A Time-Coordinated Distributed Control Execution Method and System for In-Vehicle Ethernet

Abstract

This invention relates to a time-coordinated distributed control execution method and system for vehicular Ethernet. The method includes: establishing a unified global time base, initializing the theoretical transmission time of control messages and the historical delay parameters of each control group, and determining the calibration transmission time of control messages accordingly; scheduling control messages based on the calibration transmission time, calculating the actual execution time of control commands, filling it into the control information field of the control message, and sending it to the controlled node; the controlled node executes the control commands according to the actual execution time, records the actual reception timestamp of the control message, calculates the corresponding end-to-end delay, fills it into the feedback information field of the feedback message, and sends it to the control node; the control node updates the corresponding parameters according to the end-to-end delay and stores them. Compared with the prior art, this invention has the advantages of achieving unified coordination of the control execution timing of multiple controlled nodes, controllable constraints, and fast convergence.

Description

Technical Field

[0001] This invention relates to the field of vehicle control systems, and in particular to a time-coordinated vehicle Ethernet distributed control execution method and system. Background Technology

[0002] With the continuous improvement of vehicle intelligence, connectivity, and electrification, the number of functions carried by in-vehicle electronic systems continues to increase, and the system structure is becoming increasingly complex. This has prompted the automotive electronic and electrical architecture to evolve from an early distributed architecture to a regionally centralized architecture. During this evolution, computing and decision-making functions in the vehicle are gradually centralized to a central computing platform, while specific perception, control, and execution functions are implemented by functional nodes distributed throughout the vehicle. Corresponding to this evolution of the electronic and electrical architecture, in-vehicle communication networks are also developing from traditional bus-type communication systems to high-speed, unified networked communication systems. Among these, automotive Ethernet, with its high bandwidth, good scalability, and standardization advantages, has gradually become the backbone communication network in the new generation of electronic and electrical architectures, used to realize interconnection and communication between the central computing platform, regional controllers, and various functional nodes.

[0003] like Figure 1 As shown, in a regional centralized electronic and electrical architecture, each regional controller is connected to functional nodes distributed within its corresponding region via in-vehicle Ethernet. These functional nodes include, but are not limited to, speaker nodes in the audio system, display terminal nodes in the display system, execution control units in the drive or braking system, and other functional nodes used for execution or sensing. These functional nodes typically possess basic information reception, status feedback, and control execution capabilities, used to receive control commands from the regional controller or central computing platform, and to perform corresponding execution or control operations based on these commands. The regional controller is used to aggregate, forward, and manage control commands issued by the central computing platform, and to coordinate and control the communication behavior of functional nodes within its region. This forms an in-vehicle Ethernet distributed control system with a central computing platform as the decision-making core, hierarchical management by regional controllers, and distributed execution by functional nodes.

[0004] In the aforementioned vehicle-mounted Ethernet distributed control system, multiple functional nodes typically participate in the same control objective or processing flow. There are high consistency requirements between different nodes in terms of functional coordination and execution timing. To ensure the correctness of the overall system function and the consistency of control behavior, the control commands issued by the central computing platform must not only maintain consistency at the logical level but also meet coordination constraints in the time dimension. That is, multiple functional nodes distributed in different areas should complete their corresponding control or execution actions within a predetermined or similar time window under a unified time reference.

[0005] However, in the existing vehicle Ethernet distributed control system, the control commands are inevitably affected by factors such as communication delay, queuing jitter and differences in node processing during network transmission, regional forwarding and internal node processing and execution. This makes it difficult to accurately constrain the timing relationship between the arrival time of the control commands on different functional nodes and the actual execution behavior, thus making it difficult to meet the requirements of synchronous or coordinated control execution between distributed functional nodes.

[0006] Existing vehicle Ethernet control communication solutions based on traffic scheduling prioritize transmission conditions in high-traffic concurrent network environments by differentially scheduling and guaranteeing resources for coordination control-related messages in the communication network. The overall idea is to improve the real-time performance and transmission determinism of control-related messages through a scheduling mechanism at the communication layer.

[0007] In the aforementioned existing technologies, communication layer mechanisms such as traffic scheduling, resource reservation, and priority configuration are typically used to differentiate and manage different types of data streams. Control-related messages are given higher transmission priority or allocated relatively stable network resources to reduce interference from other service streams during their transmission. Through these traffic scheduling and resource guarantee mechanisms, the transmission latency and jitter of control messages in the network can be reduced to a certain extent, thereby meeting the basic real-time communication requirements of in-vehicle Ethernet distributed control systems.

[0008] However, in this type of flow-based control communication scheme, the technical focus is mainly on ensuring the real-time transmission of a single control message or control flow during communication, without systematically constraining the consistency of arrival times of multiple control messages at different functional nodes. Since different control messages may traverse different communication paths in the network, the processing delays of switching equipment, link forwarding delays, and message congestion encountered during transmission vary. Even if multiple control messages are sent simultaneously at the sending end, their actual arrival times at each functional node may still deviate. Therefore, in application scenarios requiring multiple distributed functional nodes to collaboratively execute control operations according to predetermined time relationships, existing technologies struggle to provide fine-grained constraints and coordination for the control execution timing of each controlled node.

[0009] In existing in-vehicle Ethernet distributed control systems, communication layer mechanisms such as traffic scheduling, resource reservation, and priority configuration are typically used to ensure the real-time transmission of control-related messages. However, in multi-node collaborative control scenarios, this type of technical solution still has the following shortcomings: 1. Lack of a unified control execution timing modeling and constraint mechanism In existing vehicle-mounted Ethernet distributed control systems, there is usually a lack of a unified global time reference between control nodes and controlled nodes. Each node relies on local time or implicit conventions to process the timing of control message transmission, control command execution, and related delay information. This results in inconsistent timing perceptions of the same control process among different nodes, making it difficult to uniformly model and manage timing-constrained control processes at the system level.

[0010] 2. Difficulty in perceiving the actual latency of the communication path and adaptively adjusting the transmission timing. In existing control communication schemes based on flow scheduling, the timing of control message transmission is usually statically configured or preset. Control nodes have difficulty obtaining the actual end-to-end delay and dynamic characteristics of control messages in the communication path. They cannot adaptively adjust the transmission timing according to the differences in different communication paths and network operating status, and are easily affected by delay fluctuations, resulting in unstable control execution timing.

[0011] 3. Lack of explicit constraints and consistent coordination mechanisms for the execution timing of control commands. In existing in-vehicle Ethernet distributed control systems, control-related messages typically drive control execution via arrival-triggered mechanisms, making it difficult for control nodes to explicitly constrain the specific execution timing of control commands on the controlled node side. For application scenarios requiring multiple controlled nodes to collaboratively complete control actions at a predetermined future time, existing technologies lack a unified description and consistent triggering mechanism for the execution sequence of control commands. This makes it difficult to effectively coordinate the control execution sequence of multiple controlled nodes in a distributed environment, thus limiting the timing controllability of the system in complex collaborative control scenarios.

[0012] 4. Timing parameters are difficult to quickly return to a stable state during startup and restart phases. Existing vehicle-mounted Ethernet distributed control systems typically require re-convergence of communication path delays and related timing parameters after system power-on or restart. During startup, control execution timing is prone to fluctuations, affecting the continuity of system operation and control consistency, making it difficult to meet the requirements of vehicle-mounted distributed control applications with high timing stability and repeatability requirements. Summary of the Invention

[0013] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a timing-coordinated in-vehicle Ethernet distributed control execution method and system. In the in-vehicle Ethernet distributed control environment, a unified time base and timing modeling mechanism are introduced. Based on the perception of communication path delay characteristics, the timing of control message transmission and the timing of control command execution are collaboratively designed and dynamically adjusted, thereby providing a system-level implementation foundation for the coordination and constraint of the control execution timing of multiple controlled nodes.

[0014] The objective of this invention can be achieved through the following technical solutions: A time-coordinated distributed control execution method for vehicular Ethernet, used to control an vehicular communication system, the communication system including a control node, an vehicular communication network, and at least one controlled node, wherein the control node is connected to each controlled node through the vehicular communication network, the method comprising the following steps: S1: Establish a unified global time reference for the control node, vehicle communication network and controlled node, divide the controlled nodes participating in the same timing coordination control process into corresponding control groups, initialize the theoretical transmission time of control messages and the historical delay parameters of each control group, and determine the calibration transmission time of control messages accordingly. S2: Obtain the current global time and perform a time check with the calibration transmission time of the control message. If the time check passes, calculate the actual execution time of the control command and fill it into the control information field of the control message. Then, send it to the vehicle communication network to forward it to the corresponding controlled node. The actual execution time is calculated based on the theoretical transmission time of the control message and the historical delay parameters of each control group. S3: The controlled node that receives the control message determines the actual received timestamp of the control message and obtains the current global time to perform a time check with the actual execution time in the control message. If the time check passes, the control command is executed, and the actual received timestamp is compared with the calibration transmission time of the control message to determine the corresponding end-to-end delay. This delay is then filled into the feedback information field of the feedback message and sent to the vehicle communication network for forwarding to the control node. S4: The control node that receives the feedback message updates the historical delay parameters of the corresponding control group according to the end-to-end delay in the feedback message of the same control group, and dynamically calibrates the calibration transmission time of the control message.

[0015] Furthermore, the historical delay parameters include the end-to-end delay estimate of the control group, and the end-to-end delay corresponding to each controlled node within the control group; Based on the theoretical transmission time of the initialized control message and the historical delay parameters of each control group, the calibrated transmission time of the control message is defined as follows: In the formula, For the initial control cycle, the control node is oriented downwards. The calibration transmission time of the control message. The theoretical time for sending the initial control message. Control group under the initial control cycle The end-to-end delay estimate, Control group under the initial control cycle Controlled nodes The end-to-end latency.

[0016] Furthermore, the step of the control node receiving the feedback message updating the historical delay parameters of the corresponding control group based on the end-to-end delay in the feedback messages of the same control group includes: The maximum value among the end-to-end delays in the feedback messages of all controlled nodes within the control group is selected as the end-to-end delay of the control group. The end-to-end delay of the control group is recorded using a preset sliding window for the corresponding time length. The mean and jitter values ​​of the end-to-end delay of the control group are calculated to obtain the estimated end-to-end delay of the control group for the next control cycle. The expression for calculating the estimated end-to-end delay of the control group for the next control cycle is as follows: In the formula, for End-to-end delay estimate of the control cycle control group. for Control cycle control group The average end-to-end delay, for Control cycle control group The end-to-end delay jitter value, This is a weighting coefficient used to adjust the degree of impact of jitter on time delay estimation.

[0017] Furthermore, step S1 includes the following sub-steps: S11: Establish a unified global time reference for the control node, vehicle communication network and controlled node through a time synchronization protocol; S12: The control node determines the controlled nodes that require timing coordination and divides the controlled nodes participating in the same timing coordination control process into corresponding control groups; the theoretical transmission time of the control message within the control node is initialized to a preset initial transmission offset value; the control node constructs a corresponding timing coordination control unit based on the control message, which includes control group identification information, controlled node identification information, calibration transmission time of the control message, actual execution time of the control command, and actual reception timestamp of the control message; S13: Initialize the historical delay parameters of each control group. These historical delay parameters include the estimated end-to-end delay of the control group and the end-to-end delay of each controlled node within the control group. Based on the theoretical transmission time of the initialized control message and the historical delay parameters of each control group, determine the calibration transmission time of the control message of each control group.

[0018] Furthermore, step S2 includes the following sub-steps: S21: The control node arranges the timing coordination control units in sequence according to the control message calibration transmission time in the timing coordination control unit; obtains the current global time, compares the current global time with the control message calibration transmission time in the first timing coordination control unit, and executes steps S22 and S23 when the control message calibration transmission time is not later than the current global time. S22: Add the theoretical transmission time of the control message in the timing coordination control unit to the estimated end-to-end delay of the corresponding control group, or add it to the worst-case response time of the corresponding control process of the corresponding control group set in the preset, to obtain the actual execution time of the control command of the control message; S23: Obtain the control group identification information, controlled node identification information, control message calibration sending time, and actual execution time of the control command from the timing coordination control unit corresponding to the control message, fill them into the control information field of the control message, generate a control message carrying execution timing constraints, and send it to the vehicle communication network, which will then forward it to the target controlled node. S24: Periodically or event-triggeredly update the theoretical transmission time and calibration transmission time of the control message in the timing coordination control unit.

[0019] Furthermore, step S3 includes the following sub-steps: S31: The controlled node receives control messages from the control node and records the actual timestamp of the control message during the receiving process. The controlled node then parses the control message to obtain the timing coordination control unit. S32: The controlled node selects the timing coordination control unit with the earliest actual execution time of the control instruction from the corresponding timing coordination control unit as the current execution object, and obtains the current global time; compares the current global time with the actual execution time of the control instruction in the current execution object, and if the actual execution time of the control instruction is not later than the current global time, execute steps S33 and S34; S33: Based on the calibration sending time and actual receiving timestamp of the control message in the current execution object, calculate the end-to-end delay experienced by the control message in the communication path. The end-to-end delay is the difference between the actual receiving timestamp and the calibration sending time of the control message. S34: Extract the control group identification information, the controlled node identification information, and the calculated end-to-end delay of the controlled node, fill them into the feedback information field of the feedback message, generate the feedback message, and send it to the vehicle communication network for forwarding to the control node.

[0020] Furthermore, step S4 includes the following sub-steps: S41: The control node parses the received feedback message and updates the historical delay parameters of the control group corresponding to the feedback message based on the end-to-end delay obtained from the parsing. S42: Determine whether the end-to-end delay obtained by parsing meets the preset validity conditions. If it does, store it as a valid sample; otherwise, discard the obtained end-to-end delay. S43: After the control node collects the end-to-end delays of each controlled node in the same control group for the same control cycle, the maximum value is selected as the end-to-end delay of the control group in the control cycle; the end-to-end delay of the control group for the corresponding time length is recorded with a preset sliding window; based on the recorded data of the sliding window, the mean and jitter values ​​of the end-to-end delay of the control group are calculated. S44: Calculate the estimated end-to-end delay of the control group for the next control cycle based on the mean and jitter values ​​of the end-to-end delay of the control group. S45: The difference between the estimated end-to-end delay of the control group in the next control cycle and the end-to-end delay of each controlled node in the control group in the current control cycle, plus the theoretical transmission time of the control message in the next control cycle, is used to obtain the calibration transmission time of the control message in the next control cycle. S46: Within N consecutive control cycles, detect the jitter value of the end-to-end delay of the control group, determine whether the historical delay parameters of the control group are in a stable state, and if so, retain and store them as the initial historical delay parameters after the system is powered on or restarted.

[0021] The present invention also provides an in-vehicle Ethernet distributed control execution system that implements the time-coordinated in-vehicle Ethernet distributed control execution method described above, comprising a control node, an in-vehicle communication network and at least one controlled node; The control node is used to send control messages carrying execution timing constraints to each controlled node through the vehicle communication network; After each controlled node completes the corresponding control or operation according to the timing constraints of the control message, it sends a feedback message containing communication path delay information back to the control node. The control node performs statistics and estimates on the end-to-end delay of the communication path based on the feedback information, and calibrates the timing of subsequent control message transmissions and control command execution accordingly.

[0022] Furthermore, the control node includes a control communication module, a timing calibration and management module, and a timing coordination control transmission module; The control communication module is used to complete time synchronization, timestamp acquisition, and the sending and receiving of control messages and feedback messages, and provides a unified time reference and time information support for upper-layer timing processing. The timing calibration and management module is used to parse the end-to-end delay information of the communication path carried in the feedback message, to count, estimate and store the delay experienced by the control message in the end-to-end communication path, and to complete the calibration of the control message transmission timing accordingly. The timing coordination control sending module is used to schedule the timing coordination control unit under a unified time base, determine the sending timing of control messages and the execution timing of control commands, and encapsulate the control information carrying the execution timing constraints into control messages, which are then sent to the corresponding controlled nodes according to the calibrated sending timing. The timing coordination control unit obtains the control messages by parsing them, including control group identification information, controlled node identification information, the calibrated sending time of the control messages, the actual execution time of the control commands, and the actual receiving timestamp of the control messages.

[0023] Furthermore, the controlled node includes a controlled communication module and a timing coordination control execution module; The controlled communication module is used to complete time synchronization, timestamp acquisition, and the sending and receiving of control messages and feedback messages; The timing coordination control execution module is used to parse the control information and execution timing constraints carried in the control message, and schedule the control message to be processed under a unified time base. When the corresponding execution timing conditions are met, the corresponding control or operation is triggered. At the same time, the end-to-end delay of the communication path is recorded during the control execution process, and the end-to-end delay is encapsulated into a feedback message and sent back to the control node.

[0024] Compared to existing vehicle Ethernet control methods that focus on ensuring real-time performance at the communication layer, this invention, under a unified time reference, constructs a time-coordinated vehicle Ethernet distributed control execution method and system by sensing and utilizing end-to-end latency of the communication path, and performing collaborative modeling and feedback-driven calibration of the control message transmission timing and control command execution timing. This method offers the following advantages: (1) A vehicle-mounted Ethernet distributed control execution system oriented to timing coordination was constructed: The system of the present invention includes a control node, at least one controlled node, and a vehicle-mounted communication network. Both the control node and the controlled node operate based on a unified global time base and have the ability to process and interact with timing information related to control execution. The control node is used to generate and send control messages carrying control execution timing constraints, and dynamically adjust the sending timing of the control messages based on the communication path delay information fed back by the controlled node; the controlled node is used to execute the corresponding control instructions according to the timing constraints under the unified time base, and feed back communication path delay related information to the control node, thereby realizing the unified coordination of the execution timing of vehicle-mounted distributed control instructions and the dynamic adjustment based on the running state delay feedback.

[0025] (2) Achieved unified timing modeling and consistent understanding of the vehicle-mounted distributed control process: This invention establishes a unified timing reference on both the control node and the controlled node, and performs consistent modeling of the control context information involved in the control execution process. Specifically, by constructing a global time reference and introducing a timing coordination control unit, the control process with timing constraints is uniformly described, so that the sending timing of control messages, the execution timing of control commands, and related communication delay parameters can be consistently modeled and processed at the system level, thereby providing a unified modeling basis for the timing coordination and dynamic adjustment of the vehicle-mounted distributed control execution process.

[0026] (3) The invention realizes the adaptive calibration capability for communication path differences and delay fluctuations: By introducing a feedback mechanism of the controlled node for the end-to-end delay of the communication path, the control node can dynamically calibrate the sending sequence of control messages based on the running delay information to compensate for the impact of communication path differences and network delay fluctuations, so that different control messages can arrive at the controlled node side according to the expected timing relationship, thereby improving the consistency of control execution timing in the vehicle Ethernet distributed control system.

[0027] (4) Provides timing constraints and coordination capabilities for the control execution phase of multiple controlled nodes: The present invention explicitly carries the timing constraint information of the control command execution in the control message, enabling the controlled nodes to execute the corresponding control command at a specified time under a unified time base, thereby supporting the vehicle Ethernet distributed control system to execute control operations synchronously at a predetermined future time, or to execute control operations according to the set sequence and relative time relationship, and can configure execution strategies that emphasize real-time performance or reliability according to different control requirements to adapt to various vehicle distributed control scenarios.

[0028] (5) Improved startup efficiency and timing stability of vehicle Ethernet distributed control system: This invention determines the stability of communication path delay estimation parameters and persistently stores delay parameters that meet stability conditions, so that the system can directly load the verified delay parameters after power-on or restart, quickly restore to the predetermined timing coordination state, reduce the impact of the re-convergence process on the control execution timing, thereby improving the startup efficiency and long-term operation stability of vehicle Ethernet distributed control system.

[0029] (6) The calibration sending time of the control message as defined in this invention refers to the time when the control node prepares to process / send the control message. Calibrating this sending time can ensure that the control messages sent by the control node arrive simultaneously or arrive at multiple controlled nodes in the same control group in the expected sequence.

[0030] The actual execution time of a control command refers to the moment when the controlled node actually executes the control command carried in the control message after receiving it.

[0031] The above definition achieves a decoupling and coordination mechanism between the timing of control message transmission and the timing of control command execution: This invention separates the transmission and execution processes of control commands by setting a calibration transmission time for control messages on the control node side and explicitly carrying the actual execution time of control commands in the control messages. This allows the transmission and execution timings to be independently constrained and to cooperate effectively. Through this mechanism, even with differences in communication paths and network latency fluctuations, the direct dependence of control execution on message arrival times can be avoided, thereby improving the consistency of control execution timing across multiple controlled nodes and reducing reliance on network determinism and complex node-side scheduling capabilities. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of an in-vehicle Ethernet distributed control system under a regional centralized electronic and electrical architecture, as provided in the background art of this invention. Figure 2 This is a schematic diagram of the overall structure of a time-coordinated in-vehicle Ethernet distributed control execution system provided in an embodiment of the present invention; Figure 3 This is a functional module structure diagram of a time-coordinated in-vehicle Ethernet distributed control execution system provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the logic structure of a timing coordination control unit provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of a control information domain and feedback information domain structure provided in an embodiment of the present invention. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] This invention relates to a timing-coordinated method and system for distributed control execution over vehicular Ethernet, applicable to vehicular Ethernet distributed control environments. Based on the perception of communication path delay, the method and system collaboratively model and dynamically adjust the transmission timing of control messages and the execution timing of control commands, enabling multiple distributed functional nodes to execute corresponding control operations according to predetermined time relationships. These predetermined time relationships include, but are not limited to, the synchronous execution of multiple control commands and their ordered execution according to a set sequence, thereby achieving consistency, determinism, and controllability of control execution timing in multi-node collaborative control scenarios.

[0037] Example 1 This embodiment constructs a time-coordinated in-vehicle Ethernet distributed control and execution system, which serves as the in-vehicle communication system. Its overall structure is as follows: Figure 2 As shown. The communication system includes at least: a control node, at least one controlled node, and an in-vehicle communication network. The control node may be a central computing platform or a regional controller; the controlled node is an edge execution node distributed across various areas of the vehicle; the in-vehicle communication network is an Ethernet communication network and may optionally include one or more switching devices.

[0038] In the communication system, the control node sends control messages carrying execution timing constraints to each controlled node through the vehicle communication network. After each controlled node completes the corresponding control or operation according to the timing constraints, it sends a feedback message containing communication path delay information back to the control node. The control node performs statistics and estimates on the end-to-end delay of the communication path based on the feedback information, and calibrates the sending timing of subsequent control messages and the execution timing of control commands accordingly, thereby forming a timing coordination closed-loop control mechanism based on a unified time reference.

[0039] In the communication system, the control node, the controlled node, and the vehicular communication network all support a global time synchronization mechanism to provide a unified time reference for the system. In some implementations, the vehicular communication network may further support time-sensitive network-related mechanisms, such as time-aware shaping, credit value shaping, or traffic reservation mechanisms, to enhance the deterministic guarantee of control message transmission timing. However, the activation of such mechanisms does not constitute an essential technical feature of this invention.

[0040] The functional modules of the control node and the controlled node are as follows: Figure 3As shown. The control node includes a control communication module, a timing calibration and management module, and a timing coordination control transmission module. The control communication module is used to complete time synchronization, timestamp acquisition, and the transmission and reception of control messages and feedback messages, and provides a unified time base and time information support for upper-layer timing processing. The timing calibration and management module includes a transmission timing calibration submodule, a delay parameter storage submodule, and a feedback information parsing submodule. It is used to parse the end-to-end delay information related to the communication path carried in the feedback message, to statistically estimate and store the delay experienced by the control message in the end-to-end communication path, and to calibrate the transmission timing of the control message accordingly. The timing coordination control transmission module includes a control message scheduling submodule, an execution timing decision submodule, and a control information encapsulation submodule. It is used to schedule the timing coordination control unit under a unified time base, determine the transmission timing of control messages and the execution timing of control commands, and encapsulate the control information carrying execution timing constraints into control messages, which are then sent to the corresponding controlled nodes according to the calibrated transmission timing.

[0041] The controlled node includes a controlled communication module and a timing coordination control execution module. The controlled communication module is used to complete time synchronization, timestamp acquisition, and the sending and receiving of control messages and feedback messages. The timing coordination control execution module includes an execution task scheduling submodule, a control information parsing submodule, and a feedback information encapsulation submodule. It is used to parse the control information and its execution timing constraints carried in the control messages, schedule the control tasks to be executed under a unified time base, and trigger the corresponding control or operation when the corresponding execution timing conditions are met. At the same time, during the control execution process, it records the time information related to the end-to-end delay of the communication path and encapsulates the time information into a feedback message and sends it back to the control node.

[0042] To support the coordinated design and dynamic adjustment of control message transmission timing and control command execution timing in vehicle-mounted distributed control processes, this invention introduces a unified timing coordination control information modeling method within both the control node and the controlled node, and sets corresponding information carrying structures in the control messages and feedback messages to achieve consistent perception and transmission of timing information within the system. The relevant information structures are as follows: Figure 4 and Figure 5 As shown.

[0043] like Figure 4As shown, the control node and the controlled node internally employ a timing coordination control unit to describe a timing-constrained control process. The timing coordination control unit is used to uniformly organize the identification information, time attributes, delay attributes, control attributes, valid data, and corresponding task functions related to a single control command. Specifically, the identification information describes the controlled objects participating in the same timing coordination control process and their corresponding relationships; the time attributes describe the theoretical / calibration transmission time and reception time of the control message, as well as the execution time of the control command; the delay attributes describe the end-to-end delay and worst-case response delay experienced by the control message in the communication path; the control attributes characterize the control cycle and control strategy of the control command in the timing coordination process; the valid data carries the specific control content; and the task function characterizes the execution action corresponding to the timing coordination control unit.

[0044] like Figure 5 As shown, the timing coordination control unit transmits and interacts between the control node and the controlled node through control messages and feedback messages. In the control message, timing coordination control information related to control execution is encapsulated in the control information field. The control information field includes at least the control group identifier, the controlled node identifier, the control message calibration transmission time, and the actual execution time of the control command. This allows the controlled node to calculate the end-to-end delay experienced by the control message in the communication path under a unified time reference and trigger the execution of the corresponding control command at the specified execution time. In the feedback message, information related to the communication path delay is encapsulated in the feedback information field. This feedback information field includes at least the control group identifier, the controlled node identifier, and the end-to-end delay information calculated by the controlled node. This is used to feed back the actual path delay of the control message to the control node. Through the aforementioned information carrying structure, the control node obtains the delay basis for sending time calibration, and the controlled node obtains the timing reference for end-to-end delay calculation and timely execution, thereby forming a two-way timing information interaction mechanism around the timing coordination control unit, providing support for the dynamic calibration of control message sending time and the timing coordination execution of multiple controlled nodes.

[0045] Example 2 Based on the aforementioned communication system, this invention further proposes a time-coordinated method for vehicular Ethernet distributed control execution. This method, grounded in a unified global time base, achieves coordinated execution and consistent control of multiple controlled nodes in the vehicular Ethernet distributed control system across the time dimension through collaborative planning, dynamic calibration, and closed-loop adjustment of the control message transmission timing and control command execution timing. The method generally includes the following steps: S1: Establish a unified global time reference for the control node, vehicle communication network and controlled node, divide the controlled nodes participating in the same timing coordination control process into corresponding control groups, initialize the theoretical transmission time of control messages and the historical delay parameters of each control group, and determine the calibration transmission time of control messages accordingly. S2: Obtain the current global time and perform a time check with the calibration sending time of the control message. If the time check passes, calculate the actual execution time of the control command and fill it into the control information field of the control message. Send it to the vehicle communication network to forward it to the corresponding controlled node. The actual execution time is calculated based on the theoretical sending time of the control message and the historical delay parameters of each control group. S3: The controlled node that receives the control message determines the actual received timestamp of the control message and obtains the current global time to perform a time check with the actual execution time in the control message. If the time check passes, the control command is executed, and the actual received timestamp is compared with the calibration transmission time of the control message to determine the corresponding end-to-end delay. This delay is then filled into the feedback information field of the feedback message and sent to the vehicle communication network for forwarding to the control node. S4: The control node that receives the feedback message updates the historical delay parameters of the corresponding control group according to the end-to-end delay in the feedback message of the same control group, and dynamically calibrates the calibration transmission time of the control message.

[0046] Specifically, step S1 is used to establish a unified timing reference, configure the controlled object, and prepare initial delay parameters in the vehicle-mounted distributed control and communication system, thereby forming the basic conditions for subsequent timing coordination and synchronous execution control. It includes the following steps: S11: Communication Initialization and Global Time Base Establishment. After system startup, the communication modules of the control node, controlled nodes, and network bridging devices complete initialization and establish a unified global time base through a time synchronization protocol, ensuring that all nodes within the system have a consistent time reference. In an optional implementation, the communication module supports time-sensitive network mechanisms to enhance the timing guarantee capability during control message transmission.

[0047] S12: Control Object Modeling and Control Group Configuration. During the initialization phase, the control node identifies the control objects requiring timing coordination and divides the controlled nodes participating in the same timing coordination control process into corresponding control groups. For each controlled node in a control group, the control node constructs a timing coordination control unit and initializes its member variables. Specifically, the theoretical transmission time of the control message is initialized to a preset initial transmission offset value, and the calibration transmission time of the control message is initially set to the theoretical transmission time. The timing coordination control unit includes at least identification information, time attributes, delay attributes, control attributes, valid data, and task functions to describe the control relationships participating in the same timing coordination control process.

[0048] In addition, the control node determines the worst-case end-to-end delay parameters for each control group based on the control flow characteristics. This information is then written into the timing coordination control unit as a reference for subsequent timing calculations. The control node constructs an initial timing coordination control queue based on the timing coordination control unit.

[0049] S13: Loading Historical Delay Parameters and Initial Transmission Timing Calibration. The control node reads historical delay parameters related to each control group from the delay parameter storage submodule. These historical delay parameters include at least the end-to-end delay estimate for the control group and the end-to-end delay of each controlled node within the control group. When the historical delay parameters for a control group are invalid or missing, the end-to-end delay estimate for that control group and the end-to-end delay of each controlled node within the group are initialized to preset default initial values. When the historical delay parameters are valid, they are loaded into the corresponding timing coordination control unit as initial delay parameters for transmission timing calibration during the system startup phase.

[0050] Based on this, the control node performs initialization calculations for the control message calibration transmission time in the timing coordination control unit for each controlled node within the control group. For each control group... Controlled nodes During the system startup phase ( The corresponding initial control message calibration transmission time is defined as: in, For the initial control cycle, the control node is oriented downwards. The calibration transmission time of the control message. This corresponds to the theoretical transmission time of the initial control message. Control group under the initial control cycle The end-to-end delay estimate, Control group under the initial control cycle Controlled nodes The end-to-end latency.

[0051] S14: Controlled node execution context initialization. The controlled node constructs a control execution context for handling the timing coordination control unit and initializes the corresponding timing coordination control queue, causing the controlled node to enter a state of waiting for control messages, preparing for the subsequent execution of control instructions based on timing constraints.

[0052] Step S2 involves the control node calculating and determining the execution timing of control commands based on the timing coordination control unit under a unified global time base, and generating and sending control messages carrying execution timing constraints accordingly. The overall process includes the following steps: S21: Timing Triggering and Scheduling of the Timing Coordination Control Unit. The control node initiates a timing polling process in the control message scheduling submodule to schedule the timing coordination control queue. The timing coordination control queue is arranged according to the order of the control message calibration transmission times corresponding to each timing coordination control unit. The control node obtains the current global time through the communication module and compares the global time with the control message calibration transmission time corresponding to the head-of-queue timing coordination control unit. When the calibration transmission time is not later than the current global time, the control node triggers the action function of the timing coordination control unit.

[0053] S22: Control command execution timing calculation. When the timing coordination control unit is scheduled and triggered, the control node inputs it to the execution timing decision submodule to determine the timing of the controlled node. The actual execution time of the control command is determined. The timing decision submodule extracts the theoretical transmission time of the control message, the estimated end-to-end delay of the control group, the worst-case response time parameter, and the control attributes from the timing coordination control unit, and calculates the actual execution time of the control command based on the control attributes.

[0054] When the control attribute indicates aggressive control prioritizing real-time performance, the actual execution time of the control command is defined as: When the control attribute indicates a reliability-prioritized conservative control, the actual execution time of the control command is defined as: in, Indicates control group Controlled nodes In the The actual execution time of the control command corresponding to each control cycle; This corresponds to the theoretical transmission time of the control message; For control group In the End-to-end delay estimate for each control cycle; For control group The worst-case response time for the corresponding control process.

[0055] The execution timing decision submodule writes the calculation results into the timing coordination control unit and passes the updated timing coordination control unit to the control information encapsulation submodule.

[0056] S23: Encapsulation and transmission of control messages carrying execution timing constraints. The control information encapsulation submodule extracts control group identification information, controlled node identification information, control message calibration transmission time, and actual control command execution time from the timing coordination control unit, and fills this information into the control information field of the control message; simultaneously, it fills the data field of the control message with valid data from the timing coordination control unit, generating a control message carrying execution timing constraints. The communication module sends the control message to the vehicle communication network and forwards it to the target controlled node via a network bridging device.

[0057] S24: Timing Coordination Control Unit Update and Rescheduling. After triggering the action function corresponding to the timing coordination control unit, the control node's control message scheduling submodule updates and maintains it according to the control cycle corresponding to the timing coordination control unit. When the control cycle is zero, it indicates that the timing coordination control unit corresponds to event-triggered control, and the control node removes the timing coordination control unit from the queue; when the control cycle is a non-zero positive number, it indicates that the timing coordination control unit corresponds to periodic control, and the control node faces the controlled node. The control message is updated based on its theoretical transmission time and calibration transmission time, and the update rule is as follows: in, Indicates the control cycle index. For control group The control cycle corresponds to the control process. The control message scheduling submodule re-inserts the updated timing coordination control unit into the timing coordination control queue according to the new calibration transmission time to maintain the timing order of the queue.

[0058] Step S3 is used by the controlled node to complete the timing execution of control commands according to the execution timing constraints issued by the control node under a unified global time base, and to collect time information to characterize the end-to-end delay of the communication path. The overall process includes the following steps: S31: Control Message Reception and Timing Coordination Control Unit Construction. The communication module of the controlled node receives control messages from the control node and records the actual reception timestamp of the control message during the reception process. Subsequently, the control message is passed to the control information parsing submodule, which parses the control information field and valid data to construct the timing coordination control unit corresponding to the control message. The timing coordination control unit includes at least control group identification information, controlled node identification information, the calibration transmission time of the control message, the actual execution time of the control command, and the actual reception timestamp of the control message. The controlled node inserts the control commands into the timing coordination control queue according to the order of their actual execution times recorded in the timing coordination control unit.

[0059] S32: Timing determination and execution of control commands. The execution task scheduling submodule of the controlled node selects the timing coordination control unit with the earliest actual execution time of the control command from the timing coordination control queue as the current execution object. It obtains the current global time through the communication module and compares the global time with the actual execution time of the control command recorded in the timing coordination control unit. When the actual execution time of the control command is not later than the current global time, the corresponding action function is triggered, valid data is parsed, and the corresponding control operation is executed.

[0060] S33: End-to-end delay measurement and calculation. After the control command is executed, the task scheduling submodule calculates the end-to-end delay experienced by the control message in the communication path based on the calibration transmission time of the control message and the actual reception timestamp of the control message recorded in the timing coordination control unit, and writes the end-to-end delay into the corresponding timing coordination control unit.

[0061] For control group Controlled nodes In the The control message corresponding to the next control cycle is recorded as the control node's message to the controlled node. The control message calibration sending time is The timestamp of the actual received control message recorded by the controlled node is The corresponding end-to-end delay is defined as follows: S34: Delay Feedback Message Encapsulation and Transmission. The controlled node's feedback information encapsulation submodule extracts the control group identification information, controlled node identification information, and the calculated end-to-end delay information from the timing coordination control unit, and fills this information into the feedback information field of the feedback message. Simultaneously, it fills the data field of the feedback message with valid data from the timing coordination control unit, generating the feedback message. The controlled node transmits the feedback message to the vehicle communication network via the communication module, and it is forwarded to the corresponding control node via the network bridging device, providing a basis for the control node to perform subsequent transmission timing calibration and distributed control timing coordination.

[0062] Step S4 involves the control node statistically estimating the end-to-end delay experienced by the control message in the communication path based on the delay feedback information returned by the controlled node, and dynamically calibrating the transmission time of the control message accordingly, thereby forming a timing-coordinated vehicular Ethernet distributed control closed loop. The overall process includes the following steps: S41: Delay Feedback Information Reception and Parsing. The communication module of the control node receives feedback messages from each controlled node and passes them to the feedback information parsing submodule. The feedback information parsing submodule parses the control group identification information, controlled node identification information, and the corresponding end-to-end delay of the controlled node from the feedback information field of the message, and updates the delay attribute in the timing coordination control unit corresponding to the feedback message based on the parsing result.

[0063] S42: Controlled Node Delay Sample Screening and Storage. The transmission timing calibration submodule of the control node determines the validity of the parsed end-to-end delay of the controlled nodes. When the end-to-end delay meets the preset validity conditions, it is stored as a valid sample; when the validity conditions are not met, the sample is discarded and not included in the subsequent statistics and estimation of control group communication delay. The transmission timing calibration submodule maintains a sample set of end-to-end delays of controlled nodes within each control group for use in control group-level communication delay analysis.

[0064] S43: Control Group Communication Delay Statistics and Jitter Analysis. After the control node's transmission timing calibration submodule collects end-to-end delay samples of each controlled node within the same control group for the same control cycle, it calculates the control group's end-to-end delay for that control cycle, which is defined as: in, Indicates control group The set of controlled nodes included. The timing calibration submodule maintains a length of [length missing] for each control group. A sliding window is used to record historical control group end-to-end delay values: Based on a sliding window, the mean and jitter of the end-to-end delay of the control group are calculated, and are defined as follows: S44: Control group communication delay estimation update. Based on the historical control group end-to-end delay values ​​and jitter characteristics within the sliding window, the control node's transmission timing calibration submodule calculates the... The end-to-end delay estimate of the control group used for timing calibration in the next control cycle is defined as follows: in, This is a weighting coefficient used to adjust the degree of impact of jitter on time delay estimation.

[0065] S45: Calibration Transmission Timing Calculation and Update. The control node's transmission timing calibration submodule updates the control message calibration transmission timing in the timing coordination control unit based on the control group's end-to-end delay estimate and the end-to-end delay samples corresponding to each controlled node within the control group. For the control group... Controlled nodes In the The calibration transmission time of the control message corresponding to the next control cycle is defined as follows: The above update method enables differentiated calibration of the transmission time of control messages for different controlled nodes within the same control group, so that control messages can reach the corresponding controlled nodes in the communication path according to the predetermined timing relationship.

[0066] S46: Delay Parameter Stability Determination and Persistence. The delay parameter storage submodule of the control node performs stability determination on the control group communication delay parameters based on the statistical and estimation results of the end-to-end delay of the control group. Specifically, in the... At the next control cycle, the delay parameter storage submodule is in the most recent continuous Within each control cycle, the control group Communication latency jitter The detection is performed; the communication delay parameters of the control group are determined to be in a stable state when the following conditions are met: in, This is a preset jitter threshold. When the stability check is successful, the delay parameter storage submodule stores the end-to-end delay estimate of the current control group. The end-to-end delay parameters corresponding to each controlled node in the control group are written into non-volatile memory as the initial delay parameters after the system is powered on or restarted.

[0067] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A time-coordinated vehicular Ethernet distributed control execution method, characterized in that, A method for controlling an in-vehicle communication system, the communication system including a control node, an in-vehicle communication network, and at least one controlled node, wherein the control node is connected to each controlled node through the in-vehicle communication network, the method comprising the following steps: S1: Establish a unified global time reference for the control node, vehicle communication network and controlled node, divide the controlled nodes participating in the same timing coordination control process into corresponding control groups, initialize the theoretical transmission time of control messages and the historical delay parameters of each control group, and determine the calibration transmission time of control messages accordingly. S2: Obtain the current global time and perform a time check with the calibration transmission time of the control message. If the time check passes, calculate the actual execution time of the control command and fill it into the control information field of the control message. Then, send it to the vehicle communication network to forward it to the corresponding controlled node. The actual execution time is calculated based on the theoretical transmission time of the control message and the historical delay parameters of each control group. S3: The controlled node that receives the control message determines the actual received timestamp of the control message and obtains the current global time to perform a time check with the actual execution time in the control message. If the time check passes, the control command is executed, and the actual received timestamp is compared with the calibration transmission time of the control message to determine the corresponding end-to-end delay. This delay is then filled into the feedback information field of the feedback message and sent to the vehicle communication network for forwarding to the control node. S4: The control node that receives the feedback message updates the historical delay parameters of the corresponding control group according to the end-to-end delay in the feedback message of the same control group, and dynamically calibrates the calibration transmission time of the control message.

2. The time-coordinated distributed control execution method for in-vehicle Ethernet as described in claim 1, characterized in that, The historical delay parameters include the end-to-end delay estimate of the control group, and the end-to-end delay corresponding to each controlled node within the control group; Based on the theoretical transmission time of the initialized control message and the historical delay parameters of each control group, the calibrated transmission time of the control message is defined as follows: In the formula, For the initial control cycle, the control node is oriented downwards. The calibration transmission time of the control message. The theoretical time for sending the initial control message. Control group under the initial control cycle The end-to-end delay estimate, Control group under the initial control cycle Controlled nodes The end-to-end latency.

3. The time-coordinated distributed control execution method for in-vehicle Ethernet as described in claim 2, characterized in that, The step of updating the historical delay parameters of the corresponding control group by the control node that receives the feedback message based on the end-to-end delay in the feedback messages of the same control group includes: The maximum value among the end-to-end delays in the feedback messages of all controlled nodes within the control group is selected as the end-to-end delay of the control group. The end-to-end delay of the control group is recorded using a preset sliding window for the corresponding time length. The mean and jitter values ​​of the end-to-end delay of the control group are calculated to obtain the estimated end-to-end delay of the control group for the next control cycle. The expression for calculating the estimated end-to-end delay of the control group for the next control cycle is as follows: In the formula, for End-to-end delay estimate of the control cycle control group. for Control cycle control group The average end-to-end delay, for Control cycle control group The end-to-end delay jitter value, This is a weighting coefficient used to adjust the degree of impact of jitter on time delay estimation.

4. The time-coordinated distributed control execution method for in-vehicle Ethernet as described in claim 1, characterized in that, Step S1 includes the following sub-steps: S11: Establish a unified global time reference for the control node, vehicle communication network and controlled node through a time synchronization protocol; S12: The control node determines the controlled nodes that require timing coordination and divides the controlled nodes participating in the same timing coordination control process into corresponding control groups; the theoretical transmission time of the control message within the control node is initialized to the preset initial transmission offset value; The control node constructs a corresponding timing coordination control unit based on the control message. The timing coordination control unit includes control group identification information, controlled node identification information, calibration transmission time of the control message, actual execution time of the control command, and actual reception timestamp of the control message. S13: Initialize the historical delay parameters of each control group. These historical delay parameters include the estimated end-to-end delay of the control group and the end-to-end delay of each controlled node within the control group. Based on the theoretical transmission time of the initialized control message and the historical delay parameters of each control group, determine the calibration transmission time of the control message of each control group.

5. The time-coordinated distributed control execution method for in-vehicle Ethernet as described in claim 4, characterized in that, Step S2 includes the following sub-steps: S21: The control node arranges the timing coordination control units in sequence according to the control message calibration transmission time in the timing coordination control unit; obtains the current global time, compares the current global time with the control message calibration transmission time in the first timing coordination control unit, and executes steps S22 and S23 when the control message calibration transmission time is not later than the current global time. S22: Add the theoretical transmission time of the control message in the timing coordination control unit to the estimated end-to-end delay of the corresponding control group, or add it to the worst-case response time of the corresponding control process of the corresponding control group set in the preset, to obtain the actual execution time of the control command of the control message; S23: Obtain the control group identification information, controlled node identification information, control message calibration sending time, and actual execution time of the control command from the timing coordination control unit corresponding to the control message, fill them into the control information field of the control message, generate a control message carrying execution timing constraints, and send it to the vehicle communication network, which will then forward it to the target controlled node. S24: Periodically or event-triggeredly update the theoretical transmission time and calibration transmission time of the control message in the timing coordination control unit.

6. The time-coordinated distributed control execution method for in-vehicle Ethernet as described in claim 5, characterized in that, Step S3 includes the following sub-steps: S31: The controlled node receives control messages from the control node and records the actual timestamp of the control message during the receiving process. The controlled node then parses the control message to obtain the timing coordination control unit. S32: The controlled node selects the timing coordination control unit with the earliest actual execution time of the control instruction from the corresponding timing coordination control unit as the current execution object, and obtains the current global time; compares the current global time with the actual execution time of the control instruction in the current execution object, and if the actual execution time of the control instruction is not later than the current global time, execute steps S33 and S34; S33: Based on the calibration sending time and actual receiving timestamp of the control message in the current execution object, calculate the end-to-end delay experienced by the control message in the communication path. The end-to-end delay is the difference between the actual receiving timestamp and the calibration sending time of the control message. S34: Extract the control group identification information, the controlled node identification information, and the calculated end-to-end delay of the controlled node, fill them into the feedback information field of the feedback message, generate the feedback message, and send it to the vehicle communication network for forwarding to the control node.

7. The time-coordinated distributed control execution method for in-vehicle Ethernet as described in claim 6, characterized in that, Step S4 includes the following sub-steps: S41: The control node parses the received feedback message and updates the historical delay parameters of the control group corresponding to the feedback message based on the end-to-end delay obtained from the parsing. S42: Determine whether the end-to-end delay obtained by parsing meets the preset validity conditions. If it does, store it as a valid sample; otherwise, discard the obtained end-to-end delay. S43: After the control node collects the end-to-end delays of each controlled node in the same control group for the same control cycle, the maximum value is selected as the end-to-end delay of the control group in the control cycle. The end-to-end delay of the control group is recorded using a preset sliding window for a corresponding time length; based on the recorded data of the sliding window, the mean and jitter values ​​of the end-to-end delay of the control group are calculated. S44: Calculate the estimated end-to-end delay of the control group for the next control cycle based on the mean and jitter values ​​of the end-to-end delay of the control group. S45: The difference between the estimated end-to-end delay of the control group in the next control cycle and the end-to-end delay of each controlled node in the control group in the current control cycle, plus the theoretical transmission time of the control message in the next control cycle, is used to obtain the calibration transmission time of the control message in the next control cycle. S46: Within N consecutive control cycles, detect the jitter value of the end-to-end delay of the control group, determine whether the historical delay parameters of the control group are in a stable state, and if so, retain and store them as the initial historical delay parameters after the system is powered on or restarted.

8. A vehicle Ethernet distributed control execution system that implements the time-coordinated vehicle Ethernet distributed control execution method as described in any one of claims 1-7, characterized in that, Includes a control node, an in-vehicle communication network, and at least one controlled node; The control node is used to send control messages carrying execution timing constraints to each controlled node through the vehicle communication network; After each controlled node completes the corresponding control or operation according to the timing constraints of the control message, it sends a feedback message containing communication path delay information back to the control node. The control node performs statistics and estimates on the end-to-end delay of the communication path based on the feedback information, and calibrates the timing of subsequent control message transmissions and control command execution accordingly.

9. The system according to claim 8, characterized in that, The control node includes a control communication module, a timing calibration and management module, and a timing coordination control transmission module; The control communication module is used to complete time synchronization, timestamp acquisition, and the sending and receiving of control messages and feedback messages, and provides a unified time reference and time information support for upper-layer timing processing. The timing calibration and management module is used to parse the end-to-end delay information of the communication path carried in the feedback message, to count, estimate and store the delay experienced by the control message in the end-to-end communication path, and to complete the calibration of the control message transmission timing accordingly. The timing coordination control sending module is used to schedule the timing coordination control unit under a unified time base, determine the sending timing of control messages and the execution timing of control commands, and encapsulate the control information carrying the execution timing constraints into control messages, which are then sent to the corresponding controlled nodes according to the calibrated sending timing. The timing coordination control unit obtains the control messages by parsing them, including control group identification information, controlled node identification information, the calibrated sending time of the control messages, the actual execution time of the control commands, and the actual receiving timestamp of the control messages.

10. The system according to claim 8, characterized in that, The controlled node includes a controlled communication module and a timing coordination control execution module; The controlled communication module is used to complete time synchronization, timestamp acquisition, and the sending and receiving of control messages and feedback messages; The timing coordination control execution module is used to parse the control information and execution timing constraints carried in the control message, and schedule the control message to be processed under a unified time base. When the corresponding execution timing conditions are met, the corresponding control or operation is triggered. At the same time, the end-to-end delay of the communication path is recorded during the control execution process, and the end-to-end delay is encapsulated into a feedback message and sent back to the control node.

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