DDS middleware communication method based on CAN bus data transmission

A technology of CAN bus and data transmission, which is applied in the field of DDS middleware communication based on CAN bus data transmission, and can solve problems such as the influence of control loop timing parameters

Active Publication Date: 2020-12-18
AUTOCORE INTELLIGENT TECH NANJING CO LTD
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  • Application Information

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Problems solved by technology

But whether it is ROS or DDS, they all use Ethernet for data transmission and interaction, and Ethernet transmissio

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  • DDS middleware communication method based on CAN bus data transmission
  • DDS middleware communication method based on CAN bus data transmission

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Embodiment Construction

[0025] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] The standard CAN protocol defines the format of the arbitration ID and data frame, that is, the arbitration ID is divided into standard format (11bit) and extended format (29bit), and the payload of each data frame is up to 8 bytes. At present, the basic strategy for CAN communication in various sensors and electrical modules of automobiles is to design the CAN arbitration ID standard format (11bit) as the ID address of the device, while the extended format (29bit) is rarely used.

[0027] The present invention is based on the DDS middleware communication method of CAN bus data transmission, adopts the extended format, and through the data processing method of unpacking and grouping, the payload is no longer limited to 8 bytes.

[0028] The present invention is based on the DDS middleware communication method of CAN bus...

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Abstract

The invention provides a DDS middleware communication method based on CAN bus data transmission, which comprises the following steps that: in a CAN bus network, a sensor data acquisition platform periodically sends a connection request to the outside in a broadcast packet mode to discover a Node; the Node returns a response data packet according to the connection request, wherein the response datapacket carries its own Node ID; after the connection request is completed, the DDS creates a CAN session with a Topic ID, and registers a new Topic to the data processing module; and after registration is completed, a data publisher or subscriber is created, and then a data read-write instance is created. The core for realizing the data read-write instance in the invention is an algorithm for sending a CAN data packet by the publisher and an algorithm for receiving the CAN data packet by a subscriber (Subscriber). According to the DDS middleware communication method based on CAN bus data transmission, distributed development of application programs is simpler and more effective, and especially distributed communication of an automatic driving software platform can be implemented only by upgrading software on an existing hardware platform.

Description

technical field [0001] The invention relates to the technical field of data distribution services, in particular to a DDS middleware communication method based on CAN bus data transmission. Background technique [0002] With the continuous development of AD / ADAS technology, the auxiliary functions of automobiles are becoming more and more powerful, and the degree of automation is getting higher and higher. Behind the realization of these functions, a large number of sensors are applied to automobiles for environmental perception, precise positioning, decision-making, and planning. and control and enforcement. The application of a large number of sensors brings the problem of massive data interaction. To ensure the reliable and stable operation of the entire system, usually important sensors and domain controllers in hardware need to be redundantly backed up, and reliable data transmission methods and exceptions must be provided in software. Recovery mechanism to ensure the ...

Claims

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Application Information

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IPC IPC(8): H04L12/40H04L12/24H04L29/08H04L29/06
CPCH04L12/40H04L41/12H04L67/141H04L69/06H04L2012/40215
Inventor 王振华张旸陈诚刘洁
Owner AUTOCORE INTELLIGENT TECH NANJING CO LTD
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