Network design evaluation method and device and electronic equipment

Abstract

The invention discloses a network design evaluation method and device and electronic equipment, and relates to the technical field of automobile electronic communication. The method comprises the following steps: determining delay information for sending at least one target message within a preset time interval based on a CAN bus network, the delay information comprising delay duration and delay over-limit rate for sending each target message within the preset time interval; the delay over-limit rate represents the percentage of the sending times of each target message in the preset time interval in the total sending times; and evaluating the design rationality of the CAN bus network based on the delay information of the at least one target message. According to the application, the design rationality of the CAN bus network can be evaluated more scientifically and accurately.

Description

Technical Field

[0001] The present application relates to the field of automotive electronic communication technology, and in particular to a network design evaluation method, device and electronic equipment. Background Art

[0002] In recent years, the Controller Area Network (CAN) bus network has become the backbone network for communication between electronic control units in automotive electronic control systems. The real-time and reliability of its information transmission are related to the safety of the vehicle. However, as more and more network nodes are controlling and communicating on the CAN bus network, the message delay problem becomes more and more serious, making it difficult to ensure the safety of the vehicle.

[0003] In the related art, in order to ensure automobile safety, the rationality of CAN bus network design is usually evaluated by calculating the network load rate. However, evaluating the CAN bus network design by the network load rate alone ignores the message delay defect of the CAN bus network, which may affect the performance and stability of the automobile electronic control system. Therefore, the rationality of the CAN bus network design cannot be accurately evaluated by the network load rate alone. Summary of the invention

[0004] In response to the above technical problems, the embodiments of the present application provide a network design evaluation method, device and electronic device, which can more scientifically and accurately evaluate the design rationality of the CAN bus network.

[0005] The technical solution of this application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a network design evaluation method, comprising:

[0007] Determine the delay information of sending at least one target message within a preset time interval based on a controller area network (CAN) bus network, wherein the delay information includes the delay duration and the delay exceeding rate of sending each target message within the preset time interval, wherein the delay exceeding rate represents the percentage of the number of times each target message is sent with delay within the preset time interval to the total number of times it is sent;

[0008] Based on the delay information of the at least one target message, the design rationality of the CAN bus network is evaluated.

[0009] In some embodiments, the evaluating the design rationality of the CAN bus network based on the delay information of the at least one target message includes:

[0010] Obtaining a preset message delay requirement, wherein the preset message delay requirement includes a message delay duration requirement and a message delay excess rate requirement;

[0011] Based on the delay information of the at least one target message and the preset message delay requirement, the design rationality of the CAN bus network is evaluated.

[0012] In some embodiments, the determining of the delay information of sending at least one target message within a preset time interval based on a controller area network (CAN) bus network includes:

[0013] Determine, based on a simulation method, a planned sending time and an actual sending time of sending the at least one target message within the preset time interval based on the CAN bus network;

[0014] Delay information for sending the at least one target message within the preset time interval based on the CAN bus network is determined based on the planned sending time and the actual sending time of the at least one target message.

[0015] In some embodiments, the determining, based on the simulation method, the planned sending time and the actual sending time of sending the at least one target message within the preset time interval based on the CAN bus network includes:

[0016] Determine the transmission rate of the CAN bus network and the message length of each of the target messages;

[0017] Based on the sending rate and the message length of each of the target messages, a probability distribution method is used to determine the planned sending time and the sending duration of each of the target messages within the preset time interval;

[0018] Based on the planned sending time and sending duration of each target message in the preset time interval and the arbitration mechanism of the CAN bus network, the actual sending time of each target message in the preset time interval is determined.

[0019] In some embodiments, the at least one target message comprises a periodic message;

[0020] The method of determining the planned sending time and the sending duration of each target message within the preset time interval by using a probability distribution method based on the sending rate and the message length of each target message includes:

[0021] Based on the arbitration mechanism of the CAN bus network, sorting the first sending order of each of the periodic messages within the preset time interval to obtain a first sorting result;

[0022] Based on the sending rate, the message length of each of the periodic messages and the first sorting result, the probability distribution method is used to determine all planned sending times and all sending durations of each of the periodic messages within the preset time interval.

[0023] In some embodiments, the at least one target message comprises an event-triggered message;

[0024] The method of determining the planned sending time and the sending duration of each target message within the preset time interval by using a probability distribution method based on the sending rate and the message length of each target message includes:

[0025] Obtaining preset trigger probabilities corresponding to each of the event-triggered messages;

[0026] Based on the preset trigger probabilities corresponding to the event-triggered messages, respectively, the probability distribution method is used to determine the trigger probabilities of the event-triggered messages in the first time periods, respectively, where the first time periods are the time periods obtained by dividing the preset time interval by the first interval duration;

[0027] Based on the sending rate, the message length of each event-triggered message and the triggering probability of each event-triggered message in each first time period, the planned sending time and the duration of all sending of each event-triggered message within the preset time interval are determined.

[0028] In some embodiments, determining the actual sending time of each target message within the preset time interval based on the planned sending time and the sending duration of each target message within the preset time interval and the arbitration mechanism of the CAN bus network includes:

[0029] Based on the planned sending time of each target message within the preset time interval, determine the target message planned to be sent in each second time period, wherein each second time period is each time period obtained by dividing the preset time interval by the second interval duration;

[0030] Determine the actual sending time of the target message planned to be sent in each of the second time periods based on the planned sending time and the sending duration of the target message planned to be sent in each of the second time periods, and the arbitration mechanism of the CAN bus network;

[0031] Based on the actual sending time of the target message planned to be sent in each of the second time periods, the actual sending time of each of the target messages within the preset time interval is obtained.

[0032] In some embodiments, determining the actual sending time of the target message planned to be sent in each second time period based on the planned sending time and the sending duration of the target message planned to be sent in each second time period, and the arbitration mechanism of the CAN bus network, includes:

[0033] Based on the arbitration mechanism of the CAN bus network, sorting the sending order of the target messages planned to be sent in each of the second time periods to obtain second sorting results corresponding to each of the second time periods;

[0034] Based on the second sorting results corresponding to each second time period, and the planned sending time and the sending duration of the target message planned to be sent in each second time period, the actual sending time of the target message planned to be sent in each second time period is determined.

[0035] In a second aspect, an embodiment of the present application provides a network design evaluation device, including:

[0036] A determination module, used to determine the delay information of sending at least one target message within a preset time interval based on a controller area network (CAN) bus network, wherein the delay information includes the delay duration and the delay exceeding rate of sending each of the target messages within the preset time interval, wherein the delay exceeding rate represents the percentage of the number of times each of the target messages is delayed within the preset time interval to the total number of times it is sent;

[0037] An evaluation module is used to evaluate the design rationality of the CAN bus network based on the delay information of the at least one target message.

[0038] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory and a processor, wherein the memory is used to store executable data instructions; when the processor is used to execute the executable data instructions stored in the memory, the network design evaluation method as described in the first aspect is implemented.

[0039] The network design evaluation method, device and electronic device provided in the embodiments of the present application first determine the delay information of sending at least one target message based on the CAN bus network within a preset time interval, and the delay information includes the delay duration and delay excess rate of sending each target message within the preset time interval, and then evaluate the design rationality of the CAN bus network based on the delay information of each target message; compared with the method of evaluating the rationality of the CAN bus network design solely through the network load rate, the embodiments of the present application take into account that the message delay defects existing in the CAN bus network may affect the performance and stability of the automotive electronic control system, and by evaluating the rationality of the CAN bus network design based on the delay duration and delay excess rate of sending each target message through the CAN bus network within the preset time interval, it is possible to more scientifically and accurately evaluate the rationality of the CAN bus network design. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 One of the flow charts of a network design evaluation method provided in an embodiment of the present application;

[0042] Figure 2 A second flowchart of a network design evaluation method provided in an embodiment of the present application;

[0043] Figure 3 A flowchart of a network design evaluation method provided in an embodiment of the present application is shown in FIG3;

[0044] Figure 4 A fourth flowchart of a network design evaluation method provided in an embodiment of the present application;

[0045] Figure 5 A fifth flowchart of a network design evaluation method provided in an embodiment of the present application;

[0046] Figure 6 A sixth flowchart of a network design evaluation method provided in an embodiment of the present application;

[0047] Figure 7 A flowchart of a network design evaluation method provided in an embodiment of the present application is shown in FIG7;

[0048] Figure 8 A schematic diagram of the structure of a network design evaluation device provided in an embodiment of the present application;

[0049] Fig. 9 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] It should be noted that in the description of the embodiments of the present application, the terms "first", "second", etc. are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0052] The following is an illustrative introduction to the network design evaluation method, device, and electronic device provided in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application.

[0053] Figure 1 One of the flow charts of a network design evaluation method provided in an embodiment of the present application is as follows: Figure 1 As shown, the method includes:

[0054] S101. Determine the delay information of sending at least one target message within a preset time interval based on a controller area network (CAN) bus network, wherein the delay information includes the delay duration and the delay excess rate of sending each target message within the preset time interval, and the delay excess rate represents the percentage of the number of delayed sending times of each target message within the preset time interval to the total number of sending times.

[0055] It should be noted that the CAN bus network is a high-speed serial communication protocol, which was originally designed for microcontroller communication in the automotive environment, especially for exchanging information between electronic control units in the automotive electronic control system to form an automotive electronic control network. For example, CAN control devices are embedded in engine management systems, transmission controllers, instrument equipment, and electronic backbone systems.

[0056] In some embodiments, a communication database corresponding to a CAN bus network used for communication between electronic control units in a car may be obtained, and the communication database stores all target messages that need to be transmitted through the CAN bus network.

[0057] It should be noted that at least one target message in the embodiment of the present application is the target message stored in the communication database corresponding to the CAN bus network.

[0058] It should be noted that the preset time interval can be adaptively set based on actual applications, and the embodiments of the present application do not specifically limit this. For example, the preset time interval is 30 minutes, 1 hour or 1 day.

[0059] In some embodiments, the delay information of sending at least one target message based on the CAN bus network within a preset time interval can be determined based on actual statistics or simulation methods, and the delay information includes the delay length and delay excess rate of sending each target message within the preset time interval, wherein the delay excess rate represents the percentage of the number of delayed sending of each target message within the preset time interval to the total number of sending times.

[0060] It should be noted that a target message may be sent multiple times within a preset time interval, but not every time the target message is sent, there will be a delay. Therefore, the percentage of the number of times the target message is sent with a delay within the preset time interval to the total number of times it is sent can be calculated, and the calculation result is used as the delay limit rate of the target message. For example, if a target message is sent a total of 10 times within the preset time interval, and 6 times are delayed, the delay limit rate of the target message is 60%.

[0061] It should be noted that the delay duration of the target message may include the average delay duration of the target message being sent within a preset time interval, and may also include the delay duration of each time the target message is sent within the preset time interval.

[0062] S102: Based on the delay information of the at least one target message, evaluate the design rationality of the CAN bus network.

[0063] In the embodiment of the present application, the design rationality of the CAN bus network can be evaluated based on the delay information of each target message, and the delay information includes the delay duration and delay overlimit rate of each target message in sending each target message within a preset time interval. If it is determined that the design of the CAN bus network is unreasonable in some aspect, the relevant personnel can be promptly instructed to make corresponding adjustments to the design of the CAN bus network.

[0064] It can be understood that the network design evaluation method provided in the embodiment of the present application first determines the delay information of sending at least one target message based on the CAN bus network within a preset time interval, and the delay information includes the delay duration and delay excess rate of sending each target message within the preset time interval, and then evaluates the design rationality of the CAN bus network based on the delay information of each target message; compared with the method of evaluating the rationality of the CAN bus network design solely through the network load rate, the embodiment of the present application takes into account that the message delay defects existing in the CAN bus network may affect the performance and stability of the automotive electronic control system, and by evaluating the rationality of the CAN bus network design based on the delay duration and delay excess rate of sending each target message through the CAN bus network within the preset time interval, it is possible to more scientifically and accurately evaluate the rationality of the CAN bus network design.

[0065] In some embodiments, the evaluating the design rationality of the CAN bus network based on the delay information of the at least one target message includes:

[0066] Obtaining a preset message delay requirement, wherein the preset message delay requirement includes a message delay duration requirement and a message delay excess rate requirement;

[0067] Based on the delay information of the at least one target message and the preset message delay requirement, the design rationality of the CAN bus network is evaluated.

[0068] In an embodiment of the present application, a preset message delay requirement can be first obtained, and the preset message delay requirement includes a message delay duration requirement and a message delay excess rate requirement, and then the delay information of the target message is compared with the preset message delay requirement to determine whether the delay information of the target message meets the preset message delay requirement; if so, it is determined that the design of the CAN bus network is more reasonable; if not, it is determined that the design of the CAN bus network is unreasonable.

[0069] In some embodiments, based on the specific vehicle usage scenario, a message delay requirement can be set in advance for each target message, and the preset message delay requirement includes a message delay duration requirement and a message delay excess rate requirement. For example, the message delay duration requirement is to be less than a first set value, and the message delay excess rate requirement is to be less than a second set value.

[0070] It should be noted that the first setting value and the second setting value can be adaptively set based on actual applications, and the present application embodiment does not specifically limit this. For example, the first setting value is 5 milliseconds, or 10 milliseconds, or 20 milliseconds, etc.; the second setting value is 3%, or 5%, or 10%, etc.

[0071] It should be noted that different message delay requirements can be set for each target message based on the vehicle usage scenario.

[0072] For example, Figure 2 A second flow chart of a network design evaluation method provided in an embodiment of the present application is as follows: Figure 2 As shown, the method includes:

[0073] S201. Determine the delay information of sending at least one target message within a preset time interval based on a controller area network (CAN) bus network, wherein the delay information includes the delay duration and the delay excess rate of sending each target message within the preset time interval, and the delay excess rate represents the percentage of the number of delayed sending times of each target message within the preset time interval to the total number of sending times.

[0074] S202: Obtain a preset message delay requirement, where the preset message delay requirement includes a message delay duration requirement and a message delay excess rate requirement.

[0075] S203: Based on the delay information of the at least one target message and the preset message delay requirement, evaluate the design rationality of the CAN bus network.

[0076] It should be noted that there may be no time sequence relationship between S201 and S202. S201 and S202 may be executed simultaneously, or S201 may be executed first and then S202, or S202 may be executed first and then S201.

[0077] It can be understood that the embodiments of the present application can scientifically and accurately evaluate the CAN bus network design based on the preset message delay requirements and the delay information of each target message.

[0078] In some embodiments, the determining of the delay information of sending at least one target message within a preset time interval based on a controller area network (CAN) bus network includes:

[0079] Determine, based on a simulation method, a planned sending time and an actual sending time of sending the at least one target message within the preset time interval based on the CAN bus network;

[0080] Delay information for sending the at least one target message within the preset time interval based on the CAN bus network is determined based on the planned sending time and the actual sending time of the at least one target message.

[0081] In an embodiment of the present application, a scenario in which the CAN bus network sends each target message can be simulated to obtain the planned sending time and actual sending time of sending at least one target message within a preset time interval, and then based on the planned sending time and actual sending time of the at least one target message, the delay information of sending the at least one target message within the preset time interval based on the CAN bus network can be determined.

[0082] In some embodiments, the offset between the planned sending time and the actual sending time of each target message can be determined based on the planned sending time and the actual sending time of each target message. The offset is the delay duration of each time. The average delay duration of each target message can be obtained based on the delay duration of each target message. Moreover, the number of delays of each target message can be determined based on the planned sending time and the actual sending time of each target message. The delay excess rate of each target message can be obtained by dividing the number of delays by the total number of sending times.

[0083] In some embodiments, the delay information of the target message may further include a delay rate. For example, for a periodic message, the offset between the planned sending time and the actual sending time of each periodic message may be determined based on the planned sending time and the actual sending time of each periodic message, and the offset is the delay duration of each time, and then the delay duration of each time is divided by the sending period of the periodic message to obtain the delay rate of each periodic message.

[0084] For example, Figure 3 A third flow chart of a network design evaluation method provided in an embodiment of the present application is as follows: Figure 3 As shown, the method includes:

[0085] S301. Determine, based on a simulation method, a planned sending time and an actual sending time of sending at least one target message within a preset time interval based on a CAN bus network.

[0086] S302: Determine delay information for sending the at least one target message within the preset time interval based on the CAN bus network based on the planned sending time and the actual sending time of the at least one target message.

[0087] S303: Based on the delay information of the at least one target message, evaluate the design rationality of the CAN bus network.

[0088] It can be understood that the embodiment of the present application can effectively obtain the delay information of each target message through the simulation method, which can reduce the workload of relevant staff compared with the actual statistical method.

[0089] In some embodiments, the determining, based on the simulation method, the planned sending time and the actual sending time of sending the at least one target message within the preset time interval based on the CAN bus network includes:

[0090] Determine the transmission rate of the CAN bus network and the message length of each of the target messages;

[0091] Based on the sending rate and the message length of each of the target messages, a probability distribution method is used to determine the planned sending time and the sending duration of each of the target messages within the preset time interval;

[0092] Based on the planned sending time and sending duration of each target message in the preset time interval and the arbitration mechanism of the CAN bus network, the actual sending time of each target message in the preset time interval is determined.

[0093] It should be noted that the sending rate or transmission rate of the CAN bus network has an important impact on the reliability and real-time performance of data communication. Different application scenarios require the selection of CAN bus networks with different rates to avoid problems such as excessive bus length and excessive bus load, thereby ensuring the efficiency, reliability and real-time performance of data communication. The sending rate of the CAN bus network is usually expressed as bits per second or baud rate, which refers to the number of bits transmitted per second. The standard sending rates or transmission rates of the CAN bus network include 250 kilobits per second, 500 kilobits per second and 1 megabit per second.

[0094] In some embodiments, the transmission rate of the CAN bus network used for communication between electronic control units in the automobile may be obtained.

[0095] It should be noted that the message length of each target message represents the number of bits occupied by the data of each target message.

[0096] In the embodiment of the present application, the planned sending time and the sending duration of each target message within a preset time interval can be determined by using a probability distribution method based on the sending rate of the CAN bus network and the message length of each target message. Among them, the probability distribution method is a statistical method that can describe the probability law of the value of a random variable, including uniform distribution, normal distribution, exponential distribution, and gamma distribution. A specific probability distribution method can be selected based on actual applications, and the embodiment of the present application does not specifically limit this.

[0097] It should be noted that, in practice, the sending rate of the CAN bus network is usually disturbed, making it a floating value for a period of time. The embodiment of the present application uses a probability distribution method to approximate the changing law of the sending rate of the CAN bus network, so that the planned sending time and the sending duration of each target message obtained by simulation within a preset time interval are more in line with reality.

[0098] It should be noted that since the sending rate of the CAN bus network in practice varies approximately according to the law of normal distribution, the planned sending time and sending duration of each target message within the preset time interval can be determined by using the normal distribution method based on the sending rate of the CAN bus network and the message length of each target message, so that the simulated planned sending time and sending duration of each target message within the preset time interval are more in line with reality.

[0099] It should be noted that multiple devices can try to send messages based on the CAN bus network at the same time, but due to the limited resources of the CAN bus network, only one device's message can be successfully sent. When multiple devices start sending messages at the same time, conflicts may occur, that is, their messages will appear on the CAN bus network at the same time, causing confusion. In order to avoid this phenomenon, the arbitration mechanism of the CAN bus network can be used, in which each device will put the identifier ID of the message on the CAN bus network before sending the message. Messages with different IDs have different priorities, and messages with lower IDs have higher priorities.

[0100] It should be noted that, when determining the planned sending time of each target message, the interference of other target messages is not taken into account. Therefore, if each target message is sent according to the planned sending time of each target message, message conflict will inevitably occur. Therefore, the embodiment of the present application further determines the actual sending time of each target message within the preset time interval based on the planned sending time and the sending duration of each target message within the preset time interval, using the arbitration mechanism of the CAN bus network.

[0101] It is understandable that if each target message is sent according to the actual sending time of each target message, message conflict will not occur.

[0102] In some embodiments, based on the planned sending time and the actual sending time of each target message, the offset between the planned sending time and the actual sending time can be determined, and based on the offset between the planned sending time and the actual sending time, the delay information of each target message can be analyzed and determined.

[0103] In some embodiments, the number of delays of each target message within a preset time interval can be determined based on the planned sending time and the actual sending time of each target message, and the delay information of each target message can be analyzed and determined based on the number of delays of each target message within the preset time interval.

[0104] In some embodiments, based on the planned sending time and the actual sending time of each target message, the offset between each planned sending time and the actual sending time, as well as the number of delays of each target message within a preset time interval can be determined, and the offset between each planned sending time and the actual sending time and the number of delays of each target message within the preset time interval can be combined to analyze and determine the delay information of each target message.

[0105] For example, Figure 4 A fourth flow chart of a network design evaluation method provided in an embodiment of the present application is as follows: Figure 4 As shown, the method includes:

[0106] S401, determining the transmission rate of the CAN bus network and the message length of each target message.

[0107] S402: Based on the sending rate and the message length of each target message, a probability distribution method is used to determine the planned sending time and sending duration of each target message within a preset time interval.

[0108] S403: Determine the actual sending time of each target message within the preset time interval based on the planned sending time and sending duration of each target message within the preset time interval and the arbitration mechanism of the CAN bus network.

[0109] S404: Determine the delay information of sending each target message within a preset time interval based on the CAN bus network based on the planned sending time and the actual sending time of each target message.

[0110] S405: Based on the delay information of each target message, the design rationality of the CAN bus network is evaluated.

[0111] It can be understood that the embodiment of the present application simulates the planned sending time, sending duration and actual sending time of each target message by utilizing the probability distribution method and the arbitration mechanism of the CAN bus network. The simulation method is simple and easy to implement.

[0112] In some embodiments, the at least one target message comprises a periodic message;

[0113] The method of determining the planned sending time and the sending duration of each target message within the preset time interval by using a probability distribution method based on the sending rate and the message length of each target message includes:

[0114] Based on the arbitration mechanism of the CAN bus network, sorting the first sending order of each of the periodic messages within the preset time interval to obtain a first sorting result;

[0115] Based on the sending rate, the message length of each of the periodic messages and the first sorting result, the probability distribution method is used to determine all planned sending times and all sending durations of each of the periodic messages within the preset time interval.

[0116] It should be noted that a periodic message is a message that is automatically sent according to a set period. For example, a message that is sent every 2 seconds is a periodic message; for another example, a message that is sent every 5 minutes is also a periodic message.

[0117] In an embodiment of the present application, for periodic messages, the first sending order of each periodic message within a preset time interval can be first sorted based on the arbitration mechanism of the CAN bus network to obtain a first sorting result, and then based on the sending rate of the CAN bus network, the message length of each periodic message and the first sorting result, a probability distribution method is used to determine all planned sending times and all sending durations of each periodic message within the preset time interval.

[0118] In some embodiments, based on the sending rate of the CAN bus network, the message length of each periodic message and the first sorting result, the planned sending time and sending duration of the first sending of each periodic message within a preset time interval can be determined, and then based on the planned sending time of the first sending of each periodic message and the sending duration of the first sending of each periodic message and the probability distribution method, the planned sending time and sending duration of other times of each periodic message within the preset time interval can be determined.

[0119] In some embodiments, the transmission duration of each periodic message when it is sent may be determined based on the transmission rate of the CAN bus network and the message length of each periodic message when each periodic message is sent.

[0120] It can be understood that the embodiment of the present application utilizes the arbitration mechanism of the CAN bus network to sort the first sending order of each periodic message, so as to avoid message conflicts when each periodic message is sent for the first time. Then, based on the first sorting result obtained, the sending rate of the CAN bus network and the message length of each periodic message, the probability distribution method is used to effectively realize the determination of the planned sending time and the duration of all sending times of each target message within the preset time interval.

[0121] In some embodiments, the at least one target message comprises an event-triggered message;

[0122] The method of determining the planned sending time and the sending duration of each target message within the preset time interval by using a probability distribution method based on the sending rate and the message length of each target message includes:

[0123] Obtaining preset trigger probabilities corresponding to each of the event-triggered messages;

[0124] Based on the preset trigger probabilities corresponding to the event-triggered messages, respectively, the probability distribution method is used to determine the trigger probabilities of the event-triggered messages in the first time periods, respectively, where the first time periods are the time periods obtained by dividing the preset time interval by the first interval duration;

[0125] Based on the sending rate, the message length of each event-triggered message and the triggering probability of each event-triggered message in each first time period, the planned sending time and the duration of all sending of each event-triggered message within the preset time interval are determined.

[0126] It should be noted that event-triggered messages are messages that are sent through the CAN bus network only after receiving various trigger instructions.

[0127] It should be noted that the preset trigger probabilities corresponding to the event-triggered messages may be manually set in advance based on past experience or actual vehicle usage scenarios.

[0128] In an embodiment of the present application, for event-triggered messages, the preset trigger probabilities corresponding to each event-triggered message can be first obtained, and then based on the preset trigger probabilities corresponding to each event-triggered message, the probability distribution method can be used to determine the trigger probabilities of each event-triggered message in each first time period, where each first time period is a time period obtained by dividing the preset time interval by the first interval duration, and then based on the trigger probabilities of each event-triggered message in each first time period, the sending rate of the CAN bus network and the message length of each event-triggered message, the planned sending time and the sending duration of all times for each event-triggered message within the preset time interval are determined.

[0129] It should be noted that the first interval duration can be adaptively set based on actual applications, and the embodiments of the present application do not specifically limit this.

[0130] For example, assuming that the preset time interval is 1000 milliseconds and the first interval duration is 100 milliseconds, the first time periods include: 0 milliseconds to 100 milliseconds, 100 milliseconds to 200 milliseconds, 200 milliseconds to 300 milliseconds, 300 milliseconds to 400 milliseconds, 400 milliseconds to 500 milliseconds, 500 milliseconds to 600 milliseconds, 600 milliseconds to 700 milliseconds, 700 milliseconds to 800 milliseconds, 800 milliseconds to 900 milliseconds, and 900 milliseconds to 1000 milliseconds.

[0131] In some embodiments, the trigger probability of each event-triggered message in each first time period can be determined based on the preset trigger probability corresponding to each event-triggered message, and the probability distribution method can be used, wherein the trigger probability of each first time period is 0 or 1, and then the planned sending time and sending duration of each event-triggered message in each first time period with a trigger probability of 1 are determined.

[0132] In some embodiments, if the target message includes both periodic messages and event-triggered messages, the target message can be based on the following example: Figure 5 The process shown implements a network design evaluation.

[0133] For example, Figure 5 A fifth flow chart of a network design evaluation method provided in an embodiment of the present application is as follows: Figure 5 As shown, the method includes:

[0134] S501: Determine the transmission rate of the CAN bus network and the message length of each target message.

[0135] S502: For the periodic messages in each target message, based on the arbitration mechanism of the CAN bus network, sort the first sending order of each periodic message within a preset time interval to obtain a first sorting result.

[0136] S503: Based on the sending rate, the message length of each periodic message and the first sorting result, a probability distribution method is used to determine all planned sending times and all sending durations of each periodic message within a preset time interval.

[0137] S504: For the event-triggered messages in each target message, obtain the preset trigger probability corresponding to each event-triggered message.

[0138] S505. Based on the preset trigger probabilities corresponding to the event-triggered messages, a probability distribution method is used to determine the trigger probabilities of the event-triggered messages in the first time periods, where the first time periods are time periods obtained by dividing the preset time interval by the first interval duration.

[0139] S506. Determine the planned sending time and the duration of all sending of each event-triggered message within the preset time interval based on the sending rate, the message length of each event-triggered message and the triggering probability of each event-triggered message in each first time period.

[0140] S507: Determine the actual sending time of each target message within the preset time interval based on the planned sending time and sending duration of each target message within the preset time interval and the arbitration mechanism of the CAN bus network.

[0141] S508: Determine the delay information of sending each target message within a preset time interval based on the CAN bus network based on the planned sending time and the actual sending time of each target message.

[0142] S509: Based on the delay information of each target message, the design rationality of the CAN bus network is evaluated.

[0143] It should be noted that there is no time sequence relationship between S502 to S503 and S504 to S506 , and they can be executed simultaneously or in sequence.

[0144] It can be understood that the embodiment of the present application determines the triggering probability of each event-triggered message in each first time period based on the preset triggering probability corresponding to each event-triggered message, and then determines the planned sending time and the sending duration of all times of each event-triggered message within the preset time interval based on the triggering probability of each event-triggered message in each first time period, the sending rate of the CAN bus network and the message length of each event-triggered message.

[0145] In some embodiments, determining the actual sending time of each target message within the preset time interval based on the planned sending time and the sending duration of each target message within the preset time interval and the arbitration mechanism of the CAN bus network includes:

[0146] Based on the planned sending time of each target message within the preset time interval, determine the target message planned to be sent in each second time period, wherein each second time period is each time period obtained by dividing the preset time interval by the second interval duration;

[0147] Determine the actual sending time of the target message planned to be sent in each of the second time periods based on the planned sending time and the sending duration of the target message planned to be sent in each of the second time periods, and the arbitration mechanism of the CAN bus network;

[0148] Based on the actual sending time of the target message planned to be sent in each of the second time periods, the actual sending time of each of the target messages within the preset time interval is obtained.

[0149] In an embodiment of the present application, the target messages planned to be sent in each second time period can be first determined based on the planned sending time of each target message within the preset time interval, wherein each second time period is a time period obtained by dividing the preset time interval by the second interval duration, and then based on the planned sending time and sending duration of the target messages planned to be sent in each second time period, and the arbitration mechanism of the CAN bus network, the actual sending time of the target messages planned to be sent in each second time period is determined, and then based on the actual sending time of the target messages planned to be sent in each second time period, the actual sending time of each target message within the preset time interval is obtained.

[0150] It should be noted that the second interval duration can be adaptively set based on actual applications, and the embodiments of the present application do not specifically limit this.

[0151] For example, assuming that the preset time interval is 500 milliseconds and the second interval length is 50 milliseconds, the second time periods include: 0 milliseconds to 50 milliseconds, 50 milliseconds to 100 milliseconds, 100 milliseconds to 150 milliseconds, 150 milliseconds to 200 milliseconds, 200 milliseconds to 250 milliseconds, 250 milliseconds to 300 milliseconds, 300 milliseconds to 350 milliseconds, 350 milliseconds to 400 milliseconds, 400 milliseconds to 450 milliseconds, and 450 milliseconds to 500 milliseconds.

[0152] For example, Figure 6 A flowchart of a network design evaluation method provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the method includes:

[0153] S601: Determine the transmission rate of the CAN bus network and the message length of each target message.

[0154] S602: Based on the sending rate and the message length of each target message, a probability distribution method is used to determine the planned sending time and sending duration of each target message within a preset time interval.

[0155] S603: Determine the target messages to be sent in each second time period based on the planned sending time of each target message in the preset time interval, where each second time period is a time period obtained by dividing the preset time interval by a second interval duration.

[0156] S604: Determine the actual sending time of the target message planned to be sent in each second time period based on the planned sending time and sending duration of the target message planned to be sent in each second time period and the arbitration mechanism of the CAN bus network.

[0157] S605: Based on the actual sending time of the target message planned to be sent in each second time period, obtain the actual sending time of each target message within the preset time interval.

[0158] S606: Determine the delay information of sending each target message within a preset time interval based on the CAN bus network based on the planned sending time and the actual sending time of each target message.

[0159] S607: Based on the delay information of each target message, the design rationality of the CAN bus network is evaluated.

[0160] It can be understood that the embodiment of the present application determines the actual sending time of the target message planned to be sent in each second time period by utilizing the arbitration mechanism of the CAN bus network, thereby avoiding message conflicts in the target messages sent in each second time period. Based on the actual sending time of the target message planned to be sent in each second time period, the simulation of the actual sending time of each target message all times within the preset time interval is effectively achieved.

[0161] In some embodiments, determining the actual sending time of the target message planned to be sent in each second time period based on the planned sending time and the sending duration of the target message planned to be sent in each second time period, and the arbitration mechanism of the CAN bus network, includes:

[0162] Based on the arbitration mechanism of the CAN bus network, sorting the sending order of the target messages planned to be sent in each of the second time periods to obtain second sorting results corresponding to each of the second time periods;

[0163] Based on the second sorting results corresponding to each second time period, and the planned sending time and the sending duration of the target message planned to be sent in each second time period, the actual sending time of the target message planned to be sent in each second time period is determined.

[0164] In an embodiment of the present application, the sending order of the target messages planned to be sent in each second time period can be first sorted based on the arbitration mechanism of the CAN bus network to obtain the second sorting results corresponding to each second time period, and then based on the second sorting results corresponding to each second time period, as well as the planned sending time and sending duration of the target messages planned to be sent in each second time period, the actual sending time of the target messages planned to be sent in each second time period can be determined.

[0165] For example, Figure 7 A flowchart of a network design evaluation method provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the method includes:

[0166] S701: Determine the transmission rate of the CAN bus network and the message length of each target message.

[0167] S702: Based on the sending rate and the message length of each target message, a probability distribution method is used to determine the planned sending time and sending duration of each target message within a preset time interval.

[0168] S703: Determine the target messages to be sent in each second time period based on the planned sending time of each target message in the preset time interval, where each second time period is a time period obtained by dividing the preset time interval by a second interval duration.

[0169] S704 . Based on the arbitration mechanism of the CAN bus network, sort the sending order of the target messages planned to be sent in each second time period to obtain a second sorting result corresponding to each second time period.

[0170] S705: Determine the actual sending time of the target message planned to be sent in each second time period based on the second sorting results corresponding to each second time period, and the planned sending time and sending duration of the target message planned to be sent in each second time period.

[0171] S706: Based on the actual sending time of the target message planned to be sent in each second time period, obtain the actual sending time of each target message within the preset time interval.

[0172] S707: Determine the delay information of sending each target message within a preset time interval based on the CAN bus network based on the planned sending time and the actual sending time of each target message.

[0173] S708. Based on the delay information of each target message, the design rationality of the CAN bus network is evaluated.

[0174] It can be understood that the embodiment of the present application utilizes the arbitration mechanism of the CAN bus network to sort the sending order of the target messages planned to be sent in each second time period, and obtain the second sorting results corresponding to each second time period, so as to avoid message conflicts in the target messages sent in each second time period. Furthermore, based on the second sorting results corresponding to each second time period, as well as the planned sending time and sending duration of the target messages planned to be sent in each second time period, the actual sending time of the target messages planned to be sent in each second time period can be effectively determined.

[0175] Below, a specific implementation process of the network design evaluation method provided in the embodiment of the present application is described, including the following steps (1)-(11):

[0176] (1) Determine a preset message delay requirement, wherein the preset message delay requirement includes a message delay duration requirement and a message delay excess rate requirement; the message delay duration requirement is that the delay duration of each target message is less than a first set value, and the message delay excess rate requirement is that the delay excess rate of each target message is less than a second set value.

[0177] In some embodiments, for periodic messages, the message delay duration requirement also includes that the delay rate of each periodic message is less than a third set value.

[0178] It should be noted that the vehicle usage scenario can be analyzed and special requirements can be set for necessary messages.

[0179] (2) Determine the preset trigger probability of each event-triggered message in the communication database corresponding to the CAN bus network.

[0180] It should be noted that the preset trigger probability of each event-triggered message can be set according to the actual vehicle usage scenario.

[0181] (3) According to the arbitration priority of the message ID of each periodic message in the communication database, the first sending order of each periodic message in this simulation is sorted.

[0182] (4) Based on the transmission rate of the CAN bus network and the periodic messages in the communication database, the normal distribution is used to determine the bus duration (sending duration) and planned sending time of each periodic message when it is first sent.

[0183] (5) Based on the transmission rate of the CAN bus network and each periodic message in the communication database, the planned transmission time calculated in step (4) is used as an offset, and a normal distribution is used to determine all the planned transmission times, planned end times, and transmission durations (where the planned end time minus the planned transmission time equals the transmission duration) of each periodic message in a preset time interval ignoring interference from other messages.

[0184] (6) Taking the first interval time (e.g., 100 milliseconds) as the step length, within the preset time interval, for each step, a probability calculation is performed on each event-triggered message, and based on the sending rate of the CAN bus network and the communication database, all the planned sending times, planned end times, and sending durations of each event-triggered message ignoring interference from other messages are determined.

[0185] (7) Taking the second interval time length (eg, 5 milliseconds) as the step length, within a preset time interval, steps (8) to (10) are executed for each step.

[0186] (8) The planned sending time, planned end time and sending duration generated in steps (5) and (6) are judged, and the messages falling within this step time period are sorted according to the arbitration priority of the message ID.

[0187] (9) After sorting, an offset is added to the actual sending time of the relevant messages within the current step time period according to the planned sending time and the sending duration of the messages within the current step time period.

[0188] (10) If the difference between the actual sending time and the planned sending time is greater than one period of the periodic message, it is marked as a periodic message sending loss. Otherwise, the offset is recorded.

[0189] (11) Output the offset of each message sent each time into a table file, draw a distribution graph, count the offset of each message sent each time, calculate the message delay duration, delay excess rate and delay rate, and output the evaluation result of the rationality of the CAN bus network according to the preset message delay requirement determined in step (1).

[0190] It should be noted that the embodiment of the present application estimates the delay information of each message through statistical probability distribution and adjustment of various sending parameters to form a list and a chart, and then evaluates the rationality of the CAN bus network design based on the delay information of each message. This is more scientific and accurate than the method of evaluating the rationality of the CAN bus network design by simply calculating the load rate.

[0191] The network design evaluation device provided in an embodiment of the present application is described below. The network design evaluation device described below and the network design evaluation method described above can be referenced to each other.

[0192] Figure 8 A schematic diagram of the structure of a network design evaluation device provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the device includes: a determination module 810 and an evaluation module 820; wherein:

[0193] A determination module 810 is used to determine the delay information of sending at least one target message within a preset time interval based on a controller area network (CAN) bus network, wherein the delay information includes the delay duration and the delay exceeding rate of sending each of the target messages within the preset time interval, wherein the delay exceeding rate represents the percentage of the number of times each of the target messages is delayed within the preset time interval to the total number of times they are sent;

[0194] The evaluation module 820 is used to evaluate the design rationality of the CAN bus network based on the delay information of the at least one target message.

[0195] The network design evaluation device provided in the embodiment of the present application first determines the delay information of sending at least one target message based on the CAN bus network within a preset time interval, and the delay information includes the delay duration and the delay excess rate of sending each target message within the preset time interval, and then evaluates the design rationality of the CAN bus network based on the delay information of each target message; compared with the method of evaluating the rationality of the CAN bus network design solely through the network load rate, the embodiment of the present application takes into account that the message delay defects existing in the CAN bus network may affect the performance and stability of the automotive electronic control system, and by evaluating the rationality of the CAN bus network design based on the delay duration and the delay excess rate of sending each target message through the CAN bus network within the preset time interval, it is possible to more scientifically and accurately evaluate the rationality of the CAN bus network design.

[0196] In some embodiments, the evaluation module 820 is further configured to:

[0197] Obtaining a preset message delay requirement, wherein the preset message delay requirement includes a message delay duration requirement and a message delay excess rate requirement;

[0198] Based on the delay information of the at least one target message and the preset message delay requirement, the design rationality of the CAN bus network is evaluated.

[0199] In some embodiments, the determining module 810 includes:

[0200] A first determining unit, configured to determine, based on a simulation method, a planned sending time and an actual sending time of sending the at least one target message within the preset time interval based on the CAN bus network;

[0201] The second determining unit is used to determine the delay information of sending the at least one target message within the preset time interval based on the CAN bus network based on the planned sending time and the actual sending time of the at least one target message.

[0202] In some embodiments, the first determining unit is further configured to:

[0203] Determine the transmission rate of the CAN bus network and the message length of each of the target messages;

[0204] Based on the sending rate and the message length of each of the target messages, a probability distribution method is used to determine the planned sending time and the sending duration of each of the target messages within the preset time interval;

[0205] Based on the planned sending time and sending duration of each target message in the preset time interval and the arbitration mechanism of the CAN bus network, the actual sending time of each target message in the preset time interval is determined.

[0206] In some embodiments, the at least one target message comprises a periodic message;

[0207] The first determining unit is further configured to:

[0208] Based on the arbitration mechanism of the CAN bus network, sorting the first sending order of each of the periodic messages within the preset time interval to obtain a first sorting result;

[0209] Based on the sending rate, the message length of each of the periodic messages and the first sorting result, the probability distribution method is used to determine all planned sending times and all sending durations of each of the periodic messages within the preset time interval.

[0210] In some embodiments, the at least one target message comprises an event-triggered message;

[0211] The first determining unit is further configured to:

[0212] Obtaining preset trigger probabilities corresponding to each of the event-triggered messages;

[0213] Based on the preset trigger probabilities corresponding to the event-triggered messages, respectively, the probability distribution method is used to determine the trigger probabilities of the event-triggered messages in the first time periods, respectively, where the first time periods are the time periods obtained by dividing the preset time interval by the first interval duration;

[0214] Based on the sending rate, the message length of each event-triggered message and the triggering probability of each event-triggered message in each first time period, the planned sending time and the duration of all sending of each event-triggered message within the preset time interval are determined.

[0215] In some embodiments, the first determining unit is further configured to:

[0216] Based on the planned sending time of each target message within the preset time interval, determine the target message planned to be sent in each second time period, wherein each second time period is each time period obtained by dividing the preset time interval by the second interval duration;

[0217] Determine the actual sending time of the target message planned to be sent in each of the second time periods based on the planned sending time and the sending duration of the target message planned to be sent in each of the second time periods, and the arbitration mechanism of the CAN bus network;

[0218] Based on the actual sending time of the target message planned to be sent in each of the second time periods, the actual sending time of each of the target messages within the preset time interval is obtained.

[0219] In some embodiments, the first determining unit is further configured to:

[0220] Based on the arbitration mechanism of the CAN bus network, sorting the sending order of the target messages planned to be sent in each of the second time periods to obtain second sorting results corresponding to each of the second time periods;

[0221] Based on the second sorting results corresponding to each second time period, and the planned sending time and the sending duration of the target message planned to be sent in each second time period, the actual sending time of the target message planned to be sent in each second time period is determined.

[0222] It should be noted here that the above-mentioned network design evaluation device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned network design evaluation method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0223] Fig. 9 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present application, such as Fig. 9 As shown, the electronic device may include: a processor 910, a communication interface 920, a memory 930 and a communication bus 940, wherein the processor 910, the communication interface 920 and the memory 930 communicate with each other through the communication bus 940. The processor 910 may execute executable data instructions stored in the memory 930 to implement some or all steps in the network design evaluation method provided in the above embodiments.

[0224] In addition, the executable data instructions stored in the above-mentioned memory 930 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the embodiment of the present application can be essentially or partly embodied in the form of a software product that contributes to the relevant technology. The software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0225] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements some or all of the steps in the network design evaluation method provided in the above embodiments.

[0226] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute some or all of the steps in the network design evaluation method provided in the above embodiments.

[0227] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0228] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the embodiments of the present application may adopt the form of hardware embodiments, software embodiments, or embodiments in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0229] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing 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.

[0230] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising 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.

[0231] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing 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.

[0232] The above description is merely an optional embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A network design evaluation method, characterized in that: include: Determine the delay information of sending at least one target message within a preset time interval based on a controller area network (CAN) bus network, wherein the delay information includes the delay duration and the delay exceeding rate of sending each target message within the preset time interval, wherein the delay exceeding rate represents the percentage of the number of times each target message is sent with delay within the preset time interval to the total number of times it is sent; Based on the delay information of the at least one target message, the design rationality of the CAN bus network is evaluated.

2. The network design evaluation method according to claim 1, characterized in that: The evaluating the design rationality of the CAN bus network based on the delay information of the at least one target message includes: Obtaining a preset message delay requirement, wherein the preset message delay requirement includes a message delay duration requirement and a message delay excess rate requirement; Based on the delay information of the at least one target message and the preset message delay requirement, the design rationality of the CAN bus network is evaluated.

3. The network design evaluation method according to claim 1, characterized in that: The determining of the delay information of sending at least one target message within a preset time interval based on the controller area network (CAN) bus network includes: Determine, based on a simulation method, a planned sending time and an actual sending time of sending the at least one target message within the preset time interval based on the CAN bus network; Delay information for sending the at least one target message within the preset time interval based on the CAN bus network is determined based on the planned sending time and the actual sending time of the at least one target message.

4. The network design evaluation method according to claim 3, characterized in that: The method of determining the planned sending time and the actual sending time of sending the at least one target message within the preset time interval based on the CAN bus network based on the simulation method includes: Determine the transmission rate of the CAN bus network and the message length of each of the target messages; Based on the sending rate and the message length of each of the target messages, a probability distribution method is used to determine the planned sending time and the sending duration of each of the target messages within the preset time interval; Based on the planned sending time and sending duration of each target message in the preset time interval and the arbitration mechanism of the CAN bus network, the actual sending time of each target message in the preset time interval is determined.

5. The network design evaluation method according to claim 4, characterized in that: The at least one target message comprises a periodic message; The method of determining the planned sending time and the sending duration of each target message within the preset time interval by using a probability distribution method based on the sending rate and the message length of each target message includes: Based on the arbitration mechanism of the CAN bus network, sorting the first sending order of each of the periodic messages within the preset time interval to obtain a first sorting result; Based on the sending rate, the message length of each of the periodic messages and the first sorting result, the probability distribution method is used to determine all planned sending times and all sending durations of each of the periodic messages within the preset time interval.

6. The network design evaluation method according to claim 4, characterized in that: The at least one target message comprises an event-triggered message; The method of determining the planned sending time and the sending duration of each target message within the preset time interval by using a probability distribution method based on the sending rate and the message length of each target message includes: Obtaining preset trigger probabilities corresponding to each of the event-triggered messages; Based on the preset trigger probabilities corresponding to the event-triggered messages, respectively, the probability distribution method is used to determine the trigger probabilities of the event-triggered messages in the first time periods, respectively, where the first time periods are the time periods obtained by dividing the preset time interval by the first interval duration; Based on the sending rate, the message length of each event-triggered message and the triggering probability of each event-triggered message in each first time period, the planned sending time and the duration of all sending of each event-triggered message within the preset time interval are determined.

7. The network design evaluation method according to any one of claims 4 to 6, characterized in that: The determining the actual sending time of each target message within the preset time interval based on the planned sending time and the sending duration of each target message within the preset time interval and the arbitration mechanism of the CAN bus network includes: Based on the planned sending time of each target message within the preset time interval, determine the target message planned to be sent in each second time period, wherein each second time period is each time period obtained by dividing the preset time interval by the second interval duration; Determine the actual sending time of the target message planned to be sent in each of the second time periods based on the planned sending time and the sending duration of the target message planned to be sent in each of the second time periods, and the arbitration mechanism of the CAN bus network; Based on the actual sending time of the target message planned to be sent in each of the second time periods, the actual sending time of each of the target messages within the preset time interval is obtained.

8. The network design evaluation method according to claim 7, characterized in that: The determining the actual sending time of the target message planned to be sent in each second time period based on the planned sending time and the sending duration of the target message planned to be sent in each second time period, and the arbitration mechanism of the CAN bus network, comprises: Based on the arbitration mechanism of the CAN bus network, sorting the sending order of the target messages planned to be sent in each of the second time periods to obtain second sorting results corresponding to each of the second time periods; Based on the second sorting results corresponding to each second time period, and the planned sending time and the sending duration of the target message planned to be sent in each second time period, the actual sending time of the target message planned to be sent in each second time period is determined.

9. A network design evaluation device, characterized in that: include: A determination module, used to determine the delay information of sending at least one target message within a preset time interval based on a controller area network (CAN) bus network, wherein the delay information includes the delay duration and the delay exceeding rate of sending each of the target messages within the preset time interval, wherein the delay exceeding rate represents the percentage of the number of times each of the target messages is delayed within the preset time interval to the total number of times it is sent; An evaluation module is used to evaluate the design rationality of the CAN bus network based on the delay information of the at least one target message.

10. An electronic device, characterized in that: include: A memory for storing executable data instructions; A processor is used to implement the steps of the network design evaluation method described in any one of claims 1 to 8 when executing the executable data instructions stored in the memory.

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