A communication method, a first node, a second node, an architecture, a vehicle and a medium

Abstract

The embodiment of the present invention provides a communication method, a first node, a second node, an architecture, a vehicle and a medium, which is used for an electronic and electrical architecture of a vehicle, wherein the electronic and electrical architecture includes a second node and a plurality of first nodes, wherein the plurality of first nodes and the second nodes communicate via a bus, and the method is applied to a first node i among the plurality of first nodes, wherein the method includes: receiving a synchronization frame from a second node via a bus, wherein the synchronization frame includes permission indication information, and the permission indication information is used to indicate that one or more first nodes have access rights to the bus within a set time range. Through the embodiment of the present invention, it is achieved that by pre-judging whether the first node has access rights to the bus, only when the first node has access rights to the bus is it allowed to compete for the use of the bus to transmit messages, thereby avoiding the network congestion problem caused by mounting a large number of modules on the same bus, greatly reducing the bus load rate, and achieving a lower frame loss rate and more stable transmission efficiency.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a communication method, a first node, a second node, an architecture, a vehicle and a medium. Background Art

[0002] At present, with the development of vehicle intelligence and networking, a large number of cameras, millimeter-wave radars, lidars, and audio and video nodes have appeared in the vehicle network to realize the Advanced Driving Assistance System (ADAS) and entertainment functions in the vehicle. In the existing technology, the controller area network bus (CAN) is usually used for data transmission in the vehicle. Through the actual vehicle network monitoring data, the average load of the controller area network bus is generally close to saturation, and network congestion is very likely to occur. Summary of the invention

[0003] In view of the above problems, a communication method, a first node, a second node, an architecture, a vehicle and a medium are proposed to overcome the above problems or at least partially solve the above problems, including:

[0004] A communication method is used in an electronic and electrical architecture of a vehicle, wherein the electronic and electrical architecture includes a plurality of first nodes, and the electronic and electrical architecture also includes a second node, wherein the plurality of first nodes and the second node communicate with each other via a bus, wherein the method is applied to a first node i among the plurality of first nodes, and the method includes:

[0005] A synchronization frame is received from the second node via the bus, wherein the synchronization frame includes permission indication information, and the permission indication information is used to indicate that one or more of the first nodes have access rights to the bus within a set time range.

[0006] Optionally, the permission indication information includes node identifiers of one or more first nodes; the node identifier is used to indicate that the first node corresponding to the node identifier has the access authority within the time range.

[0007] Optionally, the method further comprises:

[0008] If the node identifiers of the one or more first nodes include the node identifier i of the first node i, the bus is accessed to transmit message data.

[0009] Optionally, accessing the bus to transmit message data includes:

[0010] The bus is accessed based on a contention mechanism to transmit message data.

[0011] Optionally, the multiple first nodes are divided into multiple node groups, and all node identifiers in the authority indication information are node identifiers of first nodes included in the first node group.

[0012] Optionally, the synchronization frame further includes permission effective time information, and the permission effective time information is used to indicate the time range.

[0013] Optionally, the synchronization frame further includes current time information, and the method further includes:

[0014] Time synchronization is performed according to the current time information.

[0015] Optionally, the first node i is at least one of an ECU unit, an actuator, a sensor, a domain controller, and a regional controller of the vehicle, and / or the second node is a central computing platform or a domain controller of the vehicle.

[0016] Optionally, the bus is an Ethernet bus.

[0017] A communication method is used in an electronic and electrical architecture of a vehicle, wherein the electronic and electrical architecture includes a plurality of first nodes, and the electronic and electrical architecture also includes a second node, wherein the plurality of first nodes and the second node communicate with each other via a bus, and the method is applied to the second node, and the method includes:

[0018] A synchronization frame is transmitted to the first node via the bus; the synchronization frame includes permission indication information, and the permission indication information is used to indicate that one or more of the first nodes have access rights to the bus within a set time range.

[0019] Optionally, the permission indication information includes node identifiers of one or more first nodes; the node identifier is used to indicate that the first node corresponding to the node identifier has the access authority within the time range.

[0020] Optionally, the multiple first nodes are divided into multiple node groups, and all node identifiers in the authority indication information are node identifiers of first nodes included in the first node group.

[0021] Optionally, the first node group is determined from the multiple node groups according to the order of the multiple node groups in a preset scheduling table.

[0022] Optionally, the synchronization frame further includes permission effective time information, and the permission effective time information is used to indicate the time range.

[0023] Optionally, the synchronization frame further includes current time information, and the current time information is used for time synchronization between the first node and the second node.

[0024] Optionally, the first node is at least one of an ECU unit, an actuator, a sensor, a domain controller, and a regional controller of the vehicle, and the second node is a central computing platform or a domain controller of the vehicle.

[0025] Optionally, the bus is an Ethernet bus.

[0026] A first node, the first node is used in an electronic and electrical architecture of a vehicle, the electronic and electrical architecture further includes a bus and a second node, the first node includes a processing unit and a transceiver unit, wherein:

[0027] The transceiver unit is used to receive a synchronization frame from the second node through the bus, wherein the synchronization frame includes permission indication information;

[0028] The processing unit is used to determine whether the first node has access rights to the bus within a set time range according to the permission indication information.

[0029] A second node, the second node is used in an electronic and electrical architecture of a vehicle, the electronic and electrical architecture further includes a bus and a plurality of first nodes, the first node includes a processor, and the processor is connected to a memory;

[0030] The processor is used to call the computer program stored in the memory to execute the method as described above.

[0031] An electronic and electrical architecture of a vehicle comprises the plurality of first nodes and the second node as described above, wherein the plurality of first nodes and the second node communicate with each other via the bus.

[0032] A vehicle comprises the electronic and electrical architecture as described above.

[0033] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0034] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the computer program implements the method as described above.

[0035] The embodiments of the present invention have the following advantages:

[0036] In an embodiment of the present invention, the electronic and electrical architecture includes multiple first nodes, and the electronic and electrical architecture also includes a second node. The multiple first nodes and the second nodes communicate through a bus. The first node i among the multiple first nodes receives a synchronization frame from the second node through the bus. The synchronization frame includes permission indication information. The permission indication information is used to indicate that one or more first nodes have access rights to the bus within a set time range, thereby realizing the application of an integrated bus architecture in the vehicle and improving the performance of the network. The bus-type design greatly simplifies the vehicle network architecture, avoids complex processes such as protocol conversion, domain control gateway chip forwarding, and Ethernet communication between domain control gateways brought about by heterogeneous networks, improves the performance and reliability of the network, and is particularly suitable for low-end or ultra-low-end models to achieve cost reduction and efficiency improvement. By pre-determining whether the first node has bus access rights, it is allowed to compete for the use of the bus to transmit messages only when it has bus access rights, thereby avoiding the network congestion problem caused by a large number of modules mounted on the same bus, greatly reducing the bus load rate, and achieving a lower frame loss rate and more stable transmission efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0038] Figure 1 It is a schematic diagram of an Ethernet competition mechanism process in the related art;

[0039] Figure 2 is an architecture diagram of an integrated vehicle bus-type electronic and electrical architecture provided by some embodiments of the present invention;

[0040] Figure 3 is a flow chart of steps of a communication method provided by some embodiments of the present invention;

[0041] Figure 4 It is an architectural diagram of a time-sharing mechanism of a limited access window and an equivalent bus architecture provided by some embodiments of the present invention;

[0042] Figure 5 is a schematic diagram of an access window contention mechanism provided by some embodiments of the present invention;

[0043] Figure 6 is a schematic diagram of a competition mechanism flow of an integrated vehicle bus-type electronic and electrical architecture provided by some embodiments of the present invention;

[0044] Figure 7 It is a flow chart of steps of another communication method provided by some embodiments of the present invention. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] In the prior art, in order to avoid network congestion in the Controller Area Network bus, the data transmission in the vehicle is generally achieved through automotive Ethernet technology (Automotive Ethernet), such as Gigabit Ethernet, 10 Gigabit Ethernet, or high-speed Ethernet technology using optical fiber as the transmission medium; although Ethernet has improved bandwidth compared to the Controller Area Network bus and the Serial Communication Network (Local Interconnect Network, LIN), the current full-duplex Ethernet adopts a point-to-point switch network to transmit data, and its cost is much higher than the bus-type Controller Area Network bus and serial communication network; therefore, the automotive industry now adopts a highly heterogeneous vehicle network architecture solution, with the Controller Area Network bus and Ethernet as the main ones, connecting the serial communication network and various other network protocols through multiple gateways, and connecting different modules to their respective networks.

[0047] However, when this method is adopted, in this heterogeneous network, each message data in the vehicle must go through very complex gateway forwarding, protocol conversion and other processes before it can be delivered. Not only does it require multiple domain control gateway chips, which consumes a lot of cost, but it also leads to high latency and high jitter, and is prone to frame loss and fault alarms. Such heterogeneous networks not only significantly increase costs, but also greatly reduce network performance and reliability, and there are significant safety risks.

[0048] In practical applications, the bandwidth of traditional automotive network protocols such as controller area network bus and serial communication network can no longer meet the actual needs of vehicle data communication. Only Ethernet can provide sufficient bandwidth, but Ethernet is divided into full-duplex and half-duplex types.

[0049] Full-duplex Ethernet uses a star topology and relies on switches as intermediaries to implement data exchange and forwarding between multiple modules. However, network performance is greatly restricted by switch chips. Improving the performance or number of switches will significantly increase the cost of the vehicle network and will further affect wiring harness layout, switch location, electromagnetic shielding and other issues.

[0050] Although half-duplex Ethernet adopts a bus topology and does not require a complex and expensive switch architecture, it uses a carrier sense multiple access (CSMA / CD) competition mechanism with collision detection. This mechanism is a lossy competition. When there are many nodes competing for the right to use the bus at the same time, a large number of transmission collisions will occur, forcing the message to undergo a large number of meaningless retransmissions, resulting in a significant performance degradation.

[0051] In practical applications, the Ethernet competition process is as follows Figure 1 As shown in the figure, when a message is generated and then reaches the sending window, the bus status is monitored. If the bus is idle, the message is sent. Otherwise, the monitoring continues. When the message is sent, it is determined whether a conflict occurs. If so, the bus status is continued to be monitored. Otherwise, the message is transmitted to the end. It can be seen from the figure that the bus status needs to be monitored before each message is sent. Even if the bus is idle, there will be a sending conflict when sending a message, which forces the message to go through a large number of meaningless retransmissions, resulting in performance degradation.

[0052] Based on this, the present invention proposes an integrated vehicle bus type electronic and electrical architecture, such as Figure 2 In this electronic and electrical architecture, the electronic controllers (Electronic Control Unit, ECU) of each module of the whole vehicle are mounted on an integrated half-duplex bus Ethernet and are divided into a certain number of groups; the right to use the bus can be divided into multiple time-segment access windows according to time. In a specific time segment, only the electronic controllers in a specific group can obtain the right to use the bus, and the other system-on-chips (System on Chip, SOC) that do not have the right to access the bus remain waiting; secondly, in a time segment, the messages sent by the electronic controllers that have the right to access the bus compete according to the carrier sense multiple access access mechanism with conflict detection; when the time segment ends, the electronic controllers of this group stop sending messages and give the right to use the bus to other groups of electronic controllers.

[0053] Although many electronic controllers are mounted on the same bus, only a few electronic controllers compete for the right to use the bus at the same time. The intensity of bus competition is greatly reduced, and the bus usage time of each electronic controller can be balanced and allocated, reducing the peak number of messages to be transmitted, thereby solving the problem of excessive bus load in the current vehicle network.

[0054] Furthermore, the present invention proposes a typical bandwidth of 1000Mbps based on automotive Gigabit Ethernet technology, which is 2000 times the bandwidth of the controller area network bus (0.5Mbps), 100000 times the bandwidth of the serial communication network bus (0.02Mbps), and 100 times the bandwidth of the 10M automotive Ethernet (10Mbps). Therefore, it can achieve a shared traffic much higher than the controller area network bus and the serial communication network bus, and the delay is only 1 / 20000, 1 / 100000, and 1 / 100 of the above technologies respectively. Compared with the mainstream vehicle bus technologies such as the non-competitive serial communication network and 10M automotive Ethernet commonly used in related technologies, the present invention, in addition to the bandwidth advantage, can also achieve larger-scale module sharing and higher bandwidth utilization, and has significant comprehensive performance advantages.

[0055] In the related technologies, the fundamental reason why an integrated vehicle network cannot be realized is the competition mechanism it adopts. When there are too many modules on the bus, this mechanism will have a very high probability of transmission collision and cannot accommodate a large number of modules on the vehicle platform.

[0056] From the perspective of the vehicle network architecture, the vehicle network architecture in the relevant technology adopts the domain controller electronic and electrical architecture. Point-to-point Ethernet is used as the backbone network for communication between different areas, and each module is mainly mounted on the controller local area network bus or serial communication network bus network. It is a heterogeneous hybrid network architecture; the typical process of sending message communication between modules is as follows:

[0057] 1) The module creates a message and sends it to the first CAN bus segment.

[0058] 2) Sent to the domain control gateway via the bus.

[0059] 3) CAN-ETH protocol conversion is realized through the domain control gateway and forwarded to Ethernet.

[0060] 4) Transmitted to the second domain control gateway via Ethernet.

[0061] 5) It then undergoes ETH-CAN reverse protocol conversion and is forwarded by the domain control gateway to the second controller area network bus where the target module is located.

[0062] 6) Transmitted to the target module by the controller area network bus of the second section.

[0063] Obviously, this process is highly complicated and can easily cause forwarding frame loss.

[0064] In the integrated network architecture established by the embodiment of the present invention, each module is mounted on the same half-duplex Ethernet bus, which can completely omit the process of protocol conversion and forwarding; the typical process of communication between modules is greatly simplified:

[0065] 1) The module creates a message and waits for the access window time slice to start.

[0066] 2) Send the message to the integrated Ethernet bus within the access window time.

[0067] 3) The target module receives the message.

[0068] That is to say, in the related art, each electronic controller (Electronic Control Unit, ECU) and the domain controller communicate using a controller area network bus or a serial communication network bus, and each domain controller communicates using point-to-point Ethernet. However, the embodiment of the present invention uses bus Ethernet to replace the controller area network bus or serial communication network bus to achieve an integrated network architecture.

[0069] It can be seen that the method adopted by the present invention avoids complex processes such as protocol conversion, domain control gateway chip forwarding, and Ethernet communication between domain control gateways, and achieves a significant simplification of the vehicle network architecture, which is particularly suitable for low-end or ultra-low-end models to achieve cost reduction and efficiency improvement.

[0070] Moreover, the technology of the present invention eliminates the need for domain control switch chips from an architectural perspective, and its cost is far lower than the heterogeneous vehicle network in the related technology that uses Ethernet as the backbone and also uses controller LAN bus, serial communication network and other protocols; the present invention relies on a limited access window mechanism to avoid the network congestion problem caused by a large number of modules mounted on the same bus, greatly reduces the number of modules competing for the bus at the same time and the bus load rate, and can achieve a lower frame loss rate and more stable transmission efficiency.

[0071] The embodiments of the present invention are further described below with reference to the accompanying drawings:

[0072] Reference Figure 3 , shows a flow chart of steps of a communication method provided by some embodiments of the present invention, the communication method is used in an electronic and electrical architecture of a vehicle, the electronic and electrical architecture includes a plurality of first nodes, the electronic and electrical architecture also includes a second node, the plurality of first nodes and the second node communicate through a bus, the method is applied to a first node i among the plurality of first nodes. The first node i is any node among the plurality of first nodes.

[0073] As some examples, the first node i is the first node that needs to transmit a message in the electronic and electrical architecture of the vehicle, and i is a positive integer greater than or equal to 1.

[0074] In some examples, the vehicle's electronic and electrical architecture can be pre-built, such as the central computing platform, body, energy, chassis, cockpit, assisted driving system, and other complete vehicle architectures composed of a large number of intelligent sensors.

[0075] like Figure 2As shown in the figure, the system on chip (SOC) represents the main chip of the central computing platform as the second node, and each ECU (electronic controller) is the corresponding intelligent sensor distributed in each area of ​​the vehicle as the first node, and the total number of electronic controllers is n; each electronic controller is connected to the central computing platform through a bus-type Ethernet to realize the communication transmission between the intelligent sensors and actuators and the central computing and control platform; wherein, the second node and the first node are in a master / slave relationship on the bus; the second node exists as the master node in the bus structure, and the other first nodes are slave nodes; the master node and the second node have the right to compete for the bus and send data at any time, and have the highest priority.

[0076] In some embodiments of the present invention, the first node i is at least one of an ECU unit, an actuator, a sensor, a domain controller, and a regional controller of the vehicle, and / or the second node is a central computing platform or a domain controller of the vehicle.

[0077] As some examples, the first node may be an electronic control unit (ECU) unit corresponding to a sensor or actuator in the vehicle, such as an actuator ECU unit that controls the vehicle's power system (such as shutting down or starting), controls airbags, controls brakes, and other functions.

[0078] In practical applications, the central computing platform in the vehicle can be used as a second node and connected to a bus with multiple first nodes, wherein the second node is a controller corresponding to the computing or control platform in the vehicle.

[0079] In some embodiments of the present invention, the bus is an Ethernet bus.

[0080] As some examples, the bus may be an Ethernet bus, or a Controller Area Network (CAN) bus or a Local Interconnect Network (LIN) bus.

[0081] Specifically, the following steps may be included:

[0082] Step 301: Receive a synchronization frame from the second node via the bus, wherein the synchronization frame includes permission indication information, and the permission indication information is used to indicate that one or more of the first nodes have access rights to the bus within a set time range.

[0083] In actual applications, the first node can receive a synchronization frame sent by the second node through the bus. The synchronization frame carries permission indication information used to indicate that one or more first nodes have access rights to the bus within a set time range. The first nodes with access rights to the bus can use the bus to transmit messages.

[0084] As some examples, after building an integrated automotive bus-type electronic and electrical architecture, the second node can send a synchronization frame to all first nodes through the bus. The synchronization frame can be used to indicate whether a first node has bus access rights. After the first node receives the synchronization frame through the bus, it can determine whether it has the authority to send a message based on the permission indication information carried by the synchronization frame.

[0085] In some embodiments of the present invention, the permission indication information includes node identifiers of one or more first nodes; the node identifier is used to indicate that the first node corresponding to the node identifier has the access authority within the time range.

[0086] As some examples, the node identifier of the first node may be a code or a name of the first node, to which the present invention does not impose any limitation, and those skilled in the art may set the node identifier according to actual requirements.

[0087] In actual applications, the synchronization frame sent by the second node may carry multiple first node identifiers, so that multiple first nodes can determine whether they have bus access rights based on whether their own node identifiers exist based on the synchronization frame received this time. If so, the message is transmitted through the bus; if not, the message waits for the next synchronization frame sent by the second node until the synchronization frame sent by the second node carries its own node identifier, and then the message is transmitted through the bus.

[0088] As in Example 1, there are three first nodes connected in the bus, namely ECU1, ECU2, and ECU3; ECU1 is identified as 1001, ECU2 is identified as 1002, and ECU3 is identified as 1003; the second node sends a synchronization frame to the three first nodes, and after receiving the synchronization frame, the three first nodes determine whether the first node identifier carried in the synchronization frame has their own node identifier. If so, it means that the first node has bus access rights. If not, it waits for the next synchronization frame sent by the second node until the synchronization frame sent by the second node is received carrying the node identifier of the first node, and then transmits the message through the bus.

[0089] As another example in Example 1, the second node sends a synchronization frame to the three first nodes and carries multiple node identifiers 1001 and 1002. At this time, after the three first nodes receive the synchronization frame, ECU1 and ECU2 determine that they have bus access rights based on the multiple node identifiers. If ECU1 and ECU2 have messages that need to be transmitted at this time, they can transmit the messages through the bus; and ECU3 does not find its own node identifier 1003 in the synchronization frame received this time, then it waits for the next synchronization frame sent by the second node, and does not transmit the message through the bus until it receives the synchronization frame sent by the second node that carries its own node identifier.

[0090] In some embodiments of the present invention, the method further comprises:

[0091] If the node identifiers of the one or more first nodes include the node identifier i of the first node i, the bus is accessed to transmit message data.

[0092] As some examples, after receiving a synchronization frame, one or more first nodes can search whether their own identification is included according to the multiple first node identifications carried by the synchronization frame to determine whether they have bus access rights, and judge whether their own time is within the time period when the bus access rights are effective according to the carried permission effective time information. If all conditions are met, messages can be transmitted through the bus in the vehicle; if not, message transmission will be stopped immediately.

[0093] As some examples, a first node i, if having bus access rights, can monitor the bus status of a bus in a vehicle, such as whether the bus status is idle, congested, etc.; when the bus status of the bus is idle, the first node i can transmit messages to other first nodes or second nodes through the bus.

[0094] In some embodiments of the present invention, accessing the bus to transmit message data includes:

[0095] The bus is accessed based on a contention mechanism to transmit message data.

[0096] As some examples, when a first node has the access right, since there may be multiple first nodes in the node group corresponding to the first node, if there are multiple first nodes in the node group that need to send messages, the multiple first nodes can access the bus based on a competition mechanism to transmit message data.

[0097] In some embodiments of the present invention, the multiple first nodes are divided into multiple node groups, and all node identifiers in the authority indication information are node identifiers of the first nodes included in the first node group.

[0098] As some examples, after building an integrated vehicle bus-type electronic and electrical architecture, multiple first nodes can be grouped in advance according to their functions to obtain multiple node groups; or they can be grouped randomly to obtain multiple node groups. The present invention does not limit this, and technical personnel in this field can group according to actual conditions.

[0099] like Figure 2 The total number of ECUs (first nodes) can be n, and all ECUs are evenly divided into k groups, so each group contains n / k ECUs. Within a synchronization frame time period, only one ECU in a group can obtain bus access rights; for example, ECU1, ECU5, and ECUn can be grouped as the same node group, and ECU2, ECU3, and ECUx can be grouped as the same node group.

[0100] As some examples, the second node can determine a node group from multiple node groups as a target node group to grant bus access rights, then obtain the identifiers of multiple first nodes in the target node group, generate a synchronization frame and send it to all first nodes connected to the bus with the identifiers of the first nodes included in the target node group, so that all connected first nodes can determine whether they have bus access rights through the synchronization frame.

[0101] As some examples, the target node group is determined by the second node based on multiple node groups by polling or selection; if there are currently three node groups A1, B2, and C3, the second node can use polling to select A1, B2, and C3 as the target node group in turn in a certain time period; or a certain node group can be selected as the target node group in a certain time period.

[0102] In practical applications, since there are multiple first nodes in the Ethernet bus, if multiple first nodes need to send messages, a large number of sending collisions will occur when the competition mechanism of Carrier Sense Multiple Access / collision detection (CSMA / CD) with collision detection competes for the access rights of the Ethernet bus, so that the messages have to go through a large number of meaningless retransmissions; therefore, a node group can be established to perform CSMA / CD competition for the access rights of the Ethernet bus, which can avoid the crowding problem caused by a large number of first nodes competing for the bus at the same time in the traditional bus-type Ethernet.

[0103] As some examples, after pre-grouping to obtain multiple node groups, the second node can determine the target node group by polling in sequence; for example, if multiple first nodes are divided into three groups of A, B, and C, the second node can establish an access window and send a synchronization frame to all first nodes, carrying the identifiers of multiple first nodes in the A node group, so as to grant bus access rights to the multiple first nodes in the A node group through multiple first node identifiers; since the synchronization frame does not carry the first node identifiers in the two node groups BC, the two node groups BC have no bus access rights; the second node can also change the order of polling to adjust the order of bus access rights of the node groups.

[0104] In some embodiments of the present invention, the synchronization frame further includes permission effective time information, and the permission effective time information is used to indicate the time range.

[0105] As some examples, the second node may also establish an access window before sending the synchronization frame. When establishing the access window, the start and end times of the access window may be set as the access window time information, and the access window time information may be used as the bus access permission effective time information of a certain node group, and sent together with the synchronization frame to the target node group.

[0106] like Figure 4 As shown, the second node pre-establishes 5 access windows, and sets the start and end time of the access window as the access window time information, and uses the access window time information as the bus access right effectiveness time information of a certain node group. At the beginning of an access window, since only ECUs in one group can compete for bus access rights, the bus of the entire vehicle can be equivalent to the architecture composed of SOC and each ECU of the control group, that is, the number of equivalent nodes of the bus is n / k+1, and the architecture of the bus is greatly simplified; obviously, for all time points, the total number of nodes that have the right to compete for the bus to send data at this moment (within the duration range) is the same n / k+1; where K is the number of controller groups and n is the total number of ECUs (first node).

[0107] As some examples, after receiving a synchronization frame, the first node can search whether its own identifier is included according to the multiple first node identifiers carried by the synchronization frame to determine whether it has bus access rights, and judge whether its own time is within the time period when the bus access rights are effective according to the carried permission effective time information. If all conditions are met, the message can be transmitted through the bus in the vehicle; if not, the message transmission will be stopped immediately.

[0108] like Figure 5As shown, the first nodes ECU2 and ECU3 are in the same group. After the first synchronization frame is sent, the group to which ECU2 and ECU3 belong obtains the bus access right; while the first node ECU1 is in another group and must wait during this period; secondly, in the first access window, even if ECU2 and ECU3 have no data to send and the bus is in an idle state, ECU1's data packet cannot be sent. When the next access window starts, ECU1 can send the data packet only after obtaining the bus access right.

[0109] As some examples, a scheduling table can also be pre-configured at the second node, which may include: the start and end time of each access window as the access window time information, and the access window time information as the bus access permission effective time information of a certain target node group; multiple node groups as the sorting method of the target node groups and multiple first node identifiers.

[0110] As some examples, the second node can generate an access window according to a preconfigured scheduling table, and set the access window time information according to the scheduling table, and then determine the target node group in turn through the order of multiple node groups in the preset scheduling table, and use the access window time information as the bus access permission effectiveness time information of the target node group.

[0111] As some examples, the access window time information of each access window includes a start and end time, and the time range of the target node group's permission effectiveness time corresponds to it; after the second node determines according to the built-in master clock that the time range indicated by the permission effectiveness time information has ended, it can determine the new target node group according to the order of the node groups in the scheduling table, and establish a new access window, and then search the scheduling table for the identifier of the first node included in the new target node group, generate a new synchronization frame and carry the identifier of the first node included in the new target node group to all first nodes connected to the bus.

[0112] As some examples, the second node may first establish an access window according to the scheduling table and then determine the target node group; or the second node may first determine the target node group according to the scheduling table and then establish the access window; the present invention does not limit the order of the two.

[0113] In some embodiments of the present invention, the synchronization frame further includes current time information, and the method further includes:

[0114] Time synchronization is performed according to the current time information.

[0115] As some examples, a precise master clock can be built into the second node and a slave clock can be built into multiple first nodes in advance; the master clock time (current time information) is sent to all first nodes connected to the bus through a synchronization frame, and all first nodes synchronize the slave clock according to the current time information carried by the synchronization frame, thereby achieving precise time synchronization between the second node and each first node.

[0116] In actual applications, after receiving the synchronization frame, the first node can adjust its internal clock to perform time synchronization according to the current time information carried in the synchronization frame to keep it consistent with the time of the synchronization frame.

[0117] In an embodiment of the present invention, the electronic and electrical architecture includes multiple first nodes, and the electronic and electrical architecture also includes a second node. The multiple first nodes and the second nodes communicate through a bus. The first node i among the multiple first nodes receives a synchronization frame from the second node through the bus. The synchronization frame includes permission indication information. The permission indication information is used to indicate that one or more first nodes have access rights to the bus within a set time range, thereby realizing the application of an integrated bus architecture in the vehicle and improving the performance of the network. The bus-type design greatly simplifies the vehicle network architecture, avoids complex processes such as protocol conversion, domain control gateway chip forwarding, and Ethernet communication between domain control gateways brought about by heterogeneous networks, improves the performance and reliability of the network, and is particularly suitable for low-end or ultra-low-end models to achieve cost reduction and efficiency improvement. By pre-determining whether the first node has bus access rights, it is allowed to compete for the use of the bus to transmit messages only when it has bus access rights, thereby avoiding the network congestion problem caused by a large number of modules mounted on the same bus, greatly reducing the bus load rate, and achieving a lower frame loss rate and more stable transmission efficiency.

[0118] The following combination Figure 6 The present invention is exemplified as follows:

[0119] Step S1, message generation.

[0120] As some examples, multiple first nodes connected to the vehicle bus will generate corresponding messages according to the actual application process. The first node after generating the message serves as the target first node. The message can be what the target first node needs to send to the second node, or it can be what the target first node needs to send to another node.

[0121] Step S2: Check whether you have the right to access the bus. If yes, then go to the access window; otherwise, wait for the next access window.

[0122] As some examples, after the electronic and electrical architecture of the vehicle is built, multiple first nodes can be grouped according to their functions to obtain one or more node groups; or they can be randomly grouped to obtain one or more node groups. The present invention does not limit this, and those skilled in the art can group according to actual conditions.

[0123] A scheduling table is pre-configured at the second node, and the scheduling table may include: the start and end time of each access window as the access window time information, and the access window time information is used as the bus access permission effective time information of a certain target node group; multiple node groups are used as the sorting method of the target node groups and multiple first node identifiers.

[0124] The second node can generate an access window and configure the access window time information according to the scheduling table, and then determine the target node group from the multiple node groups in turn according to the order of the multiple node groups in the preset scheduling table, and use the access window time information as the bus access permission effective time information of the target node group, and then search the scheduling table for the identifier of the first node included in the target node group, generate a synchronization frame and carry the identifier of the first node included in the target node group to all first nodes connected to the bus.

[0125] The target first node can determine whether it has the right to access the bus based on the received synchronization frame and the information it carries. If so, it reaches the access window and prepares to send the message; otherwise, it waits for the next synchronization frame sent by the second node and the newly generated access window.

[0126] As some examples, a scheduling table includes the identifiers of the first nodes that can access the bus in each access window. The scheduling table can be based on a time step T, where T is the length of a time segment of an access window. After each time step T, the second node sends a synchronization frame broadcast to all first nodes, and repeats this process in a loop. The synchronization frame includes the following information: the current precise time of the master clock, the precise time when the current access window ends, and all first nodes that have obtained bus access rights in the current access window.

[0127] When the first node receives the synchronization frame, it adjusts its internal clock to be consistent with the time of the synchronization frame, and determines whether it obtains bus access rights in the next access window. If not, the first node immediately stops sending data. Even if the first node does not have bus access rights in this access window, it is still connected to the bus, and the first node's reception of bus messages will not be restricted by the access window.

[0128] Step S3, monitor the bus status and determine whether the bus is idle. If yes, send a message; otherwise, continue to monitor the bus status.

[0129] When the target first node has bus access rights, it can monitor the bus status of the bus in the vehicle, such as whether the bus status is idle, congested, etc.; when the bus status of the bus is idle, the target first node can transmit the target message to other first nodes or second nodes through the bus; when the bus status is congested, stop sending messages and continue to monitor the bus status.

[0130] Step S4, determining whether a conflict occurs when sending the message, if so, returning to step S3, otherwise, the message transmission is terminated.

[0131] Since the second node will grant bus access rights to all the first nodes in the target node group, when a target node group has multiple target first nodes that all need to send messages, since multiple target first nodes in the group have permissions, a competition mechanism will be generated between the groups. When the target first node in the group determines that a conflict occurs when sending a message, it can decide whether to return the message based on the priority of the message it sends. The target first node with a low message priority can choose to end the transmission and continue to monitor the bus status. The message will be transmitted to the end after the target first node with a high priority has completed the transmission, or when the message is sent again without causing a conflict.

[0132] Through some embodiments of the present invention, before each message is sent, the target first node will determine whether it has the right to access the bus, thereby avoiding the congestion problem caused by a large amount of data competing for the bus at the same time in the traditional bus-type Ethernet.

[0133] Reference Figure 7 , showing a flow chart of another communication method provided by some embodiments of the present invention,

[0134] The communication method is used for an electronic and electrical architecture of a vehicle, wherein the electronic and electrical architecture includes a plurality of first nodes, and the electronic and electrical architecture also includes a second node. The plurality of first nodes and the second node communicate with each other via a bus, and the method is applied to the second node.

[0135] In some examples, an integrated vehicle bus-type electronic and electrical architecture can be pre-built, such as a complete vehicle architecture composed of a large number of intelligent sensors such as a central computing platform, body, energy, chassis, cockpit, and assisted driving system.

[0136] like Figure 2As shown, SOC (system on chip) represents the main chip of the central computing platform as the second node, and each ECU (electronic controller) is the corresponding intelligent sensor distributed in each area of ​​the vehicle as the first node, and the total number of electronic controllers is n; each electronic controller is connected to the central computing platform through a bus-type Ethernet to realize the communication transmission between the intelligent sensors and actuators and the central computing and control platform; wherein, the second node and the first node are in a master / slave relationship on the bus; the second node exists as the master node in the bus structure, and the other first nodes are slave nodes; the master node and the second node have the right to compete for the bus and send data at any time, and have the highest priority.

[0137] In some embodiments of the present invention, the bus is an Ethernet bus.

[0138] As some examples, the bus may be an Ethernet bus, or a Controller Area Network (CAN) bus or a Local Interconnect Network (LIN) bus.

[0139] In some embodiments of the present invention, the first node is at least one of an ECU unit, an actuator, a sensor, a domain controller, and a regional controller of the vehicle, and the second node is a central computing platform or a domain controller of the vehicle.

[0140] As some examples, the first node may be an electronic control unit (ECU) unit corresponding to a sensor or actuator in the vehicle, such as an actuator ECU unit that controls the vehicle's power system (such as shutting down or starting), controls airbags, controls brakes, and other functions.

[0141] In practical applications, the central computing platform in the vehicle can be used as a second node and connected to a bus with multiple first nodes, wherein the first node is the ECU unit corresponding to the sensor or actuator in the vehicle, and the second node is the controller corresponding to the computing or control platform in the vehicle.

[0142] Specifically, the following steps may be included:

[0143] Step 701: Transmit a synchronization frame to the first node via the bus; the synchronization frame includes permission indication information, and the permission indication information is used to indicate that one or more of the first nodes have access rights to the bus within a set time range.

[0144] As some examples, after building an integrated automotive bus-type electronic and electrical architecture, the second node can send a synchronization frame to all first nodes through the bus. The synchronization frame can be used to indicate whether a first node has bus access rights. After multiple first nodes receive the synchronization frame through the bus, they can determine whether they have the authority to send messages based on the permission indication information carried by the synchronization frame.

[0145] In actual applications, multiple first nodes can receive synchronization frames sent by second nodes through the bus. The synchronization frames carry permission indication information used to indicate that one or more first nodes have access rights to the bus within a set time range. The first nodes with access rights to the bus can use the bus to transmit messages.

[0146] In some embodiments of the present invention, the permission indication information includes node identifiers of one or more first nodes; the node identifier is used to indicate that the first node corresponding to the node identifier has the access authority within the time range.

[0147] As some examples, the node identifier of the first node may be a code or a name of the first node, to which the present invention does not impose any limitation, and those skilled in the art may set the node identifier according to actual requirements.

[0148] In actual applications, the synchronization frame sent by the second node may carry multiple first node identifiers, so that the first node can determine whether its own node identifier exists based on the synchronization frame received this time and whether it has bus access rights. If so, the message is transmitted through the bus; if not, the message waits for the next synchronization frame sent by the second node until it receives a synchronization frame sent by the second node that carries its own node identifier, and then transmits the message through the bus.

[0149] As in Example 1, there are three first nodes connected in the bus, namely ECU1, ECU2, and ECU3; ECU1 is identified as 1001, ECU2 is identified as 1002, and ECU3 is identified as 1003; the second node sends a synchronization frame to the three first nodes, and after receiving the synchronization frame, the three first nodes determine whether the first node identifier carried in the synchronization frame has their own node identifier. If so, it means that the first node has bus access rights. If not, it waits for the next synchronization frame sent by the second node until the synchronization frame sent by the second node is received carrying the node identifier of the first node, and then transmits the message through the bus.

[0150] As another example in Example 1, the second node sends a synchronization frame to the three first nodes and carries multiple node identifiers 1001 and 1002. At this time, after the three first nodes receive the synchronization frame, ECU1 and ECU2 determine that they have bus access rights based on the multiple node identifiers. If ECU1 and ECU2 have messages that need to be transmitted at this time, they can transmit the messages through the bus; and ECU3 does not find its own node identifier 1003 in the synchronization frame received this time, then it waits for the next synchronization frame sent by the second node, and does not transmit the message through the bus until it receives the synchronization frame sent by the second node that carries its own node identifier.

[0151] In some embodiments of the present invention, the multiple first nodes are divided into multiple node groups, and all node identifiers in the authority indication information are node identifiers of the first nodes included in the first node group.

[0152] As some examples, after building an integrated vehicle bus-type electronic and electrical architecture, multiple first nodes can be grouped in advance according to their functions to obtain multiple first node groups; or they can be grouped randomly to obtain multiple first node groups. The present invention does not limit this, and technical personnel in this field can group according to actual conditions.

[0153] like Figure 2 The total number of ECUs (first nodes) can be n, and all ECUs are evenly divided into k groups, so each group contains n / k ECUs. Within a synchronization frame time period, only one ECU in a group can obtain bus access rights; for example, ECU1, ECU5, and ECUn can be grouped as the same node group, and ECU2, ECU3, and ECUx can be grouped as the same node group.

[0154] As some examples, the second node can determine a node group from multiple first node groups as the target first node group to grant bus access rights, then obtain the identifiers of multiple first nodes in the target first node group, generate a synchronization frame and send it to all first nodes connected to the bus with the identifiers of the first nodes included in the target first node group, so that all connected first nodes can determine whether they have bus access rights through the synchronization frame.

[0155] As some examples, the target first node group is determined by the second node based on multiple first node groups by polling or selection; for example, if there are currently three first node groups A1, B2, and C3, the second node can use polling to take the three first node groups A1, B2, and C3 as the target first node group in a certain time period in turn; or a certain first node group can be selected as the target first node group in a certain time period.

[0156] In practical applications, since there are multiple first nodes in the bus, if multiple first nodes need to send messages, a large number of transmission collisions will occur when the carrier sense multiple access with collision detection (CSMA / CD) competition mechanism is used to compete for the access rights of the Ethernet bus, so that the messages have to go through a large number of meaningless retransmissions; therefore, a node group can be established to perform CSMA / CD competition for the access rights of the Ethernet bus, which can avoid the crowding problem caused by a large number of first nodes competing for the bus at the same time in the traditional bus-type Ethernet.

[0157] As some examples, after pre-grouping to obtain multiple first node groups, the second node can use a sequential polling method to determine the target first node group; if the multiple first nodes are divided into three groups A, B, and C, the second node can establish an access window and send a synchronization frame to all first nodes, and carry the identifiers of multiple first nodes in the A node group to grant bus access rights to the multiple first nodes in the A node group through multiple first node identifiers; since the synchronization frame does not carry the first node identifiers of the two first node groups BC, the two node groups BC have no bus access rights; wherein, the second node can also change the order of polling to adjust the order of bus access rights of the first node groups.

[0158] In actual applications, the target first node group is determined by the second node based on multiple first node groups by polling or selection. For example, if there are currently three first node groups A1, B2, and C3, the second node can use polling to select the three first node groups A1, B2, and C3 as the target first node group in a certain time period. It can also select a certain first node group as the target first node group in a certain time period.

[0159] In some embodiments of the present invention, the first node group is determined from the multiple node groups according to the order of the multiple node groups in a preset scheduling table.

[0160] In some examples, a scheduling table can be pre-configured at the second node, and the scheduling table can include: the start and end time of each access window as the access window time information, and the access window time information as the bus access permission effective time information of a certain target first node group; multiple first node groups as the sorting method of the target first node groups and multiple first node identifiers.

[0161] In actual applications, the second node can generate an access window according to a pre-configured scheduling table, and set the access window time information according to the scheduling table, and then determine the target first node group from the order of multiple first node groups in the preset scheduling table in turn, and use the access window time information as the bus access permission effectiveness time information of the target first node group.

[0162] In some examples, the second node may first establish an access window according to the scheduling table and then determine the target first node group; or the second node may first determine the target first node group according to the scheduling table and then establish the access window; the present invention does not limit the order of the two.

[0163] In some embodiments of the present invention, the synchronization frame further includes permission effective time information, and the permission effective time information is used to indicate the time range.

[0164] As some examples, the second node may also establish an access window before sending the synchronization frame. When establishing the access window, the start and end times of the access window may be set as the access window time information, and the access window time information may be used as the bus access permission effective time information of a first node group, and sent together with the synchronization frame to the target first node group.

[0165] like Figure 4 As shown, the second node pre-establishes 5 access windows, and sets the start and end time of the access window as the access window time information, and uses the access window time information as the bus access right effectiveness time information of a first node group. At the beginning of an access window, since only ECUs in one group can compete for bus access rights, the bus of the entire vehicle can be equivalent to the architecture composed of SOC and each ECU of the control group, that is, the number of equivalent nodes of the bus is n / k+1, and the architecture of the bus is greatly simplified; obviously, for all time points, the total number of nodes that have the right to compete for the bus to send data at this moment (within the duration range) is the same n / k+1; where K is the number of controller groups and n is the total number of ECUs (first nodes).

[0166] As some examples, after receiving a synchronization frame, the first node can search whether its own identifier is included according to the multiple first node identifiers carried by the synchronization frame to determine whether it has bus access rights, and judge whether its own time is within the time period when the bus access rights are effective according to the carried permission effective time information. If all conditions are met, the message can be transmitted through the bus in the vehicle; if not, the message transmission will be stopped immediately.

[0167] like Figure 5 As shown, the first nodes ECU2 and ECU3 are in the same group. After the first synchronization frame is sent, the group to which ECU2 and ECU3 belong obtains the bus access right; while the first node ECU1 is in another group and must wait during this period; secondly, in the first access window, even if ECU2 and ECU3 have no data to send and the bus is in an idle state, ECU1's data packet cannot be sent. When the next access window starts, ECU1 can send the data packet only after obtaining the bus access right.

[0168] As some examples, a scheduling table can also be pre-configured at the second node, which may include: the start and end time of each access window as the access window time information, and the access window time information as the bus access permission effective time information of a certain target first node group; multiple first node groups as the sorting method of the target first node groups and multiple first node identifiers.

[0169] As some examples, the second node can generate an access window according to a preconfigured scheduling table, and set the access window time information according to the scheduling table, and then determine the target first node group from the order of multiple first node groups in the preset scheduling table in turn, and use the access window time information as the bus access permission effectiveness time information of the target first node group.

[0170] As some examples, the access window time information of each access window includes a start and an end time, and the time range of the target first node group's permission effectiveness time corresponds to it; after the second node determines according to the built-in master clock that the time range indicated by the permission effectiveness time information has ended, it can determine the new target first node group according to the order of the first node groups in the scheduling table, and establish a new access window, and then search the scheduling table for the identifier of the first node included in the new target first node group, generate a new synchronization frame and carry the identifier of the first node included in the new target first node group to all first nodes connected to the bus.

[0171] As some examples, the second node may first establish an access window according to the scheduling table and then determine the target first node group; or the second node may first determine the target first node group according to the scheduling table and then establish the access window; the present invention does not limit the order of the two.

[0172] As some examples, the access window time information of each access window includes a start and an end time, and the time range of the target first node group's permission effectiveness time corresponds to it; after the second node determines according to the built-in master clock that the time range indicated by the permission effectiveness time information has ended, it can determine the new target first node group according to the order of the first node groups in the scheduling table, and establish a new access window, and then search the scheduling table for the identifier of the first node included in the new target first node group, generate a new synchronization frame and carry the identifier of the first node included in the new target first node group to all first nodes connected to the bus.

[0173] In some embodiments of the present invention, the synchronization frame further includes current time information, and the current time information is used for time synchronization between the first node and the second node.

[0174] In some examples, a precise master clock may be built into the second node and a slave clock may be built into the first node. The second node carries the master clock time (current time information) through a synchronization frame and sends it to all first nodes. The first node synchronizes the slave clock according to the current time information carried in the synchronization frame, thereby achieving precise time synchronization between the second node and each first node.

[0175] In actual applications, after receiving the synchronization frame, the first node can adjust its internal clock to perform time synchronization according to the current time information carried in the synchronization frame to keep it consistent with the time of the synchronization frame.

[0176] In an embodiment of the present invention, an electronic and electrical architecture for a vehicle includes a plurality of first nodes, and the electronic and electrical architecture also includes a second node. The plurality of first nodes and the second nodes communicate through a bus, and are applied to the second node to transmit a synchronization frame to the first node through the bus; the synchronization frame includes permission indication information, and the permission indication information is used to indicate that one or more first nodes have access rights to the bus within a set time range, thereby realizing the application of an integrated bus architecture in the vehicle and improving the performance of the network. The bus-type design greatly simplifies the network architecture of the entire vehicle, avoids complex processes such as protocol conversion, domain control gateway chip forwarding, and Ethernet communication between domain control gateways brought about by heterogeneous networks, improves the performance and reliability of the network, and is particularly suitable for low-end or ultra-low-end models to achieve cost reduction and efficiency improvement. By pre-determining whether the first node has bus access rights, it is allowed to compete for the use of the bus to transmit messages only when it has bus access rights, thereby avoiding the network congestion problem caused by a large number of modules mounted on the same bus, greatly reducing the bus load rate, and achieving a lower frame loss rate and more stable transmission efficiency.

[0177] The present invention is exemplarily described below in combination with the above contents:

[0178] Assuming that the probability of an ECUi sending a data packet at a moment is pi (0≤pi≤100%), and assuming that all pi are roughly equal to p to simplify the calculation, the probability Pc of data transmission collision based on the bus of the present invention can be quantitatively calculated as follows:

[0179] (Formula 1)

[0180] Where n is the total number of ECUs and K is the number of controller groups.

[0181] Similarly, the collision probability P'c of a conventional bus Ethernet without the present invention can be calculated as follows:

[0182] (Formula 2)

[0183] Comparing the above formula 1 with formula 2, we can see that:

[0184] (Formula 3)

[0185] It can be seen from formula 3 that due to the characteristics of the technology of the present invention, the probability of delay caused by message collision is very small and can be ignored; at the same time, since the present invention adopts Gigabit Ethernet with a larger bandwidth, the link transmission delay of each message is only 1 / 20000 of the controller local area network bus; therefore, the delay of a message in the invention technology is approximately equal to the window waiting delay D, and the maximum value of D is set to Dmax; from the logical characteristics of the present technology, it can be seen that the maximum delay is when a message is generated at the end of the access window of the ECU, and it is forced to wait for the next access window to arrive; so Dmax can be calculated using the following formula:

[0186] (Formula 4)

[0187] For vehicle networks, most messages are periodic short frames. The maximum value of the delay Dmax that such messages can accept must be less than the minimum period Tmin of the message. In actual vehicle networks, the minimum period of a message is about 10ms. Therefore, the T value can be set to 1ms and the k value to 10 as typical values. Based on the typical values ​​assumed above, the improvement effect of this technology on the overall performance of the network can be quantitatively analyzed. Therefore, the following are obtained:

[0188] (Formula 5)

[0189] Therefore, the maximum delay of the technology of the present invention can meet the maximum delay limit of vehicle network messages; in actual application scenarios, Dmax only occurs under very special circumstances, and D is generally much smaller than Dmax, so the present invention is fully feasible in terms of delay.

[0190] Under the same setting, assuming that a certain vehicle model has 50 ECUs, the average probability of sending a data packet at a moment is about p=0.5%. From formula 1 and formula 2, we can get Pc=2.9% and P'c=22.5%. Therefore, after applying the technology of the present invention, the probability of message collision is only 12% of the original. It can be seen that based on the technology of the present invention, the problem of message collision can be solved.

[0191] In summary, the new access mechanism proposed in the invention can solve the problem of message collision when bus-type Ethernet is applied to the vehicle network due to the large number of ECUs in the vehicle. Therefore, the new access mechanism proposed in this patent makes it possible to apply bus-type Ethernet to the vehicle environment. While improving the performance and reliability of the vehicle network, it can also greatly reduce the cost and complexity of the vehicle network, and realize the integrated network architecture of the vehicle.

[0192] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0193] Some embodiments of the present invention further provide a first node, the first node is used in an electronic and electrical architecture of a vehicle, the electronic and electrical architecture further includes a bus and a second node, the first node includes a processing unit and a transceiver unit, wherein:

[0194] The transceiver unit is used to receive a synchronization frame from the second node through the bus, wherein the synchronization frame includes permission indication information;

[0195] The processing unit is used to determine whether the first node has access rights to the bus within a set time range according to the permission indication information.

[0196] In some embodiments of the present invention, the permission indication information includes node identifiers of one or more first nodes; the node identifier is used to indicate that the first node corresponding to the node identifier has the access authority within the time range.

[0197] In some embodiments of the present invention, the first node is further configured to:

[0198] If the node identifiers of the one or more first nodes include the node identifier i of the first node i, the bus is accessed to transmit message data.

[0199] In some embodiments of the present invention, accessing the bus to transmit message data includes:

[0200] The bus is accessed based on a contention mechanism to transmit message data.

[0201] In some embodiments of the present invention, the multiple first nodes are divided into multiple node groups, and all node identifiers in the authority indication information are node identifiers of the first nodes included in the first node group.

[0202] In some embodiments of the present invention, the synchronization frame further includes permission effective time information, and the permission effective time information is used to indicate the time range.

[0203] In some embodiments of the present invention, the synchronization frame further includes current time information, and the method further includes:

[0204] Time synchronization is performed according to the current time information.

[0205] In some embodiments of the present invention, the first node i is at least one of an ECU unit, an actuator, a sensor, a domain controller, and a regional controller of the vehicle, and / or the second node is a central computing platform or a domain controller of the vehicle.

[0206] In some embodiments of the present invention, the bus is an Ethernet bus.

[0207] Some embodiments of the present invention further provide a second node, the second node is used in an electronic and electrical architecture of a vehicle, the electronic and electrical architecture further includes a bus and a plurality of first nodes, the first node includes a processor, and the processor is connected to a memory;

[0208] The processor is used to call the computer program stored in the memory to execute the method as described above.

[0209] An electronic and electrical architecture of a vehicle comprises the plurality of first nodes and the second node as described above, wherein the plurality of first nodes and the second node communicate with each other via the bus.

[0210] A vehicle comprises the electronic and electrical architecture as described above.

[0211] A computer-readable storage medium stores a computer program, wherein the computer program implements the method described above when executed by a processor, or the computer program implements the method described above when executed by a processor.

[0212] A computer program product comprises a computer program, wherein the computer program implements the method described above when executed by a processor, or the computer program implements the method described above when executed by a processor.

[0213] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0214] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0215] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0216] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0217] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0218] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0219] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0220] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0221] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the above elements.

[0222] The above provides a detailed introduction to a communication method, a first node, a second node, an architecture, a vehicle and a medium. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A communication method for an electronic and electrical architecture of a vehicle, characterized in that: The electronic and electrical architecture includes a plurality of first nodes, and the electronic and electrical architecture also includes a second node, the plurality of first nodes and the second node communicate with each other through a bus, the method is applied to a first node i among the plurality of first nodes, and the method includes: receiving a synchronization frame from the second node via the bus, the synchronization frame comprising permission indication information, the permission indication information being used to indicate that one or more of the first nodes have access rights to the bus within a set time range; Among them, the permission indication information includes node identifiers of one or more first nodes; the node identifier is used to indicate that the first node corresponding to the node identifier has the access permission within the time range; the multiple first nodes are divided into multiple node groups, and all node identifiers in the permission indication information are node identifiers of the first nodes included in the first node group.

2. The method according to claim 1, characterized in that The method further comprises: If the node identifiers of the one or more first nodes include the node identifier i of the first node i, the bus is accessed to transmit message data.

3. The method according to claim 2, characterized in that The accessing the bus to transmit message data includes: The bus is accessed based on a contention mechanism to transmit message data.

4. The method according to claim 1, characterized in that: The synchronization frame further includes permission effective time information, and the permission effective time information is used to indicate the time range.

5. The method according to claim 1, characterized in that: The synchronization frame also includes current time information, and the method further includes: Time synchronization is performed according to the current time information.

6. The method according to claim 1, characterized in that The first node i is one of the ECU unit, actuator, sensor, domain controller, and regional controller of the vehicle, and / or the second node is the central computing platform or domain controller of the vehicle.

7. The method according to claim 1, characterized in that The bus is an Ethernet bus.

8. A communication method for an electronic and electrical architecture of a vehicle, characterized in that: The electronic and electrical architecture includes a plurality of first nodes, and the electronic and electrical architecture also includes a second node. The plurality of first nodes and the second node communicate with each other via a bus. The method is applied to the second node, and the method includes: transmitting a synchronization frame to the first node via the bus; the synchronization frame comprising permission indication information, the permission indication information being used to indicate that one or more of the first nodes have access rights to the bus within a set time range; Among them, the permission indication information includes node identifiers of one or more first nodes; the node identifier is used to indicate that the first node corresponding to the node identifier has the access permission within the time range; the multiple first nodes are divided into multiple node groups, and all node identifiers in the permission indication information are node identifiers of the first nodes included in the first node group.

9. The method according to claim 8, characterized in that The first node group is determined from the multiple node groups according to the order of the multiple node groups in the preset scheduling table.

10. The method according to claim 8, characterized in that The synchronization frame further includes permission effective time information, and the permission effective time information is used to indicate the time range.

11. The method according to any one of claims 8 to 10, characterized in that: The synchronization frame also includes current time information, and the current time information is used for time synchronization between the first node and the second node.

12. The method according to claim 8, characterized in that The first node is at least one of an ECU unit, an actuator, a sensor, a domain controller, and a regional controller of the vehicle, and the second node is a central computing platform or a domain controller of the vehicle.

13. The method according to claim 8, characterized in that The bus is an Ethernet bus.

14. A first node, characterized in that: The first node is used in an electronic and electrical architecture of a vehicle, the electronic and electrical architecture includes a plurality of first nodes, the electronic and electrical architecture also includes a bus and a second node, the first node includes a processing unit and a transceiver unit, wherein: The transceiver unit is used to receive a synchronization frame from the second node through the bus, wherein the synchronization frame includes permission indication information; The processing unit is used to determine whether the first node has access rights to the bus within a set time range according to the permission indication information; Among them, the permission indication information includes node identifiers of one or more first nodes; the node identifier is used to indicate that the first node corresponding to the node identifier has the access permission within the time range; the multiple first nodes are divided into multiple node groups, and all node identifiers in the permission indication information are node identifiers of the first nodes included in the first node group.

15. A second node, characterized in that: The second node is used in an electronic and electrical architecture of a vehicle, the electronic and electrical architecture further comprising a bus and a plurality of first nodes, the first node comprising a processor, and the processor is connected to a memory; The processor is configured to call the computer program stored in the memory to execute the method according to any one of claims 8 to 13.

16. An electronic and electrical architecture of a vehicle, characterized in that: The method comprises the plurality of first nodes as claimed in claim 14 and the second node as claimed in claim 15, wherein the plurality of first nodes and the second node communicate with each other via the bus.

17. A vehicle, characterized in that: The vehicle comprises the electrical and electronic architecture of claim 16 .

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented; or when the computer program is executed by a processor, the method according to any one of claims 8 to 13 is implemented.

19. A computer program product, characterized in that The computer program comprises a computer program, which implements the method according to any one of claims 1 to 7 when executed by a processor, or the computer program implements the method according to any one of claims 8 to 13 when executed by a processor.

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