Signal transmission system, method and device combining vehicle-mounted Ethernet and controller local area network bus, vehicle and computer program product

Abstract

The invention discloses a signal transmission system, method and device combined with a vehicle-mounted Ethernet and a controller local area network bus, a vehicle and a computer program product, and the method comprises the steps: classifying vehicle-mounted signals to obtain signal types which comprise a driving safety signal, a driving control signal, a vehicle state diagnosis signal and an entertainment signal; monitoring the link state of the Ethernet link by using the heartbeat packet according to the preset heartbeat cycle time to obtain a link state monitoring result; performing link switching processing according to the signal type and the link state monitoring result to obtain a target link; and performing signal transmission by using the target link. According to the invention, link switching can be carried out according to different signal types and link states to realize signal transmission, so that the transmission rate and the driving safety are improved. The invention can be widely applied to the technical field of signal transmission.

Description

Technical Field

[0001] The present invention relates to the field of signal transmission technology, and in particular to a signal transmission system, method, device, vehicle and computer program product combining an in-vehicle Ethernet and a controller area network bus. Background Art

[0002] With the advancement of vehicle electrical and electronic architectures, the number of electronic components within a vehicle has increased dramatically, and their complexity has increased. Simultaneously, the introduction of new features such as advanced driver assistance systems and infotainment systems has led to increasingly stringent requirements for communication bandwidth, latency, and reliability. Traditional signal transmission methods utilize electronic communication buses, such as the Controller Area Network (CAN) bus. However, these methods offer limited bandwidth, low transmission rates, limited transmission distances, and inflexible network topologies, making them difficult to meet the growing demand for data transmission. This can easily lead to transmission failures of critical signals, compromising driving safety. Summary of the Invention

[0003] Embodiments of the present invention provide a signal transmission system, method, device, vehicle, and computer program product that combine an in-vehicle Ethernet and a controller area network bus. These systems can implement link switching based on different signal types and link states to achieve signal transmission, effectively improving transmission rate and driving safety.

[0004] In one aspect, an embodiment of the present invention provides a signal transmission system combining an in-vehicle Ethernet and a controller area network bus, comprising: A dual-link control module, configured to perform link switching control based on signal type and current network status, wherein the links controlled by the dual-link control module include a controller area network link and an Ethernet link; a first electronic control module, the first electronic control module being connected to the dual-link control module and configured to transmit an on-board signal; A second electronic control module is connected to the dual-link control module and is configured to receive the vehicle-borne signal.

[0005] In some embodiments, the first electronic control module includes: a first timing module, connected to the dual-link control module via the controller area network link and the Ethernet link, and configured to send a heartbeat packet to monitor a link status; a first controller area network processing module, the first controller area network processing module being connected to the first timing module via the controller area network link and being configured to process communication data of the controller area network; A first Ethernet processing module is connected to the first timing module via the Ethernet link and is used to process Ethernet communication data.

[0006] In some embodiments, the second electronic control module includes: a second timing module, connected to the dual-link control module via the controller area network link and the Ethernet link, configured to receive a heartbeat packet and return a heartbeat confirmation packet to monitor a link status; a second controller area network processing module, the second controller area network processing module being connected to the second timing module via the controller area network link and being configured to process communication data of the controller area network; The second Ethernet processing module is connected to the second timing module via the Ethernet link and is used to process Ethernet communication data.

[0007] The beneficial effects of the present invention are as follows: An embodiment of the present invention provides a signal transmission system combining an in-vehicle Ethernet and a controller area network bus, comprising a dual-link control module, a first electronic control module, and a second electronic control module. The dual-link control module is configured to control link switching based on the signal type and current network status. The links controlled by the dual-link control module include a controller area network link and an Ethernet link. The first electronic control module is connected to the dual-link control module for transmitting in-vehicle signals, while the second electronic control module is connected to the dual-link control module for receiving in-vehicle signals. This embodiment of the present invention enables link switching based on different signal types and link statuses to achieve signal transmission, thereby improving transmission speed and driving safety.

[0008] On the other hand, an embodiment of the present invention provides a signal transmission method combining an in-vehicle Ethernet and a controller area network bus, which is applied to the above-mentioned system. The method includes the following steps: Classifying vehicle-borne signals to obtain signal types, wherein the signal types include driving safety signals, driving control signals, vehicle status diagnosis signals, and entertainment signals; According to the preset heartbeat cycle time, the link status of the Ethernet link is monitored using the heartbeat packet to obtain the link status monitoring result; Performing link switching processing according to the signal type and the link status monitoring result to obtain a target link; Signal transmission is performed using the target link.

[0009] In some embodiments, the link status of the Ethernet link is monitored using a heartbeat packet according to a preset heartbeat cycle time to obtain a link status monitoring result, including: Set a timeout period; According to a preset heartbeat cycle time, the heartbeat packet is sent to the peer controller via an Ethernet link, and the peer controller is used to receive the heartbeat packet and return a heartbeat confirmation packet; Receive the heartbeat confirmation packet and calculate the delay time, the delay time is used to represent the time difference between sending the heartbeat packet and receiving the heartbeat confirmation packet; If the delay time is less than or equal to the timeout time, taking Ethernet as normal as the link status monitoring result; If the delay time is greater than the timeout time, Ethernet failure is taken as the link status monitoring result.

[0010] In some embodiments, performing link switching processing according to the signal type and the link status monitoring result to obtain a target link includes: Calculate the error frame occurrence rate and bus load rate of the CAN link; determining a link health of the controller area network link according to the error frame occurrence rate and the bus load rate; If the link health of the controller area network link is normal and the link status monitoring result is Ethernet failure, determining the signal type of the current signal; If the signal type of the current signal is the entertainment signal, maintaining the Ethernet link as the target link and discarding the entertainment signal; If the signal type of the current signal is the driving safety signal, the driving control signal or the vehicle status diagnostic signal, the current link is switched from the Ethernet link to the controller area network link as the target link according to the signal priority.

[0011] In some embodiments, the method further comprises: If the Ethernet link is interrupted and the link status monitoring result shows that the Ethernet is normal, the current signal is resent through the buffer mechanism.

[0012] In another aspect, an embodiment of the present invention provides a computer device, comprising: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method.

[0013] On the other hand, an embodiment of the present invention provides a vehicle, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program implements the method described above when executed by the processor.

[0014] On the other hand, an embodiment of the present invention provides a computer program product, including a computer program, which implements the method when executed by a processor.

[0015] The beneficial effects of the present invention are as follows: The embodiment of the present invention first classifies the vehicle-borne signal to obtain the signal type, and then uses the heartbeat packet to monitor the link status of the Ethernet link according to the preset heartbeat cycle time to obtain the link status monitoring result. Then, according to the signal type and the link status monitoring result, the link switching process is performed to obtain the target link, and finally the target link is used for signal transmission. In this way, link switching can be performed according to different signal types and link statuses to realize signal transmission, thereby improving the transmission rate and driving safety.

[0016] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 This is a schematic structural diagram of a signal transmission system combining in-vehicle Ethernet and a controller area network bus according to an embodiment of the present invention; Figure 2 This is a schematic structural diagram of a first electronic control module according to an embodiment of the present invention; Figure 3 This is a schematic structural diagram of a second electronic control module according to an embodiment of the present invention; Figure 4 A schematic diagram of a dual-link controller topology according to an embodiment of the present invention; Figure 5 This is a flow chart of a signal transmission method combining in-vehicle Ethernet and controller area network bus according to an embodiment of the present invention; Figure 6 A schematic diagram of signal classification and mapping according to an embodiment of the present invention; Figure 7 This is a flowchart of step S502 in a signal transmission method combining an in-vehicle Ethernet and a controller area network bus according to an embodiment of the present invention; Figure 8This is a flowchart of step S503 in a signal transmission method combining an in-vehicle Ethernet and a controller area network bus according to an embodiment of the present invention; Figure 9 A schematic diagram of a link detection and recovery process according to an embodiment of the present invention; Figure 10 The figure is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0020] It will be understood that the terms "first", "second", etc. used in this application may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0021] The terms "at least one", "plurality", "each", "any", etc. used in this application include "at least one", "two" or more, "plurality" or "each", "any" or "any one", "each" or "any one" as used herein.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0023] Before explaining the embodiments of the present application in detail, some of the nouns and terms involved in the embodiments of the present application are first explained. The nouns and terms involved in the embodiments of the present application are subject to the following explanations.

[0024] Controller Area Network (CAN): A serial communication protocol bus designed for real-time applications, it uses twisted-pair wiring for signal transmission and is one of the most widely used fieldbuses. The CAN protocol is used for communication between various components in automobiles, replacing expensive and bulky distribution wiring harnesses. The robustness of the protocol has extended its use to other automation and industrial applications. Features of the CAN protocol include complete serial data communication, real-time support, transmission rates up to 1 Mb / s, 11-bit addressing, and error detection.

[0025] In related technologies, with the upgrade of vehicle electronic and electrical architectures, the number of electronic components within a vehicle has increased dramatically, and their complexity has increased. Furthermore, with the introduction of new features such as advanced driver assistance systems and infotainment systems, vehicles are placing increasingly high demands on communication bandwidth, latency, and reliability. Traditional signal transmission methods utilize electronic communication buses, such as the Controller Area Network (CAN) bus. However, these methods have limited bandwidth, low transmission rates, limited transmission distances, and inflexible network topologies, making them difficult to meet the growing demand for data transmission. This can easily lead to transmission failures of critical signals for driving safety, compromising driving safety.

[0026] To this end, the embodiments of this application utilize Ethernet communication technology. Ethernet's primary advantage lies in its high transmission rate and bandwidth, far exceeding that of the traditional CAN bus. A single Ethernet cable can simultaneously transmit multiple channels of high-definition video and radar data, providing the hardware foundation for advanced autonomous driving and infotainment features. Furthermore, because Ethernet's physical medium is independent of the protocol, it can be adapted and expanded within the vehicle sector, forming a comprehensive suite of in-vehicle Ethernet protocols. Furthermore, Ethernet communication easily integrates with the currently popular service-oriented architecture (SOA), providing more flexible and efficient data transmission services for the entire vehicle. However, vehicle-wide Ethernet communication also faces challenges and limitations. Compared to the CAN bus, which is designed for real-time control, Ethernet technology, while renowned for its high-speed data transmission capabilities, is relatively weak in terms of real-time performance. Its sudden and competitive nature inevitably leads to data transmission delays and even loss. Furthermore, Ethernet's network structure is relatively complex, requiring advanced technology and resources to build and maintain. Comparing various metrics, the CAN bus has a bandwidth of 1Mbps (CAN FD 5Mbps), while Ethernet has a bandwidth of 100Mbps-10Gbps. The CAN bus has a maximum transmission distance of 40 meters, while Ethernet's transmission distance ranges from tens of meters (100BASE-T1) to several kilometers (fiber optic). The CAN bus's topology is linear / star (requiring a gateway), while Ethernet's topology is more flexible, with star / tree / ring topologies. The CAN bus's real-time performance is designed for real-time control, with low data transmission latency, while Ethernet's real-time performance is weaker and has higher latency. The CAN bus's complexity is characterized by a simple network structure and low cost, while Ethernet's complexity is relatively complex. The CAN bus's reliability is high and has strong anti-interference capabilities, while Ethernet's reliability is lower than that of the CAN bus. Furthermore, vehicle Ethernet communication relies heavily on switches as core equipment, and a failure in these switches could cause the entire network to collapse. Therefore, vehicle Ethernet communication requires fault tolerance measures to ensure reliability under abnormal conditions.

[0027] In view of this, the embodiment of the present application performs link switching through a dual-link control module, sending vehicle signals through a first electronic control module and receiving vehicle signals through a second electronic control module. Simultaneously, during the signal transmission process, the vehicle signals are first classified to obtain the signal type. Then, based on a preset heartbeat cycle, the link status of the Ethernet link is monitored using a heartbeat packet to obtain a link status monitoring result. Link switching is then performed to obtain a target link, and finally, the target link is used for signal transmission. This allows link switching to be performed based on different signal types and link statuses to achieve signal transmission, thereby improving transmission rate and driving safety.

[0028] The following is a detailed explanation of the embodiments of the present application with reference to the accompanying drawings: like Figure 1As shown, an embodiment of the present invention provides a signal transmission system combining an in-vehicle Ethernet and a controller area network bus, comprising: A dual-link control module 100 is configured to control link switching based on the signal type and the current network status. The links controlled by the dual-link control module include a controller area network link and an Ethernet link. A first electronic control module 101, which is connected to the dual-link control module and is used to send vehicle signals; The second electronic control module 102 is connected to the dual-link control module and is used to receive vehicle signals.

[0029] In some embodiments, a signal transmission system combining an in-vehicle Ethernet and a controller area network (CAN) bus is provided. The dual-link control module 100 can control link switching based on signal type and current network status. The links controlled by the dual-link control module include CAN and Ethernet links. For example, the dual-link control module integrates both an Ethernet interface and a CAN transceiver to implement signal priority determination and link switching, enabling switching from a CAN link to an Ethernet link and vice versa. The current network status can include CAN normal, CAN fault, Ethernet normal, or Ethernet fault. The first ECU 101 is connected to the dual-link control module, and the second ECU 102 is connected to the dual-link control module. Vehicle signals can be sent via the first ECU and received via the second ECU. Vehicle signals are transmitted from the first ECU to the dual-link control module via a CAN or Ethernet link, and then transmitted from the dual-link control module to the second ECU via the same link. When selecting a link, the Ethernet link can be used as the primary link. The primary link has high bandwidth and supports the transmission of large amounts of data, such as autonomous driving and high-definition video. The Controller Area Network link can be used as the backup link. The backup link has high reliability and supports the transmission of critical signals. This embodiment uses the CAN bus as a backup link for Ethernet communication, ensuring that critical signals can still be reliably transmitted even if the Ethernet link fails, thereby improving data reliability.

[0030] Furthermore, signal types can include driving safety signals, driving control signals, vehicle status diagnostic signals, and entertainment signals. Driving safety signals, driving control signals, and vehicle status diagnostic signals can be considered critical signals, with Ethernet links being prioritized for transmission. When the Ethernet link fails, the controller area network link is immediately switched to ensure correct signal transmission. Driving safety signals have a higher priority than driving control signals. When transmitting vehicle status diagnostic signals, Ethernet links can be prioritized, with the controller area network link serving as a supplementary verification. Entertainment signals can be considered non-critical signals, meaning they do not affect driving safety and do not require real-time transmission or guaranteed correct transmission. Only Ethernet links can be used to transmit non-critical signals, without the need for a controller area network link for backup. When the Ethernet link fails, the entertainment signals can be discarded. Furthermore, driving safety signals can include brake signals, steering signals, or torque signals; driving control signals can include door control signals or lighting control signals; vehicle status diagnostic signals can include fault codes or battery status diagnostic signals; and entertainment signals can include audio signals or video stream signals. This embodiment realizes automatic switching of the primary and backup links without manual intervention, and performs differentiated processing on critical signals (such as brake signals and turn signals) and non-critical signals (such as entertainment signals), thereby improving transmission efficiency.

[0031] In some embodiments, as Figure 2 As shown, the first electronic control module includes: A first timing module 200, connected to the dual-link control module via a controller area network link and an Ethernet link, for sending heartbeat packets to monitor link status; A first CAN processing module 201, connected to the first timing module via a CAN link, for processing CAN communication data; The first Ethernet processing module 202 is connected to the first timing module via an Ethernet link and is used to process Ethernet communication data.

[0032] In some embodiments, the first electronic control module includes a first timing module 200, a first Controller Area Network (CAN) processing module 201, and a first Ethernet processing module 202. The first timing module 200 is connected to the dual-link control module via a CAN link and an Ethernet link. Heartbeat packets can be sent through the first timing module to monitor link status. For example, the first timing module can include a watchdog hardware device that monitors link status via heartbeat packets and triggers a link switch if no heartbeat confirmation packet is received within a timeout. When the Ethernet link is functioning properly, the Ethernet link is preferentially used for communication; when the Ethernet link fails, the CAN link can be used for communication. The first CAN processing module 201 is connected to the first timing module via a CAN link, and the first Ethernet processing module 202 is connected to the first timing module via an Ethernet link. CAN communication data can be processed by the first CAN processing module, and Ethernet communication data can be processed by the first Ethernet processing module. For example, a dual-core processor can be used, including an Ethernet processing core and a controller area network processing core. The Ethernet processing core processes Ethernet communication data, while the controller area network processing core processes controller area network communication data. This embodiment uses a dual-core processor for data processing. If either link fails, data communication can be carried out using the other link, thereby improving the robustness of data transmission.

[0033] In some embodiments, as Figure 3 As shown, the second electronic control module includes: A second timing module 300, which is connected to the dual-link control module via a controller area network link and an Ethernet link, is configured to receive heartbeat packets and return heartbeat confirmation packets to monitor link status; A second CAN processing module 301, connected to the second timing module via a CAN link, for processing CAN communication data; The second Ethernet processing module 302 is connected to the second timing module via an Ethernet link and is used to process Ethernet communication data.

[0034] In some embodiments, the second electronic control module includes a second timing module 300, a second controller area network (CAN) processing module 301, and a second Ethernet processing module 302. The second timing module 300 is connected to the dual-link control module via a CAN link and an Ethernet link. The second timing module can receive heartbeat packets and return heartbeat confirmation packets to monitor the link status. For example, the second timing module can include a watchdog hardware device that monitors the link status via heartbeat packets. Upon receiving a heartbeat packet from a peer device, the module promptly acknowledges the packet and returns a heartbeat confirmation packet to confirm that the link status is normal. If the peer device sends a heartbeat packet but the peer device does not return a heartbeat confirmation packet, the peer device determines that the confirmation has timed out and the link has failed, triggering a link switch. When the Ethernet link is functioning properly, the Ethernet link is preferentially used for communication. When the Ethernet link fails, the CAN link can be used for communication. The second CAN processing module 301 is connected to the second timing module via a CAN link, and the second Ethernet processing module 302 is connected to the second timing module via an Ethernet link. The second CAN processing module can process CAN communication data, and the second Ethernet processing module can process Ethernet communication data. For example, a dual-core processor can be used, including an Ethernet processing core and a CAN processing core. The Ethernet processing core processes Ethernet communication data, while the CAN processing core processes CAN communication data. This embodiment uses a dual-core processor for data processing. If either link fails, data communication can be performed using the other link, thereby improving the robustness of data transmission.

[0035] In some embodiments, a dual-link controller topology such as Figure 4 As shown, the dual-link control module can be used as a switch device to control link switching between the Ethernet link and the Controller Area Network (CAN) link. The first electronic control module and the second electronic control module are both connected to the dual-link control module via the Ethernet link and the CAN link, and data can be transmitted via the Ethernet link or the CAN link. The first electronic control module includes a first timing module, a first CAN processing module, and a first Ethernet processing module. The first CAN processing module and the first Ethernet processing module are respectively connected to the first timing module. The second electronic control module includes a second timing module, a second CAN processing module, and a second Ethernet processing module. The second CAN processing module and the second Ethernet processing module are respectively connected to the second timing module. The first timing module or the second timing module can monitor the link status, the first CAN processing module or the second CAN processing module can process the communication data of the CAN link, and the first Ethernet processing module or the second Ethernet processing module can process the communication data of the Ethernet link.

[0036] The beneficial effects of the present invention are as follows: An embodiment of the present invention provides a signal transmission system combining an in-vehicle Ethernet and a controller area network bus, comprising a dual-link control module, a first electronic control module, and a second electronic control module. The dual-link control module is configured to control link switching based on the signal type and current network status. The links controlled by the dual-link control module include a controller area network link and an Ethernet link. The first electronic control module is connected to the dual-link control module for transmitting in-vehicle signals, while the second electronic control module is connected to the dual-link control module for receiving in-vehicle signals. This embodiment of the present invention enables link switching based on different signal types and link statuses to achieve signal transmission, thereby improving transmission speed and driving safety.

[0037] Figure 5 This is an optional flow chart of a signal transmission method combining an in-vehicle Ethernet and a controller area network bus provided in an embodiment of the present application. Figure 5 The method may include but is not limited to steps S501 to S504.

[0038] Step S501: classify the vehicle-borne signals to obtain signal types, which include driving safety signals, driving control signals, vehicle status diagnosis signals, and entertainment signals; Step S502: monitoring the link status of the Ethernet link using a heartbeat packet according to a preset heartbeat cycle time to obtain a link status monitoring result; Step S503: Perform link switching processing according to the signal type and link status monitoring results to obtain the target link; Step S504: Use the target link to transmit signals.

[0039] Steps S501 to S504 shown in the embodiment of the present application implement signal transmission, thereby improving transmission rate and driving safety.

[0040] In some embodiments, the signal transmission method combining in-vehicle Ethernet and a controller area network bus provided in this embodiment can be applied to a signal transmission system combining in-vehicle Ethernet and a controller area network bus provided in this embodiment. The method can first classify in-vehicle signals to determine the signal type. Then, at intervals of a preset heartbeat cycle, the link status of the Ethernet link is monitored using heartbeat packets to obtain the link status monitoring result. Link switching is then performed to determine the target link, and finally, signal transmission is performed using the target link. This allows link switching to be performed based on different signal types and link statuses to achieve signal transmission, thereby improving transmission speed and driving safety.

[0041] In some embodiments, in step S501, the vehicle-borne signal may be classified to obtain the signal type. Figure 6 As shown, signal types can include driving safety signals, driving control signals, vehicle status diagnostic signals, and entertainment signals. Furthermore, driving safety signals, driving control signals, and vehicle status diagnostic signals can be considered critical signals, with Ethernet links being prioritized for transmission. If the Ethernet link fails, the Controller Area Network (CAN) link is immediately switched to ensure correct signal transmission. Driving safety signals have higher priority than driving control signals. When transmitting vehicle status diagnostic signals, Ethernet links can be prioritized, with the CAN link serving as a supplementary verification link. Entertainment signals can be considered non-critical signals, meaning they do not impact driving safety and do not require real-time transmission or guaranteed correct transmission. Only Ethernet links can be used for transmission of non-critical signals, without the CAN link for backup. If the Ethernet link fails, the entertainment signals can be discarded. Furthermore, driving safety signals can include brake signals, steering signals, or torque signals; driving control signals can include door control signals or lighting control signals; vehicle status diagnostic signals can include fault codes or battery status diagnostic signals; and entertainment signals can include audio signals or video streams. This embodiment classifies vehicle-borne signals and can perform differentiated processing on different signal types, so that signals with higher priorities can be transmitted first.

[0042] In some embodiments, as Figure 7 As shown, in step S502, according to the preset heartbeat cycle time, the link status of the Ethernet link is monitored using the heartbeat packet to obtain a link status monitoring result, which may include but is not limited to steps S601 to S605.

[0043] Step S601: set a timeout period; Step S602: Send a heartbeat packet to a peer controller via an Ethernet link according to a preset heartbeat cycle time. The peer controller is configured to receive the heartbeat packet and return a heartbeat confirmation packet. Step S603: Receive a heartbeat confirmation packet and calculate a delay time, where the delay time is used to represent the time difference between sending the heartbeat packet and receiving the heartbeat confirmation packet. Step S604: If the delay time is less than or equal to the timeout time, the Ethernet is considered normal as the link status monitoring result; Step S605: If the delay time is greater than the timeout time, Ethernet failure is regarded as the link status monitoring result.

[0044] In some embodiments, a timeout period can be set first. For example, the timeout period for the driving safety signal can be set to 20ms, the timeout period for the driving control signal can be set to 100ms, and the timeout period for the vehicle status diagnostic signal can be set to 100ms. Since the entertainment signal does not require link switching, a timeout period can be set for the entertainment signal. Then, according to the preset heartbeat cycle time, the heartbeat packet is sent to the peer controller via the Ethernet link. For example, the preset heartbeat cycle time can be set to 1s. At intervals of 1s, the heartbeat packet is sent to the peer controller via the watchdog hardware device on the Ethernet link (as the main link). After receiving the heartbeat packet, the peer controller returns a heartbeat confirmation packet. The heartbeat confirmation packet is then received and the delay time is calculated, where the delay time represents the time difference between sending the heartbeat packet and receiving the heartbeat confirmation packet. For example, the time point of receiving the heartbeat confirmation packet can be subtracted from the time point of sending the heartbeat packet to obtain the delay time. If the delay time is less than or equal to the timeout time, the peer device is deemed to have confirmed receipt of the heartbeat packet, and Ethernet is considered normal as the link status monitoring result. If the delay time is greater than the timeout time, the peer device is deemed to have not received the heartbeat packet or is unable to receive the heartbeat confirmation packet, and Ethernet is considered failed as the link status monitoring result. This embodiment monitors the link status of the Ethernet link in real time through periodic hardware-level Keepalive heartbeat packets. When Ethernet fails, it can promptly switch to the Controller Area Network link to ensure normal signal transmission, thereby improving the robustness of signal transmission.

[0045] In some embodiments, as Figure 8 As shown, in step S503, link switching processing is performed according to the signal type and link status monitoring result to obtain the target link, which may include but is not limited to steps S701 to S705.

[0046] Step S701, calculating the error frame occurrence rate and bus load rate of the controller area network link; Step S702: Determine the link health of the CAN link based on the error frame occurrence rate and the bus load rate; Step S703: If the link health of the LAN link is normal and the link status monitoring result is Ethernet failure, determine the signal type of the current signal; Step S704: If the signal type of the current signal is an entertainment signal, the Ethernet link is maintained as the target link, and the entertainment signal is discarded; Step S705: If the signal type of the current signal is a driving safety signal, a driving control signal, or a vehicle status diagnosis signal, the current link is switched from the Ethernet link to the CAN link as the target link according to the signal priority.

[0047] In some embodiments, the error frame occurrence rate and bus load rate of the controller area network link can be calculated first, and the link health of the controller area network link can be determined based on the error frame occurrence rate and bus load rate to determine whether the controller area network link is normal. If the link health of the controller area network link is normal and the link status monitoring result is Ethernet failure, the signal type of the current signal is determined; if the signal type of the current signal is an entertainment signal, the entertainment signal is a non-critical signal and does not affect driving safety. There is no need to switch the link. The Ethernet link can be maintained as the target link, and the failed entertainment signal can be discarded. The entertainment signal can be retransmitted after the Ethernet link is restored. If the signal type of the current signal is a driving safety signal, a driving control signal, or a vehicle status diagnostic signal, all of which are critical signals that affect driving safety, the current link can be switched from the Ethernet link to the controller area network link as the target link based on the signal priority, wherein the switching delay is less than 10ms, and the link can be automatically switched back to the Ethernet link after the Ethernet is restored to avoid CAN bus overload. In the signal priority, the driving safety signal has a higher priority than the driving control signal, and the driving control signal has a higher priority than the vehicle status diagnostic signal. This embodiment determines whether to perform link switching according to different signal types, so that link switching focuses on the transmission of critical signals without being affected by non-critical signals, thereby balancing link loads.

[0048] In some embodiments, in step S504, the target link can be used for signal transmission. When the target link is an Ethernet link, the Ethernet processing module can process Ethernet communication data, and the Ethernet link can be used for signal transmission. When the target link is a Controller Area Network (CAN) link, the CAN processing module can process CAN communication data, and the CAN link can be used for signal transmission. This embodiment, through link switching, enables more timely transmission of critical signals related to driving safety, thereby improving driving safety.

[0049] In some embodiments, the method further comprises: If the Ethernet link is interrupted and the link status monitoring result shows that the Ethernet is normal, the current signal is resent through the buffering mechanism.

[0050] In some embodiments, if the Ethernet link is interrupted and the link status monitoring result is that the Ethernet is normal, that is, the heartbeat monitoring has not timed out, the current signal can be resent through the cache mechanism without the need for link switching. More importantly, if the Ethernet link is interrupted and the link status monitoring result is that the Ethernet fails, that is, the heartbeat monitoring times out, then the link can be switched, the current link can be switched from the Ethernet link to the controller LAN link, and an alarm log can be generated and an alarm issued. After the Ethernet is restored, the current link can be switched from the controller LAN link back to the Ethernet link, and the latest data on the CAN bus can be automatically synchronized to avoid inconsistent status. This embodiment can monitor the link status in real time, quickly locate the fault and restore the link after the fault is eliminated.

[0051] In some embodiments, the link detection and recovery process is as follows: Figure 9 As shown, when checking whether the link between two electronic control modules is functioning properly, the first electronic control module can first send a heartbeat detection message (heartbeat packet) to the second electronic control module. After receiving the heartbeat detection message, the second electronic control module returns a heartbeat confirmation packet. The time difference between sending the heartbeat detection message and receiving the heartbeat detection message is then calculated. If the time difference is less than or equal to the timeout period, the link is considered normal. If the time difference is greater than the timeout period, the link is considered failed, triggering a link switchover to switch the current link from the Ethernet link to the Controller Area Network link to achieve link switching. After the link is switched, heartbeat detection messages continue to be sent. When the Ethernet link returns to normal, a link switchover is triggered to switch the current link from the Controller Area Network link back to the Ethernet link to achieve link recovery.

[0052] In some embodiments, this embodiment uses the CAN bus as a backup link for Ethernet communications, ensuring reliable transmission of critical signals in the event of Ethernet failure, thus implementing a dual-link redundancy strategy. This embodiment automatically switches between the primary and backup links, eliminating manual intervention. Furthermore, it enables differentiated processing of critical signals (such as braking and steering commands) and non-critical signals (such as entertainment system data). Furthermore, it can monitor link status in real time, quickly locating faults and attempting recovery.

[0053] The beneficial effects of the present invention are as follows: The embodiment of the present invention first classifies the vehicle-borne signal to obtain the signal type, and then uses the heartbeat packet to monitor the link status of the Ethernet link according to the preset heartbeat cycle time to obtain the link status monitoring result. Then, according to the signal type and the link status monitoring result, the link switching process is performed to obtain the target link, and finally the target link is used for signal transmission. In this way, link switching can be performed according to different signal types and link statuses to realize signal transmission, thereby improving the transmission rate and driving safety.

[0054] like Figure 10As shown, an embodiment of the present invention further provides a computer device, including: at least one processor 901; At least one memory 902, configured to store at least one program; When at least one program is executed by at least one processor, the at least one processor implements Figure 5 The method shown.

[0055] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0056] On the other hand, an embodiment of the present invention further provides a vehicle, comprising a memory, a processor, and a program stored in the memory and operable on the processor, wherein the program is executed by the processor to realize Figure 5 The method shown.

[0057] The contents of the above method embodiments are all applicable to the present vehicle embodiment. The functions specifically implemented by the present vehicle embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0058] On the other hand, an embodiment of the present invention further provides a computer program product, including a computer program, which is executed by a processor to implement Figure 5 The method shown.

[0059] The contents of the above method embodiments are all applicable to the computer program product embodiments. The functions specifically implemented by the computer program product embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0060] An embodiment of the present invention further provides a vehicle control device, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein the method of the present embodiment is implemented when the program is executed by the processor.

[0061] For example, the processor and memory in a vehicle controller can be connected via a bus. Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. Furthermore, the memory can include high-speed random access memory and non-transitory memory, such as at least one disk drive, flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include memory remotely located relative to the control processor, and these remote memories can be connected to the control device via a network.

[0062] The non-transitory software program and instructions required to implement the method of the above embodiment are stored in the memory, and when executed by the processor, the method of the embodiment is executed.

[0063] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0064] An embodiment of the present invention further provides a vehicle, comprising the vehicle control device of the above embodiment.

[0065] The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. It can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle must have an electric motor that can output power or store mechanical energy as a generator. If the vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.

[0066] Since the vehicle applies all the technical solutions of the above-mentioned control device or vehicle controller, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0067] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are used to execute the method of this embodiment.

[0068] It is worth noting that since the computer-readable storage medium of an embodiment of the present invention can execute the method of any of the above embodiments, the specific implementation methods and technical effects of the computer-readable storage medium of an embodiment of the present invention can refer to the specific implementation methods and technical effects of the method of any of the above embodiments.

[0069] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0070] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0071] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A signal transmission system combining in-vehicle Ethernet and controller area network bus, characterized in that: include: A dual-link control module, configured to perform link switching control based on signal type and current network status, wherein the links controlled by the dual-link control module include a controller area network link and an Ethernet link; a first electronic control module, the first electronic control module being connected to the dual-link control module and configured to transmit an on-board signal; A second electronic control module is connected to the dual-link control module and is configured to receive the vehicle-borne signal.

2. The system according to claim 1, wherein: The first electronic control module includes: a first timing module, connected to the dual-link control module via the controller area network link and the Ethernet link, and configured to send a heartbeat packet to monitor a link status; a first controller area network processing module, the first controller area network processing module being connected to the first timing module via the controller area network link and being configured to process communication data of the controller area network; A first Ethernet processing module is connected to the first timing module via the Ethernet link and is used to process Ethernet communication data.

3. The system according to claim 1, wherein: The second electronic control module includes: a second timing module, connected to the dual-link control module via the controller area network link and the Ethernet link, configured to receive a heartbeat packet and return a heartbeat confirmation packet to monitor a link status; a second controller area network processing module, the second controller area network processing module being connected to the second timing module via the controller area network link and being configured to process communication data of the controller area network; The second Ethernet processing module is connected to the second timing module via the Ethernet link and is used to process Ethernet communication data.

4. A signal transmission method combining in-vehicle Ethernet and controller area network bus, characterized in that: Applied to the system according to any one of claims 1 to 3, the method comprises the following steps: Classifying vehicle-borne signals to obtain signal types, wherein the signal types include driving safety signals, driving control signals, vehicle status diagnosis signals, and entertainment signals; According to the preset heartbeat cycle time, the link status of the Ethernet link is monitored using the heartbeat packet to obtain the link status monitoring result; Performing link switching processing according to the signal type and the link status monitoring result to obtain a target link; Signal transmission is performed using the target link.

5. The method according to claim 4, characterized in that The link status monitoring result of the Ethernet link is obtained by monitoring the link status of the Ethernet link using the heartbeat packet according to the preset heartbeat cycle time, including: Set a timeout period; According to a preset heartbeat cycle time, the heartbeat packet is sent to the peer controller via an Ethernet link, and the peer controller is used to receive the heartbeat packet and return a heartbeat confirmation packet; Receive the heartbeat confirmation packet and calculate the delay time, the delay time is used to represent the time difference between sending the heartbeat packet and receiving the heartbeat confirmation packet; If the delay time is less than or equal to the timeout time, taking Ethernet as normal as the link status monitoring result; If the delay time is greater than the timeout time, Ethernet failure is taken as the link status monitoring result.

6. The method according to claim 4, characterized in that The performing link switching processing according to the signal type and the link status monitoring result to obtain a target link includes: Calculate the error frame occurrence rate and bus load rate of the CAN link; determining a link health of the controller area network link according to the error frame occurrence rate and the bus load rate; If the link health of the controller area network link is normal and the link status monitoring result is Ethernet failure, determining the signal type of the current signal; If the signal type of the current signal is the entertainment signal, maintaining the Ethernet link as the target link and discarding the entertainment signal; If the signal type of the current signal is the driving safety signal, the driving control signal or the vehicle status diagnostic signal, the current link is switched from the Ethernet link to the controller area network link as the target link according to the signal priority.

7. The method according to claim 4, characterized in that The method further comprises: If the Ethernet link is interrupted and the link status monitoring result shows that the Ethernet is normal, the current signal is resent through the buffer mechanism.

8. A computer device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 4 to 7.

9. A vehicle, characterized in that: The method comprises a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the method according to any one of claims 4 to 7 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 4 to 7 is implemented.

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