Vehicle-mounted communication system, communication method, and vehicle

Abstract

The application relates to a vehicle-mounted communication system, a communication method and a vehicle, comprising a plurality of domain controllers and at least two gateways, each gateway is connected with at least one domain controller, and the at least two gateways are sequentially connected to form a TSN ring network. Each gateway comprises a plurality of CAN bus interfaces and at least one TSN Ethernet interface, which is used for realizing bidirectional protocol conversion and forwarding of CAN messages and TSN Ethernet messages between the vehicle CAN bus and the TSN ring network, and direct transmission of Ethernet data between different domain controllers. The application replaces the traditional CAN backbone network with the TSN ring network, realizes high-bandwidth and low-latency vehicle communication under the premise of compatibility with the original vehicle CAN bus, does not need to modify the software and hardware of the original vehicle electronic control unit, and reduces the system upgrading cost and complexity.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to an in-vehicle communication system, communication method, and vehicle. Background Technology

[0002] Traditional automotive backbone networks use the CAN (Controller Area Network) bus as the core communication carrier. However, with the increasing complexity of in-vehicle functions, the demand for cross-domain data transmission, such as video and images, is growing explosively. The traditional CAN bus, with its relatively low transmission rate, is gradually becoming inadequate for the needs of intelligent and connected vehicle development.

[0003] Intelligent and connected vehicles require high-bandwidth and low-latency networks to connect all sensors, cameras, diagnostic tools, communication systems, and artificial intelligence to support the generation, transmission, storage, and processing of massive amounts of data. However, the variety of in-vehicle bus types and the excessive length and weight of cables not only result in high labor costs for installation but also lead to complex network architectures and high wiring harness costs due to the long-term coexistence of multiple buses. Upgrading the vehicle communication system from a CAN architecture to an Ethernet architecture faces challenges such as high costs, poor compatibility with original vehicle equipment, easy frame loss and inaccuracy during message conversion, and insufficient reliability. Summary of the Invention

[0004] To address the problems of high cost of CAN architecture modification, insufficient bandwidth to support high-definition sensor data, easy frame loss and inaccuracy in message conversion, and insufficient reliability in existing technologies.

[0005] In a first aspect, this application provides an in-vehicle communication system, including multiple domain controllers and at least two gateways; Each gateway is connected to at least one domain controller, and the at least two gateways are sequentially connected to form a TSN ring network; each gateway includes multiple CAN bus interfaces and at least one TSN Ethernet interface; The gateway is used for bidirectional protocol conversion and forwarding of CAN messages received from the vehicle's CAN bus and TSN Ethernet messages received from the TSN ring network; and for directly transmitting Ethernet data between different domain controllers to the TSN ring network.

[0006] Furthermore, the gateway restores the TSN Ethernet messages received from the TSN ring network into CAN messages, and the transmission period and signal content of the restored CAN messages are consistent with the original CAN messages transmitted by the vehicle CAN bus.

[0007] Furthermore, the multiple CAN bus interfaces are respectively connected to multiple vehicle CAN buses, and the gateway is used to convert messages from different vehicle CAN buses into TSN Ethernet data streams with corresponding numbers and then aggregate them into the TSN ring network.

[0008] Furthermore, the gateway includes a protocol conversion module and a routing forwarding module; The protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages; the routing and forwarding module is used to determine the forwarding path along the TSN ring network based on the destination address.

[0009] Furthermore, the TSN Ethernet interfaces of at least two of the gateways are connected via optical fiber and / or twisted pair cable.

[0010] Furthermore, the plurality of domain controllers include a body controller, an intelligent driving domain controller, a cockpit domain controller, an intelligent communication terminal, a front area controller, a middle area controller, and a rear area controller.

[0011] Furthermore, at least two gateways include a first gateway, a second gateway, a third gateway, and a fourth gateway, and the TSN Ethernet interfaces of each gateway are connected in sequence to form the TSN ring network; The first gateway is communicatively connected to the body controller, intelligent driving domain controller, cockpit domain controller, and intelligent communication terminal, respectively; the second gateway is communicatively connected to the front area controller; the third gateway is communicatively connected to the middle area controller; and the fourth gateway is communicatively connected to the rear area controller.

[0012] Further, the first gateway includes: The first CAN protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages of the body controller, intelligent driving domain controller and cockpit domain controller; the first Ethernet data forwarding module is used for bidirectional transparent transmission of Ethernet data between the body controller and the front area controller, middle area controller and rear area controller. The second gateway includes: The second CAN protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages of the front area controller; the second Ethernet data forwarding module is used for bidirectional transparent transmission of Ethernet data between the body controller and the front area controller. The third gateway includes: The third CAN protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages of the central area controller; the third Ethernet data forwarding module is used for bidirectional transparent transmission of Ethernet data between the body controller and the central area controller. The fourth gateway includes: The fourth CAN protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages of the rear area controller; the fourth Ethernet data forwarding module is used for bidirectional transparent transmission of Ethernet data between the body controller and the rear area controller.

[0013] Secondly, this application also provides a communication method applied to the vehicle-mounted communication system, comprising: Obtain CAN messages from the vehicle's CAN bus; The CAN message is converted into a TSN Ethernet message and forwarded to the TSN ring network; Receive TSN Ethernet messages from the TSN ring network, convert them into CAN messages, and then forward them to the corresponding vehicle CAN bus; Ethernet data between different domain controllers is directly transparent to the TSN ring network.

[0014] Thirdly, this application also provides a vehicle including the aforementioned vehicle communication system.

[0015] Implementing the embodiments of this application has the following beneficial effects: In this application's vehicle communication system, multiple domain controllers are connected by a TSN Ethernet ring network. The gateway performs data forwarding and protocol conversion functions, simplifying the topology of the vehicle's backbone network. Compared to the transmission rate of traditional CAN networks, TSN Ethernet enables high-speed data transmission, solving problems such as transmission stuttering and latency caused by insufficient bandwidth in traditional networks.

[0016] The gateway includes a CAN bus interface and a TSN Ethernet interface. The CAN bus interface is used to connect to the vehicle's CAN bus. The TSN Ethernet interfaces of at least two gateways are interconnected in sequence to form a ring-shaped TSN Ethernet backbone network. The gateway's CAN bus interface is compatible with the vehicle's existing CAN bus, allowing for a complete upgrade of the vehicle's communication system without any software or hardware replacements. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0018] Figure 1 This is a schematic diagram of the TSN ring network vehicle communication system architecture according to an embodiment of this application; Figure 2 This is a schematic diagram of the original vehicle CAN backbone network communication architecture in an embodiment of this application; Figure 3 This is a flowchart of a communication method according to an embodiment of this application.

[0019] In the attached diagram, the following reference numerals are used: 1. Body controller; 2. Intelligent driving domain controller; 3. Cockpit domain controller; 4. Front area controller; 5. Middle area controller; 6. Rear area controller; 7. Electronic control unit; 8. Intelligent communication terminal; 10. First gateway; 20. Second gateway; 30. Third gateway; 40. Fourth gateway. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0021] For the terms defined below, unless a different definition is given elsewhere in the claims or this specification, these definitions shall apply. All numerical values, whether explicitly indicated or not, are defined herein as being modified by the term "about." The term "about" generally refers to a range of numerical values ​​that a person skilled in the art would consider equivalent to the stated values ​​to produce substantially the same properties, functions, results, etc. A range of numerical values ​​indicated by a low value and a high value is defined as including all numerical values ​​included within that range and all subranges included within that range.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0023] This application proposes an in-vehicle communication system that uses a ring-shaped TSN (Time-Sensitive Networking) Ethernet network as the backbone communication network, replacing the original vehicle's CAN backbone network. Figure 2As shown, in the original vehicle CAN backbone network communication system, the intelligent driving domain controller 2, body controller 1, cockpit domain controller 3, intelligent communication terminal 8, front area controller 4, middle area controller 5, and rear area controller 6 communicate via multiple CAN buses. The bandwidth utilization rates are as follows: CAN0 bus 47%, CAN1 bus 48%, CAN5 bus 60%, and CAN2-CAN4 buses all less than 70%. The traditional CAN backbone network can no longer meet the bandwidth requirements of sensors such as the 4Gbps front-view HD camera, the 1Gbps surround-view camera, and the 60Mbps LiDAR.

[0024] The vehicle communication system of this application includes multiple domain controllers and at least two gateways; each gateway is connected to at least one domain controller, and the at least two gateways are connected in sequence to form a TSN ring network. Each gateway includes multiple CAN bus interfaces and at least one TSN Ethernet interface; the CAN bus interface is used to connect to the vehicle's CAN bus, and the TSN Ethernet interfaces of the at least two gateways are interconnected in sequence to form a ring TSN Ethernet backbone network.

[0025] Multiple domain controllers include Body Controller 1, Intelligent Driving Domain Controller 2, Cockpit Domain Controller 3, Intelligent Communication Terminal 8, Front Area Controller 4, Middle Area Controller 5, and Rear Area Controller 6. Body Controller 1 is responsible for controlling vehicle body-related functions, such as lights, door locks, seats, and air conditioning. Intelligent Driving Domain Controller 2 is responsible for implementing autonomous driving-related functions, including environmental perception, path planning, and decision control. Cockpit Domain Controller 3 is responsible for implementing intelligent cockpit-related functions, including infotainment, human-machine interaction, and display control. Intelligent Communication Terminal 8 is interconnected with Body Controller 1, Intelligent Driving Domain Controller 2, and Cockpit Domain Controller 3 via the vehicle's CAN bus, undertaking functions such as remote communication and data uploading. Front Area Controller 4, Middle Area Controller 5, and Rear Area Controller 6 are respectively responsible for the regional management of the various electronic control units 7 at the front, middle, and rear of the vehicle. By connecting these multiple domain controllers to the TSN ring network, unified communication and data sharing between various functional domains within the vehicle are achieved, providing a reliable communication foundation for the regional plus central computing electronic and electrical architecture.

[0026] The gateway is used to convert CAN messages received from the vehicle's CAN bus into TSN Ethernet messages and then forward them to the TSN ring network; it can also convert TSN Ethernet messages received from the TSN ring network into CAN messages and then forward them to the corresponding vehicle CAN bus. Furthermore, it can directly transmit Ethernet data between different domain controllers to the TSN ring network, thereby enabling efficient communication between various domain controllers within the vehicle.

[0027] The gateway will restore the TSN Ethernet messages received from the TSN ring network into CAN messages, and the transmission period and signal content of the restored CAN messages will be completely consistent with the original CAN messages transmitted by the vehicle CAN bus.

[0028] Specifically, when the gateway converts TSN Ethernet messages into CAN messages, it retains key parameters of the original CAN message, such as the identifier, data length code, data field content, and transmission period. This ensures that the receiving domain controller is unaware that the communication medium has changed from a CAN bus to a TSN ring network, thus achieving a transparent network upgrade. For example, a CAN message sent by the original vehicle's intelligent driving domain controller 2 to the front area controller 4 via the CAN0 bus is converted into an ETH0 signal by the first gateway 10 and transmitted through the TSN ring network. Then, it is restored to a CAN0 message by the second gateway 20 and sent to the front area controller 4. The transmission period and signal content of the restored CAN0 message are completely consistent with the original vehicle, and the front area controller 4 can receive and process the message normally without any modification. After transforming the traditional CAN backbone network into a TSN ring network, the original vehicle's electronic control units 7 can operate normally without any software or hardware modifications, greatly reducing the cost and complexity of system upgrades.

[0029] In one possible implementation, multiple CAN bus interfaces connect to multiple vehicle CAN buses. A gateway converts messages from different vehicle CAN buses into corresponding numbered TSN Ethernet data streams before aggregating them into the TSN ring network. Specifically, the gateway can be configured with multiple independent CAN bus interfaces, each connecting to one vehicle CAN bus, such as CAN0, CAN1, CAN2, CAN3, CAN4, and CAN5. Internally, the gateway allocates an independent protocol conversion channel for each CAN bus, converting messages from different CAN buses into corresponding numbered TSN Ethernet data streams. For example, messages from CAN0 are converted to ETH0 data streams, messages from CAN1 to ETH1 data streams, messages from CAN2 to ETH2 data streams, and so on. This numbered conversion method establishes a clear mapping between the data streams in the TSN ring network and the original CAN buses, facilitating subsequent data routing and management, while also ensuring data isolation between different CAN buses, avoiding data confusion and conflicts. Through the corresponding number conversion mechanism in this embodiment, the data of each of the above CAN buses can be transmitted efficiently through the TSN ring network, which greatly improves the communication bandwidth.

[0030] Furthermore, the gateway includes a protocol conversion module and a routing and forwarding module. The protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages, specifically including encapsulation conversion from CAN messages to TSN Ethernet messages and decapsulation and restoration from TSN Ethernet messages to CAN messages. The protocol conversion module needs to parse the identifier, data length code, and data field content of the CAN message and encapsulate it into a TSN Ethernet frame format, while retaining key information of the original CAN message for subsequent restoration. Conversely, the protocol conversion module needs to parse the TSN Ethernet frame, extract the encapsulated CAN message information, and restore it according to the format and timing requirements of the original CAN message. The routing and forwarding module is used to determine the forwarding path along the TSN ring network based on the destination address. Since the TSN ring network adopts a ring topology, data is transmitted in a fixed direction within the ring network. The routing and forwarding module needs to determine, based on the destination address information in the TSN Ethernet message, whether the message needs to be processed at this gateway or forwarded along the ring network to the next gateway, thereby achieving efficient routing and forwarding of data within the ring network.

[0031] It should be explained that in a TSN ring backbone Ethernet, the TSN Ethernet interfaces of each gateway are connected sequentially to form a closed loop. When data is transmitted in the ring network, the routing and forwarding module determines the shortest forwarding path based on the destination address. When the data reaches the destination gateway, the gateway removes the data from the ring network and performs subsequent processing, thereby avoiding the infinite loop of data in the ring network and improving network transmission efficiency.

[0032] Furthermore, the TSN Ethernet interfaces of at least two gateways are connected via fiber optic cables and / or twisted-pair cables.

[0033] Specifically, different gateways can be connected via fiber optic cables to achieve high-speed, low-loss data transmission. Fiber optic connections are suitable for scenarios with long transmission distances or strong electromagnetic interference, effectively improving the transmission bandwidth and anti-interference capabilities of TSN ring networks.

[0034] In some possible implementations, the TSN Ethernet interfaces between gateways can also be connected via twisted-pair cables. Twisted-pair connections include, but are not limited to, automotive Ethernet standard physical layer connection methods such as 100Base-T1 (single pair of unshielded twisted pairs) or 100BaseTX (two pairs of twisted pairs), which are suitable for short-distance, cost-sensitive application scenarios.

[0035] In other possible implementations, both fiber optic connections and twisted-pair connections can coexist in a TSN ring network. For example, the first gateway 10 and the second gateway 20 are connected by fiber optic cable, while the remaining adjacent gateways are connected by twisted-pair cable, in order to balance transmission performance and cost.

[0036] In one possible implementation, at least two gateways include a first gateway 10, a second gateway 20, a third gateway 30, and a fourth gateway 40, with the TSN Ethernet interfaces of each gateway connected sequentially to form a TSN ring network.

[0037] The first gateway 10 is communicatively connected to the body controller 1, the intelligent driving domain controller 2, the cockpit domain controller 3, and the intelligent communication terminal 8, respectively, and is used for CAN message protocol conversion and Ethernet data pass-through of the above four domain controllers; the second gateway 20 is communicatively connected to the front area controller 4 and is used for CAN message protocol conversion and Ethernet data pass-through of the front area controller 4; the third gateway 30 is communicatively connected to the middle area controller 5 and is used for CAN message protocol conversion and Ethernet data pass-through of the middle area controller 5; the fourth gateway 40 is communicatively connected to the rear area controller 6 and is used for CAN message protocol conversion and Ethernet data pass-through of the rear area controller 6.

[0038] Four gateways are connected sequentially via TSN Ethernet interfaces, forming a closed ring network topology. Data is transmitted in a clockwise or counterclockwise direction within the ring network. Each gateway can act as a source node, destination node, or relay node to forward data from other gateways. The gateways are functional extension modules for the corresponding domain controllers, taking over the original vehicle's CAN bus communication without altering the original domain controller hardware.

[0039] The first gateway 10 includes a first CAN protocol conversion module and a first Ethernet data forwarding module. The first CAN protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages from the body controller 1, intelligent driving domain controller 2, cockpit domain controller 3, and intelligent communication terminal 8. Its specific implementation is the same as the aforementioned protocol conversion module, i.e., parsing CAN messages and encapsulating them into TSN Ethernet frames, or parsing TSN Ethernet frames and restoring them to CAN messages. The first Ethernet data forwarding module is used for bidirectional transparent transmission of Ethernet data between the body controller 1 and the front area controller 4, middle area controller 5, and rear area controller 6.

[0040] The specific functions of the first gateway 10 are: to convert the signal sent from the intelligent driving domain controller 2 to the CAN0 bus into an ETH0 signal and forward it into the TSN ring network; and at the same time, to convert the CAN0 signal sent from the front area controller 4 to the intelligent driving domain controller 2 into a CAN0 signal with the same cycle and content as the original vehicle. The signals sent from the body controller 1, intelligent driving domain controller 2, and cockpit domain controller 3 to the CAN2 bus, CAN4 bus, CAN1 bus, and CAN5 bus are converted into ETH2 signals, ETH4 signals, ETH1 signals, and ETH5 signals, and forwarded into the TSN ring network. At the same time, the ETH2 signals, ETH4 signals, ETH1 signals, and ETH5 signals sent from the front area controller 4, middle area controller 5, and rear area controller 6 into the TSN ring network are converted into CAN2 signals, CAN4 signals, CAN1 signals, and CAN5 signals with the same cycle and content as the original vehicle. The three Ethernet data sent from the body controller 1 to the front area controller 4, middle area controller 5, and rear area controller 6 are forwarded into the TSN ring network. At the same time, the Ethernet packets sent from the front area controller 4, middle area controller 5, and rear area controller 6 to the body controller 1 in the TSN ring network are forwarded to the body controller 1.

[0041] Specifically, when the body controller 1 needs to send Ethernet data to the front area controller 4, the middle area controller 5, or the rear area controller 6, the first Ethernet data forwarding module directly transmits the data to the TSN ring network, which then routes it to the gateway connected to the target area controller. When the body controller 1 needs to receive Ethernet data from the front area controller 4, the middle area controller 5, or the rear area controller 6, the first Ethernet data forwarding module receives the data from the TSN ring network and forwards it to the body controller 1.

[0042] The first gateway 10 serves as an extension module for the functions of the body controller 1, intelligent driving domain controller 2, and cockpit domain controller 3. It undertakes the CAN message protocol conversion task of the above three domain controllers, and is also responsible for the bidirectional transparent transmission of Ethernet data between the body controller 1 and each area controller. It is a key node for realizing the conversion from the traditional CAN backbone network to the TSN ring network.

[0043] This bidirectional pass-through mechanism enables efficient Ethernet communication between the body controller 1 and each area controller, eliminating the need for complex protocol conversion and reducing communication latency. It should be noted that in existing vehicle Ethernet communication systems, the data bandwidth between the body controller 1 and each area controller is typically less than 10Mbps. Through the Ethernet data pass-through mechanism of this application, Ethernet data between the body controller 1 and each area controller can be directly transmitted through the TSN ring network, significantly improving data transmission bandwidth and efficiency.

[0044] The second gateway 20 includes a second CAN protocol conversion module and a second Ethernet data forwarding module. The second CAN protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages of the front area controller 4. The second Ethernet data forwarding module is used for bidirectional transparent transmission of Ethernet data between the body controller 1 and the front area controller 4.

[0045] The specific functions of the second gateway 20 are: to convert the signal sent from the original vehicle front area controller 4 to the CAN0 bus into an ETH0 signal and forward it into the TSN ring network; and at the same time, to convert the ETH0 signal sent from the intelligent driving domain controller 2 to the front area controller 4 into a CAN0 signal consistent with the original vehicle. The signals sent from the front area controller 4 to the CAN2 bus, CAN3 bus, CAN1 bus, and CAN5 bus are converted into ETH2 signals, ETH3 signals, ETH1 signals, and ETH5 signals, and forwarded into the TSN ring network. At the same time, the ETH2 signals, ETH3 signals, ETH1 signals, and ETH5 signals sent into the TSN ring network by the body controller 1, intelligent driving domain controller 2, cockpit domain controller 3, middle area controller 5, and rear area controller 6 are converted into CAN2 signals, CAN3 signals, CAN1 signals, and CAN5 signals with the same cycle and content as the original vehicle and sent to the front area controller 4. The Ethernet data sent from the body controller 1 to the front area controller 4 is forwarded to the front area controller 4, and the Ethernet packets sent from the front area controller 4 to the body controller 1 are forwarded into the TSN ring network.

[0046] It should be explained that the second gateway 20, as a functional extension module of the front area controller 4, mainly realizes the bidirectional conversion of CAN0 bus messages between the front area controller 4 and the intelligent driving domain controller 2, as well as the bidirectional conversion of multiple CAN bus messages between the front area controller 4 and other domain controllers. At the same time, it undertakes the bidirectional transparent transmission of Ethernet data between the body controller 1 and the front area controller 4.

[0047] The third gateway 30 includes a third CAN protocol conversion module and a third Ethernet data forwarding module. The third CAN protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages of the central area controller 5. The third Ethernet data forwarding module is used for bidirectional transparent transmission of Ethernet data between the body controller 1 and the central area controller 5.

[0048] The specific functions of the third gateway 30 are as follows: it converts the signals sent from the central area controller 5 to the CAN1 bus and CAN5 bus into ETH1 signals and ETH5 signals, and forwards them into the TSN ring network. At the same time, it converts the ETH1 signals and ETH5 signals sent from the body controller 1, intelligent driving domain controller 2, cockpit domain controller 3, front area controller 4, and rear area controller 6 into CAN1 signals and CAN5 signals with the same cycle and content as the original vehicle, and sends them to the central area controller 5. The Ethernet data sent from the body controller 1 to the central area controller 5 in the TSN ring network is forwarded to the central area controller 5, and the Ethernet packets sent from the central area controller 5 to the body controller 1 are forwarded into the TSN ring network.

[0049] It should be explained that the third gateway 30, as a functional extension module of the central area controller 5, mainly realizes the bidirectional conversion of CAN1 bus and CAN5 bus messages between the central area controller 5 and other domain controllers. At the same time, it undertakes the bidirectional transparent transmission of Ethernet data between the body controller 1 and the central area controller 5. Its function is relatively simplified compared to the second gateway 20 and the fourth gateway 40, reflecting the design concept of functional tailoring according to the actual needs of each area controller.

[0050] The fourth gateway 40 includes a fourth CAN protocol conversion module and a fourth Ethernet data forwarding module. The fourth CAN protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages of the rear area controller 6, and the fourth Ethernet data forwarding module is used for bidirectional transparent transmission of Ethernet data between the body controller 1 and the rear area controller 6.

[0051] The specific functions of the fourth gateway 40 are as follows: it converts the signals sent from the rear area controller 6 to the CAN1 bus, CAN2 bus, CAN3 bus, and CAN5 bus into ETH1 signals, ETH2 signals, ETH3 signals, and ETH5 signals, and forwards them into the TSN ring network. At the same time, it converts the ETH1 signals, ETH2 signals, ETH3 signals, and ETH5 signals sent from the body controller 1, intelligent driving domain controller 2, cockpit domain controller 3, and front area controller 4 into CAN1 signals, CAN2 signals, CAN3 signals, and CAN5 signals with the same cycle and content as the original vehicle, and sends them to the rear area controller 6. The Ethernet data sent from the body controller 1 to the rear area controller 6 in the TSN ring network is forwarded to the rear area controller 6, and the Ethernet packets sent from the rear area controller 6 to the body controller 1 are forwarded into the TSN ring network.

[0052] It should be explained that the fourth gateway 40, as a functional extension module of the rear area controller 6, mainly realizes the bidirectional conversion of multiple CAN bus messages between the rear area controller 6 and other domain controllers, and also undertakes the bidirectional transparent transmission of Ethernet data between the body controller 1 and the rear area controller 6. Its functional design is similar to that of the second gateway 20, and both need to be configured according to the actual needs of the rear area controller 6.

[0053] like Figure 1As shown in the figure, the TSN ring network vehicle communication system provided in this application embodiment includes a central computing platform comprising a body controller 1, an intelligent driving domain controller 2, a cockpit domain controller 3, and an intelligent communication terminal 8; a front area controller 4, a middle area controller 5, a rear area controller 6; and four gateways. Specifically, the second gateway 20 on the front area controller 4 is connected via a CAN bus to electronic control units (ECUs) such as the electric power steering system (EPS), integrated brake control system (IBC), right front headlight (including lighting control ECU), and left front headlight (including lighting control ECU). The fourth gateway 40 on the rear area controller 6 is connected via a CAN bus to body domain devices such as body ECUs (e.g., door, window, wiper control). Each gateway connects to the ring backbone network via a TSN Ethernet interface, enabling unified scheduling of multi-domain data. The terminals with black dots on the gateways in the figure are CAN ports; buses with the same label, such as "5" and "5", share a CAN port.

[0054] This application also provides a communication method applied to a gateway in the aforementioned communication system, such as... Figure 3 As shown, the method includes the following steps: S100: Obtain CAN messages from the vehicle's CAN bus; S200: Converts CAN messages into TSN Ethernet messages and forwards them to the TSN ring network; S300: Receives TSN Ethernet messages from the TSN ring network, converts them into CAN messages, and forwards them to the corresponding vehicle CAN bus; S400: Directly transmits Ethernet data between different domain controllers to the TSN ring network.

[0055] The specific implementation process of this method corresponds to the functional description of the gateway mentioned above, and will not be repeated here. It should be explained that the core of this communication method lies in realizing the transparent conversion between CAN messages and TSN Ethernet messages through the gateway, as well as the direct transparent transmission of Ethernet data between different domain controllers. This allows for a smooth upgrade from the traditional CAN backbone network to the TSN Ethernet backbone network without requiring any modifications to the original vehicle's electronic control units.

[0056] Transparent conversion refers to the protocol conversion process between CAN messages and TSN Ethernet messages being completely transparent to both communicating parties. The receiving domain controller cannot detect that the communication medium has changed from CAN bus to TSN ring network.

[0057] The present invention also provides a vehicle comprising the in-vehicle communication system described above. By deploying the in-vehicle communication system of the present invention in this vehicle, high-bandwidth, low-latency, and high-reliability communication can be achieved between the various domain controllers within the vehicle, meeting the stringent data transmission requirements of advanced functions such as intelligent driving and intelligent cockpits. Simultaneously, through transparent conversion between CAN messages and TSN Ethernet messages, a smooth upgrade of the traditional CAN backbone network is achieved, reducing the upgrade cost and complexity of the vehicle's electronic and electrical architecture.

[0058] Specifically, the vehicle adopts an electronic and electrical architecture with regional and central computing. The body controller 1, intelligent driving domain controller and cockpit domain controller serve as the central computing node, while the front regional controller, middle regional controller and rear regional controller serve as regional computing nodes. The nodes communicate efficiently with each other through the TSN ring network, realizing the unified aggregation and intelligent distribution of vehicle data.

[0059] The gateway of the vehicle communication system in this embodiment directly reuses the existing vehicle CAN bus and corresponding sensor and controller hardware interfaces through the CAN bus interface. There is no need to redesign the internal hardware of the original vehicle area controller. The CAN network can be smoothly upgraded to the TSN ring network through only an external gateway, avoiding the overall replacement cost of the vehicle's electronic and electrical architecture.

[0060] When the gateway converts TSN Ethernet messages, the transmission cycle and signal content of the restored CAN message are completely consistent with the original CAN message of the vehicle. This ensures that the original vehicle's power control, chassis control, body control and other functions based on the vehicle CAN bus can operate normally without recalibration, avoiding the communication delay and signal distortion risks caused by protocol conversion, and meeting the requirements of vehicle functional safety.

[0061] By replacing the parallel transmission of multiple independent vehicle CAN buses in the original vehicle with a TSN ring network, the total length and weight of in-vehicle cables can be reduced, while simplifying the labor costs of multi-bus parallel deployment.

[0062] By using four gateways to provide differentiated connections for the vehicle body, intelligent driving, cockpit, and front / middle / rear area controllers, unified aggregation and forwarding of CAN bus data and TSN Ethernet data are achieved, supporting cross-domain communication needs under the area plus central computing architecture. Subsequent additions of CAN or Ethernet devices can be expanded simply by connecting to the corresponding gateway, without the need to reconstruct the backbone network.

[0063] TSN ring network has inherent redundancy. When a single gateway or link fails, data can be transmitted through the reverse path of the ring network. Compared with the star / bus topology of the original vehicle CAN bus, it improves the communication reliability of the backbone network and avoids the paralysis of the whole vehicle communication due to a single point of failure.

[0064] Obviously, the embodiments described above are merely some, and not all, of the embodiments described in this specification. Based on the embodiments described in this specification, those skilled in the art can make other variations or modifications without creative effort, and all such variations should fall within the scope of protection of the embodiments described in this specification.

Claims

1. A vehicle-mounted communication system, characterized in that, Includes multiple domain controllers and at least two gateways; Each gateway is connected to at least one domain controller, and the at least two gateways are sequentially connected to form a TSN ring network; each gateway includes multiple CAN bus interfaces and at least one TSN Ethernet interface; The gateway is used for bidirectional protocol conversion and forwarding of CAN messages received from the vehicle's CAN bus and TSN Ethernet messages received from the TSN ring network. In addition, Ethernet data between different domain controllers is directly transparent to the TSN ring network.

2. The system according to claim 1, characterized in that, The gateway will restore the TSN Ethernet messages received from the TSN ring network into CAN messages, and the transmission period and signal content of the restored CAN messages will be consistent with the original CAN messages transmitted by the vehicle CAN bus.

3. The system according to claim 1, characterized in that, The multiple CAN bus interfaces are respectively connected to multiple vehicle CAN buses, and the gateway is used to convert messages from different vehicle CAN buses into TSN Ethernet data streams with corresponding numbers and then aggregate them into the TSN ring network.

4. The system according to claim 1, characterized in that, The gateway includes a protocol conversion module and a routing forwarding module; The protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages; the routing and forwarding module is used to determine the forwarding path along the TSN ring network based on the destination address.

5. The system according to claim 1, characterized in that, At least two of the gateways are connected to each other via fiber optic and / or twisted-pair cables via TSN Ethernet interfaces.

6. The system according to claim 1, characterized in that, The multiple domain controllers include a body controller, an intelligent driving domain controller, a cockpit domain controller, an intelligent communication terminal, a front area controller, a middle area controller, and a rear area controller.

7. The system according to claim 6, characterized in that, At least two gateways include a first gateway, a second gateway, a third gateway, and a fourth gateway, and the TSN Ethernet interfaces of each gateway are connected in sequence to form the TSN ring network; The first gateway is communicatively connected to the body controller, intelligent driving domain controller, cockpit domain controller, and intelligent communication terminal, respectively; the second gateway is communicatively connected to the front area controller; the third gateway is communicatively connected to the middle area controller; and the fourth gateway is communicatively connected to the rear area controller.

8. The system according to claim 7, characterized in that, The first gateway includes: The first CAN protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages of the body controller, intelligent driving domain controller and cockpit domain controller; the first Ethernet data forwarding module is used for bidirectional transparent transmission of Ethernet data between the body controller and the front area controller, middle area controller and rear area controller. The second gateway includes: The second CAN protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages of the front area controller; the second Ethernet data forwarding module is used for bidirectional transparent transmission of Ethernet data between the body controller and the front area controller. The third gateway includes: The third CAN protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages of the central area controller; the third Ethernet data forwarding module is used for bidirectional transparent transmission of Ethernet data between the body controller and the central area controller. The fourth gateway includes: The fourth CAN protocol conversion module is used for protocol conversion between CAN messages and TSN Ethernet messages of the rear area controller; the fourth Ethernet data forwarding module is used for bidirectional transparent transmission of Ethernet data between the body controller and the rear area controller.

9. A communication method applied to a gateway in the vehicle-mounted communication system according to any one of claims 1 to 8, characterized in that, include: Obtain CAN messages from the vehicle's CAN bus; The CAN message is converted into a TSN Ethernet message and forwarded to the TSN ring network; Receive TSN Ethernet messages from the TSN ring network, convert them into CAN messages, and then forward them to the corresponding vehicle CAN bus; Ethernet data between different domain controllers is directly transparent to the TSN ring network.

10. A vehicle, characterized in that, Includes the vehicle communication system as described in any one of claims 1 to 8.

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