Redundancy control method and system of vehicle-mounted ring network heterogeneous system and storage medium

Abstract

The invention provides a redundancy control method and system of a vehicle-mounted ring network heterogeneous system and a storage medium, and belongs to the technical field of vehicle machine systems, the method comprises the following steps: in each ring network, any two adjacent vehicle machine systems regularly carry out detection message interaction, and communication link state judgment of the two corresponding vehicle machine systems is carried out based on a message interaction result; when the state of the communication link is abnormal, triggering a communication redundancy control protocol; in response to the communication redundancy control protocol, judging the position information of the two vehicle machine systems with abnormal communication links in the whole vehicle communication topology, and generating a redundancy control rule for recovering the communication of the two current vehicle machine systems based on the position information; and executing the redundancy control rule, and realizing communication recovery of the two current vehicle-mounted information entertainment systems by adjusting the communication port blocking state of each related vehicle-mounted information entertainment system on the redundancy links of the two current vehicle-mounted information entertainment systems. According to the scheme, the protocol compatibility is realized while the reliability of the vehicle-mounted ring network heterogeneous system is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted system, and in particular to a redundant control method for a vehicle-mounted ring network heterogeneous system, a redundant control system for a vehicle-mounted ring network heterogeneous system, and a computer-readable storage medium. Background Art

[0002] The rapid advancement of automobile electrification and intelligent development has put forward higher requirements on the capabilities of vehicle-mounted systems. In order to meet the needs of high-level assisted driving and functional service, vehicle-mounted control systems are developing towards high integration and high computing power, and the automotive electronic and electrical architecture is also gradually evolving towards the "central + regional" form with the realization of high-computing computing centers. At present, the automotive technology chain and industrial chain are extremely extensive in both horizontal and vertical directions. Although the industry has formulated various technical standards to unify the compatibility between different products, the vehicle-mounted system still cannot get rid of the status quo of complex heterogeneous systems. In the vehicle-mounted heterogeneous system, the vehicle-mounted communication system plays the most critical role in the coordination between various systems. With the development of intelligent vehicle control and assisted driving technology, higher reliability requirements are also put forward for the vehicle-mounted communication system. Therefore, many technology research companies have introduced reliable communication technologies in the fields of telecommunications and industrial control into the field of vehicle-mounted communication. In order to ensure the reliability of the vehicle-mounted communication system, redundant communication is a good solution. However, the existing solutions generally cannot take into account the communication reliability and good system compatibility brought by redundant communication. To address this problem, it is necessary to create a vehicle-machine communication solution that takes into account both communication reliability and good protocol compatibility. Summary of the invention

[0003] One of the purposes of the present invention is to provide a redundant control method for a vehicle-mounted ring network heterogeneous system to solve the problem that existing solutions generally cannot take into account both the communication reliability and system compatibility brought by redundant communication; the second purpose is to provide a redundant control method for a vehicle-mounted ring network heterogeneous system; the third purpose is to provide a computer-readable storage medium.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A first aspect of the present invention provides a redundant control method for a heterogeneous system of an on-board ring network, the method comprising: in each ring network, any two adjacent vehicle systems regularly perform detection message interaction, and judge the communication link status of the corresponding two vehicle systems based on the message interaction result; when the communication link status is abnormal, trigger a communication redundancy control protocol; in response to the communication redundancy control protocol, judge the position information of the two vehicle systems with abnormal communication links in the whole vehicle communication topology, and generate redundant control rules for restoring the communication between the two current vehicle systems based on the position information; execute the redundant control rules, and realize the communication recovery of the two current vehicle systems by adjusting the blocking status of the communication ports of each related vehicle system on the redundant link of the two current vehicle systems; wherein each related vehicle system is in or not in the same ring network.

[0006] Optionally, the method also includes: constructing vehicle communication topology rules, including: based on the vehicle electronic and electrical architecture design information, performing a vehicle ring network system networking topology design to obtain an initial vehicle communication topology; identifying key links in the initial vehicle communication topology, and using the identified key links as links to be redundant; identifying the vehicle systems at both ends of each key link one by one, and determining the design information of the redundant links based on the historical communication information between the two identified vehicle systems; based on the determined redundant link design information, performing redundant link deployment in the initial vehicle communication topology to obtain vehicle communication topology rules.

[0007] Optionally, determining the design information of the redundant link includes: determining the communication performance and corresponding communication protocol of the redundant link; wherein the determined communication protocol needs to meet the corresponding communication performance requirements; the method also includes: in the process of deploying redundant links, presetting compatibility rules of the corresponding communication protocol in each set working scenario.

[0008] Optionally, any two adjacent vehicle systems periodically exchange detection messages, and judge the communication link status of the corresponding two vehicle systems based on the message interaction results, including: based on a preset link detection protocol, the two adjacent vehicle systems exchange link detection messages generated by each of them; each vehicle system generates a feedback message record based on the number of link detection messages received, and transmits the feedback message record back to the vehicle system at the other end; each vehicle system determines the number of link detection messages sent and the number of feedback message records received based on the preset link detection protocol, and judges the current communication link status.

[0009] Optionally, each vehicle system determines the number of link detection messages sent and the number of feedback message records received based on a preset link detection protocol, and makes a judgment on the current communication link status, including: when each vehicle system acts as a message sender and a message receiver, it determines the number of link detection messages sent and the number of feedback message records received based on the preset link detection protocol; for the message sender, when the absolute value of the difference between the number of link detection messages sent determined based on the preset link detection protocol and the number of feedback message records received by the vehicle system at the other end is greater than or equal to a first preset threshold, it is determined that a first abnormal condition is met, otherwise, it is determined that the first abnormal condition is not met; for the message receiver, when the absolute value of the difference between the number of link detection messages sent and the number of feedback message records received determined by the vehicle system at the other end based on the preset link detection protocol is greater than or equal to a second preset threshold, it is determined that a second abnormal condition is met, otherwise, it is determined that the second abnormal condition is not met; when both the first abnormal condition and the second abnormal condition are met, it is determined that the communication link status between the two vehicle systems is abnormal.

[0010] Optionally, in the vehicle communication topology, any two vehicle systems can communicate and interact directly or by using other vehicle systems as relay nodes; the method also includes: performing system initialization, including: setting up independent redundant communications between vehicle systems of different categories based on the category to which the vehicle system belongs; setting up independent communications for communication redundancy control protocol triggering; and performing virtual LAN blocking processing on communications between other vehicle systems in addition to the independent redundant communications and the independent communications, so that any two vehicle systems have and only have a unique communication link under normal operating conditions.

[0011] Optionally, the communication redundancy control protocol includes: a protocol type identifier, a state, a sub-state, a node identifier, a link identifier and an extended field; the protocol type identifier is used to indicate the protocol type; the state is used to indicate the link state; the sub-state is used to identify whether a link switching is required; the link identifier is used to mark the link number; and the extended field is used to indicate additional information of the message.

[0012] Optionally, before triggering the communication redundancy control protocol, the method also includes: when the communication link status is abnormal, continuously sending a preset number of frames of the communication redundancy control protocol with link abnormalities to the corresponding vehicle system, and executing the communication redundancy control protocol sending once every predetermined trigger period until the communication redundancy control protocol is triggered.

[0013] Optionally, the redundant control rules for restoring communication between the two current vehicle computer systems are generated based on the position information, including: determining the relay vehicle computer system on the redundant link between the two current vehicle computer systems based on the position information; determining the blocking status of the relay vehicle computer system and each communication port of the two current vehicle computer systems when the redundant link is turned on, and using the blocking status as the target status of each vehicle computer system; based on the target status, modifying the static table and virtual LAN table of the switch forwarding database of each vehicle computer system, and using the modified static table and virtual LAN table of the switch forwarding database as the redundant control rules for communication between the two current vehicle computer systems.

[0014] Optionally, the redundant control rules are executed to adjust the communication port blocking status of each relevant vehicle system on the redundant links of the two current vehicle systems, including: during the communication port blocking status adjustment process of the relevant vehicle systems, at the same time, only one communication port of the same vehicle system is in the on state, and the other communication ports are in the virtual LAN blocking state; before the communication port blocking state of a certain communication port needs to be adjusted to on, the corresponding vehicle system blocks the communication port that was originally on, and then executes the current communication port blocking status adjustment.

[0015] The second aspect of the present invention provides a redundant control system for a vehicle-mounted ring network heterogeneous system, the system comprising: a state judgment unit, which is used to regularly detect message interactions between any two adjacent vehicle systems in each ring network, and judge the communication link status of the corresponding two vehicle systems based on the message interaction results; a trigger unit, which is used to trigger a communication redundancy control protocol when the communication link status is abnormal; a rule generation unit, which is used to respond to the communication redundancy control protocol, judge the position information of the two vehicle systems with abnormal communication links in the vehicle communication topology, and generate redundant control rules for restoring communication between the two current vehicle systems based on the position information; an execution unit, which is used to execute the redundant control rules, and realize communication recovery between the two current vehicle systems by adjusting the blocking state of the communication ports of each related vehicle system on the new communication link predetermined by the two current vehicle systems; wherein each related vehicle system is in or not in the same ring network.

[0016] A third aspect of the present invention provides a computer-readable storage medium, which stores instructions, which, when executed on a computer, enable the computer to execute the above-mentioned redundant control method for the vehicle-mounted ring network heterogeneous system.

[0017] Beneficial effects of the present invention:

[0018] 1) In the scheme of the present invention, in each ring network of the vehicle computer, each vehicle computer system exchanges messages with each other, and judges the communication link status between each other based on the exchanged messages, rather than judging all communication links one by one globally. In this way, when a communication link is abnormal, the vehicle computer systems at both ends of the corresponding link can identify it immediately, reducing the time loss of data collection in global analysis and ensuring the system response speed;

[0019] 2) When there is an abnormality in the communication link, the preset communication redundancy control protocol will be triggered, and the redundancy control rules will be determined based on the protocol. Each vehicle system will be driven based on the unified protocol. Even for vehicle systems with different redundancy protocol support, the solution of the present invention can realize the combined drive of multiple protocols under the framework of the unified protocol, thus solving the problem of poor protocol compatibility in the existing solutions.

[0020] 3) Finally, based on the determined redundant control rules, the redundant links are turned on to restore communication between the two vehicle systems that originally had communication anomalies, thereby ensuring the reliability of vehicle communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A flowchart of the steps of a redundant control method for a vehicle-mounted ring network heterogeneous system provided in one embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the structure of a ring network system provided in one embodiment of the present invention;

[0023] Figure 3 A link detection flow chart provided for an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of a link detection protocol provided for an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of a communication redundancy control protocol provided for one embodiment of the present invention;

[0026] Figure 6 A schematic diagram of a protocol framework provided for an embodiment of the present invention;

[0027] Figure 7 A schematic flow chart of a demand analysis of a redundant control method applicable to a heterogeneous vehicle ring network system provided in one embodiment of the present invention;

[0028] Figure 8 A schematic diagram of system data flow analysis provided for one embodiment of the present invention;

[0029] Fig. 9 A system structure diagram of a redundant control system of a vehicle-mounted ring network heterogeneous system provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0030] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0031] The rapid advancement of automobile electrification and intelligence has put forward higher requirements on the capabilities of vehicle-mounted systems. In order to meet the needs of advanced assisted driving and functional services, vehicle-mounted control systems are developing towards high integration and high computing power. The automotive electronic and electrical architecture is also gradually evolving towards a "central + regional" form with the realization of high-computing power computing centers.

[0032] The current automotive technology chain and industrial chain are extremely extensive in both horizontal and vertical directions. Although the industry has formulated various technical standards to unify the compatibility between different products, the vehicle-mounted system still cannot get rid of the status quo of complex heterogeneous systems. In the vehicle-mounted heterogeneous system, the vehicle-mounted communication system plays the most critical role in the coordination between various systems. With the development of intelligent vehicle control and assisted driving technology, higher reliability requirements are also put forward for the vehicle-mounted communication system. Therefore, many technology research companies have introduced reliable communication technologies in the fields of telecommunications and industrial control into the field of vehicle-mounted communications.

[0033] In order to ensure the reliability of the vehicle-mounted communication system, redundant communication is a good solution. For example, the patent application with publication number CN112448981A proposes "a method and device for transmitting data". This method provides a link detection and redundant switching control method based on the static address forwarding table of the switch for the vehicle-mounted ring network system. It only provides a control strategy for the ring network communication redundancy from the perspective of communication data forwarding, and does not consider the compatibility of the ring network redundancy control algorithm with the product under the vehicle-mounted heterogeneous system, the particularity of the application in the vehicle-mounted application scenario, and the specific deployment strategy of the method in the vehicle-mounted system.

[0034] In order to solve the protocol compatibility problem, the patent application with publication number CN115499270A proposed a "network control scheme and device, vehicle and computer storable medium". The proposal provides a multi-protocol adaptive detection, fault location and repair method. The method introduces the ERPS protocol in the traditional communication field and the TSN-CB protocol in the time-sensitive network protocol into the vehicle-mounted Ethernet ring system. The protocol compatibility problem is solved to a certain extent through protocol adaptive detection. However, the proposal integrates both protocols into the vehicle-mounted switch, which has high requirements on hardware resources and the system compatibility is still low.

[0035] It can be seen that the existing scheme cannot take into account the problems of communication reliability and good system compatibility brought by redundant communication. The scheme of the present invention aims at this problem and proposes a redundant control method for heterogeneous systems of vehicle-mounted ring networks. In the scheme of the present invention, in each ring network of the vehicle machine, each vehicle machine system interacts with each other through messages, and the communication link status between each other is judged based on the interactive messages, rather than all global communication links one by one. In this way, it is ensured that when a certain communication link is abnormal, the vehicle machine systems at both ends of the corresponding link can identify it in the first time, reduce the time loss of data collection in global analysis, and ensure the response speed of the system. When there is an abnormality in the communication link, the preset communication redundancy control protocol will be triggered, and the redundant control rules will be determined based on the protocol, and each vehicle machine system will be driven based on the unified protocol, which solves the problem of poor protocol compatibility in the existing scheme. Finally, based on the determined redundant control rules, the redundant link is turned on, and the two vehicle machine systems that originally had communication abnormalities can resume communication, ensuring the reliability of vehicle communication.

[0036] Figure 1 FIG. 1 is a flowchart of a redundant control method for a vehicle-mounted ring network heterogeneous system provided by an embodiment of the present invention. Figure 1 As shown, an embodiment of the present invention provides a redundant control method for a vehicle-mounted ring network heterogeneous system, the method comprising:

[0037] Step S10: In each ring network, any two adjacent vehicle computer systems periodically perform detection message interaction, and determine the communication link status of the corresponding two vehicle computer systems based on the message interaction results.

[0038] Specifically, the solution of the present invention is to perform redundant communication control when there is an abnormality in a certain communication link, and the corresponding redundant communication triggering condition must be when there is an abnormal communication link in the whole vehicle communication. In the existing scheme, to determine whether there is a communication abnormality in the system, the whole vehicle communication system often determines the communication status of each communication link one by one. This method requires a lot of data transmission and data judgment time to be wasted, resulting in a large delay. When the vehicle is driving, in order to ensure the safety of the passengers, it is very necessary to ensure the response speed of the vehicle, so even if the abnormal state of the communication link is determined, the system needs to have a sufficient response speed. Based on this, the solution of the present invention is to make a judgment on the abnormal state of the corresponding communication link by each adjacent two vehicle-machine systems in each ring network, so as to achieve synchronous judgment of the abnormal state of all communication links of the whole vehicle, reduce judgment delay, and improve system response speed.

[0039] Specifically, based on the preset link detection protocol, two adjacent vehicle systems interact with each other by generating their own link detection messages; each vehicle system generates a feedback message based on the number of link detection messages received, and transmits the feedback message back to the vehicle system at the other end; each vehicle system determines the number of link detection messages sent and the number of feedback message records received based on the preset link detection protocol, and makes a judgment on the current communication link status.

[0040] Furthermore, each vehicle system determines the number of link detection messages sent and the number of feedback message records received based on a preset link detection protocol, and makes a judgment on the current communication link status, including: when each vehicle system is respectively counted as a message sender and a message receiver, the number of link detection messages sent and the number of feedback message records received are determined based on the preset link detection protocol; for the message sender, when the absolute value of the difference between the number of link detection messages sent determined based on the preset link detection protocol and the number of feedback message records received by the vehicle system at the other end is greater than or equal to a first preset threshold, it is determined that a first abnormal condition is met, otherwise the first abnormal condition is not met; for the message receiver, when the absolute value of the difference between the number of link detection messages sent and the number of feedback message records received determined by the vehicle system at the other end based on the preset link detection protocol is greater than or equal to a second preset threshold, it is determined that a second abnormal condition is met, otherwise the second abnormal condition is not met; when both the first abnormal condition and the second abnormal condition are met, it is determined that the current communication link status between the two vehicle systems is abnormal.

[0041] Embodiment 1: Figure 2 , the corresponding vehicle system includes a body control system (vehicle control system 1, vehicle control system 2, vehicle control system 3), an intelligent driving system (smart driving system), and a cockpit system, a total of 5 vehicle systems, wherein the three controllers of vehicle control system 1, vehicle control system 2, and vehicle control system 3 form a ring network 1 based on an Ethernet communication link, the intelligent driving system and vehicle control system 1 and vehicle control system 2 form a ring network 2 based on an Ethernet communication link, and the intelligent driving system and the cockpit system and vehicle control system 2 form a ring network 3 based on an Ethernet communication link. The structural feature of the vehicle-mounted ring network system provided in this implementation example is that the body control system, the intelligent driving system, and the cockpit system can be mutually redundant in communication. It should be noted that the system provided in this embodiment is only an example, and other forms of vehicle-mounted ring network systems are also applicable to the redundant control method provided by the present invention.

[0042] Furthermore, when determining the communication link status, take the determination process between the vehicle control system 1 and the vehicle control system 2 as an example. Figure 3 , including the following steps:

[0043] S101: Vehicle control system 1 sends a link detection protocol (detection message) to vehicle control system 2 at a period of 5 ms, such as Figure 4, the protocol type identifier field in the protocol is filled with 0x01, the node identifier is filled with the MAC address of the vehicle control system 1, the message sending count is filled in according to the number of link detection protocol messages actually sent, and the receiving count is filled in according to the number of link detection messages actually received from the vehicle control system 2. Similarly, the vehicle control system 2 also sends a link detection message to the vehicle control system 1 in the manner described above.

[0044] S102: The vehicle control system 1 uses a two-way verification method to calculate the number of message frame losses. Based on the sending direction, after receiving the link detection message sent by the vehicle control system 2, it takes out the receiving count data in the message and compares it with the message sending count data in the link detection protocol sent most recently, and determines that the local sending count - the opposite end receiving count ≥ 3. Based on the receiving direction, it determines that the opposite end sending count - the local receiving count ≥ 3. If the above two conditions are met at the same time, it is considered that the link between the vehicle control system 1 and the vehicle control system 2 is blocked or disconnected.

[0045] S103: The link detection module calls the link status detection API interface provided by the switch to read the link status of the corresponding port link. If the status is Link Down, it is determined that the link is disconnected.

[0046] Step S20: When the communication link status is abnormal, trigger the communication redundancy control protocol.

[0047] Specifically, in order to achieve protocol compatibility, the scheme of the present invention includes a link detection protocol and a communication redundancy control protocol. As mentioned above, the link detection protocol is mainly used to identify the fault status of the communication link between the vehicle systems. For the communication redundancy control protocol, Figure 5 , which includes a protocol type identifier, a state, a sub-state, a node identifier, a link identifier and an extended field; the protocol type identifier is used to indicate the protocol type; the state is used to indicate the link state; the sub-state is used to identify whether a link switch needs to be performed; the link identifier is used to mark the link number; the extended field is used to indicate additional information of the message.

[0048] In an embodiment of the present invention, the present invention provides a ring network redundant communication protocol, including a link detection protocol and a communication redundancy control protocol, which can realize the detection of communication links and link switching control. In the case of any single link abnormality in the link, the link can be switched to redundant link communication within 50ms to ensure normal communication between all nodes in the link. In the case of dual links or multiple links abnormality, the link can be switched to redundant link communication within 50ms to ensure normal communication between communication nodes with interconnected links. At the same time, the control of the protocol of the present invention can ensure normal communication in vehicle-mounted application scenarios such as inconsistent power-on timing of each node in the link, restart of different nodes, etc.

[0049] In the embodiment of the present invention, Figure 6 The solution of the present invention provides an innovative communication redundancy control protocol, and determines the position and meaning of each identifier in the communication control protocol. When the status of the subsequent communication link changes, it is only necessary to modify the filled-in information in the communication redundancy control protocol. The subsequent triggering can be directly based on the communication redundancy control protocol, thereby realizing the perception of communication anomalies and ensuring the response speed of subsequent redundant control linkage.

[0050] In a possible implementation, the protocol identifier is filled with 0x2 to represent the communication redundancy control protocol, the state is used to identify whether the link is abnormal, and if the link is abnormal, fill in 0x1, the sub-state is used to identify whether a switch needs to be performed, and if it is switched, fill in 0x1, and the link identifier is used to mark the link number to clarify which specific link is abnormal. This protocol is sent by each module in the link with a unified multicast address periodically. The module also uses the TSN-CB (Time Sensitive Network) protocol. Its purpose is to perform full-link detection of the entire vehicle communication network to meet the full-link communication redundancy requirements.

[0051] Step S30: In response to the communication redundancy control protocol, determine the position information of the two vehicle systems with abnormal communication links in the vehicle communication topology, and generate a redundant control rule for restoring the communication between the two vehicle systems based on the position information.

[0052] Specifically, based on the location information, determine the relay vehicle system on the redundant link between the two current vehicle systems; determine the blocking status of the relay vehicle system and each communication port of the two current vehicle systems when the redundant link is turned on, and use the blocking status as the target status of each vehicle system; based on the target status, modify the static table and virtual LAN table of the switch forwarding database of each vehicle system, and use the modified static table and virtual LAN table of the switch forwarding database as redundant control rules for communication between the two current vehicle systems.

[0053] Based on this, the scheme of the present invention also includes constructing vehicle communication topology rules, including: based on the vehicle electronic and electrical architecture design information, performing a vehicle ring network system networking topology design to obtain an initial vehicle communication topology; in the initial vehicle communication topology, performing key link identification, and using the identified key links as links to be redundant; identifying the vehicle systems at both ends of each key link one by one, and determining the design information of the redundant links based on the historical communication information between the two identified vehicle systems; and deploying redundant links in the initial vehicle communication topology based on the design information of the redundant links to obtain vehicle communication topology rules.

[0054] In a possible implementation, when constructing the vehicle communication topology rule, such as Figure 7 , including the following steps:

[0055] Step S301: Based on the design and planning of the vehicle's electronic and electrical architecture, complete the network topology design of the vehicle-mounted ring network system.

[0056] Step S302: Based on the networking and functional requirements of the on-board ring network system, complete the analysis of the communication redundancy requirements and redundant performance requirements of the combined functions. Taking the intelligent driving system as an example, in the intelligent assisted driving application scenario, if an Ethernet communication link between the intelligent driving system and the body controller is disconnected, in order to ensure that the vehicle can park normally or continue to perform driving assistance, the intelligent driving system and the body control system need to be able to switch to another redundant link communication, and the redundant switching time is less than 10ms.

[0057] Step S303: Based on the specific demand analysis results, design clearly which communication links need to be redundant, redundant communication switching paths, and which protocol to select for deployment under corresponding redundant communication performance requirements.

[0058] Step S304: Design a detailed redundant communication protocol based on the redundant path, and consider the compatibility strategy of the protocol in different scenarios. That is, during the redundant link deployment process, preset the compatibility rules of the corresponding communication protocol in each set working scenario.

[0059] Step S305: Design redundant control software components based on the designed redundant protocol and redundant system hardware and software architecture.

[0060] In the embodiment of the present invention, the scheme of the present invention is carried out and redundant links are deployed. When there is a communication abnormality between any two vehicle systems in the future, the communication can be restored through the preset redundant communication link to ensure the reliability of the vehicle communication, thereby ensuring driving safety.

[0061] Preferably, in the whole vehicle communication topology, any two vehicle systems can communicate and interact directly or by using other vehicle systems as relay nodes; the method also includes system initialization, including: setting up independent redundant communications between classified vehicle systems based on the categories to which the vehicle systems belong; setting up independent communications for communication redundancy control protocol triggering; and performing virtual LAN blocking processing on communications between other vehicle systems in addition to the independent redundant communications and the independent communications, so that any two vehicle systems have one and only one communication link under normal operating conditions.

[0062] In a possible implementation, because the vehicle-mounted ring network system often has multiple ring networks, the ring network itself has the risk of multicast or broadcast storms, so it is necessary to block certain ports of the vehicle system. Continuing with the structure in Example 1 as an example, the ports of switch 2 in the vehicle control system 2 connected to link 1, link 5, and link 6 all use VLAN (Virtual Local Area Network) blocking to block the specific VLAN in both inbound and outbound directions to prevent the ring network storm from causing network paralysis. The TSN-CB protocol is used for redundant communication between the vehicle control system and the intelligent driving system. Therefore, this embodiment divides the communication between the two systems into independent VLANs, and the above-mentioned blocking VLAN does not include the TSN-CB redundant communication VLAN. At the same time, since the link detection protocol uses unicast communication and communicates in an independent VLAN, the above-mentioned blocking VLAN does not include the VLAN to which the link detection protocol belongs. Taking the communication between vehicle control system 2 and intelligent driving system, and the communication between vehicle control system 2 and cockpit system as examples, under the above system configuration, the communication links between vehicle control system 2 and intelligent driving system are link 1 and link 6, and the communication link between vehicle control system and cockpit system is link 2→link 3→link 4→link 7.

[0063] Furthermore, the categories of vehicle systems include: vehicle control systems and assisted driving systems. For example, in the first embodiment, vehicle control systems 1, 2 and 3 belong to vehicle control systems; intelligent driving systems and cockpit systems belong to assisted driving systems.

[0064] In the embodiment of the present invention, the intelligent driving system needs to receive information notifications about the power, chassis, and body status issued by the body control, and needs to send control service call requests such as torque and steering to the body control system. Combined with the analysis in S302 that the communication redundancy control time performance requirements between the intelligent driving system and the body control system are high, and the redundant switching protocol characteristics of the vehicle communication industry and the information and communication industry are comprehensively considered, preferably, this embodiment selects the TSN-CB protocol with a shorter switching time as the redundant control protocol and deploys it in the vehicle control system 1, vehicle control system 2, and intelligent driving system of the system shown in the first embodiment.

[0065] Furthermore, the communication redundancy between the intelligent driving system and the cockpit system, within the body control system, and between the body control system and the cockpit system is mainly used to ensure the user's car experience, and its communication redundancy time performance is relatively low. The TSN-CB protocol is limited by the switch hardware support chip selection. Most of the mature applications in the current information and communication industry, such as ERPS (Ethernet Ring Protection Switching, Ethernet multi-ring protection technology) protocol, need to be deployed in switches. At the same time, considering the current performance and technical support differentiation of vehicle-mounted switches, the present invention provides a communication redundancy control protocol that can be deployed on terminal nodes. The protocol does not depend on the switch system and has good adaptability to different terminal systems. Its redundancy switching time can be controlled within 50ms.

[0066] In another possible implementation, the present invention provides a method for compatible deployment with the TSN-CB protocol, and systems with inconsistent switching time performance requirements can be compatible deployed. For example, when the intelligent driving system needs to redundancy the control and notification information of the vehicle control system and the redundancy time performance requirements are high, it can choose to deploy the TSN-CB protocol in the switch between the two systems to achieve fast redundant switching in the event of link abnormalities; when the intelligent driving system needs to redundancy the control and notification information of the cockpit system and the redundancy time performance is relatively low, it can choose to deploy the redundant communication protocol provided by the present invention on the terminal nodes of the two systems to ensure protocol compatibility in turn. Of course, in addition to being compatible with the TSN-CB protocol, under the scheme of unified protocol drive and multi-redundancy protocol combination proposed by the present invention, it is theoretically compatible with any other vehicle-mounted redundant communication protocol, which is not limited here.

[0067] Step S40: executing the redundancy control rule, adjusting the blocking state of the communication ports of the relevant vehicle computer systems on the redundant links of the two vehicle computer systems, and realizing the communication recovery of the two vehicle computer systems.

[0068] Specifically, it has been explained above that in order to avoid the risk of multicast or broadcast storms in the ring network itself, some communication ports of each car system are in a blocked state, that is, under normal operating conditions, redundant links are often blocked. Therefore, in order to achieve communication recovery, it is necessary to adjust the blocking state and turn on the link. Based on this, in the process of adjusting the blocking state of the communication ports of the relevant car systems, for the same car system, at the same time, only one communication port is in the turned-on state, and the other communication ports are in the virtual LAN blocked state; before the communication port blocking state of a certain communication port needs to be adjusted to be turned on, the corresponding car system first needs to block the communication port that was originally turned on, and then perform the current communication port blocking state adjustment.

[0069] Embodiment 2: Figure 8In the system structure of the original embodiment 1, taking the case where both link 1 and link 2 are disconnected as an example, the steps for switching the ring network communication redundant link are as follows:

[0070] Step S401: Based on the link detection protocol, it is detected that link 1 and link 2 are abnormal. At this time, the vehicle control system 2 cannot communicate normally with the vehicle control system 1, the vehicle control system 3 and the cockpit system.

[0071] Step S402: After the vehicle control system 1, the vehicle control system 2, and the vehicle control system 3 detect the link abnormality, the status field in the redundant control protocol is set to link abnormality, the sub-status is set to need to switch, and the position 1 corresponding to link 1 and link 2 in the link identifier is set; at the same time, in order to ensure fast switching, the above-mentioned system should immediately send 3 frames of redundant control protocol with link abnormality in succession when a link abnormality is detected, and then send them at a period of 10ms.

[0072] Step S403: After the vehicle control system 2 sends the redundant control message with link abnormality, it controls the redundant link switching. It directly modifies the switch static FDB (Forwarding Data Base) table and VLAN table by modifying the switch interface to achieve communication link switching. The switching process is as follows:

[0073] 1) Use the Vlan disable interface to block the P2 port, and the P1 port remains in the original blocked state;

[0074] 2) Use the Vlan enable interface to open the P5 port;

[0075] 3) Modify the FDB table and change the destination Port in the FDB table entry with the destination MAC address of vehicle control system 2, vehicle control system 3, and cockpit system to P5, that is, vehicle control system 2 switches to the P5 port to communicate with other systems other than the intelligent driving system.

[0076] For the same reason, the vehicle control system 3 switches the communication port to the P3 port, the vehicle control system 1 switches the port for communicating with the vehicle control system 2 to the P4 port, and the cockpit system switches the port for communicating with the vehicle control system 2 to the P5 port. Since the intelligent driving system and the vehicle control system 2 use TSN-CB redundant communication, the communication mode of this protocol is double-send and single-receive, when link 1 is disconnected, it can still communicate with the vehicle control system through link 6. At this point, the communication link of the ring network system is switched to link 5→link 7→link 4→link 3, and the systems can still communicate normally.

[0077] Preferably, before adjusting the communication port blocking state of a certain communication port to being on, the corresponding vehicle system first needs to block the communication port that was originally on, and then perform the current communication port blocking state adjustment.

[0078] In the embodiment of the present invention, this rule also applies to the initialization process of the system. Because in the vehicle-mounted application scenario, during the test bench or loading stage, the power-on timing of each controller may be different, which means that the link is temporarily disconnected. Then, after the subsequent vehicle system is powered on, it may cause a broadcast storm. Based on this, system initialization is similar to the subsequent redundant link control, and both require real-time correction of the blocking status.

[0079] Embodiment 3: Based on the system structure of embodiment 1, a ring network composed of vehicle control system 1, vehicle control system 2 and vehicle control system 3 is taken as an example. If the power-on sequence is vehicle control system 2 → vehicle control system 1 → vehicle control system 3 and the power-on time difference among the three is large, when vehicle control system 2 → vehicle control system 1 is powered on, vehicle control system 2 detects that the link of port P1 is up and the link of port P2 is down. Then vehicle control system 2 needs to open P1 originally configured to be blocked to ensure normal communication with vehicle control system 1 and block abnormal port P2. Then vehicle control system 3 is powered on. At this time, vehicle control system 2 detects that the link of port P2 is up. If port P2 is opened immediately, all links of the ring network will be turned on, which will cause a broadcast storm. Therefore, the present invention designs a conventional blocking port, which is opened according to the switching demand when the link of the ring network is abnormal, and enters the blocking state again after the link returns to normal. In the above embodiment, after the vehicle control system 2 detects that the link of port P2 is up, it first blocks the conventional blocking port P1, then opens port P2 and sends a link redundancy control protocol to notify the vehicle control system 1 to switch the communication port to port P3.

[0080] In the embodiment of the present invention, the link detection and communication redundancy control protocols designed by the scheme of the present invention do not need to be deployed in the switch. When the software is implemented, both protocols are deployed in the terminal system. The switch provides the terminal system with FDB table writing and port VLAN control interface through the communication channel with the terminal system to control the switch to switch the communication link. Therefore, the protocol stack can be flexibly deployed without special requirements for the terminal chip. At the same time, in order to ensure the switching efficiency, the terminal side redundant switching control related software adopts a higher priority interrupt processing method to ensure that the redundant switching time is less than 50ms.

[0081] In a possible implementation, the software components involved in the redundant control method of the vehicle-mounted ring network heterogeneous system proposed in the solution of the present invention do not rely on the switch hardware. The software components can be adapted to the switch system or the terminal system, and there is no special hardware requirement for the terminal. The terminal only needs to have a control path to the switch. The software components are implemented based on C / C++ code and can be deployed and adapted in SOC systems or embedded systems.

[0082] Fig. 9 1 is a system structure diagram of a redundant control system of a vehicle-mounted ring network heterogeneous system provided by an embodiment of the present invention. Fig. 9As shown, an embodiment of the present invention provides a redundant control system for a vehicle-mounted ring network heterogeneous system, the system comprising: a state judgment unit, for periodically detecting message interactions between any two adjacent vehicle-machine systems in each ring network, and judging the communication link states of the corresponding two vehicle-machine systems based on the message interaction results; a trigger unit, for triggering a communication redundancy control protocol when the communication link state is abnormal; a rule generation unit, for responding to the communication redundancy control protocol, judging the position information of the two vehicle-machine systems with abnormal communication links in the vehicle communication topology, and generating redundant control rules for restoring the communication between the two current vehicle-machine systems based on the position information; an execution unit, for executing the redundant control rules, and realizing the communication recovery between the two current vehicle-machine systems by adjusting the blocking state of the communication ports of the relevant vehicle-machine systems on the new communication link predetermined by the two current vehicle-machine systems; wherein the relevant vehicle-machine systems are in or not in the same ring network.

[0083] An embodiment of the present invention further provides a computer-readable storage medium, on which instructions are stored, which, when executed on a computer, enable the computer to execute the above-mentioned redundant control method for the vehicle-mounted ring network heterogeneous system.

[0084] Those skilled in the art will understand that all or part of the steps in the method for implementing the above-mentioned embodiments can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions for making a single-chip microcomputer, a chip or a processor (processor) perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0085] The optional embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above embodiments. Within the technical concept of the embodiments of the present invention, the technical scheme of the embodiments of the present invention can be subjected to a variety of simple modifications, and these simple modifications all belong to the protection scope of the embodiments of the present invention. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0086] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed in the embodiments of the present invention.

Claims

1. A redundant control method for a vehicle-mounted ring network heterogeneous system, characterized in that: The method comprises: In each ring network, any two adjacent vehicle systems periodically perform detection message interaction, and determine the communication link status of the corresponding two vehicle systems based on the message interaction results; When the communication link status is abnormal, the communication redundancy control protocol is triggered; In response to the communication redundancy control protocol, determining the position information of two vehicle-mounted systems with abnormal communication links in the vehicle communication topology, and generating a redundancy control rule for restoring the communication between the two vehicle-mounted systems based on the position information; The redundant control rule is executed to restore the communication between the two current vehicle computer systems by adjusting the blocking state of the communication ports of the relevant vehicle computer systems on the redundant links of the two current vehicle computer systems; wherein the relevant vehicle computer systems are in or not in the same ring network.

2. The redundant control method of the vehicle-mounted ring network heterogeneous system according to claim 1 is characterized in that: The method further includes: constructing a vehicle communication topology rule, including: Based on the vehicle's electronic and electrical architecture design information, the vehicle ring network system networking topology design is carried out to obtain the initial vehicle communication topology; Identifying key links in the initial vehicle communication topology and using the identified key links as links to be redundant; Identify the vehicle systems at both ends of each critical link one by one, and determine the design information of the redundant link based on the historical communication information between the two identified vehicle systems; Based on the determined design information of redundant links, redundant links are deployed in the initial vehicle communication topology to obtain the vehicle communication topology rules.

3. The redundant control method of the vehicle-mounted ring network heterogeneous system according to claim 2 is characterized in that: The determining of the design information of the redundant link includes: determining the communication performance and the corresponding communication protocol of the redundant link; wherein the determined communication protocol needs to meet the corresponding communication performance requirements; The method further includes: in the process of deploying redundant links, presetting compatibility rules of corresponding communication protocols in each set working scenario.

4. The redundant control method of the vehicle-mounted ring network heterogeneous system according to claim 1 is characterized in that: Any two adjacent vehicle systems periodically perform detection message interaction, and determine the communication link status of the corresponding two vehicle systems based on the message interaction result, including: Based on the preset link detection protocol, two adjacent vehicle systems interact with each other through the link detection messages generated by each of them; Each vehicle system generates a feedback message record based on the number of link detection messages received, and transmits the feedback message record back to the vehicle system at the other end; Each vehicle computer system determines the number of link detection messages sent and the number of feedback message records received based on the preset link detection protocol to determine the current communication link status.

5. The redundant control method of the vehicle-mounted ring network heterogeneous system according to claim 4 is characterized in that: Each vehicle system determines the number of link detection messages sent and the number of feedback message records received based on a preset link detection protocol, and determines the current communication link status, including: When each vehicle computer system acts as a message sender and a message receiver, it determines the number of link detection messages to be sent and the number of feedback message records to be received based on a preset link detection protocol; For the message sender, when the absolute value of the difference between the number of link detection messages sent based on the preset link detection protocol and the number of received feedback messages recorded by the other end vehicle system is greater than or equal to a first preset threshold, it is determined that the first abnormal condition is met; otherwise, it is determined that the first abnormal condition is not met; For the message receiver, when the other end vehicle system determines based on the preset link detection protocol that the absolute value of the difference between the number of link detection messages sent and the number of feedback messages recorded is greater than or equal to the second preset threshold, it is determined that the second abnormal condition is met, otherwise, it is determined that the second abnormal condition is not met; When both the first abnormal condition and the second abnormal condition are met, it is determined that the current communication link state between the two vehicle systems is abnormal.

6. The redundant control method of the vehicle-mounted ring network heterogeneous system according to claim 5, characterized in that: In the vehicle communication topology, any two vehicle systems can communicate and interact directly or by using other vehicle systems as relay nodes; The method further includes: performing system initialization, including: Based on the category of the vehicle computer system, independent redundant communication is set up between vehicle computer systems of different categories; Set up independent communication for communication redundancy control protocol triggering; In addition to the independent redundant communication and the independent communication, the communication between other vehicle computer systems is subjected to virtual local area network blocking processing, so that any two vehicle computer systems have only one unique communication link in a normal operating state.

7. The redundant control method for a vehicle-mounted ring network heterogeneous system according to claim 6, characterized in that: The categories of vehicle computer systems include: vehicle control system and assisted driving system.

8. The redundant control method of the vehicle-mounted ring network heterogeneous system according to claim 1, characterized in that: The communication redundancy control protocol includes: Protocol type identification, state, sub-state, node identification, link identification and extension fields; The protocol type identifier is used to indicate the protocol type; The state is used to indicate the link state; The sub-state is used to identify whether link switching needs to be performed; The link identifier is used to mark the link number; The extension field is used to indicate additional information of the message.

9. The redundant control method of the vehicle-mounted ring network heterogeneous system according to claim 1, characterized in that: Before triggering the communication redundancy control protocol, the method further includes: When the communication link status is abnormal, a preset number of frames of communication redundancy control protocol with link abnormality are continuously sent to the corresponding vehicle system, and the communication redundancy control protocol is sent once every predetermined trigger period until the communication redundancy control protocol is triggered.

10. The redundant control method of the vehicle-mounted ring network heterogeneous system according to claim 6, characterized in that: The generating of a redundant control rule for restoring the communication between the two vehicle systems based on the position information includes: Based on the location information, determining a relay vehicle system on a redundant link between two vehicle systems; Determine the blocking state of each communication port of the relay vehicle system and the current two vehicle systems when the redundant link is turned on, and use the blocking state as the target state of each vehicle system; Based on the target state, the static table of the switch forwarding database and the virtual local area network table of each vehicle system are modified, and the modified static table of the switch forwarding database and the virtual local area network table are used as redundant control rules for the communication between the current two vehicle systems.

11. The redundant control method of the vehicle-mounted ring network heterogeneous system according to claim 1, characterized in that: The executing the redundancy control rule to adjust the blocking state of the communication ports of the relevant vehicle computer systems on the redundant links of the two vehicle computer systems includes: During the process of adjusting the blocking state of the communication port of the relevant vehicle computer system, at the same time, only one communication port of the same vehicle computer system is in the conducting state, and the other communication ports are in the virtual LAN blocking state; Before the communication port blocking state of a certain communication port needs to be adjusted to be on, the corresponding vehicle computer system blocks the communication port that was originally on, and then performs the current communication port blocking state adjustment.

12. A redundant control system for a vehicle-mounted ring network heterogeneous system, characterized in that: The system comprises: A status judgment unit is used to periodically detect message interaction between any two adjacent vehicle systems in each ring network, and judge the communication link status of the corresponding two vehicle systems based on the message interaction result; A trigger unit, used to trigger a communication redundancy control protocol when the communication link state is abnormal; A rule generating unit, configured to determine, in response to the communication redundancy control protocol, the position information of two vehicle-mounted systems with abnormal communication links in the vehicle communication topology, and generate a redundancy control rule for restoring the communication between the two vehicle-mounted systems based on the position information; The execution unit is used to execute the redundant control rule, and realize the communication recovery of the current two vehicle systems by adjusting the blocking state of the communication ports of each related vehicle system on the new communication link scheduled by the current two vehicle systems; wherein each related vehicle system is in or not in the same ring network.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the redundant control method for a vehicle-mounted ring network heterogeneous system as described in any one of claims 1 to 11.

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