An energy-aware vehicle-mounted CAN FD network signal packaging method and system

Abstract

The present invention discloses an energy consumption-aware in-vehicle CAN FD network signal packaging method and system, which relate to the field of automotive electronic technology. The method comprises the following 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 signal safety requirements, sorting the signals in the high-safety requirement signal group and the low-safety requirement signal group in ascending order according to cycle size, and obtaining an arrangement order; packaging the signals of the high-safety requirement signal group into an existing message or a newly created empty message according to the arrangement order, selecting a packaging method with an optimal objective function value, and timely updating the message set to achieve packaging of the high-safety requirement signal group; packaging the signals of the low-safety requirement signal group into an existing message or a newly created empty message according to the arrangement order, selecting a packaging method with an optimal objective function value, and timely updating the message set to achieve packaging of the low-safety requirement signal group.

Description

Technical Field

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

[0002] With the advancement of automotive intelligence and networking technologies, more and more electronic components, such as electronic control units (ECUs), sensors, and actuators, are being incorporated into automotive electronic systems. This has led to a sharp increase in the complexity of automotive electronic systems and a significant increase in vehicle energy consumption. Consequently, this has placed higher demands on in-vehicle network bandwidth. To meet the growing demand for in-vehicle data transmission bandwidth, a company launched the second-generation CAN network protocol, CAN FD, in 2011.

[0003] An ECU is an electronic device used to monitor, control, and manage various aspects of a vehicle or mechanical system, such as engine performance, braking systems, air conditioning, and safety systems. ECUs are connected to multiple sensors and actuators, and ECUs communicate with each other via the in-vehicle network. Computation, security protection, and message processing within ECUs are major contributors to energy consumption in automotive electronic systems. Reducing these energy consumption factors is crucial for increasing vehicle range and improving the user experience, especially in electric vehicles. However, existing CAN FD network designs focus solely on optimizing network bandwidth, without considering the energy consumption associated with network security protection and message processing. Summary of the Invention

[0004] To address the deficiencies mentioned in the above background technology, the present invention aims to provide an energy-aware in-vehicle CAN FD network signal packaging method and system. Starting from the signal packaging of the in-vehicle CAN FD network, the design of the automotive electronic system can be optimized.

[0005] In a first aspect, the purpose of the present invention can be achieved by the following technical solution: a method for packaging energy-aware in-vehicle CANFD network signals, the method comprising the following steps:

[0006] 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, sort the signals in the high-safety requirement signal group and the low-safety requirement signal group in ascending order according to the size of the period, and obtain an arrangement order;

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

[0008] The signals of the low-security-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-security-requirement signal group.

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

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

[0011] In conjunction with the first aspect, in certain 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] Among them 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-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 size of the period to obtain an arrangement order;

[0022] The high-security packaging module is used to package the signals of the high-security 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 a timely manner to achieve the packaging of the high-security 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 conjunction with the second aspect, in certain implementations of the second aspect, the system further includes: a packaging process of the high-security requirement signal group and the low-security requirement signal group as follows:

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

[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] Among them 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, those skilled in the art can derive other drawings based on these drawings without inventive effort.

[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 This 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0043] Example 1:

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

[0045] ECU: An electronic control unit (ECU) is a crucial component in electronic products, widely used in electronics production and playing a vital role in our daily lives. An ECU is a miniature computer management center, collecting signals (data), processing them, analyzing and judging them, and deciding on countermeasures. Its output is to issue control commands and direct actuators. Sometimes, it also provides a stable power supply or reference voltage for sensors. All of its functions are accomplished through a combination of hardware and software, with a microcomputer system based on a single-chip microcomputer at its core.

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

[0047] 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, sort the signals in the high-safety requirement signal group and the low-safety requirement signal group in ascending order according to the size of the period, and obtain an arrangement order;

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

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

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

[0051] The signals of the low-security-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-security-requirement signal group.

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

[0053]

[0054] Where MN represents the total number of messages, j represents the message number, W1 and W2 represent the weights 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. This invention assumes that the energy consumption of the HSM core for calculating the MAC code is the same as the energy consumption for receiving and processing the message. If the energy consumption of the two is different, it can be solved by setting different weights for each. 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] Among them mre j,k’ Indicates whether ECU k' is message m j The receiving ECU.

[0061] Specifically, the present invention will be further described below through examples:

[0062] The existing vehicle ECU system architecture diagram and message sending and receiving processing 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}. The ECUs are divided into two groups of ECUs. Assume that E1 to E3 are low-security ECUs and E4 to E6 are high-security ECUs. The MAC code is only attached to messages with high security requirements and sent between high-security ECUs. The 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}, respectively representing the size (in bytes), period (in ms), safety requirement (0 for low, 1 for 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, and 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) Period (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 design goal is to optimize bandwidth utilization. The resulting signal set S is packaged as 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 message reception and processing times.

[0066] Among them, MRE j ={mre j,1 ,...,mre j,k’ ,...,mre j,EN}(mre j,k’ (1 indicates that ECU k' is the receiving end of the message, and 0 indicates 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 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 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 CAN FD message format specifications. The specific conversion method is as follows:

[0072]

[0073] Assume that τ bit and τ arb Represent the time required for the 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 field 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] Message bandwidth utilization U j The calculation formula is as follows:

[0077]

[0078] MRE j ={mre j,1 ,...,mre j,k’ ,...,mre j,EN The calculation formula for} 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] Using the above formula, we can calculate that message m1 in message set M has a period of T1 = 1 ms, B1 = 5 bytes, P1 = 5 bytes, ET1 = 103 us, a bandwidth utilization of U1 = 10.3%, MHSM1 = 40, and MR1 = 20. Message m2 has a period of T2 = 5 ms, B2 = 11 bytes, P2 = 12 bytes, ET2 = 138 us, a bandwidth utilization of U2 = 2.76%, MHSM2 = 8, and MR2 = 12. Therefore, the total bandwidth utilization is 13.06%, with MHSM = 48 and MR = 32.

[0089] The above analysis shows that signals s1, s2, s3, and s4 have different periods and receiving ECUs. Packing signal s2, which has a relatively short period, together with s3 and s4 will increase the number of message reception and processing times required by the receiving ECUs of s3 and s4. Furthermore, packing signals s1 and s2, which both have high security requirements and share the same receiving ECU, separately will increase the number of MAC code calculations by the transmitting and receiving ECUs, thereby increasing ECU energy consumption. However, if the periods of all signals are within the least common multiple (LCM) of 20ms, and different signal packing results are considered, the high security requirements signals with the same receiving ECU are packed together, for example, M = {m1, m2}, m1 = {s1, s2}, and m2 = {s3, s4}. Calculations show that the bandwidth utilization of message set M is 14.73%, the HSM core calculates MACs 40 times, and the message reception and processing times are 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] As the above examples demonstrate, with the development of smart cars, existing CAN FD network design methods that solely prioritize bandwidth utilization as a performance optimization metric may significantly increase processing energy consumption due to security protection and message reception in the onboard ECU. This poses a significant challenge to the design of smart automotive electronic architectures in the context of the rapid development of smart electric vehicles. Therefore, a new CAN FD network design method is needed that considers both bandwidth utilization and ECU energy consumption. This approach can optimize the design of automotive electronic systems by simultaneously considering both CAN FD network bandwidth utilization and security protection and message reception in the onboard 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-security requirement signal group and a low-security requirement signal group according to the signal safety requirements, and sort the signals in the high-security requirement signal group and the low-security 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 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 a timely manner to achieve the packaging of the high-security signal group;

[0094] The low-security packaging module 13 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.

[0095] In conjunction with the second aspect, in certain implementations of the second aspect, the system further includes: a packaging process of the high-security requirement signal group and the low-security requirement signal group as follows:

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

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

[0106] Example 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 gate 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 should be further explained that, based on the same inventive concept, the present invention also provides a computer storage medium having a computer program stored thereon, which executes the above method when executed by a processor. The storage medium can be 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 component, or any combination thereof. More specific examples (a 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 thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component.

[0109] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[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 to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present disclosure. Various changes and improvements may be made to the present disclosure without departing from the spirit and scope of the present disclosure, and such changes and improvements shall fall within the scope of the present disclosure.

Claims

1. An energy-aware vehicle-mounted CAN FD network signal packaging method, characterized in that: The method comprises the following steps: 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, sort the signals in the high-safety requirement signal group and the low-safety requirement signal group in ascending order according to the size of the period, and obtain an arrangement order; Pack the signals of the high-security signal group into existing messages or newly created empty messages according to the arrangement order, select the packing method with the optimal objective function value, and update the message set in time to achieve the packing of the high-security signal group; Pack the signals of the low-security signal group into existing messages or newly created empty messages according to the arrangement order, select the packing method with the optimal objective function value, and update the message set in time to achieve the packing of the low-security signal group; 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 for packing into existing non-empty messages, compare it with the objective function value obj2 for packing into newly created empty messages, select the packing method with the optimal objective function value, and update the message set in a timely manner; The calculation formula for the overall design optimization objective 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; 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 safety requirements; 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: Among them mre j,k 'Indicates whether ECU k' is message m j The receiving ECU.

2. 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 size of the period to obtain an arrangement order; The high-security packaging module is used to package the signals of the high-security 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 a timely manner to achieve the packaging of the high-security signal group; The low-security packaging module is used to package the signals of the low-security 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 signal group; 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 for packing into existing non-empty messages, compare it with the objective function value obj2 for packing into newly created empty messages, select the packing method with the optimal objective function value, and update the message set in a timely manner; The calculation formula for the overall design optimization objective 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; 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 safety requirements; 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: Among them mre j,k ' indicates ECU k ’ Is it message m j The receiving ECU.

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