Redundancy control method for on-board ring network heterogeneous system, a system, and storage medium

Abstract

The present application relates to the technical field of on-board unit systems, and provides a redundancy control method for an on-board ring network heterogeneous system, a system, and a storage medium. The method comprises: in each ring network, any two adjacent on-board unit systems periodically performing detection packet exchange, and on the basis of a packet exchange result, determining a communication link state corresponding to the two on-board unit systems; when the communication link state is abnormal, triggering a communication redundancy control protocol; in response to the communication redundancy control protocol, determining position information of the two on-board unit systems between which the communication link is abnormal in a vehicle communication topology, and on the basis of the position information, generating a redundancy control rule for restoring communication between the two current on-board unit systems; and executing the redundancy control rule, so as to restore the communication between the two current on-board unit systems by adjusting the blockage states of communication ports of respective related on-board unit systems on redundant links of the two current on-board unit systems. The solution of the present application achieves protocol compatibility while ensuring the reliability of the on-board ring network heterogeneous system.

Description

Redundant control method, system and storage medium for vehicle-mounted ring network heterogeneous system

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on July 14, 2023, with application number 202310869973.8 and application name “Redundant control method, system and storage medium for vehicle-mounted ring network heterogeneous system”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of vehicle-mounted system, and in particular to a redundant control method for a vehicle-mounted ring network heterogeneous system, a redundant control system for a vehicle-mounted ring network heterogeneous system, and a computer-readable storage medium. Background Art

[0003] The rapid advancement of electrification and intelligent vehicles is placing higher demands on the capabilities of in-vehicle systems. To meet the demands for advanced driver assistance and service-oriented functions, in-vehicle control systems are evolving towards high integration and high computing power. Automotive electrical and electronic architectures are also evolving towards a "centralized + regional" model with the implementation of high-computing computing centers. The current automotive technology and industrial chains are extremely extensive both horizontally and vertically. Despite the development of various technical standards to standardize inter-product compatibility, in-vehicle systems remain complex and heterogeneous. Within these heterogeneous in-vehicle systems, in-vehicle communication systems play a crucial role in ensuring inter-system coordination. The advancement of intelligent vehicle control and driver assistance technologies is also placing higher demands on the reliability of in-vehicle communication systems. Consequently, many technology research companies are integrating reliable communication technologies from telecommunications and industrial control into the in-vehicle communication field. To ensure the reliability of in-vehicle communication systems, redundant communication is a promising solution. However, existing solutions generally fail to balance the communication reliability and system compatibility issues associated with redundant communication. To address this issue, a vehicle-to-machine communication solution is needed that balances communication reliability and protocol compatibility.

[0004] Summary of the Invention

[0005] One of the purposes of this application is to provide a redundant control method for a vehicle-mounted ring network heterogeneous system to solve the problem that existing solutions generally cannot take into account both communication reliability and system compatibility brought about by redundant communication; the second purpose is to provide a redundant control method for a vehicle-mounted ring network heterogeneous system; and the third purpose is to provide a computer-readable storage medium.

[0006] In order to achieve the above objectives, the technical solutions adopted in this application are as follows:

[0007] A first aspect of the present application provides a redundant control method for a heterogeneous vehicle ring network system, the method comprising: within each ring network, any two adjacent vehicle systems regularly perform detection message interaction, and determine the communication link status of the corresponding two vehicle systems based on the message interaction results; when the communication link status is abnormal, trigger a communication redundancy control protocol; in response to the communication redundancy control protocol, determine the position information of the two vehicle systems with abnormal communication links in the entire vehicle communication topology, and generate redundant control rules for restoring the communication between the two current vehicle systems based on the position information; execute the redundant control rules, and restore the communication between the two current vehicle systems by adjusting the blocking status of the communication ports of the relevant vehicle systems on the redundant links of the two current vehicle systems; wherein the relevant vehicle systems are in or not in the same ring network.

[0008] Optionally, the method also includes: constructing vehicle communication topology rules, including: designing the networking topology of the on-board ring network system based on the vehicle's electronic and electrical architecture design information to obtain an initial vehicle communication topology; identifying key links in the initial vehicle communication topology, and using the identified key links as links to be redundant; identifying the vehicle systems at both ends of each key link one by one, and determining the design information of the redundant links based on the historical communication information between the two identified vehicle systems; deploying redundant links in the initial vehicle communication topology based on the determined design information of the redundant links to obtain vehicle communication topology rules.

[0009] Optionally, determining the design information of the redundant link includes: determining the communication performance and corresponding communication protocol of the redundant link; wherein the determined communication protocol needs to meet the corresponding communication performance requirements; the method also includes: in the process of deploying the redundant link, presetting the compatibility rules of the corresponding communication protocol in each set working scenario.

[0010] Optionally, any two adjacent vehicle-machine systems periodically perform detection message interaction, and judge the communication link status of the corresponding two vehicle-machine systems based on the message interaction results, including: based on a preset link detection protocol, the two adjacent vehicle-machine systems perform respectively generated link detection message interaction; each vehicle-machine system generates a feedback message record based on the number of link detection messages received, and transmits the feedback message record back to the vehicle-machine system at the other end; each vehicle-machine system determines the number of link detection messages sent and the number of feedback message records received based on the preset link detection protocol, and judges the current communication link status.

[0011] Optionally, each vehicle-machine system determines the number of link detection messages sent and the number of feedback message records received based on a preset link detection protocol, and makes a judgment on the current communication link status, including: when each vehicle-machine system acts as a message sender and as a message receiver, it determines the number of link detection messages sent and the number of feedback message records received based on the preset link detection protocol; for the message sender, when the absolute value of the difference between the number of link detection messages sent determined based on the preset link detection protocol and the number of feedback message records received by the vehicle-machine system at the other end is greater than or equal to a first preset threshold, it is determined that a first abnormal condition is met; otherwise, it is determined that the first abnormal condition is not met; for the message receiver, when the absolute value of the difference between the number of link detection messages sent and the number of feedback message records received determined based on the preset link detection protocol by the vehicle-machine system at the other end is greater than or equal to a second preset threshold, it is determined that a second abnormal condition is met; otherwise, it is determined that the second abnormal condition is not met; when both the first abnormal condition and the second abnormal condition are met, it is determined that the current communication link status between the two vehicle-machine systems is abnormal.

[0012] Optionally, in the vehicle communication topology, any two vehicle systems can communicate and interact directly or by using other vehicle systems as relay nodes; the method also includes: performing system initialization, including: setting up independent redundant communications between vehicle systems of different categories based on the category to which the vehicle system belongs; setting up independent communications for triggering communication redundancy control protocols; and performing virtual LAN blocking processing on communications between other vehicle systems in addition to the independent redundant communications and the independent communications, so that any two vehicle systems have one and only one communication link under normal operating conditions.

[0013] Optionally, the communication redundancy control protocol includes: a protocol type identifier, a status, a sub-status, a node identifier, a link identifier, and an extended field; the protocol type identifier is used to indicate the protocol type; the status is used to indicate the link status; the sub-status is used to identify whether link switching needs to be performed; the link identifier is used to mark the link number; and the extended field is used to indicate additional information of the message.

[0014] Optionally, before triggering the communication redundancy control protocol, the method also includes: when the communication link status is abnormal, continuously sending a preset number of frames of the communication redundancy control protocol with link abnormality to the corresponding vehicle system, and executing the communication redundancy control protocol sending once every predetermined trigger period until the communication redundancy control protocol is triggered.

[0015] Optionally, the redundant control rules for restoring communication between the two current vehicle-machine systems are generated based on the position information, including: determining the relay vehicle-machine system on the redundant link between the two current vehicle-machine systems based on the position information; determining the blocking status of the relay vehicle-machine system and each communication port of the two current vehicle-machine systems when the redundant link is turned on, and using the blocking status as the target status of each vehicle-machine system; based on the target status, modifying the static table and virtual local area network table of the switch forwarding database of each vehicle-machine system, and using the modified static table and virtual local area network table of the switch forwarding database as the redundant control rules for communication between the two current vehicle-machine systems.

[0016] Optionally, the redundant control rules are executed to adjust the communication port blocking status of each relevant vehicle system on the redundant link of the two current vehicle systems, including: during the communication port blocking status adjustment process of the relevant vehicle system, at the same time, only one communication port of the same vehicle system is in the on state, and the other communication ports are in the virtual LAN blocking state; before the communication port blocking status of a certain communication port needs to be adjusted to on, the corresponding vehicle system blocks the communication port that was originally on, and then executes the current communication port blocking status adjustment.

[0017] According to a second aspect of the present application, there is provided a redundant control system for an on-board ring network heterogeneous system, the system comprising: a status judgment unit for periodically detecting message interactions between any two adjacent vehicle-machine systems within each ring network, and judging the communication link status of the corresponding two vehicle-machine systems based on the message interaction results; a triggering unit for triggering a communication redundancy control protocol when the communication link status is abnormal; a rule generating unit for judging, in response to the communication redundancy control protocol, the position information of the two vehicle-machine systems with abnormal communication links in the entire vehicle communication topology, and generating redundant control rules for restoring communication between the two current vehicle-machine systems based on the position information; an execution unit for executing the redundant control rules, and achieving communication restoration between the two current vehicle-machine systems by adjusting the blocking status of the communication ports of the relevant vehicle-machine systems on the new communication link predetermined by the two current vehicle-machine systems; wherein the relevant vehicle-machine systems are in or not in the same ring network.

[0018] A third aspect of the present application provides a computer-readable storage medium having instructions stored thereon, which, when executed on a computer, enables the computer to execute the above-mentioned redundant control method for the vehicle-mounted ring network heterogeneous system.

[0019] Beneficial effects of this application:

[0020] 1) In the present application solution, in each ring network of the vehicle computer, each vehicle computer system exchanges messages with each other, and determines the status of the communication link between each other based on the exchanged messages, rather than determining all communication links one by one globally. This ensures that when a communication link has an abnormality, the vehicle computer systems at both ends of the link can identify it immediately, reducing the time loss of data collection in global analysis and ensuring system response speed;

[0021] 2) When an abnormality occurs in the communication link, a preset communication redundancy control protocol is triggered. Redundancy control rules are determined based on the protocol, and each vehicle system is driven based on a unified protocol. Even for vehicle systems with different redundancy protocol support, the present application solution can implement a combination of multiple protocols under the framework of a unified protocol, solving the problem of poor protocol compatibility in existing solutions.

[0022] 3) Finally, based on the determined redundancy control rules, the redundant links are connected to restore communication between the two vehicle systems that originally had communication anomalies, ensuring the reliability of vehicle communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG1 is a flowchart of a redundant control method for a heterogeneous vehicle ring network system according to an embodiment of the present application;

[0024] FIG2 is a schematic diagram of the ring network system structure provided by one embodiment of the present application;

[0025] FIG3 is a flowchart of a link detection method according to an embodiment of the present invention;

[0026] FIG4 is a schematic diagram of a link detection protocol provided in one embodiment of the present application;

[0027] FIG5 is a schematic diagram of a communication redundancy control protocol provided in one embodiment of the present application;

[0028] FIG6 is a schematic diagram of a protocol framework provided in one embodiment of the present application;

[0029] FIG7 is a schematic flow chart of a demand analysis method for a redundant control method applicable to a heterogeneous vehicle ring network system according to an embodiment of the present application;

[0030] FIG8 is a schematic diagram of system data flow analysis provided by one embodiment of the present application;

[0031] FIG9 is a system structure diagram of a redundant control system of a vehicle-mounted ring network heterogeneous system provided by one embodiment of the present application. DETAILED DESCRIPTION

[0032] The following will describe the embodiments of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand the other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for the purpose of illustrating the present application and are not intended to limit the scope of protection of the present application.

[0033] The rapid advancement of automobile electrification and intelligent development has put higher demands on the capabilities of on-board systems. In order to meet the needs of high-level assisted driving and functional services, on-board control systems are developing towards high integration and high computing power. With the realization of high-computing power computing centers, automotive electronic and electrical architecture is gradually evolving towards a "central + regional" form.

[0034] The current automotive technology and industrial chains are extremely extensive both horizontally and vertically. Despite the industry's development of various technical standards to standardize compatibility between different products, in-vehicle systems remain complex and heterogeneous. In-vehicle communication systems play a crucial role in ensuring inter-system coordination. The development of intelligent vehicle control and assisted driving technologies has also placed higher reliability requirements on in-vehicle communication systems. Consequently, many technology research companies are introducing reliable communication technologies from telecommunications, industrial control, and other fields into the in-vehicle communication field.

[0035] To ensure the reliability of on-board communication systems, redundant communication is a good solution. For example, patent application publication number CN112448981A proposes a "method and device for transmitting data." This method provides a link detection and redundant switching control method based on the switch static address forwarding table for on-board ring network systems. It only provides a control strategy for ring network communication redundancy from the perspective of communication data forwarding, and does not consider the compatibility of the ring network redundancy control algorithm with products in on-board heterogeneous systems, the specificity of the application in on-board application scenarios, and the specific deployment strategy of the method in on-board systems.

[0036] In order to solve the problem of protocol compatibility, the patent application with publication number CN115499270A proposes a "network control scheme and device, vehicle and computer storable medium". The proposal provides a multi-protocol adaptive detection, fault location and repair method. This method introduces the ERPS protocol in the traditional communication field and the TSN-CB protocol in the time-sensitive network protocol into the vehicle-mounted Ethernet ring network system. The protocol adaptive detection solves the protocol compatibility problem to a certain extent. However, the proposal integrates both protocols into the vehicle-mounted switch, which has high requirements on hardware resources and the system compatibility is still low.

[0037] It can be seen that the existing solutions cannot take into account the problems of communication reliability and good system compatibility brought about by redundant communication. The present application solution addresses this problem and proposes a redundant control method for vehicle-mounted ring network heterogeneous systems. In the present application solution, in each ring network of the vehicle computer, each vehicle computer system exchanges messages with each other, and judges the status of the communication link between each other based on the interactive messages, rather than judging all communication links one by one globally. In this way, it is ensured that when a certain communication link has an abnormality, the vehicle computer systems at both ends of the corresponding link can identify it in the first time, reducing the time loss of data collection in global analysis and ensuring the response speed of the system. When there is an abnormality in the communication link, the preset communication redundancy control protocol will be triggered, and the redundant control rules will be determined based on the protocol. Based on the unified protocol, each vehicle computer system will be driven, solving the problem of poor protocol compatibility in the existing solution. Finally, based on the determined redundant control rules, the redundant link is connected, so that the two vehicle computer systems that originally had communication abnormalities can resume communication, ensuring the reliability of the entire vehicle communication.

[0038] FIG1 is a flowchart of a redundant control method for a vehicle-mounted ring network heterogeneous system provided by an embodiment of the present application. As shown in FIG1 , an embodiment of the present application provides a redundant control method for a vehicle-mounted ring network heterogeneous system, the method comprising:

[0039] Step S10: In each ring network, any two adjacent vehicle-mounted systems periodically perform detection message interaction, and determine the communication link status of the corresponding two vehicle-mounted systems based on the message interaction results.

[0040] Specifically, the present application solution is a redundant communication control performed when an abnormality exists in a certain communication link, and the corresponding redundant communication triggering condition must be when there is an abnormal communication link in the whole vehicle communication. In the existing solution, to determine whether there is a communication abnormality in the system, the whole vehicle communication system often determines the communication status of each communication link one by one. This method requires a lot of data transmission and data judgment time to be wasted, resulting in a large delay. During the driving process of the vehicle, in order to ensure the safety of the passengers, it is very necessary to ensure the response speed of the vehicle, so even for the judgment of the abnormal state of the communication link, the system needs to have sufficient response speed. Based on this, the present application solution has two adjacent vehicle-mounted systems in each ring network perform the corresponding communication link abnormal state judgment, so as to achieve synchronous judgment of the abnormal state of all communication links in the whole vehicle, reduce the judgment delay, and improve the system response speed.

[0041] Specifically, based on the preset link detection protocol, two adjacent vehicle-mounted systems interact with each other by generating their own link detection messages; each vehicle-mounted system generates a feedback message based on the number of link detection messages received, and transmits the feedback message back to the vehicle-mounted system at the other end; each vehicle-mounted system determines the number of link detection messages sent and the number of feedback message records received based on the preset link detection protocol, and makes a judgment on the current communication link status.

[0042] Furthermore, each vehicle-machine system determines the number of link detection messages sent and the number of feedback message records received based on the preset link detection protocol, and makes a judgment on the current communication link status, including: when each vehicle-machine system is respectively counted as a message sender and a message receiver, the number of link detection messages sent and the number of feedback message records received are determined based on the preset link detection protocol; for the message sender, when the absolute value of the difference between the number of link detection messages sent determined based on the preset link detection protocol and the number of feedback message records received by the vehicle-machine system at the other end is greater than or equal to a first preset threshold, it is determined that a first abnormal condition is met, otherwise the first abnormal condition is not met; for the message receiver, when the absolute value of the difference between the number of link detection messages sent and the number of feedback message records received determined based on the preset link detection protocol by the vehicle-machine system at the other end is greater than or equal to a second preset threshold, it is determined that a second abnormal condition is met, otherwise the second abnormal condition is not met; when both the first abnormal condition and the second abnormal condition are met, it is determined that the current communication link status between the two vehicle-machine systems is abnormal.

[0043] Example 1: As shown in Figure 2, the corresponding vehicle-mounted system includes a body control system (vehicle control system 1, vehicle control system 2, vehicle control system 3), an intelligent driving system (smart driving system), and a cockpit system, a total of 5 vehicle-mounted systems, of which the three controllers of vehicle control system 1, vehicle control system 2, and vehicle control system 3 form a ring network 1 based on an Ethernet communication link, the intelligent driving system and vehicle control system 1 and vehicle control system 2 form a ring network 2 based on an Ethernet communication link, and the intelligent driving system and the cockpit system and vehicle control system 2 form a ring network 3 based on an Ethernet communication link. The structural feature of the vehicle-mounted ring network system provided in this embodiment is that the body control system, the intelligent driving system, and the cockpit system can be mutually redundant in communication. It should be noted that the system provided in this embodiment is only an example, and other forms of vehicle-mounted ring network systems are also applicable to the redundant control method provided in this application.

[0044] Furthermore, when determining the communication link status, taking the determination process between vehicle control system 1 and vehicle control system 2 as an example, as shown in FIG3 , the following steps are included:

[0045] S101: Vehicle control system 1 sends a link detection protocol (detection message) to vehicle control system 2 at a 5ms period, as shown in Figure 4 . In the protocol, the protocol type identifier field is filled with 0x01, the node identifier is filled with the MAC address of vehicle control system 1, the message send count is filled with the number of link detection protocol messages actually sent, and the receive count is filled with the number of link detection messages actually received from vehicle control system 2. Similarly, vehicle control system 2 also sends link detection messages to vehicle control system 1 in the same manner as described above.

[0046] S102: Vehicle control system 1 uses a two-way verification method to calculate the number of message frame losses. Based on the sending direction, after receiving the link detection message sent by vehicle control system 2, it takes out the receiving count data in the message and compares it with the message sending count data in the most recently sent link detection protocol, and determines whether the local sending count minus the peer receiving count is ≥3. Based on the receiving direction, it determines whether the peer sending count minus the local receiving count is ≥3. If the above two conditions are met at the same time, it is considered that the link between vehicle control system 1 and vehicle control system 2 is blocked or disconnected.

[0047] S103: The link detection module calls the link status detection API interface provided by the switch to read the link status of the corresponding port link. If the status is Link Down, it is determined that the link is disconnected.

[0048] Step S20: When the communication link status is abnormal, trigger the communication redundancy control protocol.

[0049] Specifically, to achieve protocol compatibility, the present application includes a link detection protocol and a communication redundancy control protocol. As previously explained, the link detection protocol is primarily used to identify communication link failures between vehicle-mounted systems. The communication redundancy control protocol, as shown in Figure 5, includes a protocol type identifier, a state, a sub-state, a node identifier, a link identifier, and an extension field. The protocol type identifier indicates the protocol type; the state indicates the link state; the sub-state indicates whether a link switch is required; the link identifier is used to mark the link number; and the extension field indicates additional message information.

[0050] In an embodiment of the present application, the present application provides a ring network redundant communication protocol, including a link detection protocol and a communication redundancy control protocol. The protocol can realize the detection of communication links and link switching control. In the case of any single link abnormality in the link, the link can switch to the redundant link communication within 50ms to ensure normal communication between all nodes in the link. In the case of dual-link or multi-link abnormality, the link can switch to the redundant link communication within 50ms to ensure normal communication between communication nodes with interconnected links. At the same time, the control of the protocol of the present application can ensure normal communication in vehicle-mounted application scenarios, such as inconsistent power-on timing of each node in the link, restart of different nodes, and other scenarios.

[0051] In an embodiment of the present application, as shown in FIG6 , the present application solution provides an innovative communication redundancy control protocol, and determines the position and meaning of each identifier in the communication control protocol. When the status of a subsequent communication link changes, it is only necessary to modify the filled-in information in the communication redundancy control protocol. Subsequently, it can be directly triggered based on the communication redundancy control protocol, thereby realizing the perception of communication anomalies while ensuring the response speed of subsequent redundant control linkage.

[0052] In one possible implementation, the protocol identifier is filled in with 0x2 to represent the communication redundancy control protocol, the status is used to identify whether the link is abnormal, and if the link is abnormal, fill in 0x1, the sub-status is used to identify whether a switch needs to be executed, and if it is switched, fill in 0x1, and the link identifier is used to mark the link number to clarify which specific link is abnormal. This protocol is sent by each module in the link using a unified multicast address periodically to send the ring network redundancy control protocol, which also includes modules using the TSN-CB (Time-Sensitive Network) protocol. Its purpose is to perform full-link detection of the entire vehicle communication network to meet the full-link communication redundancy requirements.

[0053] Step S30: In response to the communication redundancy control protocol, determine the location information of the two vehicle-mounted systems with abnormal communication links in the vehicle communication topology, and generate a redundancy control rule for restoring the communication between the two vehicle-mounted systems based on the location information.

[0054] Specifically, based on the location information, the relay vehicle system on the redundant link between the two current vehicle systems is determined; the blocking status of the relay vehicle system and each communication port of the two current vehicle systems when the redundant link is turned on is determined, and the blocking status is used as the target state of each vehicle system; based on the target state, the static table and virtual local area network table of the switch forwarding database of each vehicle system are modified, and the modified static table and virtual local area network table of the switch forwarding database are used as the redundant control rules for the communication between the two current vehicle systems.

[0055] Based on this, the present application scheme also includes constructing vehicle communication topology rules, including: based on the vehicle electronic and electrical architecture design information, designing the vehicle ring network system networking topology to obtain the initial vehicle communication topology; in the initial vehicle communication topology, identifying key links, and using the identified key links as links to be redundant; identifying the vehicle systems at both ends of each key link one by one, and determining the design information of the redundant links based on the historical communication information between the two identified vehicle systems; deploying redundant links in the initial vehicle communication topology based on the design information of the redundant links to obtain vehicle communication topology rules.

[0056] In a possible implementation, when constructing the vehicle communication topology rule, as shown in FIG7 , the following steps are included:

[0057] Step S301: Based on the design and planning of the vehicle's electronic and electrical architecture, complete the vehicle ring network system topology design.

[0058] Step S302: Based on the networking and functional requirements of the on-board ring network system, complete the analysis of the communication redundancy requirements and redundant performance requirements combined with the functions. Taking the intelligent driving system as an example, in the intelligent assisted driving application scenario, if an Ethernet communication link between the intelligent driving system and the body controller is disconnected, in order to ensure that the vehicle can park normally or continue to perform driving assistance, the intelligent driving system and the body control system need to be able to switch to another redundant link communication, and the redundant switching time is less than 10ms.

[0059] Step S303: Based on the specific demand analysis results, design and clarify which communication links require redundancy, redundant communication switching paths, and which protocol to select for deployment under corresponding redundant communication performance requirements.

[0060] Step S304: Design a detailed redundant communication protocol based on the redundant path, and consider the compatibility strategy of the protocol in different scenarios. That is, during the redundant link deployment process, preset the compatibility rules of the corresponding communication protocol in each set working scenario.

[0061] Step S305: Design redundant control software components based on the designed redundant protocol and redundant system hardware and software architecture.

[0062] In the embodiment of the present application, the present application scheme is deployed with redundant links. When there is a communication anomaly between any two vehicle systems in the future, the communication can be restored through the preset redundant communication link to ensure the reliability of the vehicle communication and thus ensure driving safety.

[0063] Preferably, in the whole vehicle communication topology, any two vehicle systems can communicate and interact directly or by using other vehicle systems as relay nodes; the method also includes system initialization, including: setting up independent redundant communications between categorized vehicle systems based on the categories to which the vehicle systems belong; setting up independent communications for triggering communication redundancy control protocols; and performing virtual LAN blocking processing on communications between other vehicle systems in addition to the independent redundant communications and the independent communications, so that any two vehicle systems have one and only one communication link under normal operating conditions.

[0064] In a possible implementation, because the vehicle-mounted ring network system often has multiple ring networks, the ring network itself has the risk of multicast or broadcast storms, so it is necessary to block certain ports of the vehicle system. Continuing with the structure in Example 1 as an example, the ports of the switch 2 connected to link 1, link 5, and link 6 in the vehicle control system 2 all use VLAN (Virtual Local Area Network) blocking to perform inbound and outbound bidirectional blocking on specific VLANs to prevent the ring network storm from causing network paralysis. The TSN-CB protocol is used for redundant communication between the vehicle control system and the intelligent driving system. Therefore, this embodiment divides the communication between the two systems into independent VLANs, and the above-mentioned blocking VLAN does not include the TSN-CB redundant communication VLAN. At the same time, since the link detection protocol uses unicast communication and communicates in an independent VLAN, the above-mentioned blocking VLAN does not include the VLAN to which the link detection protocol belongs. Taking the communication between vehicle control system 2 and intelligent driving system, and between vehicle control system 2 and cockpit system as examples, under the above system configuration, the communication links between vehicle control system 2 and intelligent driving system are link 1 and link 6, and the communication links between vehicle control system and cockpit system are link 2→link 3→link 4→link 7.

[0065] Furthermore, the categories of vehicle-mounted systems include: vehicle control systems and assisted driving systems. For example, in the first embodiment, vehicle control systems 1, 2, and 3 belong to the vehicle control system; the intelligent driving system and cockpit system belong to the assisted driving system.

[0066] In the embodiment of the present application, the intelligent driving system needs to receive information notifications about the power, chassis, and body status from the body control system, and needs to send control service call requests such as torque and steering to the body control system. Combined with the analysis in S302 that the communication redundancy control time performance requirements between the intelligent driving system and the body control system are relatively high, and considering the redundant switching protocol characteristics of the in-vehicle communication industry and the information and communication industry, preferably, this embodiment selects the TSN-CB protocol with a shorter switching time as the redundant control protocol and deploys it in the vehicle control system 1, vehicle control system 2, and intelligent driving system of the system shown in Example 1.

[0067] Furthermore, the communication redundancy between the intelligent driving system and the cockpit system, within the body control system, and between the body control system and the cockpit system is mainly used to ensure the user's car experience, and its communication redundancy time performance is relatively low. The TSN-CB protocol is limited by the switch hardware support chip selection. Most of the mature applications in the current information and communication industry, such as ERPS (Ethernet Ring Protection Switching, Ethernet multi-ring protection technology) protocol, need to be deployed on the switch. At the same time, taking into account the current performance and technical support differences of vehicle-mounted switches, this application provides a communication redundancy control protocol that can be deployed on terminal nodes. The protocol does not depend on the switch system and has good adaptability to different terminal systems. Its redundancy switching time can be controlled within 50ms.

[0068] In another possible implementation, the present application provides a method for compatible deployment with the TSN-CB protocol, which can be compatible with systems with inconsistent switching time performance requirements. For example, when the intelligent driving system needs to redundancy of the control and notification information of the vehicle control system and the redundancy time performance requirements are high, it can choose to deploy the TSN-CB protocol on the switch between the two systems to achieve fast redundant switching in the event of link abnormalities; when the intelligent driving system needs to redundancy of the control and notification information of the cockpit system and the redundancy time performance is relatively low, it can choose to deploy the redundant communication protocol provided by this application on the terminal nodes of the two systems to ensure protocol compatibility in turn. Of course, in addition to being compatible with the TSN-CB protocol, under the unified protocol drive and multi-redundancy protocol combination scheme proposed in this application, it is theoretically compatible with any other vehicle-mounted redundant communication protocol, which is not limited here.

[0069] Step S40: executing the redundancy control rule, adjusting the blocking state of the communication ports of the relevant vehicle-machine systems on the redundant links of the two vehicle-machine systems, and realizing the restoration of the communication between the two vehicle-machine systems.

[0070] Specifically, as explained above, in order to avoid the risk of multicast or broadcast storms in the ring network itself, some communication ports of each vehicle system are in a blocked state. That is to say, under normal operating conditions, redundant links are often blocked. Therefore, in order to restore communication, it is necessary to adjust the blocking state and connect the link. Based on this, in the process of adjusting the blocking state of the communication ports of the relevant vehicle systems, at the same time, only one communication port of the same vehicle system is in a conducting state, and the other communication ports are in a virtual LAN blocking state; before the communication port blocking state of a certain communication port needs to be adjusted to be conducting, the corresponding vehicle system first needs to block the communication port that was originally conducting, and then perform the current communication port blocking state adjustment.

[0071] Example 2: As shown in FIG8 , in the system structure of the original example 1, taking the case where both link 1 and link 2 are disconnected, the steps for switching the ring network communication redundant link are as follows:

[0072] Step S401: Based on the link detection protocol, it is detected that link 1 and link 2 are abnormal. At this time, the vehicle control system 2 cannot communicate normally with the vehicle control system 1, the vehicle control system 3 and the cockpit system.

[0073] Step S402: After vehicle control system 1, vehicle control system 2, and vehicle control system 3 detect a link abnormality, they set the status field in the redundant control protocol to link abnormality, the sub-status to need to switch, and the position 1 corresponding to link 1 and link 2 in the link identifier; at the same time, to ensure rapid switching, the above systems should immediately send three consecutive frames of redundant control protocols with link abnormalities when a link abnormality is detected, and then send them at a 10ms period.

[0074] Step S403: After sending the redundant control message with the link abnormality, the vehicle control system 2 controls the redundant link switching. It directly modifies the switch static FDB (Forwarding Data Base) table and VLAN table by modifying the switch interface to achieve communication link switching. The switching process is as follows:

[0075] 1) Use the VLAN disabling interface to block the P2 port, while the P1 port remains in its original blocked state;

[0076] 2) Use the VLAN enable interface to open the P5 port;

[0077] 3) Modify the FDB table and change the destination port in the FDB table entry with the destination MAC address of vehicle control system 2, vehicle control system 3, and cockpit system to P5. That is, vehicle control system 2 switches to the P5 port to communicate with other systems other than the intelligent driving system.

[0078] For the same reason, vehicle control system 3 switches its communication port to P3, vehicle control system 1 switches its communication port with vehicle control system 2 to P4, and the cockpit system switches its communication port with vehicle control system 2 to P5. Because the intelligent driving system and vehicle control system 2 use TSN-CB redundant communication, a protocol with dual-transmit and single-receive communication, even if link 1 is disconnected, it can still maintain communication with the vehicle control system via link 6. At this point, the ring network system's communication links switch from link 5 to link 7 to link 4 to link 3, and normal communication between the systems continues.

[0079] Preferably, before adjusting the communication port blocking state of a certain communication port to being on, the corresponding vehicle system first needs to block the communication port that was originally on, and then perform the current communication port blocking state adjustment.

[0080] In the embodiment of the present application, this rule also applies to the system initialization process. Because in the vehicle-mounted application scenario, the power-on timing of each controller may be different during the test bench or loading stage, which means that the link is temporarily disconnected. Then, after the subsequent vehicle system is powered on, it may cause a broadcast storm. Based on this, system initialization is similar to the subsequent redundant link control, and both require real-time correction of the blocking status.

[0081] Example 3: Based on the system structure of Example 1, the ring network composed of vehicle control system 1, vehicle control system 2 and vehicle control system 3 is taken as an example. If the power-on sequence is vehicle control system 2 → vehicle control system 1 → vehicle control system 3 and the power-on time difference between the three is large, when vehicle control system 2 → vehicle control system 1 is powered on, the vehicle control system 2 detects that the P1 port link is up and the P2 port link is down, then the vehicle control system 2 needs to open the originally blocked P1 to ensure normal communication with the vehicle control system 1 and block the abnormal port P2. Then the vehicle control system 3 is powered on. At this time, the vehicle control system 2 detects that the port P2 link is up. If port P2 is opened immediately, all links in the ring network will be connected, which will cause a broadcast storm. Therefore, this application designs a conventional blocking port. This port is opened according to the switching requirements when the ring network link is abnormal, and enters the blocked state again after the link returns to normal. In the above embodiment, after the vehicle control system 2 detects that the port P2 link is up, it first blocks the conventional blocking port P1, then opens port P2 and sends a link redundancy control protocol to notify the vehicle control system 1 to switch the communication port to port P3.

[0082] In the embodiments of this application, the link detection and communication redundancy control protocols designed in this application solution do not need to be deployed in the switch. During software implementation, both protocols are deployed in the terminal system. The switch provides the terminal system with FDB table flushing and port VLAN control interfaces through the communication channel with the terminal system to control the switch to switch communication links. Therefore, the protocol stack can be flexibly deployed and there are no special requirements for the terminal chip. At the same time, to ensure switching efficiency, the terminal-side redundant switching control software uses a higher-priority interrupt processing method, ensuring that the redundant switching time is less than 50ms.

[0083] In one possible implementation, the software components involved in the redundant control method for heterogeneous on-board ring networks proposed in this application are independent of switch hardware. These components are adaptable to both switch and terminal systems and require no special terminal hardware; the terminal only needs to have control access to the switch. The software components are implemented in C / C++ code and can be deployed and adapted in both SOC and embedded systems.

[0084] FIG9 is a system structure diagram of a redundant control system for a vehicle-mounted ring network heterogeneous system provided by one embodiment of the present application. As shown in FIG9 , the embodiment of the present application provides a redundant control system for a vehicle-mounted ring network heterogeneous system, the system comprising: a status judgment unit for periodically detecting message interaction between any two adjacent vehicle-mounted systems within each ring network, and judging the communication link status of the corresponding two vehicle-mounted systems based on the message interaction result; a triggering unit for triggering a communication redundancy control protocol when the communication link status is abnormal; a rule generation unit for, in response to the communication redundancy control protocol, determining the location information of the two vehicle-mounted systems with abnormal communication links in the vehicle communication topology, and generating a redundant control rule for restoring communication between the two vehicle-mounted systems based on the location information; and an execution unit for executing the redundant control rule to restore communication between the two vehicle-mounted systems by adjusting the blocking status of the communication ports of the relevant vehicle-mounted systems on the new communication link predetermined by the two vehicle-mounted systems; wherein the relevant vehicle-mounted systems are in or out of the same ring network.

[0085] The embodiment of the present application further provides a computer-readable storage medium, which stores instructions, and when the instructions are executed on a computer, enables the computer to execute the above-mentioned redundant control method for the vehicle-mounted ring network heterogeneous system.

[0086] Those skilled in the art will understand that all or part of the steps in the methods for implementing the above embodiments can be completed by instructing the relevant hardware through a program, which is stored in a storage medium and includes a number of instructions for causing a single-chip microcomputer, chip or processor to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program code.

[0087] The optional embodiments of the present application are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present application are not limited to the specific details in the above embodiments. Within the technical concept of the embodiments of the present application, the technical solutions of the embodiments of the present application can be subjected to various simple modifications, and these simple modifications all fall within the scope of protection of the embodiments of the present application. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner unless there is any contradiction. In order to avoid unnecessary repetition, the embodiments of the present application will no longer describe various possible combinations separately.

[0088] In addition, the various embodiments of the present application may be arbitrarily combined, and as long as they do not violate the ideas of the embodiments of the present application, they should also be regarded as the contents disclosed in the embodiments of the present application.

Claims

1. A redundant control method for a vehicle-mounted ring network heterogeneous system, characterized in that: The method comprises: In each ring network, any two adjacent vehicle systems periodically perform detection message interaction, and determine the communication link status of the corresponding two vehicle systems based on the message interaction results; When the communication link status is abnormal, the communication redundancy control protocol is triggered; In response to the communication redundancy control protocol, determining the position information of two vehicle-mounted systems with abnormal communication links in the vehicle communication topology, and generating a redundancy control rule for restoring the communication between the two vehicle-mounted systems based on the position information; The redundant control rule is executed to restore the communication between the two current vehicle computer systems by adjusting the blocking state of the communication ports of the relevant vehicle computer systems on the redundant links of the two current vehicle computer systems; wherein the relevant vehicle computer systems are in or not in the same ring network.

2. The redundant control method of the vehicle-mounted ring network heterogeneous system according to claim 1 is characterized in that: The method further includes: constructing a vehicle communication topology rule, including: Based on the vehicle's electronic and electrical architecture design information, the vehicle ring network system networking topology design is carried out to obtain the initial vehicle communication topology; Identifying key links in the initial vehicle communication topology and using the identified key links as links to be redundant; Identify the vehicle systems at both ends of each critical link one by one, and determine the design information of the redundant link based on the historical communication information between the two identified vehicle systems; Based on the determined design information of redundant links, redundant links are deployed in the initial vehicle communication topology to obtain the vehicle communication topology rules.

3. The redundant control method of the vehicle-mounted ring network heterogeneous system according to claim 2 is characterized in that: The determining of the design information of the redundant link includes: determining the communication performance and the corresponding communication protocol of the redundant link; wherein the determined communication protocol needs to meet the corresponding communication performance requirements; The method further includes: in the process of deploying redundant links, presetting compatibility rules of corresponding communication protocols in each set working scenario.

4. The redundant control method for a vehicle-mounted ring network heterogeneous system according to any one of claims 1 to 3, characterized in that: Any two adjacent vehicle systems periodically perform detection message interaction, and determine the communication link status of the corresponding two vehicle systems based on the message interaction result, including: Based on the preset link detection protocol, two adjacent vehicle systems interact with each other through the link detection messages generated by each of them; Each vehicle system generates a feedback message record based on the number of link detection messages received, and transmits the feedback message record back to the vehicle system at the other end; Each vehicle computer system determines the number of link detection messages sent and the number of feedback message records received based on the preset link detection protocol to determine the current communication link status.

5. The redundant control method of the vehicle-mounted ring network heterogeneous system according to claim 4 is characterized in that: Each vehicle system determines the number of link detection messages sent and the number of feedback message records received based on a preset link detection protocol, and determines the current communication link status, including: When each vehicle computer system acts as a message sender and a message receiver, it determines the number of link detection messages to be sent and the number of feedback message records to be received based on a preset link detection protocol; For the message sender, when the absolute value of the difference between the number of link detection messages sent based on the preset link detection protocol and the number of received feedback messages recorded by the other end vehicle system is greater than or equal to a first preset threshold, it is determined that the first abnormal condition is met; otherwise, it is determined that the first abnormal condition is not met; For the message receiver, when the other end vehicle system determines the link detection message based on the preset link detection protocol, When the absolute value of the difference between the number of transmissions and the number of receptions recorded in the feedback message is greater than or equal to the second preset threshold, it is determined that the second abnormal condition is met; otherwise, it is determined that the second abnormal condition is not met; When both the first abnormal condition and the second abnormal condition are met, it is determined that the current communication link state between the two vehicle systems is abnormal.

6. The redundant control method for a vehicle-mounted ring network heterogeneous system according to any one of claims 1 to 5, characterized in that: In the vehicle communication topology, any two vehicle systems can communicate and interact directly or by using other vehicle systems as relay nodes; The method further includes: performing system initialization, including: Based on the category of the vehicle computer system, independent redundant communication is set up between vehicle computer systems of different categories; Set up independent communication for communication redundancy control protocol triggering; In addition to the independent redundant communication and the independent communication, the communication between other vehicle computer systems is subjected to virtual local area network blocking processing, so that any two vehicle computer systems have only one unique communication link in a normal operating state.

7. The redundant control method for a vehicle-mounted ring network heterogeneous system according to any one of claims 1 to 6, characterized in that: The categories of vehicle computer systems include: vehicle control system and assisted driving system.

8. The redundant control method for a vehicle-mounted ring network heterogeneous system according to any one of claims 1 to 7, characterized in that: The communication redundancy control protocol includes: Protocol type identification, state, sub-state, node identification, link identification and extension fields; The protocol type identifier is used to indicate the protocol type; The state is used to indicate the link state; The sub-state is used to identify whether link switching needs to be performed; The link identifier is used to mark the link number; The extension field is used to indicate additional information of the message.

9. The redundant control method for a vehicle-mounted ring network heterogeneous system according to any one of claims 1 to 8, characterized in that: Before triggering the communication redundancy control protocol, the method further includes: When the communication link status is abnormal, a preset number of frames of communication redundancy control protocol with link abnormality are continuously sent to the corresponding vehicle system, and the communication redundancy control protocol is sent once every predetermined trigger period until the communication redundancy control protocol is triggered.

10. The redundant control method for a vehicle-mounted ring network heterogeneous system according to any one of claims 1 to 9, characterized in that: The generating of a redundant control rule for restoring the communication between the two vehicle systems based on the position information includes: Based on the location information, determining a relay vehicle system on a redundant link between two vehicle systems; Determine the blocking state of each communication port of the relay vehicle system and the current two vehicle systems when the redundant link is turned on, and use the blocking state as the target state of each vehicle system; Based on the target state, the static table of the switch forwarding database and the virtual local area network table of each vehicle system are modified, and the modified static table of the switch forwarding database and the virtual local area network table are used as redundant control rules for the communication between the current two vehicle systems.

11. The redundant control method for a vehicle-mounted ring network heterogeneous system according to any one of claims 1 to 10, characterized in that: The executing the redundancy control rule to adjust the blocking state of the communication ports of the relevant vehicle computer systems on the redundant links of the two vehicle computer systems includes: During the process of adjusting the blocking state of the communication port of the relevant vehicle computer system, at the same time, only one communication port of the same vehicle computer system is in the conducting state, and the other communication ports are in the virtual LAN blocking state; Before the communication port blocking state of a certain communication port needs to be adjusted to be on, the corresponding vehicle computer system blocks the communication port that was originally on, and then performs the current communication port blocking state adjustment.

12. A redundant control system for a vehicle-mounted ring network heterogeneous system, characterized in that: The system comprises: The status judgment unit is used to periodically exchange detection messages between any two adjacent vehicle systems in each ring network. Based on the message interaction results, the communication link status of the two vehicle systems is judged; A trigger unit, used to trigger a communication redundancy control protocol when the communication link state is abnormal; A rule generating unit, configured to determine, in response to the communication redundancy control protocol, the position information of two vehicle-mounted systems with abnormal communication links in the vehicle communication topology, and generate a redundancy control rule for restoring the communication between the two vehicle-mounted systems based on the position information; The execution unit is used to execute the redundant control rule, and realize the communication recovery of the current two vehicle systems by adjusting the blocking state of the communication ports of each related vehicle system on the new communication link scheduled by the current two vehicle systems; wherein each related vehicle system is in or not in the same ring network.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the redundant control method for a vehicle-mounted ring network heterogeneous system as described in any one of claims 1 to 11.

14. A computer program, characterized in that The computer program comprises a program code, and when a computer runs the computer program, the program code executes the method according to any one of claims 1 to 11.

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