Average allocation method of AUTBUS bus resources, control node, terminal node and system

Abstract

The invention provides an AUTBUS bus resource average distribution method, a control node, a terminal node and a system, the method comprises executing resource distribution on at least one frame, and the method comprises the following steps: determining a current online node as each node to be configured in a current round, and determining distributable time slot resources included in a current frame; according to the mode of configuring the same number of time slot resources for each node, allocating allocable time slot resources included in the current frame to each node to be configured in the current round in sequence according to the node identification sequence of each node to be configured in the current round; and if the allocable time slot resources of the current frame are all allocated to each node to be configured in the current round and the allocable time slot resources are not left, broadcasting allocation information of the current frame through service resource allocation information, so that each node to which the resources are allocated in the current round transmits service data according to the allocated time slot resources. According to the dynamic average allocation method, all the online nodes can obtain the same resources, resource competition is avoided, and the fairness of dynamic allocation is efficiently improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of AUTBUS bus, and in particular to an average allocation method of AUTBUS bus resources, a control node, a terminal node and a system. BACKGROUND

[0002] AUTBUS bus is a typical time division multiplexing (TDM) based industrial communication bus, and its resources are time slots (symbols) as the smallest time unit, which are used to schedule nodes for data transmission communication in a fixed length frame. How to efficiently and fairly allocate these time slot resources directly affects the communication efficiency and real-time performance of the bus.

[0003] At present, the resource allocation schemes of AUTBUS bus mainly include static allocation and dynamic allocation, but both have certain limitations.

[0004] On the one hand, the static allocation scheme of the traditional industrial bus has a strong binding between the time slot resources and the node MAC address or physical topology due to the configuration method, resulting in rigid resource allocation.

[0005] On the other hand, the existing dynamic resource allocation scheme often arranges nodes in order based on priority, and lacks effective scheduling strategies among nodes with the same priority, so that low-priority nodes may not be able to obtain time slots for a long time. In the industrial control scene, if the critical command (such as the emergency stop signal) is delayed due to priority competition, it will cause safety hazards. In addition, if additional control signaling is introduced to correct the communication resources of terminal nodes with the same level (such as the application-grant mechanism), frequent interaction of control messages is required, which occupies effective resources, increases communication delay, and increases the calculation burden of nodes, which does not meet the low-power design requirements of industrial equipment.

[0006] Therefore, in view of the above problems of the allocation strategy, how to provide a dynamic allocation method to enable all online nodes to obtain the same resources and avoid resource competition, and efficiently improve the fairness of dynamic allocation, is a technical problem to be solved. SUMMARY

[0007] In view of the above problems of the prior art, the present application provides an average allocation method and device of AUTBUS bus resources, which provides a dynamic allocation method to avoid resource competition for online nodes, has a predefined allocation rule, reduces message overhead, and efficiently improves the fairness of dynamic allocation.

[0008] To achieve the above purpose, the first aspect of the present application provides an average allocation method of AUTBUS bus resources, characterized in that the method is applied to a control node to perform resource allocation on at least one frame, and the method comprises:

[0009] determine the nodes currently online as the nodes to be configured in the current round; determine the allocable time slot resources included in the current frame;

[0010] allocate the allocable time slot resources included in the current frame to the nodes to be configured in the current round in turn according to the node identification order of the nodes to be configured in the current round in a manner that the same number of time slot resources is configured for each node;

[0011] If the allocable time slot resources of the current frame are all allocated to the nodes to be configured in the current round and there is no remaining allocable time slot resource, broadcast the allocation information of the current frame through the service resource configuration information, so that the nodes to which resources are allocated in the current round transmit service data according to the allocated time slot resources.

[0012] According to the above, by configuring the same number of time slot resources for each node and allocating in turn according to the node identification order, it is ensured that all online nodes obtain equal resources, avoiding the problem that low-priority nodes cannot communicate for a long time due to priority competition, i.e., all nodes can be allocated bandwidth. This manner does not need to reserve fixed bandwidth resources for nodes (here, the reserved fixed bandwidth resources refer to specific time slots used by terminal nodes to send resource request messages to control nodes in the case that resources are not allocated by the present application), thereby saving part of resource overhead. Moreover, the present application realizes plug and play for terminal nodes, i.e., after being connected to the AUTBUS bus and being online, the terminal node can be allocated time slot resources by the present application, without the need for the user to configure resources for the terminal node through a configuration tool, e.g., without the need to configure reserved fixed bandwidth resources for the node, without the need to statically bind time slot resources to nodes (e.g., without the need to statically bind time slot resources to node MAC addresses) or physical topology, and thus, the present application is more suitable for the flexibility requirement of changes in the number of nodes in an industrial scene. By broadcasting allocation information, control signaling interaction is reduced, message overhead and communication delay are reduced, and the design requirement of low power consumption of industrial equipment is met. After resource allocation is completed, broadcasting is performed immediately, and nodes can quickly transmit service data according to the allocated time slots, meeting the real-time requirement of an industrial control scene.

[0013] As a possible implementation manner of the first aspect, if the allocable time slot resources of the current frame are all allocated to the nodes to be configured in the current round and there is remaining allocable time slot resource, the remaining allocable time slot resources of the current frame are allocated to the nodes to be configured in the next round in turn according to the node identification order of the nodes to be configured in the next round.

[0014] According to the above, since the number of nodes may be in a case that all terminal nodes in the current frame have been allocated resources, but there is still remaining resource in the frame. In order to make full use of resources, the remaining allocable time slot resources of the current frame are used for allocating resources to online nodes in the next round.

[0015] As a possible implementation form of the first aspect, if all the allocable time slot resources of the current frame are allocated to the nodes, and the part of the nodes to be configured in the current round are not allocated to the time slot resources, the allocation information of the current frame is broadcasted through the service resource configuration information, so that each node which has been allocated resources in the current round transmits service data according to the allocated time slot resources; and each node which is not allocated to resources in the current round is taken as each node to be configured in the current round for time slot resource allocation in the next frame.

[0016] From the above, the resource allocation of a round of nodes is completed through multi-frame cooperation, the physical limitation of the number of time slots on the number of nodes is broken through, more nodes are supported to access, and all nodes can finally obtain resources.

[0017] As a possible implementation form of the first aspect, in the process of allocating the allocable time slot resources of the current frame to each node, when the remaining time slot resources of the current frame do not meet the requirement of the number of time slot resources of a node, the remaining time slot resources of the current frame are reserved and not allocated, and the allocation of time slot resources is continued from the next frame.

[0018] From the above, the time slot resources of a certain node can be effectively avoided to be allocated across frames.

[0019] As a possible implementation form of the first aspect, the nodes to be configured in the current round include each terminal node, and each terminal node is configured with the same number of time slot resources; the nodes to be configured in the current round include each terminal node and a control node, each terminal node is configured with the same number of time slot resources, and the control node is configured with the same number or different number of time slot resources as each terminal node; for multi-round resource configuration, the frame interval of the terminal node is the same, and the frame interval of the control node is the same as or different from the frame interval of the terminal node.

[0020] From the above, the number of time slot allocations of the control node and the terminal node is allowed to be differentiated, which can not only ensure the priority transmission of the management signaling of the control node (such as allocating more resources), but also can realize completely equal allocation (the same number of resources), and adapt to different scene requirements.

[0021] The second aspect of the application provides an average allocation method of AUTBUS bus resources, applied to a terminal node, and the method comprises the following steps of:

[0022] Receiving service resource configuration information broadcasted by a control node, wherein the service resource configuration information is allocated according to the average allocation method of the AUTBUS bus resources of any one of the first aspect;

[0023] When the time slot resource allocated to the terminal node is recorded in the service resource configuration information, the terminal node transmits service data according to the allocated time slot resource.

[0024] The third aspect of the present application provides a method for average allocation of AUTBUS bus resources, comprising:

[0025] The control node performs resource allocation on at least one frame, and the method of the allocation comprises:

[0026] determining the nodes currently online as the nodes to be configured in the current round, and determining the allocable time slot resources included in the current frame;

[0027] allocating the allocable time slot resources included in the current frame to the nodes to be configured in the current round in the order of the node identifiers of the nodes to be configured in the current round, in the manner of configuring the same number of time slot resources for each node;

[0028] If the allocable time slot resources of the current frame are all allocated to the nodes to be configured in the current round, and there is no remaining allocable time slot resource, the allocation information of the current frame is broadcast through the service resource configuration information, so that the nodes allocated with resources in the current round transmit service data according to the allocated time slot resources;

[0029] If the allocable time slot resources of the current frame are all allocated to the nodes to be configured in the current round, and there is remaining allocable time slot resource, the remaining allocable time slot resources of the current frame are allocated to the nodes to be configured in the next round in the order of the node identifiers of the nodes to be configured in the next round;

[0030] If the allocable time slot resources of the current frame are all allocated to the nodes, and some of the nodes to be configured in the current round are not allocated with time slot resources, the allocation information of the current frame is broadcast through the service resource configuration information, so that the nodes allocated with resources in the current round transmit service data according to the allocated time slot resources, and the nodes not allocated with resources in the current round are taken as the nodes to be configured in the current round in the next frame for time slot resource allocation;

[0031] The terminal node receives the service resource configuration information broadcast by the control node, and when the time slot resource allocated to the terminal node is recorded in the service resource configuration information, the terminal node transmits service data according to the allocated time slot resource.

[0032] The fourth aspect of the present application provides a control node, comprising: a resource determination module, configured to determine the nodes currently online as the nodes to be configured in the current round, and determine the allocable time slot resources included in the current frame;

[0033] The resource allocation module is used to allocate the allocable time slot resources included in the current frame to each node in the current round of configuration in the order of their node identifiers, in accordance with the method of configuring the same number of time slot resources for each node.

[0034] The broadcast module is used to broadcast the allocation information of the current frame through the service resource configuration information when all available time slot resources of the current frame are allocated to each node to be configured in the current round, and there are no available time slot resources remaining, so that each node to which resources are allocated in the current round can transmit service data according to the allocated time slot resources.

[0035] The fifth aspect of this application provides a terminal node, including: a receiving module, configured to receive service resource configuration information broadcast by a control node, wherein the service resource configuration information is allocated according to any of the AUTBUS bus resource average allocation methods described in the first aspect;

[0036] The transmission module is used so that when the service resource configuration information records the time slot resources allocated to the terminal node, the terminal node transmits service data according to the allocated time slot resources.

[0037] The sixth aspect of this application provides an AUTBUS bus system, including: a control node and at least one terminal node;

[0038] The control node is used to execute the average allocation method of AUTBUS bus resources as described in any of the first aspects;

[0039] The terminal node is used to execute the average allocation method of AUTBUS bus resources as described in the second aspect. Attached Figure Description

[0040] Figure 1 This is a flowchart of the AUTBUS bus resource equalization method provided in the first embodiment of this application;

[0041] Figure 2a This is a flowchart of the AUTBUS bus resource equalization method provided in the second embodiment of this application;

[0042] Figure 2b This is a schematic diagram of the AUTBUUS bus networking provided in the second embodiment of this application;

[0043] Figure 2c This is a timing diagram of the AUTBUS bus resource equalization method provided in the second embodiment of this application;

[0044] Figure 2d This is a flowchart of the time slot allocation algorithm provided in the second embodiment of this application;

[0045] Figure 3is a flow chart of the average allocation method of the AUTBUS bus resources provided by the third embodiment of the present application;

[0046] Figure 4 is a flow chart of the average allocation method of the AUTBUS bus resources provided by the fourth embodiment of the present application;

[0047] Figure 5 is a schematic diagram of the control node provided by the fifth embodiment of the present application;

[0048] Figure 6 is a schematic diagram of the terminal node provided by the sixth embodiment of the present application;

[0049] Figure 7 is a schematic diagram of the AUTBUS bus system provided by the seventh embodiment of the present application;

[0050] Figure 8 is a structural schematic diagram of a computing device provided by the embodiments of the present application.

[0051] It should be understood that in the above structural schematic diagram, the size and shape of each block diagram are only for reference and should not constitute an exclusive interpretation of the embodiments of the present application. The relative position and inclusion relationship between the block diagrams presented by the structural schematic diagram are only used to represent the structural association between the block diagrams, and not to limit the physical connection mode of the embodiments of the present application. DETAILED DESCRIPTION

[0052] The technical solutions provided by the present application will be further described below in conjunction with the drawings and embodiments. It should be understood that the system structure and business scenarios provided in the embodiments of the present application are mainly used to illustrate possible implementation modes of the technical solutions of the present application, and should not be interpreted as the only limitation of the technical solutions of the present application. Those skilled in the art can know that the technical solutions provided by the present application are also applicable to similar technical problems as the system structure evolves and new business scenarios appear.

[0053] It should be understood that the allocation scheme of the AUTBUS bus resources provided by the embodiments of the present application includes the average allocation method of the AUTBUS bus resources, the control node, the terminal node and the system. Since the principles of these technical solutions for solving problems are the same or similar, in the following introduction of specific embodiments, some repeated parts may not be described again, but should be regarded as mutual reference between these specific embodiments, which can be combined with each other.

[0054] 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 belongs. If there is a conflict between the definitions in the specification and those in the patent specification, the definitions in the specification are intended to prevail. In addition, the terms used herein are for the purpose of describing embodiments of the present application only and are not intended to limit the present application. In order to accurately describe the technical content in the present application, and in order to accurately understand the present application, the following explanations or definitions of the terms used in the specification are given before the specific embodiments are described:

[0055] 1) Frame: the basic time unit of data transmission, containing complete data structure and control information. In the AUTBUS bus technology, one definition of frame is that each frame can contain 64 symbols, of which 57 symbols can be used for data transmission and 7 symbols can be used for system communication management. Resource allocation is to allocate the time slots of the frame as resources to the nodes for data transmission.

[0056] 2) One round of resource allocation: when the time slot resources are allocated to each node in turn, and when the time slot resource allocation to all nodes is completed, it is called that one round of resource allocation is completed, and each node to be allocated in this round of resource allocation is called each node to be allocated in the current round.

[0057] The present application completes one round of resource allocation, which may require exactly one frame of resources, less than one frame of resources, or more than one frame of resources according to the number of nodes to be allocated, specifically:

[0058] When the resources of one frame (i.e. each time slot) can be allocated to all nodes to be allocated in one round without more or less, i.e. one round of resource allocation requires exactly one frame of resources.

[0059] When the resources of one frame are allocated to all nodes to be allocated in one round, there are still some remaining resources, which will be used for the next round of resource allocation, i.e. the current round of resource allocation uses less than one frame of resources, and one frame of resources is allocated to multiple rounds of nodes.

[0060] When the resources of one frame are allocated to all nodes to be allocated in one round, there are still some nodes to be allocated, so the next frame is needed to allocate resources to these nodes. Therefore, one round of nodes requires more than one frame of resources to complete the allocation of resources.

[0061] 3) Frame interval (F) ): can be understood as the number of frames between the time slots allocated to the same node in the current round and the time slots allocated to the same node in the next round. For example, the resource allocation for the same node in the current round is: in the a time slot of the A frame, and the resource allocation for the same node in the next round is: in the b time slot of the B frame. The number of frames between the a time slot and the b time slot is called the frame interval. The calculation The frame interval is an integer because of the rounding operation in the manner described below in the examples.

[0062] The allocation scheme of the AUTBUS bus resource provided by the embodiments of the present application can determine the nodes to be configured in the current round by determining the time slot resources available in the current frame, and configure each node with the same number of time slot resources. The available time slot resources in the current frame are allocated to the nodes to be configured in the current round in turn according to the node identifier order of the nodes to be configured in the current round. If the available time slot resources in the current frame are all allocated to the nodes to be configured in the current round, and there is no remaining available time slot resource, the allocation information of the current frame is broadcast through the service resource configuration information, so that each node allocated with the resource in the current round transmits service data according to the allocated time slot resource. This method can provide a dynamic allocation method, so that all online nodes obtain the same resource, avoid resource competition, and efficiently improve the fairness of dynamic allocation. The embodiments of the present application can be applied to AUTBUS bus systems or their improvements in various industries, robots, aerospace, and military fields. The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0063] The first embodiment of the present application provides an average allocation method of an AUTBUS bus resource, which is applied to a control node to perform resource allocation on at least one frame. The implementation of each step of the average allocation method will be described in detail below with reference to Figure 1 , including steps S10-S30.

[0064] S10: determine the nodes currently online as the nodes to be configured in the current round, and determine the available time slot resources included in the current frame.

[0065] In some embodiments, the allocation manner of the resource can be selected, and the allocation manner of the resource can include: disabled, automatic, and average. When the selection manner is average, the dynamic resource average allocation method of the embodiments of the present application is adopted. The disabled means that no resource allocation is performed. The automatic means that the resource allocation is performed automatically, for example, according to the required resource demand (related to the data transmission amount) of the node to allocate the resource.

[0066] In some embodiments, the resource includes time division resource. In the embodiments of the present application, the time division resource can include 64 time slot resources in each frame, of which 7 are used for AUTBUS system management communication, located at the beginning and end of the frame; the remaining 57 time slots can be used for data transmission. For an online terminal node, at least two time slots (resources) are required, one for pilot and the other for data transmission.

[0067] In some embodiments, the resource also includes frequency division resource within each time slot. In the embodiments of the present application, the frequency division resource within each time slot includes upper and lower sidebands included in the time slot.

[0068] In some embodiments, when single sideband (upper sideband or lower sideband) is used for data transmission, a total of 28 nodes (57 / 2 rounded down) can be provided with communication resources in the same frame; or when double sideband is used at the same time, theoretically, 56 nodes (28*2) can be provided with communication resources.

[0069] In some embodiments, there is no limit to the upper limit of the terminal nodes of the AUTBUS bus system, at which time it can be understood that the resource is allocated using a multi-frame. Wherein, the multi-frame refers to combining at least two frames into one frame (i.e. multi-frame) for use. For example, when two frames are used as a multi-frame, the multi-frame includes 128 (64 time slots in a frame x 2 = 128 time slots) time slot resources.

[0070] In some embodiments, the communication topology can select different modes, including ALL2ALL (any two nodes can transmit data) mode and CN2TN (only CN and TN can transmit data) mode.

[0071] In some embodiments, the online terminal node can be allocated an initial fixed resource, such as 2 time slot resources. The terminal node sends the control node registration information including its own MAC address and other identification information through the time slot resource allocated by the allocation result, and can also send the cache size of the terminal node's cached data to be sent during registration.

[0072] In some embodiments, the nodes to be configured in the current round include terminal nodes; or can also include control nodes. That is, the control node can only allocate resources for each terminal node, or each terminal node can allocate resources for itself.

[0073] In some embodiments, when a terminal node is newly online, a unique identification sequence is allocated to each newly online terminal node, such as nodeid = 1, 2, 3, …. When the nodes configured by the band include control nodes, the identification sequences (nodeid) of the terminal nodes and the control nodes are uniformly configured. When subsequent resource allocation is performed, resource allocation can be performed based on the identification sequences. The size of the nodeid can be sequentially allocated according to the time when the terminal node is online, and when a new terminal node is online, the nodeid can be sequentially increased based on the current maximum nodeid.

[0074] S20: In a manner that the same number of time slot resources is configured for each node, the allocable time slot resources included in the current frame are sequentially allocated to the nodes to be configured in the current round according to the node identification sequences of the nodes to be configured in the current round.

[0075] In the prior art, fixed time slots are allocated to online TNs, such as TN1 is allocated to use the first frame 1 and 2 time slots for transmission resources, and TN2 is allocated to use the first frame 3 and 4 time slots for transmission resources. The time slots of each TN are fixed and do not change, and only need to be allocated once. If a node is online, the allocation is performed again for all online TN nodes. In the present application, time slots are allocated to online TN nodes in each frame, and the number of time slots that can be allocated to each online TN node in each frame is fixed, such as 3 time slots are allocated to each online TN node in each frame. In actual allocation, there can be a situation that 3 time slots cannot be allocated to all online TN nodes, in which case 3 time slots are sequentially allocated to the online TN nodes according to the size of the node identification sequences, and the nodes that do not have 3 time slots allocated are allocated in the next frame.

[0076] S30: If the allocable time slot resources of the current frame are all allocated to the nodes to be configured in the current round, and there is no remaining allocable time slot resource, the allocation information of the current frame is broadcast through the service resource configuration information, so that each node allocated with resources in the current round transmits service data according to the allocated time slot resources.

[0077] In some embodiments, if the allocable time slot resources of the current frame are all allocated to the nodes to be configured in the current round, and there is a remaining allocable time slot resource, the remaining allocable time slot resources of the current frame are used for resource allocation of the nodes to be configured in the next round, that is, the nodes to be configured in the next round are sequentially allocated according to the node identification sequences of the nodes to be configured in the next round.

[0078] In some embodiments, if all the time slot resources of the current frame are allocated to the nodes, and the nodes to be configured in the current round are not allocated to the time slot resources, the allocation information of the current frame is broadcasted through the service resource configuration information, so that the nodes which have been allocated resources in the current round transmit service data according to the allocated time slot resources; and the nodes which have not been allocated resources in the current round are taken as the nodes to be configured in the current round, and the allocation of the time slot resources is continued in the next frame.

[0079] In some embodiments, in the process of allocating the time slot resources of the current frame to the nodes, if the remaining time slot resources of the current frame cannot meet the requirement of the number of time slot resources of a node, the remaining time slot resources of the current frame are reserved and not allocated, and the allocation of the time slot resources is continued in the next frame. In this way, the time slot resources of a node are not allocated across two frames.

[0080] In some embodiments, the nodes to be configured in the current round include the terminal nodes which are online in the current round, and the terminal nodes are allocated time slot resources regardless of whether the terminal nodes have data transmission request. The same number of time slot resources is set for each terminal node, and the number of time slot resources allocated to each terminal node is the same.

[0081] In some embodiments, the nodes to be configured in the current round also include the control nodes. The number of time slot resources allocated to the control nodes is the same as or different from the number of time slot resources allocated to each terminal node. When the number of time slot resources allocated to the control nodes is the same as the number of time slot resources allocated to each terminal node, the control nodes and the terminal nodes participate in the average allocation of the time slot resources together. When the number of time slot resources allocated to the control nodes is different from the number of time slot resources allocated to each terminal node, the terminal nodes are allocated the time slot resources averagely, and the time slot resources of the control nodes can be allocated individually.

[0082] In some embodiments, the allocation mode of the time slot resources of the control nodes can be selected, and the allocation mode includes a polling allocation and an interval allocation. The polling allocation can be understood as that the control nodes are treated the same as the terminal nodes, and the resource allocation of each node in each round includes the resource allocation of the control nodes. The interval allocation mode can be understood as that the resource allocation of the control nodes does not enter the resource allocation of each node in each round, but the control nodes are taken as one of the nodes to be configured in the subsequent round of resource allocation, and the resource allocation of the control nodes is performed together with the resource allocation of the nodes to be configured.

[0083] The interval of the frame can be understood in a broad sense as the interval of how many frames for allocating the time slot resources to the same node. The terminal nodes are allocated resources once every n frames, which can be recorded as the frame interval of the terminal nodes is n; and the control nodes are allocated resources once every m frames, which can be recorded as the frame interval of the control nodes is m.

[0084] When the allocation mode of the control node is the polling allocation, the frame interval of the terminal node (here, the frame interval refers to the number of frames between the time slots (which can be understood as the time slots for transmitting data) allocated to the terminal node in two adjacent rounds of resource allocation) is the same as the frame interval of the control node, for example, both are n, because the control node and the terminal node are treated the same when performing time slot resource allocation.

[0085] When the allocation mode of the control node is the frame interval allocation, it means that the control node is not allocated time slot resources in every round of resource allocation, and thus the frame interval of the terminal node can be different from the frame interval of the control node. For example, assuming that the control node is allocated time slot resources every other round (for example, in the 1st round, the 3rd round, the 5th round, and so on), when the frame interval of the terminal node is 1, the frame interval of the control node can be 2.

[0086] In some embodiments, when the allocation mode of the control node is the frame interval allocation, a frame interval counter is also set for the control node, which starts counting from 0, and is cleared every time the frame interval counter reaches the frame interval of the control node, indicating that the control node can be allocated time slot resources again and the counting is restarted.

[0087] In some embodiments, the frame interval of the terminal node is calculated according to the following formula:

[0088]

[0089] where TNfreqcnt is the frame interval of the terminal node, TNsymLenSet is the number of time slot resources (which can be the number of time slots) allocated to each terminal node, TNnodeCnt is the number of terminal nodes, and AllsymLen is the number of time slot resources (which can be the number of time slots) that can be allocated to each frame after removing the frame header and the frame tail, which is 57 time slots here. When the number of time slot resources (TNsymLenSet) allocated to each terminal node and / or control node is fixed, the more the number of nodes (TNnodeCnt) is, the larger the frame interval (TNfreqcnt) of the terminal node and / or control node calculated is, and the larger the delay of data transmission is. When the number of nodes (TNnodeCnt) is fixed, the more the number of time slot resources (TNsymLenSet) allocated to each terminal node and / or control node is, the larger the frame interval (TNfreqcnt) of the terminal node and / or control node calculated is, and the larger the delay of data transmission is. For example, when there are n nodes and each node is allocated 1 time slot resource, the frame interval of each node is , that is, each node can transmit data again only after frame intervals, that is, the delay of data transmission is The frame interval; when each node is allocated 2 time slots, the data transmission delay for each node is... This increases the latency of data transmission.

[0090] In some embodiments, the number of time slot resources uniformly allocated to terminal nodes can be set according to the identification information sent by the terminal nodes, the cache size, etc., such as determining the proportion of a certain type of terminal nodes or the average cache size, and calculating the number of time slot resources allocated to the terminal nodes accordingly.

[0091] In some embodiments, a terminal node receives service resource configuration information broadcast by a control node; when the service resource configuration information records the time slot resources allocated to the terminal node, the terminal node transmits service data according to the allocated time slot resources.

[0092] In some embodiments, the service resource configuration information includes: the identification order of the target terminal nodes, the identification order of the allocated starting time slots, and the allocated time slot resources (such as how many time slots are allocated).

[0093] In some embodiments, the terminal node or control node acquires service resource configuration information and updates its own registers, such as the time slot control register and the enable register. By updating its own registers, the acquired service resource configuration information takes effect, and the time slot resources recorded in the effective service resource configuration information are subsequently used when transmitting service data.

[0094] The second embodiment of this application provides a method for the average allocation of AUTBUS bus resources. The following will refer to... Figure 2a The flowchart shown illustrates that the method provided in this second embodiment includes the following steps S200-S240.

[0095] S200: The terminal node comes online. The terminal node sends a registration request to the control node, and the control node receives the terminal node's request and completes the registration.

[0096] In a typical AUTBUS bus system, node networking is as follows: Figure 2b As shown, this system has one control node (CN) and multiple terminal nodes (TN). Theoretically, a frame has 64 time slots (sym), 7 of which are used for system management communication. Each terminal node requires at least 2 time slots, therefore, it can accommodate a maximum of 28 terminal nodes. Using a two-sideband communication mode (upper and lower sidebands), this can be increased to 56. The communication control chip typically has 32 receivable dynamic bandwidth registers. One register is reserved for dynamic access and one for reserved access. Therefore, the maximum number of terminal nodes that can be physically implemented in the AUTBUS protocol layer within a single frame is 30 (double-sideband).

[0097] And since the application provides a cross-frame allocation scheme, the AUTBUS bus system breaks through the upper limit of the number of nodes, and can reach the theoretical upper limit of 252 nodes under the premise of ensuring real-time performance.

[0098] Before resource allocation, the control node can select a resource allocation mode from several pre-set allocation modes. For example, when the resource allocation mode is configured on the control node through AUTBUS Tools, the allocation mode can include: disable and average. Among them, selecting the disable mode means that the nodes on the AUTBUS bus use the pre-set fixed resource configuration, and other allocation modes are disabled; selecting the average mode means that the time slot resources can be allocated to each online terminal node on average.

[0099] When the allocation mode is the average mode, the allocation mode of the control node can be further selected as the polling mode or the frame interval mode. When the polling allocation mode is used, the frame interval of the control node is the same as that of the terminal node; the control node and the terminal node can obtain the same or different number of time slot resources under the premise of having the same frame interval. When the allocation mode is the frame interval allocation mode, the frame interval of the control node is set to be different from that of the terminal node; different numbers of time slot resources can be allocated to the control node and the terminal node.

[0100] When the terminal node is online, the control node allocates an identification order (nodeid) to it, for example: 1, 2, 3… When the nodes to be allocated also include the control node, the identification orders of the terminal nodes and the control node are uniformly configured.

[0101] Then, the control node sends the above identification allocation result to all online terminal nodes in the form of broadcast, and the terminal node sends its own identification information to the control node using the allocated initial resource to complete the registration process. This step belongs to the registration process of the node to the control node after the node is online, that is, the initialization (such as Figure 2c S200) process. Thereafter, the terminal node can receive the service resource configuration information broadcast by the control node.

[0102] S210: Calculate the frame interval of the terminal node, and set the frame interval of the control node.

[0103] Among them, each node can transmit data again after frame interval, that is, the data transmission delay is frame interval, for example, as shown in Figure 2c , when 40 nodes are online, and each node is allocated 1 time slot resource, then the frame interval of each node is , i.e. each node can transmit data again after 1 frame interval, i.e. the delay of data transmission is 1 frame interval; when each node is allocated 2 time slot resources, the delay of data transmission of each node is , which increases the delay of data transmission.

[0104] The frame interval of the terminal node can be calculated according to the following formula:

[0105]

[0106] wherein TNfreqcnt is the frame interval of the terminal node, TNsymLenSet is the set number of time slot resources allocated to the terminal node, TNnodeCnt is the number of the terminal nodes, and AllsymLen is the number of time slot resources available after removing the frame header and the frame tail.

[0107] When using the polling allocation, the frame interval of the control node is automatically set to be consistent with the frame interval of the terminal node; when using the frame interval allocation, the frame interval of the control node needs to be set separately, and generally, in order to make the control node obtain more resources, the frame interval of the control node can be set to be smaller than the frame interval of the terminal node, such as 1 frame interval, i.e. the minimum delay is 0 frame.

[0108] In the embodiment, in the case of a maximum of 57 time slots allocated in one frame, a maximum of 57 time slots can be allocated to each node, i.e. all time slots of one frame are allocated to one node, thereby avoiding allocating cross-frame resources to the same node.

[0109] When the number of nodes is large and time slot resources cannot be allocated to all nodes in the current frame, the nodes which are not allocated time slot resources continue to be allocated time slot resources of the next frame in the order of the size of nodeid (from small to large) in the subsequent next frame. However, the time slot resources allocated to each node cannot cross frames. For example, 2 time slot resources are allocated to each node as initial resources, when a node is allocated, there is only 1 time slot resource left in the current frame, then the time slot resource is skipped, and 2 time slot resources are continued to be allocated from the next frame.

[0110] S220: The control node allocates resources to the online nodes in turn, and sends the service resource configuration information to all terminal nodes through broadcasting.

[0111] For example, the resource allocation process of the control node to each online node is described in detail with reference to Figure 2c For example, the resource allocation process of the control node to each online node is described in detail with reference to Figure 2c In the example, the online terminal nodes (i.e. the terminal nodes to be configured with resources) include TN1-TN40, and the control node allocates 2 time slot resources to each TN, and at least two frames (FRAME) are required to complete one round of resource allocation of TN1-TN40.

[0112] like Figure 2c As shown, in frame 0 (FRAME0), the control node performs resource allocation. The allocation algorithm is as follows: Figure 2d As shown:

[0113] First, in section S221, it is determined whether the frame intervals of the control node and the terminal node are the same. If the frame intervals are the same, it is a round-robin allocation mode. Therefore, there is no need to set the resource size separately for the control node, and the process proceeds directly to the part of allocating resources for the terminal node (S222). If the frame intervals are different, it is a frame interval allocation mode. Therefore, it is necessary to monitor the frame interval counter (CNfreqcnt) of the control node. The frame interval counter will increment (CNfreqcnt++). Whenever the frame interval counter of the control node in the current frame reaches the preset value (CNfreqcnt >= CNfreqcntSet), a time slot resource CNsymLenSet (CNsymLen = CNsysmLenSet) is allocated separately for it, which is the number of control node time slot resources set by the user; and CNfreqcnt is reset (CNfreqcnt = 0).

[0114] After allocating time slot resources to the control node, the process proceeds to S222, which allocates resources to the terminal node. First, it checks if the node to be allocated resources (lastnodeid) is online. If offline, it skips the allocation (i.e., in S225, it directly increments lastnodeid to move on to the next node to be allocated resources; for example, if TN10 is offline, the process continues with S222 for TN11). If online, it checks if it is a control node; this step is to allocate resources to the control node with the same frame interval as the terminal node. If it is a control node, the process proceeds to S223, where it again checks if the frame intervals of the control node and the terminal node are consistent. If the frame intervals are different, no further resource allocation is performed, and the process continues. If the frame intervals are the same, time slot resources (CNsymLenSet) are allocated to the control node. These time slot resources can be the same as or different from those of the terminal node, and are preset values; that is, CNsymLenSet can be equal to or not equal to TNsymLenSet.

[0115] If the node to be allocated resources is not a control node, then proceed to section S224 to allocate resources to it according to the pre-set number of terminal node time slot resources (TNsymLenSet).

[0116] After step S222 above is completed, it is determined whether the identifier order of the node to be allocated is greater than the identifier order of the largest online node. If it is greater, it means that resources have been allocated to all nodes in one round during the node frame interval. The identifier of the node to be allocated is cleared, and allocation is carried out again from the node with the smallest identifier order.

[0117] If there is not enough time slot resource to allocate to the next node to be allocated in the current frame (FRAME0), the resource allocation to the remaining nodes continues in the next frame (FRAME1). For example, as shown in FIG. 6, after 56 time slot resources are allocated to TN1-TN28, there is only one time slot resource left in the current frame (FRAME0), and the next node to be allocated (TN29) needs two time slot resources. In order to ensure the integrity of data transmission, the one time slot resource left in the current frame is abandoned, and two time slot resources are allocated to TN29 in the next frame (FRAME1), and the time slot resource allocation to TN30, TN31, … continues. Figure 2c

[0118] After the allocation algorithm for the current frame (FRAME0) ends, as shown in FIG. 7, the control node broadcasts the service resource configuration information of the 0th frame (FRAME0) through the symlen0 message to send to all terminal nodes. The terminal nodes receive the service resource configuration information and configure it, and the 0th frame (FRAME0) resource configuration ends. Figure 2c

[0119] S230: The terminal node receives the symlen0 message, and when it is judged that the time slot resource allocated to it is included in the service resource configuration information, it can send service data according to the time slot allocated to it in the service resource configuration information; at the same time, the control node continues to allocate resources to the remaining nodes in the next frame, i.e. the 1st frame (FRAME1). This step is specifically introduced as follows:

[0120] In the period of the 1st frame (FRAME1), the terminal node sends service data according to the time slot allocated to it in the service resource configuration information. The node receiving the service data can be the control node or other terminal nodes, and the control node in this embodiment.

[0121] The control node continues to use the allocation algorithm as shown in FIG. 8 to allocate to the remaining nodes TN29-TN40 in FRAME1. When TN40 is allocated to the time slot resource, there are 33 time slot resources left in the current frame (FRAME1). Then, as shown in FIG. 9, go to S226, judge that the current frame (FRAME1) resource is not allocated, start to repeat S222, and the remaining 33 time slot resources are used for resource allocation of the next round of terminal nodes (the next round of terminal nodes include TN1-TN40). At this time, lastnode has been updated to 0, i.e. the allocation starts from TN1 again (i.e. enters the resource allocation of the next round) until TN16 is allocated, the current frame (FRAME1) resource is allocated, according to S226, the resource allocation algorithm of the current frame (FRAME1) ends. Figure 2d Figure 2d ​​​​

[0122] After the resource allocation of the current frame (FRAME1) is completed, the service resource configuration information of the first frame (FRAME1) is broadcast through a symlenl message to send to each terminal node. Each terminal node receives the service resource configuration information and configures it, and the resource configuration of the first frame (FRAME1) is completed.

[0123] In subsequent frames, the above dynamic bandwidth application process (i.e., the resource allocation process) is repeated, that is, the control node allocates resources for the terminal nodes in each frame regardless of whether the terminal nodes have a service data transmission request in the round.

[0124] Therefore, the embodiments of the present application can achieve variable node quantity, flexible dynamic management, plug and play, break through the bandwidth limitation of each frame, and all nodes can be allocated bandwidth, and there is no node that cannot communicate.

[0125] The third embodiment of the present application provides an average allocation method of AUTBUS bus resources, which is applied to a terminal node. Figure 3 As shown in the figure, the method comprises steps S300-S310:

[0126] S300: receiving service resource configuration information broadcast by a control node, wherein the service resource configuration information is allocated according to the average allocation method of AUTBUS bus resources of the first embodiment;

[0127] S310: when the time slot resource allocated to the terminal node is recorded in the service resource configuration information, the terminal node transmits service data according to the allocated time slot resource.

[0128] The fourth embodiment of the present application provides an average allocation method of AUTBUS bus resources, and the control node performs resource allocation once per frame. Figure 4 As shown in the figure, the one-time resource allocation comprises steps S400-S450:

[0129] S400: determining each node currently online as each node to be configured in the current round, and determining the allocable time slot resource included in the current frame;

[0130] S410: in a manner that the same number of time slot resources is configured for each node, the allocable time slot resource included in the current frame is allocated to each node to be configured in the current round in turn according to the node identification order of the nodes;

[0131] S420: if the allocable time slot resource of the current frame is allocated to each node to be configured in the current round, and there is no remaining allocable time slot resource, the allocation information of the current frame is broadcast through service resource configuration information, so that each node allocated with resources in the current round transmits service data according to the allocated time slot resource.

[0132] S430: If all available time slot resources in the current frame are allocated to each node to be configured in the current round, and there are remaining available time slot resources, then the remaining available time slot resources in the current frame will continue to be allocated to each node to be configured in the next round according to the node identifier order of the next round.

[0133] S440: If all available time slot resources in the current frame are allocated to nodes, and some nodes to be configured in the current round are not allocated time slot resources, the allocation information of the current frame is broadcast through the service resource configuration information so that each node that has been allocated resources in the current round can transmit service data according to the allocated time slot resources; and, each node that has not been allocated resources in the current round will continue to be allocated as a node to be configured in the current round in the next frame.

[0134] S450: The terminal node receives service resource configuration information broadcast by the control node. When the service resource configuration information records the time slot resources allocated to the terminal node, the terminal node transmits service data according to the allocated time slot resources.

[0135] The fifth embodiment of this application provides a control node, such as Figure 5 As shown, it includes:

[0136] The resource determination module is used to determine each currently online node as the node to be configured in the current round; and to determine the allocatable time slot resources included in the current frame; specifically, the resource determination module can be used to implement step S10 in the first embodiment and its optional embodiments.

[0137] The resource allocation module is used to allocate the allocatable time slot resources included in the current frame to each node to be configured in the current round in the order of the node identifiers of each node to be configured in the current round, in a manner that the same number of time slot resources are configured for each node; specifically, the resource allocation module can be used to implement step S20 in the first embodiment and its optional embodiments.

[0138] The broadcast module is used to broadcast the allocation information of the current frame through the service resource configuration information when all available time slot resources of the current frame are allocated to the nodes to be configured in the current round, and there are no available time slot resources remaining. This allows the nodes allocated resources in the current round to transmit service data according to the allocated time slot resources. Specifically, this broadcast module can be used to implement step S30 in the first embodiment and its optional embodiments.

[0139] The sixth embodiment of this application provides a terminal node, such as... Figure 6 As shown, it includes:

[0140] The receiving module is configured to receive service resource configuration information broadcast by the control node, wherein the service resource configuration information is allocated according to the average allocation method of the AUTBUS bus resource in the first embodiment; specifically, the receiving module can be configured to implement step S300 in the third embodiment and optional embodiments thereof.

[0141] The transmitting module is configured to transmit service data according to the allocated time slot resource when the time slot resource allocated to the terminal node is recorded in the service resource configuration information; specifically, the transmitting module can be configured to implement step S300 in the third embodiment and optional embodiments thereof.

[0142] The seventh embodiment of the present application provides an AUTBUS bus system, as shown in the accompanying drawings, which comprises a control node and at least one terminal node. Figure 7 The control node is configured to perform the average allocation method of the AUTBUS bus resource in the first embodiment.

[0143] The terminal node is configured to perform the average allocation method of the AUTBUS bus resource in the third embodiment.

[0144] The terminal node is configured to perform the average allocation method of the AUTBUS bus resource in the third embodiment.

[0145] Figure 8 Fig. 1 is a structural schematic diagram of a computing device 900 provided by the embodiments of the present application. The computing device can execute the optional embodiments of the above-mentioned methods, and can be a terminal or a chip or chip system inside the terminal. As shown in the accompanying drawings, the computing device 900 comprises a processor 910, a memory 920 and a communication interface 930. Figure 8

[0146] It should be understood that the communication interface 930 in the computing device 900 shown in the accompanying drawings can be configured to communicate with other devices, and can specifically comprise one or more transceiver circuits or interface circuits. Figure 8

[0147] The processor 910 can be connected with the memory 920. The memory 920 can be configured to store program codes and data. Therefore, the memory 920 can be a storage unit inside the processor 910, can be an external storage unit independent of the processor 910, or can be a component comprising the storage unit inside the processor 910 and the external storage unit independent of the processor 910.

[0148] ​​Optionally, the computing device 900 can also include a bus. The bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be a proprietary bus, etc. The bus can be a combination of buses. The bus can be a set of buses. The bus can be a single bus. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 8 A single bus or a single type of bus is not intended to limit the scope of the present application. A bus can be used to implement any or all of the interconnections within the computing device 900.

[0149] It should be understood that the processor 910 can be a central processing unit (CPU) in the embodiments of the present application. The processor can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. Alternatively, the processor 910 can be one or more integrated circuits executing programs to implement the techniques described in the embodiments of the present application.

[0150] The memory 920 can include a read-only memory and a random access memory, and provide instructions and data to the processor 910. A portion of the processor 910 can also include a non-volatile random access memory. For example, the processor 910 can also store device type information.

[0151] When the computing device 900 is running, the processor 910 executes computer-executable instructions in the memory 920 to perform any of the operation steps of the above method and any optional embodiments thereof.

[0152] It should be understood that the computing device 900 according to the embodiments of the present application can correspond to the execution of the corresponding subject in the method according to the embodiments of the present application, and the above and other operations and / or functions of each module in the computing device 900 are respectively for implementing the corresponding flow of each method of the embodiments, and for brevity, will not be repeated here.

[0153] Those skilled in the art can clearly understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0154] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0155] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0156] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0157] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit.

[0158] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0159] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program. The program is executed by a processor to perform the above method, which includes at least one of the schemes described in the above embodiments.

[0160] The computer storage medium of the embodiments of the present application can adopt any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (non-exhaustive list) of the computer readable storage medium include: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus.

[0161] The computer readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, in which a computer readable program code is borne. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus.

[0162] The program code embodied on the computer readable media can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0163] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0164] In addition, the use of the terms "first", "second", "third" and the like in the description and the claims to refer to a number of steps in a method in the description and the claims, or modules A, B, C and the like in the description and the claims, is only to identify such steps or modules as they occur in the description or claims and does not require or imply that the steps or modules are to be performed in this order, unless the order is explicitly required by the description or the claims.

[0165] In the description above, reference has been made to steps represented by numerals such as S110, S120, etc. These numerals do not necessarily indicate that the steps are to be performed in the order in which they are described, unless the order is explicitly required by the description or the claims.

[0166] The term "comprising", used in the description and the claims, should not be interpreted as limiting to the contents listed thereafter; it does not exclude other elements or steps. It does thus specify the presence of the stated features, integers, steps or components as referred to, but does not preclude the presence or addition of one or more other features, integers, steps or components, nor does it preclude a combination of two or more features, integers, steps or components in one or more claims. The term "comprising" should therefore be interpreted as specifying the presence of the stated features, integers, steps or components as referred to, but does not preclude the presence or addition of one or more other features, integers, steps or components, nor does it preclude a combination of two or more features, integers, steps or components in one or more claims. The expression "consisting essentially of" should not be interpreted as a limitation to the contents of the composed claim; the essential constituents can be specified in separate claims or in the description. The expression "consisting of should be interpreted as a limitation to the listed steps in the claim; the listed steps are essential for the claim.

[0167] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment, but can refer to different embodiments. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0168] It is noted that the foregoing are merely preferred embodiments of, and the technical principles applied to, the present application. It can be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, and that various obvious changes, modifications and replacements can be made by those skilled in the art without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and all of the embodiments belong to the protection scope of the present application.

Claims

1. A method for the average allocation of AUTBUS bus resources, characterized in that, The method, applied to a control node performing resource allocation on at least one frame, includes: Determine the currently online nodes as the nodes to be configured in the current round; determine the allocable time slot resources included in the current frame; In accordance with the method of configuring the same number of time slot resources for each node, the allocable time slot resources included in the current frame are allocated to each node to be configured in the current round in the order of their node identifiers. If all available time slots in the current frame are allocated to the nodes to be configured in the current round, and there are no available time slots remaining, the allocation information of the current frame will be broadcast through the service resource configuration information so that the nodes allocated resources in the current round can transmit service data according to the allocated time slots.

2. The method according to claim 1, characterized in that, Also includes: If all available time slots in the current frame are allocated to the nodes to be configured in the current round, and there are remaining available time slots, then the remaining available time slots in the current frame will be allocated to the nodes to be configured in the next round in the order of their node identifiers.

3. The method according to claim 1 or 2, characterized in that, Also includes: If all available time slot resources in the current frame are allocated to nodes, and some nodes to be configured in the current round are not allocated time slot resources, the allocation information of the current frame is broadcast through the service resource configuration information so that each node that has been allocated resources in the current round can transmit service data according to the allocated time slot resources; and each node that has not been allocated resources in the current round is allocated time slot resources as a node to be configured in the current round in the next frame.

4. The method according to claim 2, characterized in that, Also includes: During the process of allocating the available time slot resources of the current frame to each node, if the remaining time slot resources allocated to the current frame do not meet the number of time slot resources required by a node, the remaining time slot resources of the current frame are reserved and not allocated, and the allocation of time slot resources continues from the next frame.

5. The method according to claim 4, characterized in that, It also includes one of the following: The nodes to be configured in the current round include each terminal node, and each terminal node is configured with the same number of time slot resources; The nodes to be configured in the current round include each terminal node and a control node. Each terminal node is configured with the same number of time slot resources, and the control node is configured with the same or different number of time slot resources as each terminal node. For multiple rounds of resource allocation, the frame interval of the terminal nodes is the same, and the frame interval of the control node is the same as or different from that of the terminal nodes.

6. A method for the average allocation of AUTBUS bus resources, characterized in that, Applied to terminal nodes, the method includes: The system receives service resource configuration information broadcast by the control node, and the service resource configuration information is allocated according to any one of the AUTBUS bus resource average allocation methods described in claims 1-5. When the service resource configuration information records the time slot resources allocated to the terminal node, the terminal node transmits service data according to the allocated time slot resources.

7. A method for the average allocation of AUTBUS bus resources, characterized in that, include: The control node performs resource allocation for at least one frame, the allocation method including: Determine the currently online nodes as the nodes to be configured in the current round; determine the allocable time slot resources included in the current frame; In accordance with the method of configuring the same number of time slot resources for each node, the allocable time slot resources included in the current frame are allocated to each node to be configured in the current round in the order of their node identifiers. If all available time slot resources in the current frame are allocated to each node to be configured in the current round, and there are no available time slot resources remaining, the allocation information of the current frame will be broadcast through the service resource configuration information so that each node allocated resources in the current round can transmit service data according to the allocated time slot resources. If all available time slot resources in the current frame are allocated to the nodes to be configured in the current round, and there are remaining available time slot resources, then the remaining available time slot resources in the current frame will be allocated to the nodes to be configured in the next round in the order of their node identifiers. If all available time slot resources in the current frame are allocated to nodes, and some nodes to be configured in the current round are not allocated time slot resources, the allocation information of the current frame is broadcast through the service resource configuration information so that each node that has been allocated resources in the current round can transmit service data according to the allocated time slot resources; and each node that has not been allocated resources in the current round is allocated time slot resources as a node to be configured in the current round in the next frame. The terminal node receives service resource configuration information broadcast by the control node. When the service resource configuration information records the time slot resources allocated to the terminal node, the terminal node transmits service data according to the allocated time slot resources.

8. A control node, characterized in that, include: The resource determination module is used to determine the currently online nodes as the nodes to be configured in the current round, and to determine the allocable time slot resources included in the current frame; The resource allocation module is used to allocate the allocable time slot resources included in the current frame to each node in the current round of configuration in the order of their node identifiers, in accordance with the method of configuring the same number of time slot resources for each node. The broadcast module is used to broadcast the allocation information of the current frame through the service resource configuration information when all available time slot resources of the current frame are allocated to each node to be configured in the current round, and there are no available time slot resources remaining, so that each node to which resources are allocated in the current round can transmit service data according to the allocated time slot resources.

9. A terminal node, characterized in that, include: A receiving module is used to receive service resource configuration information broadcast by the control node, wherein the service resource configuration information is allocated according to any one of the AUTBUS bus resource average allocation methods described in claims 1-5. The transmission module is used so that when the service resource configuration information records the time slot resources allocated to the terminal node, the terminal node transmits service data according to the allocated time slot resources.

10. An AUTBUS bus system, characterized in that, Includes a control node and at least one terminal node; The control node is used to execute the average allocation method of AUTBUS bus resources as described in any one of claims 1-5; The terminal node is used to execute the AUTBUS bus resource equalization method as described in claim 6.

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