Vehicle-mounted CAN FD network signal packaging method and system capable of sensing energy consumption

Abstract

The invention discloses an energy consumption sensing vehicle-mounted CAN FD network signal packaging method and system, and relates to the technical field of automotive electronics, and the method comprises the steps: obtaining a signal set, dividing the signal set into a high-safety-requirement signal group and a low-safety-requirement signal group according to the safety requirements of signals, performing ascending sorting on the signals in the high-safety-requirement signal group and the low-safety-requirement signal group according to the period size to obtain a sorting sequence; signals of the high-security-requirement signal group are packaged into existing messages or newly-built null messages according to the arrangement sequence, a packaging mode with the optimal target function value is selected, the message set is updated in time, and packaging of the high-security-requirement signal group is achieved; and packaging the signals of the low-security-requirement signal group into the existing message or the newly-built null message according to the arrangement sequence, selecting a packaging mode with an optimal target function value, and updating the message set in time to realize packaging of the low-security-requirement signal group.

Description

Technical Field

[0001] The present invention relates to the field of automotive electronic technology, and in particular to an energy consumption-aware vehicle-mounted CAN FD network signal packaging method and system. Background Art

[0002] With the development of automotive intelligence and network technologies, more and more electronic components such as electronic control units (ECUs), sensors and actuators are introduced into automotive electronic systems, which has led to a sharp increase in the complexity of automotive electronic systems and a significant increase in the energy consumption of vehicles. Therefore, this also puts higher requirements on the bandwidth of the in-vehicle network. In order to meet the growing requirements for in-vehicle data transmission bandwidth, a company launched the second-generation CAN network protocol CAN FD in 2011.

[0003] ECU is an electronic device that monitors, controls and manages various aspects of a vehicle or mechanical system, such as engine performance, braking system, air conditioning, safety system, etc. ECU is connected to multiple sensors and actuators, and ECUs communicate with each other through the vehicle network. Computation, security protection and message reception and processing in ECU are one of the main sources of energy consumption in automotive electronic systems. Reducing their energy consumption is of great significance for increasing vehicle range and improving user experience, especially for electric vehicles. However, the design of existing CAN FD networks only focuses on optimizing network bandwidth, and does not consider the energy consumption caused by network security protection and message reception and processing. Summary of the invention

[0004] In order to solve the deficiencies mentioned in the above background technology, the purpose of the present invention is to provide an energy-aware on-board CAN FD network signal packaging method and system, which starts with the signal packaging of the on-board CAN FD network to optimize the design of automotive electronic systems.

[0005] In the first aspect, the purpose of the present invention can be achieved by the following technical solution: an energy consumption-aware vehicle-mounted CANFD network signal packaging method, the method comprising the following steps:

[0006] Acquire a signal set, divide the signal set into a high safety requirement signal group and a low safety requirement signal group according to the safety requirements of the signals, sort the signals in the high safety requirement signal group and the low safety requirement signal group in ascending order according to the cycle size, and obtain an arrangement order;

[0007] Pack the signals of the high-security-requirement signal group into existing messages or newly created empty messages according to the arrangement order, select the packing method with the best objective function value, and update the message set in time to realize the packing of the high-security-requirement signal group;

[0008] The signals of the low safety requirement signal group are packaged into existing messages or newly created empty messages according to the arrangement order, the packaging method with the optimal objective function value is selected, and the message set is updated in time to realize the packaging of the low safety requirement signal group.

[0009] In combination with the first aspect, in some implementations of the first aspect, the method further includes: a packing process of packing the high safety requirement signal group and the low safety requirement signal group is as follows:

[0010] Prioritize packing into messages with equal periods, calculate the optimal objective function value obj1 packed into existing non-empty messages, compare it with the objective function value obj2 packed into newly created empty messages, select the packing method with the optimal objective function value, and update the message set in time.

[0011] In combination with the first aspect, in some implementations of the first aspect, the method further includes: a calculation formula for the overall design optimization target obj is:

[0012]

[0013] Where MN represents the total number of messages, j represents the message number, W1 and W2 represent their respective weights, and U j Indicates message m j Bandwidth utilization, MHSM j Indicates message m j The sending and receiving ECUs call the HSM core to calculate the number of MAC codes to ensure the integrity of the message, MR j Indicates message m j The number of times all receiving ECUs need to receive and process the message.

[0014] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the message m j The number of times the sending and receiving ECUs call the HSM core to calculate the MAC code to ensure the integrity of the message MHSM j The calculation formula is as follows:

[0015]

[0016] Where LCM represents the least common multiple of all signal periods, T j Indicates message m j cycle, HSEC j Indicates message m j The number of high-security ECUs in the receiving ECUs, msc j Indicates message m j Whether there are high security requirements.

[0017] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the message m j The number of times all receiving ECUs need to receive and process the message MR j The calculation formula is as follows:

[0018]

[0019] where mre j,k’ Indicates whether ECU k' is message m j The receiving ECU.

[0020] In a second aspect, in order to achieve the above-mentioned purpose, the present invention discloses an energy consumption-aware vehicle-mounted CAN FD network signal packaging system, comprising:

[0021] A signal arrangement module is used to obtain a signal set, divide the signal set into a high safety requirement signal group and a low safety requirement signal group according to the safety requirements of the signals, and sort the signals in the high safety requirement signal group and the low safety requirement signal group in ascending order according to the cycle size to obtain an arrangement order;

[0022] The high-security packaging module is used to package the signals of the high-security requirement signal group into an existing message or a newly created empty message according to the arrangement order, select the packaging method with the optimal objective function value, and update the message set in time to realize the packaging of the high-security requirement signal group;

[0023] The low-security packaging module is used to package the signals of the low-security requirement signal group into existing messages or newly created empty messages according to the arrangement order, select the packaging method with the optimal objective function value, and update the message set in time to realize the packaging of the low-security requirement signal group.

[0024] In combination with the second aspect, in some implementations of the second aspect, the system further includes: a packing process of packing the high safety requirement signal group and the low safety requirement signal group is as follows:

[0025] Prioritize packing into messages with equal periods, calculate the optimal objective function value obj1 packed into existing non-empty messages, compare it with the objective function value obj2 packed into newly created empty messages, select the packing method with the optimal objective function value, and update the message set in time.

[0026] In conjunction with the second aspect, in certain implementations of the second aspect, the system further includes: a calculation formula for the overall design optimization target obj is:

[0027]

[0028] Where MN represents the total number of messages, j represents the message number, W1 and W2 represent their respective weights, and U jIndicates message m j Bandwidth utilization, MHSM j Indicates message m j The sending and receiving ECUs call the HSM core to calculate the number of MAC codes to ensure the integrity of the message, MR j Indicates message m j The number of times all receiving ECUs need to receive and process the message.

[0029] In conjunction with the second aspect, in some implementations of the second aspect, the system further includes: the message m j The number of times the sending and receiving ECUs call the HSM core to calculate the MAC code to ensure the integrity of the message MHSM j The calculation formula is as follows:

[0030]

[0031] Where LCM represents the least common multiple of all signal periods, T j Indicates message m j cycle, HSEC j Indicates message m j The number of high-security ECUs in the receiving ECUs, msc j Indicates message m j Whether there are high security requirements.

[0032] In conjunction with the second aspect, in some implementations of the second aspect, the system further includes: the message m j The number of times all receiving ECUs need to receive and process the message MR j The calculation formula is as follows:

[0033]

[0034] where mre j,k’ Indicates whether ECU k' is message m j The receiving ECU.

[0035] Beneficial effects of the present invention:

[0036] The present invention can reduce the number of times the HSM core calculates MAC codes and the number of times message reception and processing are performed while ensuring network performance (bandwidth utilization), thereby achieving design optimization of the automotive electronic system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 It is a schematic flow chart of the method of the present invention;

[0039] Figure 2 It is a schematic diagram of the existing vehicle-mounted ECU system architecture and message sending and receiving processing flow of the present invention;

[0040] Figure 3 It is a flow chart of the CAN FD signal packaging method provided by the present invention;

[0041] Figure 4 It is a schematic diagram of the system structure of the present invention. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Embodiment 1:

[0044] The following is an introduction to the relevant terms involved in the embodiments of the present application:

[0045] ECU: Electronic control unit (ECU) is an important electronic product component, which is widely used in electronic production and plays a very important role in people's daily life. Electronic control unit (ECU) is a miniature computer management center, which takes signal (data) acquisition, calculation and processing, analysis and judgment, and decision-making as input, and then issues control instructions and directs the actuator to work as output. Sometimes, it also provides stable power supply or reference voltage to the sensor. All its functions are completed through the sum of various hardware and software, and its core is a microcomputer system with single-chip microcomputer as the main body.

[0046] like Figure 1 As shown, an energy consumption-aware vehicle-mounted CAN FD network signal packaging method includes the following steps:

[0047] Acquire a signal set, divide the signal set into a high safety requirement signal group and a low safety requirement signal group according to the safety requirements of the signals, sort the signals in the high safety requirement signal group and the low safety requirement signal group in ascending order according to the cycle size, and obtain an arrangement order;

[0048] Pack the signals of the high-security-requirement signal group into existing messages or newly created empty messages according to the arrangement order, select the packing method with the best objective function value, and update the message set in time to realize the packing of the high-security-requirement signal group;

[0049] The packaging process of the high safety requirement signal group and the low safety requirement signal group is as follows:

[0050] Prioritize packing into messages with equal periods, calculate the optimal objective function value obj1 packed into existing non-empty messages, compare it with the objective function value obj2 packed into newly created empty messages, select the packing method with the optimal objective function value, and update the message set in time.

[0051] The signals of the low safety requirement signal group are packaged into existing messages or newly created empty messages according to the arrangement order, the packaging method with the optimal objective function value is selected, and the message set is updated in time to realize the packaging of the low safety requirement signal group.

[0052] The calculation formula for the overall design optimization target obj is:

[0053]

[0054] Where MN represents the total number of messages, j represents the message number, W1 and W2 represent the weight of the bandwidth utilization, the number of times the ECU calls the HSM core to calculate the MAC code to ensure the integrity of the message, and the sum of the number of times the message is received and processed. The present invention assumes that the energy consumption of the HSM core calculating the MAC code is the same as the energy consumption of the message receiving and processing. If the energy consumption of the above two is different, it can be solved by setting different weights for them respectively. j Indicates message m j Bandwidth utilization, MHSM j Indicates message m j The sending and receiving ECUs call the HSM core to calculate the number of MAC codes to ensure the integrity of the message, MR j Indicates message m j The number of times all receiving ECUs need to receive and process the message.

[0055] The message m j The number of times the sending and receiving ECUs call the HSM core to calculate the MAC code to ensure the integrity of the message MHSM j The calculation formula is as follows:

[0056]

[0057] Where LCM represents the least common multiple of all signal periods, T j Indicates message m j cycle, HSEC j Indicates message m j The number of high-security ECUs in the receiving ECUs, msc j Indicates message m jWhether there are high security requirements.

[0058] The message m j The number of times all receiving ECUs need to receive and process the message MR j The calculation formula is as follows:

[0059]

[0060] where mre j,k’ Indicates whether ECU k' is message m j The receiving ECU.

[0061] Specifically, the present invention is further described below by way of embodiments:

[0062] The existing on-board ECU system architecture diagram and message sending and receiving process flow are as follows Figure 2 As shown in the figure, assume that the system contains 6 ECUs: E = {E1, E2, E3, E4, E5, E6}, where the signal set contained in E4 is: S = {s1, s2, s3, s4}. Divide the ECUs into 2 groups of ECUs, assuming that E1 to E3 are low-security ECUs, E4 to E6 are high-security ECUs, and the MAC code is only attached to messages with high security requirements and sent between high-security ECUs. ECUs in the high-security ECU group share the same key and corresponding MAC code. The attributes of each signal can be described by a four-tuple, s i = {b i , t i , sc i , SRE i}, which respectively represent the size (in bytes), cycle (in ms), safety requirement (0 represents low, 1 represents high) and the ECU flag array that receives the signal. i ={sre i,1 ,...,sre i,k’ ,...,sre i,EN}(sre i,k’ 1 means ECU k' is the receiver of signal i, 0 means it is not), S contains the properties of the signal as shown in Table 1:

[0063] Table 1S contains the properties of the signal

[0064] Signal Size (bytes) Cycle (ms) Security Requirements Receiving ECU <![CDATA[s1]]> 1 1 1 <![CDATA[E6]]> <![CDATA[s2]]> 4 5 1 <![CDATA[E6]]> <![CDATA[s3]]> 1 10 0 <![CDATA[E3]]> <![CDATA[s4]]> 2 20 0 <![CDATA[E2]]>

[0065] Referring to the existing CAN FD signal packaging method, the optimal bandwidth utilization is taken as the design goal, and the packaging result of the signal set S is M = {m1, m2}, m1 = {s1}, m2 = {s2, s3, s4}, where M represents the packaged message set, and m1 and m2 represent the packaged messages. The attributes of each message can be represented by a ten-tuple, m j ={T j ,B j ,P j ,ET j ,U j ,MRE j ,msc j ,HSEC j ,MHSM j ,MR j}, which respectively represent the period (in ms), size (in bytes), payload (in bytes), worst-case transmission time (in us), bandwidth utilization, the message receiving ECU flag array, whether the message has high security requirements (1 for yes, 0 for no), the number of ECUs with high security requirements among the message receiving ECUs, the number of times the ECU calls the HSM core to calculate the MAC code to ensure the integrity of the message, and the number of times the message is received and processed.

[0066] MRE j ={mre j,1 ,...,mre j,k’ ,...,mre j,EN}(mre j,k’ 1 represents that ECU k' is the receiving end of the message, and 0 represents that it is not). To ensure the integrity of the message, the present invention assumes that the size of the MAC code calculated using the key is 4 bytes.

[0067] The message period is T j The calculation formula is as follows:

[0068] T j =min{t i |s i ∈m j}

[0069] The size of the message B j The calculation formula is as follows:

[0070]

[0071] According to the CAN FD message configuration, the length of the message data field can only be equal to 0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 32, 48 or 64 bytes, and the size within a certain data segment range is rounded up. For example, if the sum of the signal sizes within a message is 10 bytes, then its payload is equal to 12 to meet the specifications of the CAN FD message format. The specific conversion method is as follows:

[0072]

[0073] Assume that τ bit and τ arb Represent the time required for a message to transmit 1 bit of data in the data domain and arbitration domain respectively. In this paper, τ bit Set to 0.5 microseconds (the bit rate of the data domain is 2Mbps), τ arb Set to 2 microseconds (bit rate of arbitration domain is 500kbps).

[0074] Worst case transmission time ET of a message j The calculation formula is as follows:

[0075]

[0076] Bandwidth utilization of the message U j The calculation formula is as follows:

[0077]

[0078] MRE j ={mre j,1 ,...,mre j,k’ ,...,mre j,EN The calculation formula of} is as follows:

[0079]

[0080] msc j The calculation formula is as follows:

[0081]

[0082] HSEC j The calculation formula is as follows:

[0083]

[0084] MHSM j The calculation formula is as follows:

[0085]

[0086] MRj The calculation formula is as follows:

[0087]

[0088] By calculating with the above formula, we can get the period T1=1ms, B1=5 bytes, P1=5 bytes, ET1=103us, bandwidth utilization U1=10.3%, MHSM1=40, MR1=20 of the message m1 contained in the above message set M. The period T2=5ms, B2=11 bytes, P2=12 bytes, ET2=138us, bandwidth utilization U2=2.76%, MHSM2=8, MR2=12 of the message m2. Therefore, the total bandwidth utilization is 13.06%, MHSM=48, MR=32.

[0089] From the above analysis, we can see that the period and receiving ECU of signals s1, s2 are different from those of s3, s4. Packing signals s2 with relatively small period together with s3, s4 will cause the receiving ECU of s3, s4 to receive and process messages more times. Packing signals s1 and s2 with high security requirements and the same receiving ECU separately will cause the sending ECU and the receiving ECU to call the HSM core to calculate the MAC code more times, thereby increasing the energy consumption of the ECU. However, if the least common multiple of the period of all signals LCM = 20ms is considered, different signal packaging results are considered, and the signals with high security requirements and the same receiving ECU are packaged together, such as M = {m1, m2}, m1 = {s1, s2}, m2 = {s3, s4}. Through calculation, it can be seen that the bandwidth utilization rate of message set M is 14.73%, the number of times the HSM core calculates MAC is 40, and the number of times the message is received and processed is 24. Therefore, by increasing bandwidth utilization by only 1.67%, the number of times the HSM core calculates MAC codes can be reduced by 16.6% and the number of message reception processes can be reduced by 25%.

[0090] From the above examples, we can see that with the development of smart cars, the existing CAN FD network design method that only uses bandwidth utilization as the only performance optimization indicator may significantly increase the processing energy consumption caused by security protection and message reception processing in the on-board ECU. This will pose a severe challenge to the design of smart car electronic architecture in the context of the rapid development of smart electric vehicles. Therefore, it is necessary to propose a new CAN FD network design method from the perspective of bandwidth utilization and ECU energy consumption, and to achieve the design optimization of automotive electronic systems by simultaneously considering the bandwidth utilization of the CAN FD network and the security protection and message reception processing in the on-board ECU.

[0091] Second, as Figure 4As shown, in order to achieve the above purpose, the present invention discloses an energy consumption-aware vehicle-mounted CANFD network signal packaging system, comprising:

[0092] The signal arrangement module 11 is used to obtain a signal set, divide the signal set into a high safety requirement signal group and a low safety requirement signal group according to the safety requirements of the signals, and sort the signals in the high safety requirement signal group and the low safety requirement signal group in ascending order according to the period size to obtain an arrangement order;

[0093] The high-security packaging module 12 is used to package the signals of the high-security requirement signal group into an existing message or a newly created empty message according to the arrangement order, select the packaging method with the optimal objective function value, and update the message set in time to realize the packaging of the high-security requirement signal group;

[0094] The low-security packaging module 13 is used to package the signals of the low-security requirement signal group into an existing message or a newly created empty message according to the arrangement order, select the packaging method with the optimal objective function value, and update the message set in time to realize the packaging of the low-security requirement signal group.

[0095] In combination with the second aspect, in some implementations of the second aspect, the system further includes: a packing process of packing the high safety requirement signal group and the low safety requirement signal group is as follows:

[0096] Prioritize packing into messages with equal periods, calculate the optimal objective function value obj1 packed into existing non-empty messages, compare it with the objective function value obj2 packed into newly created empty messages, select the packing method with the optimal objective function value, and update the message set in time.

[0097] In conjunction with the second aspect, in certain implementations of the second aspect, the system further includes: a calculation formula for the overall design optimization target obj is:

[0098]

[0099] Where MN represents the total number of messages, j represents the message number, W1 and W2 represent their respective weights, and U j Indicates message m j Bandwidth utilization, MHSM j Indicates message m j The sending and receiving ECUs call the HSM core to calculate the number of MAC codes to ensure the integrity of the message, MR j Indicates message m j The number of times all receiving ECUs need to receive and process the message.

[0100] In conjunction with the second aspect, in some implementations of the second aspect, the system further includes: the message m jThe number of times the sending and receiving ECUs call the HSM core to calculate the MAC code to ensure the integrity of the message MHSM j The calculation formula is as follows:

[0101]

[0102] Where LCM represents the least common multiple of all signal periods, T j Indicates message m j cycle, HSEC j Indicates message m j The number of high-security ECUs in the receiving ECUs, msc j Indicates message m j Whether there are high security requirements.

[0103] In conjunction with the second aspect, in some implementations of the second aspect, the system further includes: the message m j The number of times all receiving ECUs need to receive and process the message MR j The calculation formula is as follows:

[0104]

[0105] where mre j,k’ Indicates whether ECU k' is message m j The receiving ECU.

[0106] Embodiment 2:

[0107] Based on the same inventive concept, the present invention also provides a computer device, which includes: one or more processors, and a memory for storing one or more computer programs; the program includes program instructions, and the processor is used to execute the program instructions stored in the memory. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is used to implement one or more instructions, specifically for loading and executing one or more instructions in a computer storage medium to implement the above method.

[0108] It needs to be further explained that, based on the same inventive concept, the present invention also provides a computer storage medium, on which a computer program is stored, and the computer program is executed by a processor to execute the above method. The storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electrical, magnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0109] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0110] The above shows and describes the basic principles, main features and advantages of the present disclosure. Those skilled in the art should understand that the present disclosure is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present disclosure. Without departing from the spirit and scope of the present disclosure, the present disclosure may have various changes and improvements, and these changes and improvements fall within the scope of the present disclosure to be protected.

Claims

1. An energy consumption-aware vehicle-mounted CAN FD network signal packaging method, characterized in that: The method comprises the following steps: Acquire a signal set, divide the signal set into a high safety requirement signal group and a low safety requirement signal group according to the safety requirements of the signals, sort the signals in the high safety requirement signal group and the low safety requirement signal group in ascending order according to the cycle size, and obtain an arrangement order; Pack the signals of the high-security-requirement signal group into existing messages or newly created empty messages according to the arrangement order, select the packing method with the best objective function value, and update the message set in time to realize the packing of the high-security-requirement signal group; The signals of the low safety requirement signal group are packaged into existing messages or newly created empty messages according to the arrangement order, the packaging method with the optimal objective function value is selected, and the message set is updated in time to realize the packaging of the low safety requirement signal group.

2. According to the energy consumption-aware vehicle-mounted CAN FD network signal packaging method of claim 1, it is characterized in that: The packing process of the high safety requirement signal group and the low safety requirement signal group is as follows: Prioritize packing into messages with equal periods, calculate the optimal objective function value obj1 packed into existing non-empty messages, compare it with the objective function value obj2 packed into newly created empty messages, select the packing method with the optimal objective function value, and update the message set in time.

3. According to the energy consumption-aware vehicle-mounted CAN FD network signal packaging method of claim 2, it is characterized in that: The calculation formula for the overall design optimization target obj is: Where MN represents the total number of messages, j represents the message number, W1 and W2 represent their respective weights, and U j Indicates message m j Bandwidth utilization, MHSM j Indicates message m j The sending and receiving ECUs call the HSM core to calculate the number of MAC codes to ensure the integrity of the message, MR j Indicates message m j The number of times all receiving ECUs need to receive and process the message.

4. According to the energy consumption-aware vehicle-mounted CAN FD network signal packaging method of claim 3, it is characterized in that: The message m j The number of times the sending and receiving ECUs call the HSM core to calculate the MAC code to ensure the integrity of the message MHSM j The calculation formula is as follows: Where LCM represents the least common multiple of all signal periods, T j Indicates message m j cycle, HSEC j Indicates message m j The number of high-security ECUs in the receiving ECUs, msc j Indicates message m j Whether there are high security requirements.

5. The energy consumption-aware vehicle-mounted CAN FD network signal packaging method according to claim 4 is characterized in that: The message m j The number of times all receiving ECUs need to receive and process the message MR j The calculation formula is as follows: where mre j,k’ Indicates ECU k ’ Is it a message m j The receiving ECU.

6. An energy-aware vehicle-mounted CAN FD network signal packaging system, characterized in that: include: A signal arrangement module is used to obtain a signal set, divide the signal set into a high safety requirement signal group and a low safety requirement signal group according to the safety requirements of the signals, and sort the signals in the high safety requirement signal group and the low safety requirement signal group in ascending order according to the cycle size to obtain an arrangement order; The high-security packaging module is used to package the signals of the high-security requirement signal group into an existing message or a newly created empty message according to the arrangement order, select the packaging method with the optimal objective function value, and update the message set in time to realize the packaging of the high-security requirement signal group; The low-security packaging module is used to package the signals of the low-security requirement signal group into existing messages or newly created empty messages according to the arrangement order, select the packaging method with the optimal objective function value, and update the message set in time to realize the packaging of the low-security requirement signal group.

7. The energy consumption-aware vehicle-mounted CAN FD network signal packaging system according to claim 6 is characterized in that: The packing process of the high safety requirement signal group and the low safety requirement signal group is as follows: Prioritize packing into messages with equal periods, calculate the optimal objective function value obj1 packed into existing non-empty messages, compare it with the objective function value obj2 packed into newly created empty messages, select the packing method with the optimal objective function value, and update the message set in time.

8. The energy consumption-aware vehicle-mounted CAN FD network signal packaging system according to claim 7 is characterized in that: The calculation formula for the overall design optimization target obj is: Where MN represents the total number of messages, j represents the message number, W1 and W2 represent their respective weights, and U j Indicates message m j Bandwidth utilization, MHSM j Indicates message m j The sending and receiving ECUs call the HSM core to calculate the number of MAC codes to ensure the integrity of the message, MR j Indicates message m j The number of times all receiving ECUs need to receive and process the message.

9. The energy consumption-aware vehicle-mounted CAN FD network signal packaging system according to claim 8, characterized in that: The message m j The number of times the sending and receiving ECUs call the HSM core to calculate the MAC code to ensure the integrity of the message MHSM j The calculation formula is as follows: Where LCM represents the least common multiple of all signal periods, T j Indicates message m j cycle, HSEC j Indicates message m j The number of high-security ECUs in the receiving ECUs, msc j Indicates message m j Whether there are high security requirements.

10. The energy consumption-aware vehicle-mounted CAN FD network signal packaging system according to claim 9, characterized in that: The message m j The number of times all receiving ECUs need to receive and process the message MR j The calculation formula is as follows: where mre j,k’ Indicates ECU k ’ Is it a message m j The receiving ECU.

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