A communication system in a vehicle, a data communication method and a terminal device

Abstract

The present application is applicable to the field of data communication technology, and provides a communication system in a vehicle, a data communication method and a terminal device, the system comprising: connecting the primary domain controller and the redundant domain controller through a first virtual local area network; connecting the gateway to the primary domain controller and the redundant domain controller through a second virtual local area network. The virtual local area network used between the two domain controllers is different from the virtual local area network used between the gateway and the domain controller, which prevents the formation of a loop storm between the gateway, the primary domain controller and the redundant domain controller, and avoids the data forwarded by the gateway to the peripheral device through one domain controller being directly transmitted back to the gateway through another domain controller, thereby improving the reliability of data transmission.

Description

Technical Field

[0001] The present application belongs to the field of data communication technology, and in particular, relates to a communication system in a vehicle, a data communication method and a terminal device. Background Art

[0002] Vehicles have become an indispensable means of transportation for people. In order to improve the performance of vehicles, primary domain controllers, redundant domain controllers and gateways are often set in vehicles to facilitate data processing and data transmission.

[0003] However, when the gateway needs to transmit data to the peripheral device through the primary domain controller or the redundant domain controller, a loop storm is easily formed between the gateway, the primary domain controller and the redundant domain controller, resulting in poor data transmission reliability. Summary of the invention

[0004] The embodiments of the present application provide a communication system in a vehicle, a data communication method and a terminal device, which can solve the problem of poor data transmission reliability due to loop storms among a gateway, a primary domain controller and a redundant domain controller.

[0005] In a first aspect, an embodiment of the present application provides a communication system in a vehicle, comprising a primary domain controller, a redundant domain controller and a gateway; the primary domain controller and the redundant domain controller are communicatively connected via a first virtual local area network; the gateway is communicatively connected to the primary domain controller and the redundant domain controller respectively via a second virtual local area network; wherein the first virtual local area network and the second virtual local area network are different virtual local area networks.

[0006] In a second aspect, an embodiment of the present application provides a method for communicating data in a vehicle, which is applied to a primary domain controller in a communication system in the vehicle according to the first aspect. The method includes:

[0007] The primary domain controller receives the first data sent by the gateway through the second virtual local area network;

[0008] The primary domain controller determines a transmission direction of the first data based on a first identifier of the virtual local area network carried by the first data, wherein the transmission direction of the first data includes transmission to a device connected to the virtual local area network with the same identifier as the first identifier, and the transmission direction of the first data does not include transmission to a redundant domain controller connected to the primary domain controller via a virtual local area network with a second identifier.

[0009] In a third aspect, an embodiment of the present application provides a data communication device in a vehicle, including:

[0010] A data receiving module, receiving the first data sent by the gateway through the second virtual local area network;

[0011] A transmission direction determination module determines the transmission direction of the first data according to a first identifier of the virtual local area network carried by the first data, wherein the transmission direction of the first data includes transmission to a device connected to the virtual local area network with the same identifier as the first identifier, and the transmission direction of the first data does not include transmission to a redundant domain controller connected to the primary domain controller via a virtual local area network with a second identifier.

[0012] In a fourth aspect, an embodiment of the present application provides a terminal device, comprising: a memory, a primary domain controller, and a computer program stored in the memory and executable on the primary domain controller, wherein when the primary domain controller executes the computer program, the method for communicating data in a vehicle described in any one of the second aspects above is implemented.

[0013] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for communicating data in a vehicle as described in any one of the second aspects above is implemented.

[0014] In a sixth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the method for communicating data in a vehicle as described in any one of the second aspects above.

[0015] The beneficial effect of the first aspect embodiment of the present application compared with the prior art is: the present application establishes a communication connection between the primary domain controller and the redundant domain controller through a first virtual local area network; and establishes a communication connection between the gateway and the primary domain controller and the redundant domain controller respectively through a second virtual local area network.

[0016] The virtual LAN used between the two domain controllers in the present application is different from the virtual LAN used between the gateway and the domain controller; it prevents the formation of a loop storm between the gateway, the primary domain controller and the redundant domain controller when the gateway needs to transmit data to the peripheral device through the primary domain controller or the redundant domain controller, avoids data transmission congestion in the system, and improves the reliability of data transmission of the entire vehicle.

[0017] It can be understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 is a schematic diagram of the structure of a communication system in a vehicle provided by an embodiment of the present application;

[0020] Figure 2 It is a structural diagram of software flashing data provided in one embodiment of the present application.

[0021] Figure 3 It is a flowchart of a method for communicating data in a vehicle provided by an embodiment of the present application;

[0022] Figure 4 It is a structural schematic diagram of a data communication device in a vehicle provided by an embodiment of the present application;

[0023] Figure 5 It is a structural diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0024] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0025] It should also be understood that the term “and / or” used in the specification and appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0026] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0027] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0028] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0029] With the development of autonomous driving, the requirements for autonomous driving perception systems and vehicle-mounted sensors are getting higher and higher. As a key sensor for intelligent driving, LiDAR is used by many vehicles. At present, there are four installation locations for LiDAR on vehicles, namely: bumper, front corner, fender and roof. One LiDAR, two LiDARs, three LiDARs or four LiDARs can be installed on the vehicle. If one LiDAR is installed on the vehicle, the LiDAR can be installed on the front bumper or roof to collect information in front of the vehicle. If two LiDARs are installed on the vehicle, the LiDAR can be installed on the front corner. If three LiDARs are installed on the vehicle, the three LiDARs can be installed on the front bumper or roof, and on the left and right fenders. If four LiDARs are installed on the vehicle, the four LiDARs can be installed on the front bumper or roof, left and right fenders, and rear bumper. Since the number of point clouds collected by the LiDAR is large, Gigabit Ethernet is usually used to connect to the domain controller on the vehicle. If all LiDARs are connected to one domain controller, the wiring of the domain controller is relatively complicated, and if the domain controller fails, it will affect the driving of the vehicle.

[0030] Therefore, in order to improve the performance of the vehicle, a primary domain controller and a redundant domain controller are often arranged in the vehicle. At present, the virtual local area networks (VLANs) set between the gateway and the primary domain controller, between the gateway and the redundant domain controller, and between the primary domain controller and the redundant domain controller in the vehicle are all the same, for example, they are all set to VLAN2 or VLAN5, resulting in the gateway transmitting data to the peripheral device connected to the primary domain controller. After the gateway transmits the data to the primary domain controller, the primary domain controller will transmit the data to the gateway through the redundant domain controller, resulting in the data being transmitted between the gateway, the primary domain controller and the redundant domain controller, forming a loop storm, affecting the use of the system.

[0031] Based on the above reasons, the present application proposes a communication system in a vehicle. The present application sets up a virtual local area network between the gateway and the primary domain controller, and between the gateway and the redundant domain controller, and sets up another virtual local area network between the primary domain controller and the redundant domain controller. Since different virtual local area networks are used, data transmitted from the gateway to the peripheral device through the primary domain controller or the redundant controller will not be transmitted between the primary domain controller and the redundant controller, thereby preventing the occurrence of loop storms.

[0032] In addition, the present application connects the peripheral devices to the primary domain controller and the redundant domain controller respectively, which can simplify the wiring on the one hand; on the other hand, it can ensure that even if one domain controller fails, data processing can be performed through another domain controller to ensure that the vehicle can continue to drive.

[0033] Specifically, Figure 1 As shown, a schematic diagram of the structure of the communication system in the vehicle provided by the present application. The system includes a primary domain controller 10, a redundant domain controller 20 and a gateway 30. The primary domain controller 10 and the redundant domain controller 20 are connected to each other through a first virtual local area network; the gateway 30 is connected to the primary domain controller 10 and the redundant domain controller 20 through a second virtual local area network, and the first virtual local area network and the second virtual local area network are different virtual local area networks.

[0034] For example, the first virtual local area network may be set to VLAN5 or VLAN4, etc. The second virtual local area network may be set to VLAN2 or VLAN3, etc. Figure 1 The first virtual local area network shown in the figure is VLAN5, and the second virtual local area network is VLAN2.

[0035] In this embodiment, the primary domain controller 10 includes a switch and a data processing module; the redundant domain controller 20 includes a switch and a data processing module. The switch in the primary domain controller 10 and the switch in the redundant domain controller 20 can be connected to each other in communication. The switch is mainly used for data transmission. As an example, the interface 3 in the primary domain controller 10 and the interface 3 in the redundant domain controller 20 are connected to each other in communication through the first virtual local area network (VLAN5). There is also a switch in the gateway 30. The interface 2 of the gateway 30 is connected to the interface 1 in the primary domain controller 10 in communication through the second virtual local area network (VLAN2). The interface 1 of the gateway 30 is connected to the interface 1 in the redundant domain controller 20 in communication through the second virtual local area network (VLAN2).

[0036] In the embodiment of the present application, the primary domain controller and the redundant domain controller are connected to each other through the first virtual local area network; the gateway is connected to the primary domain controller and the redundant domain controller through the second virtual local area network. The virtual local area networks used between the two domain controllers and the virtual local area networks used between the gateway and the domain controller are different, which prevents the data forwarded by the gateway to the peripheral device through one domain controller from being directly transmitted back to the gateway through another domain controller, avoids the formation of a loop storm between the gateway, the primary domain controller and the redundant domain controller during data transmission, avoids the phenomenon of data transmission congestion in the system, and improves the reliability of data transmission.

[0037] In a possible implementation, the system may further include a display device 50, and the display device 50 is communicatively connected to the gateway 30 via the second virtual local area network.

[0038] The display device 50 may be a head up display (HUT), or a vehicle-mounted display, etc.

[0039] In a possible implementation, the system further includes an OBD interface (On-Board Diagnostics) 40, which is connected to the gateway 30. The OBD interface can be used to connect to an external detector to detect whether there is a fault in the vehicle equipment through the diagnostic instrument.

[0040] In a possible implementation, the system further includes at least one first perception device 60; there is a communication connection between the first perception device 60 and the primary domain controller 10. For example, the first perception device 60 may include a laser radar disposed at the left front position of the vehicle and a laser radar disposed at the right front position of the vehicle.

[0041] Specifically, there is a communication connection of a first virtual local area network between the primary domain controller 10 and the first perception device 60, and there is a communication connection of a second virtual local area network between the primary domain controller 10 and the first perception device 60. For example, both interface 2 and interface 4 in the primary domain controller 10 can be communicated with the first perception device 60.

[0042] The first sensing device 60 may be a laser radar, a temperature sensor, a humidity sensor, etc. The laser radar is used to sense road information so that the vehicle can perform automatic driving according to the road information, or assist vehicle driving based on the road information.

[0043] In some embodiments, the data transmission method when the gateway 30 sends data to the first sensing device 60 through the primary domain controller 10 includes:

[0044] The gateway 30 sends the first data to the primary domain controller 10 through the second virtual local area network. The primary domain controller 10 determines that the transmission direction of the first data is to be transmitted to the first perception device 60 according to the first identifier of the virtual local area network carried by the first data, and sends the first data to the first perception device 60 through the second virtual local area network, wherein the transmission direction of the first data is to be transmitted to the device connected to the virtual local area network with the same first identifier. The first perception device 60 executes the process corresponding to the first data according to the first data.

[0045] In this embodiment, the first data is data that the gateway 30 needs to send to the first sensing device 60 through the primary domain controller 10. Specifically, the first data includes a first device diagnostic message and / or first device upgrade data.

[0046] The first device diagnostic message may be a message sent by the diagnostic instrument to the gateway 30 through the OBD interface 40, which is used to instruct the first sensing device 60 to return a response message. The response message returned by the first sensing device 60 is used to determine whether the first sensing device 60 has a fault. For example, when the first sensing device 60 has a fault, the response message is a fault code of the first sensing device 60, and the fault type of the first sensing device 60 can be determined based on the fault code. When the first sensing device 60 does not have a fault, the response message is the first information, and the first information indicates that the first sensing device 60 does not have a fault.

[0047] The first device upgrade data is used to instruct the first sensing device 60 to upgrade, and the first device upgrade data includes data required for upgrading the first sensing device 60. The first device upgrade data may be sent from an external device connected to the OBD interface 40 to the gateway 30; the first device upgrade data may also be sent from a display device 50 connected to the gateway 30 to the gateway.

[0048] In this embodiment, since the first data is data transmitted from the gateway 30 to the primary domain controller 10 through the second virtual local area network, the first identifier represents the second virtual local area network. For example, when the second virtual local area network is VLAN2, the first identifier is 2. Since the first data can be transmitted through the second virtual local area network, but cannot be transmitted through a virtual local area network other than the second virtual local area network, the primary domain controller 10 can send the first data to the first sensing device 60 through the second virtual local area network, while the primary domain controller 10 cannot send the first data to the redundant domain controller 20 through the first virtual local area network, thereby ensuring that the first data will not form a loop storm between the primary domain controller 10, the redundant domain controller 20 and the gateway 30, thereby ensuring the reliability of data transmission and the stability of the system.

[0049] After acquiring the first data, the first sensing device 60 determines the corresponding response strategy according to the data type of the first data, and executes the determined response strategy. For example, when the first data is a diagnostic message of the first device, the first sensing device 60 sends a response message to the primary domain controller 10 through the second virtual local area network, and the primary domain controller 10 then sends a response message to the gateway 30 through the second virtual local area network. The gateway 30 sends the response message to the diagnostic instrument, and the diagnostic instrument displays the response message. When the first data is the upgrade data of the first device, the first sensing device 60 upgrades the first sensing device 60 after receiving the first data.

[0050] In some embodiments, the manner in which data is transmitted between the primary domain controller 10 and the first sensing device 60 through the first virtual local area network includes:

[0051] The first sensing device 60 sends the third data generated by the first sensing device 60 to the primary domain controller 10 through the first virtual local area network; after receiving the third data, the primary domain controller 10 executes the process corresponding to the third data according to the third data. And / or,

[0052] The primary domain controller 10 sends the fourth data generated by the primary domain controller 10 to the first sensing device 60 through the first virtual local area network; the first sensing device executes the process corresponding to the fourth data according to the fourth data.

[0053] In this embodiment, the third data includes the first perception data perceived by the first perception device 60 and / or the first device status message generated by the first perception device 60 after self-checking.

[0054] For example, if the first sensing device is a laser radar, the first sensing data is point cloud data; the first sensing device transmits the point cloud data to the primary domain controller through the first virtual local area network. The primary domain controller can process the first sensing data to obtain a sensing result; in addition, when there is a device failure in the primary domain controller, the primary domain controller can also send the first sensing data to the redundant domain controller through the first virtual local area network, and the redundant domain controller processes the first sensing data to obtain a sensing result.

[0055] In addition, the first sensing device 60 can perform a self-test to determine whether it has a fault. The present application records the result of the self-test of the first sensing device 60 as a first device status message, and the first device status message may include normal device and abnormal device. The first sensing device 60 sends the first device status message to the primary domain controller 10 through the first virtual local area network; when the first status message is a device abnormality, the primary domain controller 10 transmits the first device status message to the gateway 30 through the second virtual local area network, and the gateway 30 can send the first device status message to the display device 50 through the second virtual local area network, and the display device 50 displays the first device status message, so that the user can know the status of the first sensing device in a timely manner.

[0056] In this embodiment, the fourth data includes a first time synchronization message and / or a first sleep wake-up message. The first time synchronization message is a message generated by the primary domain controller 10 according to its own time, and is used to instruct the first perception device 60 to perform time synchronization. The first sleep wake-up message is used to wake up the first perception device 60 so that the first perception device 60 enters the working state from the sleep state.

[0057] When the fourth data is the first time synchronization message, after the first perception device 60 receives the fourth data, it performs time synchronization processing according to the time information of the primary domain controller 10 carried in the first time synchronization message, so that the time of the first perception device 60 is synchronized with the time of the primary domain controller 10.

[0058] When the fourth data is the first sleep awakening message, the first sensing device 60 exits the sleep state and enters the working state after receiving the fourth data.

[0059] In a possible implementation, the system further includes at least one second perception device 70, and there is a communication connection between the second perception device 70 and the redundant domain controller 20. For example, the second perception device 70 may include a laser radar disposed in front of the vehicle and a laser radar disposed in the rear of the vehicle.

[0060] In this embodiment, there is a communication connection of the first virtual local area network between the redundant domain controller 20 and the second sensing device 70, and there is a communication connection of the second virtual local area network between the redundant domain controller 20 and the second sensing device 70. For example, both interface 2 and interface 4 in the redundant domain controller 20 can be used to communicate with the second sensing device 70.

[0061] The second sensing device 70 may be a laser radar, a temperature sensor, a humidity sensor, etc. The laser radar is used to sense road information so that the vehicle can perform automatic driving according to the road information, or to assist vehicle driving based on the road information.

[0062] In some embodiments, the data transmission method when the gateway 30 sends data to the second sensing device 70 through the redundant domain controller 20 includes:

[0063] The gateway 30 sends the second data to the redundant domain controller 20 through the second virtual LAN; the redundant domain controller 20 determines that the transmission direction of the second data is to be transmitted to the second sensing device 70 based on the first identifier of the virtual LAN carried by the second data, and sends the second data to the second sensing device 70 through the second virtual LAN, wherein the transmission direction of the second data is to be transmitted to the device connected to the virtual LAN with the same identifier as the first identifier; the second sensing device executes the process corresponding to the second data according to the second data.

[0064] In this embodiment, the second data is data that the gateway needs to send to the second sensing device through the redundant domain controller. Specifically, the second data includes a second device diagnostic message and / or second device upgrade data.

[0065] The second device diagnostic message may be a message sent by the diagnostic instrument to the gateway 30 through the OBD interface 40, and is used to instruct the second sensing device 70 to return a response message. The response information returned by the second sensing device 70 is used to determine whether there is a fault in the second sensing device 70. For example, when there is a fault in the second sensing device, the response information is a fault code of the second sensing device, and the fault type of the second sensing device can be determined based on the fault code; when there is no fault in the second sensing device, the response information is the second information, and the second information indicates that there is no fault in the second sensing device.

[0066] The second device upgrade data is used to instruct the second sensing device 70 to upgrade, and the second device upgrade data includes data required for the second sensing device upgrade. The second device upgrade data can be sent to the gateway 30 by an external device connected to the OBD interface 40; the second device upgrade data can also be sent to the gateway by a display device 50 connected to the gateway 30.

[0067] In this embodiment, since the second data is transmitted from the gateway 30 to the redundant domain controller 20 through the second virtual local area network, the first identifier represents the second virtual local area network. Since the second data can be transmitted through the second virtual local area network, but cannot be transmitted through a virtual local area network other than the second virtual local area network, the redundant domain controller 20 can send the second data to the second sensing device 70 through the second virtual local area network, while the redundant domain controller 20 cannot send the second data to the primary domain controller 10 through the first virtual local area network, thereby ensuring that the second data will not form a loop storm between the primary domain controller 10, the redundant domain controller 20 and the gateway 30, thereby ensuring the reliability of data transmission and the stability of the system.

[0068] After acquiring the second data, the second sensing device 70 determines a corresponding response strategy according to the data type of the second data, and executes the determined response strategy. Specifically, the application of the second data can refer to the application of the first data, which will not be described in detail here.

[0069] In some embodiments, the method of performing data transmission between the redundant domain controller 20 and the second sensing device 70 through the first virtual local area network includes:

[0070] The second sensing device 70 sends the fifth data generated by the second sensing device 70 to the redundant domain controller 20 through the first virtual local area network; after receiving the fifth data, the redundant domain controller 20 executes the process corresponding to the fifth data according to the fifth data; and / or,

[0071] The redundant domain controller 20 sends the sixth data generated by the redundant domain controller 20 to the second sensing device 70 through the first virtual local area network; the second sensing device 70 executes the process corresponding to the sixth data according to the sixth data.

[0072] In this embodiment, the fifth data includes second perception data perceived by the second perception device and / or a second device status message generated after the second perception device performs self-check.

[0073] For example, if the second sensing device is a laser radar, the second sensing data is point cloud data; the second sensing device transmits the point cloud data to the redundant domain controller through the first virtual local area network. The redundant domain controller can process the second sensing data to obtain a sensing result; or the redundant domain controller can send the second sensing data to the primary domain controller through the first virtual local area network, and the primary domain controller obtains a sensing result based on the first sensing data and the second sensing data.

[0074] In addition, the second sensing device 70 can perform a self-check to determine whether it has a fault. The present application records the result of the self-check of the second sensing device 70 as a second device status message, and the second device status message may include normal device and abnormal device. The second sensing device 70 sends the first device status message to the redundant domain controller 20 through the first virtual local area network; when the second status message is a device abnormality, the redundant domain controller 20 transmits the second device status message to the gateway 30 through the second virtual local area network, and the gateway 30 can send the second device status message to the display device 50 through the second virtual local area network, and the display device 50 displays the second device status message, so that the user can know the status of the second sensing device in a timely manner.

[0075] In this embodiment, the sixth data includes a second time synchronization message and / or a second sleep wake-up message. The second time synchronization message is a message generated by the redundant domain controller according to its own time, and is used to instruct the second perception device to perform time synchronization. The second sleep wake-up message is used to wake up the second perception device so that the second perception device 70 enters the working state from the sleep state.

[0076] When the sixth data is the second time synchronization message, after the second perception device 70 receives the sixth data, it performs time synchronization processing according to the time information of the redundant domain controller 20 carried in the second time synchronization message, so that the time of the second perception device 70 is synchronized with the time of the redundant domain controller 20.

[0077] When the sixth data is the second sleep wake-up message, the second sensing device 70 exits the sleep state and enters the working state after receiving the sixth data.

[0078] In a possible implementation, when the third data is first perception data perceived by the first perception device, and the fifth data is second perception data perceived by the second perception device, the communication method between the primary domain controller and the redundant controller may further include:

[0079] In some embodiments, when there is no equipment failure in the primary domain controller, the primary domain controller 10 sends first status information to the redundant domain controller 20 through the first virtual local area network, wherein the first status information is used to characterize that there is no equipment failure in the primary domain controller 10; after receiving the first status information and the second perception data, the redundant domain controller 20 sends the second perception data to the primary domain controller 10 through the first virtual local area network; the primary domain controller 10 obtains a perception result based on the first perception data and the second perception data.

[0080] In this embodiment, the primary domain controller can detect its own device status in real time and send its own status information to the redundant domain controller. Specifically, if there is no device failure in the primary domain controller, the primary domain controller sends the first status information to the redundant domain controller. If there is a device failure in other devices in the primary domain controller and there is no failure in the switch in the primary domain controller, the primary domain controller sends the second status information to the redundant domain controller. If there is a failure in the switch in the primary domain controller, the primary domain controller cannot send status information to the redundant domain controller. Other devices are devices other than the switch in the primary domain controller.

[0081] After receiving the first status information, the redundant domain controller determines that the primary domain controller is not faulty, and sends the second perception data to the primary domain controller, so that the primary domain controller can obtain a perception result based on the first perception data and the second perception data, making the perception result more accurate and comprehensive. The perception result can be used for automatic driving or assisted driving of the vehicle.

[0082] In some embodiments, when there is a device failure in the primary domain controller and there is no failure in the switch in the primary domain controller, the primary domain controller sends second status information to the redundant domain controller through the first virtual local area network, wherein the second status information includes the first perception data, and the second status information indicates that there is a device failure in the primary domain controller; after receiving the second status information and the second perception data, the redundant domain controller obtains a perception result based on the first perception data and the second perception data.

[0083] In this embodiment, if the primary domain controller fails, but the switch in the primary domain controller does not fail, the data processing module in the primary domain controller may fail, and the primary domain controller can still transmit the first perception data to the redundant domain sensor so that the redundant domain controller performs data processing. After receiving the second status information, the redundant domain controller determines that the primary domain controller fails and cannot process data, so the redundant domain controller is required to process data. The present application uses a redundant domain controller to process data when the primary domain controller fails, which can ensure the normal progress of data processing and thus ensure the normal driving of the vehicle.

[0084] In some embodiments, when the redundant domain controller does not receive the status information sent by the primary domain controller within a preset time period and receives the second perception data, it obtains a perception result based on the second perception data, wherein the status information includes the first status information and the second status information.

[0085] In this embodiment, the preset time can be set as needed, for example, the preset time can be set to 1 second, 2 seconds, 3 seconds, etc.

[0086] In this embodiment, if the redundant domain controller does not receive the status information sent by the primary domain controller within the preset time, the switch of the primary domain controller may fail, so the redundant domain controller can obtain the perception result according to the second perception data. During the automatic driving process, the vehicle can control the vehicle to drive or park by the side of the road by combining the data collected by the side view camera and the perception result obtained according to the second perception data.

[0087] In an embodiment of the present application, a primary domain controller and a redundant domain controller are set. When the primary domain controller cannot process data, the redundant domain controller is used to process data so that the vehicle can continue to travel, thereby avoiding the phenomenon that the vehicle travel is affected by the failure of the primary domain controller and improving the performance of the vehicle.

[0088] In a possible implementation, the OBD interface 40 is used for an external diagnostic instrument. In addition, the OBD interface and the gateway interact through the DHCP protocol (Dynamic Host Configuration Protocol) to allocate IP (Internet Protocol), and the information interaction inside and outside the vehicle is isolated to ensure the security of the vehicle information. Specifically, the diagnostic instrument sends a diagnostic instruction to the gateway, and the gateway transmits the diagnostic instruction. For example, the diagnostic instrument sends a diagnostic instruction of the first sensing device to the gateway, and the diagnostic instruction carries a logical address; after receiving the diagnostic instruction, the gateway determines that the destination address of the diagnostic instruction is the first sensing device through the logical address, and the gateway sends the diagnostic instruction of the first sensing device to the main domain controller through the second virtual local area network (first device diagnostic message). After the main domain controller receives the diagnostic instruction of the first sensing device sent by the gateway, it sends the diagnostic instruction to the first sensing device through the second virtual local area network. After the first sensing device receives the diagnostic instruction, it transmits the response information corresponding to the diagnostic instruction to the main domain controller through the second virtual local area network, and the main domain controller transmits the response information to the diagnostic instrument of the OBD interface.

[0089] In one possible implementation, the diagnostic pathways of the entire vehicle in this application all use a second virtual local area network for communication connection. On the one hand, the diagnostic information can be distinguished from other vehicle information. On the other hand, most of the diagnostic information needs to be transmitted to external devices. Using a separate virtual local area network for transmission of the diagnostic pathway can ensure the information security of the entire vehicle.

[0090] In a possible implementation, the gateway 30 includes a first interface ( Figure 1 Interface 1 in the Figure 1 Interface 2), the gateway 30 is communicated with the redundant domain controller 20 through the first interface; the gateway 30 is communicated with the primary domain controller 10 through the second interface; the address of the second sensing device 70 is configured in the first interface; the address of the first sensing device 60 is configured in the second interface.

[0091] Specifically, the address of the first sensory device 60 may include an IP address and a MAC address (Media Access Control Address, local area network address) of the first sensory device. The address of the second sensory device 70 may include an IP address and a MAC address of the second sensory device.

[0092] The present application connects the redundant domain controller to the first interface of the gateway, and can add a redundant domain controller without changing the configuration of the existing gateway, while allowing the system to be reused on more vehicle models.

[0093] In some embodiments, in addition to configuring the address of the first sensing device, the second interface may also configure the address of the second sensing device 70. For example, if there are two first sensing devices and two second sensing devices, the second interface needs to configure the IP addresses and MAC addresses of the four sensing devices. Protocol conversion is performed at the gateway, for example, Doip (Diagnostic on IP) to Doip protocol conversion.

[0094] In a possible implementation, when the display device is a HUT, the software of the sensing device can be flashed through the HUT. In addition, the software of the sensing device can be flashed and the sensing device can be diagnosed through the OBD interface.

[0095] Specifically, Figure 2 As shown, the HUT sends software flashing data to the interface 7 of the gateway (or the OBD sends software flashing data to the gateway), the interface 2 of the gateway sends software flashing data to the interface 1 of the primary domain controller, and the primary domain controller sends software flashing data to the first sensing device through the interface 2; and / or the interface 2 of the gateway sends software flashing data to the interface 1 of the primary domain controller, and the primary domain controller sends software flashing data to the first sensing device through the interface 4. The interface 1 of the gateway sends software flashing data to the interface 1 of the redundant domain controller, and the redundant domain controller sends software flashing data to the second sensing device through the interface 2; and / or the redundant domain controller sends software flashing data to the second sensing device through the interface 4.

[0096] For the data transmission path of the diagnostic process of the sensing device through the OBD interface, please refer to the data transmission path of the process of software flashing of the sensing device through the OBD interface mentioned above, which will not be repeated here.

[0097] It should be noted that the information interaction, execution process, etc. between the various devices in the above-mentioned system are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0098] Based on the above system, Figure 3A schematic flow chart of a method for communicating data in a vehicle provided by the present application is shown, and the method is applied to the above-mentioned primary domain controller, referring to Figure 3 , the method is described in detail as follows:

[0099] S101, the primary domain controller receives the first data sent by the gateway through the second virtual local area network.

[0100] S102, the primary domain controller determines the transmission direction of the first data based on the first identifier of the virtual local area network carried by the first data, wherein the transmission direction of the first data includes transmission to a device connected to the virtual local area network with the same identifier as the first identifier, and the transmission direction of the first data does not include transmission to a redundant domain controller connected to the primary domain controller via the virtual local area network with a second identifier.

[0101] In a possible implementation, when the system includes at least one first perception device, the identifier of the virtual local area network between the first perception device and the primary domain controller includes the first identifier.

[0102] The transmission direction of the first data includes transmission to the first sensing device.

[0103] In this embodiment, since there is a communication connection of the second virtual local area network between the first sensing device and the primary domain controller, the primary domain controller can transmit the first data to the first sensing device. After receiving the first data, the first sensing device performs an action according to the second data.

[0104] In a possible implementation, the method further includes:

[0105] When there is no equipment failure in the primary domain controller, the primary domain controller sends first status information to the redundant domain controller through the first virtual local area network, wherein the first status information is used to characterize that there is no equipment failure in the primary domain controller, and the first status information is used to instruct the redundant domain controller to send second perception data to the primary domain controller, and the second perception data is data perceived by the second perception device received by the redundant domain controller through the first virtual local area network.

[0106] After the primary domain controller receives the second perception data and the first perception data, the primary domain controller obtains a perception result based on the first perception data and the second perception data, wherein the first perception data is data perceived by the primary domain controller through the first virtual local area network via the first perception data received.

[0107] In a possible implementation, the method further includes:

[0108] When other devices in the primary domain controller have device failures and the switch in the primary domain controller does not have any failures, the primary domain controller sends second status information to the redundant domain controller through the first virtual local area network, wherein the second status information is used to characterize that there is a device failure in the primary domain controller, and the second status information includes first perception data, which is data perceived by the primary domain controller based on the first perception data received through the first virtual local area network; the second status information is used to instruct the redundant domain controller to obtain a perception result based on the first perception data and the second perception data, and the second perception data is data perceived by the second perception device received by the redundant domain controller through the first virtual local area network.

[0109] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0110] The present application also provides a schematic flow chart of a data communication device in a vehicle, referring to Figure 4 The device includes a data receiving module 210 and a transmission direction determining module 220.

[0111] The data receiving module 210 receives the first data sent by the gateway through the second virtual local area network;

[0112] The transmission direction determination module 220 determines the transmission direction of the first data according to the first identifier of the virtual local area network carried by the first data, wherein the transmission direction of the first data includes transmission to a device connected to the virtual local area network with the same identifier as the first identifier, and the transmission direction of the first data does not include transmission to a redundant domain controller connected to the primary domain controller through the virtual local area network with a second identifier.

[0113] In a practical manner, the above device further comprises:

[0114] A status sending module is used to send first status information to the redundant domain controller through a first virtual local area network when there is no equipment failure in the primary domain controller, wherein the first status information is used to characterize that there is no equipment failure in the primary domain controller, and the first status information is used to instruct the redundant domain controller to send second perception data to the primary domain controller, and the second perception data is data perceived by the second perception device received by the redundant domain controller through the first virtual local area network.

[0115] A data processing module is used to obtain a perception result based on the first perception data and the second perception data after the primary domain controller receives the second perception data and the first perception data, wherein the first perception data is the data perceived by the primary domain controller through the first virtual local area network.

[0116] In a practical manner, the above device further comprises:

[0117] The status sending module is also used to send second status information to the redundant domain controller through the first virtual local area network when there is a device failure in the primary domain controller and there is no failure in the switch in the primary domain controller, wherein the second status information is used to characterize that there is a device failure in the primary domain controller, and the second status information includes first perception data, and the first perception data is data perceived by the primary domain controller through the first perception data received by the first virtual local area network; the second status information is used to instruct the redundant domain controller to obtain a perception result based on the first perception data and the second perception data, and the second perception data is data perceived by the second perception device received by the redundant domain controller through the first virtual local area network.

[0118] The present application also provides a terminal device, see Figure 5 The terminal device 400 may include: at least one primary domain controller 410, a memory 420, and a computer program stored in the memory 420 and executable on the at least one primary domain controller 410. When the primary domain controller 410 executes the computer program, the steps in any of the above-mentioned method embodiments are implemented, for example Figure 3 Steps S101 to S102 in the embodiment shown. Alternatively, when the primary domain controller 410 executes the computer program, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 4 The functions of the data receiving module 210 to the transmission direction determining module 220 are shown.

[0119] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 420, and executed by the primary domain controller 410 to complete the present application. The one or more modules / units may be a series of computer program segments capable of completing specific functions, and the program segments are used to describe the execution process of the computer program in the terminal device 400.

[0120] Those skilled in the art will understand that Figure 5It is only an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, such as input and output devices, network access devices, buses, etc.

[0121] The primary domain controller 410 may be a central processing unit (CPU), or other general primary domain controllers, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general primary domain controller may be a micro primary domain controller or the primary domain controller may also be any conventional primary domain controller, etc.

[0122] The memory 420 may be an internal storage unit of the terminal device, or an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. The memory 420 is used to store the computer program and other programs and data required by the terminal device. The memory 420 may also be used to temporarily store data that has been output or is to be output.

[0123] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0124] The method for communicating data in a vehicle provided in the embodiment of the present application can be applied to terminal devices such as computers, tablet computers, laptop computers, netbooks, personal digital assistants (PDAs), etc. The embodiment of the present application does not impose any restrictions on the specific type of terminal devices.

[0125] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0126] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0127] In the embodiments provided in the present application, it should be understood that the disclosed terminal equipment, devices and methods can be implemented in other ways. For example, the terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0128] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0129] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0130] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by one or more processors, the steps of each of the above-mentioned method embodiments can be implemented.

[0131] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by one or more processors, the steps of each of the above-mentioned method embodiments can be implemented.

[0132] Similarly, as a computer program product, when the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0133] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer readable media do not include electric carrier signals and telecommunication signals.

[0134] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

[0135] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A communication system in a vehicle, characterized in that: It includes a primary domain controller, a redundant domain controller and a gateway; the primary domain controller and the redundant domain controller are connected in communication via a first virtual local area network; The gateway is respectively connected to the primary domain controller and the redundant domain controller through a second virtual local area network; wherein the first virtual local area network and the second virtual local area network are different virtual local area networks; The system includes a first sensing device, and the first sensing device and the primary domain controller are communicatively connected via the second virtual local area network; The gateway is used to send the first data to the primary domain controller through the second virtual local area network; The primary domain controller is used to determine, based on the first identifier of the virtual local area network carried by the first data, that the transmission direction of the first data is to be transmitted to the first sensing device, and send the first data to the first sensing device through the second virtual local area network, wherein the transmission direction of the first data is to be transmitted to a device connected to the virtual local area network with the same identifier as the first identifier; The first sensing device is used to execute a process corresponding to the first data according to the first data.

2. The communication system in a vehicle according to claim 1, characterized in that The system further includes a second sensing device; the second sensing device and the redundant domain controller are communicatively connected via the second virtual local area network; The gateway is further configured to send second data to the redundant domain controller through the second virtual local area network; The redundant domain controller is used to determine, according to the first identifier of the virtual local area network carried by the second data, that the transmission direction of the second data is to be transmitted to the second sensing device, and send the second data to the second sensing device through the second virtual local area network, wherein the transmission direction of the second data is to be transmitted to a device connected to the virtual local area network having the same identifier as the first identifier; The second sensing device is used to execute a process corresponding to the second data according to the second data.

3. The communication system in a vehicle according to claim 2, characterized in that There is also a communication connection of the first virtual local area network between the first sensing device and the primary domain controller; The first sensing device is used to send the third data generated by the first sensing device to the primary domain controller through the first virtual local area network; the primary domain controller is also used to execute the process corresponding to the third data according to the third data after receiving the third data; and / or, The primary domain controller is further used to send fourth data generated by the primary domain controller to the first sensing device through the first virtual local area network; the first sensing device is further used to execute a process corresponding to the fourth data according to the fourth data.

4. The communication system in a vehicle according to claim 3, characterized in that There is also a communication connection of the first virtual local area network between the second sensing device and the redundant domain control; The second sensing device is used to send the fifth data generated by the second sensing device to the redundant domain controller through the first virtual local area network; the redundant domain controller is also used to execute the process corresponding to the fifth data according to the fifth data after receiving the fifth data; and / or, The redundant domain controller is further used to send the sixth data generated by the redundant domain controller to the second sensing device through the first virtual local area network; the second sensing device is further used to execute the process corresponding to the sixth data according to the sixth data.

5. The communication system in a vehicle according to claim 4, characterized in that The third data is the first perception data perceived by the first perception device, and the fifth data is the second perception data perceived by the second perception device; The primary domain controller is further configured to send first status information to the redundant domain controller through the first virtual local area network when there is no device failure in the primary domain controller, wherein the first status information is used to indicate that there is no device failure in the primary domain controller; The redundant domain controller is further configured to send the second perception data to the primary domain controller through the first virtual local area network after receiving the first state information and the second perception data; The primary domain controller is further used to obtain a perception result based on the first perception data and the second perception data.

6. The communication system in a vehicle according to claim 5, characterized in that The primary domain controller is further configured to send second status information to the redundant domain controller through the first virtual local area network when there is no fault in the switch in the primary domain controller and there is a device fault in other devices in the primary domain controller, wherein the other devices are devices in the primary domain controller other than the switch, the second status information includes the received first perception data, and the second status information indicates that there is a device fault in the primary domain controller; The redundant domain controller is further used to obtain a perception result according to the first perception data and the second perception data after receiving the second state information and the second perception data.

7. The communication system in a vehicle according to claim 5 or 6, characterized in that: The redundant domain controller is also used to obtain a perception result based on the second perception data when it has not received the status information sent by the primary domain controller within a preset time period and has received the second perception data, wherein the status information includes the first status information and the second status information, and the second status information indicates that there is a device failure in the primary domain controller.

8. A method for communicating data in a vehicle, characterized in that: A primary domain controller in a communication system in a vehicle according to any one of claims 1 to 7, the method comprising: The primary domain controller receives the first data sent by the gateway through the second virtual local area network; The primary domain controller determines a transmission direction of the first data based on a first identifier of the virtual local area network carried by the first data, wherein the transmission direction of the first data includes transmission to a device connected to the virtual local area network with the same identifier as the first identifier, and the transmission direction of the first data does not include transmission to a redundant domain controller connected to the primary domain controller via a virtual local area network with a second identifier.

9. A terminal device, comprising a memory, a primary domain controller, and a computer program stored in the memory and executable on the primary domain controller, characterized in that: When the primary domain controller executes the computer program, the method for communicating data in a vehicle as claimed in claim 8 is implemented.

Images