Dual-computer communication data fusion processing method and system for dual-redundancy system

Abstract

The invention relates to a dual-computer communication data fusion processing method and system for a dual-redundancy system, and the method comprises the steps: detecting the communication states of dual-computer systems in different communication modes, and obtaining a communication state result; performing anomaly detection on the communication data of the dual-computer system to obtain a communication data result; and selecting an available communication mode according to the communication state result and the communication data result so as to perform data exchange of the dual-computer system. The invention provides a scheme combined with redundant communication, the data accuracy is improved, and the probability of dual-system degradation is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of data transmission, and in particular to a dual-machine communication data fusion processing method and system for a dual-redundancy system. Background Art

[0002] The steer-by-wire system has no mechanical connection, which places higher requirements on the design of the electronic control unit and has a relatively large impact on the driver's comfort and safety. The road sensing module and actuator module of the steer-by-wire system are both designed with redundancy. At the same time, the requirements for data interaction between the two machines are not only speed, but more importantly, data accuracy and security.

[0003] Most of the existing inter-chip communications have problems such as poor anti-interference performance, easy false alarm of faults under extreme working conditions, and erroneous processing leading to degraded operation. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a dual-machine communication data fusion processing method and system for a dual redundant system.

[0005] The present invention provides a dual-machine communication data fusion processing method for a dual redundant system, comprising:

[0006] S1: Detect the communication status of the dual-machine system with different communication modes to obtain the communication status result;

[0007] S2: Perform anomaly detection on the communication data of the dual-machine system to obtain communication data results;

[0008] S3: According to the communication status result and the communication data result, select an available communication method to perform data exchange between the two-machine system.

[0009] According to a dual-machine communication data fusion processing method for a dual-redundancy system provided by the present invention, in step S1, the communication mode of the dual-machine system includes:

[0010] A first communication mode, wherein the first communication mode is SPI communication;

[0011] The second communication mode is CANFD communication.

[0012] According to a dual-machine communication data fusion processing method for a dual-redundancy system provided by the present invention, the communication status result in step S1 includes:

[0013] Abnormal communication status and normal communication status;

[0014] The abnormal communication status includes:

[0015] Communication is not established, where the communication is not established indicating that inter-chip communication data is not received;

[0016] A communication timeout occurs, which indicates data loss.

[0017] According to a dual-machine communication data fusion processing method for a dual-redundancy system provided by the present invention, step S1 further includes:

[0018] S11: preset a detection period and receive communication data of the dual-machine system at regular intervals;

[0019] S12: Counting the reception of communication data through a counter. When communication data is received, it is determined that the communication is normal and the counter is cleared; when no communication data is received, the counter is incremented;

[0020] S13: When the counter count is greater than a preset threshold, it is determined that the communication status is abnormal.

[0021] According to a dual-machine communication data fusion processing method for a dual-redundancy system provided by the present invention, step S13 also includes:

[0022] When the communication status result is that the communication status is abnormal, the communication status of the dual-machine system is restored.

[0023] According to a dual-machine communication data fusion processing method for a dual-redundancy system provided by the present invention, the communication data result in step S2 includes:

[0024] Communication data is abnormal, communication data is normal;

[0025] The communication data anomaly includes:

[0026] cnt error, the cnt error indicates that the cnt difference between two communication messages is greater than or equal to a preset threshold;

[0027] CRC error, the CRC error indicates that the cyclic redundancy check fails for multiple consecutive cycles;

[0028] Wrong format.

[0029] According to a dual-machine communication data fusion processing method for a dual-redundancy system provided by the present invention, step S2 also includes:

[0030] When the communication data result is that the communication data is abnormal, the dual-machine system is restored from abnormal communication data.

[0031] According to a dual-machine communication data fusion processing method for a dual-redundancy system provided by the present invention, step S3 specifically includes:

[0032] When the communication status data of the first communication mode and the second communication mode are both normal, and the communication data results are both normal, the data of the first communication mode is used;

[0033] When the communication state of the first communication method is abnormal, or the communication data of the first communication method is abnormal, using the data of the second communication method;

[0034] When the communication state of the second communication method is abnormal, or the communication data of the second communication method is abnormal, using the data of the first communication method;

[0035] When both the communication status results and the communication data results of the first communication mode and the second communication mode are abnormal, the other machine data is unavailable.

[0036] According to a dual-machine communication data fusion processing method for a dual-redundancy system provided by the present invention, in step S3, when the data of the other machine is unavailable, an error is reported.

[0037] The present invention also provides a dual-machine communication data fusion processing system for a dual-redundancy system, comprising:

[0038] Communication status detection module: used to detect the communication status of the dual-machine system with different communication modes and obtain the communication status result;

[0039] Communication data detection module: used to detect abnormalities in the communication data of the dual-machine system and obtain communication data results;

[0040] Detection module: used to select an available communication mode according to the communication status result and the communication data result to perform data exchange between the two-machine system.

[0041] The present invention proposes a dual-machine communication data fusion processing method and system for a dual-redundancy system. By simultaneously adopting two different communication modes, the construction of a dual-redundancy system is realized, so that when one of the communication modes fails, the system can quickly switch to another communication mode, thereby ensuring the continuity and reliability of data exchange between the two machines; before data exchange, the present invention performs strict abnormality detection on the communication state and communication data, which helps to timely discover and correct potential data problems and ensure the accuracy and integrity of transmitted data; in addition, through a preset detection cycle and a counter mechanism, the present invention can efficiently monitor the communication state, and when the counter count exceeds a preset threshold, the system can quickly determine that the communication state is abnormal and take corresponding measures to recover, thereby reducing unnecessary communication overhead and improving communication efficiency; when the communication state or communication data is detected to be abnormal, the present invention can trigger a corresponding recovery mechanism, thereby improving the fault recovery capability and adaptability of the system.

[0042] In terms of data selection, the present invention adopts a clear and simple decision-making logic. By judging the communication status, the data of the communication method is selected, so that the system can be flexibly adjusted according to the current situation to ensure the continuity and stability of data exchange. At the same time, when both communication methods are abnormal, the system can clearly indicate that the data of the other machine is unavailable, avoiding potential problems caused by erroneous data.

[0043] The present invention adopts method one and method two to identify the validity of communication and data respectively for communication and communication data when redundant systems perform data interaction, and verifies the validity of data, etc., combines the redundant communication scheme to improve data accuracy, and reduces the probability of dual system degradation.

[0044] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 It is a schematic flow chart of a dual-machine communication data fusion processing method for a dual redundant system provided by an embodiment of the present invention;

[0047] Figure 2 It is a schematic diagram of the structure of a dual-machine communication data fusion processing system for a dual redundant system provided by an embodiment of the present invention;

[0048] Figure 3 The present invention is a schematic diagram of the principle of a dual-machine communication data fusion processing method for a dual-redundancy system provided by an embodiment of the present invention.

[0049] Reference numerals:

[0050] 100, communication status detection module; 200, communication data detection module; 300, selection module. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0052] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0053] The embodiments of the present invention are described below with reference to the accompanying drawings.

[0054] like Figure 1 As shown, the present invention provides a dual-machine communication data fusion processing method for a dual redundant system, comprising:

[0055] S1: Detect the communication status of the dual-machine system with different communication modes to obtain the communication status result.

[0056] Among them, in step S1, the communication mode of the dual-machine system includes:

[0057] A first communication mode, wherein the first communication mode is SPI communication;

[0058] The second communication mode is CANFD communication.

[0059] Specifically, the above-mentioned SPI communication is 32-bit SPI communication, and the CANFD communication is 8-byte CANFD communication. In a specific implementation, the SPI transceiver mechanism is set as the A system SPI is the host mode, the B system is the slave mode, A initiates communication, B receives and returns the local data to the host, and the CANFD transceiver mechanism is set as the A system as the host, the B system as the slave, A initiates communication, B receives and returns the local data to the host.

[0060] Wherein, the communication status result in step S1 includes:

[0061] Abnormal communication status and normal communication status;

[0062] The abnormal communication status includes:

[0063] Communication is not established, where the communication is not established indicating that inter-chip communication data is not received;

[0064] A communication timeout occurs, which indicates data loss.

[0065] Specifically, after the system is powered on, the communication status of the two machines is first identified. The communication status is defined as three categories: inter-chip communication is not established: 0xaa, indicating that the system does not receive inter-chip communication data when it is powered on; communication interruption / timeout: 0x01, indicating that data from other machines is received for a period of time during operation; normal communication: 0x00, indicating that the communication between the two machines is normal during operation.

[0066] Wherein, step S1 further comprises:

[0067] S11: preset a detection period and receive communication data of the dual-machine system at regular intervals;

[0068] S12: Counting the reception of communication data through a counter. When communication data is received, it is determined that the communication is normal and the counter is cleared; when no communication data is received, the counter is incremented;

[0069] S13: When the counter count is greater than a preset threshold, it is determined that the communication status is abnormal.

[0070] Wherein, step S13 also includes:

[0071] When the communication status result is that the communication status is abnormal, the communication status of the dual-machine system is restored.

[0072] The present invention sets a recovery mechanism in the state judgment process, and when the communication is re-established, the 0x01 state is restored to the 0x00 state.

[0073] S2: Perform anomaly detection on the communication data of the dual-machine system to obtain communication data results.

[0074] Furthermore, when judging the validity of the data in S2, if any of the following conditions is met, the data is judged to be abnormal and unavailable: if the random number cnt in the communication protocol is judged, and the difference between the cnt of two adjacent messages is ≥ the set threshold X, it is judged to be abnormal; if the communication data is calculated by crc data, and the crc value is judged, if the verification fails for Y consecutive times (set threshold), it is judged to be abnormal; if the data is identified according to the data range, it is judged to be abnormal if the data is all 0 or all 1.

[0075] Wherein, the communication data result in step S2 includes:

[0076] Communication data is abnormal, communication data is normal;

[0077] The communication data anomaly includes:

[0078] cnt error, the cnt error indicates that the cnt difference between two communication messages is greater than or equal to a preset threshold.

[0079] Furthermore, cntErr (count error) means that when the cnt of two communication messages, that is, the message sequence number or count difference, reaches or exceeds a set threshold, and the number of consecutive occurrences of this situation reaches or exceeds another set confirmation threshold, a cntErr error will be triggered. If this error occurs, it indicates that the messages between the communicating parties are lost, repeated or out of order, resulting in a mismatch in the sequence number, which may cause data synchronization problems and affect the correct parsing and application of the data.

[0080] CRC error, the CRC error indicates that the cyclic redundancy check fails for multiple consecutive cycles.

[0081] Furthermore, crcErr (cyclic redundancy check error) is a method for detecting whether errors occur in data transmission or storage. When the CRC check fails for N consecutive cycles (N is the set number of cycles), and the number of consecutive failures reaches or exceeds the set confirmation threshold, a crcErr error will be triggered. CRC errors are usually caused by noise, interference or data corruption introduced during data transmission. The occurrence of this error indicates that the received data may be corrupted and should not be trusted or used for further processing.

[0082] Wrong format.

[0083] abnormalData means that when the received data does not conform to the expected format, range or logic, and the number of consecutive occurrences of this abnormal situation reaches or exceeds the set confirmation threshold, an abnormalData error will be triggered. Abnormal data is caused by sensor failure, incorrect input, software error or communication interference. The occurrence of this error indicates that the data may be inaccurate or invalid, and additional verification measures or error handling strategies are required.

[0084] In step S2, the message protection information is mainly judged and the output results are divided into the following categories: cntErr: the difference between the cnt values ​​of two communication messages is ≥ the set threshold, and the continuous cumulative number of times is ≥ the set confirmation threshold; crcErr: the check error fails for N consecutive cycles, and the continuous cumulative number of times is ≥ the set confirmation threshold; abnormalData: abnormal data, the continuous cumulative number of times is ≥ the set confirmation threshold.

[0085] Wherein, step S2 also includes:

[0086] When the communication data result is that the communication data is abnormal, the dual-machine system is restored from abnormal communication data.

[0087] The present invention sets a recovery mechanism in the abnormal data identification process, which can effectively prevent the interference of the dual-machine communication waveform during the collision and stall conditions, resulting in false fault alarms. The main causes of cntErr and crcErr are as follows: cntErr: The cumulative number of cnt difference abnormalities decreases, and it recovers immediately when it meets ≤ the set threshold * 0.5; crcErr: The cumulative number of cnt difference abnormalities decreases, and it recovers immediately when it meets ≤ the set threshold * 0.5;

[0088] abnormalData: Recover immediately when the data is normal.

[0089] S3: According to the communication status result and the communication data result, select an available communication method to perform data exchange between the two-machine system.

[0090] Wherein, step S3 specifically includes:

[0091] When the communication status data of the first communication mode and the second communication mode are both normal, and the communication data results are both normal, the data of the first communication mode is used;

[0092] When the communication state of the first communication method is abnormal, or the communication data of the first communication method is abnormal, using the data of the second communication method;

[0093] When the communication state of the second communication method is abnormal, or the communication data of the second communication method is abnormal, using the data of the first communication method;

[0094] When the communication status results and the communication data results of the first communication mode and the second communication mode are abnormal, the other machine data is unavailable and an error is reported.

[0095] In step S3, the present invention fuses the output result 1 and the output result 2, and finally obtains effective and usable communication data for dual-machine collaborative work. Figure 1 The data is processed in the other machine data analysis task.

[0096] The parsing task performs a fusion judgment based on the communication status and abnormal status of communication mode 1 and communication mode 2, and identifies valid and available data as the received other machine data. Specifically: when the communication status of both communication modes is normal, i.e. 0x00, and the data is normal, i.e. 0x00, the data of communication mode 1 is used; when the communication status of communication mode 1 is abnormal, i.e. 0x01, or the data is abnormal, i.e. 0x01, the data of communication mode 2 is used; when the communication status of communication mode 2 is abnormal, i.e. 0x01, or the data is abnormal, i.e. 0x01, the data of communication mode 1 is used; when faults occur in both communication modes at the same time, the other machine data is unavailable and a fault is reported.

[0097] like Figure 3 As shown, the overall process of the present invention is to first trigger the detection process at intervals of 1 millisecond, receive and parse data from other systems after the trigger, and then make a judgment on inter-chip communication failure / validity based on the following conditions: communication interruption: indicating that the communication with other systems is interrupted, communication not established: indicating that the communication connection with other systems has not been established, communication data invalid: indicating that the received communication data is invalid or does not meet expectations, and then select SPI communication or Canfd communication based on the judgment situation, and finally assign it to the other machine data structure. The explanation of the interface name in the figure is: CommCANFD_Rx_UNI, CANFD receiving structure;

[0098] CommSPI_Rx_UNI, SPI receive structure; Comm_OtherSysInfo_STU, other machine data structure.

[0099] like Figure 2 As shown, the present invention also provides a dual-machine communication data fusion processing system for a dual redundant system, comprising:

[0100] Communication status detection module 100: used to detect the communication status of the dual-machine system with different communication modes and obtain the communication status result;

[0101] Communication data detection module 200: used to perform abnormality detection on the communication data of the dual-machine system and obtain communication data results;

[0102] Detection module 300: used to select an available communication mode according to the communication status result and the communication data result to perform data exchange between the two-machine system.

[0103] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0104] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0105] The present invention provides a dual-machine communication data fusion processing method for a dual-redundancy system, i.e., a system, which designs two methods to judge the status and validity of dual-machine data, thereby improving the accuracy of the judgment. At the same time, a data fusion processing and a recoverable mechanism are designed, thereby greatly improving the anti-interference performance under special working conditions and reducing the probability of false fault alarms. The present invention can be used in the dual-redundancy design scheme of a wire-controlled steering system, thereby greatly improving the timeliness of the dual-machine interaction and improving the safety of the entire vehicle.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dual-machine communication data fusion processing method for a dual redundant system, characterized in that: include: S1: Detect the communication status of the dual-machine system with different communication modes to obtain the communication status result; S2: Perform anomaly detection on the communication data of the dual-machine system to obtain communication data results; S3: According to the communication status result and the communication data result, select an available communication method to perform data exchange between the two-machine system.

2. A dual-machine communication data fusion processing method for a dual redundant system according to claim 1, characterized in that: In step S1, the communication method of the dual-machine system includes: A first communication mode, wherein the first communication mode is SPI communication; The second communication mode is CANFD communication.

3. A dual-machine communication data fusion processing method for a dual redundant system according to claim 1, characterized in that: The communication status result in step S1 includes: Abnormal communication status and normal communication status; The abnormal communication status includes: Communication is not established, where the communication is not established indicating that inter-chip communication data is not received; A communication timeout occurs, which indicates data loss.

4. A dual-machine communication data fusion processing method for a dual redundant system according to claim 3, characterized in that: Step S1 further comprises: S11: preset a detection period and receive communication data of the dual-machine system at regular intervals; S12: Counting the reception of communication data through a counter. When communication data is received, it is determined that the communication is normal and the counter is cleared; when no communication data is received, the counter is incremented; S13: When the counter count is greater than a preset threshold, it is determined that the communication status is abnormal.

5. A dual-machine communication data fusion processing method for a dual redundant system according to claim 4, characterized in that: Step S13 also includes: When the communication status result is that the communication status is abnormal, the communication status of the dual-machine system is restored.

6. A dual-machine communication data fusion processing method for a dual redundant system according to claim 1, characterized in that: The communication data results in step S2 include: Communication data is abnormal, communication data is normal; The communication data anomaly includes: cnt error, the cnt error indicates that the cnt difference between two communication messages is greater than or equal to a preset threshold; CRC error, the CRC error indicates that the cyclic redundancy check fails for multiple consecutive cycles; Wrong format.

7. A dual-machine communication data fusion processing method for a dual redundant system according to claim 1, characterized in that: Step S2 also includes: When the communication data result is that the communication data is abnormal, the dual-machine system is restored from abnormal communication data.

8. A dual-machine communication data fusion processing method for a dual redundant system according to claim 1, characterized in that: Step S3 specifically includes: When the communication status data of the first communication mode and the second communication mode are both normal, and the communication data results are both normal, the data of the first communication mode is used; When the communication state of the first communication method is abnormal, or the communication data of the first communication method is abnormal, using the data of the second communication method; When the communication state of the second communication method is abnormal, or the communication data of the second communication method is abnormal, using the data of the first communication method; When both the communication status results and the communication data results of the first communication mode and the second communication mode are abnormal, the other machine data is unavailable.

9. A dual-machine communication data fusion processing method for a dual redundant system according to claim 8, characterized in that: In step S3, when the other machine data is unavailable, an error is reported.

10. A dual-machine communication data fusion processing system for a dual redundant system, characterized in that: include: Communication status detection module: used to detect the communication status of the dual-machine system with different communication modes and obtain the communication status result; Communication data detection module: used to detect abnormalities in the communication data of the dual-machine system and obtain communication data results; Selection module: used to select an available communication mode according to the communication status result and the communication data result to perform data exchange between the two-machine system.

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