system
Turbocharger compressor inlet pressure
Boost pressure control
Variable Geometry turbo (VGT) control
Wastegate control
Exhaust pressure
Turbocharger RPM
Turbocharger temperature
Turbocharger temperature
Charge air cooler temperature (CACT)
Exhaust Gas temperature (EGT) Bank 1
Exhaust Gas temperature (EGT) Bank 2
Diesel particulate filter (DPF)
Diesel particulate filter (DPF)
Diesel Particulate filter (DPF) temperature
NOx NTE (Not-To-Exceed) control area status
PM NTE (Not-To-Exceed) control area status
Engine run time
PIDs supported [81 - A0]
Engine run time for Auxiliary Emissions Control
Device(AECD)
Engine run time for Auxiliary Emissions Control
Device(AECD)
NOx sensor
Manifold surface temperature
NOx reagent system
Particulate matter (PM) sensor
Intake manifold absolute pressure
SCR Induce System
Run Time for AECD #11-#15
Run Time for AECD #16-#20
Diesel Aftertreatment
O2 Sensor (Wide Range)
Throttle Position G
Engine Friction - Percent Torque
PM Sensor Bank 1 & 2
WWH-OBD Vehicle OBD System Information
WWH-OBD Vehicle OBD System Information
Fuel System Control
WWH-OBD Vehicle OBD Counters support
12
NOx Warning And Inducement System
9
9
6
4
Exhaust Gas Temperature Sensor
Exhaust Gas Temperature Sensor
Hybrid/EV Vehicle System Data, Battery, Voltage
Diesel Exhaust Fluid Sensor Data
17
O2 Sensor Data
4
2
9
4
Engine Fuel Rate
Engine Exhaust Flow Rate
Fuel System Percentage Use
PIDs supported [A1 - C0]
https://en.wikipedia.org/wiki/OBD-II_PIDs
Special PID. See below
Special PID. See below
Bit encoded [A7..D0] ==
[PID $81..PID $A0] See
below
0
-125
100
130
%
%
hours
hours
hours
g/s
kg/h
Bit encoded [A7..D0] ==
[PID $A1..PID $C0] See
6/16
2019/1/22
OBD-II PIDs - Wikipedia
NOx Sensor Corrected Data
Cylinder Fuel Rate
Evap System Vapor Pressure
Transmission Actual Gear
Diesel Exhaust Fluid Dosing
Odometer
PIDs supported [C1 - E0]
?
?
below
ppm
mg/stroke
Pa
hm
?
?
Bit encoded [A7..D0] ==
[PID $C1..PID $E0] See
below
Returns numerous data,
including Drive
Condition ID and Engine
Speed*
B5 is Engine Idle
Request
B6 is Engine Stop
Request*
?
?
?
?
Description
Min value
Max
value
Units
Formula[a]
A1
A2
A3
A4
A5
A6
161
162
163
164
165
166
C0
192
C3
195
C4
196
9
2
9
4
4
4
4
?
?
PID
(hex)
PID
(Dec)
Data
bytes
returned
Service
Service 02 accepts the same PIDs as service 01, with the same meaning, but information given is from when the freeze frame was created.
You have to send the frame number in the data section of the message.
PID
(hex)
02
Data bytes returned
Description
Min value Max value Units
Formula[a]
2
DTC that caused freeze frame to be stored.
BCD encoded. Decoded as in service 3
Service
PID
(hex)
N/A
Data bytes returned
Description
Min value Max value Units
Formula[a]
n*6
Request trouble codes
3 codes per message frame. See below
Service
PID
(hex)
N/A
Service
Data bytes
returned
Description
Min
value
Max
value
Units
Formula[a]
0
Clear trouble codes / Malfunction indicator lamp (MIL) /
Check engine light
Clears all stored trouble codes and turns
the MIL off.
https://en.wikipedia.org/wiki/OBD-II_PIDs
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0
2
0
3
0
4
0
5
2019/1/22
PID
(hex)
0100
0101
0102
0103
0104
0105
0106
0107
0108
0109
010A
010B
010C
010D
010E
010F
0110
0201
0202
0203
0204
0205
0206
0207
0208
0209
020A
020B
020C
020D
020E
020F
0210
PID
(hex)
Data bytes returned
Description
Min value Max value Units
Formula[a]
OBD Monitor IDs supported ($01 – $20)
OBD-II PIDs - Wikipedia
O2 Sensor Monitor Bank 1 Sensor 1
O2 Sensor Monitor Bank 1 Sensor 2
O2 Sensor Monitor Bank 1 Sensor 3
O2 Sensor Monitor Bank 1 Sensor 4
O2 Sensor Monitor Bank 2 Sensor 1
O2 Sensor Monitor Bank 2 Sensor 2
O2 Sensor Monitor Bank 2 Sensor 3
O2 Sensor Monitor Bank 2 Sensor 4
O2 Sensor Monitor Bank 3 Sensor 1
O2 Sensor Monitor Bank 3 Sensor 2
O2 Sensor Monitor Bank 3 Sensor 3
O2 Sensor Monitor Bank 3 Sensor 4
O2 Sensor Monitor Bank 4 Sensor 1
O2 Sensor Monitor Bank 4 Sensor 2
O2 Sensor Monitor Bank 4 Sensor 3
O2 Sensor Monitor Bank 4 Sensor 4
O2 Sensor Monitor Bank 1 Sensor 1
O2 Sensor Monitor Bank 1 Sensor 2
O2 Sensor Monitor Bank 1 Sensor 3
O2 Sensor Monitor Bank 1 Sensor 4
O2 Sensor Monitor Bank 2 Sensor 1
O2 Sensor Monitor Bank 2 Sensor 2
O2 Sensor Monitor Bank 2 Sensor 3
O2 Sensor Monitor Bank 2 Sensor 4
O2 Sensor Monitor Bank 3 Sensor 1
O2 Sensor Monitor Bank 3 Sensor 2
O2 Sensor Monitor Bank 3 Sensor 3
O2 Sensor Monitor Bank 3 Sensor 4
O2 Sensor Monitor Bank 4 Sensor 1
O2 Sensor Monitor Bank 4 Sensor 2
O2 Sensor Monitor Bank 4 Sensor 3
O2 Sensor Monitor Bank 4 Sensor 4
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
1.275
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
volts
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Rich to lean sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
0.005 Lean to Rich sensor threshold voltage
Data bytes returned
Description
Min value Max value Units
Formula[a]
Service
https://en.wikipedia.org/wiki/OBD-II_PIDs
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