Safety-constrained bandwidth control method and system for two-wheeler inter-domain communication

Abstract

This invention discloses a method and system for controlling inter-domain communication bandwidth in two-wheeled vehicles based on safety constraints. The method includes the following steps: acquiring relevant information between the safety control domain and the intelligent cockpit domain in the two-wheeled vehicle; dividing inter-domain messages and constructing bandwidth control functions and constraint relationships; setting an effective weight model, solving the bandwidth control function, and allocating bandwidth quotas for each traffic category; controlling the state machine to transition between multiple preset states and executing differentiated bandwidth allocation and traffic suppression strategies in different states; and gradually restoring suppressed traffic according to the priority order selected from non-safety-critical flows after the link congestion parameter is lower than the recovery threshold and the stability window condition is continuously met. This technical solution performs hierarchical modeling, dynamic allocation, compression suppression, and recovery control of inter-domain messages, achieving communication resource control that prioritizes safety, allows for controllable congestion, and ensures smooth recovery.

Description

Technical Field

[0001] This invention belongs to the field of vehicle communication scheduling technology, and relates to a method and system for controlling the inter-domain communication bandwidth of two-wheeled vehicles based on safety constraints. Background Technology

[0002] Existing dual-domain controllers for two-wheeled vehicles typically use a shared bus or unified message queue to carry data transmission between the safety control domain and the intelligent cockpit domain. Safety-related data such as ABS, TCS, attitude estimation, and fault alarms compete for the same bandwidth resources with general service data such as navigation, entertainment, and push notifications.

[0003] In complex cycling scenarios such as high speed, congestion, slippery conditions, low adhesion, and sudden braking, high-priority messages require lower latency and higher delivery rates, but non-critical media traffic may still continuously consume bandwidth, leading to the deterioration of the timing of critical data.

[0004] Existing bandwidth control strategies mostly employ static thresholds, fixed priorities, or simple queue sorting methods, lacking dynamic scheduling and preemption recovery mechanisms that combine risk level, riding status, traffic type, congestion degree, and recovery window. When link congestion or anomalies occur, existing solutions often lack an integrated "safety net - preemption - recovery" mechanism, which can easily lead to problems such as high-priority messages being delayed and low-priority messages recovering too quickly, causing congestion again.

[0005] General QoS or network scheduling schemes are typically geared towards general data networks and are not directly tied to safety scenarios such as high-speed riding, emergency braking, and low-adhesion road surfaces of two-wheeled vehicles. Therefore, it is difficult to prove the special guarantee effect on the real-time performance and stability of critical messages in the dual-domain control system of two-wheeled vehicles.

[0006] Therefore, there is a need for an inter-domain communication bandwidth control method that can integrate safety constraints, risk levels, riding status, bandwidth quotas, compression suppression, and stepped recovery into the same control model, so as to achieve safety-first, congestion-controllable, and smooth recovery communication resource control in the dual-domain controller of two-wheeled vehicles. Summary of the Invention

[0007] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing a method and system for controlling the inter-domain communication bandwidth of two-wheeled vehicles based on safety constraints.

[0008] To achieve the above objectives, the basic solution of the present invention is: a two-wheeled vehicle inter-domain communication bandwidth control method based on safety constraints, comprising the following steps:

[0009] Acquire the status of the inter-domain communication link between the safety control domain and the smart cockpit domain in two-wheeled vehicles, the vehicle operating status, and the inter-domain message attributes;

[0010] Based on the attributes of inter-domain messages, inter-domain messages are divided into security-critical flows, control-assisted flows, information prompts, service flows, and media flows.

[0011] Construct the bandwidth control function and constraint relationships;

[0012] Set up an effective weight model, solve the bandwidth control function, allocate bandwidth quotas to each traffic category, and set a minimum guaranteed bandwidth quota of no less than a preset minimum value for safety-critical flows. The minimum guaranteed bandwidth quota shall not be preempted by non-safety-critical flows.

[0013] Based on the vehicle risk level and link congestion parameters, the control state machine transitions between multiple preset states and executes differentiated bandwidth allocation and traffic suppression strategies in different states.

[0014] Once the link congestion parameter is below the recovery threshold and the stability window condition is met, the suppressed traffic is gradually restored according to the priority order selected from the non-security-critical flows.

[0015] The working principle and beneficial effects of this basic solution are as follows: This technical solution achieves the technical effects of prioritizing safety, proactively controlling congestion, smooth and stable recovery, and system closed-loop recovery through coordinated control of five-level traffic classification, bandwidth control function, effective weight model, guaranteed quota, fast and slow dual channels, five-state machine, and tiered recovery. It ensures that safety-critical traffic always receives priority transmission guarantee under any bandwidth-limited conditions. By proactively suppressing non-critical traffic before congestion occurs through pre-congestion state, and by adopting a tiered recovery mechanism to avoid the one-time recovery of non-critical traffic after congestion is relieved, which would lead to re-congestion, a closed-loop control of "determination-allocation-suppression-recovery" is ultimately formed, improving the real-time performance, stability, and recoverability of the dual-domain controller system.

[0016] Furthermore, the bandwidth control function Bandwidth is constructed as follows:

[0017] Bandwidth = f(Priority, RiskLevel, VehicleState, Congestion,DelayConstraint),

[0018] Where f represents the mapping function;

[0019] The constraints include: Priority (message priority), RiskLevel (vehicle risk level), VehicleState (vehicle operating state), Congestion (link congestion parameter), and DelayConstraint (message allowable delay constraint), specifically:

[0020] Priority= BasePriority(Class) + Offset,

[0021] Where Class represents the traffic category: safety-critical flow, control auxiliary flow, information prompt flow, service flow, and media flow; BasePriority is the base value for the corresponding traffic category, with Offset ∈ {0, 1, 2, 3}, used to distinguish the importance of messages within the same category;

[0022] RiskLevel= ,

[0023] in, The vehicle speed risk factor has a value range of [value range missing]. ; This is a braking risk factor, with a value range of [value range missing]. ; This is a road condition risk factor, with a value range of [value range missing]. ; The tilt angle risk factor has a value range of [value range missing]. ; , , , These are the weighted coefficients, with a normalized sum of 1;

[0024] VehicleState= [speed, tilt_angle, brake_status, low_adhesion_flag],

[0025] Where speed is the vehicle speed, tilt_angle is the tilt angle, brake_status is the braking status, and low_adhesion_flag indicates the road adhesion coefficient estimated based on wheel speed difference / slip ratio.

[0026] Congestion ,

[0027] in, For smoothing coefficients, The instantaneous congestion rate. = max(LinkUtilization,BufferFillRate, LossRate) takes the maximum value of the three values; LinkUtilization is the link utilization rate, BufferFillRate is the buffer queue fill rate, and LossRate is the packet loss rate; This is the congestion value from the previous cycle;

[0028] DelayConstraint=MaxLatency – MinLatency,

[0029] Where MaxLatency is the maximum allowable latency and MinLatency is the minimum allowable latency.

[0030] The input parameters of the bandwidth control function are quantified into specific, calculable formulas, making bandwidth allocation verifiable and repeatable and avoiding the arbitrariness of subjective configuration. At the same time, the physical meaning and calculation boundaries of each parameter are clarified, which facilitates engineering implementation.

[0031] Furthermore, set up an effective weight model. ,for:

[0032] ,

[0033] in, Based on the weights, This is the risk event gain coefficient. This represents the gain coefficient for riding conditions. This is the congestion correction factor.

[0034] By incorporating three dynamic dimensions—risk, riding status, and congestion—into the weight calculation through an effective weight model, bandwidth quotas can be adaptively adjusted according to the real-time status of the vehicle, making critical traffic protection under high-risk conditions more targeted.

[0035] Furthermore, the method for solving the bandwidth control function and allocating bandwidth quotas to each traffic category is as follows:

[0036] Bandwidth quotas are allocated according to the following rules:

[0037] ,

[0038] in, Bandwidth allocated to the i-th type of traffic This represents the minimum guaranteed bandwidth for the i-th type of traffic. The effective weight for the i-th type of traffic, Total available bandwidth:

[0039] ,

[0040] in, The minimum guaranteed bandwidth for the i-th type of traffic. The security gain factor for the i-th type of flow;

[0041] ,

[0042] in, This represents the total physical bandwidth of the inter-domain communication link. To reserve bandwidth for the system, This refers to the bandwidth already occupied by other non-inter-domain communications.

[0043] By using the rule of taking the maximum value between "minimum guaranteed quota" and "weighted allocation", we ensure that safety-critical flows have minimum transmission resources under any circumstances; at the same time, we calculate the available bandwidth based on system configuration and link status, so that quota allocation accurately matches the current resource status.

[0044] Furthermore, based on the vehicle risk level and link congestion parameters, the control state machine transitions between multiple preset states, and executes differentiated bandwidth allocation and traffic suppression strategies in different states, specifically:

[0045] The preset states include normal state, pre-congestion state, high-risk state, mandatory protection state, and recovery state;

[0046] Different quotas, compression ratios, and recovery steps are used under different conditions;

[0047] In the control state machine, the pre-congestion state is used to increase the quota of safety-critical flow in advance and limit the growth of media flow; the high-risk state is used to increase the preemption priority of safety-critical flow and information prompt flow; and the forced protection state is used to retain only safety-critical flow, control auxiliary flow and highest level prompt flow.

[0048] The recovery step size in the recovery state is constrained by the recovery window, and non-critical traffic is only allowed to recover after the congestion rate has been continuously below the recovery threshold and the stable window condition has been met.

[0049] In the recovery phase, media streams are not allowed to directly revert to the normal quota within the same recovery cycle;

[0050] When a vehicle risk level is detected to be no lower than a preset level, the vehicle speed is higher than a preset threshold, emergency braking is triggered, or the link congestion rate exceeds a set threshold, the quota weight of safety-critical flow and information prompt flow is increased, and at least one of compression, speed limiting, delayed transmission, or suspension of transmission is performed on service flow and media flow.

[0051] Safety-critical flows must at least meet the minimum guaranteed bandwidth constraint and the maximum allowable latency constraint; media streams compressed to below 30% of their original bitrate under mandatory guarantee conditions are suspended from transmission;

[0052] At least one of the control auxiliary flow and information prompt flow has the right to preempt the service flow in a high-risk state;

[0053] A control state machine is used to execute state transitions between normal, pre-congestion, high-risk, mandatory protection, and recovery states, satisfying state machine transition constraints:

[0054] StateNext = s(CurrentState, RiskLevel, VehicleState, Congestion,BrakeEvent, StableWindow),

[0055] Where StateNext is the next state of the control state machine, CurrentState is the current state of the control state machine, RiskLevel is the vehicle risk level, VehicleState is the vehicle operating state, Congestion is the link congestion parameter, BrakeEvent is the braking event trigger state, StableWindow is the stable window condition; s represents the state transition function.

[0056] Continuously collect link congestion rate, vehicle risk level, vehicle speed and braking events as the basis for determining state transitions;

[0057] Bandwidth is allocated based on the five traffic categories' basic weights:

[0058] If the congestion rate is greater than or equal to the warning threshold, the system enters a pre-congestion state.

[0059] If the risk level is ≥ L2, or the vehicle speed is > 60km / h, or emergency braking is triggered, the vehicle enters a high-risk state.

[0060] If the congestion rate is greater than or equal to the congestion threshold and the risk level is greater than or equal to L2, the system will directly enter the mandatory protection state.

[0061] Increase security-critical flow quotas in advance to limit media stream bandwidth growth:

[0062] If the congestion rate is greater than or equal to the congestion threshold, the system enters a mandatory protection state.

[0063] If the risk level is ≥ L2 or emergency braking is triggered, the system enters a high-risk state.

[0064] If the congestion rate is less than the warning threshold and the stability window is continuously met, return to normal.

[0065] Increase the weight of security-critical flows, increase the preemption priority of information notification flows, and compress or reduce the frequency of service flows and media flows.

[0066] If the congestion rate is greater than or equal to the congestion threshold, the system enters a mandatory protection state.

[0067] If the risk is eliminated and the stability window is continuously met, the system enters the recovery phase.

[0068] Only retain security-critical flows, control auxiliary flows, and the highest-level alert flows; suspend all other non-critical traffic; dedicate the fast lane to security messages.

[0069] If the congestion rate is less than the recovery threshold and the stability window is continuously met, the system enters the recovery state.

[0070] The recovery process will proceed in the order of notification stream, service stream, and media stream, with each recovery amount constrained by the recovery window. The media stream cannot be directly restored to the normal quota within the same recovery cycle.

[0071] If all traffic is restored and the stable window is met, the system returns to normal.

[0072] A five-state machine is used to implement hierarchical response of bandwidth policy, and differentiated policies are executed under different risk / congestion levels, including different quotas, compression ratios and recovery steps, so as to make the control granularity more refined.

[0073] By using state transition constraint formulas, the state switching logic is quantified into a computable mathematical expression, thereby improving the determinism and verifiability of control.

[0074] Furthermore, inter-domain communication is implemented through parallel fast channels and slow channels. The fast channel prioritizes carrying security-critical flows and control auxiliary flows, while the slow channel carries information prompts, service flows, and media flows.

[0075] Under mandatory guarantee conditions, the fast lane has priority retention attributes;

[0076] In the event of a fast channel failure, a minimum set of security messages is carried by a backup redundant link to maintain basic transmission continuity for security-critical flows, control auxiliary flows, and the highest-level alert flows.

[0077] By physically isolating critical and non-critical flows through fast and slow dual channels, the fast channel is reserved first under mandatory protection to ensure that security messages are not interfered with by non-critical traffic; the backup redundant link carries the minimum set of security messages when the fast channel fails, realizing link-level redundancy protection and improving the system's fault tolerance.

[0078] Furthermore, after the link congestion parameter is below the recovery threshold and the stability window condition is continuously met, the steps for gradually restoring the suppressed traffic according to the priority order selected from the non-security-critical flows are as follows:

[0079] Restore control rules:

[0080] RecoverStep = r(Window, CongestionDrop, ServiceClass),

[0081] Where RecoverStep represents the recovery step size, Window is the recovery window, CongestionDrop is the congestion reduction amount, ServiceClass is the service class, and r is the recovery function;

[0082] After the congestion is relieved, non-critical traffic is gradually restored in the order of notification flow, service flow, and media flow, forming a closed-loop control of judgment, allocation, suppression, and restoration.

[0083] By binding the recovery step size with the recovery window, the amount of congestion reduction, and the service category through the recovery control rule formula, a smooth, step-like recovery of non-critical traffic is achieved after congestion is relieved, reducing the risk of re-congestion.

[0084] The present invention also provides a two-wheeled vehicle inter-domain communication bandwidth control system based on safety constraints, comprising:

[0085] The status acquisition module is used to acquire the status of inter-domain communication links, vehicle operating status, and inter-domain message attributes;

[0086] The traffic classification module is used to divide the inter-domain messages into security-critical flows, control-assisted flows, information prompt flows, service flows, and media flows.

[0087] A bandwidth scheduler is configured to perform the method described in this invention;

[0088] The compression and suppression module is used to execute traffic suppression strategies according to the instructions of the bandwidth scheduler;

[0089] The inter-domain communication module provides a data transmission channel between the security control domain and the smart cockpit domain.

[0090] This system utilizes the cooperation of various modules to form a complete link of "perception → decision-making → execution → transmission", which is feasible for engineering implementation.

[0091] Furthermore, the bandwidth scheduler includes:

[0092] Priority calculation unit, used to determine the basic priority of each traffic category;

[0093] The weight correction unit is used to calculate the effective weights based on the vehicle operating status and link congestion parameters.

[0094] The quota allocation unit is used to allocate the actual bandwidth for each traffic category based on the effective weight and the guaranteed bandwidth quota.

[0095] The recovery control unit is used to control the gradual recovery of auxiliary flow, information flow, service flow, and media flow after congestion is relieved.

[0096] The bandwidth scheduler is decomposed into four functional units with clear responsibilities, which facilitates layered software architecture design and improves the modularity and maintainability of the system.

[0097] Furthermore, the inter-domain communication module includes a fast channel, a slow channel, a buffer queue, and a backup redundant link. The fast channel prioritizes carrying safety-critical flows and control auxiliary flows, the slow channel carries prompt flows, service flows, and media flows, and the backup redundant link is used to carry a minimum set of safety messages when the fast channel fails.

[0098] By coordinating fast channels, slow channels, buffer queues, and backup redundant links, physical isolation and redundant backup of inter-domain communication are achieved, ensuring that the transmission of safety-critical flows is not affected by non-critical traffic, and providing fault-tolerant retransmission capabilities in abnormal scenarios. Attached Figure Description

[0099] Figure 1 This is a flowchart illustrating the two-wheeled vehicle inter-domain communication bandwidth control method based on safety constraints according to the present invention. Detailed Implementation

[0100] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0101] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0102] In the description of this invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0103] This invention discloses a two-wheeled vehicle inter-domain communication bandwidth control method based on safety constraints. It performs hierarchical modeling, dynamic allocation, compression suppression and recovery control of inter-domain messages, so that safety-critical traffic is given priority under any bandwidth-limited conditions, and non-critical traffic is smoothly restored after congestion is relieved, avoiding bandwidth oscillation. At the same time, it elevates the bandwidth scheduling problem to a computable, verifiable and recoverable safety control problem.

[0104] like Figure 1 As shown, the two-wheeled vehicle inter-domain communication bandwidth control method based on safety constraints includes the following steps:

[0105] Acquire the status of the inter-domain communication link between the safety control domain and the smart cockpit domain in two-wheeled vehicles, the vehicle operating status, and the inter-domain message attributes;

[0106] Based on the attributes of inter-domain messages, inter-domain messages are divided into security-critical flows, control-assisted flows, information prompts, service flows, and media flows.

[0107] Construct the bandwidth control function and constraint relationships;

[0108] Set up an effective weight model, solve the bandwidth control function, allocate bandwidth quotas to each traffic category, and set a minimum guaranteed bandwidth quota of no less than a preset minimum value for safety-critical flows. The minimum guaranteed bandwidth quota shall not be preempted by non-safety-critical flows.

[0109] Based on the vehicle risk level and link congestion parameters, the control state machine transitions between multiple preset states and executes differentiated bandwidth allocation and traffic suppression strategies in different states.

[0110] Once the link congestion parameter is below the recovery threshold and the stability window condition is met, the suppressed traffic is gradually restored according to the priority order selected from the non-security-critical flows.

[0111] In a preferred embodiment of the present invention, the bandwidth control function Bandwidth is constructed as follows:

[0112] Bandwidth = f(Priority, RiskLevel, VehicleState, Congestion,DelayConstraint),

[0113] Where f represents the mapping relationship function; based on business importance and security requirements, the Bandwidth (basic weight, as shown in Table 1) of each traffic category is pre-set, the calculation rules of each gain coefficient Gain_risk, Gain_state, and Fix_congestion are designed according to the scenario, and Quota_min_i (minimum guaranteed bandwidth, as shown in Table 2) is determined to establish the basic functional relationship between input and output.

[0114] Table 1. Preset values ​​of basic weights for each traffic category

[0115] Table 2 Minimum Guaranteed Bandwidth Constraints for Safety-Critical Flows

[0116]

[0117] The constraints include: Priority (message priority), RiskLevel (vehicle risk level), VehicleState (vehicle operating state), Congestion (link congestion parameter), and DelayConstraint (message allowable delay constraint), specifically:

[0118] Priority= BasePriority(Class) + Offset,

[0119] Where Class represents the traffic category: safety-critical flow, control auxiliary flow, information prompt flow, service flow, and media flow; BasePriority is the base value for the corresponding traffic category, with Offset ∈ {0, 1, 2, 3}, used to distinguish the importance of messages within the same category;

[0120] RiskLevel= ,

[0121] in, The vehicle speed risk factor has a value range of [value range missing]. ; This is a braking risk factor, with a value range of [value range missing]. ; This is a road condition risk factor, with a value range of [value range missing]. ; The tilt angle risk factor has a value range of [value range missing]. ; , , , These are the weighted coefficients, with a normalized sum of 1;

[0122] VehicleState= [speed, tilt_angle, brake_status, low_adhesion_flag],

[0123] Where speed is the vehicle speed, tilt_angle is the tilt angle, brake_status is the braking status, and low_adhesion_flag indicates the road adhesion coefficient estimated based on wheel speed difference / slip ratio.

[0124] Congestion ,

[0125] in, For smoothing coefficients, The instantaneous congestion rate. = max(LinkUtilization,BufferFillRate, LossRate) takes the maximum value of the three values; LinkUtilization is the link utilization rate, BufferFillRate is the buffer queue fill rate, and LossRate is the packet loss rate; This is the congestion value from the previous cycle;

[0126] DelayConstraint=MaxLatency – MinLatency,

[0127] Where MaxLatency is the maximum allowable latency and MinLatency is the minimum allowable latency.

[0128] In a preferred embodiment of the present invention, an effective weight model is set. ,for:

[0129] ,

[0130] in, Based on the weights, This is the risk event gain coefficient. This represents the gain coefficient for riding conditions. This is the congestion correction factor.

[0131] In a preferred embodiment of the present invention, the method for solving the bandwidth control function and allocating bandwidth quotas for each traffic category is as follows:

[0132] Bandwidth quotas are allocated according to the following rules:

[0133] ,

[0134] in, Bandwidth allocated to the i-th type of traffic This represents the minimum guaranteed bandwidth for the i-th type of traffic. For the effective weight of the i-th type of traffic, Total available bandwidth:

[0135] ,

[0136] in, The minimum guaranteed bandwidth for the i-th type of traffic. The security gain factor for the i-th type of flow;

[0137] ,

[0138] in, This represents the total physical bandwidth of the inter-domain communication link. To reserve bandwidth for the system, This refers to the bandwidth already occupied by other non-inter-domain communications.

[0139] In a preferred embodiment of the present invention, the control state machine transitions between multiple preset states based on the vehicle risk level and link congestion parameters, and executes differentiated bandwidth allocation and traffic suppression strategies in different states, specifically:

[0140] The preset states include normal state, pre-congestion state, high-risk state, mandatory protection state, and recovery state;

[0141] Different quotas, compression ratios, and recovery steps are used under different conditions, as follows:

[0142] Normal state: Normal allocation according to basic weights.

[0143] Pre-congestion state: Safety-critical flow quotas are increased in advance, and media flow is compressed to 8% (lower than the normal state of 12%), achieving early intervention.

[0144] High-risk state: Safety-critical flow is significantly increased to 50%, control-support flow is increased to 25%, and media flow is compressed to 3% (a reduction of 75%).

[0145] Mandatory protection mode: Only security-critical flows, control auxiliary flows, and the highest-level alert flows (10%) are retained; other non-critical flows are suspended. Security-critical flows account for 65% to ensure absolute priority transmission of security messages in extreme scenarios.

[0146] Recovery status: Recovery will proceed gradually in the order of "prompt flow, service flow, media flow". The media flow must not be directly restored to the normal quota in the same recovery cycle (i.e., it cannot jump directly from 3% to 12%), but must be restored in multiple steps.

[0147] The compression ratio for each state represents a percentage relative to the original bitrate. For example, "compressed to 70%" means the transmission bitrate is reduced to 70% of the original bitrate.

[0148] In the mandatory protection mode, the safety-critical flow and control auxiliary flow are not compressed to ensure the complete transmission of core security messages; the media stream is compressed to less than 30% of the original bitrate or completely suspended.

[0149] During the recovery phase, media streams cannot be directly restored to the normal quota within the same recovery cycle; they must be gradually restored over multiple recovery cycles.

[0150] The maximum delay constraints (≤10ms, ≤8ms, ≤5ms) are exemplary requirements for safety-critical flows under different states, and the values ​​are derived from the design of typical real-time communication systems.

[0151] The delay constraint for safety-critical flows is tightened to ≤5ms under the mandatory protection state because all non-critical traffic has been suspended in this state, and the link is almost dedicated to security messages, so the transmission delay can be reduced to the minimum.

[0152] In the recovery state, safety-critical flows are restored to the normal state protection level, but it is necessary to ensure that the bandwidth and latency of safety-critical flows are not affected during the recovery of non-critical flows.

[0153] In the control state machine, the pre-congestion state is used to increase the quota of safety-critical flow in advance and limit the growth of media flow; the high-risk state is used to increase the preemption priority of safety-critical flow and information prompt flow; and the forced protection state is used to retain only safety-critical flow, control auxiliary flow and highest level prompt flow.

[0154] The recovery step size in the recovery state is constrained by the recovery window, and non-critical traffic is only allowed to recover after the congestion rate has been continuously below the recovery threshold and the stable window condition has been met.

[0155] In the recovery phase, media streams are not allowed to directly revert to the normal quota within the same recovery cycle;

[0156] When the full-critical flow and information notification flow detect that the vehicle risk level is not lower than a preset level, the vehicle speed is higher than a preset threshold, emergency braking is triggered, or the link congestion rate exceeds a set threshold, the safety quota weight is increased, and at least one of the following is performed on the service flow and media flow: compression, rate limiting, delayed transmission, or suspension of transmission. Specifically:

[0157] The weight of safety-critical flows is dynamically calculated based on the severity of risk level, vehicle speed, braking, and congestion rate. The more extreme the scenario, the greater the increase in the weight of safety-critical flows, while the media and service flows are compressed more.

[0158] High-speed riding (>60km / h): Safety-critical flow bandwidth increases from 35% to approximately 50% of normal.

[0159] Emergency braking + congestion superposition: Entering a mandatory protection state, the safety-critical flow increases to over 65%.

[0160] Mild link congestion (warning threshold): Safety-critical flows increased from 35% to approximately 40%.

[0161] The improvement in information notification flow is less than that of safety-critical flow, mainly because it is used to gain the right to preempt service flow under high-risk conditions.

[0162] Real-time monitoring of four indicators: whether the risk level is ≥L2, whether the vehicle speed exceeds 60km / h, whether emergency braking is triggered, and whether the link congestion rate exceeds the standard.

[0163] If any of the above conditions are met, the bandwidth scheduler will automatically increase the weight of safety-critical flows and informational flows, while decreasing the weight of service flows and media flows. The more severe the conditions, the greater the adjustment. For example, when high-speed driving and emergency braking occur simultaneously, the adjustment is greater than when only high-speed driving occurs.

[0164] Bandwidth is redistributed according to the new weights, while the compression and suppression modules reduce or pause the frequency of service streams and media streams.

[0165] The control process runs automatically and continuously in each scheduling cycle without manual intervention. Once the triggering condition is removed, the weights gradually return to their normal values, entering a step-by-step recovery process.

[0166] Based on the current status, traffic type, congestion / risk severity, and message urgency, the system automatically selects the appropriate action from four options (compression, rate limiting, delayed transmission, or pause transmission). Higher status levels, greater congestion, and less important messages result in more stringent actions.

[0167] Safety-critical flows must at least meet the minimum guaranteed bandwidth constraint and the maximum allowable latency constraint; media streams compressed to below 30% of their original bitrate under mandatory guarantee conditions are suspended from transmission;

[0168] At least one of the control auxiliary flow and information prompt flow has the right to preempt the service flow in a high-risk state;

[0169] A control state machine is used to execute state transitions between normal, pre-congestion, high-risk, mandatory protection, and recovery states, satisfying state machine transition constraints:

[0170] StateNext = s(CurrentState, RiskLevel, VehicleState, Congestion,BrakeEvent, StableWindow),

[0171] Where StateNext is the next state of the control state machine, CurrentState is the current state of the control state machine, RiskLevel is the vehicle risk level, VehicleState is the vehicle operating state, Congestion is the link congestion parameter, BrakeEvent is the braking event trigger state, StableWindow is the stable window condition; s represents the state transition function.

[0172] Continuously collect link congestion rate, vehicle risk level, vehicle speed and braking events as the basis for determining state transitions;

[0173] Bandwidth is allocated based on the five traffic categories' basic weights:

[0174] If the congestion rate is greater than or equal to the warning threshold, the system enters a pre-congestion state.

[0175] If the risk level is ≥ L2, or the vehicle speed is > 60km / h, or emergency braking is triggered, the vehicle enters a high-risk state.

[0176] If the congestion rate is greater than or equal to the congestion threshold and the risk level is greater than or equal to L2, the system will directly enter the mandatory protection state.

[0177] Increase security-critical flow quotas in advance to limit media stream bandwidth growth:

[0178] If the congestion rate is greater than or equal to the congestion threshold, the system enters a mandatory protection state.

[0179] If the risk level is ≥ L2 or emergency braking is triggered, the system enters a high-risk state.

[0180] If the congestion rate is less than the warning threshold and the stability window is continuously met, return to normal.

[0181] Increase the weight of security-critical flows, increase the preemption priority of information notification flows, and compress or reduce the frequency of service flows and media flows.

[0182] If the congestion rate is greater than or equal to the congestion threshold, the system enters a mandatory protection state.

[0183] If the risk is eliminated and the stability window is continuously met, the system enters the recovery phase.

[0184] Only retain security-critical flows, control auxiliary flows, and the highest-level alert flows; suspend all other non-critical traffic; dedicate the fast lane to security messages.

[0185] If the congestion rate is less than the recovery threshold and the stability window is continuously met, the system enters the recovery state.

[0186] The recovery process will proceed in the order of notification stream, service stream, and media stream, with each recovery amount constrained by the recovery window. The media stream cannot be directly restored to the normal quota within the same recovery cycle.

[0187] If all traffic is restored and the stable window is met, the system returns to normal.

[0188] A five-state machine is used to implement hierarchical response of bandwidth policy, and differentiated policies are executed under different risk / congestion levels, including different quotas, compression ratios and recovery steps, so as to make the control granularity more refined.

[0189] It supports adaptive bandwidth adjustment strategies based on risk level and riding status, making critical traffic protection under high-risk conditions more targeted.

[0190] In a preferred embodiment of the present invention, inter-domain communication is implemented through parallel fast channels and slow channels, wherein the fast channel prioritizes carrying security-critical flows and control auxiliary flows, and the slow channel carries information prompt flows, service flows, and media flows.

[0191] Under mandatory guarantee conditions, the fast lane has priority retention attributes;

[0192] In the event of a fast channel failure, a minimum set of security messages is carried by a backup redundant link to maintain basic transmission continuity for security-critical flows, control auxiliary flows, and the highest-level alert flows.

[0193] Fast and slow channels are two logical transmission channels with different priorities, set up to achieve traffic diversion. The fast channel prioritizes messages with extremely high real-time and reliability requirements (such as ABS commands and attitude estimation data), ensuring they pass through with minimal latency and the highest priority, almost unaffected by other traffic. The slow channel is used to transmit information feeds, service streams, and media streams (such as navigation, music, and OTA upgrade packages). These data have a relatively high tolerance for latency.

[0194] When bandwidth is limited, priority should be given to ensuring the latency and delivery rate of security control-related data, and reducing the impact of non-critical traffic on the preemption of security messages.

[0195] By implementing a minimum quota, a tiered system of fast and slow channels, and a mandatory guarantee state, a bandwidth control system is formed that is more suitable for dual-domain control scenarios of two-wheeled vehicles than general QoS.

[0196] In a preferred embodiment of the present invention, after the link congestion parameter is lower than the recovery threshold and the stability window condition is continuously met, the suppressed traffic is gradually restored according to the priority order selected from the non-security-critical flows as follows:

[0197] Restore control rules:

[0198] RecoverStep = r(Window, CongestionDrop, ServiceClass),

[0199] Where RecoverStep represents the recovery step size, Window is the recovery window, CongestionDrop is the congestion reduction amount, ServiceClass is the service class, and r is the recovery function;

[0200] After the congestion is relieved, non-critical traffic is gradually restored in the order of notification flow, service flow, and media flow, forming a closed-loop control of judgment, allocation, suppression, and restoration.

[0201] By using tiered recovery and recovery window constraints, the risk of re-congestion caused by a rapid rebound in non-critical traffic after congestion is relieved can be reduced.

[0202] This invention also provides a two-wheeled vehicle inter-domain communication bandwidth control system based on safety constraints, providing a unified communication resource control foundation for dual-domain communication, anomaly degradation, and OTA domain-specific upgrades. The two-wheeled vehicle inter-domain communication bandwidth control system based on safety constraints includes:

[0203] The status acquisition module is used to acquire the status of inter-domain communication links, vehicle operating status, and inter-domain message attributes;

[0204] The traffic classification module is used to divide the inter-domain messages into security-critical flows, control-assisted flows, information prompt flows, service flows, and media flows.

[0205] A bandwidth scheduler is configured to perform the method described in this invention;

[0206] The compression and suppression module is used to execute traffic suppression strategies according to the instructions of the bandwidth scheduler;

[0207] The inter-domain communication module provides a data transmission channel between the security control domain and the smart cockpit domain.

[0208] In a preferred embodiment of the present invention, the bandwidth scheduler includes:

[0209] Priority calculation unit, used to determine the basic priority of each traffic category;

[0210] The weight correction unit is used to calculate the effective weights based on the vehicle operating status and link congestion parameters.

[0211] The quota allocation unit is used to allocate the actual bandwidth for each traffic category based on the effective weight and the guaranteed bandwidth quota.

[0212] The recovery control unit is used to control the gradual recovery of auxiliary flow, information flow, service flow, and media flow after congestion is relieved.

[0213] Preferably, the inter-domain communication module includes a fast channel, a slow channel, a buffer queue, and a backup redundant link. The fast channel prioritizes carrying safety-critical flows and control auxiliary flows, the slow channel carries alert flows, service flows, and media flows, and the backup redundant link is used to carry a minimum set of safety messages when the fast channel fails.

[0214] Example 1: Urban commuting scenario. Vehicle speed is between 0 and 20 km / h, and the risk level is L0 or L1. The bandwidth scheduler reserves no less than 35% of the bandwidth for safety-critical flows, allocates approximately 20% of the bandwidth for information prompt flows, and uses the remainder for service flows and media flows to balance navigation, music, and basic risk prompts.

[0215] Example 2: High-speed cycling scenario. When the vehicle speed exceeds 60km / h, the status acquisition module detects an increase in road risk. The weight correction unit increases the weight of the safety-critical flow to above 0.9 and compresses the media stream bitrate to below 30% of the original bitrate, pausing video or image synchronization data if necessary.

[0216] Example 3: Emergency braking and congestion superposition scenario. When ABS triggering, TCS intervention, or link congestion rate exceeds 40% is detected, the quota allocation unit enters a mandatory protection state, retaining only safety-critical flows, control auxiliary flows, and the highest-level alert flows until the congestion is relieved.

[0217] Example 4: Recovery Scenario. After the congestion rate remains below the recovery threshold and remains stable within a certain window, the recovery control unit gradually restores bandwidth in the order of "prompt flow - service flow - media flow" to avoid congestion caused by a one-time recovery.

[0218] Example 5: Low adhesion and downhill scenario. If the road condition risk level increases while the vehicle speed remains at medium to high speed, the bandwidth control function simultaneously increases the weights of the safety-critical flow and the control-aided flow, and reduces the frequency of the service flow to prioritize the reliable output of attitude estimation and control-constrained prompts.

[0219] Example 6: Fast Channel Anomaly Scenario. When the fast channel is unavailable, the backup redundant link carries the minimum set of security messages to maintain the minimum latency guarantee for security-critical flows and control auxiliary flows.

[0220] The specific embodiments described herein are merely illustrative examples of the present invention. Those skilled in the art can make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the technology of the present invention or exceeding the scope defined by the appended claims.

[0221] In the embodiments of this application, terms such as "fixed," "fixed connection," and "fixed connection" refer to common fixing methods in the prior art, such as welding, riveting, and screws. "Rotary connection" refers to common rotary connection methods in the prior art, such as hinges and bearing rotation. If electrical components are provided, the functions, control, and power supply methods of all electrical components are common technical means in the prior art. This application has not improved them and they are not within the protection scope of this application. Therefore, this application will not elaborate on them.

[0222] Furthermore, the selection of materials and strength limitations for all components in this application can be made and arranged by those skilled in the art based on the site environment and the requirements of relevant national or industry standards, and are not within the scope of protection of this application. Therefore, this application will not elaborate on these points.

Claims

1. A method for controlling the bandwidth of inter-domain communication between two-wheeled vehicles based on safety constraints, characterized in that, Includes the following steps: Acquire the status of the inter-domain communication link between the safety control domain and the smart cockpit domain in two-wheeled vehicles, the vehicle operating status, and the inter-domain message attributes; Based on the attributes of inter-domain messages, inter-domain messages are divided into security-critical flows, control-assisted flows, information prompts, service flows, and media flows. Construct the bandwidth control function and constraint relationships; Set up an effective weight model, solve the bandwidth control function, allocate bandwidth quotas to each traffic category, and set a minimum guaranteed bandwidth quota of no less than a preset minimum value for safety-critical flows. The minimum guaranteed bandwidth quota shall not be preempted by non-safety-critical flows. Based on the vehicle risk level and link congestion parameters, the control state machine transitions between multiple preset states and executes differentiated bandwidth allocation and traffic suppression strategies in different states. Once the link congestion parameter is below the recovery threshold and the stability window condition is met, the suppressed traffic is gradually restored according to the priority order selected from the non-security-critical flows.

2. The two-wheeled vehicle inter-domain communication bandwidth control method based on safety constraints according to claim 1, characterized in that, Construct the bandwidth control function Bandwidth as follows: ， Where f represents the mapping function; The constraints include: Priority (message priority), RiskLevel (vehicle risk level), VehicleState (vehicle operating state), Congestion (link congestion parameter), and DelayConstraint (message allowable delay constraint), specifically: Priority=BasePriority(Class) + Offset, Where Class represents the traffic category: safety-critical flow, control auxiliary flow, information prompt flow, service flow, and media flow; BasePriority is the base value for the corresponding traffic category, with Offset ∈ {0, 1, 2, 3}, used to distinguish the importance of messages within the same category; RiskLevel= , in, The vehicle speed risk factor has a value range of [value range missing]. ; This is a braking risk factor, with a value range of [value range missing]. ; This is a road condition risk factor, with a value range of [value range missing]. ; The tilt angle risk factor has a value range of [value range missing]. ; , , , These are the weighted coefficients, with a normalized sum of 1; ， Where speed is the vehicle speed, tilt_angle is the tilt angle, brake_status is the braking status, and low_adhesion_flag indicates the road adhesion coefficient estimated based on wheel speed difference / slip ratio. Congestion= , in, For smoothing coefficients, The instantaneous congestion rate. = max(LinkUtilization, BufferFillRate, LossRate) takes the maximum value of the three values; LinkUtilization is the link utilization rate, BufferFillRate is the buffer queue fill rate, and LossRate is the packet loss rate; This is the congestion value from the previous cycle; ， Where MaxLatency is the maximum allowable latency and MinLatency is the minimum allowable latency.

3. The two-wheeled vehicle inter-domain communication bandwidth control method based on safety constraints according to claim 1, characterized in that, Setting an effective weight model ,for: ， in, Based on weights, This is the risk event gain coefficient. This represents the gain coefficient for riding conditions. This is the congestion correction factor.

4. The two-wheeled vehicle inter-domain communication bandwidth control method based on safety constraints according to claim 3, characterized in that, The method for solving the bandwidth control function and allocating bandwidth quotas to each traffic category is as follows: Bandwidth quotas are allocated according to the following rules: ， in, Bandwidth allocated to the i-th type of traffic This represents the minimum guaranteed bandwidth for the i-th type of traffic. The effective weight for the i-th type of traffic, Total available bandwidth: ， in, The minimum guaranteed bandwidth for the i-th type of traffic. The security gain factor for the i-th type of flow; ， in, This represents the total physical bandwidth of the inter-domain communication link. To reserve bandwidth for the system, This refers to the bandwidth already occupied by other non-inter-domain communications.

5. The two-wheeled vehicle inter-domain communication bandwidth control method based on safety constraints according to claim 1, characterized in that, Based on the vehicle risk level and link congestion parameters, the control state machine transitions between multiple preset states and executes differentiated bandwidth allocation and traffic suppression strategies in different states, specifically: The preset states include normal state, pre-congestion state, high-risk state, mandatory protection state, and recovery state; Different quotas, compression ratios, and recovery steps are used under different conditions; In the control state machine, the pre-congestion state is used to increase the quota of safety-critical flow in advance and limit the growth of media flow; the high-risk state is used to increase the preemption priority of safety-critical flow and information prompt flow; and the forced protection state is used to retain only safety-critical flow, control auxiliary flow and highest level prompt flow. The recovery step size in the recovery state is constrained by the recovery window, and non-critical traffic is only allowed to recover after the congestion rate has been continuously below the recovery threshold and the stable window condition has been met. In the recovery phase, media streams are not allowed to directly revert to the normal quota within the same recovery cycle; When a vehicle risk level is detected to be no lower than a preset level, the vehicle speed is higher than a preset threshold, emergency braking is triggered, or the link congestion rate exceeds a set threshold, the quota weight of safety-critical flow and information prompt flow is increased, and at least one of compression, speed limiting, delayed transmission, or suspension of transmission is performed on service flow and media flow. Safety-critical flows must at least meet the minimum guaranteed bandwidth constraint and the maximum allowable latency constraint; media streams compressed to below 30% of their original bitrate under mandatory guarantee conditions are suspended from transmission; At least one of the control auxiliary flow and information prompt flow has the right to preempt the service flow in a high-risk state; A control state machine is used to execute state transitions between normal, pre-congestion, high-risk, mandatory protection, and recovery states, satisfying state machine transition constraints: ， Where StateNext is the next state of the control state machine, CurrentState is the current state of the control state machine, RiskLevel is the vehicle risk level, VehicleState is the vehicle operating state, Congestion is the link congestion parameter, BrakeEvent is the braking event trigger state, StableWindow is the stable window condition; s represents the state transition function. Continuously collect link congestion rate, vehicle risk level, vehicle speed and braking events as the basis for determining state transitions; Bandwidth is allocated based on the five traffic categories' basic weights: If the congestion rate is greater than or equal to the warning threshold, the system enters a pre-congestion state. If the risk level is ≥ L2, or the vehicle speed is > 60km / h, or emergency braking is triggered, the vehicle enters a high-risk state. If the congestion rate is greater than or equal to the congestion threshold and the risk level is greater than or equal to L2, the system will directly enter the mandatory protection state. Increase security-critical flow quotas in advance to limit media stream bandwidth growth: If the congestion rate is greater than or equal to the congestion threshold, the system enters a mandatory protection state. If the risk level is ≥ L2 or emergency braking is triggered, the system enters a high-risk state. If the congestion rate is less than the warning threshold and the stability window is continuously met, return to normal. Increase the weight of security-critical flows, increase the preemption priority of information notification flows, and compress or reduce the frequency of service flows and media flows. If the congestion rate is greater than or equal to the congestion threshold, the system enters a mandatory protection state. If the risk is eliminated and the stability window is continuously met, the system enters the recovery phase. Only retain security-critical flows, control auxiliary flows, and the highest-level alert flows; suspend all other non-critical traffic; dedicate the fast lane to security messages. If the congestion rate is less than the recovery threshold and the stability window is continuously met, the system enters the recovery state. The recovery process will proceed in the order of notification stream, service stream, and media stream, with each recovery amount constrained by the recovery window. The media stream cannot be directly restored to the normal quota within the same recovery cycle. If all traffic is restored and the stable window is met, the system returns to normal.

6. The two-wheeled vehicle inter-domain communication bandwidth control method based on safety constraints according to claim 5, characterized in that, Inter-domain communication is implemented through parallel fast channels and slow channels. The fast channels prioritize carrying security-critical flows and control auxiliary flows, while the slow channels carry information prompts, service flows, and media flows. Under mandatory guarantee conditions, the fast lane has priority retention attributes; In the event of a fast channel failure, a minimum set of security messages is carried by a backup redundant link to maintain basic transmission continuity for security-critical flows, control auxiliary flows, and the highest-level alert flows.

7. The two-wheeled vehicle inter-domain communication bandwidth control method based on safety constraints according to claim 1, characterized in that, Once the link congestion parameter is below the recovery threshold and the stability window condition is consistently met, the steps for gradually restoring suppressed traffic, according to the priority order selected from non-security-critical flows, are as follows: Restore control rules: RecoverStep = r(Window, CongestionDrop, ServiceClass), Where RecoverStep represents the recovery step size, Window is the recovery window, CongestionDrop is the congestion reduction amount, ServiceClass is the service class, and r is the recovery function; After the congestion is relieved, non-critical traffic is gradually restored in the order of notification flow, service flow, and media flow, forming a closed-loop control of judgment, allocation, suppression, and restoration.

8. A two-wheeled vehicle inter-domain communication bandwidth control system based on safety constraints, characterized in that, include: The status acquisition module is used to acquire the status of inter-domain communication links, vehicle operating status, and inter-domain message attributes; The traffic classification module is used to divide the inter-domain messages into security-critical flows, control-assisted flows, information prompt flows, service flows, and media flows. A bandwidth scheduler configured to perform the method of any one of claims 1-7; The compression and suppression module is used to execute traffic suppression strategies according to the instructions of the bandwidth scheduler; The inter-domain communication module provides a data transmission channel between the security control domain and the smart cockpit domain.

9. The two-wheeled vehicle inter-domain communication bandwidth control system based on safety constraints according to claim 8, characterized in that, The bandwidth scheduler includes: Priority calculation unit, used to determine the basic priority of each traffic category; The weight correction unit is used to calculate the effective weights based on the vehicle operating status and link congestion parameters. The quota allocation unit is used to allocate the actual bandwidth for each traffic category based on the effective weight and the guaranteed bandwidth quota. The recovery control unit is used to control the gradual recovery of auxiliary flow, information flow, service flow, and media flow after congestion is relieved.

10. The two-wheeled vehicle inter-domain communication bandwidth control system based on safety constraints according to claim 8, characterized in that, The inter-domain communication module includes a fast channel, a slow channel, a buffer queue, and a backup redundant link. The fast channel prioritizes carrying safety-critical flows and control auxiliary flows, while the slow channel carries alert flows, service flows, and media flows. The backup redundant link is used to carry a minimum set of safety messages when the fast channel fails.

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