Intelligent networked passenger car network system architecture design method based on link redundancy

Abstract

The invention discloses an intelligent networked passenger car network system architecture design method based on link redundancy, which comprises the following steps of: constructing a CAN (Controller Area Network) line network module and a vehicle-mounted Ethernet module, and connecting a plurality of control nodes in a passenger car to obtain a connection link; judging connection link connectivity and transmission quality of the plurality of control nodes by utilizing a heartbeat packet mechanism to obtain link quality; and carrying out link switching according to the link quality to obtain the network system architecture of the intelligent networked passenger car. The invention relates to the technical field of intelligent traffic, and solves the technical problems of low error-tolerant rate, insufficient reliability and easy threat to driving safety of the existing single-chain design or double-chain design during link fault.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent transportation and relates to link design technology, and specifically is a method for designing a network system architecture of an intelligent networked bus based on link redundancy. Background Art

[0002] With the rapid development of automobile intelligence and networking, intelligent networked buses have emerged. As its core support, the network system of intelligent networked buses undertakes the data transmission and interaction tasks between the electronic control units (ECUs) inside the vehicle and between the vehicle and the external environment (such as the cloud, other vehicles, infrastructure, etc.). Through this network system, the vehicle can realize rich functions such as automatic driving assistance, intelligent scheduling, remote monitoring and diagnosis, and infotainment, which greatly improves the operating efficiency, safety and riding comfort of the bus.

[0003] In traditional bus network systems, some adopt a single-chain design, that is, the network link is a single path. This design method is extremely vulnerable to link failures. Once a link in the network is physically damaged (such as the cable is squeezed or broken), electrically faulty (such as short circuit, open circuit), or subject to external electromagnetic interference, the entire network communication will be seriously affected or even interrupted. Moreover, under the single-chain design, the system lacks an effective fault-tolerant mechanism. Once a link failure occurs, manual troubleshooting and repair are often required, which not only increases the vehicle maintenance cost, but may also cause the vehicle to be out of service for a long time, affecting operational efficiency.

[0004] In order to solve the reliability problem of single-link design, some bus network systems have introduced backup link design. However, the existing backup link design generally has the disadvantage of low resource utilization. Under normal working conditions, the backup link is usually idle and not fully utilized. For example, in some bus network systems that adopt dual CAN bus redundancy design, the main CAN bus undertakes all data transmission tasks, and the backup CAN bus is only switched and put into use when the main link fails. This means that during most of the vehicle's operating time, the hardware resources such as cables and interfaces occupied by the backup link and the related software configuration resources are wasted, increasing the vehicle's manufacturing cost and system complexity. At the same time, since the backup link has not been used for a long time, its reliability is difficult to be effectively verified in actual operation. Once the main link fails and needs to be switched to the backup link, it may not work normally due to the potential failure of the backup link itself, affecting the reliability of the system. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art; to this end, the present invention proposes a method for designing an intelligent connected bus network system architecture based on link redundancy, which is used to solve the technical problems of low fault tolerance, insufficient reliability and easy threat to driving safety in the existing single-chain design or dual-chain design when a link fails.

[0006] To achieve the above object, the present invention provides a method for designing a network system architecture of an intelligent connected bus based on link redundancy, comprising: S1, constructing a CAN line network module and an on-board Ethernet module, connecting several control nodes in the bus to obtain a connection link; S2, using the heartbeat packet mechanism, determines the connectivity and transmission quality of the connection links of several control nodes to obtain the link quality; S3, link switching is performed according to the link quality to obtain the network system architecture of the intelligent connected bus.

[0007] Furthermore, the intelligent networked bus system includes several control nodes, wherein: Central computing unit: used to receive and process data from other control nodes, and to coordinate and manage; Intelligent cockpit domain controller: used to control the in-vehicle driving environment; Autonomous driving domain controller: used to receive and process data from several sensors of the vehicle and control the autonomous driving of the vehicle; Internet of Vehicles Terminal: Used to communicate with the intelligent connected bus platform, other buses, infrastructure and cloud platforms through wireless networks.

[0008] Furthermore, the several control nodes deploy edge computing nodes for processing the received data of the several control nodes and making real-time decisions according to preset rules and algorithms.

[0009] Edge computing nodes process data close to the data source, reducing data transmission volume and latency, alleviating the computing pressure on the central computing unit, and improving system response speed. They also enhance system autonomy through real-time decision-making functions, maintaining basic vehicle functions when the network is unstable, and ensuring the reliability and safety of vehicle operation.

[0010] Furthermore, the CAN line network module comprises: Use industrial-grade CAN controllers and high-speed CAN transceivers to receive and transmit data; Using bus topology, several control nodes are connected to the CAN bus through shielded twisted pair cables; Data transmission and analysis are performed according to the ISO11898-1 / -2 (CAN / CANFD) standard to obtain the CAN line network module.

[0011] Furthermore, the vehicle-mounted Ethernet module comprises: Use the on-board switch and Ethernet interface controller supporting Gigabit Ethernet to process and exchange data; Using a star topology, several control nodes are connected to the on-board switch via unshielded twisted pair cables or optical fibers; According to the IEEE802.3 standard, the TCP / IP protocol stack is used to process data to obtain an in-vehicle Ethernet module.

[0012] The CAN line network module uses industrial-grade hardware, bus topology and standard communication protocols to ensure high-speed, stable data transmission and accurate analysis; the vehicle Ethernet module uses high-performance hardware, star topology and standard protocols to provide high bandwidth and transmission speed. The combination of the two modules meets the needs of large-scale data transmission and complex communication of intelligent networked buses, and improves network communication performance.

[0013] Furthermore, the connecting of the plurality of control nodes includes: The central computing unit is connected to the smart cockpit domain controller via links (1)-(2) and an Ethernet link (5); The central computing unit is connected to the autonomous driving domain controller via CAN links (1)-(3) and CAN link (4); The smart cockpit domain controller and the Internet of Vehicles terminal are connected via an Ethernet link (7); The smart cockpit domain controller and the autonomous driving domain controller are connected via links (2)-(3) and an Ethernet link (6); The Internet of Vehicles terminal and the autonomous driving domain controller are connected via an Ethernet link (8).

[0014] The design of redundant links improves the fault tolerance of the system. When a link fails, other links can continue to work, ensuring uninterrupted communication between control nodes and maintaining the stable operation of the intelligent connected bus network system.

[0015] Further, the determining of the connectivity and transmission quality of the connection links of the plurality of control nodes includes: S2-1, each control node periodically sends a heartbeat packet containing a timestamp to other control nodes through a connection link, and obtains a number of received heartbeat packets; S2-2, counting the number, bit error rate and packet loss rate of several received heartbeat packets of each control node to obtain evaluation data; S2-3, judging the connectivity and transmission quality of the connection link according to the evaluation data, and obtaining the link quality.

[0016] Further, judging the connectivity and transmission quality of the connection link according to the evaluation data includes: When the sum of the bit error rate and the packet loss rate is less than or equal to the preset tolerance threshold, the connectivity and transmission quality of the connection link are judged to be excellent, and according to the formula Q=(N / N max )·e -(E+L) The link quality Q is calculated; where N represents the number of heartbeat packets received, N max Indicates the theoretical maximum number of heartbeat packets received, E indicates the bit error rate, and L indicates the packet loss rate; When the sum of the bit error rate and the packet loss rate is greater than the preset tolerance threshold, the connectivity and transmission quality of the link are judged to be poor, and the quality of the link is determined according to the formula Q=(N / N max ) / (1+E+LT) to calculate the link quality; where T represents the preset tolerance threshold.

[0017] Based on the comparison of bit error rate and packet loss rate with preset thresholds, different formulas are used to calculate link quality, making link quality assessment more targeted and scientific, reflecting the actual status of the link more accurately, and providing more accurate judgment criteria for link switching decisions.

[0018] Further, the link switching according to the link quality includes: Determine whether the link quality is less than a preset quality threshold; If yes, the link is determined to be faulty, and the link with the highest link quality is selected from the backup links for switching; If not, the link is determined to be normal, and the link with the highest link quality is selected from the connected links for switching.

[0019] Furthermore, the method for acquiring the backup link includes: When the CAN link (1) fails, the backup link between the central computing unit and the smart cockpit domain controller is: Ethernet link (5), and the backup link between the central computing unit and the autonomous driving domain controller is: CAN link (4); When the CAN link (2) fails, the backup link between the smart cockpit domain controller and the central computing unit is: Ethernet link (5), and the backup link between the smart cockpit domain controller and the autonomous driving domain controller is: Ethernet link (6); When the CAN link (3) fails, the backup link between the autonomous driving domain controller and the smart cockpit domain controller is: an Ethernet link (6), and the backup link between the autonomous driving domain controller and the central computing unit is: a CAN link (4); When the CAN link (4) fails, the backup links between the central computing unit and the autonomous driving domain controller are: CAN links (1)-(3) and Ethernet links (5)-(6); When the Ethernet link (5) fails, the backup links between the central computing unit and the smart cockpit domain controller include: CAN link (1)-(2), CAN link (1)-(3)-Ethernet link (6), CAN link (1)-(3)-Ethernet link (8)-(7), CAN link (4)-Ethernet link (6), CAN link (4)-Ethernet link (8)-(7); When the Ethernet link (6) fails, the backup links between the autonomous driving domain controller and the intelligent cockpit domain controller include: CAN link (3)-(2), CAN link (3)-(1)-Ethernet link (5), CAN link (4)-Ethernet link (5), Ethernet link (8)-(7); When the Ethernet link (7) fails, the backup links between the smart cockpit domain controller and the Internet of Vehicles terminal include: Ethernet link (6)-(8), Ethernet link (5)-CAN link (4)-Ethernet link (8); When the Ethernet link (8) fails, the backup links between the Internet of Vehicles terminal and the autonomous driving domain controller include: Ethernet link (7)-(6), Ethernet link (7)-(5)-CAN link (4).

[0020] According to the redundant design of the link, a backup link is obtained when a link fails, providing a clear path for link switching, which can respond quickly when a link fails, reduce communication interruption time, and improve the fault tolerance and reliability of the intelligent connected bus network system.

[0021] Compared with the prior art, the present invention has the following beneficial effects: In terms of network reliability, the present invention forms a multi-module multi-link redundant architecture by constructing a CAN line network module and an on-board Ethernet module, and each control node has multiple connection links with different media and routes. This means that when a link fails, the system can quickly and intelligently identify and switch to a backup link, ensuring seamless and continuous data transmission between the central computing unit, the intelligent cockpit domain controller, and the autonomous driving domain controller, greatly enhancing the robustness of the bus communication system and ensuring stable vehicle operation and passenger safety; In terms of data processing and system function optimization, the deployed edge computing nodes pre-process the data and make real-time decisions, which reduces the burden on the central computing unit, improves data processing efficiency and system response speed, and enables the vehicle to respond to various situations more promptly and accurately; at the same time, the functions of each control node work together to improve the intelligence and networking level of the vehicle and optimize the user experience; in addition, the CAN line network module and the on-board Ethernet module respectively use adaptive hardware, topology and communication protocols to meet the needs of large-scale data transmission and complex communication, and ensure communication performance; and use the heartbeat packet mechanism to monitor the link status, and ensure that the network is always in a good communication state based on scientific evaluation and switching strategies, further improving the stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A technical flow chart of a method for designing a network system architecture of an intelligent connected bus based on link redundancy provided by the present invention; Figure 2 A schematic diagram of the architecture of the intelligent connected bus network system provided by the present invention. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] See also Figure 1 - Figure 2 The embodiment of the present invention provides a method for designing a network system architecture of an intelligent connected bus based on link redundancy, comprising: S1, constructing a CAN line network module and an on-board Ethernet module, connecting several control nodes in the bus to obtain a connection link; In this embodiment, the construction of the intelligent network-connected bus network system involves a CAN line network module and an on-board Ethernet module; when the CAN line network module is constructed, the hardware uses an industrial-grade CAN controller (such as NXP's S32K series) and a high-speed CAN transceiver (such as Bosch's CANFD transceiver) to ensure high-speed and stable data transmission; a bus topology is adopted to connect the central computing unit, intelligent cockpit domain controller, automatic driving domain controller and other control nodes in the bus through shielded twisted pair (STP); the communication protocol follows the ISO 11898-1 / -2 (CAN / CAN FD) standard to ensure correct data transmission and analysis; In terms of the construction of the in-vehicle Ethernet module, the hardware configuration uses an in-vehicle switch that supports Gigabit Ethernet (such as Broadcom's in-vehicle Ethernet switch) and an Ethernet interface controller (such as Intel's I210 Ethernet controller) to meet the network bandwidth and transmission speed requirements; a star topology is adopted, and each node (such as the central computing unit, smart cockpit domain controller, and Internet of Vehicles terminal, etc.) is connected to the switch via an unshielded twisted pair (UTP) or optical fiber; the communication protocol follows the IEEE802.3 standard, uses the TCP / IP protocol stack and supports IPv4 and IPv6 to ensure network interoperability and scalability; The communication module in this embodiment fully considers the network requirements of intelligent connected buses from hardware selection to architecture construction and then to communication protocol compliance, ensuring efficient and stable operation of the system.

[0026] In this embodiment, the control nodes in step S1 are key components of the intelligent connected bus system, specifically including: Central computing unit: As the core of the entire network system, it receives and processes data from other control nodes, coordinates and manages the work of various domain controllers and Internet of Vehicles terminals, and coordinates the operation of the entire intelligent connected bus system.

[0027] Intelligent cockpit domain controller: controls the in-vehicle driving environment, is responsible for various intelligent devices and functions in the cockpit, and provides passengers with a comfortable riding experience.

[0028] Autonomous driving domain controller: Receives and processes data from several vehicle sensors to realize autonomous driving functions, covering environmental perception, decision-making and planning, and ensuring the safety and stability of vehicle autonomous driving.

[0029] Internet of Vehicles Terminal: Communicates with the intelligent connected bus platform, other buses, infrastructure and cloud platforms through wireless networks to achieve information sharing and collaborative work, allowing buses to integrate into the intelligent transportation network.

[0030] Among them, the control nodes in the system are deployed with edge computing nodes for preliminary processing and analysis of data close to the data source. It can reduce the computing burden of the central computing unit and improve the system's response speed and data processing efficiency. For example, for a large amount of sensor data transmitted by the autonomous driving domain controller, the edge computing node can first perform pre-processing operations such as data filtering and feature extraction, and only transmit critical and valuable data to the central computing unit, reducing the amount of data transmission and delay. At the same time, the edge computing node can also make real-time decisions based on preset rules and algorithms, realize some local control functions, and improve the autonomy and reliability of the system. In the event of an unstable or interrupted network connection, the edge computing node can continue to work independently to ensure that the basic functions of the vehicle are not affected.

[0031] When the intelligent networked bus is running, the central computing unit needs to frequently exchange a large amount of data with the intelligent cockpit domain controller, the autonomous driving domain controller, etc. For example, the central computing unit needs to obtain the sensor data processed by the autonomous driving domain controller in a timely manner to make decisions, and transmit control instructions to the intelligent cockpit domain controller at the same time. If it relies only on a single link, once the link fails, data transmission will be interrupted, which will seriously affect the normal operation of the bus and even endanger driving safety; Therefore, in order to ensure the high reliability and stability of communication of intelligent networked buses in complex driving environments and meet the stringent requirements of real-time and efficient transmission of massive data between various control nodes in the vehicle, this embodiment uses a CAN line network module and an on-board Ethernet module to connect several control nodes of the system on the basis of the intelligent networked bus system, and designs a link structure with redundant backup capabilities. The specific connection method is as follows: like Figure 2 As shown, the central computing unit is connected to the intelligent cockpit domain controller via links (1)-(2) and an Ethernet link (5); The central computing unit is connected to the autonomous driving domain controller via CAN links (1)-(3) and CAN link (4); The smart cockpit domain controller and the Internet of Vehicles terminal are connected via an Ethernet link (7); The smart cockpit domain controller and the autonomous driving domain controller are connected via links (2)-(3) and Ethernet link (6); The Internet of Vehicles terminal and the autonomous driving domain controller are connected via an Ethernet link (8).

[0032] This multi-link design can greatly improve the overall fault tolerance of the system, allowing the intelligent connected bus system to operate stably under various working conditions, providing solid guarantees for the vehicle's intelligent control and safe driving.

[0033] S2, using the heartbeat packet mechanism, determines the connectivity and transmission quality of the connection links of several control nodes between the communication modules to obtain the link quality; In this embodiment, determining the link quality may include the following steps: Step S2-1: Send a heartbeat packet; In the communication system of intelligent networked buses, each control node (such as the central computing unit, intelligent cockpit domain controller, autonomous driving domain controller, Internet of Vehicles terminal, etc.) will send a heartbeat packet containing a timestamp to other control nodes through their respective connection links (links formed by CAN line network modules or vehicle Ethernet modules) at a pre-set fixed time interval. The role of the timestamp is to record the specific time when the heartbeat packet is sent, which is helpful for the subsequent analysis of the delay of data transmission. After a period of time, each control node will receive several heartbeat packets from other control nodes. These heartbeat packets are called received heartbeat packets; Step S2-2: Statistical evaluation data; Each control node will perform detailed statistical analysis on the heartbeat packets it receives. The specific statistical content includes: Number of heartbeat packets: counts the actual number of heartbeat packets received within a certain period of time; Bit error rate: Calculate the ratio of the number of data packets with incorrect encoding in the received heartbeat packets to the total number of received data packets. Bit errors are usually caused by signal interference, transmission medium problems, etc., which lead to errors in the data bits in the data packets; Packet loss rate: Statistics show the ratio of the number of heartbeat packets that should be received but are not actually received within a certain period of time to the number of packets that should be received theoretically. Packet loss may be caused by network congestion, link failure, etc. By counting these data, we can obtain evaluation data for evaluating the status of the connection link; Step S3-3: Determine link quality; According to the evaluation data obtained in step S2-2, the connectivity and transmission quality of the connection link are judged: When the connectivity and transmission quality are good: When the sum of the bit error rate and the packet loss rate is less than or equal to the preset tolerance threshold T, it means that the connection link is in good condition, and the connectivity and transmission quality are at a high level. At this time, according to the formula Q=(N / N max )·e -(E+L) Calculate the link quality; where N represents the number of heartbeat packets received, N max represents the theoretical maximum number of heartbeat packets received, E represents the bit error rate, and L represents the packet loss rate. This formula quantitatively evaluates the link quality in the form of an exponential function. The more the number of heartbeat packets received, the lower the bit error rate and packet loss rate, and the higher the link quality Q value. Connectivity and transmission quality are poor: When the sum of the bit error rate and packet loss rate is greater than the preset tolerance threshold T, it indicates that there may be some problems with the connection link, and the connectivity and transmission quality are poor. At this time, according to the formula Q=(N / N max ) / (1+E+LT) to calculate the link quality; by adding the bit error rate, packet loss rate and the difference with the preset tolerance threshold into the denominator, the value of the link quality Q decreases significantly with the increase of the bit error rate and packet loss rate, which more accurately reflects the poor link status.

[0034] It should be noted that the preset tolerance threshold T is obtained through historical experience and is usually 0.2; In this embodiment, different formulas are used to calculate link quality based on the comparison result of the sum of the bit error rate and the packet loss rate with the preset tolerance threshold, which can better adapt to different link states. The good and poor link quality situations are processed separately, making the evaluation result more accurate and reasonable. The system can make more optimized decisions according to the actual situation, providing accurate data support for subsequent link switching and other operations.

[0035] S3, link switching is performed according to the link quality to obtain the network system architecture of the intelligent connected bus.

[0036] In this embodiment, performing link switching according to link quality may include the following steps: First, the system will compare the link quality of each connection link previously evaluated through the heartbeat packet mechanism with the preset quality threshold; the preset quality threshold is a pre-set standard value to measure whether the link is working properly. It is determined according to the performance requirements and actual application scenarios of the intelligent connected bus network system and can be obtained through historical experience; If the link quality of a connection link is less than the preset quality threshold, the system determines that the link is faulty. At this time, the system will select the backup link with the highest link quality from the pre-determined backup link set and switch it to ensure that data can be transmitted stably and efficiently on the new link; If the link quality of a connection link is greater than or equal to the preset quality threshold, the system determines that the link is normal. However, in order to further optimize network performance, the system will still select the link with the highest link quality from all current connection links (including the links in use and other available links) for switching, which helps to make full use of network resources and improve the efficiency and stability of data transmission; Once the link to be switched is determined, the system will automatically adjust the communication path and transfer data transmission from the original link to the newly selected link, thereby completing the link switching operation and realizing dynamic optimization of the network system architecture of intelligent connected buses.

[0037] When a link fails, a backup link can be obtained according to the link design, including: When the CAN link (1) fails, the backup link between the central computing unit and the intelligent cockpit domain controller is: Ethernet link (5), and the backup link between the central computing unit and the autonomous driving domain controller is: CAN link (4); When the CAN link (2) fails, the backup link between the smart cockpit domain controller and the central computing unit is the Ethernet link (5), and the backup link between the smart cockpit domain controller and the autonomous driving domain controller is the Ethernet link (6); When the CAN link (3) fails, the backup link between the autonomous driving domain controller and the intelligent cockpit domain controller is the Ethernet link (6), and the backup link between the autonomous driving domain controller and the central computing unit is the CAN link (4). When the CAN link (4) fails, the backup links between the central computing unit and the autonomous driving domain controller are: CAN links (1)-(3) and Ethernet links (5)-(6); When the Ethernet link (5) fails, the backup links between the central computing unit and the intelligent cockpit domain controller include: CAN link (1)-(2), CAN link (1)-(3)-Ethernet link (6), CAN link (1)-(3)-Ethernet link (8)-(7), CAN link (4)-Ethernet link (6), CAN link (4)-Ethernet link (8)-(7); When the Ethernet link (6) fails, the backup links between the autonomous driving domain controller and the intelligent cockpit domain controller include: CAN link (3)-(2), CAN link (3)-(1)-Ethernet link (5), CAN link (4)-Ethernet link (5), Ethernet link (8)-(7); When the Ethernet link (7) fails, the backup links between the smart cockpit domain controller and the Internet of Vehicles terminal include: Ethernet link (6)-(8), Ethernet link (5)-CAN link (4)-Ethernet link (8); When the Ethernet link (8) fails, the backup links between the Internet of Vehicles terminal and the autonomous driving domain controller include: Ethernet link (7)-(6), Ethernet link (7)-(5)-CAN link (4).

[0038] Based on the above design method, the present invention realizes a highly reliable and stable intelligent network-connected bus network system architecture. By constructing a CAN line network module and an on-board Ethernet module, several control nodes in the bus are connected to form a redundant connection link, which greatly reduces the risk of communication interruption caused by a single link failure. The heartbeat packet mechanism is used to judge the connectivity and transmission quality of the connection links of several control nodes between the communication modules in real time, and problems with the link can be discovered in time. Once poor link quality is detected, the link is quickly switched according to the link quality to ensure the continuity and stability of data transmission, ensuring that various control instructions and sensor data can be accurately and quickly transmitted during the driving process of the intelligent network-connected bus, providing a solid network foundation for the intelligent control and safe operation of the bus.

[0039] Part of the data in the above formula is calculated by removing the dimension and taking its numerical value. The formula is a formula closest to the actual situation obtained by software simulation of a large amount of collected data; the preset parameters and preset thresholds in the formula are set by technical personnel in this field according to actual conditions or obtained through simulation of a large amount of data.

[0040] Working principle of the present invention: Construct CAN line network modules and vehicle Ethernet modules to connect control nodes such as the central computing unit, intelligent cockpit domain controller, autonomous driving domain controller, and vehicle networking terminal in the bus to form a connection link, laying the foundation for data transmission; Using the heartbeat packet mechanism, each control node sends a heartbeat packet with a timestamp to other nodes through the connection link at a fixed interval. The receiver counts the number of heartbeat packets, bit error rate, packet loss rate and other evaluation data, and quantifies the link status according to the formula; Compare link quality with preset quality thresholds and perform dynamic link switching to ensure stable data transmission and improve network system performance and reliability.

[0041] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A method for designing a network system architecture of an intelligent connected bus based on link redundancy, characterized in that: include: S1, constructing a CAN line network module and an on-board Ethernet module, connecting several control nodes in the bus to obtain a connection link; S2, using the heartbeat packet mechanism, determines the connectivity and transmission quality of the connection links of several control nodes to obtain the link quality; S3, link switching is performed according to the link quality to obtain the network system architecture of the intelligent connected bus.

2. The method for designing a network system architecture of an intelligent connected bus based on link redundancy according to claim 1, characterized in that: The intelligent network-connected bus network system architecture includes several control nodes, among which: Central computing unit: used to receive and process data from other control nodes, and to coordinate and manage; Intelligent cockpit domain controller: used to control the in-vehicle driving environment; Autonomous driving domain controller: used to receive and process data from several sensors of the vehicle and control the autonomous driving of the vehicle; Internet of Vehicles Terminal: Used to communicate with the intelligent connected bus platform, other buses, infrastructure and cloud platforms through wireless networks.

3. The method for designing a network system architecture of an intelligent connected bus based on link redundancy according to claim 2 is characterized in that: The connecting of several control nodes in the bus includes: The central computing unit is connected to the smart cockpit domain controller via links (1)-(2) and an Ethernet link (5); The central computing unit is connected to the autonomous driving domain controller via CAN links (1)-(3) and CAN link (4); The smart cockpit domain controller and the Internet of Vehicles terminal are connected via an Ethernet link (7); The smart cockpit domain controller and the autonomous driving domain controller are connected via links (2)-(3) and an Ethernet link (6); The Internet of Vehicles terminal and the autonomous driving domain controller are connected via an Ethernet link (8).

4. The method for designing a network system architecture of an intelligent connected bus based on link redundancy according to claim 1, characterized in that: The determining of the connectivity and transmission quality of the connection links of the plurality of control nodes comprises: S2-1, each control node periodically sends a heartbeat packet containing a timestamp to other control nodes through a connection link, and obtains a number of received heartbeat packets; S2-2, counting the number, bit error rate and packet loss rate of several received heartbeat packets of each control node to obtain evaluation data; S2-3, judging the connectivity and transmission quality of the connection link according to the evaluation data, and obtaining the link quality.

5. The method for designing a network system architecture of an intelligent connected bus based on link redundancy according to claim 4 is characterized in that: The determining, based on the evaluation data, connectivity and transmission quality of the connection link comprises: When the sum of the bit error rate and the packet loss rate is less than or equal to the preset tolerance threshold, the connectivity and transmission quality of the connection link are judged to be excellent, and according to the formula Q=(N / N max )×e -(E+L) The link quality Q is calculated; where N represents the number of heartbeat packets received, N max Indicates the theoretical maximum number of heartbeat packets received, E indicates the bit error rate, and L indicates the packet loss rate; When the sum of the bit error rate and the packet loss rate is greater than the preset tolerance threshold, the connectivity and transmission quality of the link are judged to be poor, and the quality of the link is determined according to the formula Q=(N / N max ) / (1+E+LT) to calculate the link quality; where T represents the preset tolerance threshold.

6. The method for designing a network system architecture of an intelligent connected bus based on link redundancy according to claim 2, characterized in that: The link switching according to the link quality includes: Determine whether the link quality is less than a preset quality threshold; If yes, the link is determined to be faulty, and the link with the highest link quality is selected from the backup links for switching; If not, the link is determined to be normal, and the link with the highest link quality is selected from the connected links for switching.

7. The method for designing a network system architecture of an intelligent connected bus based on link redundancy according to claim 6, characterized in that: The method for acquiring the backup link includes: When the CAN link (1) fails, the backup link between the central computing unit and the smart cockpit domain controller is: Ethernet link (5), and the backup link between the central computing unit and the autonomous driving domain controller is: CAN link (4); When the CAN link (2) fails, the backup link between the smart cockpit domain controller and the central computing unit is: Ethernet link (5), and the backup link between the smart cockpit domain controller and the autonomous driving domain controller is: Ethernet link (6); When the CAN link (3) fails, the backup link between the autonomous driving domain controller and the smart cockpit domain controller is: an Ethernet link (6), and the backup link between the autonomous driving domain controller and the central computing unit is: a CAN link (4); When the CAN link (4) fails, the backup links between the central computing unit and the autonomous driving domain controller are: CAN links (1)-(3) and Ethernet links (5)-(6); When the Ethernet link (5) fails, the backup links between the central computing unit and the smart cockpit domain controller include: CAN link (1)-(2), CAN link (1)-(3)-Ethernet link (6), CAN link (1)-(3)-Ethernet link (8)-(7), CAN link (4)-Ethernet link (6), CAN link (4)-Ethernet link (8)-(7); When the Ethernet link (6) fails, the backup links between the autonomous driving domain controller and the intelligent cockpit domain controller include: CAN link (3)-(2), CAN link (3)-(1)-Ethernet link (5), CAN link (4)-Ethernet link (5), Ethernet link (8)-(7); When the Ethernet link (7) fails, the backup links between the smart cockpit domain controller and the Internet of Vehicles terminal include: Ethernet link (6)-(8), Ethernet link (5)-CAN link (4)-Ethernet link (8); When the Ethernet link (8) fails, the backup links between the Internet of Vehicles terminal and the autonomous driving domain controller include: Ethernet link (7)-(6), Ethernet link (7)-(5)-CAN link (4).

8. The method for designing a network system architecture of an intelligent connected bus based on link redundancy according to claim 1, characterized in that: The CAN line network module comprises: Use industrial-grade CAN controllers and high-speed CAN transceivers to receive and transmit data; Using bus topology, several control nodes are connected to the CAN bus through shielded twisted pair cables; Data transmission and analysis are performed according to ISO 11898-1 and ISO 11898-2 protocol specifications to obtain a CAN network module.

9. The method for designing a network system architecture of an intelligent connected bus based on link redundancy according to claim 1, characterized in that: The vehicle-mounted Ethernet module comprises: Use the on-board switch and Ethernet interface controller supporting Gigabit Ethernet to process and exchange data; Using a star topology, several control nodes are connected to the on-board switch via unshielded twisted pair cables or optical fibers; According to the IEEE802.3 standard, the TCP / IP protocol stack is used to process data to obtain an in-vehicle Ethernet module.

10. The method for designing a network system architecture of an intelligent connected bus based on link redundancy according to claim 1, characterized in that: The several control nodes deploy edge computing nodes for processing the received data of the several control nodes and making real-time decisions according to preset rules and algorithms.

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