ECU information transmission method, system, computer device and storage medium

Abstract

The present invention relates to an ECU information transmission method, system, computer equipment and storage medium, the method comprising: obtaining information to be sent from a source ECU and starting a sending instruction for the information to be sent; sending redundant information in the information to be sent through at least two virtual links with different sending mechanisms at the same time; a destination ECU receives the information to be sent; wherein the virtual links with different sending mechanisms include a virtual link based on a periodic control list sending mechanism and a virtual link based on a priority sending mechanism. The method is used to send the information to be sent through at least two virtual links at the same time, and the sending mechanisms of the virtual links involved in the sending are different, thereby improving the anti-interference ability of the information to be sent in the virtual link and improving the real-time performance of information transmission.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to an ECU information transmission method, system, computer equipment and storage medium. Background Art

[0002] There are redundant physical links between ECUs, and important information can be sent through redundant physical links to ensure that communication is not interrupted when a physical link fails. However, the transmission of important information such as vehicle control signals (such as brake, steering, and power control signals) needs to ensure real-time performance. The loss of such important information will have a significant impact on vehicle control and vehicle safety. In the case of redundancy of only physical links, errors may occur in the sending and receiving mechanisms on the redundant physical links. For example, software design errors responsible for sending and receiving information may affect the transmission of redundant information on the redundant physical links at the same time. In addition, the transmission of redundant information may also be affected by other information at the same time, resulting in the failure of redundant information to be transmitted at the same time. Therefore, if the same mechanism is used to send on redundant physical links, it may be interfered by other information at the same time, and the real-time transmission of information between ECUs cannot be guaranteed. Summary of the invention

[0003] Based on this, it is necessary to provide an ECU information transmission method, system, computer device and storage medium that can improve the timeliness of information transmission in response to the above technical problems.

[0004] In one aspect, a method for transmitting ECU information is provided, the method comprising:

[0005] Obtain the information to be sent from the source ECU and start the sending instruction of the information to be sent;

[0006] Sending the redundant information in the information to be sent simultaneously through at least two virtual links with different sending mechanisms;

[0007] The destination ECU receives the information to be sent.

[0008] In one of the embodiments, the virtual links with different sending mechanisms include a virtual link based on a periodic control list sending mechanism and a virtual link based on a priority sending mechanism.

[0009] In one embodiment, after obtaining the information to be sent from the source ECU and starting the sending instruction of the information to be sent, the method further includes:

[0010] At least one of the virtual links is selected to send the non-redundant information in the information to be sent.

[0011] In one of the embodiments, the virtual link includes a virtual link to be redundant and a virtual link not to be redundant, the information to be redundant is sent through the virtual link to be redundant, and the information not to be redundant is sent through the virtual link not to be redundant.

[0012] In one embodiment, before initiating the instruction to send the information to be sent, the method further includes:

[0013] Establishing at least two of the physical links, and establishing at least one of the virtual links on each of the physical links;

[0014] Configure the transmission route of the virtual link between the source ECU and the destination ECU.

[0015] In one embodiment, the destination ECU receives the information to be sent, specifically including:

[0016] Determining whether the information to be sent received by the destination ECU is information to be redundant;

[0017] If the information to be sent received by the destination ECU is not information to be redundant, a CRC check is performed, and after the CRC check succeeds, instructions in the information to be sent are extracted and run for processing;

[0018] If the information to be sent received by the destination ECU is information to be redundant, it is determined whether the information to be sent is sent through different virtual links.

[0019] In one embodiment, determining whether the information to be sent is sent through different virtual links specifically includes:

[0020] If the information to be sent is sent through different virtual links, determining whether the information to be sent between different virtual links is consistent;

[0021] If the information to be sent is sent through the same virtual link, the number of errors is recorded, and it is determined whether the number of errors is greater than a preset number;

[0022] If the number of errors is greater than the preset number, performing minimum risk processing;

[0023] If the number of errors is less than or equal to the preset number, a CRC check is performed, and after the CRC check succeeds, the instructions in the information to be sent are extracted and processed.

[0024] In one embodiment, determining whether the information to be sent between different virtual links is consistent specifically includes:

[0025] If the information to be sent between different virtual links is consistent, a CRC check is performed, and after the CRC check succeeds, the instructions in the information to be sent are extracted and run for processing;

[0026] If the information to be sent between different virtual links is inconsistent, the number of errors is recorded, and it is determined whether the number of errors is greater than a preset number;

[0027] If the number of errors is greater than the preset number, performing minimum risk processing;

[0028] If the number of errors is less than or equal to the preset number, the source ECU is required to resend the information to be sent.

[0029] On the other hand, an ECU information transmission system is provided, the system comprising:

[0030] An information transmission module, used to send information to be sent or receive information to be sent;

[0031] A virtual link module, used for sending the information to be sent through a virtual link;

[0032] Link configuration module, used to configure virtual link routes between ECUs;

[0033] The link establishment module is used to establish a physical link or a virtual link.

[0034] The virtual links include virtual links based on a periodic control list sending mechanism and virtual links based on a priority sending mechanism.

[0035] In another aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0036] Obtain the information to be sent from the source ECU and start the sending instruction of the information to be sent;

[0037] Sending the redundant information in the information to be sent simultaneously through at least two virtual links with different sending mechanisms;

[0038] The destination ECU receives the information to be sent.

[0039] On the other hand, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a program, and when the program is executed by a processor, the processor performs the following steps:

[0040] Obtain the information to be sent from the source ECU and start the sending instruction of the information to be sent;

[0041] Sending the redundant information in the information to be sent simultaneously through at least two virtual links with different sending mechanisms;

[0042] The destination ECU receives the information to be sent.

[0043] The above technical solution of the present invention has the following advantages compared with the prior art:

[0044] The above-mentioned ECU information transmission method, system, computer equipment and storage medium establish virtual links with different transmission mechanisms on the physical links of the prior art. The virtual links with different transmission mechanisms include virtual links based on the periodic control list transmission mechanism and virtual links based on the priority transmission mechanism. The virtual links based on the periodic control list transmission mechanism can adopt the TAS transmission mechanism; the virtual links based on the priority transmission mechanism can adopt the VLAN transmission mechanism, wherein the TAS transmission mechanism includes eight virtual queues, each of which has its unique transmission algorithm, and two of the virtual queues are selected to send information during transmission; the VLAN transmission mechanism includes eight virtual queues with different priorities, each of which has a different priority, and two of the virtual queues with different priorities are selected to send information during transmission. The information to be sent is sent through virtual links with different transmission mechanisms, which reduces the interference level during information transmission, improves the anti-interference ability during the transmission of the information to be sent, and improves the real-time performance of information transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments 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 creative work.

[0046] Figure 1 is a first method flow chart of the ECU information transmission method of the present invention;

[0047] Figure 2 is a second method flow chart of the ECU information transmission method of the present invention;

[0048] Figure 3 is a system structure diagram of the ECU information transmission system of the present invention;

[0049] Figure 4 It is a schematic diagram of the topological structure of four ECUs of the ECU information transmission system of the present invention;

[0050] Figure 5 It is a device structure diagram of the computer device of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] There are redundant physical links between ECUs, and important information can be sent through the redundant physical links to ensure that communication will not be interrupted when a physical link fails. However, the transmission of important information such as vehicle control signals (such as brake, steering, and power control signals) needs to ensure real-time performance. The loss of such important information will have a significant impact on vehicle control and vehicle safety. In the case of redundancy of only physical links, errors may occur in the sending mechanism and receiving mechanism on the redundant physical link, such as software design errors responsible for sending and receiving information, which may affect the transmission of redundant information on the redundant physical link at the same time. In addition, the transmission of redundant information may also be affected by other information at the same time, resulting in the failure of redundant information to be transmitted at the same time. Therefore, if the same mechanism is used to send on the redundant physical link, it may be interfered by other information at the same time, and the real-time performance of information transmission between ECUs cannot be guaranteed. Therefore, the present invention proposes an ECU information transmission method, system, computer device, and storage medium, which establish virtual links with different transmission mechanisms on the physical links of the prior art to reduce the degree of interference during information transmission to improve the real-time performance of information transmission.

[0053] Embodiment 1

[0054] The ECU information transmission method of this embodiment refers to Figure 1-2 As shown, Figure 1 A first method flow chart of the ECU information transmission method of the present invention; Figure 2 It is a second method flow chart of the ECU information transmission method of the present invention.

[0055] The method comprises the following steps:

[0056] Obtain the information to be sent from the source ECU and start the sending instruction of the information to be sent;

[0057] When sending information between ECUs, the ECU responsible for sending the information is defined as the source ECU, and the ECU responsible for receiving the information is defined as the destination ECU. To complete the sending and receiving of information, the information to be sent from the source ECU must first be obtained, and then the sending instruction of the information to be sent must be started to start sending the information to be sent.

[0058] Sending the redundant information in the information to be sent simultaneously through at least two virtual links with different sending mechanisms;

[0059] If the information to be sent by the source ECU is redundant information, then in order to reduce the possibility of interference from other information when the redundant information is transmitted and ensure the real-time transmission of information, the information to be sent needs to be sent through at least two virtual links at the same time, and the sending mechanisms of the virtual links involved in the sending are different, so as to improve the anti-interference ability of the information to be sent in the virtual link. Preferably, two virtual links are used, that is, the information to be sent is sent through two virtual links at the same time.

[0060] The destination ECU receives the information to be sent.

[0061] The source ECU determines whether the information to be sent needs to be redundant based on the importance of the information to be sent. The redundant information and the non-redundant information are transmitted through different transmission methods respectively. After the information to be sent is transmitted, the destination ECU receives the information to extract the instructions in the information and run the processing to complete the corresponding action.

[0062] In one of the implementation modes, the virtual links with different sending mechanisms include a virtual link based on a periodic control list sending mechanism and a virtual link based on a priority sending mechanism.

[0063] The transmission mechanism of the virtual link adopts a virtual link based on a periodic control list transmission mechanism and a virtual link based on a priority transmission mechanism. The virtual link based on the periodic control list transmission mechanism can adopt a TAS (Time Awareness Shaper) transmission mechanism; the virtual link based on the priority transmission mechanism can adopt a VLAN (Virtual Local Area Network) transmission mechanism; wherein, TAS dynamically provides an on / off control mechanism for the egress queue, and is a time-triggered network. The periodic control list is periodically scanned, and transmission ports are opened for different queues in a predefined order. The TAS transmission mechanism includes eight virtual queues, each of which has its own unique transmission algorithm, and two of the virtual queues are selected to transmit information during transmission; the VLAN transmission mechanism includes eight priority virtual queues, each of which has a different priority, and two of the virtual queues with different priorities are selected to transmit information during transmission. When information is transmitted between ECUs, since two virtual queues with different transmission mechanisms are used to transmit information, that is, two virtual links with different transmission mechanisms are used, the anti-interference ability during information transmission is effectively improved, and the real-time performance of information transmission is improved. When transmitting information between actual ECUs, redundant information can be transmitted through at least two virtual links of the TAS sending mechanism; redundant information can also be sent through at least two priority virtual links of the VLAN sending mechanism; redundant information can also be sent through at least one virtual link of the TAS sending mechanism and at least one virtual link of the VLAN sending mechanism.

[0064] In one embodiment, after obtaining the information to be sent from the source ECU and starting the sending instruction of the information to be sent, the method further includes:

[0065] At least one of the virtual links is selected to send the non-redundant information in the information to be sent.

[0066] If the information to be sent is non-redundant information, it means that the information to be sent does not affect the driving of the autonomous driving vehicle, such as obtaining the status information of a certain component. At this time, there is no need to send the information to be sent through two virtual links with different sending mechanisms at the same time. You only need to select at least one from the virtual links.

[0067] In one embodiment, the virtual link includes a virtual link to be redundant and a virtual link not to be redundant, the information to be redundant is sent via the virtual link to be redundant, and the information not to be redundant is sent via the virtual link not to be redundant.

[0068] The information to be sent is divided into redundant information and non-redundant information. In order to achieve the rational use of virtual link resources, virtual links can be divided into redundant virtual links and non-redundant virtual links according to the type of information to be sent. Redundant information is sent through redundant virtual links, and non-redundant information is sent through non-redundant virtual links. For example, a virtual link using the TAS sending mechanism executes the transmission of information to be sent, wherein the first two virtual queues of TAS are redundant virtual links, and the last six virtual queues are non-redundant virtual links; therefore, if the information to be sent is redundant information, the redundant information is sent through the first two virtual queues of TAS; if the information to be sent is non-redundant information, the non-redundant information is sent through the last six virtual queues of TAS. For another example, a virtual link using a VLAN sending mechanism executes transmission of information to be sent, wherein, according to priority classification, two virtual queues with high priority in the VLAN are virtual links to be redundant, and six virtual queues with low priority are virtual links not to be redundant; therefore, if the information to be sent is information to be redundant, the information to be redundant is sent through the two virtual queues with high priority in the VLAN; if the information to be sent is non-redundant information, the non-redundant information is sent through the six virtual queues with low priority in the VLAN.

[0069] In one embodiment, before initiating the instruction to send the information to be sent, the method further includes:

[0070] Establishing at least two of the physical links, and establishing at least one of the virtual links on each of the physical links;

[0071] In order to achieve the transmission of the information to be sent, it is necessary to establish virtual links with different transmission mechanisms. The establishment of virtual links depends on physical links. Therefore, physical links must be established before transmitting information between ECUs, and at least two physical links must be established between the source ECU and the destination ECU. Preferably, two physical links can be established. At least one virtual link is established on each physical link. Preferably, multiple virtual links are established on each physical link. Different information is transmitted through multiple virtual links, and the transmission mechanisms of virtual links on different physical links are different, which improves the anti-interference ability of the information to be sent.

[0072] Configure the transmission route of the virtual link between the source ECU and the destination ECU;

[0073] After the source ECU and the destination ECU are determined and the virtual link is established, the transmission route of the virtual link between the source ECU and the destination ECU is configured. Figure 4As shown, for example, the source ECU is ECU_A, and the destination ECU is ECU_D, wherein physical links are established between ECU_A and ECU_B, between ECU_A and ECU_C, between ECU_C and ECU_D, and between ECU_B and ECU_D through Ethernet connections, and then virtual links are established on the physical links. When a transmission route is established between ECU_A and ECU_D, there are two virtual link transmission routes, the first virtual link is the virtual link of ECU_A->ECU_B->ECU_D; the second is ECU_A->ECU_C->ECU_D. If the source ECU is ECU_A and the destination ECU is ECU_B, the transmission routes of the two virtual links are: the first virtual link is the virtual link of ECU_A->ECU_B; the second is ECU_A->ECU_C->ECU_D->ECU_B. Therefore, the transmission route of the virtual link will be established between the source ECU and the destination ECU according to the actual situation, and the sending mechanisms of the two virtual links are different. Among them, Switch is a physical link used to switch the connection.

[0074] In one embodiment, after the information to be sent is sent, the method further includes:

[0075] Determine whether the information to be sent is sent successfully;

[0076] If the information to be sent is sent successfully, the sending is terminated;

[0077] If the information to be sent is not sent successfully, the number of errors is recorded, and it is determined whether the number of errors is greater than a preset number;

[0078] If the number of errors is greater than a preset number, a minimum risk process is performed;

[0079] If the number of errors is less than or equal to the preset number of errors, the information to be sent is resent according to the original sending method.

[0080] Preferably, the redundant information is sent simultaneously through two virtual links with different sending mechanisms, and the non-redundant information is sent through one of the virtual links. After the information to be sent is sent, it is necessary to determine whether the information to be sent is sent successfully. If the information to be sent is sent successfully, the sending is terminated, and it is only necessary to wait for the destination MCU to receive the information to be sent; if the information to be sent is not sent successfully, the number of errors is recorded once, and then the information to be sent is resent through the original sending method. A preset number of times will be set in this judgment process. If the recorded number of errors is greater than the preset number of times, it means that the information to be sent has never been sent successfully, and the minimum risk processing is performed, and then the communication is terminated; if the recorded number of errors is less than or equal to the preset number of times, the information to be sent is resent according to the original sending method; that is, if it is redundant information, the information to be sent is resent through two virtual links with different transmission mechanisms; if it is non-redundant information, one of the virtual links is selected or the non-redundant virtual link is directly used to send the non-redundant information in the information to be sent. Among them, the minimum risk processing is, for example, the source ECU sends a steering wheel control information to the destination ECU, but the source ECU has never successfully sent the control information, and the destination MCU will not receive the control information. In this case, the minimum risk processing and vehicle emergency braking processing must be executed.

[0081] In one embodiment, the destination ECU receives the information to be sent, specifically including:

[0082] Determining whether the information to be sent received by the destination ECU is information to be redundant;

[0083] If the information to be sent received by the destination ECU is not information to be redundant, a CRC check is performed, and after the CRC check succeeds, instructions in the information to be sent are extracted and run for processing;

[0084] If the information to be sent received by the destination ECU is information to be redundant, it is determined whether the information to be sent is sent through different virtual links.

[0085] After the information to be sent is sent by the source ECU, the destination ECU receives the information to be sent, and then first determines whether the information to be sent is redundant information. If the information to be sent is not redundant information, that is, non-redundant information, a CRC check is performed. After the CRC check is successful, the destination ECU extracts the instructions in the information to be sent and runs the processing to complete the corresponding operations, such as obtaining the status information of a certain component; if the information to be sent is redundant information, it is necessary to determine whether the information to be sent is sent through different virtual links, because redundant information needs to be sent through different virtual links, so as to effectively improve the anti-interference ability during information transmission and effectively improve the real-time performance of information transmission.

[0086] In one implementation manner, determining whether the information to be sent is sent through different virtual links specifically includes:

[0087] If the information to be sent is sent through different virtual links, determining whether the information to be sent between different virtual links is consistent;

[0088] If the information to be sent is sent through the same virtual link, the number of errors is recorded, and it is determined whether the number of errors is greater than a preset number;

[0089] If the number of errors is greater than the preset number, performing minimum risk processing;

[0090] If the number of errors is less than or equal to the preset number, a CRC check is performed, and after the CRC check succeeds, the instructions in the information to be sent are extracted and processed.

[0091] After the destination ECU determines that the information to be sent is redundant information, it is necessary to determine whether the information to be sent is sent through different virtual links. If the information to be sent is sent through different virtual links, it is necessary to further determine whether the information to be sent sent through different virtual links is consistent; if the information to be sent is not sent through different virtual links, the number of errors must be recorded. A preset number of times will be set in this judgment process. If the recorded number of errors is greater than the preset number, it means that the information to be sent has never been sent successfully, and the minimum risk processing is performed, and then the communication is terminated; if the number of errors is less than the preset number, a CRC check is performed on the information to be sent to determine the accuracy of the information to be sent. After the CRC check is successful, the instructions in the information to be sent are extracted and processed.

[0092] In one implementation manner, performing a CRC check specifically includes:

[0093] Start CRC check and determine whether CRC check is successful;

[0094] If the CRC check succeeds, the instructions in the information to be sent are extracted and processed;

[0095] If the CRC check fails, the information to be sent is resent.

[0096] If the number of errors is less than the preset number, the information to be sent needs to be CRC checked, the CRC check is started, and then it is determined whether the CRC check is successful. If the information to be sent passes the CRC check successfully, it means that the information to be sent is redundant information and is not sent through different virtual links, but the information to be sent is correct, then the instructions in the information to be sent are extracted and processed, and the corresponding operations are completed; if the information to be sent fails the CRC check, it means that there is a problem in the sending process of the information to be sent, resulting in an abnormality of the information to be sent, and the information to be sent needs to be resent according to the original sending method, that is, if it is redundant information, the information to be sent is resent through a virtual link with a different transmission mechanism; if it is non-redundant information, at least one of the virtual links is selected or the non-redundant information in the information to be sent is directly sent through the non-redundant virtual link.

[0097] In one implementation manner, determining whether the information to be sent between different virtual links is consistent specifically includes:

[0098] If the information to be sent between different virtual links is consistent, a CRC check is performed, and after the CRC check succeeds, the instructions in the information to be sent are extracted and run for processing;

[0099] If the information to be sent between different virtual links is inconsistent, the number of errors is recorded, and it is determined whether the number of errors is greater than a preset number;

[0100] If the number of errors is greater than the preset number, performing minimum risk processing;

[0101] If the number of errors is less than or equal to the preset number, the source ECU is required to resend the information to be sent.

[0102] If the information to be sent is redundant information, and after judgment, the information to be sent is sent through different virtual links, it is necessary to judge whether the information to be sent between different virtual links is consistent. If the information to be sent between different virtual links is not consistent, the number of errors is recorded. A preset number is set in this judgment process. If the number of errors is greater than the preset number, the minimum risk processing is performed and the communication is terminated; if the number of errors is not greater than the preset number, the information to be sent needs to be resent through virtual links with different transmission mechanisms; if the information to be sent between different virtual links is consistent, a CRC check is performed. After the CRC check is successful, the instructions in the information to be sent are extracted and run to complete the corresponding operation, and then the signal communication from the source ECU to the destination ECU is completed.

[0103] Embodiment 2

[0104] Reference Figure 2 As shown, Figure 2 This is a second method flow chart of the ECU information transmission method of the present invention.

[0105] Establishing at least two of the physical links, and establishing at least one of the virtual links on each of the physical links;

[0106] In order to realize the transmission of information to be sent, virtual links with different transmission mechanisms must be established. The establishment of virtual links depends on physical links. Therefore, physical links must be established before transmitting information between ECUs, and at least two physical links must be established between the source ECU and the destination ECU. Then, at least one virtual link is established on each physical link. Preferably, multiple virtual links are established on each physical link, and different information is transmitted through multiple virtual links.

[0107] Configure the transmission route of the virtual link between the source ECU and the destination ECU;

[0108] After the source ECU and the destination ECU are determined and the virtual link is established, the transmission route of the virtual link between the source ECU and the destination ECU is configured according to the specific actual situation.

[0109] Obtain the information to be sent from the source ECU and start the sending instruction of the information to be sent;

[0110] To complete the sending and receiving of information, the information to be sent of the source ECU must first be obtained, and then the sending instruction of the information to be sent must be started, so as to start sending the information to be sent;

[0111] Determining whether the information to be sent is information to be redundant;

[0112] Get the information to be sent of the source ECU, and then determine whether the information to be sent is redundant information. If the information to be sent is redundant information, send the information to be sent simultaneously through at least two virtual links with different sending mechanisms, which can reduce the interference possibility of other information during transmission, improve the anti-interference ability of the information to be sent in the virtual link during transmission, and ensure the real-time transmission of information; if the information to be sent is not redundant information, that is, non-redundant information, select one of the virtual links for the non-redundant information or directly send the information to be sent through the non-redundant virtual link.

[0113] Determine whether the information to be sent is sent successfully;

[0114] After the information to be sent is sent, it is necessary to determine whether the information to be sent is sent successfully. If the information to be sent is sent successfully, the sending is terminated and it is only necessary to wait for the destination MCU to receive the information to be sent; if the information to be sent is not sent successfully, the number of errors is recorded once, and then the information to be sent is resent through the original sending method. A preset number of times will be set in this judgment process. If the recorded number of errors is greater than the preset number of times, it means that the information to be sent has never been sent successfully, and the minimum risk processing is performed, and then the communication is terminated; if the recorded number of errors is less than or equal to the preset number of times, the information to be sent is resent according to the original sending method; that is, if it is redundant information, the information to be sent is resent through two virtual links with different transmission mechanisms; if it is non-redundant information, one of the virtual links is selected or the non-redundant information in the information to be sent is directly sent through the non-redundant virtual link.

[0115] Determining whether the information to be sent received by the destination ECU is information to be redundant;

[0116] After the information to be sent is sent by the source ECU, the destination ECU receives the information to be sent, and then first determines whether the information to be sent is redundant information. If the information to be sent is not redundant information, that is, non-redundant information, a CRC check is performed. After the CRC check is successful, the destination ECU extracts the instructions in the information to be sent and runs the processing to complete the corresponding operations, such as obtaining the status information of a certain component; if the information to be sent is redundant information, it is necessary to determine whether the information to be sent is sent through different virtual links, because redundant information needs to be sent through different virtual links, so as to effectively improve the anti-interference ability during information transmission and effectively improve the real-time performance of information transmission.

[0117] Determining whether the information to be sent is sent through different virtual links;

[0118] After the destination ECU determines that the information to be sent is redundant information, it is necessary to determine whether the information to be sent is sent through different virtual links. If the information to be sent is sent through different virtual links, it is necessary to further determine whether the information to be sent sent through different virtual links is consistent; if the information to be sent is not sent through different virtual links, the number of errors must be recorded. A preset number of times will be set in this judgment process. If the recorded number of errors is greater than the preset number, it means that the information to be sent has never been sent successfully, and the minimum risk processing is performed, and then the communication is terminated; if the number of errors is less than the preset number, a CRC check is performed on the information to be sent to determine the accuracy of the information to be sent.

[0119] Determining whether the information to be sent between different virtual links is consistent;

[0120] If the information to be sent is redundant information, and after judgment, the information to be sent is sent through different virtual links, it is necessary to judge whether the information to be sent between different virtual links is consistent. If the information to be sent between different virtual links is not consistent, the number of errors is recorded. A preset number is set in this judgment process. If the number of errors is greater than the preset number, the minimum risk processing is performed and the communication is terminated; if the number of errors is not greater than the preset number, the information to be sent needs to be resent through virtual links with different transmission mechanisms; if the information to be sent between different virtual links is consistent, a CRC check is performed. After the CRC check is successful, the instructions in the information to be sent are extracted and run to complete the corresponding operation, and then the signal communication from the source ECU to the destination ECU is completed.

[0121] It should be understood that although Figures 1-2 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figures 1-2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0122] Embodiment 3

[0123] Reference Figure 3 As shown, Figure 3 It is a system structure diagram of the ECU information transmission system of the present invention.

[0124] The ECU information transmission system of this embodiment includes:

[0125] An information transmission module, used to send information to be sent or receive information to be sent;

[0126] The information transmission module is used to enable the source ECU to send the information to be sent to the destination ECU, and the destination ECU to receive the information to be sent.

[0127] A virtual link module, used for sending the information to be sent through a virtual link;

[0128] If the information to be sent by the source ECU is information to be redundant, then in order to reduce the possibility of interference from other information during the transmission of the information to be redundant and ensure the real-time transmission of information, it is necessary to send the information to be sent through at least two virtual links at the same time through the virtual link module, and the sending mechanisms of the virtual links involved in the sending are different to improve the anti-interference ability of the information to be sent in the virtual link; if the information to be sent by the source ECU is not information to be redundant, that is, non-redundant information, then at least one of the virtual links is selected through the virtual link module or the non-redundant information in the information to be sent is directly sent through the non-redundant virtual link.

[0129] Link configuration module, used to configure virtual link routes between ECUs;

[0130] After the source ECU and the destination ECU are determined and the virtual link is established, the transmission route of the virtual link between the source ECU and the destination ECU is configured according to the actual situation through the link configuration module.

[0131] The link establishment module is used to establish a physical link or a virtual link.

[0132] In order to realize the transmission of the information to be sent, it is necessary to establish virtual links of different transmission mechanisms through the link establishment module. The establishment of virtual links depends on physical links. Therefore, before transmitting information between ECUs, it is necessary to establish physical links through the link establishment module.

[0133] The virtual links with different sending mechanisms include virtual links based on a periodic control list sending mechanism and virtual links based on a priority sending mechanism.

[0134] The transmission mechanism of the virtual link adopts a virtual link based on a periodic control list sending mechanism and a virtual link based on a priority sending mechanism. The virtual link based on the periodic control list sending mechanism can adopt the TAS sending mechanism; the virtual link based on the priority sending mechanism adopts the VLAN sending mechanism, wherein the TAS sending mechanism includes eight virtual queues, each of which has its own unique transmission algorithm, and two of the virtual queues are selected to send information during transmission; the VLAN sending mechanism includes eight priority virtual queues, each of which has a different priority, and two of the virtual queues with different priorities are selected to send information during transmission. When information is transmitted between ECUs, since two virtual queues with different transmission mechanisms are used to send information, that is, two virtual links with different transmission mechanisms are used, the anti-interference ability during information transmission is effectively improved, and the real-time performance of information transmission is improved.

[0135] For the specific definition of the ECU information transmission system, please refer to the definition of the method above, which will not be repeated here. Each module in the above-mentioned ECU information transmission system can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0136] Embodiment 4

[0137] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the ECU information transmission method when executing the computer program.

[0138] The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the ECU information transmission method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0139] Those skilled in the art should understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0140] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0141] Obtain the information to be sent from the source ECU and start the sending instruction of the information to be sent;

[0142] Sending the redundant information in the information to be sent simultaneously through at least two virtual links with different sending mechanisms;

[0143] The destination ECU receives the information to be sent.

[0144] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0145] At least one of the virtual links is selected to send the non-redundant information in the information to be sent.

[0146] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0147] Establishing at least two of the physical links, and establishing at least one of the virtual links on each of the physical links;

[0148] Configure the transmission route of the virtual link between the source ECU and the destination ECU.

[0149] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0150] Determining whether the information to be sent received by the destination ECU is information to be redundant;

[0151] If the information to be sent received by the destination ECU is not information to be redundant, a CRC check is performed, and after the CRC check succeeds, instructions in the information to be sent are extracted and run for processing;

[0152] If the information to be sent received by the destination ECU is information to be redundant, it is determined whether the information to be sent is sent through different virtual links.

[0153] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0154] If the information to be sent is sent through different virtual links, determining whether the information to be sent between different virtual links is consistent;

[0155] If the information to be sent is sent through the same virtual link, the number of errors is recorded, and it is determined whether the number of errors is greater than a preset number;

[0156] If the number of errors is greater than the preset number, performing minimum risk processing;

[0157] If the number of errors is less than or equal to the preset number, a CRC check is performed.

[0158] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0159] If the information to be sent between different virtual links is consistent, a CRC check is performed, and after the CRC check succeeds, the instructions in the information to be sent are extracted and run for processing;

[0160] If the information to be sent between different virtual links is inconsistent, the number of errors is recorded, and it is determined whether the number of errors is greater than a preset number;

[0161] If the number of errors is greater than the preset number, performing minimum risk processing;

[0162] If the number of errors is less than or equal to the preset number, the source ECU is required to resend the information to be sent.

[0163] Embodiment 5

[0164] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0165] Obtain the information to be sent from the source ECU and start the sending instruction of the information to be sent;

[0166] Sending the redundant information in the information to be sent simultaneously through at least two virtual links with different sending mechanisms;

[0167] The destination ECU receives the information to be sent.

[0168] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0169] At least one of the virtual links is selected to send the non-redundant information in the information to be sent.

[0170] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0171] Establishing at least two of the physical links, and establishing at least one of the virtual links on each of the physical links;

[0172] Configure the transmission route of the virtual link between the source ECU and the destination ECU.

[0173] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0174] Determining whether the information to be sent received by the destination ECU is information to be redundant;

[0175] If the information to be sent received by the destination ECU is not information to be redundant, a CRC check is performed, and after the CRC check succeeds, instructions in the information to be sent are extracted and run for processing;

[0176] If the information to be sent received by the destination ECU is information to be redundant, it is determined whether the information to be sent is sent through different virtual links.

[0177] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0178] If the information to be sent is sent through different virtual links, determining whether the information to be sent between different virtual links is consistent;

[0179] If the information to be sent is sent through the same virtual link, the number of errors is recorded, and it is determined whether the number of errors is greater than a preset number;

[0180] If the number of errors is greater than the preset number, performing minimum risk processing;

[0181] If the number of errors is less than or equal to the preset number, a CRC check is performed.

[0182] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0183] If the information to be sent between different virtual links is consistent, a CRC check is performed, and after the CRC check succeeds, the instructions in the information to be sent are extracted and run for processing;

[0184] If the information to be sent between different virtual links is inconsistent, the number of errors is recorded, and it is determined whether the number of errors is greater than a preset number;

[0185] If the number of errors is greater than the preset number, performing minimum risk processing;

[0186] If the number of errors is less than or equal to the preset number, the source ECU is required to resend the information to be sent.

[0187] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0188] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0189] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. An ECU information transmission method, characterized in that: The method comprises: Obtain the information to be sent from the source ECU and start the sending instruction of the information to be sent; The redundant information in the information to be sent is sent simultaneously through at least two virtual links with different sending mechanisms; the virtual links with different sending mechanisms include a virtual link based on a periodic control list sending mechanism and a virtual link based on a priority sending mechanism; The destination ECU receives the information to be sent; The sending of the redundant information in the information to be sent through at least two virtual links with different sending mechanisms at the same time is specifically: Sending the information to be redundant through at least one virtual link based on a periodic control list sending mechanism and at least one virtual link based on a priority sending mechanism; Among them, the virtual link based on the periodic control list sending mechanism adopts the TAS sending mechanism, which includes eight virtual queues. Each virtual queue has its own unique transmission algorithm. Two virtual queues are selected to send information during transmission; the virtual link based on the priority sending mechanism adopts the VLAN sending mechanism; the virtual link is a virtual link with different transmission mechanisms established on the physical link.

2. The ECU information transmission method according to claim 1, characterized in that: After obtaining the information to be sent from the source ECU and starting the sending instruction of the information to be sent, the method further includes: At least one of the virtual links is selected to send the non-redundant information in the information to be sent.

3. The ECU information transmission method according to claim 2, characterized in that: The virtual link includes a virtual link to be redundant and a virtual link not to be redundant. The information to be redundant is sent through the virtual link to be redundant, and the information not to be redundant is sent through the virtual link not to be redundant.

4. The ECU information transmission method according to claim 1, characterized in that: Before the sending instruction of the information to be sent is started, the method further includes: Establishing at least two physical links, and establishing at least one virtual link on each of the physical links; Configure the transmission route of the virtual link between the source ECU and the destination ECU.

5. The ECU information transmission method according to claim 1, characterized in that: The destination ECU receives the information to be sent, specifically including: Determining whether the information to be sent received by the destination ECU is information to be redundant; If the information to be sent received by the destination ECU is not information to be redundant, a CRC check is performed, and after the CRC check succeeds, instructions in the information to be sent are extracted and run for processing; If the information to be sent received by the destination ECU is information to be redundant, it is determined whether the information to be sent is sent through different virtual links.

6. The ECU information transmission method according to claim 5, characterized in that: The determining whether the information to be sent is sent through different virtual links specifically includes: If the information to be sent is sent through different virtual links, determining whether the information to be sent between different virtual links is consistent; If the information to be sent is sent through the same virtual link, the number of errors is recorded, and it is determined whether the number of errors is greater than a preset number; If the number of errors is greater than the preset number, performing minimum risk processing; If the number of errors is less than or equal to the preset number, a CRC check is performed, and after the CRC check succeeds, the instructions in the information to be sent are extracted and processed.

7. The ECU information transmission method according to claim 6, characterized in that: The determining whether the information to be sent between different virtual links is consistent specifically includes: If the information to be sent between different virtual links is consistent, a CRC check is performed, and after the CRC check succeeds, the instructions in the information to be sent are extracted and run for processing; If the information to be sent between different virtual links is inconsistent, the number of errors is recorded, and it is determined whether the number of errors is greater than a preset number; If the number of errors is greater than the preset number, performing minimum risk processing; If the number of errors is less than or equal to the preset number, the source ECU is required to resend the information to be sent.

8. An ECU information transmission system for implementing the ECU information transmission method according to any one of claims 1 to 7, characterized in that: The system comprises: An information transmission module, used to send information to be sent or receive information to be sent; A virtual link module, used for sending the information to be sent through a virtual link; Link configuration module, used to configure virtual link routes between ECUs; A link establishment module, used to establish a physical link or a virtual link; The virtual links include virtual links based on a periodic control list sending mechanism and virtual links based on a priority sending mechanism.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, and when the program is executed by a processor, the processor executes the steps of the method according to any one of claims 1 to 7.

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