Improved network management method based on AUTOSAR

Abstract

The invention discloses a network management method based on AUTOSAR improvement, the network node state comprises a network mode and a sleep mode, a node receives and sends a network management message in the network mode, and when the error frequency of sending or receiving the network management message exceeds a threshold value or the network management message with a sleep mark is received, the network management message with the sleep mark is sent to the node. The node enters a fault detection state; the node stops communication work in the sleep mode, and if the duration of no communication work exceeds a certain time, the node enters the sleep mode; if the estimated residence time for the node to enter the sleep mode is less than the preset time, the node enters a light sleep mode; and if the estimated residence time of the node entering the sleep mode is greater than the preset time or the duration of the node entering the light sleep mode exceeds a certain time, the node enters the deep sleep mode. According to the invention, a fault detection stage, a light sleep mode and a deep sleep mode are added on the basis of the original network node state, so that the accuracy and flexibility of network management are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle network management, and in particular to an improved network management method based on AUTOSAR. Background Art

[0002] The important task of network management is to ensure the security and reliability of network communication. Network management can realize the functions of initializing controller resources, starting the network, detecting, processing and notifying the status of the network and nodes, coordinating the network nodes to enter sleep synchronously, etc. The existing AUTOSAR network management system mainly relies on the traditional wake-up and sleep modes to manage the energy consumption of ECU (electronic control unit). However, with the increasing complexity of automotive electronic systems and the continuous improvement of energy consumption requirements, the traditional mode can no longer meet the actual needs. In addition, in the existing technology, when a node is in network mode, if a fault occurs at this time, the network management message will not be sent, and other nodes will think that the node is ready to sleep and cannot identify the fault.

[0003] Therefore, a more refined energy management strategy is needed to improve network management and optimize the overall energy consumption of the vehicle. Summary of the invention

[0004] The present invention proposes a method for introducing a light sleep mode, a deep sleep mode and a fault detection state in an AUTOSAR network management system, aiming at optimizing automobile energy consumption and improving the flexibility of network management.

[0005] The technical solution adopted by the present invention is:

[0006] An improved network management method based on AUTOSAR, the network node state includes a network mode and a sleep mode, the node receives and sends network management messages in the network mode, when the number of errors in sending or receiving network management messages exceeds a threshold, or a network management message with a sleep flag is received, the node enters a fault detection state; the node repeatedly sends the network management message in the fault detection state, if the number of sending failures reaches a preset value, the node is determined to be faulty;

[0007] The node stops communicating in sleep mode. If the duration of no communication exceeds a certain time, the node enters sleep mode; if the expected stay time of the node in sleep mode is less than the preset time, the node enters light sleep mode; if the expected stay time of the node in sleep mode is greater than the preset time or the duration of the node in light sleep mode exceeds a certain time, the node enters deep sleep mode.

[0008] According to the above scheme, after the ECU is powered on, the network nodes are initialized and enter the light sleep mode;

[0009] When the node detects an active wake-up request or receives a valid network management message in light sleep mode, or receives a specific wake-up request in deep sleep mode, the node enters a repeated message state; the specific wake-up request specifically includes a power-on signal or a specific hardware reset signal;

[0010] When the duration of the node in the repeated message state exceeds the repeated message timer time, if there is an active network request, the node enters the normal operation state; if there is no active network request, the node enters the ready-to-sleep state.

[0011] According to the above scheme, when the node sends errors reaching a threshold or receives errors exceeding a threshold in a regular operation state or in a repeated message state within a timed period, or when the node receives a network management message with a sleep flag, the node enters a fault detection state;

[0012] When a node is in the fault detection state and receives a network management message without the sleep flag, the node enters the ready-to-sleep state;

[0013] When the node is in the sleep state, if an active network request is detected, it enters the normal operation state; if no active network request is detected and the network management timeout timer times out, the node enters the pre-sleep mode;

[0014] When a node is in pre-sleep mode, no active or passive wake-up request is received and the timer times out, if the expected stay time is less than a certain preset value, the node enters light sleep mode; if the expected stay time is greater than a certain preset value, the node enters deep sleep mode.

[0015] According to the above scheme, when a node is in light sleep mode, if an active wake-up request is detected, the node enters the fast sending state in the repeated message state;

[0016] When a node is in light sleep mode, if it receives a valid network management message, the node enters the normal sending state in the repeated message state, and the node sends the network management message at a normal period;

[0017] When the node enters the fast sending state, the counter is turned on. When the counter reaches zero, the node enters the normal sending state and sends network management messages at a normal cycle after waiting for a certain period of time.

[0018] According to the above scheme, when a node is in a normal operation state or in a sleep preparation state, if it receives a network management message with a repeat message request position 1, the node enters a repeat message state.

[0019] According to the above scheme, when a node is in a normal operation state, if all network requests are released and there is no need to actively request the network, the node immediately enters a ready-to-sleep state and immediately stops sending network management messages.

[0020] According to the above scheme, when the node can correctly send the network management message in the fault detection state and can receive the network management message without the sleep flag, the node enters the repeated message state.

[0021] According to the above scheme, when a node is in the pre-sleep mode, if an active wake-up request is detected, the node enters the fast sending state of the repeated message state;

[0022] When the node is in the pre-sleep mode, if a passive wake-up request is detected, the node enters the normal sending state of the repeated message state.

[0023] According to the above scheme, the fault detection status introduces a dynamically updated network management table in the network management interface module, and the network management table includes three key fields: node ID, time interval and fault counter; the node ID is used to uniquely identify each node, the time interval is used to record the longest interval at which each node should send a message, and the fault counter is used to accumulate the number of times the node fails to send a message on time; when the value of the fault counter exceeds a preset value, the node is determined to be in a fault state.

[0024] A computer-readable storage medium stores a computer program, wherein the computer program is called by a motor controller to implement the improved network management method based on AUTOSAR described above.

[0025] The beneficial effects produced by the present invention are:

[0026] 1. The present invention adds a fault detection stage to the original network communication node state, which effectively solves the problem that when a node is in network mode, if a fault occurs, the network management message will not be sent, but other nodes confirm that the node is ready to sleep, thereby improving the accuracy of network management.

[0027] 2. The present invention introduces light sleep and deep sleep modes, which reduces the energy consumption level of the vehicle when not in use and improves the overall energy efficiency. At the same time, it provides more options for the AUTOSAR network management system, enabling the system to be flexibly adjusted according to different scenarios and needs, reducing ECU failures and instability caused by frequent wake-up and sleep, and improving the flexibility of network management. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of network node status according to an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of network node state transition according to another embodiment of the present invention;

[0030] Figure 3A schematic diagram of the structure of a computer device provided in another embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] The vehicle's ignition switch position has four states: OFF, ACC, ON, and START. According to the working state of the ECU after the ignition switch is turned OFF, this patent divides the ECU in the CAN network into two categories: Class I and Class II.

[0033] Class I ECU: A node that starts communicating only when the ignition switch is switched from OFF to ON / ACC state, and stops communicating immediately or delays communicating for a period of time after switching from a non-OFF state to an OFF state;

[0034] Class II ECU: CAN communication can still be maintained when the ignition switch is OFF.

[0035] Among them, Class I ECU adopts indirect network management method; Class II ECU adopts AUTOSAR network management method.

[0036] Embodiment 1

[0037] This embodiment provides an improved network management method based on AUTOSAR, such as Figure 1 As shown, the network node state includes a network mode and a sleep mode. The node receives and sends network management messages in the network mode. When the number of errors in sending or receiving network management messages exceeds a threshold, or a network management message with a sleep flag is received, the node enters a fault detection state; the node repeatedly sends network management messages in the fault detection state. If the number of failed transmissions reaches a preset value, the node is determined to be faulty.

[0038] The node stops communicating in sleep mode. If the duration of no communication exceeds a certain time, the node enters sleep mode; if the expected stay time of the node in sleep mode is less than the preset time, the node enters light sleep mode; if the expected stay time of the node in sleep mode is greater than the preset time or the duration of the node in light sleep mode exceeds a certain time, the node enters deep sleep mode.

[0039] In this embodiment, in order to solve the problem that when a node in the network is in an active state, if a sudden fault causes the failure to send a network management message normally, other nodes may mistakenly think that the node is preparing to enter a dormant state, a fault detection state is added. To solve this problem, this embodiment introduces a dynamically updated network management table in the network management interface module.

[0040] The network management table includes three key fields: node ID, time interval and fault counter; the node ID is used to uniquely identify each node, the time interval is used to record the interval at which each node should send a message, and the fault counter is used to accumulate the number of times the node fails to send a message on time.

[0041] When the system starts, all nodes enter the REPEAT state by default and send network management messages in a certain order. Whenever the network management interface module receives a management message from another node, it will record the sender's ID in the network management table (if the ID already exists, it will not be recorded repeatedly). At the same time, after each successful message reception, the "time interval" and "fault counter" of the corresponding node will be reset to 0. If a node sends or receives messages incorrectly for a certain number of times within the set time interval, the system will regard the node as a possible fault. At this time, if further detection is necessary, the system will send a network management message in the REPEAT state to the node as a detection. Under normal circumstances, the node that receives this message will respond to the same REPEAT state management message in its next sending cycle. If the node fails to respond, the corresponding fault counter will increase by 1. The above detection process will continue until the value of the fault counter reaches the preset threshold. Once this threshold is reached, the system determines that the node is in a fault state and reports the fault to the application layer.

[0042] In this embodiment, light sleep mode and deep sleep mode are also introduced. Light sleep mode and deep sleep mode can be reasonably switched according to the actual operation and energy consumption requirements of the car. The logic intelligently selects the sleep mode of the ECU based on multiple factors such as network load, ECU task priority, and vehicle driving status, and configures the timer: a light sleep timer is set to switch from network mode to light sleep mode; a deep sleep timer is set to switch from light sleep mode to deep sleep mode, and the state is switched when necessary. In light sleep mode, power consumption is lower and minimum functions are kept active. In this mode, the ECU can still respond to certain specific types of wake-up signals, such as specific types of network management messages or hardware interrupts. In deep sleep mode, work stops and all non-essential hardware functions are turned off to maximize power saving. In this mode, the ECU only responds to very few wake-up signals, such as power-on signals or specific hardware reset signals.

[0043] Embodiment 2

[0044] In this embodiment, NM is the abbreviation of Network Management.

[0045] As another embodiment of the present invention, this embodiment specifically divides the operation mode of a network node into the following operation modes:

[0046] (1) Network Mode

[0047] For nodes in network mode, network communication is in the start or working mode (including the preparation phase when starting and ending work). Network mode is further divided into the following four phases:

[0048] ①Repeat Message State (Repeat Message State-RMS)

[0049] When a node enters Network Mode from other modes, it enters Repeat Message State by default. This stage is the preparation stage before the network officially starts working. It is used to wait for all relevant nodes in the network to prepare the network and start communication. The Repeat Message State includes the following two states:

[0050] 1) Normal Transmit State (NTS)

[0051] When remote wakeup occurs, it enters the NTS state and communicates passively.

[0052] 2) Immediate Transmit State (ITS)

[0053] When local wakeup occurs, it enters the ITS state and actively communicates.

[0054] ②Normal Operation State (NOS)

[0055] The node enters the Normal Operation State from the Repeat Message State, which is the normal working state of node communication.

[0056] ③Ready Sleep State (RSS)

[0057] After the node completes its work, it enters the Ready Sleep State from the Normal Operation State, preparing to enter the sleep state. This stage is used to wait for all nodes in the network to complete their work, and then enter the sleep state uniformly.

[0058] ④Fault Detection State (FDS)

[0059] Monitor the network status and the operating status of each node in real time, and quickly detect and respond to faults. When the number of sending errors or receiving errors in the network mode exceeds the threshold, the node will enter the FDS state and repeatedly send FDS messages at regular intervals in this state. If the messages sent by the node are not successful or the network management message cannot be received within the specified time, it means that the node cannot use the bus communication normally, and the node will report the error to the application layer.

[0060] (2) Sleep Mode

[0061] Sleep mode is a mode in which the node stops working, which can save energy consumption and is the ultimate goal of the entire network management. The network management work is to manage how each node enters sleep mode and resumes working state in an orderly manner. The node should enter sleep mode by default after power-on or reset. The sleep mode includes the following three modes:

[0062] ①Prepare Sleep State (PSS)

[0063] The node enters the pre-sleep mode from the network mode's ready-to-sleep state. This stage is similar to the RSS stage, but it no longer belongs to the network mode. It is a further preparation stage before officially entering the sleep stage.

[0064] ②Light Sleep State (LSS)

[0065] When there is no activity signal in the vehicle for a short period of time, it enters the light sleep stage and keeps the minimum functions active (such as the module receiving the wake-up signal, the time keeping module, etc.). The general applicable scenarios are: short parking or waiting, and restarting after a short time. Its trigger conditions include door closing, engine shutdown, and CAN bus inactivity for more than a set time.

[0066] ③Deep Sleep State (DSS)

[0067] When the vehicle has no activity signal for a long time, it enters the deep sleep stage and stops working. The general applicable scenarios are: long-term parking, no significant activity signal and expected time is long. Its trigger conditions include CAN bus inactivity for more than the set time, the driver is away from the vehicle, and the vehicle battery is low.

[0068] like Figure 2 As shown, in this embodiment, each state transition of the network node includes:

[0069] 1. Power on the ECU, and the ECU will initialize and enter light sleep mode.

[0070] 2. When light sleep exceeds a certain time, it enters deep sleep mode.

[0071] 3. The system is powered off.

[0072] 4. If the node detects an active wake-up request in light sleep mode, the node must send a network management message to actively wake up the network. In the process of actively waking up the network, the node must first enter the NM fast sending state. When the node needs to wake up the network due to an active wake-up request, it must quickly send continuous NM messages.

[0073] 5. When the node is in light sleep mode, if it receives a valid network management message, the node will leave the light sleep mode and enter the NM normal sending state in the repeated message state; after entering the NM normal sending state, the node must send network management messages at a normal cycle before the repeated message timer times out; when the node receives a network management message, the first frame message it sends to the bus can be a network management message or an application message.

[0074] 6. For a node in the NM fast sending state, when the counter reaches zero, the node will enter the NM normal sending state and start to send network management messages at a normal cycle after waiting for a period of time.

[0075] 7. For active network requesting nodes in the repeat message state, if the RepeatMessage Timer times out, but the node's active network request still persists, the node must enter the normal operation state. The node continues to send network management messages and application messages at a normal cycle.

[0076] 8. When the node is in the normal operation phase, if it receives a network management message with the repeat message request bit Repeat MessageRequest set to 1, it will be forced to re-enter the repeat message phase.

[0077] 9. For a node in the repeat message state, if no active network request is detected, once the RepeatMessage Timer times out, the node will enter the ready-to-sleep state.

[0078] 10. When a node is in the sleep state, if it receives a network management message with the repeat message request bit Repeat MessageRequest set to 1, it will be forced to re-enter the repeat message state.

[0079] 11. If a node in the ready-to-sleep state does not detect an active network request, once the network management timeout timer NM Timeout Timer times out, the node will enter the pre-sleep mode.

[0080] 12. For a node in pre-sleep mode, if an active wake-up request is detected, the node will enter the NM fast sending state of the repeated message state.

[0081] 13. If a node in pre-sleep mode receives a passive wake-up request, the node will enter the NM normal sending state of the repeated message state.

[0082] 14. If a node in the sleep state detects an active network request, the node must immediately enter the normal operation state and must start sending network management messages and application messages at a normal cycle.

[0083] 15. If a node in normal operation status releases all network requests and no longer needs to actively request the network, it must immediately switch the network management status to the ready-to-sleep status, and the node must immediately stop sending network management messages.

[0084] 16. When the node sending error reaches or receiving error exceeds the threshold, the node enters the fault detection state.

[0085] 17. The node was previously in the fault detection state and received a network management message without sleep, and the node entered the ready-to-sleep state.

[0086] 18. The node receives a network management message with the sleep flag, and the node enters the fault detection state.

[0087] 19. During the repeat message state timing period, if the node sending error reaches or the receiving error exceeds the threshold, the node enters the fault detection state.

[0088] 20. The node can correctly send network management messages and can receive network management messages without the sleep flag, and the node enters the repeated message state.

[0089] 21. If a node in pre-sleep mode no longer receives active or passive wake-up requests, once the timer times out and the expected stay time is short (less than a certain preset value), the node will enter light sleep mode.

[0090] 22. If a node in pre-sleep mode no longer receives active or passive wake-up requests, once the timer times out and the expected stay time is long (greater than a certain preset value), the node will enter deep sleep mode.

[0091] 23. If a node in deep sleep mode receives a specific wake-up request, the node will enter the repeated message state.

[0092] In this embodiment, in order to solve the problem that when a node in the network is in an active state, if a sudden fault causes the inability to send network management messages normally, other nodes may mistakenly think that the node is preparing to enter a dormant state, a fault detection state is added. To solve this problem, this embodiment adopts two strategies:

[0093] 1. Optimize and develop the dormancy mechanism of the vehicle as described above.

[0094] 2. Introduce a dynamically updated network management table in the network management interface module.

[0095] The network management table includes three key fields: node ID, time interval and fault counter; the node ID is used to uniquely identify each node, the time interval is used to record the interval at which each node should send a message, and the fault counter is used to accumulate the number of times the node fails to send a message on time.

[0096] When the system starts, all nodes enter the REPEAT state by default and send network management messages in a certain order. Whenever the network management interface module receives a management message from another node, it will record the sender's ID in the network management table (if the ID already exists, it will not be recorded repeatedly). At the same time, after each successful message reception, the "time interval" and "fault counter" of the corresponding node will be reset to 0. If a node sends or receives messages incorrectly for a certain number of times within the set time interval, the system will regard the node as a possible fault. At this time, if further detection is necessary, the system will send a network management message in the REPEAT state to the node as a detection. Under normal circumstances, the node that receives this message will respond to the same REPEAT state management message in its next sending cycle. If the node fails to respond, the corresponding fault counter will increase by 1. The above detection process will continue until the value of the fault counter reaches the preset threshold. Once this threshold is reached, the system determines that the node is in a fault state and reports the fault to the application layer.

[0097] In this embodiment, light sleep mode and deep sleep mode are also introduced. Light sleep mode and deep sleep mode can be reasonably switched according to the actual operation and energy consumption requirements of the car. The logic intelligently selects the sleep mode of the ECU based on multiple factors such as network load, ECU task priority, and vehicle driving status, and configures the timer: a light sleep timer is set to switch from the sleep preparation state to the light sleep mode; a deep sleep timer is set to switch from the light sleep mode to the deep sleep mode, and the state is switched when necessary. In light sleep mode, power consumption is lower and minimum functions are kept active. In this mode, the ECU can still respond to certain specific types of wake-up signals, such as specific types of network management messages or hardware interrupts. In deep sleep mode, work stops and all non-essential hardware functions are turned off to maximize power saving. In this mode, the ECU only responds to very few wake-up signals, such as power-on signals or specific hardware reset signals.

[0098] The conversion between modes is shown in the following table:

[0099] Current Status Triggering Events Transition to state Network Mode No network activity and timeout Prepare for sleep Prepare for sleep No network activity and timeout, expected stay time is short Light sleep mode Prepare for sleep No network activity and timeout, expected to stay longer Deep sleep mode Light sleep mode Specific wake-up signal Network Mode Light sleep mode No activity and further timeout Deep sleep mode Deep sleep mode Specific wake-up signal Network Mode

[0100] Embodiment 3

[0101] like Figure 3 The figure is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention, such as a smart phone, tablet computer, laptop computer, desktop computer, rack server, blade server, tower server or cabinet server (including an independent server, or a server cluster composed of multiple servers) that can execute programs. The computer device 20 of this embodiment includes at least but is not limited to: a memory 21 and a processor 22 that can communicate with each other via a system bus, such as Figure 3 It should be pointed out that Figure 3 Only computer device 20 is shown with components 21 - 22 , but it should be understood that implementing all of the components shown is not a requirement, and more or fewer components may alternatively be implemented.

[0102] In this embodiment, the memory 21 (i.e., readable storage medium) includes flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM). The memory 21 may also be an external storage device of the computer device 20, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer device 20. Of course, the memory 21 may also include both the internal storage unit of the computer device 20 and its external storage device. In this embodiment, the memory 21 is generally used to store the operating system and various application software installed on the computer device 20. In addition, the memory 21 may also be used to temporarily store various data that have been output or are to be output.

[0103] The processor 22 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips in some embodiments. The processor 22 is generally used to control the overall operation of the computer device 20. In this embodiment, the processor 22 is used to run the program code stored in the memory 21 or process data to implement an improved network management method based on AUTOSAR in the present invention.

[0104] The above embodiment adds a fault detection state to the original network communication node state, which effectively solves the problem that when the node is in network mode, if a fault occurs and the network management message is not sent, but other nodes confirm that the node is ready to sleep, thereby improving the accuracy of network management; and introduces light sleep and deep sleep modes, which reduces the energy consumption level of the vehicle when not in use and improves the overall energy efficiency. At the same time, it provides more options for the AUTOSAR network management system, enables the system to be flexibly adjusted according to different scenarios and needs, reduces failures and instability caused by frequent wake-up and sleep of ECU, and improves the flexibility of network management.

[0105] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. An improved network management method based on AUTOSAR, wherein the network node status includes a network mode and a sleep mode, characterized in that: The node receives and sends network management messages in the network mode. When the number of errors in sending or receiving network management messages exceeds a threshold, or a network management message with a sleep flag is received, the node enters a fault detection state; the node repeatedly sends network management messages in the fault detection state, and if the number of sending failures reaches a preset value, the node is determined to be faulty; The node stops communicating in sleep mode. If the duration of no communication exceeds a certain time, the node enters sleep mode; if the expected stay time of the node in sleep mode is less than the preset time, the node enters light sleep mode; if the expected stay time of the node in sleep mode is greater than the preset time or the duration of the node in light sleep mode exceeds a certain time, the node enters deep sleep mode.

2. The improved network management method based on AUTOSAR according to claim 1, characterized in that: After the ECU is powered on, the network nodes are initialized and enter a light sleep mode; When the node detects an active wake-up request or receives a valid network management message in light sleep mode, or receives a specific wake-up request in deep sleep mode, the node enters a repeated message state; the specific wake-up request specifically includes a power-on signal or a specific hardware reset signal; When the duration of the node in the repeated message state exceeds the repeated message timer time, if there is an active network request, the node enters the normal operation state; if there is no active network request, the node enters the ready-to-sleep state.

3. The improved network management method based on AUTOSAR according to claim 1 or claim 2, characterized in that: When the node sends errors that reach the threshold or receives errors that exceed the threshold in the regular operation state or in the timing time of the repeated message state, or when the node receives a network management message with a sleep flag, the node enters the fault detection state; When a node is in the fault detection state and receives a network management message without the sleep flag, the node enters the ready-to-sleep state; When the node is in the sleep state, if an active network request is detected, it enters the normal operation state; if no active network request is detected and the network management timeout timer times out, the node enters the pre-sleep mode; When a node is in pre-sleep mode, no active or passive wake-up request is received and the timer times out, if the expected stay time is less than a certain preset value, the node enters light sleep mode; if the expected stay time is greater than a certain preset value, the node enters deep sleep mode.

4. The improved network management method based on AUTOSAR according to claim 2, characterized in that: When a node is in light sleep mode, if an active wake-up request is detected, the node enters the fast sending state in the repeated message state; When a node is in light sleep mode, if it receives a valid network management message, the node enters the normal sending state in the repeated message state, and the node sends the network management message at a normal period; When the node enters the fast sending state, the counter is turned on. When the counter reaches zero, the node enters the normal sending state and sends network management messages at a normal cycle after waiting for a certain period of time.

5. The improved network management method based on AUTOSAR according to claim 2, characterized in that: When a node is in normal operation state or in preparation for sleep state, if it receives a network management message with the repeat message request position set to 1, the node enters the repeat message state.

6. The improved network management method based on AUTOSAR according to claim 2, characterized in that: When a node is in normal operation, if it releases all network requests and no longer needs to actively request the network, the node immediately enters the ready-to-sleep state and immediately stops sending network management messages.

7. The improved network management method based on AUTOSAR according to claim 3, characterized in that: When a node can correctly send network management messages and receive network management messages without a sleep flag in the fault detection state, the node enters the repeated message state.

8. The improved network management method based on AUTOSAR according to claim 3, characterized in that: When a node is in pre-sleep mode, if an active wake-up request is detected, the node enters the fast sending state of the repeated message state; When the node is in the pre-sleep mode, if a passive wake-up request is detected, the node enters the normal sending state of the repeated message state.

9. The improved network management method based on AUTOSAR according to claim 1, characterized in that: The fault detection state introduces a dynamically updated network management table in the network management interface module, and the network management table includes three key fields: node ID, time interval and fault counter; the node ID is used to uniquely identify each node, the time interval is used to record the longest interval at which each node should send a message, and the fault counter is used to accumulate the number of times the node fails to send a message on time; When the value of the fault counter exceeds a preset value, the node is determined to be in a fault state.

10. A computer-readable storage medium, characterized in that: A computer program is stored therein, and after being called by a motor controller, the computer program implements the improved network management method based on AUTOSAR as described in any one of claims 1 to 9.

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