Vehicle network communication systems, information determination methods, vehicles, equipment, media and products

Abstract

This application discloses a vehicle network communication system, comprising: at least one first node, an in-vehicle Ethernet switch, a central computer, and an in-vehicle internal network segment. The in-vehicle internal network segment includes a first internal network segment and a second internal network segment. The first internal network segment establishes communication connections with the first communication end of the in-vehicle Ethernet switch and at least one first node through corresponding network segment interfaces. The transmission configuration information of all nodes connected to the first internal network segment is determined based on the total transmission parameters of the data transmitted by all nodes in a data transmission cycle. All nodes include at least one first node and the in-vehicle Ethernet switch. The total transmission parameters include total transmission delay and / or total transmission load rate. The second internal network segment establishes communication connections with the central computer and the second communication end of the in-vehicle Ethernet switch through corresponding network segment interfaces. The first internal network segment and the second internal network segment communicate based on the Ethernet communication protocol.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a vehicle network communication system, information determination method, vehicle, equipment, medium and product. Background Technology

[0002] With the development of intelligent and connected vehicles, the amount of data that in-vehicle networks need to carry is gradually increasing. Vehicle Ethernet, with its high bandwidth advantage, is increasingly being used as the backbone of in-vehicle communication. 100 / 1000 Mbps Ethernet, with its mature technology and wide application, has become the main network for communication between various central domain controllers. Furthermore, as intelligent driving system technology matures and user usage increases, the real-time performance of intelligent driving systems is crucial to user safety. It should be noted that intelligent driving systems require a wide variety of data types. Information such as LiDAR and maps are transmitted via 100M or 1000M Ethernet. Corner radar data, to control costs, still sometimes uses CAN for transmission. However, due to the large amount of corner radar data, multiple CAN network segments need to be deployed to carry it, consuming CAN gateway resources and increasing overall vehicle costs. Furthermore, after transmitting corner radar data via CAN, it needs to be processed by the intelligent driving central computer, which presents forwarding latency and packet loss risks during CAN-to-Ethernet conversion, thus reducing the performance of the intelligent driving system. Summary of the Invention

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

[0004] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows:

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

[0006] In a first aspect, this application provides a vehicle network communication system, the system comprising: at least one first node, an in-vehicle 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...

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

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

[0009] Based on the aforementioned technical means, 10M Ethernet communication speed is higher than CAN, and there is no forwarding delay caused by CAN to Ethernet conversion. That is, using 10M Ethernet to transmit node data has lower latency than using the CAN network. Furthermore, by using 10base-T1s to establish a network connection between the first node and the vehicle Ethernet, the communication topology and wiring cost of the first node in the whole vehicle are simplified, and the use of vehicle Ethernet switches is reduced, thereby reducing packet loss and latency caused by vehicle Ethernet switches. At the same time, based on the total transmission parameters of all nodes connected on the first internal network segment in a data transmission cycle, the transmission configuration information of each node is determined. In other words, by analyzing the data collected by the first node and combining it with the 10base-T1s Ethernet transmission mechanism, the transmission configuration information of each node is reasonably designed to ensure that node data is efficiently transmitted to the intelligent driving central computer, while obtaining a configuration that better meets user needs. In this way, the transmission latency of data during transmission can be reduced, thereby meeting the functional requirements (such as real-time performance) of the intelligent driving system and improving the performance of the intelligent driving system.

[0010] Furthermore, the system also includes a domain controller and at least one execution unit. The vehicle internal network segment further includes a third internal network segment and a fourth internal network segment. The third internal network segment communicates with the second internal network segment based on the Ethernet communication protocol, and the fourth internal network segment communicates based on the Controller Area Network (CAN) communication protocol. 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 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] Based on the aforementioned technical means, the vehicle network communication system uses an in-vehicle Ethernet switch as the core hub, connecting different network segments and devices through different communication terminals. This integrates devices with varying functions and communication rate requirements into a single network communication system, facilitating unified management and coordination and making the entire vehicle network more orderly. Simultaneously, the system can utilize existing CAN network segments to connect domain controllers and execution units, ensuring control compatibility with traditional actuators. It can also access new high-performance computing and sensing devices through Ethernet network segments, enabling the gradual upgrading of the vehicle network communication system and the collaborative operation of new and old devices. Furthermore, the rational layout and communication connection methods between different network segments ensure the reliability of data transmission, avoiding the inherent latency limitations of the 10base-T1s Ethernet's PLACAM mechanism, which restricts its application scenarios, such as low-latency data transmission scenarios related to powertrain, chassis, and intelligent driving.

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

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

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

[0015] Data from each node is obtained and the data from each node is divided to obtain at least one packet of data corresponding to each node. The data from each node includes node data collected by each first node during the collection period and application data that needs to be forwarded by the vehicle Ethernet switch.

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

[0017] Based on the sub-transmission parameters, the total transmission parameters corresponding to different transmission configuration strategies are determined, and the total transmission parameters include total transmission latency and total transmission load rate.

[0018] Based on the total transmission parameters and / or sub-transmission parameters, the corresponding target transmission configuration strategy for all nodes is determined from multiple transmission configuration strategies;

[0019] Based on the target transmission configuration strategy, the transmission configuration information of each node is determined; wherein, the transmission configuration information includes the node identifier of the node and the number of packet data transmitted by the node in a transmission moment.

[0020] Based on the aforementioned technical methods, by determining the sub-transmission parameters (sub-transmission latency and / or sub-transmission load rate) corresponding to the packet data of each node, a deeper understanding of the performance of each data packet during transmission can be obtained. This parameter analysis, refined to the packet level, provides an accurate data foundation for subsequent transmission configuration optimization. Furthermore, based on the sub-transmission parameters, the total transmission parameters (total transmission latency and total transmission load rate) under different transmission configuration strategies are determined, achieving 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 needs of each node and enabling better application of 10base-T1s Ethernet in vehicular networks.

[0021] Furthermore, the step of dividing the data of each node to obtain at least one packet of data corresponding to each node includes: 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 node; and encapsulating the divided data in each node based on Ethernet VLAN header data, preamble data, start-of-frame data, and brief silent data of the first internal network segment using a physical conflict avoidance mechanism to obtain the packet data.

[0022] Based on the aforementioned technical means, dividing the data according to the maximum data length can prevent the adverse effects of excessively large or small individual data on network transmission, ensuring a more stable and orderly transmission of data in the network. Encapsulating the data based on Ethernet VLAN header data, preamble data, frame start data, and brief silent data of the first internal network segment using a physical collision avoidance mechanism provides a unified format for the data after division by each node, reducing the complexity of communication between devices and improving the system's compatibility and scalability. Furthermore, the participation of brief silent data of the first internal network segment using a physical collision avoidance mechanism in encapsulation helps reduce data collisions during transmission.

[0023] Furthermore, determining the sub-transmission parameters corresponding to each sub-packet based on the sub-packet data corresponding to all nodes includes: obtaining the channel transmission rate of the first internal network segment and the data transmission 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; and 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 transmission period.

[0024] Furthermore, the different transmission configuration strategies include: The total number of polling iterations for all nodes within the data transmission period is 1; in a single poll, each of the first nodes, according to its node identifier order, sequentially sends a first number of corresponding sub-packets of data during its allocated transmission time slot, where the first number is the difference between the number of sub-packets of data corresponding to the node and a first value; the total number of polling iterations for all nodes within the data transmission period is the first total number of polling iterations; in a single poll, each of the nodes, according to its node identifier order, sequentially sends at most one corresponding sub-packet of data during its allocated transmission time slot; the first total number of polling iterations is determined based on the maximum number of sub-packets of data corresponding to each node; the total number of polling iterations for all nodes within the data transmission period is the second total number of polling iterations; in a single poll, each of the nodes, according to its node identifier order, sequentially sends a second number of sub-packets of data during its allocated transmission time slot, where the second total number of polling iterations is determined based on the ratio of the maximum number of sub-packets of data corresponding to each node to the second number, and the second total number of polling iterations is less than the first total number of polling iterations.

[0025] Furthermore, determining the corresponding target transmission configuration strategy for all nodes from multiple transmission configuration strategies based on the total transmission parameters and / or sub-transmission parameters includes: obtaining preset data transmission conditions; if one or more of the total transmission parameters and / or the sub-transmission parameters satisfy the data transmission conditions, determining the transmission configuration strategy corresponding to the satisfied data transmission conditions as the target transmission configuration strategy from the multiple transmission configuration strategies.

[0026] The data transmission conditions include delayed data transmission conditions and load data transmission conditions, wherein the delayed data transmission conditions include one of the following:

[0027] Within the data transmission period, the total transmission delay after sending all node data of the first nodes is less than a first delay threshold; within the data transmission period, the sum of the sub-transmission delays of the node data of each first node is less than a second delay threshold, and the total transmission delay after sending all node data of 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; 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 all node data of 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;

[0028] The load data transmission conditions include one of the following:

[0029] During the data transmission period, the total transmission load rate of all nodes that have sent data from all first nodes is less than a first load rate threshold; during the data transmission period, the sum of the sub-transmission load rates of the node data of each first node is less than a second load rate threshold, and the total transmission load rate of all nodes that have sent data from all first nodes 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 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 of all nodes that have sent data from all 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.

[0030] Furthermore, the method further includes: sending the transmission configuration information to nodes on the first internal network segment of the vehicle network communication system, so that each node configures its parameters according to the transmission configuration information.

[0031] Thirdly, this application provides an information determining apparatus, the apparatus comprising:

[0032] The acquisition module is used to acquire data from each node and divide the data of each node to obtain at least one packet of data corresponding to each node. The data of each node includes node data acquired by each first node during the acquisition period and application data that needs to be forwarded by the vehicle Ethernet switch.

[0033] The determination module 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;

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

[0035] The determining module is further configured to determine the corresponding target transmission configuration strategy for all nodes from multiple transmission configuration strategies based on the total transmission parameters and / or sub-transmission parameters.

[0036] The determining module is further configured to determine the transmission configuration information of each node based on the target transmission configuration strategy; wherein the transmission configuration information includes the node identifier of the node and the number of packet data transmitted by the node in a transmission moment.

[0037] Fourthly, this application provides a vehicle that includes a vehicle network communication system as described in any of the first aspects.

[0038] Fifthly, this application provides a computer device, the computer device comprising: a memory and a processor.

[0039] The memory stores computer programs that can run on a processor;

[0040] When the processor executes the computer program, it implements some or all of the steps in the information determination method as described in any of the second aspects.

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

[0042] In a seventh aspect, this application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement some or all of the steps in the information determination method as described in any of the second aspects. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

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

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

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

[0047] Figure 4 This is a schematic diagram of an optional information determination device provided in an embodiment of this application;

[0048] Figure 5 A schematic diagram of an optional vehicle structure provided for an embodiment of this application;

[0049] Figure 6 This is a schematic diagram of the structure of an optional computer device provided in an embodiment of this application. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0051] In the following description, references to "some embodiments" refer to a subset of all possible embodiments. It is understood that "some embodiments" may be the same or different subsets of all possible embodiments and may be combined with each other without conflict. The terms "first / second / third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this 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 commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application.

[0053] With the development of intelligent and connected vehicles, the amount of data that in-vehicle networks need to carry is gradually increasing. At this time, in-vehicle Ethernet, with its high bandwidth advantage, is increasingly being used as the backbone of in-vehicle communication. 100M / 1000M Ethernet, with its mature technology and wide application, has become the main network for communication between various central domain controllers. Furthermore, as intelligent driving system technology matures and user usage increases, the real-time operation of intelligent driving systems is crucial to user safety. It should be noted that intelligent driving systems require a wide variety of data types. Information such as LiDAR and maps are transmitted via 100M or 1000M Ethernet. Since corner radars require a large amount of data transmission and involve many nodes, using 100M or 1000M Ethernet for point-to-point transmission would require deploying multiple switches to forward data from all corner radars. Additionally, each corner radar would need to use an Ethernet transceiver when sending and receiving data, significantly increasing the overall vehicle cost.

[0054] In related technologies, in order to reduce the overall vehicle cost, 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, consuming the resources of the CAN gateway and increasing the overall vehicle cost. Moreover, the corner radar data needs to be transmitted to the intelligent driving central computer, so there is a risk of forwarding delay and packet loss when the CAN network is converted to the Ethernet network, thereby reducing the performance of the intelligent driving system.

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

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

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

[0058] Figure 1 A schematic diagram of an optional vehicle network communication system provided in this application embodiment is shown below. Figure 1As shown, the vehicle network communication system 100 includes: at least one first node 11, an in-vehicle Ethernet switch 12, a central computer 13, and an internal vehicle network segment 14 (not shown in the figure). The internal vehicle 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 the corresponding network segment interface. The transmission configuration information of all nodes connected to the first internal network segment 141 is determined based on the total transmission parameters of the 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. The total transmission parameters include the total transmission delay and the total transmission load rate.

[0060] The second internal network segment 142 establishes communication connections with the central computer 13 and the second communication terminal of the vehicle-mounted Ethernet switch 12 through corresponding network segment interfaces. 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 this embodiment, the first internal network segment establishes communication connections with the first communication terminal of the vehicle-mounted Ethernet switch and at least one first node through corresponding network segment interfaces. 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 limitations. In one case, the number of first nodes can be 1, 2, ..., S, such as... Figure 1 As shown, the number of the first node is S = 4.

[0062] In this embodiment of the application, the first internal network segment can be an Ethernet communication segment, such as a 10base-T1s Ethernet communication segment. The 10base-T1s Ethernet adopts a Physical Layer Collision Avoidance (PLCA) mechanism, which provides all nodes connected to the 10base-T1s Ethernet with a transmission opportunity to improve bus bandwidth utilization and avoid communication conflicts.

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

[0064] In the embodiments of this application, the first node can be a controller, a sensor such as the first node, or other node devices. This application does not impose specific restrictions on this.

[0065] In this embodiment, the vehicle-mounted Ethernet switch is responsible for exchanging Ethernet data between communication segments with different Ethernet speeds. For example, the vehicle-mounted Ethernet switch can convert 10base-T1s data format to 100M or 1000M data format. Of course, the vehicle-mounted Ethernet switch can also convert 100M / 1000M data format to 10base-T1s data format. Since the upper-layer protocols of 10base-T1s, 100M-T1, and 1000M-T1 are consistent—all are Ethernet communication protocols—the main difference lies in the transceiver of the physical layer PHY. Therefore, there is no communication protocol adaptation issue; all work is done by the transceiver. Therefore, when the vehicle-mounted Ethernet switch receives data from the 10base-T1s Ethernet network, it can process the data and then directly forward it to the 100M / 1000M Ethernet network for transmission to the central computer for processing. When the vehicle-mounted Ethernet switch receives data from the central computer via the 100M / 1000M Ethernet network, it stores the processed data. When the 10base-T1s Ethernet network PLCA transmission mechanism starts, it waits for the vehicle-mounted Ethernet switch's own transmission time slot before transmitting the data to the first node.

[0066] In this embodiment of the application, the transmission configuration information includes the node identifiers of all nodes connected to the first internal network segment, and the number of packet data transmitted by each node in a transmission moment. Here, the transmission configuration information of all nodes connected to the first internal network segment includes at least one first node and the vehicle-mounted Ethernet switch.

[0067] It should be noted that, starting with the PLACA mechanism of the first internal network segment, such as 10base-T1s Ethernet, when each first node transmits the collected node data to the vehicle-mounted Ethernet switch through the first internal network segment, it is necessary to first assign a node identifier (nodeID) and a single transmission quantity (aPLCAMaxBurstCount) to each first node and the vehicle-mounted Ethernet switch. The single transmission quantity is the number of packet data transmitted by each node in one transmission time according to the PLACA mechanism. Here, the node identifier (nodeID) can be in the range of 0 to 255, where the node with nodeID = 0 can be the master node for scheduling. For example, in the vehicle network communication system provided in the embodiments of this application, the vehicle-mounted Ethernet switch can be used as the master node, responsible for sending PLACA beacons such as beacons, and other nodes, such as other first nodes, can be used as slave nodes. Based on the node range, a node identifier (nodeID = 0) is assigned to other first nodes. In this way, during the data communication or data transmission phase, the vehicle-mounted Ethernet switch sends a PLCA beacon, such as a beacon, to start a transmission loop. Subsequent slave nodes send data according to their own transmission timing. When there is data to send, data can be sent as required; when there is no data to send, the node remains silent for 32 bits before proceeding to the next node's transmission.

[0068] In this embodiment of the application, the transmission configuration information of all nodes connected to the first internal network segment is determined based on the total transmission parameters of all nodes transmitting data within a data transmission cycle. 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 of transmitting the node data collected by all the first nodes to the central computer within a data transmission cycle. That is, the total transmission delay is the total time required for all the 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 of transmitting node data collected by all first nodes to the central computer within a data transmission cycle. In other words, the total transmission load rate is the total bandwidth utilization required by all first nodes to transmit the collected node data to the central computer within a data transmission cycle according to the PLCA mechanism.

[0071] It should be noted that when calculating the total transmission latency, it is necessary to consider whether the maximum latency under the most complex network environment and the largest data volume meets the user's requirements. Therefore, it is generally necessary to calculate the latency of all data, including node data periodically collected by the first node and / or event data or application data forwarded by the vehicle-mounted Ethernet switch from other devices such as the central computer. Thus, based on the total transmission latency of all nodes connected to the first internal network segment within a data transmission cycle, the transmission configuration information of each node can be determined. Transmission parameters can be dynamically adjusted according to the actual transmission situation to reduce data transmission latency, avoid data congestion, and ensure that data collected by the first node and other critical external devices can be transmitted to the switch for subsequent processing in a timely manner. This also meets the real-time requirements 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, deploying the first communication end of the vehicle-mounted Ethernet switch and at least one first node in the same network segment. Thus, the first internal network segment, such as 10base-T1s Ethernet, uses a bus-type communication method, deploying multiple first nodes in the same network segment, simplifying the topology and communication architecture, and saving wiring costs. It also reduces the use of vehicle-mounted Ethernet switches, thereby reducing packet loss and latency caused by them. Furthermore, bus-type communication simplifies the link and makes data interaction more direct, further ensuring the stability and reliability of communication data. In other words, 10base-T1s Ethernet, with its bus-type communication method, meets its communication bandwidth requirements while reducing costs, making it a preferred choice for node data transmission and communication.

[0073] In this embodiment, the vehicle's internal network segment includes a second internal network segment, which can be an Ethernet communication segment, specifically a high-speed 1000M Ethernet communication segment. The transmission rate provided by the high-speed 1000M Ethernet communication segment is greater than that provided by the 10base-T1s Ethernet communication segment. This allows for faster data transmission and reduces latency.

[0074] In this embodiment, the transmission rate of the high-speed 1000M Ethernet communication segment is 1000Mbps, which is a high-speed Ethernet standard. The high-speed 1000M Ethernet communication segment uses twisted-pair cable as the transmission medium, typically requiring four pairs of unshielded twisted-pair cables. When cabling a high-speed 1000M Ethernet communication segment, factors such as the number of twisted pairs and the length of the cable need to be considered, and it is generally used for relatively short-distance device connections.

[0075] In this embodiment, the second internal network segment establishes communication connections with the central computer and the second communication terminal of the vehicle-mounted Ethernet switch through corresponding network segment interfaces. That is, the second internal network segment includes the central computer connected to the vehicle-mounted Ethernet switch via a point-to-point connection. Thus, the 1000M Ethernet segment is used to connect the central computer and the vehicle-mounted Ethernet switch, meeting the high-speed transmission requirements of potentially large data volumes from the central computer, ensuring fast and accurate data transfer between the core computing device and the switch, and improving the overall system operating efficiency.

[0076] In some embodiments, the second internal network segment adopts a star network topology, deploying the second communication terminal of the vehicle Ethernet switch and the central computer in the same network segment; thus, the reliability of network communication and information transmission in the vehicle is improved.

[0077] In this embodiment, the central computer can be the central computer in the intelligent driving system, which is used to perform functional logic processing on the data. Here, after the data from 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 time delay in the arrival of node data, the intelligent driving central computer needs to store and process the data according to its own processing logic.

[0078] As can be seen from the above, this application embodiment utilizes a 10M Ethernet network segment, which only requires the use of one port of an existing switch to complete data forwarding, without the need to deploy a separate Ethernet switch, thereby saving costs. At the same time, all first nodes can be deployed in one network segment, simplifying network topology and cabling costs. Secondly, the upper-layer protocols of 10M Ethernet and 100M / 1000M Ethernet are consistent, with only the underlying transceivers differing. Therefore, there is no conversion delay between different protocols between 10M Ethernet and 100M Ethernet or 1000M Ethernet data.

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

[0080] Figure 2 A schematic diagram of another optional vehicle network communication system provided in this application embodiment is shown below. Figure 2 As shown, the vehicle network communication system 100 further includes: a domain controller 15 and at least one execution unit 16. 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 communicates with the second internal network segment 142 based on the Ethernet communication protocol, and the fourth internal network segment 144 communicates based on the Controller Area Network (CAN) communication protocol. The first internal network segment 141, the second internal network segment 142, and the third internal network segment 143 all provide different transmission rates.

[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 15 through the corresponding network segment interfaces.

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

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

[0085] In this embodiment of the 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 cable as the baseband transmission medium. Under normal circumstances, two pairs of twisted pair cables are required. When wiring the high-speed 100M Ethernet communication network segment, the space and wiring requirements inside the car can be considered to achieve effective wiring in the complex vehicle environment.

[0086] In some embodiments, the third internal network segment adopts a star network topology, deploying the third communication terminal of the vehicle Ethernet switch and the first communication terminal of the domain controller in the same network segment; thus, the reliability of network communication and information transmission in the vehicle is improved.

[0087] In this embodiment, the vehicle's internal network segment further includes a fourth internal network segment. This fourth internal network segment can be a Controller Area Network (CAN) communication segment. The fourth internal network segment establishes communication connections with the domain controller and at least one electronic control unit (ECU), i.e., CAN nodes, through corresponding network segment interfaces. The at least one ECU includes, but is not limited to, a powertrain actuator, a chassis actuator, and nodes related to the domain controller. It should be noted that data interaction between nodes on the CAN network segment and nodes on the Ethernet network segment requires mutual conversion between CAN and Ethernet communication protocols via the intermediate domain controller. CAN data sent by any ECU on the fourth internal network segment can be transmitted to 10M Ethernet, 100M Ethernet, 1000M Ethernet, etc., through the domain controller.

[0088] In this embodiment, the domain controller is used to convert Ethernet data transmitted from the central computer into CAN data and transmit it to at least one execution unit, i.e., a CAN node, connected to the CAN network segment. At the same time, it converts the power or chassis signals sent by the CAN node into Ethernet data and transmits them to the first node or the central computer.

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

[0090] In this embodiment, the first communication terminal of the vehicle Ethernet switch is connected to the first node via a first internal network segment, the second communication terminal of the vehicle Ethernet switch is connected to the central computer via a second internal network segment, the third communication terminal of the vehicle Ethernet switch is connected to the domain controller via a third internal network segment, and the domain controller is connected to at least one execution unit via a fourth internal network segment. Thus, the first node can quickly transmit the collected node data to the switch via a 10base-T1s network. The switch converts the 10base-T1s data to 100M-T1 and then transmits it to the intelligent driving central computer. The central computer can then perform rapid processing and decision-making based on this data. The decision results, through the domain controller and the execution unit (connected via a CAN network segment), enable precise control of the vehicle, such as the accurate execution of functions like automatic emergency braking and adaptive cruise control, thereby improving vehicle safety and performance. On the other hand, the domain controller transmits body or power / chassis signals to the first node via CAN-to-Ethernet, thereby adjusting the collected parameters of the first node, such as the collection angle.

[0091] As described above, the vehicle network communication system uses an in-vehicle Ethernet switch as its core hub, connecting different network segments and devices through various communication terminals. This integrates devices with different functions and communication rate requirements into a single network communication system, facilitating unified management and coordination and making the entire vehicle network more orderly. Simultaneously, the system can utilize existing CAN network segments to connect domain controllers and actuators, ensuring control compatibility with traditional actuators. It can also access new high-performance computing and sensing devices through Ethernet network segments, enabling the gradual upgrading of the vehicle network communication system and the collaborative operation of new and old devices. Furthermore, the rational layout and communication connection methods between different network segments ensure the reliability of data transmission, avoiding the inherent latency limitations of the 10base-T1s Ethernet's PLACAL mechanism, which restricts its application scenarios, such as low-latency data transmission scenarios like powertrain, chassis, and intelligent driving systems.

[0092] It should be noted that the architecture of the vehicle network communication system provided in this application embodiment is only an example. The communication architecture includes, but is not limited to, ring network, tree network, or other types of communication network architecture. In the actual design process, it can be extended based on its own needs.

[0093] Figure 3 This is a schematic diagram of an optional information determination method provided in an embodiment of this application, such as... Figure 3 As shown, this 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. This method can be implemented through the following steps:

[0094] Step 201: Obtain the data of each node, and based on the data of each node, perform partitioning processing to obtain at least one sub-packet data corresponding to each node.

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

[0096] In this embodiment, each node includes a first node and an in-vehicle Ethernet switch. The first node includes, but is not limited to, sensors such as corner radar, and may also be a controller. Node data can be data collected by the first node during its acquisition period, or other data that can be acquired periodically; this application does not specifically limit this. Node data includes different types of data, such as point cloud data, target data, reachable space freespace data, and other types of data. Application data is data transmitted from the central computer and / or domain controller to the in-vehicle Ethernet switch for forwarding. Application data includes, but is not limited to, control signal data of each execution unit, control signal data obtained by the central computer after processing the node data, and other data.

[0097] It should be noted that, since it is necessary to calculate the total transmission delay of transmitting all node data collected by the first node within a data transmission cycle, it is necessary to consider whether the maximum delay under the most complex network environment and the largest amount of data meets the user's requirements. Therefore, it is generally necessary to calculate the delay of all data, that is, all data including node data periodically collected by the first node and / or event data or application data forwarded by the vehicle Ethernet switch to other devices such as the central computer.

[0098] In some embodiments, step 201, based on the data partitioning of each node to obtain at least one packet of data corresponding to each node, can be implemented in the following way.

[0099] Step A1: Obtain the preset maximum data length;

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

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

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

[0103] In this embodiment of the application, the node data types include point cloud data types, target data types, freespace data types, and other data types; the application data types include control signal data types and other data types.

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

[0105] In this embodiment of the application, the packet data includes Ethernet with Virtual Local Area Network (VLAN) header data, preamble data, segmented data, start-of-frame data, and brief silent data of the first internal network segment using a physical collision avoidance mechanism.

[0106] In this embodiment, to calculate the time required for each type of data to be transmitted using 10base-T1s Ethernet, for the node data of any one of 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 is divided according to the maximum data length to obtain the divided node data under different node data types corresponding to that 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. Further, the application data of different application data types is divided according to the maximum data length to obtain the divided application data under that different application data type. Finally, based on Ethernet data with VLAN header, preamble data, start-of-frame data, and brief silent data of the first internal network segment using a physical collision avoidance mechanism, the divided data in each node is encapsulated to obtain multiple packet data of different data types for each node. Thus, dividing the data according to the maximum data length prevents the adverse effects of excessively large or small individual data points on network transmission, ensuring smoother and more orderly data transmission. Encapsulation based on Ethernet data with VLAN headers, preamble data, start-of-frame data, and brief periods of silence data in the first internal network segment using a physical collision avoidance mechanism provides a unified format for the data divided by each node. This allows various devices in the network (such as switches, central computers, and domain controllers) to identify and process data in the same way, reducing the complexity of communication between devices and improving system compatibility and scalability. Furthermore, the brief periods of silence data in the first internal network segment using a physical collision avoidance mechanism help reduce data collisions during transmission. In cases where multiple nodes transmit data simultaneously, it can coordinate the data transmission order of each node, 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 data packet processing can be completed at the application layer or at the Internet Protocol (IP) layer, depending on user needs. This application does not impose any specific restrictions on this.

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

[0109] The subtransmission parameters include subtransmission delay and subtransmission load rate.

[0110] In this embodiment, the sub-transmission latency is the time required for each first node to transmit one packet of 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 data using 10base-T1s Ethernet. It should be noted that in a 10base-T1s network, factors affecting the data transmission latency of each node include: the opportunity for its own data transmission, the time for other nodes to transmit data, and the number of nodes in the first internal network segment. The first two factors can be changed by configuring the number of transmissions per instance, while 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 upon this by setting other numbers of transmissions per instance to better adapt to the vehicle's performance requirements.

[0111] In this embodiment, after obtaining the data from each node, the data is divided to obtain at least one sub-packet of data corresponding to each node. Furthermore, to better calculate the total transmission delay and total transmission load rate under different transmission configurations, based on the sub-packet data corresponding to each node, the sub-transmission delay and sub-transmission load rate required for each first node to transmit one sub-packet of data using 10base-T1s Ethernet are determined. Further, based on the sub-transmission delay and sub-transmission load rate of the sub-packet data of each node, the total transmission delay and total transmission load rate required for all first nodes to transmit the collected node data within the data transmission cycle for different transmission configuration strategies are determined. Thus, based on the sub-transmission delay and sub-transmission load rate corresponding to each sub-packet data, and the total transmission delay and total transmission load rate of each transmission configuration strategy, the time and bandwidth characteristics of data transmission can be accurately grasped, thereby adjusting the transmission configuration strategy of the first node, i.e., adjusting the transmission configuration parameters of the first node, reducing 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] The total transmission parameters include total transmission delay and total transmission load rate.

[0114] In this embodiment, 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, 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 cycle according to the PLCA mechanism.

[0115] In this embodiment, after determining the sub-transmission delay and sub-transmission load rate corresponding to each sub-packet based on the 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 and bandwidth characteristics of data transmission can be accurately grasped, thereby adjusting the transmission configuration strategy of the first node, i.e., adjusting the transmission configuration parameters of the first node, reducing transmission delay and bandwidth, and thus improving the transmission performance of the entire network.

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

[0117] In this embodiment of the application, the target transmission configuration strategy is used to determine the node parameters of all nodes. The node parameters include the node identifier and the number of packet data transmitted by the node in a transmission moment.

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

[0119] In this embodiment of the application, after determining the total transmission parameters corresponding to different transmission configuration strategies based on the sub-transmission parameters, the target transmission configuration strategy corresponding to all nodes is 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 and the number of packet data transmitted by the node in a transmission session.

[0122] In this embodiment of the application, after determining the target transmission configuration strategy, the transmission configuration information of each node, namely the node identifier and the number of packet data transmitted in a transmission moment, is determined as the number of single transmissions 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 of the vehicle network communication system, so that each node configures its parameters according to the transmission configuration information, and transmitting the data collected in subsequent collection cycles to the vehicle Ethernet switch through the first internal network segment according to the target transmission configuration strategy.

[0124] This application provides an information determination method that, by determining the sub-transmission parameters (sub-transmission delay and / or sub-transmission load rate) corresponding to the packet data of each node, provides a deeper understanding of the performance of each data packet during transmission. This parameter analysis, refined to the packet level, provides an accurate data foundation for subsequent transmission configuration optimization. Furthermore, based on the sub-transmission parameters, the total transmission parameters (total transmission delay and total transmission load rate) under different transmission configuration strategies are determined, achieving 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 needs of each node and enabling better application of 10base-T1s Ethernet in vehicular networks.

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

[0126] Step B1: Obtain the channel transmission rate of the first internal network segment and the data transmission period of each packet of the node;

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

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

[0129] In this embodiment of the 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. For example, the channel transmission rate can be 1250.

[0130] In this embodiment of the application, the data transmission period is the data transmission frequency preset for each type of data.

[0131] In this embodiment, the packetized data includes Ethernet data with VLAN header, preamble data, segmented data, start-of-frame data, and brief silent data of the first internal network segment using a physical collision avoidance mechanism. The data length of the packetized data is calculated by summing the lengths of the segmented data, Ethernet data with VLAN header, preamble data, start-of-frame data, and brief silent data. Further, the ratio of the packetized data length 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 packetized data length to this product is determined as the sub-transmission load rate of the packetized data.

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

[0133] Subtransmission delay = (x + 44 + 8 + 2) / 1250 (1)

[0134] Subtransmission load rate = (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 VLAN header; 8 is the sum of the byte length occupied by the preamble (7) and the byte length occupied by the start of frame (1); 2 is the number of bytes occupied by the short silence in the 10M Ethernet PLAC mechanism; 1250 is the 1250 bytes that can be transmitted per millisecond under 10M.

[0136] It should be noted that for event-based data, if the event triggering conditions are known, such as if the event triggering time range has a maximum and minimum value, then the load rate is calculated based on the minimum triggering time. If the event triggering conditions are unknown, then the load rate is not calculated. Since the maximum network load constrained during communication network auxiliary design has some redundancy, it is acceptable to exclude this part. The following example is designed without considering the load.

[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 total number of polls for all nodes within the data transmission cycle is the first total number of polls; in a single poll, each node sends at most one packet of data in the transmission opportunity allocated to it, according to the node identifier order; the total number of polls is determined based on the maximum number of packets of data corresponding to each node.

[0139] The second transmission configuration strategy includes: the total number of polling times for all nodes during the data transmission cycle is 1; in a single poll, each first node sends a corresponding first number of packet data in the transmission time allocated to it according to the node identifier order of the first node; the first number is the number of packet data corresponding to the node.

[0140] The third transmission configuration strategy includes: the number of polls for all nodes within the data transmission cycle is the total number of second polls. In a single poll, each node sends the second number of packet data in the transmission time allocated to it according to the node identifier order. The total number of second polls is determined based on the ratio of the maximum number of packet data corresponding to each node to the second number. The total number of second polls is less than the total number of first polls.

[0141] For the first transmission configuration strategy, the single transmission count (aPLCAMaxBurstCount) for each node (including the first node and the vehicle-mounted Ethernet switch) is 0. Here, aPLCAMaxBurstCount represents the number of packet data transmitted by each node in a single transmission period according to the PLAC mechanism. The maximum number of packet data transmitted by each node is determined as the total number of polling attempts for all nodes within that transmission cycle, i.e., the first polling attempt. During each polling process, each node can only send one packet data. This first transmission configuration strategy is also known as the default transmission configuration strategy.

[0142] In this embodiment, step 203 determines the total transmission parameters corresponding to different transmission configuration strategies based on 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 packet data of all nodes, and then evaluating whether the transmission delay and bandwidth utilization meet the user requirements under this configuration based on one or more of the sub-transmission delay, sub-transmission load rate, and 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 packet data by polling. Each node occupies limited bus resources, so it does not affect the reception and transmission of node data and switch data. However, the delay after polling and transmitting all the currently collected data from all Ethernet nodes on the first internal network segment may be relatively large. It should also be noted that in this embodiment and the following embodiments, when transmitting the packet data of nodes, data transmission needs to be performed sequentially according to the node identification order, at the transmission time allocated to each node.

[0143] For example, the determination of the total transmission latency corresponding to the first transmission configuration strategy is used as an example for illustration. The method for determining the total transmission load rate corresponding to the first transmission configuration strategy is similar and will not be illustrated here. Here, taking the number of first nodes as S, the maximum number of data packets corresponding to each node as N, and the total number of first polls as N, the total transmission latency T, which is the time required for all first nodes to send all collected different types of node data such as point cloud, target, and freespace data, can be expressed as:

[0144] T = Total subtransmission delay of all nodes sending 1 packet of data in the first poll + Total subtransmission delay of all nodes sending 1 packet of data in the second poll + ... + Total subtransmission delay of all nodes sending 1 packet of data in the Nth poll

[0145] In the first polling, the total subtransmission delay of all first nodes sending 1 packet of sub-data is equal to the subtransmission delay of the vehicle Ethernet switch sending 1 packet of sub-data after sending the beacon, plus the subtransmission delay of first node 1 sending 1 packet of sub-data, plus the subtransmission delay of first node 2 sending 1 packet of sub-data, plus the subtransmission delay of first node S sending 1 packet of sub-data.

[0146] In this process, during the nth round of polling, since the number of data packets in each first node is different, the latency is negligible when a first node has no data to collect. Simultaneously, the total number of first rounds, N, is the number of data packets in the first node with the largest number of data packets. For example, if first node 1 has 3 data packets to collect, first node 2 has 4, first node 3 has 5, and first node 4 has 7, then the number of first rounds, N, is 7. Since the first three first nodes do not send data in the Nth round, the latency is negligible. In each round, data is sent and latency is calculated only when a first node has data to collect; otherwise, latency is not calculated.

[0147] In one feasible scenario, with 4 first nodes, the packet data corresponding to each first node and the vehicle-mounted Ethernet switch are shown in Tables 1 to 5. It should be noted that Tables 1 to 5 represent the data for each node, and each table includes the node name (i.e., the name of the controller connected to the 10base-T1s network segment), the period (referring to the data transmission period), the length (referring to the length of the segmented data transmitted, excluding the header and trailer encapsulated by the Ethernet protocol stack), the load rate (sub-transmission load rate), and the latency (sub-transmission latency). This allows for the calculation of the total transmission latency and total transmission load rate under the first transmission configuration strategy. It should be noted that the data in Tables 1 to 5 are for illustrative purposes only.

[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 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. In this calculation, we observe the data of each node. The first node 3 needs to transmit 11 times to complete the transmission of node data. Therefore, the total transmission delay of each node is calculated based on transmitting 11 packets of data. If there are not 11 packets, the calculation is based on the maximum number of packets. For example, the first node 2 only has 7 packets of data, so we only need to calculate the delay of these 7 packets because the data of this node has not yet been collected in the next round of data transmission.

[0160] Regarding the second transmission configuration strategy, the single transmission count (aPLCAMaxBurstCount) for each node (including the first node and the vehicle Ethernet switch) is the difference between a first count and a first value. The first count is the total number of packet data corresponding to the node, and the first value can be 1. The single transmission count (aPLCAMaxBurstCount) can be configured within the range of 0-255. Here, the total number of packet data for each node can be obtained to dynamically obtain the first count for different nodes. The difference between the first count and the first value for each node's packet data is calculated to determine the number of packet data transmitted by each node in a single transmission opportunity, i.e., the single transmission count. In one polling cycle, each node sends the total number of all packet data corresponding to that node. For example, the aPLCAMaxBurstCount value of the node is set according to the number of packets of packet data for each first node. For instance, if the front radar 1 has a total of 5 packet data, then the single transmission count (aPLCAMaxBurstCount) of the front radar 1 is 4, meaning that the front radar 1 can continuously send 5 packet data in one transmission slot or transmission opportunity. The second transmission configuration strategy is also known as the burst transmission configuration strategy. It should be noted that the first and second transmission configuration strategies can also be used in combination.

[0161] In this embodiment, step 203 is based on sub-transmission parameters.

[0162] The total transmission parameters corresponding to different transmission configuration strategies are determined, including: based on the sub-transmission delay and sub-transmission load rate corresponding to the packet data of all nodes, the total transmission delay and total transmission load rate corresponding to the second transmission configuration strategy are determined. Then, based on one or more of the sub-transmission delay, sub-transmission load rate, and the total transmission delay and total transmission load rate corresponding to the second transmission configuration strategy in a single polling cycle, the transmission delay and bandwidth utilization under this configuration are evaluated to see if they meet user requirements. It should be noted that the second transmission configuration strategy can transmit all currently collected data from each node in one go; however, because it occupies bus resources, it will affect the real-time transmission of data from other nodes.

[0163] For example, the determination of the total transmission latency 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 and will not be illustrated here. Here, let the number of first nodes be S. Then, the time required for all first nodes to send all collected different types of node data, such as point cloud, target, and freespace data, i.e., the total transmission latency T, can be expressed as:

[0164] T = Total sub-transmission delay of node 1 after transmitting all collected packet data + Total sub-transmission delay of node 2 after transmitting all collected packet data + Total sub-transmission delay of node 3 after transmitting all collected packet data + ... + Total sub-transmission delay of node S after transmitting all collected packet data

[0165] The total sub-transmission delay for the first node 1 to transmit all collected packet data can be understood as follows: when the first node 1 has n collected packet data, the total sub-transmission delay for the first node 1 to transmit all collected packet data is the total sub-transmission delay for all n packet data. For example, if the first node 1 has 5 data packets of the same size, and the transmission delay for each packet data is 0.8112ms, then the total sub-transmission delay required for the first node 1 to transmit all packet data is 4.056ms.

[0166] In one feasible scenario, continuing to refer 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 node data is 15.0256 ms. Specifically, the sum of the sub-transmission delays required to transmit the data collected by the first node 1 is 3.4112 ms, the sum of the sub-transmission delays required to transmit the data collected by the first node 2 is 2.3504 ms, the sum of the sub-transmission delays required to transmit the data collected by the first node 3 is 6.632 ms, and the sum of the sub-transmission delays required to transmit the data collected by the first node 4 is 2.632 ms. In this calculation, the aPLCAMaxBurstCount of each first node is configured according to its own data requirements; for example, in the first node 1, aPLCAMaxBurstCount = 4.

[0167] For the third transmission configuration strategy, the single transmission quantity (aPLCAMaxBurstCount) of each node (including the first node and the vehicle-mounted Ethernet switch) is set to a second quantity (k), which is a fixed number, such as 2 or 3. Further, the number of packet data from each node is obtained, and the ratio of the maximum number of packet data from each node to the second quantity is calculated. This ratio is then rounded up, and the rounded value is used as the total number of polling iterations for all nodes within that transmission cycle, i.e., the second polling iteration. During each polling process, each node can continuously send k packets of data within a single transmission time slot or transmission opportunity.

[0168] In this embodiment, step 203 determines the total transmission parameters corresponding to different transmission configuration strategies based on sub-transmission parameters. This includes 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 packet data of all nodes. Then, based on one or more of the sub-transmission delay, sub-transmission load rate, and the total transmission delay and total load rate corresponding to the third transmission configuration strategy, it is evaluated whether the transmission delay and bandwidth utilization meet the user requirements under this configuration. It should be noted that the third transmission configuration strategy transmits packet data through polling. Each node occupies limited bus resources, so it does not affect the reception and transmission of node data and switch data. However, the delay after polling and transmitting all the currently collected data from all Ethernet nodes on the first internal network segment may be relatively large. But due to the reduced number of polling attempts, the delay is smaller compared to the first transmission configuration strategy.

[0169] For example, the determination of the total transmission latency corresponding to the third transmission configuration strategy is used as an example for illustration. The method for determining the total transmission load rate corresponding to the third transmission configuration strategy is similar and will not be illustrated here. Here, taking the number of first nodes as S, the maximum number of packets in each node as N, and the second number as k as an example, the determined total number of second rounds is... Therefore, the total transmission delay T, which is the time required for all first nodes to send all the collected different types of node data, such as point cloud, target, and freespace data, can be expressed as:

[0170] T = the sum of the subtransmission delays of all nodes sending k packets of data in the first poll + the sum of the subtransmission delays of all nodes sending k packets of data in the second poll + ... + the sum of the subtransmission delays of all nodes sending k packets of data in the p-th poll.

[0171] In the first polling, the total sub-transmission delay of all first nodes sending k-packet sub-data is equal to the sub-transmission delay of the vehicle Ethernet switch sending k-packet sub-data after sending the beacon, plus the sub-transmission delay of first node 1 sending k-packet sub-data, plus the sub-transmission delay of first node 2 sending k-packet sub-data, plus the sub-transmission delay of first node S sending k-packet sub-data.

[0172] During this process, in the nth round of polling, since the number of packets of data collected by each first node is different, the latency is negligible when a first node has no data collected in this round. When the number of packets collected by a first node in this round is less than k, and the remaining packets are transmitted in one go, the latency is calculated. For example, if the second quantity k = 2, and first node 1 has 3 packets of collected data, first node 2 has 4 packets, first node 3 has 5 packets, and first node 4 has 7 packets, then the latency for the second round of polling is... In the second round of polling, the first node 1 only has one packet of data, and the sub-transmission delay needs to be calculated based on the size of the packet. In the p-th round of polling, the first three first nodes do not send any data, so the delay can be ignored. In each round of polling, the first node will only send data and calculate the delay when it has the data collected this time. If it does not have the data, the delay does not need to be calculated.

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

[0174] In some embodiments, step 204, which determines the corresponding target transmission configuration strategy for all nodes from multiple transmission configuration strategies based on the total transmission parameters and / or sub-transmission parameters, can be achieved through the following steps:

[0175] Step D1: Obtain the preset data transmission conditions;

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

[0177] The data transmission conditions include delayed data transmission conditions and load data transmission conditions. The delayed data transmission conditions include one of a first delayed data transmission condition, a second delayed data transmission condition, and a third delayed data transmission condition.

[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 after sending all the node data of 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 all the node data of 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 the following: a first load data transmission condition, a second load data transmission condition, and a third load data transmission condition.

[0182] The first load data transmission condition includes: within the data transmission cycle, the total transmission load rate of all nodes that have sent all the data of the first nodes is less than the first load rate threshold.

[0183] The second load data transmission condition includes: during 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 of all node data of the first nodes after transmission 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: during 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 has been sent 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.

[0185] In this embodiment of the 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. They can be set based on empirical values. For example, the first delay threshold can be 20ms, and the second delay threshold can be 10ms.

[0186] In this embodiment, 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 latency transmission configuration strategies. They can be set based on empirical values, and this application does not impose specific restrictions on them.

[0187] In this embodiment of the application, the first delayed data transmission condition and / or the first load data transmission condition correspond to the first transmission configuration strategy, the second delayed data transmission condition and / or the second load data transmission condition correspond to the second transmission configuration strategy, and the third delayed data transmission condition and / or the third load data transmission condition correspond 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, the transmission configuration strategy corresponding to the met data transmission conditions can be determined as the target transmission configuration strategy from multiple transmission configuration strategies based on the set data transmission logic.

[0189] In this embodiment, after obtaining the sub-transmission delay and sub-transmission load rate corresponding to each packet of data, the sum of multiple sub-transmission delays and the sum of sub-transmission load rates corresponding to the same node can be calculated. Based on the sub-transmission delay and sub-transmission load rate corresponding to each packet of data, the total transmission delay and total transmission load rate corresponding to different transmission configuration strategies can be calculated. At this time, the total transmission delay and total transmission load rate required to transmit node data for each transmission configuration strategy can be compared. It should be noted that the first and third transmission configuration strategies will not affect the content of the control signals sent by the switch, nor will they affect the transmission of other data after the data of other nodes has been sent. In the second transmission configuration strategy, since most of the time is spent sending data at the first node, the switch needs to wait for the data of each node to be sent before it can send data. The maximum latency of the switch's data transmission depends on the amount of data collected by the first node, and it is necessary to assess whether it will affect the system function.

[0190] For example, the total transmission delay is compared with the data transmission conditions preset by the user. If the sum of the total transmission delays is less than a 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 taken as the target transmission configuration strategy. Of course, when the first delay data transmission condition is met, the data transmission logic is set to not affect the first node's reception and transmission of other data, and the first transmission configuration strategy is determined as the target transmission configuration strategy.

[0191] Another example involves comparing the total transmission delay with the user-preset data transmission conditions. If the sum of the total transmission delays is less than a first delay threshold (e.g., 20ms), and the sum of the sub-transmission delays of the data transmission from each first node is less than a second delay threshold (e.g., 10ms), then the second delay data transmission condition is determined to be met. Further, the second transmission configuration strategy corresponding to the second delay data transmission condition is taken as the target transmission configuration strategy. Of course, if the data transmission logic is set to accept other data delay deviations when the second delay data transmission condition is met, then the second transmission configuration strategy is determined as the target transmission configuration strategy.

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

[0193] As can be seen from the above, based on the calculated total transmission parameters and sub-transmission parameters, as well as the user data required latency and load rate (i.e., data transmission conditions) and the user data transmission logic, a reasonable transmission mechanism can be selected to ensure reliable and efficient transmission of user data.

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

[0195] The acquisition module 401 is used to acquire data from each node and divide the data from each node to obtain at least one packet of data corresponding to each node. The data of each node includes the node data collected by each first node during the acquisition period and the application data that needs to be forwarded by the vehicle Ethernet switch.

[0196] The 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 determining module 402 is also used to determine the total transmission parameters corresponding to different transmission configuration strategies based on the sub-transmission parameters. The total transmission parameters include the total transmission delay and the total transmission load rate.

[0198] The determination module 402 is also used to determine the corresponding target transmission configuration strategy for all nodes from multiple transmission configuration strategies based on the total transmission parameters and / or sub-transmission parameters.

[0199] The determination module 402 is also 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 identifier of the node and the number of packet data transmitted by the node in a transmission moment.

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

[0201] This application provides a computer device, which includes a memory and a processor.

[0202] The memory stores computer programs that can run on a processor;

[0203] When the processor executes the computer program, it implements some or all of the steps in the information determination method as described in the above embodiments.

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

[0205] This application provides a computer program including computer-readable code, wherein when the computer-readable code is executed in a computer device, a processor in the computer device performs some or all of the steps in the above-described method.

[0206] This application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, it implements some or all of the steps in the above-described method. This computer program product can be implemented specifically through hardware, software, or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium; in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0207] It should be noted that the descriptions of the various embodiments above tend to emphasize the differences between them, while their similarities or commonalities can be referred to interchangeably. The descriptions of the above embodiments of the device, storage medium, computer program, and computer program product are similar to the descriptions of the above method embodiments and have similar beneficial effects. 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 descriptions of the method embodiments of this application for understanding.

[0208] This application provides a hardware entity diagram of a computer device, such as... 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 run on the processor 601, and the processor 601 executes some or all of the steps in the information determination method described above.

[0209] The memory 602 stores computer programs that can run on the processor. The memory 602 is configured to store instructions and applications that can be executed by the processor 601. It can also cache data to be processed or already processed by the processor 601 and various modules in the computer device 6 (e.g., image data, audio data, voice communication data and video communication data). It can be implemented by flash memory or random access memory (RAM).

[0210] The processor 601 executes the program to implement the information determination method steps described above. The processor 601 typically controls the overall operation of the computer device 6.

[0211] This application provides a storage medium storing one or more computer programs that can be executed by one or more processors to implement the steps of the information determination method as described in any of the above embodiments.

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

[0213] The aforementioned processor can be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), Controller, Microcontroller, and Microprocessor. It is understood that other electronic devices can also implement the functions of the aforementioned processor, and this application does not specifically limit the specific implementation.

[0214] The aforementioned computer storage media / memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM), etc.; or it can be various terminals that include 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 the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above steps / processes do not imply a sequential order of execution; 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 embodiments of this application. The sequence numbers of the above embodiments of this application are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0216] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

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

[0218] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple convolutional network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0219] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0220] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0221] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an in-vehicle terminal (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, magnetic disks, or optical disks.

[0222] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. An information determination method for determining the transmission configuration information of all nodes connected to a first internal network segment in a vehicle network communication system, the vehicle network communication system comprising: The method comprises at least one first node, an in-vehicle Ethernet switch, and a vehicle internal network segment, wherein the vehicle internal network segment includes the first internal network segment, and the first internal network segment establishes communication connections with the first communication terminal of the in-vehicle Ethernet switch and the at least one first node through corresponding network segment interfaces, characterized in that the method includes: Data from each node is obtained and the data from each node is divided to obtain at least one packet of data corresponding to each node. The data from each node includes node data collected by each first node during the collection period and application data that needs to be forwarded by the vehicle Ethernet switch. Based on the packet data corresponding to all nodes, determine the sub-transmission parameters corresponding to each packet data, wherein the sub-transmission parameters include sub-transmission delay and / or sub-transmission load rate; Based on the sub-transmission parameters, the total transmission parameters corresponding to different transmission configuration strategies are determined, and the total transmission parameters include total transmission latency and total transmission load rate. Based on the total transmission parameters and / or sub-transmission parameters, the corresponding target transmission configuration strategy for all nodes is determined from multiple transmission configuration strategies; Based on the target transmission configuration strategy, the transmission configuration information of each node is determined; wherein, the transmission configuration information includes the node identifier of the node and the number of packet data transmitted by the node in a transmission moment.

2. The information determination method according to claim 1, characterized in that, The step of partitioning the data of each node to obtain at least one packet of data corresponding to each node includes: Obtain the preset maximum data length; The data corresponding to each node is divided according to the data type and / or the maximum data length to obtain at least one divided data corresponding to each node; Based on the Ethernet VLAN header data, preamble data, start-of-frame data, and brief silent data of the first internal network segment using a physical conflict avoidance mechanism, the data divided in each node is encapsulated to obtain the packet data.

3. The information determination method according to claim 1, characterized in that, The step of determining the sub-transmission parameters corresponding to each sub-packet based on the sub-packet data corresponding to all nodes includes: Obtain the channel transmission rate of the first internal network segment, and the data transmission period of each packet of data of the node; Based on the data length of each packet of data of the node and the channel transmission rate, the sub-transmission delay of each packet of data is determined; The subtransmission load rate of each packet of data is determined based on the data length of each packet of data of the node, the channel transmission rate, and the data transmission period.

4. The information determination method according to claim 1, characterized in that, The different transmission configuration strategies include: The total number of polling times for all nodes during the data transmission cycle is 1. In a single poll, each of the first nodes sends a first number of sub-packets of data in the first number of transmission opportunities allocated to it, according to the node identifier order of the first node. The first number is the number of sub-packets of data corresponding to the node. The total number of polls for all nodes within the data transmission period is the first total number of polls. In a single poll, each node sends at most one packet of data in the corresponding transmission opportunity in the order of its node identifier. The first total number of polls is determined based on the maximum number of packets of data corresponding to each node. The number of polling times for all nodes within the data transmission cycle is the second total number of polling times. In a single poll, each node sends a second number of packet data in the order of its node identifier during the transmission opportunity allocated to it. The second total number of polling times is determined based on the ratio of the maximum number of packet 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.

5. The information determination method according to claim 1, characterized in that, The step of determining the corresponding target transmission configuration strategy for all nodes from multiple transmission configuration strategies based on the total transmission parameters and / or sub-transmission parameters includes: Obtain the preset data transmission conditions; If one or more of the total transmission parameters and / or the sub-transmission parameters satisfy the data transmission condition, the transmission configuration strategy corresponding to the satisfied data transmission condition is determined from the plurality of transmission configuration strategies as the target transmission configuration strategy; The data transmission conditions include delayed data transmission conditions and load data transmission conditions, wherein the delayed data transmission conditions include one of the following: Within the data transmission period, the total transmission delay after sending all node data of the first node 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 after sending all the node data of 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 after sending all the node data of 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. The load data transmission conditions include one of the following: During the data transmission cycle, the total transmission load rate of the nodes that have sent all the data of the first nodes is less than 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 all the node data of the first nodes has been 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. 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 all the node data of the first nodes has been sent 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.

6. The information determination method according to any one of claims 1 to 5, characterized in that, The method further includes: The transmission configuration information is sent to the nodes on the first internal network segment of the vehicle network communication system so that each node configures its parameters according to the transmission configuration information.

7. A computer device, characterized in that, The computer device includes a memory and a processor. The memory stores computer programs that can run on a processor; When the processor executes the computer program, it implements the information determination method as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more computer programs, which can be executed by one or more processors to implement the information determination method as described in any one of claims 1 to 6.

9. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by the processor, the information determination method as described in any one of claims 1 to 6 is implemented.

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