DDS-TSN-based AUTOSAR novel vehicle power system

Abstract

The invention relates to a DDS-TSN-based AUTOSAR novel vehicle power system, and belongs to the technical field of vehicle electronics. The DDS-TSN-based deterministic time-sensitive network middleware is provided by comprehensively applying measures from the system level according to the requirements of high-performance deterministic management, scheduling and the like of service traffic in a vehicle integrated electronic control system through multi-dimensional collaboration of a framework, a platform, the middleware, an operating system and the like, so that the DDS-TSN-based deterministic time-sensitive network middleware is provided. A key path between hardware TSN deterministic communication and a software DDS deterministic bus is broken through, a DDS-TSN-based AUTOSAR novel vehicle power system is designed, and the key problems of overall real-time and determined software and hardware of the system are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automotive electronics, and in particular relates to a new AUTOSAR vehicle electrical system based on DDS-TSN. Background Art

[0002] With the rapid development of automobile intelligence and networking, the performance requirements for vehicle electrical systems are getting higher and higher. Traditional vehicle electrical systems have deficiencies in real-time, deterministic and scalability of data transmission, and it is difficult to meet the needs of modern automobiles for efficient communication and intelligent control. As a standardized automotive electronic software architecture, AUTOSAR provides a unified platform and specifications for the development of automotive electronic systems. However, the existing AUTOSAR vehicle electrical system still has room for improvement in data communication.

[0003] Since the in-vehicle system is a very large and complex system, which uses a large number of operating systems such as Linux and QNX, it is even more difficult to ensure real-time performance. The root cause is that there are certain uncertainties in each link, from applications, middleware, operating systems to hardware and networks, and these uncertainties will accumulate along the system layer by layer. The closer to the application layer level, the higher the uncertainty; and the closer to the hardware layer, the lower the uncertainty. Ultimately, the accumulation of uncertainties in each link leads to a decrease in uncertainty and real-time performance of the entire system.

[0004] Therefore, solving the real-time problem of distributed systems is a complex system engineering project. We cannot expect that the application of a single technology can solve it comprehensively. It is far from enough to rely on a certain middleware, operating system or network technology alone. We need to take comprehensive measures at the system level and meet the strict real-time requirements through multi-dimensional collaboration such as architecture, platform, middleware, and operating system. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] The technical problem to be solved by the present invention is how to provide a new AUTOSAR vehicle electrical system based on DDS-TSN to solve the real-time problem of the distributed system.

[0007] (II) Technical solution

[0008] In order to solve the above technical problems, the present invention proposes a new AUTOSAR vehicle electrical system based on DDS-TSN, which includes: a peripheral platform layer, a hardware platform layer, a system layer, a middleware and an application layer;

[0009] The peripheral platform layer is the external vehicle domain;

[0010] The hardware platform layer builds the in-vehicle electronic system architecture based on the intelligent network architecture, which includes three parts: data processor, communication controller and handset;

[0011] The system layer deploys the system according to the different requirements of each board;

[0012] The middleware is AUTOSAR based on the deterministic time-sensitive network of DDS-TSN, which has execution management module, state management module, communication management module, platform health management module and diagnosis management module;

[0013] Application layer: includes common basic service modules for other applications and applications developed based on the power domain and intelligent driving domain of the vehicle system. The basic service modules include diagnostic services, health management services, protocol conversion services, data transmission services, storage services, interface display services, and resource collaborative management services. The applications include display management programs, monitoring management programs, and control programs.

[0014] (III) Beneficial effects

[0015] The present invention proposes a new AUTOSAR vehicle electrical system based on DDS-TSN. Aiming at the requirements of high-performance deterministic management and scheduling of business traffic in the integrated electronic control system of the vehicle, the present invention adopts comprehensive measures from the system level, and provides a deterministic time-sensitive network middleware based on DDS-TSN through multi-dimensional collaboration of architecture, platform, middleware, operating system, etc., which opens up the key path between the hardware TSN deterministic communication and the software DDS deterministic bus, designs a new AUTOSAR vehicle electrical system based on DDS-TSN, and solves the key problems of overall real-time and deterministic hardware and software of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a system architecture diagram of the present invention;

[0017] Figure 2 Schematic diagram of the DDS-TSN fusion solution. DETAILED DESCRIPTION

[0018] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0019] The present invention relates to the field of automotive electronic technology, and specifically to a new automotive electrical system adopting a hierarchical architecture (AUTOSAR), which integrates TSN (time-sensitive network) and DDS (data distribution service) technologies.

[0020] The present invention provides a novel AUTOSAR vehicle electrical system based on DDS-TSN. The system adopts a hierarchical architecture, including a peripheral platform layer, a hardware platform layer, a system layer, a middleware (AUTOSARAP), and an application layer.

[0021] 1) The peripheral platform layer is the external vehicle domain, such as the power domain, chassis domain, intelligent frame domain, equipment domain, etc. It is also a special peripheral platform for the system.

[0022] 2) The hardware platform layer builds a new generation of vehicle electronic system architecture based on the intelligent network architecture, which mainly includes three parts: data processor, communication controller (one in master and slave mode), and handset. The data processing simulator realizes the data calculation, storage, and service of the system simulation software. The communication controller is responsible for Ethernet data transmission. The handset is used as a remote control to access the entire system network to achieve remote communication.

[0023] 3) The system layer deploys the system according to the different needs of each board. The handheld phone uses the Hongmeng system, the power module and the communication controller are not deployed with the system, and other boards use the Galaxy V10+RT / linux system / FREERTOS system. The general computing module uses the Galaxy V10+RT, and the car computer Hongmeng system is deployed through docker to implement the interface implementation service; the ECU module deploys the FREERTOS system.

[0024] 4) The middleware is AUTOSAR based on the deterministic time-sensitive network of DDS-TSN, which has modules such as execution management, state management, communication management, platform health management, and diagnostic management.

[0025] The execution management module is the No. 1 process of the AP platform, similar to the systemd service under the Linux system. Its core function is to maintain the life cycle of the entire AP platform process. Applications (processes) under the AP platform are required to be grouped according to functional groups, and each functional group has multiple states. The application must declare which functional group it belongs to and which state the process is registered in. When the functional group switches to a certain state, the process registered in that state will be pulled up, and the process not registered in that state will be terminated.

[0026] The platform health management module is responsible for supervising applications based on AUTOSAR and created through IDE. When a supervised entity fails, the platform health management module will send the fault information to the execution management module. The execution management module communicates with the state management module to implement functional group state switching and trigger recovery operations.

[0027] The state management module is responsible for determining its internal state based on information received from applications (including platform applications) and is the central point for receiving any operational events that may have an impact on its internal state. The state management module evaluates these events and may request new functional group states or machine states from the execution management module. The functionality of the state management module is highly project specific.

[0028] Function group state change requests can be triggered by several platform applications:

[0029] Platform health management triggers error recovery.

[0030] Adaptive diagnostics issues a system reset.

[0031] Update and configuration management switches the system to a state where software or configuration can be updated and the updates can be verified.

[0032] The diagnostic management module is a functional cluster of the AUTOSAR adaptive platform. The diagnostic management module includes diagnostic communication management, fault storage management, online diagnostic monitoring and diagnostic event management. The diagnostic event management (DEM) mainly provides diagnostic event services, handles diagnostic events, records operation cycle status, maintains DTC status and stores event data.

[0033] The communication management module mainly provides diagnostic session management, diagnostic request forwarding and UDS (Unified Diagnostic Services) service processing. In response to the needs of high-performance deterministic management and scheduling of business traffic in the integrated electronic control system of vehicles, an innovative deterministic time-sensitive network middleware based on DDS-TSN is proposed, which opens up the key path between the hardware TSN deterministic communication and the software DDS deterministic bus, and solves the key problems of overall real-time and deterministic hardware and software of the system.

[0034] We added topic and TSN channel function modules to the DDS module, and also used the QoS configuration method to configure the TSN data transmission function (both the DDS publisher and the DDS subscriber require QoS configuration). Developers only need to be familiar with DDS and configure TSN parameters in the DDS QoS to implement the DDS and TSN transmission functions. This simplifies the DDS and TSN configuration, allowing developers to easily use TSN network devices without having to understand the functions and mechanisms of TSN.

[0035] In the use of DDS-TSN real-time function, first, by modifying the DDS kernel to configure QoS to unify the deadline of DDS itself and the deadline of the TSN network, the real-time of data is guaranteed not only at the application layer, but also at the transport layer. In addition, the link priority and gating settings are implemented by binding the DDS subject data with the TSN channel for transmission. By modifying the DDS kernel to configure QoS to complete the binding of the subject and the TSN channel, the DDS kernel module directly transmits the data according to the TSN channel specified by QoS during the data transmission process, ensuring the real-time and validity of the data from the bottom layer.

[0036] Modifying the DDS kernel mainly completes four aspects of work: First, in terms of data type support, support for stream information structure types is added, that is, support for structure data types containing key parameters of image streams, bit rate, frame rate, resolution and other information; Second, expand the QoS strategy to implement the way of binding DDS topic data with TSN channels for transmission to achieve link priority and gating settings and unify the deadline of DDS itself with the deadline of TSN network; Third, support language extension to realize the call of multi-language development services; Fourth, optimize data transmission efficiency by improving thread management, locking mechanism and memory allocation.

[0037] 5) Application layer: The application layer programs include two categories, providing common basic service modules for other applications and applications developed based on the vehicle system power domain, intelligent driving domain and other domains. The basic service modules include diagnostic services, health management services, protocol conversion services, data transmission services, storage services, interface display services, and resource collaborative management services. The applications include display management programs, monitoring management programs, and control programs.

[0038] The diagnostic service obtains the BMC module diagnostic information of each board and sends it to the health management service through the UDS protocol; the diagnostic service is deployed in the general computing module and is the server side of the health management service.

[0039] The protocol conversion service is deployed in the ECU module to realize the conversion between CAN and Ethernet, and between UART and Ethernet in the ECU, providing a basis for the CAN simulation control of the ECU module.

[0040] The data transmission service is a function for data transmission between various boards. It is not for a specific application, but for realizing time synchronization and data transmission of various boards in the data processing simulator.

[0041] The storage service is deployed in the storage module to realize database storage and file storage of application layer data of the general computing module, AI computing processor, and ECU module.

[0042] The resource collaborative management service is deployed in the general computing module to realize the orchestration and management of Docker. The Hongmeng system is deployed in Docker to realize the interface display service.

[0043] Display management programs include process monitoring management and keepalived.

[0044] The monitoring management program manages the various card processes of the system and realizes the function of switching redundancy of general computing modules and storage modules.

[0045] The control program can request the BMC-based diagnostic service of each board through the network to realize remote control of each board.

[0046] Embodiment 1:

[0047] A new vehicle electrical system based on TSN and DDS adopts a hierarchical architecture, including peripheral platform layer, hardware platform layer, system layer, middleware (AUTOSARAP) and application layer.

[0048] 1) Peripheral platform layer: The peripheral platform layer is the external vehicle domain, such as the power domain, chassis domain, intelligent frame domain, equipment domain, etc. It is also a special peripheral platform for the system.

[0049] 2) Hardware platform layer: The hardware platform layer of the system builds a new generation of vehicle electronic system architecture based on the intelligent network architecture, which mainly includes three parts: data processing simulator, communication controller (one in master and slave mode), and handset. The data processing simulator implements data calculation, storage, and service of the system simulation software. The communication controller is responsible for Ethernet data transmission. The handset is used as a remote control to access the entire system network to achieve remote communication.

[0050] 3) System layer: The system is deployed according to the different needs of each board. The handheld phone uses the Hongmeng system, the power module and the communication controller are not deployed with the system, and other boards use the Galaxy V10+RT / linux system / FREERTOS system. The general computing module uses the Galaxy V10+RT, and the car computer Hongmeng system is deployed through docker to implement the interface implementation service; the ECU module deploys the FREERTOS system.

[0051] 4) AUTOSAR middleware: It includes AUTOSAR, which complies with the common vehicle middleware architecture and has modules such as execution management, state management, communication management, platform health management, and diagnostic management.

[0052] Execution management is the No. 1 process of the AP platform, similar to the systemd service under the Linux system. Its core function is to maintain the life cycle of the entire AP platform process. Applications (processes) under the AP platform are required to be grouped according to functional groups, and each functional group has multiple states. The application must declare which functional group it belongs to and which state the process is registered in. When the functional group switches to a certain state, the process registered in that state will be pulled up, and the process not registered in that state will be terminated.

[0053] Platform health management is responsible for supervising applications based on AUTOSAR and created through IDE. When a supervised entity fails, platform health management will send the fault information to the execution management module. The execution management communicates with the state management to switch the functional group state and trigger the recovery operation.

[0054] State Management is responsible for determining its internal state based on information received from applications (including platform applications). It is the central point for receiving any operational events that may have an impact on its internal state. State Management evaluates these events and may request new functional group states or machine states from Execution Management. The functionality of State Management is highly project specific.

[0055] Function group state change requests can be triggered by several platform applications:

[0056] Platform health management triggers error recovery.

[0057] Adaptive diagnostics issues a system reset.

[0058] Update and configuration management switches the system to a state where software or configuration can be updated and the updates can be verified.

[0059] Diagnostic management is a functional cluster of the AUTOSAR adaptive platform, in which diagnostic event management (DEM) mainly provides diagnostic event services, handles diagnostic events, records operation cycle status, maintains DTC status and stores event data;

[0060] Communication management mainly provides diagnostic session management, diagnostic request forwarding and UDS service processing. In response to the needs of high-performance deterministic management and scheduling of business traffic in the integrated electronic control system of vehicles, an innovative deterministic time-sensitive network middleware based on DDS-TSN is proposed, which opens up the key path between hardware TSN deterministic communication and software DDS deterministic bus, and solves the key problems of overall real-time and deterministic hardware and software of the system.

[0061] 5) Application layer: The application layer programs include two categories, providing common basic service modules for other applications and applications developed based on the vehicle system power domain, intelligent driving domain and other domains. The basic service modules include diagnostic services, protocol conversion services, data transmission services, storage services, interface display services, and resource collaborative management services. The application programs include display management, monitoring management, and control programs.

[0062] The diagnostic service obtains the BMC module diagnostic information of each board and sends it to the health management through the UDS protocol; the diagnostic service is deployed in the general computing module and is the server side of the health management service.

[0063] The protocol conversion service is deployed in the ECU module to realize the conversion between CAN and Ethernet, and between UART and Ethernet in the ECU, providing a basis for the CAN simulation control of the ECU module.

[0064] The data transmission service is a function for data transmission between various boards. It is not for a specific application, but for realizing time synchronization and data transmission of various boards in the data processing simulator.

[0065] The storage service is deployed in the storage module to realize database storage and file storage of application layer data of the general computing module, AI computing processor, and ECU module.

[0066] The resource collaborative management service is deployed in the general computing module to realize the orchestration and management of Docker. The Hongmeng system is deployed in Docker to realize the interface display service.

[0067] Display management includes process monitoring management and keepalived.

[0068] Monitoring and management is to manage the various card processes of the system and realize the function of switching redundancy of general computing modules and storage modules.

[0069] The control program can request the BMC-based diagnostic service of each board through the network to realize remote control of each board.

[0070] Aiming at the needs of high-performance deterministic management and scheduling of business traffic in integrated electronic control systems of vehicles, the present invention adopts comprehensive measures from the system level, and provides a deterministic time-sensitive network middleware based on DDS-TSN through multi-dimensional collaboration of architecture, platform, middleware, operating system, etc., which opens up the key path between hardware TSN deterministic communication and software DDS deterministic bus, designs a new AUTOSAR vehicle electrical system based on DDS-TSN, and solves the key problems of overall real-time and deterministic hardware and software of the system.

[0071] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A new AUTOSAR vehicle electrical system based on DDS-TSN, characterized in that: The system includes: peripheral platform layer, hardware platform layer, system layer, middleware and application layer; The peripheral platform layer is the external vehicle domain; The hardware platform layer builds the in-vehicle electronic system architecture based on the intelligent network architecture, which includes three parts: data processor, communication controller and handset; The system layer deploys the system according to the different requirements of each board; The middleware is AUTOSAR based on the deterministic time-sensitive network of DDS-TSN, which has execution management module, state management module, communication management module, platform health management module and diagnosis management module; Application layer: includes common basic service modules for other applications and applications developed based on the power domain and intelligent driving domain of the vehicle system. The basic service modules include diagnostic services, health management services, protocol conversion services, data transmission services, storage services, interface display services, and resource collaborative management services. The applications include display management programs, monitoring management programs, and control programs.

2. The new AUTOSAR vehicle electrical system based on DDS-TSN as claimed in claim 1, characterized in that: The data processing simulator realizes the data calculation, storage and service of the system simulation software; The communication controller is responsible for Ethernet data transmission; the handset is used as a remote control to access the entire system network to achieve remote communication.

3. The new AUTOSAR vehicle electrical system based on DDS-TSN as claimed in claim 2, characterized in that: The handset uses the Hongmeng system, the power module and communication controller are not deployed with the system, other boards are Galaxy V10+RT / linux system / FREERTOS system, the general computing module uses Galaxy V10+RT, and the car machine Hongmeng system is deployed through docker to implement the interface service; the ECU module deploys the FREERTOS system.

4. The new AUTOSAR vehicle electrical system based on DDS-TSN as claimed in claim 3 is characterized in that: The execution management module is the No. 1 process of the AP platform and is responsible for maintaining the life cycle of the entire AP platform process. Applications under the AP platform are required to be grouped according to functional groups, and each functional group has multiple states. The application must declare which functional group it belongs to and which state the process is registered in; When the function group switches to a certain state, the processes registered to this state will be started, and the processes not registered to this state will be terminated.

5. The new AUTOSAR vehicle electrical system based on DDS-TSN as claimed in claim 3, characterized in that: The platform health management module is responsible for supervising applications based on AUTOSAR and created through IDE. When a supervised entity fails, the platform health management module will send the fault information to the execution management module. The execution management module communicates with the state management module to implement functional group state switching and trigger recovery operations.

6. The new AUTOSAR vehicle electrical system based on DDS-TSN as claimed in claim 3, characterized in that: The state management module is responsible for determining its internal state based on the information received from the application and is the central point for receiving any operational events that may have an impact on its internal state; the state management module evaluates these events and may request a new functional group state or machine state from the execution management module.

7. The new AUTOSAR vehicle electrical system based on DDS-TSN as claimed in claim 3, characterized in that: The diagnostic management module is a functional cluster of the AUTOSAR adaptive platform. The diagnostic management module includes diagnostic communication management, fault storage management, online diagnostic monitoring and diagnostic event management. The diagnostic event management DEM provides diagnostic event services, handles diagnostic events, records operation cycle status, maintains DTC status and stores event data.

8. The new AUTOSAR vehicle electrical system based on DDS-TSN as claimed in claim 3, characterized in that: The communication management module provides diagnostic session management, diagnostic request forwarding and UDS service processing; this module is based on the deterministic time-sensitive network middleware of DDS-TSN; the functional modules of topics and TSN channels are added to the DDS module, and the configuration of TSN data transmission functions also uses the QoS configuration method. Among them, both the DDS publisher and the DDS subscriber require QoS configuration. Developers only need to be familiar with DDS. By configuring TSN parameters in the DDS QoS, the DDS and TSN transmission functions can be realized.

9. The new AUTOSAR vehicle electrical system based on DDS-TSN as claimed in claim 8, characterized in that: In the use of DDS-TSN real-time function, first, by modifying the DDS kernel to configure QoS to unify the deadline of DDS itself and the deadline of the TSN network, not only the real-time of data is guaranteed at the application layer, but also the real-time of data is guaranteed at the transport layer; in addition, the link priority and gating settings are implemented by binding the DDS subject data with the TSN channel for transmission, and the binding of the subject with the TSN channel is completed by modifying the DDS kernel to configure QoS. During the data transmission process, the DDS kernel module directly transmits the data according to the TSN channel specified by QoS, which ensures the real-time and validity of the data from the bottom layer; modifying the DDS kernel requires completing four aspects of work: First, in terms of data type support, add support for the stream information structure type, that is, support the structure data type containing the key parameters of the image stream, bit rate, frame rate, and resolution information; Second, extend the QoS strategy to implement the link priority and gating settings by binding the DDS subject data with the TSN channel for transmission, and unify the deadline of DDS itself and the deadline of the TSN network; Third, support language extension to realize the call of multi-language development services; 4. Optimize data transmission efficiency by improving thread management, locking mechanism and memory allocation.

10. The new AUTOSAR vehicle electrical system based on DDS-TSN as claimed in claim 9, characterized in that: In the application layer, The diagnostic service obtains the BMC module diagnostic information of each board and sends it to the health management service through the UDS protocol; The diagnostic service is deployed in the general computing module and is the server side of the health management service; The protocol conversion service is deployed in the ECU module to realize the conversion between CAN and Ethernet, and between UART and Ethernet in the ECU, providing a basis for the CAN simulation control of the ECU module; The data transmission service is the function of data transmission between various boards, realizing the time synchronization and data transmission of various boards in the data processing simulator; The storage service is deployed in the storage module to realize database storage and file storage of application layer data of the general computing module, AI computing processor, and ECU module; The resource collaborative management service is deployed in the general computing module to realize the orchestration and management of Docker. The Hongmeng system is deployed in Docker to realize the interface display service. Display management programs include process monitoring management and keepalived; The monitoring management program manages the various card processes of the system and implements the function of switching redundancy of general computing modules and storage modules; The control program requests the BMC-based diagnostic service of each board through the network to realize remote control of each board.

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