Time sensitive network testing device and method for vehicle-mounted system

Abstract

The invention belongs to the field of vehicle-mounted communication systems, particularly relates to a time-sensitive network testing device and method for a vehicle-mounted system, and aims to solve the problem of time-sensitive network testing of the vehicle-mounted system. The device is used for simulating and generating a power control signal, an audio and video signal and an auxiliary driving signal of a vehicle-mounted system; the signals are input into a first cascaded TSN switch, time division multiplexing transmission is carried out on the last cascaded TSN switch according to the priority of the signals, and the signals are transmitted to a flow transmission module, a common switch and a servo driving module; the servo driving motor receives the power control signal and performs rotating speed and phase coaxial amplification; a rotation image of the servo driving motor is collected, and audio and video signals are simulated and generated; and acquiring the power control signal, the audio and video signal and the auxiliary driving signal, and counting and displaying transmission parameters of various signals. According to the invention, by simulating the key signal in the vehicle-mounted system, the time-sensitive network test for the vehicle-mounted system is realized.

Description

Technical Field

[0001] The invention belongs to the field of vehicle-mounted communication systems, and in particular relates to a time-sensitive network testing device and method for a vehicle-mounted system. Background Art

[0002] Time-Sensitive Networking (TSN) is based on standard Ethernet. As a Layer 2 switching network, it provides a complete set of protocols and mechanisms at the data link layer to ensure the QoS (Quality of Service) of the network. Its biggest feature is the transmission of key data packets through precise time scheduling and determined delays. At the same time, with the surge in the number of sensors required for high-level autonomous driving, more and more control signals need to be connected to the vehicle communication system and different traffic needs to be transmitted with different priorities, which is consistent with time-sensitive networks. Therefore, applying time-sensitive networks as enhanced Ethernet to vehicle communication systems has become a research hotspot in the industry.

[0003] However, the integration of TSN and in-vehicle communication systems has not yet been implemented. Compared with traditional Ethernet or controller area network, the delay guarantee capability of time-sensitive networks in key control signals of in-vehicle communication systems is still unknown, and there is a lack of good testing technical means. It is necessary to provide a time-sensitive network testing device and method for in-vehicle systems to achieve an intuitive display of the delay guarantee capability of time-sensitive networks in in-vehicle information systems. Summary of the invention

[0004] In order to solve the above-mentioned problem in the prior art, that is, the problem of testing a time-sensitive network in an in-vehicle communication system, the present invention provides a time-sensitive network testing device and method for an in-vehicle system.

[0005] In a first aspect, the present invention provides a time-sensitive network testing device for an on-board system, comprising: a traffic collection module, a traffic transmission module, a servo drive module and a result display module; the traffic collection module is used to simulate the generation of power control signals, audio and video signals and auxiliary driving signals of the on-board system; the traffic transmission module includes a TSN switch and a traffic transmission module ordinary switch cascaded in a time-sensitive network, which is used to input the power control signal, audio and video signal and auxiliary driving signal into the first cascaded TSN switch, and perform time-division multiplexing transmission according to the signal priority at the outlet of the last cascaded TSN switch, and transmit it to the traffic transmission module ordinary switch and servo drive module; the servo drive module is used to simulate an on-board engine under multiple scenarios and conditions, including a servo drive motor, which receives the power control signal through the traffic transmission module and performs coaxial amplification of the speed and phase; the traffic collection module simulates the generation of audio and video signals by collecting the rotation image of the servo drive motor; the result display module is used to obtain the power control signal, audio and video signal and auxiliary driving signal from the traffic transmission module ordinary switch, and count and display the transmission parameters of various signals.

[0006] Specifically, the flow collection module simulates the generation of power control signals through programmable logic control software; the flow collection module simulates the generation of auxiliary driving signals through a network tester.

[0007] Specifically, when the TSN switch, the traffic transmission module host computer and the traffic transmission module ordinary switch are in the same network segment, the traffic transmission module host computer configures time synchronization parameters, ingress VLAN mapping and egress time slot division for the TSN switch and the traffic transmission module ordinary switch through SSH.

[0008] Specifically, the servo drive module also includes at least one servo drive motor that receives a power control signal via ordinary Ethernet, and the result display module is also used to compare and display the rotation conditions and corresponding video freeze conditions of the servo drive motors that receive power control signals via different networks.

[0009] Specifically, the servo drive module further includes a servo drive module host computer and a servo drive module common switch. The servo drive module host computer is used to perform initial configuration on the servo drive motor through the servo drive module common switch.

[0010] Specifically, the time-sensitive network test device is used to configure the clock synchronization parameters of the network tester and the TSN switch, with the network tester as the master clock device and the TSN switch as the slave clock device. If the Clock ID in the cascaded TSN switch message in the time-sensitive network is transmitted step by step, the clock synchronization function of the time-sensitive network is normal; the network tester is used to simulate the generation of auxiliary driving signals.

[0011] Specifically, the time-sensitive network test device is also used to read the Offset value of each TSN switch cascaded in the time-sensitive network, and determine the time synchronization accuracy of the time-sensitive network according to the variation range of the Offset value.

[0012] Specifically, the time-sensitive network testing device is used to read the Offset value of each TSN switch cascaded in the time-sensitive network, turn on the time synchronization function of the time-sensitive network, and when the maximum change of the Offset value in the observation time window is less than the threshold, turn on the TAS gating shaping function of the time-sensitive network, and determine the test result of the gating shaping function of the time-sensitive network according to the rotation of the servo drive motor and the corresponding video freeze, as well as the transmission parameters of various signals.

[0013] Specifically, the time-sensitive network test device is used to assign priorities to various signals at the entrance of the first TSN switch in the cascade, and adopt a credit shaping method to configure the corresponding IdleSlope of various signals at the exit of the last TSN switch in the cascade according to the priority of various signals and the buffer capacity of the credit shaping output queue. According to the corresponding video freeze of the servo drive motor, the credit shaping function test result of the time-sensitive network is determined.

[0014] In a second aspect, the present invention provides a time-sensitive network testing method for a vehicle-mounted system, comprising the following steps: simulating and generating a power control signal, an audio and video signal, and an auxiliary driving signal of the vehicle-mounted system; the audio and video signal is simulated and generated according to the rotation image of a servo drive motor; the power control signal, the audio and video signal, and the auxiliary driving signal are input into the first TSN switch of the cascade, and time-division multiplexing transmission is performed according to the signal priority at the outlet of the last TSN switch of the cascade, and transmitted to a common switch and a servo drive motor; a servo drive motor is used to simulate a vehicle-mounted engine under multiple scenarios and conditions, and the servo drive motor receives the power control signal and performs coaxial amplification of the speed and phase; the power control signal, the audio and video signal, and the auxiliary driving signal are obtained from the common switch, and the transmission parameters of each type of signal are counted and displayed.

[0015] Beneficial effects of the present invention:

[0016] The present invention realizes time-sensitive network testing for vehicle-mounted systems by simulating key signals in the vehicle-mounted systems, and forms a key characteristic testing method and solution for time-sensitive networks of vehicle-mounted systems.

[0017] Furthermore, the present invention utilizes the TAS, CBS traffic scheduling technology and peer-to-peer time synchronization technology of the time-sensitive network to perform time-division multiplexing transmission of power control signals, audio and video signals, and auxiliary driving signals in the vehicle system, thereby facilitating the verification of the transmission parameters of the TSN technology in the vehicle network system.

[0018] Other features and advantages of the present invention will be described in the following description. The purpose and other advantages of the present invention can be realized and obtained through the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0020] Figure 1 It is a schematic diagram of the structure of a time-sensitive network testing device for an in-vehicle system provided by an embodiment of the present invention;

[0021] Figure 2 is a time synchronization flow chart provided by an embodiment of the present invention;

[0022] Figure 3 is a gating shaping flow chart provided by an embodiment of the present invention;

[0023] Figure 4 This is a credit shaping flow chart provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] The embodiment of the present invention provides a time-sensitive network testing device for a vehicle-mounted system, such as Figure 1 As shown, it includes: a flow collection module, a flow transmission module, a servo drive module and a result display module. The flow collection module is used to simulate and generate power control signals, audio and video signals and auxiliary driving signals of the vehicle system.

[0027] Figure 1In the illustrated embodiment, the flow collection module includes a main control (abbreviation of the main control host computer), an on-board assisted driving system, an on-board power control system, and an on-board audio and video system. The main control is used to receive the device status of the on-board assisted driving system, the on-board power control system, and the on-board audio and video system, and to send control signals to the on-board assisted driving system, the on-board power control system, and the on-board audio and video system. The on-board assisted driving system, the on-board power control system, and the on-board audio and video system are used to simulate the assisted driving system, the power control system, and the audio and video system in the on-board system, respectively, and simulate the generation of the power control signal, the audio and video signal, and the assisted driving signal of the on-board system.

[0028] In the traffic collection module, the PLC is used to configure the current input and output ports, control cycle time, voltage range, etc., and encode the TCP / IP message that drives the servo drive motor, simulating the key signals such as motor control, collision warning and power battery in the vehicle system; the industrial camera is used to collect the current environmental video signal, simulate the low-priority audio and video signals in the vehicle system, and encode the network message that can be parsed by the display; the network tester is used to generate a background signal with large bandwidth and random frame length, simulating a large number of auxiliary driving signals in the vehicle system. The overall bandwidth of the three signal flows does not exceed one gigabit, and is set according to the specific test requirements, and is transmitted using RJ45 twisted pair cables.

[0029] The traffic transmission module includes a TSN switch cascaded in a time-sensitive network, a traffic transmission module host computer, and a traffic transmission module common switch, which is used to input power control signals, audio and video signals, and auxiliary driving signals into the first cascaded TSN switch, and perform time-division multiplexing transmission according to signal priority at the outlet of the last cascaded TSN switch, and transmit them to the traffic transmission module common switch and servo drive module. The traffic transmission module host computer is used to configure the TSN switch. Figure 1In the embodiment shown, the traffic transmission module includes TSN switch 1, TSN switch 2, host computer 1 and ordinary switch 1. TSN switch 1 is the first TSN switch cascaded in the time-sensitive network, and TSN switch 2 is the last TSN switch cascaded in the time-sensitive network. The host computer 1 is used to receive the device status of TSN switch 1 and TSN switch 2, and configure TSN switch 1 and TSN switch 2. TSN switch 1 and TSN switch 2 support IEEE802.1AS_Rev time synchronization protocol, IEEE802.1Qbv gating scheduling protocol and IEEE802.1Qav credit shaping protocol. TSN switch 1 and TSN switch 2 are 12 ports with 1000M bandwidth. The three signal flows generated by the traffic collection module enter the traffic transmission module through three different ports of TSN switch 1, and priority mapping is performed at the entrance. A tag with a priority of 7 is added to the power control signal flow, a tag with a priority of 4 is added to the audio and video signal flow, and a tag with a priority of 1 is added to the auxiliary driving signal flow. The priorities range from 0 to 7, 0 represents the lowest priority, 7 represents the highest priority, and the priorities from 0 to 7 increase step by step. Different signal flows enter the scheduling queues representing different priorities. After the storage and forwarding of TSN switches 1 and 2, all flows are multicast forwarded from the 5 ports of TSN switch 2 and enter the servo drive module and the result display module. The host computer 1 accesses the registers of the two TSN switches and configures the gate shaping, credit shaping and clock synchronization parameters.

[0030] The TSN switch in this article refers to a switch that supports time-sensitive networks, a normal switch refers to a switch that does not support time-sensitive networks, and normal Ethernet refers to traditional Ethernet that does not use a time-sensitive transmission mechanism. Traditional Ethernet uses CSMA / CD (Carrier Sense Multiple Access and Collision Detection) technology and usually uses twisted pair (UTP cable) for networking, including standard Ethernet (10Mbit / s), Fast Ethernet (100Mbit / s), Gigabit Ethernet (1Gbit / s) and 10G (10Gbit / s) Ethernet. Traditional Ethernet complies with the IEEE802.3 standard.

[0031] The servo drive module is used to simulate vehicle engines in multiple scenarios and conditions, including a servo drive motor. The servo drive motor receives power control signals through the flow transmission module and performs coaxial amplification of speed and phase. The flow acquisition module simulates the generation of audio and video signals by acquiring the rotation image of the servo drive motor. Figure 1In the illustrated embodiment, the servo drive module includes four independent servo drive motors Sd1, Sd2, Sd3 and Sd4, a common switch 2 and a host computer 2. The four servo drive motors are mounted with coaxial pointers to equivalently amplify the current motor frequency and phase, wherein the PLC control signals of two servo drive motors are transmitted via a common Ethernet, and the other two are transmitted via a time-sensitive network, and the video freeze and motor rotation conditions under different transmission conditions are compared and observed. The initial speed and torque are configured for the four servo drive motors respectively through the host computer 2. The configuration signal of the host computer 2 is transmitted to the corresponding servo drive motors via the common switch 2.

[0032] The result display module is used to obtain power control signals, audio and video signals and auxiliary driving signals from the ordinary switch of the traffic transmission module, and to count and display the transmission parameters of various signals. Figure 1 In the illustrated embodiment, the result display module includes a real-time display system and a result statistics system. The result statistics system is used to count the transmission parameters of various signals, and the real-time display system is used to display test data. The test data includes the statistical transmission parameters of various signals.

[0033] Specifically, the traffic collection module simulates the generation of power control signals through programmable logic control (PLC) software. The simulated power control signals are used to control the power of the servo drive motor and manipulate the speed and other operating data of the servo drive motor. The traffic collection module simulates the generation of auxiliary driving signals through a network tester. The network tester can generate background signals with large bandwidth and random frame length, which is convenient for testing the delay and transmission quality of key control signals during large bandwidth transmission. The network tester is an intelligent detection device that can detect the operating status of the physical layer, data link layer, and network layer defined by the OSI (Open System Interconnect) model.

[0034] Specifically, when the TSN switch, the traffic transmission module host computer and the traffic transmission module ordinary switch are in the same network segment, the traffic transmission module host computer configures the time synchronization parameters, the ingress VLAN (Virtual Local Area Network) mapping and the egress time slot division of the TSN switch and the traffic transmission module ordinary switch through SSH. SSH (Secure Shell) is a secure network protocol based on the application layer of the OSI model, which provides security for remote login sessions and other network services and can effectively make up for vulnerabilities in the network. Through SSH, all transmitted data can be encrypted, and the transmitted data is compressed, which can speed up the transmission speed.

[0035] Specifically, the servo drive module also includes at least one servo drive motor that receives a power control signal via ordinary Ethernet, and the result display module is also used to compare and display the rotation conditions and corresponding video freeze conditions of the servo drive motors that receive power control signals via different networks.

[0036] Specifically, the servo drive module further includes a servo drive module host computer and a servo drive module common switch. The servo drive module host computer is used to perform initial configuration on the servo drive motor through the servo drive module common switch. Figure 1 In the illustrated embodiment, the servo drive module further includes a host computer 2 and a common switch 2 , and the host computer 2 is used to perform initial configuration on the servo drive motor through the common switch 2 .

[0037] Specifically, the time-sensitive network test device is used to configure the clock synchronization parameters of the network tester and the TSN switch, with the network tester as the master clock device and the TSN switch as the slave clock device. If the Clock ID in the cascaded TSN switch message in the time-sensitive network is transmitted step by step, the clock synchronization function of the time-sensitive network is normal. The network tester is used to simulate the generation of auxiliary driving signals. Figure 2 In the illustrated embodiment, a method for testing a time synchronization function using a time-sensitive network testing device for an in-vehicle system is provided, specifically comprising steps Step 2-1 to Step 2-5.

[0038] Step2-1: Follow Figure 1 The structural diagram shown connects the relevant hardware topology and ensures that the TSN switch supports the IEEE802.1AS_Rev time synchronization protocol.

[0039] Step 2-2: Configure the synchronization parameters of the network tester and TSN switch in sequence according to the protocol requirements to ensure that key parameters such as clock synchronization version, Sync frequency, Class id, etc. remain consistent.

[0040] Step 2-3: Enable the synchronization function of the time-sensitive network test device. According to the BMCA algorithm (Best MasterClock Algorithm), use the Announce message to establish a master-slave synchronization hierarchy. The network tester is the master clock device, and the port status changes from Unconfirm to Master. TSN switches 1 and 2 are slave clock devices, with the inbound port status as Slave and the outbound port status as Master. If the port status does not meet the requirements, check the synchronization configuration parameters.

[0041] Step 2-4: Adjust the Tx latency (transmission delay) and Rxlatency (receive delay) of TSN switches 1 and 2 according to the binary approximation method. Latency represents the time required for a data packet to be sent to the receiving end. Use the network packet capture tool Wireshark to capture packets at the egress port and analyze whether the Clock id in the Follow up message is passed level by level. If the Clock id in the Follow up message is passed level by level, it means that the current clock synchronization function is correct. Specifically, the general message set Pdelay_Req delay request message, Pdelay_Resp delay response message message, and Pdelay_Resp_FollowUp delay response follow message message are used to calculate the peer delay.

[0042] Steps Step 2-1 to Step 2-4 complete the time synchronization function test.

[0043] Furthermore, in the time synchronization function test, the time sensitive network test device is also used to read the Offset value of each TSN switch cascaded in the time sensitive network, and judge the time synchronization accuracy of the time sensitive network according to the variation range of the Offset value. When the master-slave clock Offset phase deviation is large, step 2-5 can also be performed.

[0044] Step 2-5: If the master-slave clock Offset phase deviation is large and exceeds 100ns, modify the Tx latency and Rx latency of TSN switches 1 and 2 and synchronize again until the Offset phase deviation is stable within 100ns.

[0045] Specifically, by reading the system print information of TSN switches 1 and 2, the current Offset change range is obtained. The current Offset change range can reflect the accuracy and error of the current system time synchronization, thereby further realizing the time synchronization function test and verification of time-sensitive technology in the vehicle electronic information system.

[0046] Specifically, the time-sensitive network test device is used to read the Offset value of each TSN switch cascaded in the time-sensitive network, turn on the time synchronization function of the time-sensitive network, and when the maximum change of the Offset value in the observation time window is less than the threshold, turn on the TAS gating shaping function of the time-sensitive network, and determine the gating shaping function test result of the time-sensitive network according to the rotation of the servo drive motor and the corresponding video freeze, and the transmission parameters of various signals. Among them, TAS (Time Aware Shaper, based on IEEE 802.1Qbv) refers to a time-aware shaper, and TAS dynamically provides on / off control for the egress scheduling queue based on a pre-set periodic gating table.

[0047] Figure 3 In the illustrated embodiment, a method for testing a gated shaping function using a time-sensitive network testing device for an in-vehicle system is provided, specifically including steps Step 3-1 to Step 3-6.

[0048] Step 3-1: Calculate the periods T_PLC and T_AVB of the power control signal generated by the PLC simulation and the audio and video signal AVB (Audio Video Bridging) collected by the camera, and test the transmission delay T_DELAY of different signals reaching the exit of TSN switch 2 when they are transparently transmitted. TSN switch 2 is set as follows: Figure 1 In the topology shown, TSN switch 2 represents the last TSN switch in the cascade. The TSN switches in the time-sensitive network test device are not limited to Figure 1 In the topology shown, TSN switches 1 and 2 are provided. Other TSN switches can be connected between TSN switches 1 and 2.

[0049] Step 3-2: According to the priority of each signal, the first TSN switch in the cascade maps the traffic priority of each signal. The mapping priority includes 3 bits. For example, the power control signal generated by the PLC simulation is 111, the audio and video signal is 011, and the auxiliary driving signal is 001. Figure 1 In the topology shown, the first TSN switch in the cascade is TSN switch 1.

[0050] Step 3-3: Configure the response time slot at the exit of TSN switch 2. In the first time slot, 7 queues are opened as dedicated time slots for power control signals, with a time of T_PLC+T_DELAY. In the second time slot, 3 queues are opened as dedicated time slots for camera AVB signals, with a time of T_AVB+T_DELAY. In the third time slot, 1 queue is opened as a dedicated time slot for assisted driving traffic, with a time of CYCLE TIME-(T_PLC+T_DELAY)-(T_AVB+T_DELAY). CYCLE TIME represents the execution cycle of the gate control list (GCL). 7 queues, 3 queues and 1 queue represent scheduling queues of three priorities, corresponding to the three priorities in the previous priority mapping. The message in queue 7 has the highest priority, and the priorities of queues 7, 3 and 1 decrease in turn.

[0051] Step 3-4: Enable Qbv and disable Qbv to collect and send data. Enable Qbv means enabling the TAS gating and shaping function of the IEEE802.1Qbv protocol. Disable Qbv means not enabling the TAS gating and shaping function of the IEEE802.1Qbv protocol.

[0052] Enable the Qbv function to collect and send data, specifically including enabling the time synchronization function and enabling the TAS gating shaping function after the Offset value remains stable. In the gating scheduling, the "open" and "closed" states of the gates of each scheduling queue in the gating table are determined according to the gating table. The gating table can have multiple rows, each row contains two information: the switch state of each queue and TimeInterval. TimeInterval represents the time interval between two adjacent rows in the gating table, and determines the effective time of the next row relative to the previous row in the two adjacent rows. At the same time, some queues open their doors and some queues close their doors. In the queues with open doors, the messages of the queues with high priority are selected to be sent, and the messages of the queues with closed doors are not sent. After entering the effective time of a row of the gating table, according to the switch states of each queue recorded in the row entered, the messages of the queues with high priority for opening doors are selected to be sent, and the messages of the queues with closed doors are not sent. When TimeInterval ends, the effective time of the next row is entered again, and the messages to be sent are selected according to the switch states of each queue and the queue priority recorded in the next row.

[0053] Step 3-5: Through the result display module, the rotation status of the servo drive motor and the smoothness of the video are obtained.

[0054] Step 3-6: Compare the results and count the specific delay, jitter and other test results under different transmission conditions. After testing, it was found that after Qbv gating arrangement, the rotation phase of the servo drive motor remained consistent and the video was smooth without any lag, indicating that compared with traditional Ethernet, the vehicle network system using TSN has the characteristics of low delay and high reliability in the transmission of key control signals when transmitting at a large bandwidth.

[0055] Specifically, the time-sensitive network test device is used to assign priorities to various signals at the entrance of the first TSN switch in the cascade, and adopt a credit shaping (Credit Based Shaper, CBS, based on IEEE 802.1Qav) method. According to the priority of various signals and the buffer capacity of the credit shaping output queue, at the exit of the last TSN switch in the cascade, the corresponding IdleSlope of various signals is configured, and the credit shaping function test result of the time-sensitive network is determined according to the corresponding video freeze of the servo drive motor. Figure 4 In the illustrated embodiment, a method for testing a credit shaping function using a time-sensitive network testing device for an in-vehicle system is provided, specifically comprising steps Step 4-1 to Step 4-6.

[0056] Step 4-1: Test and calculate the bandwidth of the simulated power control signal, audio and video signal, and auxiliary driving signal under transparent transmission.

[0057] Step 4-2: According to the priority of each signal, the first TSN switch in the cascade maps the traffic priority of each signal. The mapping priority includes 3 bits. For example, the power control signal generated by the PLC simulation is 111, the audio and video signal is 011, and the auxiliary driving signal is 001. Figure 1 In the topology shown, the first TSN switch in the cascade is TSN switch 1.

[0058] Step 4-3: Use the CBS credit shaping mechanism to configure the IdleSlope corresponding to each type of signal according to the priority of each type of signal and the buffer capacity of the credit shaping output queue. In the CBS credit shaping mechanism, the frame sending order is determined according to the priority and IdleSlope of each type of signal. IdleSlope refers to the rate of change of the credit value when the credit value increases. After the frame arrives at the sender, if the current sending channel is occupied, the credit is increased through IdleSlope. When the sending channel is idle and there is more than one frame waiting to be sent, the priority frame to be sent is determined according to the priority of the frame with a credit greater than 0. When the frame is sent, its credit is reduced through SendSlope. SendSlope refers to the rate of change of the credit value when the credit value decreases. When the credit value increases, it is the time the frame waits to be sent after arriving at the sender. When the credit value decreases, it is the time when the frame is sent.

[0059] Step 4-4: respectively use the Qav-enabled and Qav-disabled functions to collect and send data. Enabling Qav means turning on the CBS credit shaping mechanism, and disabling Qav means not using the CBS credit shaping mechanism.

[0060] Step 4-5: Obtain the rotation status of the servo drive motor and the video smoothness through the result display module. After testing, it was found that after Qav's CBS credit shaping, the rotation phase of the servo drive motor remained consistent and the video was smooth without any lag. This shows that compared with traditional Ethernet, the vehicle network system using TSN has the characteristics of low latency and high reliability in the transmission of key control signals when transmitting at a large bandwidth.

[0061] Step 4-6: Compare the results and collect statistics on the specific delay, jitter and other test results under different transmission conditions.

[0062] The time-sensitive network testing device for the vehicle-mounted system in the above-mentioned embodiment realizes the time-sensitive network testing for the vehicle-mounted system by simulating the key signals in the vehicle-mounted system, and forms a key characteristic testing method and solution for the time-sensitive network of the vehicle-mounted system.

[0063] Furthermore, the present invention utilizes the TAS, CBS traffic scheduling technology and peer-to-peer time synchronization technology of the time-sensitive network to perform time-division multiplexing transmission of power control signals, audio and video signals, and auxiliary driving signals in the vehicle system, thereby facilitating the verification of the transmission parameters of the TSN technology in the vehicle network system.

[0064] It should be noted that the time-sensitive network test device for the vehicle-mounted system provided in the above embodiment is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be decomposed or combined. For example, the modules in the above embodiment can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not regarded as improper limitations of the present invention.

[0065] In a second aspect, the present invention provides a time-sensitive network testing method for a vehicle-mounted system, comprising the following steps: simulating and generating a power control signal, an audio and video signal, and an auxiliary driving signal of the vehicle-mounted system; the audio and video signal is simulated and generated according to the rotation image of a servo drive motor; the power control signal, the audio and video signal, and the auxiliary driving signal are input into the first TSN switch of the cascade, and time-division multiplexing transmission is performed according to the signal priority at the outlet of the last TSN switch of the cascade, and transmitted to a common switch and a servo drive motor; a servo drive motor is used to simulate a vehicle-mounted engine under multiple scenarios and conditions, and the servo drive motor receives the power control signal and performs coaxial amplification of the speed and phase; the power control signal, the audio and video signal, and the auxiliary driving signal are obtained from the common switch, and the transmission parameters of each type of signal are counted and displayed.

[0066] In the above method, the topology of the time-sensitive network used for the vehicle system can be Figure 1 The topology shown. The specific implementation of the above method has been described in detail in an embodiment of a time-sensitive network test device for an in-vehicle system. The above-mentioned time-sensitive network test method for an in-vehicle system realizes the time-sensitive network test for the in-vehicle system by simulating the key signals in the in-vehicle system, forming a key characteristic test method and solution for the time-sensitive network of the in-vehicle system.

[0067] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A time-sensitive network testing device for an in-vehicle system, characterized in that: include: Flow collection module, flow transmission module, servo drive module and result display module; The flow collection module is used to simulate and generate power control signals, audio and video signals, and auxiliary driving signals of the vehicle system; The traffic transmission module includes a TSN switch and a common switch of the traffic transmission module cascaded in a time-sensitive network, which is used to input the power control signal, the audio and video signal and the auxiliary driving signal into the first TSN switch of the cascade, and perform time-division multiplexing transmission according to the signal priority at the outlet of the last TSN switch of the cascade, and transmit them to the common switch of the traffic transmission module and the servo drive module; The servo drive module is used to simulate the vehicle engine under multiple scenarios and conditions, and includes a servo drive motor. The servo drive motor receives the power control signal through the flow transmission module and performs coaxial amplification of the speed and phase; The flow collection module simulates and generates the audio and video signals by collecting the rotation image of the servo drive motor; The result display module is used to obtain the power control signal, audio and video signal and auxiliary driving signal from the common switch of the traffic transmission module, and count and display the transmission parameters of various signals.

2. The time-sensitive network testing device for an in-vehicle system according to claim 1, characterized in that: The flow collection module simulates and generates the power control signal through programmable logic control software; the flow collection module simulates and generates the auxiliary driving signal through a network tester.

3. The time-sensitive network testing device for an in-vehicle system according to claim 1, characterized in that: When the TSN switch, the traffic transmission module host computer and the traffic transmission module ordinary switch are in the same network segment, the traffic transmission module host computer performs time synchronization parameter configuration, ingress VLAN mapping and egress time slot division on the TSN switch and the traffic transmission module ordinary switch through SSH.

4. The time-sensitive network testing device for an in-vehicle system according to claim 1, characterized in that: The servo drive module also includes at least one servo drive motor that receives the power control signal via ordinary Ethernet, and the result display module is also used to compare and display the rotation conditions and corresponding video freeze conditions of the servo drive motors that receive the power control signal on different networks.

5. The time-sensitive network testing device for an in-vehicle system according to claim 1, characterized in that: The servo drive module further comprises a servo drive module host computer and a servo drive module common switch, wherein the servo drive module host computer is used to initially configure the servo drive motor through the servo drive module common switch.

6. The time-sensitive network testing device for an in-vehicle system according to claim 1, characterized in that: The time-sensitive network testing device is used to configure the clock synchronization parameters of the network tester and the TSN switch, with the network tester as the master clock device and the TSN switch as the slave clock device. If the Clock ID in the cascaded TSN switch message in the time-sensitive network is transmitted step by step, the clock synchronization function of the time-sensitive network is normal; the network tester is used to simulate the generation of the auxiliary driving signal.

7. The time-sensitive network testing device for an in-vehicle system according to claim 6, characterized in that: The time-sensitive network testing device is also used to read the Offset value of each TSN switch cascaded in the time-sensitive network, and determine the time synchronization accuracy of the time-sensitive network according to the variation range of the Offset value.

8. The time-sensitive network testing device for an in-vehicle system according to claim 1, characterized in that: The time-sensitive network testing device is used to read the Offset value of each TSN switch cascaded in the time-sensitive network, start the time synchronization function of the time-sensitive network and when the maximum change of the Offset value in the observation time window is less than a threshold, start the TAS gating shaping function of the time-sensitive network, and determine the test result of the gating shaping function of the time-sensitive network according to the rotation of the servo drive motor and the corresponding video freeze, as well as the transmission parameters of various signals.

9. The time-sensitive network testing device for an in-vehicle system according to claim 1, characterized in that: The time-sensitive network test device is used to assign priorities to various types of signals at the entrance of the first TSN switch in the cascade, and adopt a credit shaping method to configure the corresponding IdleSlope of various types of signals at the exit of the last TSN switch in the cascade according to the priorities of various types of signals and the buffer amount of the credit shaping output queue, and determine the credit shaping function test result of the time-sensitive network according to the corresponding video freeze of the servo drive motor.

10. A time-sensitive network testing method for an in-vehicle system, characterized in that: The following steps are involved: Simulating and generating power control signals, audio and video signals and auxiliary driving signals of the vehicle-mounted system; the audio and video signals are simulated and generated according to the rotation image of the servo drive motor; The power control signal, audio and video signal and auxiliary driving signal are input into the first TSN switch of the cascade, and are time-division multiplexed and transmitted according to the signal priority at the outlet of the last TSN switch of the cascade, and are transmitted to the common switch and the servo drive motor; The servo drive motor is used to simulate a vehicle engine under multiple scenarios and conditions, and the servo drive motor receives the power control signal and performs coaxial amplification of the speed and phase; The power control signal, audio and video signal and auxiliary driving signal are obtained from the common switch, and the transmission parameters of various signals are counted and displayed.

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