An intelligent connected bus network system architecture design method based on link redundancy

Abstract

The present invention discloses a design method for the network system architecture of an intelligent connected bus based on link redundancy, including: constructing a CAN line network module and an in-vehicle Ethernet module, connecting several control nodes in the bus to obtain a connection link; using a heartbeat packet mechanism to judge the connectivity and transmission quality of the connection links of several control nodes to obtain link quality; performing link switching according to the link quality to obtain the network system architecture of the intelligent connected bus. The present invention relates to the technical field of intelligent transportation, and solves the technical problems of low fault tolerance, insufficient reliability, and easy threat to driving safety existing in the existing single-link design or double-link design in case of link failure.

Description

Technical Field

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

[0002] With the rapid development of automotive intelligence and networking, intelligent connected buses have emerged as the times require. As the core support of such buses, the network system undertakes the tasks of data transmission and interaction between various in-vehicle electronic control units (ECUs) and between the vehicle and the external environment (such as the cloud, other vehicles, infrastructure, etc.). Through this network system, the vehicle can achieve rich functions such as autonomous driving assistance, intelligent scheduling, remote monitoring and diagnosis, and infotainment, greatly improving the operation efficiency, safety, and riding comfort of the bus.

[0003] In traditional bus network systems, some adopt single-link design, that is, the network link is a single path. This design method shows great vulnerability in the face of link failures. Once a certain section of the link in the network suffers physical damage (such as the cable being squeezed or broken), electrical faults (such as short circuits or open circuits), or external electromagnetic interference, the entire network communication will be severely affected or even interrupted. Moreover, under the single-link design, the system lacks an effective fault tolerance mechanism. Once a link failure occurs, it often requires manual fault troubleshooting and repair, which not only increases the vehicle maintenance cost but also may lead to a long vehicle outage, affecting the operation efficiency.

[0004] To solve the reliability problem of single-link design, some bus network systems have introduced standby link design. However, the existing standby link designs generally have the drawback of low resource utilization. In the normal working state, the standby link is usually in an idle state and not fully utilized. For example, in some bus network systems adopting dual CAN bus redundancy design, the main CAN bus undertakes all data transmission tasks, and the standby CAN bus is only switched to use when the main link fails. This means that during most of the vehicle's running time, the hardware resources such as cables and interfaces occupied by the standby link and the associated software configuration resources are wasted, increasing the vehicle manufacturing cost and system complexity. At the same time, due to the long-term non-use of the standby link, its reliability is also difficult to be effectively verified in actual operation. Once the main link fails and needs to be switched to the standby link, it may not work properly due to potential faults in the standby link itself, affecting the system reliability. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art; for this purpose, the present invention proposes a design method for the 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 existing in the existing single-link design or double-link design when a link fails.

[0006] To achieve the above object, the present invention provides a design method for the intelligent connected bus network system architecture based on link redundancy, including:

[0007] S1, constructing a CAN line network module and an in-vehicle Ethernet module, connecting several control nodes in the bus to obtain a connection link;

[0008] S2, using the heartbeat packet mechanism to judge the connectivity and transmission quality of the connection links of several control nodes to obtain the link quality;

[0009] S3, performing link switching according to the link quality to obtain the intelligent connected bus network system architecture.

[0010] Further, the intelligent connected bus system includes several control nodes, among which,

[0011] Central computing unit: used to receive and process data from other control nodes, and perform coordination and management;

[0012] Intelligent cockpit domain controller: used to control the driving environment in the vehicle;

[0013] Autopilot domain controller: used to receive and process data from several sensors of the vehicle, and control the autopilot of the vehicle;

[0014] Vehicle networking terminal: used to communicate with the intelligent connected bus platform, other buses, infrastructure, and cloud platform through wireless networks.

[0015] Further, edge computing nodes are deployed on the several control nodes, which are used to process the received data of the several control nodes and make real-time decisions according to preset rules and algorithms.

[0016] The edge computing nodes process data close to the data source, reduce the data transmission volume and delay, reduce the computing pressure on the central computing unit, and improve the system response speed; and enhance the system autonomy through the real-time decision-making function, and can still maintain the basic functions of the vehicle when the network is unstable, ensuring the reliability and safety of vehicle operation.

[0017] Further, the CAN line network module includes:

[0018] Receiving and transmitting data by using an industrial-grade CAN controller and a high-speed CAN transceiver;

[0019] Adopt a bus topology structure, and connect several control nodes to the CAN bus through shielded twisted pair wires;

[0020] Transmit and analyze data according to the ISO11898-1 / -2 (CAN / CANFD) standard to obtain the CAN line network module.

[0021] Furthermore, the in-vehicle Ethernet module includes:

[0022] Use an in-vehicle switch supporting gigabit Ethernet and an Ethernet interface controller to process and exchange data;

[0023] Adopt a star topology structure, and connect several control nodes to the in-vehicle switch through unshielded twisted pair wires or optical fibers;

[0024] According to the IEEE802.3 standard, use the TCP / IP protocol stack to process data to obtain the in-vehicle Ethernet module.

[0025] The CAN line network module selects industrial-grade hardware, adopts a bus topology structure and a standard communication protocol to ensure high-speed, stable and accurate data transmission and parsing; the in-vehicle Ethernet module uses high-performance hardware, adopts a star topology structure and a standard protocol to provide high bandwidth and transmission speed. The combination of the two modules meets the large amount of data transmission and complex communication requirements of intelligent connected buses, and improves the network communication performance.

[0026] Furthermore, the connection of several control nodes includes:

[0027] The central computing unit is connected to the intelligent cockpit domain controller through link (1)-(2) and Ethernet link (5);

[0028] The central computing unit is connected to the autonomous driving domain controller through CAN link (1)-(3) and CAN link (4);

[0029] The intelligent cockpit domain controller and the vehicle networking terminal are connected through Ethernet link (7);

[0030] The intelligent cockpit domain controller and the autonomous driving domain controller are connected through link (2)-(3) and Ethernet link (6);

[0031] The vehicle networking terminal and the autonomous driving domain controller are connected through Ethernet link (8).

[0032] The design of redundant links improves the fault tolerance of the system. When a certain link fails, other links can continue to work to ensure that the communication between control nodes is not interrupted and maintain the stable operation of the intelligent connected bus network system.

[0033] Further, the determination of the connectivity and transmission quality of the connection links of several control nodes includes:

[0034] S2-1, each control node regularly sends heartbeat packets containing timestamps to other control nodes through the connection links, and a number of received heartbeat packets are obtained;

[0035] S2-2, count the number, bit error rate and packet loss rate of a number of received heartbeat packets of each control node to obtain evaluation data;

[0036] S2-3, judge the connectivity and transmission quality of the connection link according to the evaluation data to obtain the link quality.

[0037] Further, the determination of the connectivity and transmission quality of the connection link according to the evaluation data includes:

[0038] When the sum of the bit error rate and the packet loss rate is less than or equal to the preset tolerance threshold, it is determined that the connectivity and transmission quality of the connection link are excellent, and the link quality Q is calculated according to the formula Q=(N / N max )·e -(E+L) ; where N represents the number of received heartbeat packets, N max represents the theoretical maximum number of received heartbeat packets, E represents the bit error rate, and L represents the packet loss rate;

[0039] When the sum of the bit error rate and the packet loss rate is greater than the preset tolerance threshold, it is determined that the connectivity and transmission quality of the connection link are poor, and the link quality is calculated according to the formula Q=(N / N max ) / (1+E+L-T); where T represents the preset tolerance threshold.

[0040] By comparing the bit error rate and the packet loss rate with the preset threshold, different formulas are used to calculate the link quality, making the link quality evaluation more targeted and scientific, being able to more accurately reflect the actual situation of the link, and providing a more accurate judgment criterion for the link switching decision.

[0041] Further, the link switching according to the link quality includes:

[0042] Judge whether the link quality is less than the preset quality threshold;

[0043] Yes, it is determined that the link fails, and the link with the highest link quality is selected from the standby links for switching;

[0044] No, it is determined that the link is normal, and the link with the highest link quality is selected from the connection links for switching.

[0045] Further, the obtaining method of the standby link includes:

[0046] 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);

[0047] When the CAN link (2) fails, the backup link between the intelligent cockpit domain controller and the central computing unit is: Ethernet link (5), and the backup link between the intelligent cockpit domain controller and the autonomous driving domain controller is: Ethernet link (6);

[0048] When the CAN link (3) fails, the backup link between the autonomous driving domain controller and the intelligent cockpit domain controller is: Ethernet link (6), and the backup link between the autonomous driving domain controller and the central computing unit is: CAN link (4);

[0049] When the CAN link (4) fails, the backup link between the central computing unit and the autonomous driving domain controller is: CAN links (1)-(3), Ethernet links (5)-(6);

[0050] When the Ethernet link (5) fails, the backup links between the central computing unit and the intelligent cockpit domain controller include: CAN links (1)-(2), CAN link (1)-(3)-Ethernet link (6), CAN link (1)-(3)-Ethernet links (8)-(7), CAN link (4)-Ethernet link (6), CAN link (4)-Ethernet links (8)-(7);

[0051] When the Ethernet link (6) fails, the backup links between the autonomous driving domain controller and the intelligent cockpit domain controller include: CAN links (3)-(2), CAN link (3)-(1)-Ethernet link (5), CAN link (4)-Ethernet link (5), Ethernet links (8)-(7);

[0052] When the Ethernet link (7) fails, the backup links between the intelligent cockpit domain controller and the vehicle networking terminal include: Ethernet links (6)-(8), Ethernet link (5)-CAN link (4)-Ethernet link (8);

[0053] When the Ethernet link (8) fails, the backup links between the vehicle networking terminal and the autonomous driving domain controller include: Ethernet links (7)-(6), Ethernet link (7)-(5)-CAN link (4).

[0054] According to the redundant design of the link, a backup link in case of link failure is obtained, providing a clear path for link switching, enabling quick response in case of link failure, reducing communication interruption time, and improving the fault tolerance and reliability of the intelligent connected vehicle network system.

[0055] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0056] In terms of network reliability, the present invention constructs a CAN line network module and a vehicle-mounted Ethernet module to form a redundant architecture of multiple modules and multiple links. There are multiple connection links with different media and routes between each control node. This means that when a certain link fails, the system can quickly and intelligently identify and switch to the 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 vehicle communication system and ensuring the stable operation of the vehicle and the safety of passengers;

[0057] In terms of data processing and system function optimization, the deployed edge computing nodes preprocess data and make real-time decisions, reducing the burden on the central computing unit, improving data processing efficiency and system response speed, enabling the vehicle to respond to various situations more timely and accurately; at the same time, the functions of each control node cooperate with each other, improving the intelligence and networking level of the vehicle and optimizing the user experience; in addition, the CAN line network module and the vehicle-mounted Ethernet module respectively adopt adapted hardware, topology structures, and communication protocols to meet the requirements of a large amount of data transmission and complex communication, ensuring communication performance; and the heartbeat packet mechanism is used to monitor the link status, and the network is ensured to be in a good communication state at all times according to scientific evaluation and switching strategies, further improving the stability of the system. Description of the Drawings

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0059] Figure 1 It is a schematic diagram of the technical process of a method for designing the architecture of an intelligent connected vehicle network system based on link redundancy provided by the present invention;

[0060] Figure 2 It is a schematic diagram of the architecture of the intelligent connected vehicle network system provided by the present invention. Detailed Embodiments

[0061] 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 a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0062] Please refer to Figure 1 - Figure 2 , the embodiment of the present invention provides a method for designing the network system architecture of an intelligent connected bus based on link redundancy, including:

[0063] S1. Construct a CAN bus network module and an in-vehicle Ethernet module, connect several control nodes in the bus, and obtain a connection link;

[0064] In this embodiment, the construction of the intelligent connected bus network system involves a CAN bus network module and an in-vehicle Ethernet module; among them, when constructing the CAN bus network module, industrial-grade CAN controllers (such as the S32K series of NXP) and high-speed CAN transceivers (such as the CANFD transceiver of Bosch) are selected for hardware to ensure high-speed and stable data transmission; a bus-type topology structure is adopted, and control nodes such as the central computing unit, intelligent cockpit domain controller, and autonomous driving domain controller in the bus are connected through shielded twisted pair (STP); the communication protocol follows the ISO 11898-1 / -2 (CAN / CAN FD) standard to ensure correct data transmission and parsing;

[0065] Regarding the construction of the in-vehicle Ethernet module, a vehicle-mounted switch supporting gigabit Ethernet (such as the vehicle-mounted Ethernet switch of Broadcom) and an Ethernet interface controller (such as the I210 Ethernet controller of Intel) are selected for hardware configuration to meet the network bandwidth and transmission speed requirements; a star topology structure is adopted, and each node (such as the central computing unit, intelligent cockpit domain controller, vehicle networking terminal, etc.) is connected to the switch through unshielded twisted pair (UTP) or optical fiber; the communication protocol follows the IEEE802.3 standard, adopts the TCP / IP protocol stack and supports IPv4 and IPv6 to ensure network interoperability and scalability;

[0066] In this embodiment, the communication module fully considers the network requirements of the intelligent connected bus from hardware selection to architecture construction and then to communication protocol compliance, ensuring the efficient and stable operation of the system.

[0067] In this embodiment, the several control nodes in step S1 are the key components of the intelligent connected bus system, specifically including:

[0068] 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 each domain controller and the vehicle networking terminal, and overall coordinates the operation of the entire intelligent connected bus system.

[0069] 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.

[0070] Autopilot domain controller: Receives and processes data from several vehicle sensors, realizes the autopilot function, covering links such as environmental perception and decision-making planning, and ensures the safety and stability of vehicle autopilot.

[0071] Vehicle networking terminal: Communicates with the intelligent connected bus platform, other buses, infrastructure, and cloud platform through wireless networks, realizes information sharing and collaborative work, and integrates the bus into the intelligent transportation network.

[0072] Among them, edge computing nodes are deployed in the control nodes of the system to perform preliminary processing and analysis of data near the data source. It can reduce the computing burden of the central computing unit, improve the response speed and data processing efficiency of the system. For example, for a large amount of sensor data transmitted from the autopilot domain controller, the edge computing node can first perform preprocessing operations such as data filtering and feature extraction, and only transmit key and valuable data to the central computing unit, reducing the data transmission volume and latency. At the same time, the edge computing node can also make real-time decisions according to preset rules and algorithms to realize some local control functions, improving the autonomy and reliability of the system. In the case of unstable or interrupted network connections, the edge computing node can continue to work independently to ensure that the basic functions of the vehicle are not affected.

[0073] When the intelligent connected bus is running, the central computing unit needs to interact with the intelligent cockpit domain controller, the autopilot domain controller, etc. to exchange a large amount of data. For example, the central computing unit needs to obtain the sensor data processed by the autopilot domain controller in a timely manner to make decisions, and at the same time transmit control instructions to the intelligent cockpit domain controller. If only relying on a single link, once the link fails, it will cause data transmission interruption, seriously affecting the normal operation of the bus and even endangering driving safety;

[0074] Therefore, in order to ensure the high reliability and stability of communication of the intelligent connected bus 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, in this embodiment, based on the intelligent connected bus system, a CAN line network module and an in-vehicle Ethernet module are used to connect several control nodes of the system, and a link structure with redundant backup capabilities is designed. The specific connection method is as follows:

[0075] Such as Figure 2As shown, the central computing unit is connected to the intelligent cockpit domain controller through links (1)-(2) and Ethernet link (5);

[0076] The central computing unit is connected to the autonomous driving domain controller through CAN links (1)-(3) and CAN link (4);

[0077] The intelligent cockpit domain controller and the vehicle networking terminal are connected through Ethernet link (7);

[0078] The intelligent cockpit domain controller and the autonomous driving domain controller are connected through links (2)-(3) and Ethernet link (6);

[0079] The vehicle networking terminal and the autonomous driving domain controller are connected through Ethernet link (8).

[0080] Through this multi-link design, the overall fault tolerance of the system can be greatly improved, enabling the intelligent connected bus system to operate stably under various working conditions and providing a solid guarantee for the intelligent control and safe driving of the vehicle.

[0081] S2. Using the heartbeat packet mechanism, determine the connectivity and transmission quality of the connection links between several control nodes in the communication module to obtain the link quality;

[0082] In this embodiment, determining the link quality may include the following operating steps:

[0083] Step S2-1: Send heartbeat packets;

[0084] In the communication system of the intelligent connected bus, each control node (such as the central computing unit, intelligent cockpit domain controller, autonomous driving domain controller, vehicle networking terminal, etc.) will send heartbeat packets containing timestamps to other control nodes at a preset fixed time interval through their respective connection links (links formed by CAN line network modules or in-vehicle Ethernet modules). The role of the timestamp is to record the specific time when the heartbeat packet is sent, which helps analyze the data transmission delay situation later. After a period of time, each control node will receive several heartbeat packets from other control nodes, and these heartbeat packets are called received heartbeat packets;

[0085] Step S2-2: Statistically evaluate the data;

[0086] Each control node will conduct a detailed statistical analysis on the several received heartbeat packets it receives. The specific statistical contents include:

[0087] Number of heartbeat packets: Statistically calculate the actual number of heartbeat packets received within a certain time period;

[0088] Bit error rate: Calculate the ratio of the number of data packets with error codes 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., resulting in errors in the data bits of the data packets;

[0089] Packet loss rate: Statistically calculate the ratio of the number of heartbeat packets that should have been received but were actually not received within a certain period of time to the number of data packets that should theoretically be received. Packet loss may be caused by network congestion, link failures, etc. By statistically analyzing these data, evaluation data for assessing the connection link status is obtained;

[0090] Step S3-3: Judge the link quality;

[0091] Based on the evaluation data obtained in step S2-2, judge the connectivity and transmission quality of the connection link:

[0092] When the connectivity and transmission quality are excellent: 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 indicates that the connection link is in good condition, and both the connectivity and transmission quality are at a relatively 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 received heartbeat packets, N max represents the theoretical maximum number of received heartbeat packets, E represents the bit error rate, and L represents the packet loss rate; this formula quantitatively evaluates the link quality through an exponential function. The more packets received, and the lower the bit error rate and packet loss rate, the higher the value of the link quality Q;

[0093] When the connectivity and transmission quality are poor: When the sum of the bit error rate and the packet loss rate is greater than the preset tolerance threshold T, it indicates that there may be certain 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+L-T) calculate the link quality; by adding the bit error rate, packet loss rate, and the difference from the preset tolerance threshold to the denominator, the value of the link quality Q decreases significantly as the bit error rate and packet loss rate increase, more accurately reflecting the poor link status.

[0094] It should be noted that the preset tolerance threshold T is obtained through historical experience and is usually 0.2;

[0095] In this embodiment, according to the comparison result of the sum of the bit error rate and the packet loss rate with the preset tolerance threshold, different formulas are used to calculate the link quality, which can better adapt to different link states. Handling the cases of better and worse link quality separately makes the evaluation results more accurate and reasonable, enabling the system to make more optimized decisions according to the actual situation and providing accurate data support for subsequent link switching and other operations.

[0096] S3. Perform link switching according to the link quality to obtain the intelligent connected bus network system architecture.

[0097] In this embodiment, performing link switching according to the link quality may include the following steps:

[0098] First, the system compares the link quality of each connection link previously evaluated through the heartbeat packet mechanism with a preset quality threshold. The preset quality threshold is a pre-set standard value for measuring whether a 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.

[0099] If the link quality of a certain connection link is less than the preset quality threshold, the system determines that the link has failed. At this time, the system filters out the standby link with the highest link quality from the pre-determined set of standby links for switching to ensure that data can be stably and efficiently transmitted on the new link.

[0100] If the link quality of a certain connection link is greater than or equal to the preset quality threshold, the system determines that the link is normal. However, to further optimize network performance, the system still selects 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.

[0101] Once the link to be switched is determined, the system automatically adjusts the communication path to transfer data transmission from the original link to the newly selected link, thereby completing the link switching operation and realizing the dynamic optimization of the intelligent connected bus network system architecture.

[0102] Among them, when a link fails, its standby link can be obtained according to the link design, specifically including:

[0103] When the CAN link (1) fails, the standby link between the central computing unit and the intelligent cockpit domain controller is: Ethernet link (5), and the standby link between the central computing unit and the autonomous driving domain controller is: CAN link (4);

[0104] When the CAN link (2) fails, the standby link between the intelligent cockpit domain controller and the central computing unit is: Ethernet link (5), and the standby link between the intelligent cockpit domain controller and the autonomous driving domain controller is: Ethernet link (6);

[0105] When the CAN link (3) fails, the standby link between the autonomous driving domain controller and the intelligent cockpit domain controller is: Ethernet link (6), and the standby link between the autonomous driving domain controller and the central computing unit is: CAN link (4);

[0106] 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), Ethernet links (5)-(6);

[0107] When the Ethernet link (5) fails, the backup links between the central computing unit and the intelligent cockpit domain controller include: CAN links (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);

[0108] When the Ethernet link (6) fails, the backup links between the autonomous driving domain controller and the intelligent cockpit domain controller include: CAN links (3)-(2), CAN link (3)-(1)-Ethernet link (5), CAN link (4)-Ethernet link (5), Ethernet link (8)-(7);

[0109] When the Ethernet link (7) fails, the backup links between the intelligent cockpit domain controller and the vehicle networking terminal include: Ethernet links (6)-(8), Ethernet link (5)-CAN link (4)-Ethernet link (8);

[0110] When the Ethernet link (8) fails, the backup links between the vehicle networking terminal and the autonomous driving domain controller include: Ethernet links (7)-(6), Ethernet link (7)-(5)-CAN link (4).

[0111] Based on the above design method, the present invention realizes a highly reliable and stable intelligent connected bus network system architecture. By constructing a CAN line network module and an in-vehicle Ethernet module, several control nodes in the bus are connected to form redundant connection links, greatly reducing the risk of communication interruption caused by a single link failure. The heartbeat packet mechanism is used to real-time judge the connectivity and transmission quality of the connection links between several control nodes among communication modules, and can timely detect problems existing in the links. Once it detects that the link quality is poor, it quickly switches the link according to the link quality to ensure the continuity and stability of data transmission, ensuring that during the driving process of the intelligent connected bus, various control instructions and sensor data can be accurately and quickly transmitted, providing a solid network foundation for the intelligent control and safe operation of the bus.

[0112] Some data in the above formula are calculated by removing the dimension and taking their numerical values. The formula is obtained by software simulation of a large amount of collected data to get a formula closest to the real situation; the preset parameters and preset thresholds in the formula are set by those skilled in the art according to the actual situation or obtained through simulation of a large amount of data.

[0113] The working principle of the present invention:

[0114] Construct a CAN bus network module and an in-vehicle Ethernet module to connect control nodes such as the central computing unit, intelligent cockpit domain controller, autonomous driving domain controller, and vehicle networking terminal inside the bus, forming a connection link to lay the foundation for data transmission;

[0115] Using the heartbeat packet mechanism, each control node sends heartbeat packets with timestamps to other nodes through the connection link at fixed intervals. The receiver counts evaluation data such as the number of heartbeat packets, bit error rate, and packet loss rate, and quantifies the link status according to the formula;

[0116] Compare the link quality with a preset quality threshold and perform dynamic link switching to ensure stable data transmission and improve the performance and reliability of the network system.

[0117] The above embodiments are only used to illustrate the technical method of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical method of the present invention can be modified or equivalently replaced 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, switching links according to link quality to obtain the network system architecture of the intelligent connected bus; 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 no, the link is determined to be normal, and the link with the highest link quality is selected from the connected links for switching; The link quality acquisition method includes: Count the number, bit error rate and packet loss rate of several received heartbeat packets of each control node; 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.

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 2, 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).

5. 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.

6. 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.

7. 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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