SAE J1939-76-2025 SAE J1939功能安全通信协议

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SURFACE VEHICLE

RECOMMENDED PRACTICE

J1939™-76

NOV2025

Issued 2018-11

Revised 2025-11

Superseding J1939-76 APR2020

(R) SAE J1939 Functional Safety Communications Protocol

RATIONALE

The protocol has been updated to include a more robust implementation to address additional information that is relevant

to implementing the standard. This resulted in an alternate implementation of the protocol that meets a stricter error

probability and subsequent functional safety levels.

FOREWORD

The SAE J1939 communications network is defined using a collection of individual SAE J1939 documents based upon the

layers of the Open System Interconnect (OSI) model for computer communications architecture. The SAE J1939 Functional

Safety Communications Protocol document describes an optional application layer typically used when designing a

high-integrity system that includes functional safety related features.

The SAE J1939 communications network is a high-speed ISO 11898-1 CAN-based communications network that supports

real-time closed loop control functions, simple information exchanges, and diagnostic data exchanges between electronic

control units (ECUs) physically distributed throughout the vehicle.

The SAE J1939 communications network is developed for use in heavy-duty environments and suitable for horizontally

integrated vehicle industries. The SAE J1939 communications network is applicable for light-duty, medium-duty, and

heavy-duty vehicles used on-road or off-road, and for appropriate stationary applications which use vehicle-derived

components (e.g., generator sets). Vehicles of interest include, but are not limited to, on-highway and off-highway trucks

and their trailers, construction equipment, and agricultural equipment and implements. The physical layer aspects of

SAE J1939 reflect its design goal for use in heavy-duty environments. Horizontally integrated vehicles involve the integration

of different combinations of loose package components, like an engine and transmissions, which are sourced from many

different component suppliers. The SAE J1939 common communication architecture strives to offer an open interconnect

system that allows the ECUs associated with different component manufacturers to communicate with each other.

SAE INTERNATIONAL J1939™-76 NOV2025 Page 2 of 57

TABLE OF CONTENTS

1. SCOPE .......................................................................................................................................................... 4

2. REFERENCES .............................................................................................................................................. 4

2.1 Applicable Documents .................................................................................................................................. 4

2.1.1 SAE Publications ........................................................................................................................................... 4

2.1.2 IEC Publications ............................................................................................................................................ 4

2.1.3 ISO Publications ............................................................................................................................................ 4

2.2 Related Publications ..................................................................................................................................... 4

2.2.1 Other Publications ......................................................................................................................................... 4

3. DEFINITIONS AND ABBREVIATIONS ......................................................................................................... 5

3.1 Definitions ..................................................................................................................................................... 5

3.1.1 Terms Used in Document ............................................................................................................................. 5

3.1.2 Applicable IEC 61784-3:2024 Terms and Definitions ................................................................................... 7

3.2 Abbreviations ................................................................................................................................................ 8

4. TECHNICAL REQUIREMENTS .................................................................................................................... 9

4.1 Overview ....................................................................................................................................................... 9

4.2 Concept of Operation .................................................................................................................................... 9

4.2.1 Communication Error Coverage ................................................................................................................. 11

4.2.2 Networks with Routers ................................................................................................................................ 13

4.3 Limitations ................................................................................................................................................... 13

4.3.1 General Limitations ..................................................................................................................................... 13

4.4 SAE J1939 PG Constraints ......................................................................................................................... 13

4.4.1 Applicable SAE J1939 Messages ............................................................................................................... 13

4.4.2 Not Applicable SAE J1939 Message .......................................................................................................... 13

5. BEHAVIORAL REQUIREMENTS ............................................................................................................... 14

5.1 General Requirements ................................................................................................................................ 14

5.1.1 Safety Data Group Operations .................................................................................................................... 14

5.1.2 Safety Data Group and Safety Data Group Series ..................................................................................... 15

5.1.3 SDG Timing Requirements ......................................................................................................................... 16

5.1.4 Sequence Number ...................................................................................................................................... 17

5.1.5 CRC ............................................................................................................................................................. 17

5.1.6 SHM and SDM Sequence within an SDG ................................................................................................... 18

5.2 Producer Requirements .............................................................................................................................. 18

5.2.1 General Requirements ................................................................................................................................ 21

5.2.2 Construct the SDM ...................................................................................................................................... 21

5.2.3 Construct the SHM ...................................................................................................................................... 21

5.2.4 Sequence Number ...................................................................................................................................... 21

5.2.5 CRC ............................................................................................................................................................. 21

5.2.6 SDG Identifiers ............................................................................................................................................ 22

5.2.7 SHM Priority and Destination Address ........................................................................................................ 22

5.2.8 Transmit the SHM and SDM ....................................................................................................................... 23

5.3 Consumer Requirements ............................................................................................................................ 23

5.3.1 General Requirements ................................................................................................................................ 26

5.3.2 SHM Identification ....................................................................................................................................... 26

5.3.3 SDM Identification ....................................................................................................................................... 26

5.3.4 SHM and SDM Pairing ................................................................................................................................ 26

5.3.5 SDG Identifier Validation ............................................................................................................................. 27

5.3.6 SCT Validation ............................................................................................................................................ 27

5.3.7 SRVT Validation .......................................................................................................................................... 30

5.3.8 CRC Validation ............................................................................................................................................ 31

5.3.9 Sequence Number Validation ..................................................................................................................... 32

SAE INTERNATIONAL J1939™-76 NOV2025 Page 3 of 57

6. MESSAGE STRUCTURE AND REQUIREMENTS .................................................................................... 33

6.1 Message Structure ...................................................................................................................................... 33

6.2 Safety Header Message 2 (SHM2) Definition ............................................................................................. 33

6.3 Safety Header Message 2 Parameter Definitions ....................................................................................... 34

6.3.1 SHM2 Sequence Number (SPN 23604) ..................................................................................................... 34

6.3.2 SDM Data Page (SPN 23605) .................................................................................................................... 34

6.3.3 SDM Extended Data Page (SPN 23606) .................................................................................................... 34

6.3.4 SDM PS Value (SPN 23607) ...................................................................................................................... 34

6.3.5 SDM PF Value (SPN 23608) ...................................................................................................................... 35

6.3.6 SHM2 Enhanced CRC (SPN 23609) .......................................................................................................... 35

6.4 Safety Header Message 1 (SHM1) Definition ............................................................................................. 37

6.5 Safety Header Message 1 (SHM1) Definition ............................................................................................. 37

6.6 Safety Header Message 1 (SHM1) Parameter Definitions ......................................................................... 38

6.6.1 Inverted SDM Data Page (SPN 9387) ........................................................................................................ 38

6.6.2 Inverted SDM Extended Data Page (SPN 9388) ........................................................................................ 38

6.6.3 Reserved Bit ................................................................................................................................................ 38

6.6.4 SHM1 Sequence Number (SPN 9382) ....................................................................................................... 38

6.6.5 Inverted SDM Source Address (SPN 9384) ............................................................................................... 38

6.6.6 Inverted SDM PS Value (SPN 9385) .......................................................................................................... 39

6.6.7 Inverted SDM PF Value (SPN 9386) .......................................................................................................... 39

6.6.8 SDM Data CRC (SPN 9383) ....................................................................................................................... 39

7. SYSTEM DESIGN REQUIREMENTS ........................................................................................................ 40

7.1 When to Use the SAE J1939-76 Functional Safety Communication Protocol ............................................ 40

7.2 When Not to Use the SAE J1939-76 Functional Safety Communication Protocol ..................................... 40

7.3 Configuration of the SAE J1939-76 Functional Safety Communication Protocol ....................................... 40

7.4 Systems Constraints for Meeting Safety and Performance Levels ............................................................ 40

7.5 Guidance for Use in Systems ..................................................................................................................... 41

7.6 Error Reporting for SAE J1939-76 .............................................................................................................. 41

8. NOTES ........................................................................................................................................................ 41

8.1 Revision Indicator ........................................................................................................................................ 41

APPENDIX A SAFETY MEASURES AND ANALYSIS USING SHM2 .............................................................................. 42

APPENDIX B SAFETY MEASURES AND ANALYSIS USING SHM1 .............................................................................. 50

APPENDIX C TÜV APPROVAL LETTER FOR SHM1 VERSION ..................................................................................... 57

Figure 1 Safety protocol overview ............................................................................................................................. 11

Figure 2 Concept of operation ................................................................................................................................... 15

Figure 3 Producer SDG2 behavioral model for SHM2 .............................................................................................. 19

Figure 4 Producer SDG1 behavioral model for SHM1 .............................................................................................. 20

Figure 5 Consumer SDG2 behavioral model for SHM2 ............................................................................................ 24

Figure 6 Consumer SDG1 behavioral model for SHM1 ............................................................................................ 25

Figure 7 Example of SCT violation, late SHM ........................................................................................................... 28

Figure 8 Example of SCT violation, late SDM ........................................................................................................... 29

Figure 9 Example of start-up timing .......................................................................................................................... 30

Figure 10 Example of SVRT violation ......................................................................................................................... 31

Figure 11 Sequence number validation examples for SHM1 message ...................................................................... 32

Figure 12 SHM2 message structure............................................................................................................................ 33

Figure 13 CRC computation illustration ...................................................................................................................... 35

Figure 14 Mapping of SHM1 SPs to CAN frame data field ......................................................................................... 37

Table 1 Communication error coverage ................................................................................................................... 12

Table 2 Constraints for SAE J1939 PG applicable with SAE J1939 Functional Safety Communications

Protocol ....................................................................................................................................................... 13

Table 3 Constraints for SAE J1939 PG not applicable with SAE J1939 Functional Safety Communications

Protocol ....................................................................................................................................................... 13

Table 4 Maximum SCT requirement ........................................................................................................................ 16

Table 5 Maximum SRVT requirement ...................................................................................................................... 16

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标签： #通信协议

摘要：

本文档详细介绍了SAE J1939-76-2025标准，即SAE J1939功能安全通信协议，专为重型商用车、工程机械及农业设备等基于J1939网络的电子控制系统而设计。该协议在原有J1939通信框架基础上，融合了ISO 26262功能安全理念，定义了用于安全相关数据传输的专用协议数据单元（PDU）、故障响应机制及安全完整性等级（SIL）的通信要求。通过明确的安全报文格式、定时约束与冗余校验策略，该标准确保了在复杂电磁环境与严苛工况下，车辆控制单元之间能够可靠地交换安全关键信息，从而有效降低系统

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SAE J1939-76-2025 SAE J1939功能安全通信协议

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