A method and device for generating a CAN frame for a redundancy control system and a medium

Abstract

The present application relates to the technical field of redundancy control, in particular to a CAN frame generation method and device for a redundancy control system and a medium, comprising: determining a redundancy core role and a redundancy working state of the redundancy control system to obtain a redundancy core role ID field and a redundancy working state ID field; the redundancy core role is used to represent a master component or a standby component of the redundancy control system; obtaining a control command of the redundancy control system, dividing a priority group based on an influence degree of the control command on the operation of the redundancy control system to obtain a command priority group ID field; determining a command number ID field based on the total number of control commands with different functions; and filling the above ID fields into an ID section in the order of the redundancy working state ID field, the command priority group ID field, the command number ID field and the redundancy core role ID field, wherein the priority of the fields in the order corresponds from high to low, to generate a CAN frame, thereby realizing efficient transmission of data in the redundancy control system.

Description

Technical Field

[0001] This invention relates to the field of redundancy control technology, specifically to a CAN frame generation method, apparatus, and medium for a redundancy control system. Background Technology

[0002] Redundant control systems significantly improve operational reliability through redundant configurations of multiple components, and are widely used in fields such as aerospace and industrial control where stability and real-time performance are extremely critical. These systems require efficient transmission of complex data tags, multi-dimensional state parameters, and complete command data between redundant control cores to ensure the realization of core functions such as primary / backup component coordination, fault response, and precise control.

[0003] Current data transmission schemes have significant technical problems: On the one hand, traditional data frame designs are limited by fixed length, making it difficult to meet the one-time transmission requirements of complex data domains, resulting in cumbersome data processing procedures. On the other hand, when the system is under high load and the amount of data transmitted surges, communication congestion is likely to occur, which not only reduces the overall transmission quality but may also cause delays in high-priority messages such as fault alarms and emergency controls, directly affecting the system's operational security and real-time response capabilities.

[0004] In CAN communication scenarios within redundancy control systems, the standard CAN frame data field is prone to insufficient length when transmitting complex data tags and data fields in redundancy systems. While the CANFD protocol can extend the data field, its poor compatibility with standard CAN networks and the accelerated data rate during transmission can cause standard CAN controllers to misinterpret data and reject frames. Alternatively, segmented transmission and reassembly using higher-level protocols such as ISO-TP, CANopen SDO, and SAE J1939 increases the time cost of message disassembly and reassembly, error handling, and flow control mechanisms, raising application complexity. Furthermore, splitting data into multiple communication packets also reduces communication efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a CAN frame generation method, apparatus and medium for a redundant control system by combining the characteristics of a redundant control system and a CAN frame, so as to solve the technical problems in related technologies where complex data cannot be transmitted at one time due to fixed length and high-priority messages are easily delayed under high system load.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: This invention provides a CAN frame generation method for a redundancy control system. The CAN frame adopts the standard CAN extended data frame format, and the CAN frame ID segment includes a redundancy core role ID field, a redundancy operating status ID field, a command priority group ID field, and a command number ID field. The method includes: The redundancy core role and redundancy operating state of the redundancy control system are determined to obtain the redundancy core role ID field and the redundancy operating state ID field. The redundancy core role is used to characterize the primary or backup component of the redundancy control system. The redundancy operating state includes normal state, degraded state, and fault state. The control commands of the redundancy control system are obtained, and priority groups are divided based on the degree of influence of the control commands on the operation of the redundancy control system to obtain the command priority group ID field. The command number ID field is determined based on the total number of control commands with different functions. The redundancy operating state ID field, command priority group ID field, command number ID field, and redundancy core role ID field are filled into the ID segment in the order of redundancy operating state ID field, command priority group ID field, command number ID field, and redundancy core role ID field, with the priority of the corresponding fields from high to low, to generate a CAN frame.

[0007] Optionally, it also includes: after each redundancy control core of the redundancy control system generates a CAN frame, it broadcasts the generated CAN frame to other redundancy control cores on the bus via the CAN bus; when multiple redundancy control cores broadcast the generated CAN frames at the same time, based on the arbitration mechanism of the CAN bus, the numerical value of the ID segment in each CAN frame is compared bit by bit from high bit to low bit to determine the order of broadcast transmission.

[0008] Optionally, the CAN frame ID segment also includes a command sub-priority ID field; the priority group includes first-level commands, second-level commands, and third-level commands; the method further includes: obtaining the control commands of the redundancy control system, dividing the sub-priorities based on the degree of influence of the control commands in the same priority group on the operation of the redundancy control system, so as to obtain the command sub-priority ID field; when filling the ID segment, the command sub-priority ID field is located between the command priority group ID field and the command number ID field.

[0009] Optionally, the CAN frame ID segment may also include a redundancy task cycle number ID field; the method may further include: obtaining the operating cycle of the redundancy control system to obtain the redundancy task cycle number ID field; when filling the ID segment, the redundancy task cycle number ID field is located after the redundancy core role ID field.

[0010] Optionally, after filling the ID segment, the method further includes reserving extension bits and check bits in the CAN frame ID segment. The extension bits are used to adapt to fields added by the redundancy control system, and the check bits are used to verify the binary data of the fields already filled in the ID segment to detect bit errors in the CAN frame ID segment during transmission. The detection methods include parity check and CRC check.

[0011] Optionally, the method may also include: calculating the sum of the number of bits in the redundancy working status ID field, command priority group ID field, command sub-priority ID field, command number ID field, redundancy core role ID field, redundancy task cycle number ID field, extension bits, and check bits, such that the sum of the number of bits is less than or equal to the maximum allowed number of bits in the CAN frame ID segment.

[0012] Optionally, the normal state indicates that both the primary and backup components are operating normally, the degraded state indicates that only the backup components are operating normally, and the fault state indicates that all backup components are operating abnormally.

[0013] This invention also provides a CAN frame generation device for a redundancy control system. The CAN frame adopts the standard CAN extended data frame format. The CAN frame ID segment includes a redundancy core role ID field, a redundancy operating state ID field, a command priority group ID field, and a command number ID field. The device includes a redundancy module, a control module, and a generation module. The redundancy module is used to determine the redundancy core role and redundancy operating state of the redundancy control system to obtain the redundancy core role ID field and the redundancy operating state ID field. The redundancy core role is used to characterize the primary or backup component of the redundancy control system. The redundancy operating state includes normal state, degraded state, and fault state. The control module is used to acquire control commands of the redundancy control system, divide priority groups based on the degree of influence of the control commands on the operation of the redundancy control system to obtain the command priority group ID field, and determine the command number ID field based on the total number of control commands with different functions. The generation module is used to fill the above ID fields into the ID segment in the order of the redundancy operating state ID field, the command priority group ID field, the command number ID field, and the redundancy core role ID field, with the priority of the fields from high to low, to generate a CAN frame.

[0014] The present invention also provides a terminal device, including a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the method described above.

[0015] The present invention also provides a storage medium storing a computer program, which is invoked and executed by a computer to implement the method described above.

[0016] The beneficial effects of this invention are: 1. It is based on the standard CAN extended data frame format and does not require modification of the existing CAN bus protocol, thus reducing the application and deployment costs of the redundancy control system.

[0017] 2. By designing the order of the redundancy working status ID field, command priority group ID field, command number ID field, and redundancy core role ID field, the priority of the corresponding fields is from high to low. Combined with the arbitration mechanism of the CAN bus that compares bit by bit from high to low, important commands in the redundancy system can obtain higher arbitration priority, ensuring that high-priority messages can be transmitted first under high load conditions, thus guaranteeing the good performance of the redundancy control system.

[0018] 3. By integrating the redundant system's valid information fields into the CAN frame ID segment, an additional 18 bits of valid data are added compared to the standard CAN frame. This increases the effective data transmission volume per CAN frame, avoids the efficiency loss caused by splitting complex data for transmission, and optimizes the communication efficiency of the redundant system. Simultaneously, extension bits and parity bits are reserved. The parity bits enhance the detection capability for ID segment transmission errors through parity and CRC checks, further improving the reliability of data transmission. Attached Figure Description

[0019] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. The drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0020] Figure 1 This is a flowchart of a CAN frame generation method for a redundancy control system according to the present invention; Figure 2 This is a schematic diagram of a CAN extended data frame structure in the related technology of this invention; Figure 3 This is a schematic diagram of a CAN bus connection method for a redundancy control system according to the present invention; Figure 4 This is a schematic diagram showing the distribution of an instance of a CAN frame generated based on this method in this invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only one preferred embodiment of this invention and are only used to explain this invention. They do not limit the scope of protection of this invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0022] As one implementation method, the present invention provides a CAN frame generation method for a redundancy control system, referring to... Figure 2The CAN frame adopts the 29-bit standard CAN extended data frame format. The CAN frame ID segment includes the redundancy core role ID field, redundancy working status ID field, command priority group ID field, command sub-priority ID field, command number ID field, and redundancy task cycle number ID field.

[0023] Reference Figure 3 The redundancy system consists of n identical redundancy control cores k1, k2, ..., kn. In the redundancy control system, each redundancy control core k plays a dual role on the CAN bus, acting as both a producer and a consumer. Each redundancy control core, abbreviated as k, is equipped with multiple sensors and collects information. Multiple k cores are connected via the CAN bus, and they achieve broadcast-style data exchange through the CAN High and CAN Low buses, providing the hardware communication foundation for the CAN frame generation method of the redundancy control system of this invention. Multiple k cores synchronize sensor data, calculation results, execution results, and task cycles via CAN, exhibiting strong real-time performance, priority arbitration, broadcasting, CRC verification, anti-interference capabilities, and automatic detection of message transmission success, resulting in high transmission reliability. Simultaneously, each k performs redundancy health diagnosis based on the acquired information, and the diagnosis results are sent to other k cores via the CAN bus for system reconfiguration and fault recovery.

[0024] Each redundancy control core k has the ability to send messages as a producer, and the sending method is broadcast. Once a message is sent, it will be received by all redundancy control cores on the bus, rather than being sent only to a specific redundancy control core. Simultaneously, each redundancy control core k also has the ability to receive messages as a consumer, and can receive broadcast messages sent by all other producers on the connected bus. If the redundancy control system is a single CAN bus architecture, it refers to that single bus; if it is a multi-bus redundant architecture, it refers to all buses physically connected to the redundancy control cores (ensuring that the redundancy control cores can obtain redundancy information on multiple buses for cross-checking or fault diagnosis).

[0025] The Redundancy Kernel Role (RKR), or data source, is responsible for indicating the message source. Specifically, a redundancy control system has two data sources: "Primary Controller A" and "Standby Controller B." A's RKR is set to 01, and B's is set to 02. When a message with RKR=01 is received on the bus, the receiver knows it comes from the primary component A and accepts it first. If an RKR=02 message is received, it indicates it comes from the standby component B, used for redundancy backup or failover.

[0026] Redundancy Work Status (RWS) indicates the redundancy status and participates in message priority arbitration. Redundancy Task Number (RTN) indicates the task cycle number to which the data belongs. Command Priority Group (CPG) represents the command group number, prioritizing commands at the system level; higher priority commands have greater system impact. Command Subpriority (CSP) represents the subpriority of commands within the same priority group (one subpriority by default), used to segment CIDs within the group, increasing flexibility and facilitating later maintenance. Command ID (CID) represents commands with different functions. The Command ID field is determined based on the total number of control commands with different functions; for example, if there are 100 different functions, at least a 7-digit Command ID field is required. 6 =64<100<2 7 =12.

[0027] Reference Figure 1 The CAN frame generation method for redundancy control systems includes: S1. Determine the redundancy core role and redundancy operating status of the redundancy control system to obtain the Redundancy Core Role ID field and Redundancy Operating Status ID field. The redundancy core role is used to characterize the primary or backup component of the redundancy control system. By clearly identifying the primary and backup components, other redundancy control cores on the bus can quickly identify the component role currently sending commands. Commands sent by the primary component usually have higher authority, while those sent by the backup component are mostly status synchronization information. Redundancy operating status includes normal status, degraded status, and fault status. Normal status indicates that both the primary and backup components are operating normally; degraded status indicates that only the backup component is operating normally, i.e., the system function is limited but still operational; fault status indicates that all backup components are operating abnormally, the system loses its redundancy capability and requires emergency handling.

[0028] S2. Obtain the control commands of the redundancy control system, divide the priority groups based on the degree of influence of the control commands on the operation of the redundancy control system to obtain the command priority group ID field, and determine the command number ID field based on the total number of control commands with different functions.

[0029] S21. Obtain the control commands of the redundancy control system. Based on the degree of influence of the control commands within the same priority group on the operation of the redundancy control system, divide them into sub-priorities to obtain the command sub-priority ID field. Specifically, the priority group includes first-level commands, second-level commands, and third-level commands. For commands within the same priority group, such as commands within the first-level command group, further divide them into sub-priorities according to the degree of influence, such as first-level command A subclass and first-level command B subclass, and generate the command sub-priority ID field.

[0030] S22. Obtain the operating cycle of the redundancy control system to get the redundancy task cycle number ID field. The redundancy control core of the redundancy control system can judge the timeliness of the data through the redundancy task cycle number, such as discarding redundant data of expired cycles.

[0031] S3. Following the order of the redundancy working status ID field, command priority group ID field, command sub-priority ID field, command number ID field, redundancy core role ID field, and redundancy task cycle number ID field, with the priority of the corresponding fields from high to low, fill the ID segment with the above ID fields to generate a CAN frame. Specifically, the message ID segment sent by the producer must carry the RKR field, RWS field, CPG field, and CID field, and may carry the CSP field, RTN field, and other information as needed.

[0032] S4. After filling the ID segment, the method further includes reserving extension bits and check bits in the CAN frame ID segment. The extension bits are used to adapt to newly added fields in the redundancy control system, and the check bits are used to verify the binary data of the filled fields in the ID segment to detect bit errors in the CAN frame ID segment during transmission. Detection methods include parity check and CRC check. CRC check can be performed as follows: After receiving the CAN frame, the receiver redundancy control core recalculates the check value of the binary data of the valid fields in the ID segment using the CRC8 algorithm and compares it with the 8-bit check value carried in the frame, i.e., the CRC8 check value. If they match, it indicates that the transmission has not failed; if they do not match, it is determined that a bit error has occurred in the ID segment during transmission. The bit error can be a bit flip caused by electromagnetic interference.

[0033] S41. Calculate the sum of the number of bits in the redundancy working status ID field, command priority group ID field, command sub-priority ID field, command number ID field, redundancy core role ID field, redundancy task cycle number ID field, extension bits, and check bits, ensuring that the sum of the number of bits in the generated CAN frame is less than or equal to the maximum allowed number of bits in the CAN frame ID segment. The maximum allowed number of bits is 29 bits. Ensure that the total number of bits in all custom fields is ≤29 bits to avoid CAN frames not conforming to protocol specifications due to excessively long fields, which would prevent normal transmission on the CAN bus.

[0034] S5. After each redundancy control core of the redundancy control system generates a CAN frame, it broadcasts the generated CAN frame to other redundancy control cores on the CAN bus. When multiple redundancy control cores broadcast generated CAN frames simultaneously, based on the CAN bus arbitration mechanism, the value of the ID segment in each CAN frame is compared bit by bit from high to low to determine the order of broadcast transmission. In the CAN bus, binary "0" has higher priority than "1" (determined by the bus level characteristics). During the comparison process, if a bit in the ID segment of a certain redundancy control core is "0", while the corresponding bit of another redundancy control core is "1", then that redundancy control core directly obtains bus control and continues transmission, while other redundancy control cores stop transmitting and wait for the next bus idle time.

[0035] As one implementation method, refer to Figure 4 This embodiment provides a CAN frame example generated based on this method. In the CAN frame example, the CAN frame ID segment includes an 11-bit standard ID segment and an 18-bit extended ID segment. The 11-bit standard ID segment includes a 1-bit Redundancy Status (RWS), a 2-bit Command Priority Group (CPG), a shared 5-bit Command Sub-Priority (CSP) and Command Number (CID), and a 3-bit reserved extension bit. The 18-bit extended ID segment includes a 3-bit Redundancy Core Role (RKR), a 7-bit (0~127) Redundancy Task Cycle Number (RTN), and an 8-bit reserved check bit, which can be CRC8. The SRR, IDE, and RTR bits are not indicated in this example. The Remote Request bit (SRR), Identifier Extension bit (IDE), and Remote Transmission Request bit (RTR) are fixed control bits specified by the CAN protocol, and their values ​​are determined by the frame type, which includes extended frames or data frames.

[0036] In this configuration, RWS=0 indicates that the redundant control system is in standby mode, and RWS=1 indicates that the redundant control system is in normal operation. CPG=00 represents the system-level command group, CPG=01 represents the input data command group, CPG=10 represents the output data command group, and CPG=11 represents the reserved extension command group. For system-level commands, CID occupies 4 bits, and CSP occupies 1 bit. CSP=0 indicates the system topology class, and CSP=1 indicates the system redundancy class. For other priority command groups, CSP occupies 0 bits, and CID occupies 5 bits. Furthermore, the number of CSP bits can be increased to more flexibly allocate system command priorities and facilitate command management. The reserved extension bits are filled with 1 by default.

[0037] Table 1 Data Distribution Table of CAN Frame Instance ID Segment In a standard CAN data frame, only the data field is transmitted, with a maximum size of 8 bytes (64 bits), which is the core effective data length for traditional transmission. This embodiment adds 18 additional effective data bits compared to the standard CAN frame, increasing the effective data transmission volume per frame, avoiding efficiency losses from complex data splitting and transmission, optimizing the communication efficiency of redundant systems, and improving efficiency by approximately 28%. Specifically, the increase in effective data bits ÷ the baseline effective data bits = the improvement ratio, i.e., 18 bits ÷ 64 bits ≈ 0.28125, which translates to approximately 28%.

[0038] As one implementation, the present invention also provides a CAN frame generation device for a redundancy control system. The CAN frame ID segment includes a redundancy core role ID field, a redundancy operating state ID field, a command priority group ID field, and a command number ID field. The device includes a redundancy module, a control module, and a generation module. The redundancy module is used to determine the redundancy core role and redundancy operating state of the redundancy control system to obtain the redundancy core role ID field and the redundancy operating state ID field. The redundancy core role is used to characterize the primary or backup component of the redundancy control system. The redundancy operating state includes normal state, degraded state, and fault state. The control module is used to acquire control commands of the redundancy control system, divide priority groups based on the degree of influence of the control commands on the operation of the redundancy control system to obtain the command priority group ID field, and determine the command number ID field based on the total number of control commands with different functions. The generation module is used to fill the above ID fields into the ID segment in the order of the redundancy operating state ID field, the command priority group ID field, the command number ID field, and the redundancy core role ID field, with the priority of the fields corresponding to the order from high to low, to generate a CAN frame.

[0039] As one embodiment, the present invention also provides a terminal device, including a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the method described above.

[0040] As one implementation, the present invention also provides a storage medium storing a computer program, which is invoked and executed by a computer to implement the method described above.

[0041] Compared with the prior art, the present invention has the following beneficial effects based on the above embodiments: 1. Based on the standard CAN extended data frame format, it does not require modification of the existing CAN bus protocol, thus reducing the application deployment cost of the redundancy control system.

[0042] 2. By designing the order of the redundancy working status ID field, command priority group ID field, command number ID field, and redundancy core role ID field, the priority of the corresponding fields is from high to low. Combined with the arbitration mechanism of the CAN bus that compares bit by bit from high to low, important commands in the redundancy system can obtain higher arbitration priority, ensuring that high-priority messages can be transmitted first under high load conditions, thus guaranteeing the good performance of the redundancy control system.

[0043] 3. By integrating the redundant system's valid information fields into the CAN frame ID segment, an additional 18 bits of valid data are added compared to the standard CAN frame. This increases the effective data transmission volume per CAN frame, avoids the efficiency loss caused by splitting complex data for transmission, and optimizes the communication efficiency of the redundant system. Simultaneously, extension bits and parity bits are reserved. The parity bits enhance the detection capability for ID segment transmission errors through parity and CRC checks, further improving the reliability of data transmission.

[0044] The specific embodiments described above are preferred embodiments of a CAN frame generation method, apparatus and medium for a redundancy control system according to this application, and are not intended to limit the specific scope of this application. The scope of this application includes but is not limited to the specific embodiments described above. All equivalent changes made in accordance with the shape and structure of this application are within the protection scope of this application.

Claims

1. A CAN frame generation method for a redundancy control system, characterized in that, The CAN frame uses the standard CAN extended data frame format. The CAN frame ID segment includes the redundancy core role ID field, redundancy working status ID field, command priority group ID field, and command number ID field; the method includes: Determine the redundancy core role and redundancy operating status of the redundancy control system to obtain the redundancy core role ID field and redundancy operating status ID field; the redundancy core role is used to characterize the primary or backup component of the redundancy control system; the redundancy operating status includes normal state, degraded state and fault state. Obtain the control commands of the redundancy control system, divide the control commands into priority groups based on their impact on the operation of the redundancy control system, and obtain the command priority group ID field; determine the command number ID field based on the total number of control commands with different functions. The CAN frame is generated by filling the ID field into the ID segment in the order of the redundancy working status ID field, command priority group ID field, command number ID field, and redundancy core role ID field, with the priority of the corresponding fields from high to low.

2. The CAN frame generation method for a redundancy control system according to claim 1, characterized in that, Also includes: After the redundancy control core of the redundancy control system generates a CAN frame, it broadcasts the generated CAN frame to other redundancy control cores on the CAN bus. When multiple redundant control cores broadcast the generated CAN frames simultaneously, the arbitration mechanism based on the CAN bus compares the value of the ID segment in each CAN frame bit by bit from high bit to low bit to determine the order of broadcast transmission.

3. The CAN frame generation method for a redundancy control system according to claim 1, characterized in that, The CAN frame ID segment also includes a command sub-priority ID field; Priority groups include first-level commands, second-level commands, and third-level commands; The method also includes: obtaining the control commands of the redundancy control system, dividing the sub-priorities based on the degree of influence of the control commands in the same priority group on the operation of the redundancy control system, so as to obtain the command sub-priority ID field; when filling the ID field, the command sub-priority ID field is located between the command priority group ID field and the command number ID field.

4. The CAN frame generation method for a redundancy control system according to claim 1, characterized in that, The CAN frame ID segment also includes a redundancy task cycle number ID field; the method further includes: obtaining the operating cycle of the redundancy control system to obtain the redundancy task cycle number ID field; when filling the ID segment, the redundancy task cycle number ID field is located after the redundancy core role ID field.

5. A CAN frame generation method for a redundancy control system according to claim 3, characterized in that, After filling the ID segment, the method also includes reserving extension bits and check bits in the CAN frame ID segment. The extension bits are used to adapt to the fields added by the redundancy control system, and the check bits are used to verify the binary data of the fields already filled in the ID segment in order to detect bit errors in the CAN frame ID segment during transmission. The detection methods include parity check and CRC check.

6. A CAN frame generation method for a redundancy control system according to claim 5, characterized in that, The method also includes: calculating the sum of the number of bits in the redundancy working status ID field, command priority group ID field, command sub-priority ID field, command number ID field, redundancy core role ID field, redundancy task cycle number ID field, extension bits and check bits, such that the sum of the number of bits is less than or equal to the maximum allowed number of bits in the CAN frame ID segment.

7. A CAN frame generation method for a redundancy control system according to claim 1, characterized in that, Normal state means that both the primary and backup components are operating normally; degraded state means that only the backup components are operating normally; fault state means that all backup components are operating abnormally.

8. A CAN frame generation device for a redundancy control system, characterized in that, The CAN frame adopts the standard CAN extended data frame format. The CAN frame ID segment includes the redundancy core role ID field, the redundancy working status ID field, the command priority group ID field, and the command number ID field. The device includes a redundancy module, a control module, and a generation module. The redundancy module is used to determine the redundancy core role and redundancy operating status of the redundancy control system, so as to obtain the redundancy core role ID field and the redundancy operating status ID field. The redundancy core role is used to characterize the primary or backup component of the redundancy control system. The redundancy operating status includes normal status, degraded status and fault status. The control module is used to acquire control commands from the redundancy control system, divide priority groups based on the degree of impact of the control commands on the operation of the redundancy control system to obtain the command priority group ID field, and determine the command number ID field based on the total number of control commands with different functions. The generation module is used to fill the ID field into the ID segment in the order of the redundancy working status ID field, command priority group ID field, command number ID field, and redundancy core role ID field, with the priority of the fields from high to low, to generate a CAN frame.

9. A terminal device, characterized in that, The method includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores a computer program, which is invoked and executed by a computer to implement the method as described in any one of claims 1 to 7.

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