Vehicle ring network communication redundant network architecture and communication method based on regional controller

Abstract

The present invention provides a vehicle ring network communication redundant network architecture based on a regional controller, comprising: an on-board computer; K first regional controllers, K is an integer greater than or equal to 2; the first regional controller is connected to the on-board computer; M second regional controllers, M is an integer greater than or equal to 1; the K first regional controllers and the M second regional controllers are connected to form a closed loop structure or an open loop structure; at least the K first regional controllers are connected to the on-board computer to form a ring topology network structure, and the ring topology network structure is used to realize signal redundant transmission; N execution systems, each of which is connected to a first regional controller or a second regional controller, wherein N=M+K. The above architecture is used for communication, which ensures the data redundancy of the first regional controller and the data integrity of the second regional controller, while realizing the scalability of the ring topology network structure.

Description

Technical Field

[0001] The present invention relates to the field of vehicle ring network communication, and in particular to a vehicle ring network communication redundant network architecture based on a regional controller and a communication method thereof. Background Art

[0002] At present, most vehicle network architectures adopt a functional domain-based solution. The functional domain controller is responsible for the implementation of control logic and algorithms within the relevant domain, and the software computing power is relatively dispersed. This has brought about problems such as dispersed hardware resources, low software code reuse rate, low iterative upgrade efficiency, and insufficient cross-domain communication bandwidth.

[0003] At present, the vehicle bus network topology based on regional controllers generally adopts a star structure, and all regional controllers are connected to the vehicle computer. The data flow path is relatively single, and it is impossible to form a communication redundancy basis in the physical structure. Generally, it is impossible to guarantee the integrity of the bus data in the event of single-point / multi-point failure of the transmission path. At the same time, the star architecture has poor scalability. If it is necessary to add regional controllers, it is necessary to add a network interface to the central computing platform, which involves hardware changes. The existing technology cannot achieve the expansion of the network topology without connecting to the central computing platform. Summary of the invention

[0004] The present invention provides a vehicle ring network communication redundant network architecture based on a regional controller and a communication method thereof, so as to solve the problem of poor expansibility of the existing network architecture.

[0005] According to a first aspect of the present invention, a vehicle ring network communication redundant network architecture based on a regional controller is provided, comprising:

[0006] On-board computer;

[0007] K first regional controllers, K is an integer greater than or equal to 2; the first regional controllers are connected to the onboard computer;

[0008] M second area controllers, where M is an integer greater than or equal to 1;

[0009] The K first regional controllers and the M second regional controllers are connected to form a closed loop structure or an open loop structure; at least the K first regional controllers are connected to the on-board computer to form a ring topology network structure, and the ring topology network structure is used to realize signal redundant transmission;

[0010] N execution systems, each of which is connected to a first regional controller or a second regional controller, wherein N=M+K.

[0011] Optionally, an Ethernet interface is provided on the on-board computer.

[0012] Optionally, the execution system includes a sensor, an electronic control unit and an actuator connected to the corresponding first area controller or the second area controller.

[0013] Optionally, the vehicle-mounted computer is also connected to a backend device and a vehicle-mounted diagnostic system interface.

[0014] Optionally, the open-loop structure has and only has two second-area controllers disconnected.

[0015] Optionally, the closed-loop structure is specifically: all K first regional controllers and all M second regional controllers are connected in sequence to form a closed loop, so that the K first regional controllers and the M second regional controllers are connected to the on-board computer to form a ring topology network structure.

[0016] According to a second aspect of the present invention, a communication method is provided, which uses the vehicle ring network communication redundant network architecture based on the regional controller as described in any one of the above items for communication, and the communication method includes:

[0017] The data sender generates a specific identifier for the data generated by itself, forms a data set with the data, and sends the data set along a first direction and a second direction; wherein the first direction is the clockwise direction of the ring topology network structure; the second direction is the counterclockwise direction of the ring topology network structure; the data sender is any one of the K first regional controllers or the M second regional controllers or the on-board computer;

[0018] When receiving the current data set, the data receiver determines whether the current data set is sent by itself, and if so, discards the current data set; the data receiver is any one of the K first regional controllers or the M second regional controllers or the on-board computer;

[0019] If it is not sent by itself, determine whether the current data set is damaged, and if so, discard the current data set;

[0020] If not, determine whether the current data set is a duplicate of the received data set. If so, discard the current data set. If not, transmit the current data set along the first direction and the second direction.

[0021] Optionally, the specific identifier includes:

[0022] Device number, used to uniquely correspond to the device of the data sender;

[0023] Timestamp, which is used to indicate the time when the data was generated; and

[0024] Checksum, used to check whether the data is damaged.

[0025] Optionally, when the K first regional controllers and the M second regional controllers are connected to form an open-loop structure, the second regional controller at the disconnection point sends the data set generated by itself to the first regional controller closest to it through the open-loop structure, and obtains other data sets through the closest first regional controller.

[0026] The present invention provides a vehicle ring network communication redundant network architecture based on a regional controller and a communication method thereof. By connecting a first regional controller and an on-board computer, and connecting K first regional controllers and M second regional controllers to form a closed-loop structure or an open-loop structure, at least the K first regional controllers and the on-board computer are connected to form a ring topology network structure. The ring topology network structure is used to realize signal redundant transmission, so that the data redundancy of the first regional controller and the data integrity of the second regional controller are guaranteed in both the open-loop structure and the closed-loop structure.

[0027] At the same time, since there is no need to connect the M second area controllers to the vehicle-mounted computer, when the number of second area controllers needs to be increased in the vehicle, the second area controllers can be easily expanded, making the ring topology network structure more scalable. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0029] Figure 1 A schematic diagram of a redundant network architecture of a vehicle ring network communication based on a regional controller in a specific embodiment of the present invention Figure 1 ;

[0030] Figure 2 A schematic diagram of a redundant network architecture of a vehicle ring network communication based on a regional controller in a specific embodiment of the present invention Figure 2 ;

[0031] Figure 3 A data transmission diagram of a vehicle ring network communication redundant network architecture based on a regional controller in a specific embodiment of the present invention Figure 1 ;

[0032] Figure 4A data transmission diagram of a vehicle ring network communication redundant network architecture based on a regional controller in a specific embodiment of the present invention Figure 2 ;

[0033] Figure 5 It is a schematic diagram of a communication method in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0037] The network architecture based on the regional controller further concentrates the software computing power on the high-performance vehicle-mounted computer on the basis of the regional controller, which is responsible for the whole vehicle control logic and algorithm implementation; the regional controller is mainly responsible for simple control functions within the domain as well as gateway and switch functions.

[0038] The ring network architecture based on the regional controller lays the foundation for communication redundancy at the network topology level, ensuring the integrity of the vehicle's sensor data and instruction data set and the possibility for the regional controller and on-board computer to obtain data in the event of partial single-point / multi-point vehicle-mounted communication failure. On the basis of the first regional controller or the second regional controller, the software computing power is further concentrated on the on-board computer, which is responsible for the vehicle control logic and algorithm implementation; the first regional controller or the second regional controller is mainly responsible for simple control functions within the domain as well as gateway and switch functions.

[0039] The present invention provides a vehicle ring network communication redundant network architecture based on a regional controller and a communication method thereof. The first regional controller is directly connected to a computer, while the second regional controller is disconnected from the vehicle-mounted computer. When the whole vehicle needs to add a second regional controller, the new second regional controller can be directly added to the ring topology network structure without the need for the second regional controller to be connected to the vehicle-mounted computer, thereby achieving easy expandability of the ring topology network structure.

[0040] The vehicle ring network communication redundant network architecture based on the regional controller provided by the present invention includes:

[0041] On-board computer;

[0042] K first regional controllers, K is an integer greater than or equal to 2; the first regional controllers are connected to the onboard computer;

[0043] M second area controllers, where M is an integer greater than or equal to 1;

[0044] The K first regional controllers and the M second regional controllers are connected to form a closed loop structure or an open loop structure; at least the K first regional controllers are connected to the on-board computer to form a ring topology network structure, and the ring topology network structure is used to realize signal redundant transmission;

[0045] N execution systems, each of which is connected to a first regional controller or a second regional controller, wherein N=M+K.

[0046] The following takes the value of K as 2, the value of M as 2, and the value of N as 4 as an example to specifically illustrate the vehicle ring network communication redundant network architecture based on the regional controller of the present invention. Of course, it should be appreciated that the present invention is not limited thereto, and those skilled in the art can change the value of K, the value of M, and the value of N to other values ​​under the conception of the present invention, but it does not depart from the protection scope of the present invention.

[0047] Please refer to Figure 1 ,like Figure 1 As shown, the vehicle ring network communication redundant network architecture based on the regional controller provided in this embodiment includes:

[0048] Onboard Computer 101;

[0049] Two first zone controllers 102;

[0050] Two second area controllers 103; the two first area controllers 102 and the two second area controllers 103 are connected to form a closed loop structure;

[0051] The two first regional controllers 102 are connected with the vehicle-mounted computer 101 to form a ring topology network structure, and the ring topology network structure is used to realize signal redundant transmission;

[0052] Four execution systems 104, each of which is connected to a corresponding first regional controller 102 or a second regional controller 103. In the ring topology network structure, at least two first regional controllers 102 are connected to the vehicle-mounted computer 101, and the two first regional controllers 102 are connected adjacently, so that a ring topology network structure is formed between at least two first regional controllers 102 and the vehicle-mounted computer 101. Redundant communication is formed between the vehicle-mounted computer 101 and the first regional controller 102. Therefore, the security of data transmission between the first regional controller 102 and the vehicle-mounted computer 101 is guaranteed.

[0053] In addition, Figure 1 In the illustrated embodiment, two first regional controllers 102 and two second regional controllers 103 are connected adjacently in sequence to form a closed loop structure, thereby forming a ring topology network structure between the first regional controller 102 and the second regional controller 103, so that redundant communication is also formed between the first regional controller 102 and the second regional controller 103. Thus, the security of data transmission between the second regional controller 103 and the first regional controller 102 is further guaranteed.

[0054] Of course, the above is only an example, and specifically, the value of M can be other values, for example, M can be 1, that is, therefore, in the redundant network architecture of the vehicle ring network communication based on the regional controller, there is at least one second regional controller and at least two directly connected first regional controllers. For example: in the redundant network architecture of the vehicle ring network communication based on the regional controller, there are two directly connected first regional controllers and one second regional controller.

[0055] In one implementation, the vehicle-mounted computer 101 is a high-performance vehicle-mounted computer.

[0056] In one implementation, the first area controller 102 and the second area controller 103 are differentiated according to safety performance levels; the safety performance level of the first area controller 102 is higher than that of the second area controller 103 .

[0057] In one implementation, the first regional controllers 102 and the second regional controllers 103 are connected in pairs via an Ethernet backbone to form the closed loop structure.

[0058] In one implementation, the onboard computer is connected to two first area controllers with higher functional safety level requirements via Ethernet, and is also connected to the laser radar, millimeter wave radar, camera, display device, etc. via Ethernet, CANFD, GMSL, etc.;

[0059] In one embodiment, in the closed-loop structure, the connection between the first area controller and the second area controller includes: the first area controller is connected to the adjacent second area controller, the first area controller is connected to the adjacent first area controller, and the second area controller is connected to the adjacent second area controller.

[0060] certainly, Figure 1 This is only an example of a closed-loop structure. In other embodiments of the present invention, Figure 1 The two first area controllers and the two second area controllers can also be connected to form an open loop structure. The difference between the open loop structure and the closed loop structure is that there is a disconnection between the two second area controllers, and the other structures are the same as the closed loop structure, so they will not be repeated.

[0061] For the open-loop structure, a ring topology network structure is also formed between the two first regional controllers and the onboard computer, so that redundant communication is formed between the onboard computer and the first regional controller, thereby ensuring the security of data transmission between the first regional controller and the onboard computer.

[0062] Different from the closed-loop structure, since the two second-region controllers are disconnected, a ring topology network structure will not be formed between the first-region controller and the second-region controller, so that the data of the second-region controller at the disconnection point will not be redundantly transmitted, but it can still obtain complete data from the adjacent first-region controller / second-region controller, so the integrity of its data can be guaranteed.

[0063] The present invention provides a ring topology network structure in which at least the K first regional controllers are connected to the on-board computer by connecting the K first regional controllers and the M second regional controllers into a closed-loop structure or an open-loop structure. The ring topology network structure is used to realize redundant signal transmission. In the open-loop structure, the on-board computer receives the whole vehicle data through the first regional controller, and the instruction data set of the on-board computer is sent to the first regional controller or the second regional controller of the whole vehicle through the first regional controller. The whole vehicle data is the data of the first regional controller and the second regional controller.

[0064] Whether in an open-loop structure or a closed-loop structure, the data redundancy of the first regional controller and the on-board computer and the data integrity of other second regional controllers in the vehicle are guaranteed; moreover, when the vehicle needs to add a second regional controller, the new second regional controller can be directly added to the ring topology network structure without the need to connect the second regional controller to the on-board computer, and the ring topology network structure has better scalability.

[0065] In one embodiment, an Ethernet interface is provided on the vehicle-mounted computer.

[0066] Please refer to Figure 2 , Figure 2 As a specific application of the solution of the present invention, the execution system, for example, includes a sensor, an electronic control unit, and an actuator connected to the corresponding first area controller or the second area controller.

[0067] The first regional controller and the second regional controller are connected to sensors, actuators, and electronic control units (ECUs) in the area, for example, via CAN / CANFD, LIN, hard wires, etc.

[0068] The sensors, actuators and electronic control units in a region are responsible for collecting data within the domain, executing instruction data sets, and completing simple electronic control functions within the domain.

[0069] The first regional controller and the second regional controller are responsible for forwarding the data collected and uploaded by the sensors / electronic control units in the domain to the on-board computer on the one hand, and for receiving the instruction data set issued by the on-board computer and driving the relevant actuators to perform actions on the other hand. The first regional controller may be, for example, the left regional controller and the rear regional controller, and the second regional controller may be, for example, the front regional controller and the right regional controller.

[0070] In one embodiment, the vehicle-mounted computer is also connected to a background device and an on-board diagnostic interface. Specifically, the vehicle-mounted computer communicates with the TSP background through a 4G / 5G interface and communicates with the diagnostic tool through the on-board diagnostic interface.

[0071] As a specific solution, the background device may be, for example, a TSP background. The vehicle-mounted computer is internally integrated with a 4 / 5G module and an Ethernet diagnostic interface, and the 4G / 5G interface is responsible for interacting with the TSP background to implement functions such as OTA.

[0072] In one implementation, the on-board diagnostic interface: an Ethernet diagnostic interface configured on the on-board computer, is responsible for diagnosis and refresh work in the engineering and after-sales stages.

[0073] In one embodiment, the vehicle-mounted computer receives the sensor data of the whole vehicle from the connected first regional controller, and relies on the powerful computing power as the whole vehicle control center to realize the control logic and calculation of the whole vehicle; the vehicle-mounted computer is responsible for processing the large amount of data collected by the millimeter wave radar, laser radar and camera; at the same time, the image-related data is transmitted to the display system related to the smart cockpit;

[0074] The CAN mentioned above is called Controller Area Network, which is a kind of vehicle network protocol; CANFD is called CAN with Flexible Data-Rate, which is also a kind of vehicle network protocol; LIN is called Local Interconnect Network, which is also a kind of vehicle network protocol; OTA is called Over The Air, which is a kind of air download technology; TSP is called Telematics Service Provider, which stands for automotive remote service provider. In addition, Figure 2 The Ethernet in it refers to Ethernet.

[0075] In order to facilitate Figure 2 For a description of data transfer in Figure 3 , Figure 3 The first area controller is specifically divided into a left area controller and a rear area controller, and the second area controller is specifically divided into a front area controller and a right area controller; wherein, the first area controller and the second area controller are connected to form an outer closed loop, and the first area controller and the high-performance on-board computer are directly connected to form an inner closed loop; wherein the closed loop structure is: along the clockwise direction of the outer closed loop, the left area controller is directly connected to the front area controller, the front area controller is directly connected to the right area controller, the right area controller is directly connected to the rear area controller, and the rear area controller is directly connected to the left area controller, thereby forming the outer closed loop; the rear area controller is directly connected to the high-performance on-board computer, the left area controller is directly connected to the high-performance on-board computer, and the rear area controller and the left area controller are directly connected, thereby forming an inner closed loop.

[0076] In other implementations, based on the structure of the above-mentioned specific embodiment 1, the right area controller and the rear area controller, the front area controller and the left area controller, or the front area controller and the right area controller can be indirectly connected; that is, other first area controllers or other second area controllers can be connected between the right area controller and the rear area controller, between the front area controller and the left area controller, and between the front area controller and the right area controller.

[0077] The redundant network architecture of vehicle ring network communication based on regional controller allows the whole vehicle data and instruction data sets to circulate simultaneously in clockwise and counterclockwise directions in the redundant network architecture of vehicle ring network communication based on regional controller, thereby ensuring the redundancy of data and instruction data sets, and ensuring the accuracy of data through timed comparison of data and instruction data sets. Based on the above, in the event of a single point failure or even partial multi-point failure of communication, the integrity and accessibility of the whole vehicle data and instructions are guaranteed.

[0078] certainly, Figure 1-Figure 3 What is shown is the situation that a closed loop structure is formed between the first regional controller and the second regional controller. In other embodiments, an open loop structure may also be formed between the first regional controller and the second regional controller. Specifically, the open loop structure in the present invention refers to a disconnection between only two of the second regional controllers. For example, the Ethernet connection between the two second regional controllers is disconnected. It should be noted that in order to ensure the integrity of the data, the present invention has only one disconnection between the second regional controllers, and in order to ensure the redundancy of the data transmission of the first regional controller, all connections with the first regional controller cannot be disconnected.

[0079] For open loop structure, please refer to Figure 4 ,exist Figure 4 In the same way, K=2 and M=2 are used as an example for explanation. The first regional controller includes a left regional controller and a rear regional controller, and the second regional controller includes a front regional controller and a right regional controller; wherein the first regional controller and the second regional controller form an outer open loop, and the first regional controller and the high-performance on-board computer form an inner closed loop;

[0080] Figure 4The outer open loop structure is: the front area controller, the left area controller, the rear area controller, and the right area controller are connected in sequence in a counterclockwise direction, and the front area controller is disconnected from the right area controller; the left area controller and the rear area controller are both connected to the high-performance vehicle-mounted computer. Thus, an outer open loop is formed between the front area controller, the left area controller, the rear area controller, and the right area controller. An inner closed loop is formed between the left area controller and the rear area controller and the high-performance vehicle-mounted computer.

[0081] Of course, for Figure 4 In terms of the front area controller, the left area controller, the high-performance vehicle-mounted computer, the rear area controller, and the right area controller also form an open loop.

[0082] Figure 4 The ring network topology is formed by the connection between the high-performance on-board computer, the rear area controller and the left area controller.

[0083] Of course, it should be appreciated that in other embodiments, Figure 4 Based on the structure of the embodiment shown, the right area controller and the rear area controller, or the front area controller and the left area controller can be indirectly connected; that is, the right area controller and the rear area controller, and the front area controller and the left area controller can be connected to other first area controllers or the second area controllers, and the other end of the right area controller that is not connected to the rear area controller, and the other end of the front area controller that is not connected to the left area controller, can also be connected to the first area controller or the second area controller.

[0084] Compared with the star structure, the ring network topology of the present invention can simplify the wiring harness system, reduce the difficulty of assembly, promote the automation of wiring harness assembly, and shorten the length and weight of the vehicle wiring harness, which is conducive to reducing carbon emissions and extending the mileage of electric vehicles. The wiring harness carries the Ethernet and other networks. At the same time, the accuracy of the data is guaranteed, and the integrity and accessibility of the vehicle data and instructions are guaranteed in the case of single-point failure or even partial multi-point failure of communication.

[0085] The vehicle ring network communication redundant network architecture based on the regional controller adopts an open-loop structure, which can greatly reduce the number of the first regional controller and the second regional controller, reduce electronic complexity, and improve communication efficiency.

[0086] For the open-loop structure, one practical application is that the safety performance requirements of the right zone controller and the front zone controller are relatively lower than those of the rear zone controller and the left zone controller. Therefore, redundant transmission of data of the rear zone controller and the left zone controller is prioritized, and the right zone controller and the front zone controller obtain complete data through the rear zone controller and the front zone controller respectively.

[0087] The communication method of the present invention is described in detail below.

[0088] In one embodiment, a data sender generates a specific identifier for the data generated by itself, forms a data set with the data, and sends the data set along a first direction and a second direction; wherein the first direction is the clockwise direction of the ring topology network structure; the second direction is the counterclockwise direction of the ring topology network structure; the data sender is any one of the K first regional controllers or the M second regional controllers or the on-board computer;

[0089] In one embodiment, if the vehicle ring network communication redundant network architecture based on the regional controller is Figures 1 to 3 The closed loop structure shown in FIG. 1 , the ring topology network structure is the outer closed loop or the inner closed loop;

[0090] If the vehicle ring network communication redundant network architecture based on the regional controller is Figure 4 The open loop structure shown in FIG. 1 , then the ring topology network structure is the inner closed loop; the first direction is the clockwise direction of the inner closed loop or the outer closed loop, and the second direction is the counterclockwise direction of the inner closed loop or the outer closed loop.

[0091] The data sender may be any one of the K first regional controllers, any one of the M second regional controllers, or the on-board computer.

[0092] In practice, when the data sender is the on-board computer, the data set is an instruction data set, which is sent to the target controller through the ring topology network structure, and the target controller refers to: the first regional controller or the second regional controller corresponding to the instruction data set. The correspondence means that the on-board computer controls the target controller to execute the corresponding instruction through the instruction data set.

[0093] In one embodiment, Figure 1-Figure 3Taking the closed-loop structure shown as an example, its data transmission process is specifically as follows: when the high-performance on-board computer is the data sender, when the target controller is the right area controller, the high-performance on-board computer sends the instruction data set to the rear area controller along the clockwise direction of the inner closed loop of the closed-loop structure, and sends it to the left area controller along the counterclockwise direction. After receiving the instruction data set, the rear area controller sends it to the right area controller along the counterclockwise direction of the outer closed loop. After receiving the instruction data set, the left area controller sends it to the right area controller through the front area controller along the clockwise direction of the outer closed loop, so that the instruction data set circulates along the clockwise and counterclockwise directions of the outer closed loop; that is, after the on-board computer sends the instruction data set to the right controller (target area controller) in two directions, the instruction data set returns to the on-board computer in sequence along the clockwise and counterclockwise directions respectively.

[0094] In one embodiment, Figure 1-Figure 3 Taking the second area controller of the closed-loop structure shown as the data sender as an example, when the sender is the right area controller, the right area controller sends the data set to the front area controller along the counterclockwise direction of the outer closed loop, and sends it to the rear area controller along the clockwise direction. After receiving the data set, the rear area controller sends it to the left area controller along the clockwise direction, and the rear area controller sends the data set to the high-performance on-board computer along the counterclockwise direction of the inner closed loop, the left area controller sends the data set to the front area controller along the clockwise direction of the outer closed loop, and the front area controller sends the data set to the right area controller along the clockwise direction of the outer closed loop. After receiving the data set, the front area controller sends it to the left area data set in the counterclockwise direction. The left area controller sends the data set to the rear area controller, and the left area controller sends the data set to the high-performance on-board computer in the clockwise direction of the inner closed loop. The rear area controller sends the data set to the right area controller in the counterclockwise direction of the outer closed loop. The right area controller receives the data set sent by itself from both the clockwise and counterclockwise directions. The on-board computer receives the data set sent by the right area controller in both the clockwise and counterclockwise directions of the inner closed loop.

[0095] In one embodiment, Figure 1-Figure 3In the closed-loop structure shown, the left area controller is the data sender, and the data receiving process is: in the outer closed loop, the left area controller can obtain data sets ③②① in sequence through the clockwise direction of the outer closed loop, and obtain data sets ①②③ in sequence through the counterclockwise direction, and regularly compare data sets ①, ②, ③ obtained from different interfaces; the data sets ①, ②, ③, ④, and ⑤ are respectively the data sets of the front area controller, the right area controller, the rear area controller, the left area controller, and the instruction data sets of the on-board computer.

[0096] In addition, in the previous embodiment, in step S101, when receiving the current data set, the data receiver determines whether the current data set is sent by itself. If it is sent by itself, in step S105, the current data set is discarded; the data receiver is any one of the K first regional controllers or the M second regional controllers or the on-board computer;

[0097] If it is not sent by itself, step S102 determines whether the current data set is damaged. If it is damaged, step S105 discards the current data set;

[0098] If not, step S103 is used to determine whether the current data set is a duplicate of the received data set. If so, step S105 is used to discard the current data set. If not, step S104 is used to transmit the current data set along the first direction and the second direction.

[0099] In one implementation, whether the data constitutes a duplicate is determined based on the device code and the timestamp.

[0100] The data sender generates a specific identifier for the data generated by itself, and forms a data set with the data. The first regional controller and the second regional controller receive the data of the corresponding execution system and process it to form a data set, and also receive the instruction data set of the computer; the computer sends the instruction data set, and receives the data set and the instruction data set sent by the data sender;

[0101] Through the above communication method, the ring topology network structure is prevented from forming a network storm, and the accuracy and real-time performance of data processing are guaranteed on the basis of data redundancy, using device coding, checksum, timestamp and other methods for comparison.

[0102] Please refer to Figure 5 , in the communication method, the specific identifier includes:

[0103] Device number, used to uniquely correspond to the device of the data sender;

[0104] Timestamp, used to indicate the time when the data was generated; and,

[0105] Checksum, used to check whether the data is damaged.

[0106] In one implementation, the process of forming the data set of the first regional controller or the second regional controller itself is:

[0107] First, the first regional controller or the second regional controller adds a unique number of the data node (such as 000, 001, 002, ..., 00n) after the data generated in the region;

[0108] Secondly, the checksum is calculated using a certain algorithm based on the data, device number, and timestamp.

[0109] Therefore, the data set includes: data, device number, timestamp, checksum, etc., and is simultaneously sent to the adjacent first regional controller or the second regional controller or the on-board computer through the Ethernet port.

[0110] In one embodiment, when the K first regional controllers and the M second regional controllers are connected to form an open loop structure, the second regional controller at the disconnection point sends the data set generated by itself to the first regional controller closest to it through the open loop structure, and obtains other data sets through the closest first regional controller.

[0111] In one embodiment, Figure 4 Taking the open loop structure as an example: when the right area controller is the data sender, the data generated by the right area controller itself is sent to the rear area controller only in the clockwise direction of the outer open loop. The outer open loop refers to Figure 4 The front area controller, the left area controller, the rear area controller and the right area controller form an open loop; the right area controller can only receive other data through the rear area controller.

[0112] In one implementation, under the premise of meeting the functional safety level requirements of the first regional controller and the entire vehicle, the ring topology network structure where the second regional controller with lower functional safety requirements is located can be considered as an open-loop structure. At this time, the second regional controller with lower safety level requirements can only send the sensor data within the area to the adjacent first regional controller with a higher functional safety level, and can only obtain the instruction data set from it.

[0113] The communication method provided by the present invention is conducive to achieving communication redundancy and ensuring effective implementation of vehicle communication and control in the event of single-point or even partial multi-point communication failure.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle ring network communication redundant network architecture based on a regional controller, characterized in that: include: On-board computer; K first area controllers, K is an integer greater than or equal to 2; The first regional controller is connected to the on-board computer; M second regional controllers, M is an integer greater than or equal to 1; all the second regional controllers are not directly connected to the vehicle-mounted computer; The K first regional controllers and the M second regional controllers are connected to form a closed loop structure or an open loop structure; at least the K first regional controllers are connected to the on-board computer to form a ring topology network structure, and the ring topology network structure is used to realize signal redundant transmission; N execution systems, each of which is connected to a first regional controller or a second regional controller, wherein N=M+K.

2. The vehicle ring network communication redundant network architecture based on regional controller according to claim 1 is characterized in that: The on-board computer is provided with an Ethernet interface.

3. The vehicle ring network communication redundant network architecture based on the regional controller according to claim 1 or 2, characterized in that: The execution system includes a sensor connected to the corresponding first area controller or the second area controller, an electric control unit and an actuator.

4. The vehicle ring network communication redundant network architecture based on regional controller according to claim 2 is characterized in that: The vehicle-mounted computer is also connected to a background device and a vehicle-mounted diagnostic interface.

5. The vehicle ring network communication redundant network architecture based on regional controller according to claim 1 is characterized in that: The open-loop structure has and only has two disconnections between the second zone controllers.

6. The vehicle ring network communication redundant network architecture based on the regional controller according to claim 2 is characterized in that: The closed-loop structure is specifically: all K first regional controllers and all M second regional controllers are connected in sequence to form a closed loop, so that the K first regional controllers and the M second regional controllers are connected to the on-board computer to form a ring topology network structure.

7. A communication method, using the vehicle ring network communication redundant network architecture based on a regional controller as described in any one of claims 1 to 6 for communication, characterized in that: The method includes: The data sender generates a specific identifier for the data generated by itself, forms a data set with the data, and sends the data set along a first direction and a second direction; wherein the first direction is the clockwise direction of the ring topology network structure; the second direction is the counterclockwise direction of the ring topology network structure; the data sender is any one of the K first regional controllers or the M second regional controllers or the on-board computer; When receiving the current data set, the data receiver determines whether the current data set is sent by itself, and if so, discards the current data set; the data receiver is any one of the K first regional controllers or the M second regional controllers or the on-board computer; If it is not sent by itself, determine whether the current data set is damaged, and if so, discard the current data set; If not, determine whether the current data set is a duplicate of the received data set. If so, discard the current data set. If not, transmit the current data set along the first direction and the second direction.

8. The communication method according to claim 7, characterized in that: The specific identification includes: Device number, used to uniquely correspond to the device of the data sender; Timestamp, which is used to indicate the time when the data was generated; and Checksum, used to check whether the data is damaged.

9. The communication method according to claim 7 or 8, characterized in that: When the K first regional controllers and the M second regional controllers are connected to form an open loop structure, the second regional controller at the disconnected position sends the data set generated by itself to the first regional controller closest to it through the open loop structure, and obtains other data sets through the closest first regional controller.

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