Vehicle network communication system, information determination method, vehicle, device, medium and product

Abstract

The invention discloses a vehicle network communication system, which comprises at least one first node, a vehicle-mounted Ethernet switch, a central computer and a vehicle internal network segment, and is characterized in that the vehicle internal network segment comprises a first internal network segment and a second internal network segment, the first internal network segment establishes communication connection with a first communication end of the vehicle-mounted Ethernet switch and at least one first node through a corresponding network segment interface, and transmission configuration information of all nodes connected to the first internal network segment is determined based on a total transmission parameter of data transmission of all nodes in a data transmission period; all nodes comprise at least one first node and a vehicle-mounted Ethernet switch, and the total transmission parameters comprise total transmission time delay and / or total transmission load rate; the second internal network segment establishes communication connection with the central computer and the second communication end of the vehicle-mounted Ethernet switch through the corresponding network segment interface, and the first internal network segment and the second internal network segment communicate based on an Ethernet communication protocol.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a vehicle network communication system, an information determination method, a vehicle, a device, a medium and a product. Background Art

[0002] With the development of intelligent and networked vehicles, the amount of data that needs to be carried in the vehicle network is gradually increasing. With its high bandwidth advantage, vehicle Ethernet is gradually being used as the backbone network of vehicle communications. 100 / 1000 megabits (M) Ethernet has become the main network for communication between central domain controllers due to its mature technology and wide application. Furthermore, as the technology of intelligent driving systems becomes more and more mature and the user usage rate increases, the real-time operation of intelligent driving systems is crucial to the safety of user life. It should be noted that there are many types of data required by the intelligent driving system. Among them, information such as lidar and maps are transmitted through 100M or 1000M Ethernet. In order to control costs, corner radar data still uses CAN transmission; however, due to the large amount of corner radar data, multiple CAN network segments need to be deployed to carry corner radar data, which consumes the resources of CAN gateways and increases the cost of the whole vehicle. After CAN transmits corner radar data, it needs to be processed by the central computer of the intelligent driving. There is a forwarding delay and packet loss risk from CAN to Ethernet, thereby reducing the performance of the intelligent driving system. Summary of the invention

[0003] One of the purposes of this application is to provide a vehicle network communication system, information determination method, vehicle, equipment, medium and product to solve the problem of high vehicle cost and high data transmission delay when using CAN to transmit node data in related technologies, thereby reducing the performance of the intelligent driving system.

[0004] In order to achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0005] The technical solution of the embodiment of the present application is implemented as follows:

[0006] In a first aspect, the present application provides a vehicle network communication system, the system comprising: at least one first node, an on-board Ethernet switch, a central computer and a vehicle internal network segment, the vehicle internal network segment comprising a first internal network segment and a second internal network segment, wherein:

[0007] The first internal network segment establishes communication connections with the first communication end of the vehicle Ethernet switch and the at least one first node respectively through corresponding network segment interfaces, wherein the transmission configuration information of all nodes connected to the first internal network segment is determined based on the total transmission parameters of data transmitted by all nodes in a data transmission cycle, the all nodes include the at least one first node and the vehicle Ethernet switch, and the total transmission parameters include the total transmission delay and / or the total transmission load rate;

[0008] The second internal network segment establishes communication connections with the central computer and the second communication end of the vehicle-mounted Ethernet switch through corresponding network segment interfaces, wherein the first internal network segment and the second internal network segment communicate based on the Ethernet communication protocol, and the transmission rates provided by the first internal network segment and the second internal network segment are different.

[0009] According to the above technical means, the communication rate of 10M Ethernet is higher than that of CAN, and there is no forwarding delay caused by CAN to Ethernet, that is, the delay of using 10M Ethernet to transmit node data is lower than that of using CAN network; further, by using 10base-T1s to establish a network connection between the first node and the on-board Ethernet, the communication topology and wiring cost of the first node of the whole vehicle are simplified, and the use of on-board Ethernet switches is reduced, thereby reducing the packet loss and delay caused by the on-board Ethernet switch. At the same time, according to the total transmission parameters of all nodes connected to the first internal network segment transmitting data within a data transmission cycle, the transmission configuration information of each node is determined. That is to say, by analyzing the data collected by the first node, combined with the mechanism of 10base-T1s Ethernet transmission, and by reasonably designing the transmission configuration information of each node, the node data is guaranteed to be efficiently transmitted to the intelligent driving central computer, and at the same time, a configuration that better meets user needs is obtained. In this way, the transmission delay of data during the transmission process can be reduced, thereby meeting the functional requirements (such as real-time) of the intelligent driving system, and thereby improving the performance of the intelligent driving system.

[0010] Furthermore, the system also includes: a domain controller and at least one execution unit, and the vehicle internal network segment also includes a third internal network segment and a fourth internal network segment, wherein the third internal network segment and the second internal network segment communicate based on the Ethernet communication protocol, and the fourth internal network segment communicates based on the controller local area network communication protocol, and the transmission rates provided by the first internal network segment, the second internal network segment and the third internal network segment are all different; the third internal network segment establishes communication connections with the third communication end of the vehicle Ethernet switch and the domain controller through corresponding network segment interfaces; the fourth internal network segment establishes communication connections with the domain controller and the at least one execution unit through corresponding network segment interfaces.

[0011] According to the above technical means, the vehicle network communication system uses the on-board Ethernet switch as the core hub, connects different network segments and devices through different communication terminals, and integrates various devices with different functions and communication rate requirements into a network communication system, which is convenient for unified management and coordination, making the entire vehicle network more orderly. At the same time, the system can not only use the existing CAN network segment to connect the domain controller and the execution unit to ensure the control compatibility of the traditional actuator, but also access new high-performance computing and perception devices through the Ethernet network segment to achieve the gradual upgrade of the vehicle network communication system and the collaborative work of new and old equipment. The reasonable layout and communication connection method between different network segments ensure the reliability of data transmission, avoiding the inherent delay caused by the PLCA mechanism of 10base-T1s Ethernet, which limits its use scenarios, such as data transmission scenarios with low latency requirements such as power, chassis, and intelligent driving.

[0012] Further, the system includes one or more of the following: the first internal network segment adopts a bus-type network, and the first communication end of the vehicle Ethernet switch and the at least one first node are deployed in the same network segment; the second internal network segment adopts a star network, and the second communication end of the vehicle Ethernet switch and the central computer are deployed in the same network segment; the third internal network segment adopts a star network, and the third communication end of the vehicle Ethernet switch and the first communication end of the domain controller are deployed in the same network segment; the fourth internal network segment adopts a bus-type network, and the second communication end of the domain controller and the at least one execution unit are deployed in the same network segment.

[0013] According to the above technical means, the first internal network segment and the fourth internal network segment adopt a bus-type network to simplify the topology and communication architecture and save wiring costs. The second internal network segment and the third internal network segment adopt a star network to improve the reliability of the vehicle's network communication and information transmission.

[0014] In a second aspect, the present application provides an information determination method for determining transmission configuration information of all nodes connected to a first internal network segment in a vehicle network communication system as described in any one of the first aspects, the method comprising:

[0015] Obtaining data of each node, and dividing and processing the data of each node to obtain at least one sub-packet data corresponding to each node, wherein the data of each node includes the node data collected by each first node within a collection period and the application data to be forwarded by the vehicle Ethernet switch;

[0016] Based on the sub-packet data corresponding to all the nodes, determine the sub-transmission parameters corresponding to each sub-packet data, wherein the sub-transmission parameters include sub-transmission delay and / or sub-transmission load rate;

[0017] Based on the sub-transmission parameters, determining total transmission parameters corresponding to different transmission configuration strategies, wherein the total transmission parameters include a total transmission delay and a total transmission load rate;

[0018] Based on the total transmission parameter and / or the sub-transmission parameter, determining corresponding target transmission configuration strategies for all the nodes from a plurality of transmission configuration strategies;

[0019] Based on the target transmission configuration strategy, transmission configuration information of each of the nodes is determined; wherein the transmission configuration information includes a node identifier of the node and the amount of sub-packet data transmitted by the node in one transmission opportunity.

[0020] According to the above technical means, by determining the sub-transmission parameters (sub-transmission delay and / or sub-transmission load rate) corresponding to the packet data of each node, the performance of each data packet during the transmission process can be deeply understood. This parameter analysis at the sub-packet level provides an accurate data basis for subsequent transmission configuration optimization. Furthermore, the total transmission parameters (total transmission delay and total transmission load rate) under different transmission configuration strategies are determined based on the sub-transmission parameters, realizing the transmission configuration optimization from local to global. By comparing the total transmission parameters under different strategies, the most suitable transmission configuration for all nodes can be found, balancing the data transmission requirements of each node, so that 10base-T1s Ethernet can be better used in vehicle networks.

[0021] Furthermore, the data of each of the nodes is divided and processed to obtain at least one sub-packet data corresponding to each of the nodes, including: obtaining a preset maximum data length; dividing the data corresponding to each node according to the data type and / or the maximum data length to obtain at least one divided data corresponding to each of the nodes; based on Ethernet with VLAN header data, preamble data, frame start data and brief silent data using a physical conflict avoidance mechanism in the first internal network segment, data encapsulation is performed on the divided data in each of the nodes to obtain the sub-packet data.

[0022] According to the above technical means, the division according to the maximum data length can prevent the adverse effects of single data being too large or too small on network transmission, thereby ensuring that the data is transmitted more smoothly and orderly in the network; based on Ethernet with VLAN header data, preamble data, frame start data and the first internal network segment, short silent data with a physical conflict avoidance mechanism is encapsulated, providing a unified format for the data after division of each node, reducing the complexity of communication between devices and improving the compatibility and scalability of the system; and the first internal network segment uses short silent data with a physical conflict avoidance mechanism to participate in the encapsulation, which helps to reduce conflicts in data transmission.

[0023] Furthermore, the sub-transmission parameters corresponding to each sub-packet data are determined based on the sub-packet data corresponding to all the nodes, including: obtaining the channel transmission rate of the first internal network segment, and the data sending period of each sub-packet data of the node; determining the sub-transmission delay of each sub-packet data based on the data length of each sub-packet data of the node and the channel transmission rate; determining the sub-transmission load rate of each sub-packet data based on the data length of each sub-packet data of the node, the channel transmission rate and the data sending period.

[0024] Further, the different transmission configuration strategies include: the total number of polling times of all nodes in the data transmission cycle is 1, and in a single polling, each of the first nodes sends a corresponding first number of subpacket data in the transmission opportunity allocated to each node in sequence according to the node identification order of the first node, and the first number is the difference between the number of subpacket data corresponding to the node and the first value; the number of polling times of all nodes in the data transmission cycle is the first total number of polling times, and in a single polling, each of the nodes sends a corresponding at most one subpacket data in the transmission opportunity allocated to each node in sequence according to the node identification order; the first total number of polling times is determined based on the maximum number of subpacket data corresponding to each node; the number of polling times of all nodes in the data transmission cycle is the second total number of polling times, and in a single polling, each of the nodes sends a second number of subpacket data in the transmission opportunity allocated to each node in sequence according to the node identification order, and the second total number of polling times is determined based on the ratio of the maximum number of subpacket data corresponding to each node to the second number, and the second total number of polling times is less than the first total number of polling times.

[0025] Further, the determining the corresponding target transmission configuration strategy of all nodes from a plurality of transmission configuration strategies based on the total transmission parameter and / or the sub-transmission parameter includes: obtaining a preset data transmission condition; if one or more of the total transmission parameter and / or the sub-transmission parameter meet the data transmission condition, determining, from the plurality of transmission configuration strategies, a transmission configuration strategy corresponding to the satisfied data transmission condition as the target transmission configuration strategy;

[0026] The data transmission condition includes a delay data transmission condition and a load data transmission condition, wherein the delay data transmission condition includes one of the following:

[0027] During the data transmission period, the total transmission delay of the node data of all the first nodes is less than the first delay threshold; during the data transmission period, the sum of the sub-transmission delays of the node data of each of the first nodes is less than the second delay threshold, and the total transmission delay of the node data of all the first nodes is less than the third delay threshold, wherein the third delay threshold is less than or equal to the first delay threshold; during the data transmission period, the sum of the sub-transmission delays of the node data of each of the first nodes is less than the second delay threshold, and the total transmission delay of the node data of all the first nodes is less than the fourth delay threshold, wherein the fourth delay threshold is greater than the third delay threshold, and less than or equal to the first delay threshold;

[0028] The load data transmission condition includes one of the following:

[0029] During the data transmission period, the total transmission load rate of the node data of all the first nodes is less than the first load rate threshold; during the data transmission period, the sum of the sub-transmission load rates of the node data of each of the first nodes is less than the second load rate threshold, and the total transmission load rate of the node data of all the first nodes is less than the third load rate threshold, wherein the third load rate threshold is less than or equal to the first load rate threshold; during the data transmission period, the sum of the sub-transmission load rates of the node data of each of the first nodes is less than the second load rate threshold, and the total transmission load rate of the node data of all the first nodes is less than the fourth load rate threshold, wherein the fourth load rate threshold is greater than the third load rate threshold, and less than or equal to the first load rate threshold.

[0030] Furthermore, the method also includes: sending the transmission configuration information to nodes on the first internal network segment in the vehicle network communication system, so that each of the nodes performs parameter configuration according to the transmission configuration information.

[0031] In a third aspect, the present application provides a device for determining information, the device comprising:

[0032] An acquisition module, used to obtain data of each node, and divide and process the data of each node to obtain at least one sub-packet data corresponding to each node, wherein the data of each node includes the node data collected by each first node within the collection period and the application data to be forwarded by the vehicle Ethernet switch;

[0033] A determination module, configured to determine, based on the sub-packet data corresponding to all the nodes, a sub-transmission parameter corresponding to each sub-packet data, wherein the sub-transmission parameter includes a sub-transmission delay and / or a sub-transmission load rate;

[0034] The determination module is further used to determine the total transmission parameters corresponding to different transmission configuration strategies based on the sub-transmission parameters, and the total transmission parameters include the total transmission delay and the total transmission load rate;

[0035] The determination module is further configured to determine, based on the total transmission parameter and / or the sub-transmission parameter, the corresponding target transmission configuration strategy of all the nodes from a plurality of transmission configuration strategies;

[0036] The determination module is further used to determine the transmission configuration information of each of the nodes based on the target transmission configuration strategy; wherein the transmission configuration information includes the node identifier of the node and the amount of subpacketized data transmitted by the node in one transmission opportunity.

[0037] In a fourth aspect, the present application provides a vehicle, comprising a vehicle network communication system as described in any one of the first aspects.

[0038] In a fifth aspect, the present application provides a computer device, the computer device comprising: a memory and a processor,

[0039] The memory stores a computer program executable on the processor;

[0040] When the processor executes the computer program, part or all of the steps in the information determination method as described in any one of the second aspects are implemented.

[0041] In a sixth aspect, the present application provides a computer-readable storage medium, which stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to implement part or all of the steps in the information determination method as described in any one of the second aspects.

[0042] In a seventh aspect, the present application provides a computer program product, comprising a computer program or instructions, which, when executed by a processor, implement part or all of the steps in the information determination method as described in any one of the second aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0044] Figure 1 A schematic diagram of an optional vehicle network communication system provided in an embodiment of the present application Figure 1 ;

[0045] Figure 2 A schematic diagram of an optional vehicle network communication system provided in an embodiment of the present application Figure 2;

[0046] Figure 3 A schematic diagram of an implementation flow of an optional information determination method provided in an embodiment of the present application;

[0047] Figure 4 A schematic diagram of the structure of an optional information determination device provided in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of the structure of an optional vehicle provided in an embodiment of the present application;

[0049] Figure 6 A schematic diagram of the structure of an optional computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further elaborated in detail below in conjunction with the drawings and embodiments. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0051] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" involved are merely used to distinguish similar objects and do not represent a specific order for the objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing this application and are not intended to limit this application.

[0053] With the development of intelligent and networked vehicles, the amount of data that needs to be carried in the vehicle network is gradually increasing. At this time, vehicle Ethernet is gradually being used as the backbone network of vehicle communication with its high bandwidth advantage. 100M / 1000M Ethernet has become the main network for communication between central domain controllers with its mature technology and wide application. Furthermore, as the technology of intelligent driving systems becomes more and more mature and the user usage rate increases, the real-time operation of intelligent driving systems is crucial to the safety of user life. It should be noted that there are many types of data required by intelligent driving systems. Among them, information such as laser radar and maps are transmitted through 100M or 1000M Ethernet. Since the amount of data that corner radars need to transmit is large and there are many nodes, if 100M or 1000M Ethernet is used for point-to-point transmission, it is necessary to deploy multiple switches to forward the data of all corner radars. At the same time, each corner radar needs to use Ethernet transceivers when sending and receiving data, which greatly increases the cost of the whole vehicle.

[0054] In related technologies, in order to reduce the cost of the entire vehicle, most OEMs transmit corner radar data through the CAN network. However, due to the large amount of corner radar data, multiple CAN network segments need to be deployed to carry the corner radar data, which consumes the resources of the CAN gateway and increases the cost of the entire vehicle. Moreover, the corner radar data needs to be transmitted to the intelligent driving central computer, so there is a forwarding delay and packet loss risk from the CAN network to the Ethernet network, thereby reducing the performance of the intelligent driving system.

[0055] Based on the problems mentioned in the above-mentioned related technologies, the embodiments of the present application provide a vehicle network communication system, information determination method, vehicle, equipment, medium and product, aiming to reduce the use of switches, thereby reducing the packet loss and delay caused by switches, making the link simpler, the cost lower, and the data interaction more direct, further ensuring the stability and reliability of communication data.

[0056] In some embodiments, the present application provides an information determination method, which can be applied to a computer device or a central computer in a vehicle network communication system, and the computer device or the central computer executes one or more method steps in the following embodiments.

[0057] In the implementation manner of this application, the computer device can be any type of device with computing capabilities, such as a handheld mobile terminal, a desktop terminal device, a vehicle-mounted terminal device, a wearable device, a server, and a cloud platform, etc., and this application does not limit this. The central computer can be a desktop terminal device, a vehicle-mounted terminal device, a wearable device, a server, and a cloud platform, etc., and this application does not limit this.

[0058] Figure 1 A schematic diagram of the structure of an optional vehicle network communication system provided in an embodiment of the present application is shown in FIG. Figure 1As shown, the vehicle network communication system 100 includes: at least one first node 11, an on-board Ethernet switch 12, a central computer 13 and a vehicle internal network segment 14 (not shown in the figure), the vehicle internal network segment 14 includes a first internal network segment 141 and a second internal network segment 142, wherein,

[0059] The first internal network segment 141 establishes communication connections with the first communication end of the vehicle Ethernet switch 12 and at least one first node 11 through corresponding network segment interfaces, wherein the transmission configuration information of all nodes connected to the first internal network segment 141 is determined based on the total transmission parameters of data transmitted by all nodes in a data transmission cycle, all nodes include at least one first node 11 and the vehicle Ethernet switch 12, and the total transmission parameters include total transmission delay and total transmission load rate;

[0060] The second internal network segment 142 establishes communication connections with the central computer 13 and the second communication end of the vehicle Ethernet switch 12 through corresponding network segment interfaces, wherein the first internal network segment 141 and the second internal network segment 142 communicate based on the Ethernet communication protocol, and the first internal network segment 141 and the second internal network segment 142 provide different transmission rates.

[0061] In the embodiment of the present application, the first internal network segment establishes communication connections with the first communication terminal of the vehicle Ethernet switch and at least one first node through the corresponding network segment interface, wherein the number and type of the first nodes are selected by each OEM according to its own needs, and this application does not impose specific restrictions. In one case, the number of first nodes can be 1, 2, ..., S, such as Figure 1 As shown, the number of first nodes is S=4.

[0062] In an embodiment of the present application, the first internal network segment may be an Ethernet communication segment, such as a 10base-T1s Ethernet communication segment. The 10base-T1s Ethernet adopts a physical layer collision avoidance mechanism (PLCA), which allocates transmission opportunities to all nodes connected to the 10base-T1s Ethernet to improve bus bandwidth utilization and avoid conflicts caused by communication.

[0063] It should be noted that 10Base-T1s is an Ethernet physical layer standard, where 10 represents the data transmission rate of 10 megabits per second (Mbps) on the 10base-T1s Ethernet segment. Base represents the baseband transmission mode, that is, the digital signal is directly transmitted in the form of discrete pulses without being modulated to other frequency bands. T1s means that the transmission medium used by the 10base-T1s Ethernet segment is a single pair of unshielded twisted pair cables for communication. The wiring is relatively simple and can be used to connect industrial equipment over long distances.

[0064] In the embodiment of the present application, the first node may be a controller, a sensor such as the first node, or other node devices, and the present application does not impose any specific limitation on this.

[0065] In the embodiment of the present application, the vehicle-mounted Ethernet switch is responsible for completing the exchange of Ethernet data between communication segments of Ethernet with different speeds. Exemplarily, the vehicle-mounted Ethernet switch can convert the data format of 10base-T1s into the data format of 100M or 1000M. Of course, the vehicle-mounted Ethernet switch can also convert the data format of 100M / 1000M into the data format of 10base-T1s. Since the upper layer protocols of 10base-T1s, 100M-T1 and 1000M-T1 communications are consistent, they are all Ethernet communication protocols. The difference between the three is mainly in the transceiver of the physical layer PHY, so there is no problem of adapting the communication protocol, and all work is completed by the transceiver. Therefore, when the on-board Ethernet switch receives data transmitted from the 10base-T1s Ethernet network, it can process the data and directly forward it to the 100M / 1000M Ethernet network, and then transmit it to the central computer for processing; when the on-board Ethernet switch receives data transmitted from the central computer through the 100M / 1000M Ethernet network, it stores the processed data, and when the PLCA transmission mechanism of the 10base-T1s Ethernet network starts, it waits until the on-board Ethernet switch's own transmission time slot to transmit the data to the first node.

[0066] In an embodiment of the present application, the transmission configuration information includes the node identifiers of all nodes among all nodes connected to the first internal network segment, and the number of packetized data transmitted for each node in a transmission opportunity. Here, all nodes connected to the first internal network segment include at least one first node and the transmission configuration information of the vehicle Ethernet switch.

[0067] It should be noted that, starting from the PLCA mechanism of the first internal network segment such as 10base-T1s Ethernet, when each first node transmits the collected node data to the vehicle Ethernet switch through the first internal network segment, it is necessary to first allocate a node identifier nodeID and a single transmission quantity aPLCAMaxBurstCount to each first node and the vehicle Ethernet switch. The single transmission quantity is the number of packetized data transmitted by each node in one transmission opportunity according to the PLCA mechanism; here, the range of the node identifier nodeID can be 0 to 255, among which the node with nodeID=0 can be used as the main node for scheduling. Exemplarily, in the vehicle network communication system provided in the embodiment of the present application, the vehicle Ethernet switch can be used as the main node, responsible for sending PLCA beacons such as beacons, and other nodes such as other first nodes can be used as slave nodes, and based on the node range, node identifier nodeID=0 is allocated to other first nodes. In this way, during the data communication or data transmission stage, the on-board Ethernet switch sends a PLCA beacon such as beacon to start a transmission cycle, and the subsequent slave nodes send data according to their own transmission timing. When there is data to be sent, the data can be sent as required. When there is no data to be sent, it is silent for 32 bits and enters the transmission of the next node.

[0068] In the embodiment of the present application, the transmission configuration information of all nodes connected to the first internal network segment is determined based on the total transmission parameters of data transmitted by all nodes in a data transmission cycle, and the total transmission parameters include the total transmission delay and the total transmission load rate.

[0069] Here, the total transmission delay includes the total transmission delay for transmitting the node data collected by all first nodes to the central computer within a data transmission cycle, that is, the total transmission delay is the total time required for all first nodes to transmit the collected node data to the central computer within the data transmission cycle according to the PLCA mechanism.

[0070] Here, the total transmission load rate includes the total bandwidth utilization rate for transmitting the node data collected by all first nodes to the central computer within a data transmission cycle, that is, the total transmission load rate is the total bandwidth utilization rate required for all first nodes to transmit the collected node data to the central computer within the data transmission cycle according to the PLCA mechanism.

[0071] It should be noted that when calculating the total transmission delay, it is necessary to determine whether the maximum delay when the network environment is the most complex and the amount of data is the largest meets the user's needs. Therefore, it is generally necessary to calculate the delay of all data, including the node data periodically collected by the first node and / or the event data or application data transmitted by other devices such as the central computer forwarded by the vehicle Ethernet switch. In this way, according to the total transmission delay of all nodes connected to the first internal network segment in a data transmission cycle, the transmission configuration information of each node is determined, and the transmission parameters can be dynamically adjusted according to the actual transmission situation to reduce the delay in data transmission, avoid data congestion, and ensure that the data collected by key external devices such as the first node can be transmitted to the switch in time for subsequent processing, while meeting the real-time nature of the intelligent driving system, thereby improving the performance of the intelligent driving system.

[0072] In some embodiments, the first internal network segment adopts a bus-type network, and the first communication end of the vehicle Ethernet switch and at least one first node are deployed in the same network segment. In this way, the first internal network segment such as 10base-T1s Ethernet adopts a bus-type communication method, and multiple first nodes are deployed in the same network segment, which simplifies the topology and communication architecture and saves wiring costs; at the same time, the use of vehicle Ethernet switches is reduced, thereby reducing the packet loss and delay caused by the vehicle Ethernet switch. At the same time, bus-type communication can make the link simpler and the data interaction more direct, further ensuring the stability and reliability of the communication data. In other words, 10base-T1s Ethernet, with its bus-type communication method, not only meets its communication bandwidth requirements, but also reduces costs, becoming the choice of node data transmission and communication.

[0073] In the embodiment of the present application, the vehicle internal network segment includes a second internal network segment, which may be an Ethernet communication network segment, or a high-speed 1000M Ethernet communication network segment, which provides a transmission rate greater than the transmission rate provided by the 10base-T1s Ethernet communication network segment. In this way, data is transmitted quickly and latency is reduced.

[0074] In the embodiment of the present application, the transmission rate of the high-speed 1000M Ethernet communication network segment is 1000Mbps, which is a high-speed Ethernet standard. The high-speed 1000M Ethernet communication network segment uses twisted pair as the transmission medium. Under normal circumstances, four pairs of unshielded twisted pair are required. When wiring the high-speed 1000M Ethernet communication network segment, factors such as the number of pairs and length of the twisted pair need to be considered. It is generally used for relatively short-distance device connections.

[0075] In the embodiment of the present application, the second internal network segment establishes communication connections with the central computer and the second communication end of the vehicle Ethernet switch through the corresponding network segment interface, that is, the second internal network segment includes the central computer connected to the vehicle Ethernet switch through point-to-point. In this way, the 1000M Ethernet network segment is used to connect the central computer and the vehicle Ethernet switch, meeting the central computer's possible high-speed transmission requirements for large amounts of data, ensuring that node data is quickly and accurately transmitted between the core computing device and the switch, and improving the operating efficiency of the entire system.

[0076] In some embodiments, the second internal network segment adopts a star network, and the second communication end of the vehicle Ethernet switch and the central computer are deployed in the same network segment; in this way, the reliability of the vehicle's network communication and information transmission is improved.

[0077] In the embodiment of the present application, the central computer may be a central computer in the intelligent driving system, and the central computer is used to perform functional logic processing on the data. Here, after the data of the first node is transmitted to the central computer, the central computer performs functional logic processing according to its own needs. Since there is a delay in the arrival of the node data, the intelligent driving central computer needs to store and process the data according to its own processing logic.

[0078] From the above, it can be seen that the embodiment of the present application utilizes a 10M Ethernet segment and only needs to use one port of an existing switch to complete data forwarding. There is no need to deploy an Ethernet switch separately, thereby saving costs. At the same time, all first nodes can be deployed in one segment, simplifying the network topology and wiring costs; secondly, the upper layer protocols of 10M Ethernet and 100M / 1000M Ethernet are consistent, and only the underlying transceivers are different. Therefore, there is no conversion delay between different protocols between 10M Ethernet and 100M Ethernet or 1000M Ethernet data.

[0079] An embodiment of the present application provides a vehicle network communication system, including: at least one first node, an on-board Ethernet switch, a central computer, a first internal network segment and a vehicle internal network segment, wherein the first internal network segment establishes communication connections with a first communication end of the on-board Ethernet switch and at least one first node through corresponding network segment interfaces, wherein transmission configuration information of all nodes connected to the first internal network segment is determined based on a total transmission delay and / or a total transmission load rate of data transmitted by all nodes within a data transmission cycle, and all nodes include at least one first node and an on-board Ethernet switch; the vehicle internal network segment includes a second internal network segment, and the second internal network segment establishes communication connections with a second communication end of the on-board Ethernet switch through corresponding network segment interfaces, wherein the first internal network segment and the second internal network segment communicate based on an Ethernet communication protocol, and the first internal network segment and the second internal network segment provide different transmission rates. In this way, the communication rate of 10M Ethernet is higher than CAN, and there is no forwarding delay caused by CAN to Ethernet, that is, the delay of using 10M Ethernet to transmit node data is lower than that of using CAN network; further, by using 10base-T1s to establish a network connection between the first node and the on-board Ethernet, the communication topology and wiring cost of the first node of the whole vehicle are simplified, and the use of on-board Ethernet switches is reduced, thereby reducing the packet loss and delay caused by the on-board Ethernet switch. At the same time, according to the total transmission parameters of all nodes connected to the first internal network segment transmitting data within a data transmission cycle, the transmission configuration information of each node is determined. That is to say, by analyzing the data collected by the first node, combined with the mechanism of 10base-T1s Ethernet transmission, and by reasonably designing the transmission configuration information of each node, the node data is guaranteed to be efficiently transmitted to the intelligent driving central computer, and at the same time, a configuration that better meets user needs is obtained. In this way, the transmission delay of data during the transmission process can be reduced, thereby meeting the functional requirements (such as real-time) of the intelligent driving system, and thereby improving the performance of the intelligent driving system.

[0080] Figure 2 A schematic diagram of the structure of another optional vehicle network communication system provided in an embodiment of the present application, such as Figure 2 As shown, the vehicle network communication system 100 further includes: a domain controller 15 and at least one execution unit 16, and the vehicle internal network segment 14 (not shown in the figure) further includes a third internal network segment 143 and a fourth internal network segment 144, wherein,

[0081] The third internal network segment 143 and the second internal network segment 142 communicate based on the Ethernet communication protocol, and the fourth internal network segment 144 communicates based on the controller area network communication protocol. The transmission rates provided by the first internal network segment 141, the second internal network segment 142 and the third internal network segment 143 are all different;

[0082] The third internal network segment 143 establishes communication connections with the third communication terminal of the vehicle Ethernet switch 12 and the domain controller 16 through corresponding network segment interfaces;

[0083] The fourth internal network segment 144 establishes a communication connection with at least one execution unit 16 of the domain controller 15 through the corresponding network segment interface.

[0084] In the embodiment of the present application, the vehicle's internal network segment also includes a third internal network segment, and the second internal network segment can be an Ethernet communication network segment. The third internal network segment establishes communication connections with the third communication terminal and the domain controller of the vehicle Ethernet switch through corresponding network segment interfaces, that is, the third internal network segment includes a domain controller connected to the vehicle Ethernet switch through point-to-point. The domain controller can be one or more, and the domain controller includes but is not limited to the body domain control system, the cockpit domain controller, etc. The specific connected domain controller is selected according to the needs of each OEM, and this application does not make specific restrictions. The second internal network segment can be a high-speed 100M Ethernet communication network segment. The transmission rate provided by the high-speed 100M Ethernet communication network segment, the transmission rate provided by the high-speed 1000M Ethernet communication network segment, and the transmission rate provided by the 10base-T1s Ethernet communication network segment are all different.

[0085] In the embodiment of the present application, the transmission rate of the high-speed 100M Ethernet communication network segment is 100Mbps. The high-speed 100M Ethernet communication network segment uses twisted pair as the baseband transmission medium. Normally, two pairs of twisted pair cables are required. When wiring the high-speed 100M Ethernet communication network segment, you can consider how to achieve effective wiring in a complex vehicle environment based on the space and wiring requirements inside the car.

[0086] In some embodiments, the third internal network segment adopts a star network, and the third communication end of the vehicle Ethernet switch and the first communication end of the domain controller are deployed in the same network segment; in this way, the reliability of the vehicle's network communication and information transmission is improved.

[0087] In the embodiment of the present application, the vehicle internal network segment also includes a fourth internal network segment, which can be a controller area network (CAN) communication network segment. The fourth internal network segment establishes communication connections with the domain controller and at least one execution unit (electronic Control Unit, ECU), that is, CAN nodes through corresponding network segment interfaces. The at least one execution unit includes but is not limited to a power execution unit, a chassis execution unit, and nodes related to the domain controller. It should be noted that the data interaction between the nodes on the CAN network segment and the Ethernet network segment nodes requires the communication protocol conversion set between CAN and Ethernet to be performed through the intermediate domain controller. The CAN data sent by any execution unit on the fourth internal network segment can be transmitted to 10M Ethernet, 100M Ethernet, 1000M Ethernet, etc. through the domain controller.

[0088] In the embodiment of the present application, the domain controller is used to convert the Ethernet data transmitted from the central computer into CAN data and transmit it to at least one execution unit, namely, a CAN node, which is connected to the CAN network segment, and at the same time convert the power or chassis signal sent by the CAN node into Ethernet data and transmit it to the first node or the central computer.

[0089] In some embodiments, the fourth internal network segment adopts a bus-type network, and the second communication end of the domain controller and at least one execution unit are deployed in the same network segment; in this way, the fourth internal network segment adopts a bus-type communication method, and multiple execution units and domain controllers are deployed in the same network segment, simplifying the topology and communication architecture, and saving wiring costs.

[0090] In an embodiment of the present application, in the system, the first communication end of the vehicle Ethernet switch is connected to the first node through the first internal network segment, the second communication end of the vehicle Ethernet switch is connected to the central computer through the second internal network segment, the third communication end of the vehicle Ethernet switch is connected to the domain controller through the third internal network segment, and the domain controller is connected to at least one execution unit through the fourth internal network segment. In this way, the first node can quickly transmit the collected node data to the switch through the 10base-T1s network, the switch converts 10base-T1s into 100M-T1, and then transmits it to the intelligent driving central computer, and the central computer can quickly process and make decisions based on this. The decision result is achieved through the domain controller and the execution unit (connected through the CAN network segment) to achieve precise control of the vehicle, such as accurate execution of functions such as automatic emergency braking and adaptive cruise control, thereby improving the safety and performance of vehicle driving; on the other hand, the domain controller transmits the body or power, chassis signal to the first node through CAN to Ethernet, thereby achieving adjustment of the collection parameters of the first node such as the collection angle.

[0091] From the above, it can be seen that the vehicle network communication system uses the on-board Ethernet switch as the core hub, connecting different network segments and devices through different communication terminals, so as to integrate various devices with different functions and communication rate requirements into a network communication system, which is convenient for unified management and coordination, making the entire vehicle network more orderly. At the same time, the system can not only use the existing CAN network segment to connect the domain controller and the execution unit to ensure the control compatibility of the traditional actuator, but also access new high-performance computing and perception devices through the Ethernet network segment to achieve the gradual upgrade of the vehicle network communication system and the collaborative work of new and old equipment. The reasonable layout and communication connection method between different network segments ensure the reliability of data transmission, avoiding the inherent delay caused by the PLCA mechanism of 10base-T1s Ethernet, which limits its use scenarios, such as data transmission scenarios with low latency requirements such as power, chassis, and intelligent driving.

[0092] It should be noted that the architecture of the vehicle network communication system provided in the embodiment of the present application is only an example. The communication architecture includes but is not limited to a ring network, a tree network, or other types of communication network architectures. In the actual design process, the design can be expanded on this basis in combination with one's own needs.

[0093] Figure 3 A schematic diagram of an optional information determination method provided in an embodiment of the present application, such as Figure 3 As shown, the method is used to determine the transmission configuration information of all nodes connected to the first internal network segment in the vehicle network communication system of any one of claims 1 to 3. The method can be implemented by the following steps:

[0094] Step 201: obtain data of each node, and divide and process the data of each node to obtain at least one sub-package data corresponding to each node.

[0095] The data of each node includes the node data collected by the first node within the collection period and the application data that needs to be forwarded by the vehicle Ethernet switch.

[0096] In the embodiment of the present application, each node includes a first node and an on-board Ethernet switch. The first node includes but is not limited to sensors such as corner radars, and the first node may also be a controller; the node data may be data collected by the first node during the collection cycle, and the node data may also be other data that can be obtained periodically, and the present application does not make specific limitations on this. The node data includes different types of data, such as point cloud data, target data, freespace data, and other types of data; the application data is data transmitted by the central computer and / or domain controller to the on-board Ethernet switch for forwarding, and the application data includes but is not limited to the control signal data of each execution unit, the control signal data obtained by the central computer after processing based on the node data, and other data.

[0097] It should be noted that, since it is necessary to calculate the total transmission delay of all node data collected by the first node within one data transmission cycle, it is necessary to determine whether the maximum delay when the network environment is the most complex and the data volume is the largest meets user needs. Therefore, it is generally necessary to calculate the delay of all data, that is, all data including the node data periodically collected by the first node and / or the event data or application data transmitted by other devices such as the central computer forwarded by the on-board Ethernet switch.

[0098] In some embodiments, in step 201, based on dividing the data of each node, obtaining at least one sub-packet data corresponding to each node can be implemented in the following manner:

[0099] Step A1, obtaining a preset maximum data length;

[0100] Step A2: dividing the data corresponding to each node according to the data type and / or the maximum data length to obtain at least one divided data corresponding to each node;

[0101] Step A3: based on the Ethernet with VLAN header data, preamble data, frame start data and the short silence data of the first internal network segment using the physical conflict avoidance mechanism, the divided data in each node is encapsulated to obtain packetized data.

[0102] In an embodiment of the present application, the preset maximum data length is the unit data length when dividing the data. Exemplarily, the maximum data length can be 1344 bytes or 960 bytes. Of course, it can also be bytes of other lengths. This application does not make any specific restrictions on this.

[0103] In an embodiment of the present application, the node data type of the node data includes a point cloud data type, a target data type, a freespace data type and other data types; the application data type includes a control signal data type and other data types.

[0104] In an embodiment of the present application, dividing and processing the data corresponding to each node according to the data type and / or the maximum data length may include: dividing and processing the data corresponding to each node according to the maximum data length, or dividing and processing the data corresponding to each node according to the data type and the maximum data length.

[0105] In an embodiment of the present application, the packetized data includes Ethernet with virtual local area network (VLAN) header data, preamble data, divided data, frame start data and short silent data of the first internal network segment using a physical conflict avoidance mechanism.

[0106] In an embodiment of the present application, in order to calculate the time required for each type of data of each node to be transmitted using 10base-T1s Ethernet, for the node data of any first node among the multiple first nodes, the node data is first divided according to the node data type to obtain node data of different node data types; further, the node data of different node data types are divided and processed according to the maximum data length to obtain the divided node data under the different node data types corresponding to the first node, thereby obtaining the divided node data under the different node data types corresponding to the first node. Similarly, for application data, the application data is first divided according to the application data type to obtain application data of different application data types, and further, the application data of different application data types are divided and processed according to the maximum data length to obtain the divided application data under the different application data types. Finally, based on the Ethernet with VLAN header data, preamble data, frame start data and short-term silent data using the physical conflict avoidance mechanism of the first internal network segment, the divided data in each node is encapsulated to obtain multiple subpacket data of each node under different data types. In this way, the division according to the maximum data length can prevent the adverse effects of single data being too large or too small on network transmission, ensuring that the data is transmitted more smoothly and orderly in the network; based on Ethernet with VLAN header data, preamble data, frame start data and the first internal network segment, the short silent data with a physical conflict avoidance mechanism is encapsulated, providing a unified format for the data after division at each node, so that each device in the network (such as switches, central computers and domain controllers, etc.) can identify and process data in the same way, reducing the complexity of communication between devices and improving the compatibility and scalability of the system; and the first internal network segment uses a short silent data with a physical conflict avoidance mechanism to participate in the encapsulation, which helps to reduce conflicts in data transmission. When multiple nodes transmit data at the same time, the data transmission order of each node can be coordinated to avoid data collisions, reduce the probability of data transmission errors, and improve the stability and reliability of network transmission.

[0107] It should be noted that the data packet processing can be completed at the application layer or at the Internet Protocol (IP) layer, which can be determined according to user needs and this application does not impose any specific restrictions on this.

[0108] Step 202: Based on the sub-packet data corresponding to all nodes, determine the sub-transmission parameters corresponding to each sub-packet data.

[0109] The sub-transmission parameters include sub-transmission delay and sub-transmission load rate.

[0110] In the embodiment of the present application, the sub-transmission delay is the time required for each first node to transmit one packet of sub-packaged data using 10base-T1s Ethernet, and the sub-transmission load rate is the bandwidth utilization rate occupied by each first node to transmit one packet of sub-packaged data using 10base-T1s Ethernet. It should be noted that in the 10base-T1s network, the factors affecting the data transmission delay of each node include: the opportunity of its own data transmission, the time for other nodes to transmit data, and the number of nodes in the first internal network segment. Among them, the first two factors can be changed by configuring the number of single transmissions, and the third factor is related to the vehicle architecture and cannot be changed at the communication level. Subsequent embodiments can be based on sub-transmission parameters and different transmission configuration strategies. Manufacturers can expand on this basis and better adapt to the performance requirements of the vehicle by setting other single transmission numbers.

[0111] In the embodiment of the present application, after obtaining the data of each node, the data of each node is divided and processed to obtain at least one packet data corresponding to each node. Further, in order to better calculate the total transmission delay and the total transmission load rate in different transmission configurations, based on the packet data corresponding to the node, the sub-transmission delay and sub-transmission load rate required for each first node to transmit 1 packet of packet data using 10base-T1s Ethernet are determined; further, based on the sub-transmission delay and sub-transmission load rate of the packet data of each node, the total transmission delay and total transmission load rate required for all first nodes corresponding to different transmission configuration strategies to transmit the collected node data within the data transmission cycle are determined. In this way, based on the sub-transmission delay and sub-transmission load rate corresponding to each packet data, as well as the total transmission delay and total transmission load rate of each transmission configuration strategy, the time characteristics and bandwidth characteristics of data transmission can be accurately grasped, thereby adjusting the transmission configuration strategy of the first node, that is, adjusting the transmission configuration parameters of the first node, reducing the transmission delay and bandwidth, and thus improving the transmission performance of the entire network.

[0112] Step 203: Based on the sub-transmission parameters, determine the total transmission parameters corresponding to different transmission configuration strategies.

[0113] Among them, the total transmission parameters include total transmission delay and total transmission load rate.

[0114] In an embodiment of the present application, the total transmission delay is the total time required for all first nodes to transmit the collected node data to the central computer within the data transmission period according to the PLCA mechanism, and the total transmission load rate is the total bandwidth utilization required for all first nodes to transmit the collected node data to the central computer within the data transmission period according to the PLCA mechanism.

[0115] In the embodiment of the present application, after determining the sub-transmission delay and sub-transmission load rate corresponding to each sub-packet data based on the sub-packet data corresponding to all nodes, the total transmission delay corresponding to different transmission configuration strategies is determined based on the sub-transmission delay; and the total transmission load rate corresponding to different transmission configuration strategies is determined based on the sub-transmission load rate. In this way, the time characteristics and bandwidth characteristics of data transmission can be accurately grasped, so as to adjust the transmission configuration strategy of the first node, that is, adjust the transmission configuration parameters of the first node, reduce the transmission delay and bandwidth, and thus improve the transmission performance of the entire network.

[0116] Step 204: Based on the total transmission parameter and / or the sub-transmission parameter, determine the corresponding target transmission configuration strategy for all nodes from multiple transmission configuration strategies.

[0117] In an embodiment of the present application, the target transmission configuration strategy is used to determine the node parameters of all nodes, and the node parameters include a node identifier and the amount of sub-packet data transmitted by the node in one transmission opportunity.

[0118] In an embodiment of the present application, the target transmission configuration strategy is a strategy corresponding to the total transmission delay and / or multiple sub-transmission delays, or, the target transmission configuration strategy is a strategy corresponding to the total transmission load rate and / or multiple sub-transmission load rates, or, the target transmission configuration strategy is a strategy corresponding to the total transmission delay and / or multiple sub-transmission delays, and the total transmission load rate and / or multiple sub-transmission load rates.

[0119] In an embodiment of the present application, after determining the total transmission parameters corresponding to different transmission configuration strategies based on the sub-transmission parameters, the corresponding target transmission configuration strategies for all nodes are determined from multiple transmission configuration strategies based on the total transmission parameters, or the total transmission parameters and the sub-transmission parameters.

[0120] Step 205: Determine the transmission configuration information of each node based on the target transmission configuration strategy.

[0121] The transmission configuration information includes the node identifier of the node and the number of sub-packet data transmitted by the node in one transmission opportunity.

[0122] In an embodiment of the present application, after determining the target transmission configuration strategy, the transmission configuration information of each node, i.e., the node identifier and the number of subpacketized data transmitted in one transmission opportunity, is determined as the single transmission number of each node corresponding to the target transmission configuration strategy.

[0123] Furthermore, the method also includes: sending transmission configuration information to nodes on the first internal network segment in the vehicle network communication system, so that each node performs parameter configuration according to the transmission configuration information, and transmits the data collected in the subsequent collection cycle to the on-board Ethernet switch through the first internal network segment according to the target transmission configuration strategy.

[0124] An embodiment of the present application provides an information determination method, which can deeply understand the performance of each data packet during the transmission process by determining the sub-transmission parameters (sub-transmission delay and / or sub-transmission load rate) corresponding to the packet data of each node. This parameter analysis, which is refined to the sub-packet level, provides an accurate data basis for subsequent transmission configuration optimization. Furthermore, the total transmission parameters (total transmission delay and total transmission load rate) under different transmission configuration strategies are determined based on the sub-transmission parameters, thereby realizing transmission configuration optimization from local to global. By comparing the total transmission parameters under different strategies, the transmission configuration that best suits all nodes can be found, balancing the data transmission requirements of each node, so that 10base-T1s Ethernet can be better used in vehicle networks.

[0125] In some embodiments, in step 203, based on the sub-packet data corresponding to all nodes, determining the sub-transmission delay corresponding to each sub-packet data can be implemented by the following steps:

[0126] Step B1, obtaining the channel transmission rate of the first internal network segment and the data transmission period of each subpacket data of the node;

[0127] Step B2: determining the sub-transmission delay of each sub-packet data based on the data length of each sub-packet data of the node and the channel transmission rate;

[0128] Step B3: Determine the sub-transmission load rate of each sub-packet data based on the data length of each sub-packet data of the node, the channel transmission rate and the data transmission cycle.

[0129] In an embodiment of the present application, the channel transmission rate is the number of bytes that can be transmitted per millimeter in the first internal network segment such as a 10base-T1s Ethernet network. Exemplarily, the channel transmission rate can be 1250.

[0130] In the embodiment of the present application, the data sending period is a data sending frequency pre-set for each type of data.

[0131] In the embodiment of the present application, the packetized data includes Ethernet with VLAN header data, preamble data, divided data, frame start data, and short silent data of the first internal network segment using a physical conflict avoidance mechanism. The sum of the divided data, Ethernet with VLAN header data length, preamble data length, frame start data length, and short silent data length is calculated to obtain the data length of the packetized data; further, the ratio of the data length of the packetized data to the channel transmission rate is determined as the sub-transmission delay of the packetized data. Further, the product of the channel transmission rate and the data transmission period is calculated, and the ratio of the data length of the packetized data to the product is determined as the sub-transmission load rate of the packetized data.

[0132] For example, for 10base-T1s Ethernet data transmission, the sub-transmission delay and sub-transmission load rate of each sub-packet data are calculated as shown in formulas (1) and (2).

[0133] Sub-transmission delay = (x+44+8+2) / 1250 (1)

[0134] Sub-transmission load factor = (x+44+8+2) / 1250*T' (2)

[0135] Where: x is the length of the divided data in bytes; T' is the data transmission period; 44 represents the byte length occupied by the Ethernet with VLAN header; 8 is the sum of the byte length occupied by the preamble (7) and the byte length occupied by the frame start character (1); 2 is the number of bytes occupied by the short silence in the 10M Ethernet PLCA mechanism; 1250 means that 1250 bytes can be transmitted per millisecond at 10M.

[0136] It should be noted that for event data, if the event triggering condition is known, for example, the time range of the event triggering has a maximum value and a minimum value, the load rate is calculated according to the minimum value of the triggering time. If the event triggering condition is unknown, the load rate is not calculated for the time being. Since the maximum network load constrained in the auxiliary design of the communication network has some redundancy, it is no problem not to include this part. The following example is designed without taking the load into account.

[0137] In some embodiments, the different transmission configuration strategies include a first transmission configuration strategy, a second transmission configuration strategy, and a third transmission configuration strategy, wherein:

[0138] The first transmission configuration strategy includes: the number of polling times of all nodes in the data transmission period is the first total polling number, in a single polling, each node sends at most one corresponding sub-packet data in the transmission opportunity allocated to each node in sequence according to the node identification order; the first total polling number is determined based on the maximum number of the number of sub-packet data corresponding to each node;

[0139] The second transmission configuration strategy includes: the total number of pollings of all nodes in the data transmission period is 1, and in a single polling, each first node sends a corresponding first number of sub-packet data in the transmission opportunity allocated to each node in sequence according to the node identification order of the first node, where the first number is the number of sub-packet data corresponding to the node;

[0140] The third transmission configuration strategy includes: the number of polling times for all nodes within the data transmission cycle is the second total polling number, and in a single polling, each node sends a second number of packet data in turn in the transmission opportunity allocated to it according to the node identification order; the second total polling number is determined based on the ratio of the maximum number of packet data corresponding to each node to the second number, and the second total polling number is less than the first total polling number.

[0141] For the first transmission configuration strategy, the first transmission configuration strategy is that the single transmission number aPLCAMaxBurstCount of each node (including the first node and the vehicle Ethernet switch) is 0, wherein the single transmission number aPLCAMaxBurstCount is the number of subpacket data transmitted by each node in one transmission opportunity according to the PLCA mechanism; the number of subpacket data of each node is obtained, and the maximum number of the number of subpacket data corresponding to each node is determined as the total polling number of all nodes in the transmission cycle, that is, the first polling number. In each polling process, each node can only send one packet of subpacket data. The first transmission configuration strategy is also called the default transmission configuration strategy.

[0142] In the embodiment of the present application, step 203 determines the total transmission parameters corresponding to different transmission configuration strategies based on the sub-transmission parameters, including: determining the total transmission delay and total transmission load rate corresponding to the first transmission configuration strategy based on the sub-transmission delay and sub-transmission load rate corresponding to the packetized data of all nodes, thereby evaluating whether the transmission delay and bandwidth utilization meet the user requirements under this configuration based on the sub-transmission delay, sub-transmission load rate, and one or more of the total transmission delay and total transmission load rate corresponding to the first transmission configuration strategy. It should be noted that the first transmission configuration strategy transmits packetized data through polling, and the bus resources occupied by each node are limited, so it does not affect the reception and transmission of node data and switch data, but the delay of the data currently collected by all Ethernet nodes on the first internal network segment after polling and transmission may be large. It should be noted that in the embodiment of the present application and the following embodiments, when transmitting the packetized data of the node, it is necessary to transmit the data in the order of node identification and in turn at the transmission opportunity allocated to each node.

[0143] Exemplarily, the total transmission delay corresponding to the first transmission configuration strategy is determined as an example for explanation. The method for determining the total transmission load rate corresponding to the first transmission configuration strategy is similar to that of the first transmission configuration strategy, and no further examples are given here. Here, taking the number of first nodes as S and the maximum number of subpacket data corresponding to each node as N as an example, the total number of first polling times is determined to be N. Then, the time required for all first nodes to send different types of collected node data such as point cloud, target, and freespace data, i.e., the total transmission delay T, can be expressed as,

[0144] T = the sum of the sub-transmission delays of all nodes sending 1 packet of sub-packet data in the first polling + the sum of the sub-transmission delays of all nodes sending 1 packet of sub-packet data in the second polling + ... + the sum of the sub-transmission delays of all nodes sending 1 packet of sub-packet data in the Nth polling

[0145] The sum of the sub-transmission delays of all first nodes sending one packet of sub-packet data in the first polling = the sub-transmission delay of the vehicle Ethernet switch sending one packet of sub-packet data after the vehicle Ethernet switch sends the beacon + the sub-transmission delay of the first node 1 sending one packet of sub-packet data + the sub-transmission delay of the first node 2 sending one packet of sub-packet data + ... + the sub-transmission delay of the first node S sending one packet of sub-packet data;

[0146] In this process, in the nth polling, since the number of packets of the sub-packet data of each first node is different, when a first node does not have the data collected this time, the delay can be ignored. At the same time, the total number of the first polling times N is the one with the largest number of packets of sub-packet data among the first nodes. Exemplarily, the first node 1 has 3 packets of sub-packet data collected, the first node 2 has 4 packets of sub-packet data collected, the first node 3 has 5 packets of sub-packet data collected, and the first node 4 has 7 packets of sub-packet data collected, then the first polling times N is 7, and the first three first nodes have no data to send in the Nth polling, and the delay can be ignored; in each polling, when the first node has the data collected this time, it will send data and calculate the delay. If not, there is no need to calculate the delay.

[0147] In an achievable scenario, the number of first nodes is 4, and the packetized data corresponding to each first node and the vehicle Ethernet switch are shown in Tables 1 to 5. It should be noted that Tables 1 to 5 are the data corresponding to each node, and each table contains the node name, that is, the name of the controller connected to the 10base-T1s network segment. The period refers to the data transmission period; the length refers to the length of the divided data sent, excluding the header and trailer of the Ethernet protocol stack encapsulation, the load rate is the sub-transmission load rate, and the delay is the sub-transmission delay, so as to calculate the total transmission delay and the total transmission load rate under the first transmission configuration strategy. It should be noted that the data in Tables 1 to 5 are only examples.

[0148]

[0149] Table 1

[0150]

[0151]

[0152] Table 2

[0153]

[0154] Table 3

[0155]

[0156] Table 4

[0157]

[0158] Table 5

[0159] As shown in the data in Tables 1 to 5, if the node data collected by the first node is transmitted according to the first transmission configuration strategy, the total transmission delay T required to transmit all the node data is 16.9676ms; during this calculation, the data of each node is observed, among which the first node 3 needs to transmit 11 times to complete the node data transmission, so each node calculates the total transmission delay according to the transmission of 11 subpacket data. If there are not 11 times, it is calculated according to the maximum number of subpacket data. For example, the first node 2 has only 7 subpacket data, so only the delay of these 7 subpacket data needs to be calculated, because the data of this node has not been collected in the next round of data transmission.

[0160] For the second transmission configuration strategy, the second transmission configuration strategy is that the single transmission quantity aPLCAMaxBurstCount of each node (including the first node and the vehicle Ethernet switch) is the difference between the first quantity and the first value, the first quantity is the total number of subpacket data corresponding to the node, the first value can be 1, and the single transmission quantity aPLCAMaxBurstCount can be configured within the range of 0-255. Here, the total number of subpacket data of each node can be obtained, so as to dynamically obtain the first quantity corresponding to different nodes, calculate the difference between the first quantity of subpacket data of each node and the first value, so as to determine the number of subpacket data transmitted by each node in one transmission opportunity, that is, the single transmission quantity. In one polling, each node sends the number of all subpacket data corresponding to the node. Exemplarily, the aPLCAMaxBurstCount value of the node is set according to the number of packets of the subpacket data of each first node. For example, the front radar 1 has a total of 5 packets of subpacket data, then the single transmission quantity aPLCAMaxBurstCount of the front radar 1 = 4, which means that the front radar 1 can continuously send 5 packets of subpacket data in one transmission time slot or transmission opportunity. The second transmission configuration strategy is also called the burst transmission configuration strategy. It should be noted that the first transmission configuration strategy and the second transmission configuration strategy can also be used in combination.

[0161] In the embodiment of the present application, step 203 is based on the sub-transmission parameters.

[0162] Determine the total transmission parameters corresponding to different transmission configuration strategies, including: based on the sub-transmission delay and sub-transmission load rate corresponding to the packetized data of all nodes, determine the total transmission delay and total transmission load rate corresponding to the second transmission configuration strategy, so as to evaluate whether the transmission delay and bandwidth utilization meet the user requirements under this configuration based on the sub-transmission delay, sub-transmission load rate, and one or more of the total transmission delay and total transmission load rate corresponding to the second transmission configuration strategy in a poll. It should be noted that the second transmission configuration strategy can complete the transmission of all currently collected data of each node at one time, but because it occupies bus resources, it will affect the real-time transmission of data of other nodes.

[0163] Exemplarily, determining the total transmission delay corresponding to the second transmission configuration strategy is used as an example for explanation. The method for determining the total transmission load rate corresponding to the second transmission configuration strategy is similar to that thereof and will not be described here by way of example. Here, the number of first nodes is S, and then the time required for all first nodes to send different types of collected node data such as point cloud, target, and freespace data, i.e., the total transmission delay T, can be expressed as:

[0164] T = the sum of the sub-transmission delays of the first node 1 after transmitting all the collected sub-packet data + the sum of the sub-transmission delays of the first node 2 after transmitting all the collected sub-packet data + the sum of the sub-transmission delays of the first node 3 after transmitting all the collected sub-packet data + ... + the sum of the sub-transmission delays of the first node S after transmitting all the collected sub-packet data

[0165] Among them, the sum of sub-transmission delays for the first node 1 to transmit all collected sub-packet data can be understood as follows: when there are n collected sub-packet data in the first node 1, the sum of sub-transmission delays for the first node 1 to transmit all collected sub-packet data is the total sub-transmission delay for n sub-packet data to be sent. Exemplarily, there are 5 data packets in the first node 1, and the sub-packet data are of the same size, and the sending delay of each sub-packet data is 0.8112ms, then the sum of sub-transmission delays required for the first node 1 to transmit all sub-packet data is 4.056ms.

[0166] In an achievable scenario, referring to Tables 1 to 5, if the node data collected by the first node is transmitted according to the second transmission configuration strategy, the total transmission delay T required to transmit all the node data is 15.0256ms; wherein, the sum of the sub-transmission delays required to transmit the data collected by the first node 1 is 3.4112ms, the sum of the sub-transmission delays required to transmit the data collected by the first node 2 is 2.3504ms, the sum of the sub-transmission delays required to transmit the data collected by the first node 3 is 6.632ms, and the sum of the sub-transmission delays required to transmit the data collected by the first node 4 is 2.632ms. In this calculation, the aPLCAMaxBurstCount of each first node is configured according to its own data requirements, for example, aPLCAMaxBurstCount=4 in the first node 1.

[0167] For the third transmission configuration strategy, the third transmission configuration strategy is that the single transmission number aPLCAMaxBurstCount of each node (including the first node and the vehicle Ethernet switch) is the second number k, and the second number is a fixed number, such as 2 or 3. Further, the number of subpacket data of each node is obtained, the ratio of the maximum number of subpacket data corresponding to each node to the second number is calculated, and the ratio is rounded up, and the rounded data is determined as the total polling number of all nodes in the transmission cycle, that is, the second polling number. In each polling process, each node can continuously send k packets of subpacket data in a transmission time slot or transmission opportunity.

[0168] In the embodiment of the present application, step 203 determines the total transmission parameters corresponding to different transmission configuration strategies based on the sub-transmission parameters, including: determining the total transmission delay and total transmission load rate corresponding to the third transmission configuration strategy based on the sub-transmission delay and sub-transmission load rate corresponding to the packetized data of all nodes, thereby evaluating whether the transmission delay and bandwidth utilization meet the user requirements under this configuration based on the sub-transmission delay, sub-transmission load rate, and one or more of the total transmission delay and total transmission load rate corresponding to the third transmission configuration strategy. It should be noted that the third transmission configuration strategy transmits packetized data through polling, and the bus resources occupied by each node are limited, so it does not affect the reception and transmission of node data and switch data, but the delay of the data currently collected by all Ethernet nodes on the first internal network segment after polling and transmission may be large, but due to the reduction in the number of polling times, the delay is smaller than that of the first transmission configuration strategy.

[0169] For example, determining the total transmission delay corresponding to the third transmission configuration strategy is described as an example. The method for determining the total transmission load rate corresponding to the third transmission configuration strategy is similar to that of the third transmission configuration strategy, and will not be described here. Here, taking the number of first nodes as S, the maximum number of sub-packet data corresponding to each node as N, and the second number as k as an example, the total number of second polling is determined as Then, the time required for all first nodes to send different types of collected node data such as point cloud, target, and freespace data, that is, the total transmission delay T, can be expressed as:

[0170] T = the sum of the sub-transmission delays of all nodes sending k packets of sub-packet data in the first polling + the sum of the sub-transmission delays of all nodes sending k packets of sub-packet data in the second polling + ... + the sum of the sub-transmission delays of all nodes sending k packets of sub-packet data in the pth polling

[0171] Among them, the sum of the sub-transmission delays of all first nodes sending k packets of sub-packet data in the first polling = the sub-transmission delay of the vehicle Ethernet switch sending k packets of sub-packet data after the vehicle Ethernet switch sends the beacon + the sub-transmission delay of the first node 1 sending k packets of sub-packet data + the sub-transmission delay of the first node 2 sending k packets of sub-packet data + ... + the sub-transmission delay of the first node S sending k packets of sub-packet data;

[0172] In this process, in the nth polling, since the number of packets of sub-packet data of each first node is different, when a first node has no collected data in this polling, the delay can be ignored; when the number of sub-packet data collected by a first node in this polling is less than k, and the remaining sub-packet data is transmitted at one time, and the delay is calculated. Exemplarily, the second number k=2, the first node 1 has 3 packets of collected sub-packet data, the first node 2 has 4 packets of collected sub-packet data, the first node 3 has 5 packets of collected sub-packet data, and the first node 4 has 7 packets of collected sub-packet data, then the second polling number is Among them, in the second polling, the first node 1 has only one packet of sub-packet data, and the sub-transmission delay needs to be calculated based on the size of one packet of sub-packet data; in the pth polling, the first three first nodes have no data to send, and the delay can be ignored; in each polling, when the first node has the data collected this time, it will send data and calculate the delay. If not, there is no need to calculate the delay.

[0173] In some embodiments, when calculating the total transmission delay corresponding to different transmission configuration strategies, the line transmission delay and / or switch forwarding delay (if the sub-transmission delay of the switch is involved) can also be obtained, where the line transmission delay can be ignored and the switch forwarding delay can be defined according to the switch type selected by each manufacturer.

[0174] In some embodiments, step 204 determines the corresponding target transmission configuration strategies of all nodes from a plurality of transmission configuration strategies based on the total transmission parameter and / or the sub-transmission parameter, which can be implemented by the following steps:

[0175] Step D1, obtaining preset data transmission conditions;

[0176] Step D2: If one or more of the total transmission parameters and / or the sub-transmission parameters meet the data transmission condition, determine, from multiple transmission configuration policies, a transmission configuration policy corresponding to the met data transmission condition as the target transmission configuration policy.

[0177] The data transmission condition includes a delay data transmission condition and a load data transmission condition, wherein the delay data transmission condition includes one of a first delay data transmission condition, a second delay data transmission condition and a third delay data transmission condition, wherein,

[0178] The first delay data transmission condition includes: within the data transmission period, the total transmission delay of all node data of the first node is less than the first delay threshold;

[0179] The first delay data transmission condition includes: within the data transmission period, the sum of the sub-transmission delays of the node data of each first node is less than the second delay threshold, and the total transmission delay of the node data of all the first nodes is less than the third delay threshold, wherein the third delay threshold is less than or equal to the first delay threshold;

[0180] The first delay data transmission condition includes: within the data transmission period, the sum of the sub-transmission delays of the node data of each first node is less than the second delay threshold, and the total transmission delay after sending the node data of all the first nodes is less than the fourth delay threshold, wherein the fourth delay threshold is greater than the third delay threshold and less than or equal to the first delay threshold;

[0181] The load data transmission condition includes one of a first load data transmission condition, a second load data transmission condition, and a third load data transmission condition, wherein:

[0182] The first load data transmission condition includes: within the data transmission period, the total transmission load rate of the node data of all first nodes after sending is less than the first load rate threshold;

[0183] The second load data transmission condition includes: within the data transmission period, the sum of the sub-transmission load rates of the node data of each first node is less than the second load rate threshold, and the total transmission load rate after all the node data of the first nodes are sent is less than the third load rate threshold, wherein the third load rate threshold is less than or equal to the first load rate threshold;

[0184] The third load data transmission condition includes: within the data transmission period, the sum of the sub-transmission load rates of the node data of each first node is less than the second load rate threshold, and the total transmission load rate after sending the node data of all first nodes is less than the fourth load rate threshold, wherein the fourth load rate threshold is greater than the third load rate threshold, and is less than or equal to the first load rate threshold.

[0185] In an embodiment of the present application, the first delay threshold, the second delay threshold, the third delay threshold and the fourth delay threshold are used to distinguish different delay transmission configuration strategies and can be set based on empirical values. Exemplarily, the first delay threshold can be 20ms and the second delay threshold can be 10ms.

[0186] In the embodiment of the present application, the first load rate threshold, the second load rate threshold, the third load rate threshold and the fourth load rate threshold are used to distinguish different delay transmission configuration strategies, and can be set based on empirical values. The present application does not impose any specific restrictions on this.

[0187] In an embodiment of the present application, the first delay data transmission condition and / or the first load data transmission condition corresponds to the first transmission configuration strategy, the second delay data transmission condition and / or the second load data transmission condition corresponds to the second transmission configuration strategy, and the third delay data transmission condition and / or the third load data transmission condition corresponds to the third transmission configuration strategy.

[0188] In some embodiments, if one or more of the total transmission parameters and / or sub-transmission parameters meet the data transmission conditions, it is also possible to determine, based on the set data transmission logic, from multiple transmission configuration strategies, the transmission configuration strategy corresponding to the met data transmission conditions as the target transmission configuration strategy.

[0189] In an embodiment of the present application, after obtaining the sub-transmission delay and sub-transmission load rate corresponding to each sub-packet data, the sum of multiple sub-transmission delays and the sum of sub-transmission load rates corresponding to the same node can be calculated, and the total transmission delay and total transmission load rate corresponding to different transmission configuration strategies can be calculated based on the sub-transmission delay and sub-transmission load rate corresponding to each sub-packet data; at this time, the total transmission delay and total transmission load rate required for each transmission configuration strategy to transmit the node data can be compared. It should be noted that the first transmission configuration strategy and the third transmission configuration strategy will not affect the content of the control signal sent by the switch, nor will it affect the sending of other data after the data of other nodes is sent. In the second transmission configuration strategy, since most of the time is consumed in sending data at the first node, the switch needs to wait until the data of each node is sent before it can send data. The maximum delay of the switch data transmission depends on the amount of data collected by the first node, and it is necessary to evaluate whether it has an impact on the system function.

[0190] Exemplarily, the total transmission delay is compared with the data transmission condition preset by the user. If the sum of the total transmission delays is less than the first delay threshold, such as 20ms, it is determined that the first delay data transmission condition is met. Further, the first transmission configuration strategy corresponding to the first delay data transmission condition is used as the target transmission configuration strategy; of course, when the first delay data transmission condition is met, the data transmission logic is set so as not to affect the first node receiving and sending other data, and the first transmission configuration strategy is determined as the target transmission configuration strategy.

[0191] In another exemplary embodiment, the total transmission delay is compared with the data transmission condition preset by the user. If the sum of the total transmission delays is less than the first delay threshold, such as 20ms, and the sum of the sub-transmission delays of the data sent by each first node is less than the second delay threshold, such as 10ms, it is determined that the second delay data transmission condition is met. Further, the second transmission configuration strategy corresponding to the second delay data transmission condition is used as the target transmission configuration strategy; of course, when the second delay data transmission condition is met, the data transmission logic is set to be acceptable to other data delay deviations. At this time, the second transmission configuration strategy is determined to be the target transmission configuration strategy.

[0192] It should be noted that the above analysis example is performed using only the transmission delay as a parameter. The method of performing the analysis example using the transmission load rate as a parameter is similar and will not be repeated here.

[0193] From the above, it can be seen that according to the total transmission parameters and sub-transmission parameters calculated above, as well as the required delay and load rate of user data, that is, data transmission conditions, and user data transmission logic, a reasonable transmission mechanism is selected to ensure reliable and efficient transmission of user data.

[0194] The present application embodiment provides an information determination device, referring to Figure 4 As shown, Figure 4 This is a schematic diagram of the structure of an information determination device provided in an embodiment of the present application. The information determination device 4 includes:

[0195] The acquisition module 401 is used to obtain data of each node, and divide and process the data of each node to obtain at least one sub-packet data corresponding to each node, wherein the data of each node includes the node data collected by each first node within the collection period and the application data to be forwarded by the vehicle Ethernet switch;

[0196] A determination module 402 is used to determine the sub-transmission parameters corresponding to each sub-packet data based on the sub-packet data corresponding to all nodes, wherein the sub-transmission parameters include sub-transmission delay and / or sub-transmission load rate;

[0197] The determination module 402 is further used to determine the total transmission parameters corresponding to different transmission configuration strategies based on the sub-transmission parameters, and the total transmission parameters include the total transmission delay and the total transmission load rate;

[0198] The determination module 402 is further configured to determine corresponding target transmission configuration strategies of all nodes from a plurality of transmission configuration strategies based on the total transmission parameter and / or the sub-transmission parameter;

[0199] The determination module 402 is further used to determine the transmission configuration information of each node based on the target transmission configuration strategy; wherein the transmission configuration information includes the node identification of the node and the number of sub-packet data transmitted by the node in one transmission opportunity.

[0200] The present application embodiment provides a vehicle, referring to Figure 5 As shown, Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application, wherein the vehicle 5 is the vehicle network communication system 100 in any one of the above embodiments.

[0201] The present application provides a computer device, the computer device comprising: a memory and a processor,

[0202] The memory stores a computer program executable on the processor;

[0203] When the processor executes the computer program, part or all of the steps in the information determination method described in the above embodiment are implemented.

[0204] The embodiment of the present application provides a computer-readable storage medium, which stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to implement some or all of the steps in the above method. The storage medium can be transient or non-transient.

[0205] An embodiment of the present application provides a computer program, including a computer-readable code. When the computer-readable code is run in a computer device, a processor in the computer device executes some or all of the steps for implementing the above method.

[0206] The embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be implemented specifically by hardware, software or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium, and in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK) and the like.

[0207] It should be noted here that the description of the various embodiments above tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. The description of the above device, storage medium, computer program and computer program product embodiments is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiments of the device, storage medium, computer program and computer program product of this application, please refer to the description of the method embodiment of this application for understanding.

[0208] A hardware entity diagram of a computer device provided in an embodiment of the present application is as follows: Figure 6 As shown, the hardware entity of the computer device 6 includes: a processor 601 and a memory 602, wherein the memory 602 stores a computer program that can be run on the processor 601, and the processor 601 executes part or all of the steps in the above-mentioned information determination method.

[0209] Among them, the memory 602 stores a computer program that can be run on the processor. The memory 602 is configured to store instructions and applications executable by the processor 601. It can also cache data to be processed or processed by the processor 601 and various modules in the computer device 6 (for example, image data, audio data, voice communication data, and video communication data), which can be implemented through flash memory (FLASH) or random access memory (Random Access Memory, RAM).

[0210] The processor 601 generally controls the overall operation of the computer device 6 , and the processor 601 generally controls the overall operation of the computer device 6 .

[0211] An embodiment of the present application provides a storage medium, which stores one or more computer programs. The one or more computer programs can be executed by one or more processors to implement the steps of the information determination method of any of the above embodiments.

[0212] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0213] The processor may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It is understandable that the electronic device that implements the functions of the processor may also be other, and the embodiments of the present application are not specifically limited.

[0214] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) and the like; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0215] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the serial number of each step / process mentioned above does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The serial numbers of the embodiments of the present application mentioned above are for description only and do not represent the advantages and disadvantages of the embodiments.

[0216] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0217] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0218] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple convolutional network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0219] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately configured as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0220] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0221] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a vehicle-mounted terminal (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0222] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A vehicle network communication system, characterized in that: include: At least one first node, an onboard Ethernet switch, a central computer and a vehicle internal network segment, wherein the vehicle internal network segment includes a first internal network segment and a second internal network segment, wherein: The first internal network segment establishes communication connections with the first communication end of the vehicle Ethernet switch and the at least one first node respectively through corresponding network segment interfaces, wherein the transmission configuration information of all nodes connected to the first internal network segment is determined based on the total transmission parameters of data transmitted by all nodes in a data transmission cycle, the all nodes include the at least one first node and the vehicle Ethernet switch, and the total transmission parameters include the total transmission delay and / or the total transmission load rate; The second internal network segment establishes communication connections with the central computer and the second communication end of the vehicle-mounted Ethernet switch through corresponding network segment interfaces, wherein the first internal network segment and the second internal network segment communicate based on the Ethernet communication protocol, and the transmission rates provided by the first internal network segment and the second internal network segment are different.

2. The system according to claim 1, characterized in that The system further includes: a domain controller and at least one execution unit, and the vehicle internal network segment further includes a third internal network segment and a fourth internal network segment, wherein: The third internal network segment communicates with the second internal network segment based on an Ethernet communication protocol, the fourth internal network segment communicates based on a controller area network communication protocol, and the first internal network segment, the second internal network segment, and the third internal network segment all provide different transmission rates; The third internal network segment establishes communication connections with the third communication terminal of the vehicle Ethernet switch and the domain controller respectively through corresponding network segment interfaces; The fourth internal network segment establishes communication connections with the domain controller and the at least one execution unit respectively through corresponding network segment interfaces.

3. The system according to claim 1 or 2, characterized in that: Include one or more of the following: The first internal network segment adopts a bus-type network, and the first communication end of the vehicle Ethernet switch and the at least one first node are deployed in the same network segment; The second internal network segment adopts a star network, and the second communication end of the vehicle Ethernet switch and the central computer are deployed in the same network segment; The third internal network segment adopts a star network, and the third communication end of the vehicle Ethernet switch and the first communication end of the domain controller are deployed in the same network segment; The fourth internal network segment adopts a bus-type network, and the second communication terminal of the domain controller and the at least one execution unit are deployed in the same network segment.

4. An information determination method for determining transmission configuration information of all nodes connected to a first internal network segment in a vehicle network communication system according to any one of claims 1 to 3, characterized in that: The method comprises: Obtaining data of each node, and dividing and processing the data of each node to obtain at least one sub-packet data corresponding to each node, wherein the data of each node includes the node data collected by each first node within a collection period and the application data to be forwarded by the vehicle Ethernet switch; Based on the sub-packet data corresponding to all the nodes, determine the sub-transmission parameters corresponding to each sub-packet data, wherein the sub-transmission parameters include sub-transmission delay and / or sub-transmission load rate; Based on the sub-transmission parameters, determining total transmission parameters corresponding to different transmission configuration strategies, wherein the total transmission parameters include a total transmission delay and a total transmission load rate; Based on the total transmission parameter and / or the sub-transmission parameter, determining corresponding target transmission configuration strategies for all the nodes from a plurality of transmission configuration strategies; Based on the target transmission configuration strategy, transmission configuration information of each of the nodes is determined; wherein the transmission configuration information includes a node identifier of the node and the amount of sub-packet data transmitted by the node in one transmission opportunity.

5. The information determination method according to claim 4, characterized in that: The dividing and processing of the data of each node to obtain at least one sub-packet data corresponding to each node includes: Get the preset maximum data length; The data corresponding to each node is divided and processed according to the data type and / or the maximum data length to obtain at least one divided data corresponding to each node; Based on Ethernet with virtual local area network VLAN header data, preamble data, frame start data and brief silent data of the first internal network segment using a physical conflict avoidance mechanism, data encapsulation is performed on the divided data in each of the nodes to obtain the packetized data.

6. The information determination method according to claim 4, characterized in that: The determining, based on the sub-packet data corresponding to all the nodes, a sub-transmission parameter corresponding to each sub-packet data includes: Obtaining a channel transmission rate of the first internal network segment and a data transmission period of each subpacket data of the node; Determine the sub-transmission delay of each of the sub-packet data based on the data length of each of the sub-packet data of the node and the channel transmission rate; The sub-transmission load rate of each of the sub-packet data is determined based on the data length of each of the sub-packet data of the node, the channel transmission rate and the data sending period.

7. The information determination method according to claim 4, characterized in that: The different transmission configuration strategies include: The total number of pollings of all nodes in a data transmission cycle is 1, and in a single polling, each of the first nodes sends a corresponding first number of subpacket data in a transmission opportunity allocated to each node in sequence according to the node identification order of the first node, where the first number is the number of subpacket data corresponding to the node; The number of polling times of all nodes in the data transmission cycle is the total number of first polling times. In a single polling, each of the nodes sends at most one corresponding sub-packet data in the transmission opportunity allocated to each node in sequence according to the node identification order. The total number of first polling times is determined based on the maximum number of sub-packet data corresponding to each of the nodes. The number of polling times of all nodes within the data transmission cycle is the second total number of polling times. In a single polling, each of the nodes sends a second number of subpacket data in turn in the transmission opportunity allocated to each node in the order of node identification. The second total number of polling times is determined based on the ratio of the maximum number of subpacket data corresponding to each node to the second number. The second total number of polling times is less than the first total number of polling times.

8. The information determination method according to claim 4, characterized in that: The determining, based on the total transmission parameter and / or the sub-transmission parameter, the corresponding target transmission configuration strategies of all the nodes from a plurality of transmission configuration strategies comprises: Obtaining preset data transmission conditions; If one or more of the total transmission parameter and / or the sub-transmission parameter meets the data transmission condition, determining, from the multiple transmission configuration strategies, a transmission configuration strategy corresponding to the satisfied data transmission condition as the target transmission configuration strategy; The data transmission condition includes a delay data transmission condition and a load data transmission condition, wherein the delay data transmission condition includes one of the following: In the data transmission period, the total transmission delay of all node data of the first nodes is less than the first delay threshold; In the data transmission period, the sum of the sub-transmission delays of the node data of each of the first nodes is less than a second delay threshold, and the total transmission delay after sending the node data of all the first nodes is less than a third delay threshold, wherein the third delay threshold is less than or equal to the first delay threshold; In the data transmission period, the sum of the sub-transmission delays of the node data of each of the first nodes is less than the second delay threshold, and the total transmission delay after sending the node data of all the first nodes is less than a fourth delay threshold, wherein the fourth delay threshold is greater than the third delay threshold and less than or equal to the first delay threshold; The load data transmission condition includes one of the following: In the data transmission period, the total transmission load rate of all node data of the first nodes after sending is less than the first load rate threshold; In the data transmission period, the sum of the sub-transmission load rates of the node data of each of the first nodes is less than a second load rate threshold, and the total transmission load rate after the node data of all the first nodes are sent is less than a third load rate threshold, wherein the third load rate threshold is less than or equal to the first load rate threshold; During the data transmission cycle, the sum of the sub-transmission load rates of the node data of each of the first nodes is less than the second load rate threshold, and the total transmission load rate after sending the node data of all the first nodes is less than a fourth load rate threshold, wherein the fourth load rate threshold is greater than the third load rate threshold and less than or equal to the first load rate threshold.

9. The information determination method according to any one of claims 4 to 6, characterized in that: The method further comprises: The transmission configuration information is sent to nodes on the first internal network segment in the vehicle network communication system, so that each of the nodes performs parameter configuration according to the transmission configuration information.

10. A vehicle, characterized in that: The vehicle comprises the vehicle network communication system according to any one of claims 1 to 3.

11. A computer device, characterized in that: The computer device comprises a memory and a processor, The memory stores a computer program executable on the processor; When the processor executes the computer program, the information determination method according to any one of claims 4 to 9 is implemented.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to implement the information determination method according to any one of claims 4 to 9.

13. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the information determination method according to any one of claims 4 to 9 is implemented.

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