Communication method, first node, second node, architecture, vehicle and medium

Abstract

A communication method, a first node, a second node, an architecture, a vehicle, and a medium. The communication method is used for an electronic appliance architecture of a vehicle, and the electronic appliance architecture comprises a second node and a plurality of first nodes, wherein the plurality of first nodes and the second node communicate by means of a bus. The method is applied to a first node i among a plurality of first nodes. The method comprises: receiving a synchronization frame from a second node by means of a bus, wherein the synchronization frame comprises permission indication information, and the permission indication information is configured to indicate that at least one first node has access permission to the bus within a set time range.

Description

Communication method, first node, second node, architecture, vehicle and medium

[0001] This application claims priority to Chinese Patent Application No. 202411026195.7, filed on July 30, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of vehicles, and in particular to a communication method, a first node, a second node, an architecture, a vehicle and a medium. BACKGROUND

[0003] At present, with the development of vehicle intelligence and networking, a large number of cameras, millimeter wave radars, laser radars and audio and video nodes appear in the vehicle network to realize the advanced driving assistance system (ADAS) and entertainment functions in the vehicle. SUMMARY

[0004] The present disclosure provides a communication method, a first node, a second node, an architecture, a vehicle and a medium.

[0005] In a first aspect, a communication method is provided for an electronic and electrical architecture of a vehicle, the electronic and electrical architecture comprising a plurality of first nodes, the electronic and electrical architecture further comprising a second node, the plurality of first nodes and the second node being in communication through a bus, the method being applied to a first node i in the plurality of first nodes. The method comprises: receiving, through the bus, a synchronization frame from the second node, the synchronization frame comprising permission indication information, the permission indication information being used to indicate that at least one first node in the plurality of first nodes has access permission of the bus within a set time range.

[0006] In some embodiments, the permission indication information comprises a node identifier of the at least one first node; the node identifier is used to indicate that the first node corresponding to the node identifier has the access permission within the time range.

[0007] In some embodiments, the method further comprises: if the node identifier of the at least one first node comprises a node identifier i of the first node i, accessing the bus to transmit packet data.

[0008] In some embodiments, the accessing the bus to transmit packet data comprises: accessing the bus to transmit packet data based on a contention mechanism.

[0009] In some embodiments, the plurality of first nodes are divided into a plurality of node groups, and the plurality of node groups includes a first node group. All node identifiers in the permission indication information are node identifiers of first nodes included in the first node group.

[0010] In some embodiments, the synchronization frame further includes permission effective time information, and the permission effective time information is used to indicate the time range.

[0011] In some embodiments, the synchronization frame further includes current time information, and the method further includes: performing time synchronization according to the current time information.

[0012] In some embodiments, the first node i and the second node satisfy at least one of the following: the first node i is at least one of an ECU unit, an actuator, a sensor, a domain controller, and a region controller of the vehicle; or the second node is one of a central computing platform and a domain controller of the vehicle.

[0013] In some embodiments, the bus is an Ethernet bus.

[0014] In a second aspect, a communication method is provided for an electronic appliance architecture of a vehicle, the electronic appliance architecture including a plurality of first nodes, the electronic appliance architecture further including a second node, the plurality of first nodes and the second node being in communication through a bus, the method being applied to the second node, and the method including: transmitting, through the bus, a synchronization frame to the first nodes; the synchronization frame including permission indication information, the permission indication information being used to indicate that at least one first node of the plurality of first nodes has access permission of the bus within a set time range.

[0015] In some embodiments, the permission indication information includes a node identifier of at least one first node; and the node identifier is used to indicate that the first node corresponding to the node identifier has the access permission within the time range.

[0016] In some embodiments, the plurality of first nodes are divided into a plurality of node groups, and the plurality of node groups includes a first node group. All node identifiers in the permission indication information are node identifiers of first nodes included in the first node group.

[0017] In some embodiments, the first node group is determined from the plurality of node groups according to an order of the plurality of node groups in a preset schedule.

[0018] In some embodiments, the synchronization frame further includes permission effective time information, and the permission effective time information is used to indicate the time range.

[0019] In some embodiments, the synchronization frame further comprises current time information, the current time information being used for time synchronization between the first node and the second node.

[0020] In some embodiments, the first node and the second node satisfy at least one of the following: the first node is at least one of an ECU unit, an actuator, a sensor, a domain controller, and a zone controller of the vehicle; or the second node is one of a central computing platform or a domain controller of the vehicle.

[0021] In some embodiments, the bus is an Ethernet bus.

[0022] In a third aspect, a first node is provided, the first node being used in an electronic appliance architecture of a vehicle, the electronic appliance architecture further comprising a bus and a second node, the first node comprising a processing unit and a transceiver unit. The transceiver unit is configured to receive, through the bus, a synchronization frame from the second node, the synchronization frame comprising permission indication information. The processing unit is configured to determine, according to the permission indication information, whether the first node has access permission to the bus within a set time range.

[0023] In a fourth aspect, a second node is provided, the second node being used in an electronic appliance architecture of a vehicle, the electronic appliance architecture further comprising a bus and a plurality of first nodes, the first node comprising a processor connected with a memory. The processor is configured to invoke a computer program stored in the memory to execute the method as described above.

[0024] In a fifth aspect, an electronic appliance architecture of a vehicle is provided, comprising a plurality of first nodes and the second node as described above, the plurality of first nodes and the second node being in communication through the bus.

[0025] In a sixth aspect, a vehicle is provided, the vehicle comprising the electronic appliance architecture as described above.

[0026] In a seventh aspect, a computer readable storage medium is provided, the computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the method as described above.

[0027] In an eighth aspect, a computer program product is provided, comprising a computer program, the computer program being executed by a processor to implement the method as described above.

[0028] The embodiments of the present disclosure have the following advantages:

[0029] In some embodiments of the present disclosure, the electronic appliance architecture includes a plurality of first nodes, and further includes a second node, the plurality of first nodes and the second node communicate through a bus, and a first node i in the plurality of first nodes receives a synchronization frame from the second node through the bus, the synchronization frame includes permission indication information, and the permission indication information is used to indicate that one or more first nodes have access to the bus within a set time range, which realizes application of an integrated bus architecture in a vehicle, improves the performance of the network, and the bus design greatly simplifies the whole vehicle network architecture, avoids complex processes such as protocol conversion, domain control gateway chip forwarding, and Ethernet communication between domain control gateways caused by a heterogeneous network, improves the performance and reliability of the network, is particularly suitable for low or ultra-low configuration vehicles to achieve cost reduction and efficiency improvement, and by pre-judging whether the first node has access to the bus, the bus is allowed to be used for transmitting messages only in the case that the first node has access to the bus, which avoids the network rush problem caused by a large number of modules mounted on the same bus, greatly reduces the bus load rate, and can realize lower frame loss rate and more stable transmission efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the present disclosure, the following will briefly introduce the drawings needed to be used in the description of the present disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without creative labor.

[0031] FIG. 1 is a flowchart of an Ethernet contention mechanism in the related art;

[0032] FIG. 2 is an architecture diagram of an integrated vehicle bus electronic appliance architecture according to some embodiments;

[0033] FIG. 3 is a flowchart of a communication method according to some embodiments;

[0034] FIG. 4 is an architecture diagram of a limited access window time-sharing mechanism and an equivalent bus architecture according to some embodiments;

[0035] FIG. 5 is a schematic diagram of an access window contention mechanism according to some embodiments;

[0036] FIG. 6 is a flowchart of an integrated vehicle bus electronic appliance architecture contention mechanism according to some embodiments;

[0037] FIG. 7 is a flowchart of another communication method according to some embodiments;

[0038] FIG. 8 is a block diagram of a vehicle according to some embodiments. DETAILED DESCRIPTION

[0039] In order to make the above objectives, characteristics and advantages of the present disclosure more obvious and easy to understand, the present disclosure will be further described in detail below in combination with the drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present disclosure.

[0040] In the related art, data transmission in a vehicle is usually performed using a Controller Area Network (CAN) bus. However, through monitoring of actual vehicle network data, the average load of the Controller Area Network bus is generally close to saturation, and network congestion is prone to occur.

[0041] Generally, in order to avoid network congestion of the Controller Area Network bus, the transmission of data in a vehicle is usually implemented through automotive Ethernet technology, such as Gigabit Ethernet, Gigabit Ethernet, or high-speed Ethernet technology using optical fiber as a transmission medium.

[0042] Although Ethernet has improved bandwidth compared to the Controller Area Network bus and the Local Interconnect Network (LIN), the current full-duplex Ethernet uses a point-to-point switch network to transmit data, which has a much higher cost than the bus-type Controller Area Network bus and the Local Interconnect Network.

[0043] Therefore, the current vehicle industry adopts a highly heterogeneous vehicle network architecture scheme, mainly using the Controller Area Network bus and Ethernet, connecting the Local Interconnect Network and various other network protocols through multiple gateways, and connecting different modules to different networks.

[0044] However, in this case, in such a heterogeneous network, each message data in the vehicle must be sent after passing through very complex gateway forwarding and protocol conversion processes, which not only requires multiple domain control gateway chips and consumes a large amount of cost, but also causes high latency and high jitter, which is prone to frame loss and fault alarms. Such a heterogeneous network not only significantly increases the cost, but also significantly reduces the performance and reliability of the network, and has significant safety hazards.

[0045] In actual applications, the bandwidth of traditional vehicle network protocols such as the Controller Area Network bus and the Local Interconnect Network cannot meet the actual needs of vehicle data communication, and only Ethernet can provide sufficient bandwidth, but Ethernet is divided into full-duplex and half-duplex types.

[0046] Full-duplex Ethernet adopts a star topology, and relies on a switch as an intermediary to realize data exchange and forwarding among multiple modules. However, the network performance is greatly restricted by the switch chip. If the performance or quantity of the switch is improved, the cost of the entire vehicle network will be greatly increased, and the wire harness layout, switch position, electromagnetic shielding and other problems will be further affected.

[0047] Although half-duplex Ethernet adopts a bus topology, it does not need a complex and expensive switch architecture. However, half-duplex Ethernet adopts a contention mechanism of carrier sense multiple access with collision detection (CSMA / CD), which belongs to lossy contention. When the number of nodes competing for the use of the bus is large, a large number of transmission collisions will occur, and the message has to undergo a large number of meaningless retransmissions, resulting in significant performance degradation.

[0048] In actual application, the Ethernet contention process is shown in FIG. 1. When a message is generated, it then reaches the sending window, and the bus state is listened to. If the bus is idle, the message is sent. If not, the bus state is continuously listened to. When the message is sent, it is determined whether a collision occurs. If so, the bus state is continuously listened to. If not, the message is transmitted to the end. As can be seen from the figure, the bus state needs to be listened to before each message is sent. Even if the bus is idle, there will be a transmission collision when the message is sent, so the message has to undergo a large number of meaningless retransmissions, resulting in performance degradation.

[0049] Based on this, some embodiments of the present disclosure propose an integrated bus-type electronic and electrical architecture for vehicles, as shown in FIG. 2. In the electronic and electrical architecture, the electronic controllers (ECUs) of each module of the vehicle are mounted on an integrated half-duplex bus-type Ethernet, and are divided into a certain number of groups. The use right of the bus can be divided into multiple time slice access windows according to time. Only the electronic controllers in a specific group can obtain the use right of the bus in a specific time slice, and the system-on-chip (SOC) without the access right to the bus remains waiting.

[0050] Secondly, in a time slice, the messages sent by the electronic controllers with the access right to the bus compete according to the carrier sense multiple access with collision detection access mechanism. When the time slice ends, the electronic controllers in the group stop sending messages, and give the use right of the bus to the electronic controllers in other groups.

[0051] In some embodiments of the present disclosure, although there are many electronic controllers mounted on the same bus, only a few electronic controllers participate in the bus usage right competition at the same time, the competition intensity of the bus is greatly reduced, and the usage time of the bus by each electronic controller can be balanced, the peak value of the number of messages to be transmitted is reduced, thereby solving the problem of too high bus load in the current vehicle-mounted network.

[0052] Some embodiments of the present disclosure propose to use the vehicle gigabit Ethernet technology, which has a typical bandwidth of 1000 Mbps, which is 2000 times (0.5 Mbps) of the controller area network bus, 100000 times (0.02 Mbps) of the serial communication network bus, and 100 times (10 Mbps) of the 10M vehicle Ethernet, so that the shared traffic of the controller area network bus and the serial communication network bus can be realized, and the time delay is only 1 / 20000, 1 / 100000, and 1 / 100 of the above technologies, respectively.

[0053] Compared with the mainstream vehicle-mounted bus technologies such as the non-competitive serial communication network and the 10M vehicle Ethernet commonly used in the related art, in addition to the bandwidth advantage, the larger scale of module sharing and the higher bandwidth utilization can be realized in some embodiments of the present disclosure, and the comprehensive performance advantage is significant.

[0054] In the related art, the reason why the integrated vehicle network cannot be realized is that the competition mechanism used by the related art has a very high transmission collision probability when there are too many modules on the bus, and cannot accommodate a large number of modules on the vehicle platform.

[0055] From the network architecture of the whole vehicle, the vehicle network architecture in the related art adopts the domain controller electronic and electrical architecture, and uses the point-to-point Ethernet as the backbone network communication between different regions, and each module is mainly mounted on the controller area network bus or the serial communication network bus, which is a heterogeneous hybrid network architecture. The typical process of sending messages between modules is as follows:

[0056] 1) The module creates a message and sends it to the first controller area network bus.

[0057] 2) The message is sent to the domain control gateway via the bus.

[0058] 3) The CAN-ETH protocol conversion is realized via the domain control gateway, and the message is forwarded to the Ethernet.

[0059] 4) The message is transmitted to the second domain control gateway via the Ethernet.

[0060] 5) The ETH-CAN reverse protocol conversion is experienced again, and the message is forwarded to the second controller area network bus where the target module is located by the domain control gateway.

[0061] 6) The message is transmitted by the CAN bus of the second section to the target module.

[0062] Obviously, this process is highly complicated and prone to cause frame loss during forwarding.

[0063] However, the integrated network architecture established by some embodiments of the present disclosure can completely omit the protocol conversion and forwarding process, and the typical process of communication between modules can be greatly simplified.

[0064] 1) The module creates a message and waits for the start of the access window time slice.

[0065] 2) The message is sent to the integrated Ethernet bus within the access window time.

[0066] 3) The target module receives the message.

[0067] That is, in the related art, each electronic control unit (ECU) and domain controller communicates using a controller area network (CAN) bus or a serial communication network bus, and each domain controller communicates using a point-to-point Ethernet network. In some embodiments of the present disclosure, a bus-type Ethernet network is used to replace the CAN bus or the serial communication network bus, thereby realizing an integrated network architecture.

[0068] As can be seen, the method used in some embodiments of the present disclosure avoids the complex processes of protocol conversion, domain control gateway chip forwarding, and Ethernet communication between domain control gateways, thereby realizing a significant simplification of the vehicle network architecture, and is particularly suitable for low-cost or ultra-low-cost vehicle models to achieve cost reduction and efficiency improvement.

[0069] Furthermore, in some embodiments of the present disclosure, the technology eliminates the domain control switch chip from the architecture, and the cost is much lower than that of the heterogeneous vehicle network using Ethernet as the backbone and using the CAN bus and serial communication network protocol in the related art. By relying on the limited access window mechanism, some embodiments of the present disclosure avoid the network congestion problem caused by a large number of modules mounted on the same bus, greatly reduce the number of modules competing for the bus and the bus load rate, and can achieve a lower frame loss rate and more stable transmission efficiency.

[0070] Some embodiments of the present disclosure are further described below with reference to the accompanying drawings.

[0071] Referring to FIG. 3, the communication method is used in an electronic and electrical architecture of a vehicle, the electronic and electrical architecture includes a plurality of first nodes, and the electronic and electrical architecture further includes a second node, the plurality of first nodes and the second node communicate through a bus, and the method is applied to a first node i in the plurality of first nodes. The first node i is any node in the plurality of first nodes.

[0072] In some embodiments, the first node i is a first node requiring transmission of a packet in an electronic architecture of a vehicle, and i is a positive integer greater than or equal to 1.

[0073] In some embodiments, the electronic architecture of the vehicle can be pre-built, such as a central computing platform, a vehicle body, energy, a chassis, a cabin, and a large number of intelligent sensors of an auxiliary driving system.

[0074] As shown in FIG. 2, a system on chip (SOC) represents a main chip of the central computing platform as a second node, each ECU (electronic controller) is a corresponding intelligent sensor distributed in each region of the vehicle as a first node, and the total number of electronic controllers is n; each electronic controller is connected to the central computing platform through a bus type Ethernet to realize communication transmission between the intelligent sensor and the actuator and the central computing and control platform.

[0075] For example, the second node and the first node are in a master-slave relationship on the bus; the second node exists as a master node in the bus structure, and the remaining first nodes exist as slave nodes; the master node second node has the right to compete for the bus and send data at any time, and has the highest priority.

[0076] In some embodiments of the present disclosure, the first node i and the second node satisfy at least one of the following: the first node i is at least one of an ECU unit, an actuator, a sensor, a domain controller, and a region controller of the vehicle, or the second node is a central computing platform or a domain controller of the vehicle.

[0077] In some embodiments, the first node can be an electronic controller (ECU) unit corresponding to a sensor or an actuator in the vehicle, such as an actuator ECU unit for controlling the power system (such as engine stop or start), controlling the airbag, controlling the brake, and the like.

[0078] In actual applications, the central computing platform in the vehicle can be connected to the bus as a second node and a plurality of first nodes, for example, the second node is a controller corresponding to the computing or control platform in the vehicle.

[0079] In some embodiments of the present disclosure, the bus is an Ethernet bus.

[0080] In some embodiments, the bus can be an Ethernet bus, or a controller area network (CAN) bus or a local interconnect network (LIN) bus.

[0081] In some embodiments, the method can include the following step S301.

[0082] In step 301, a synchronization frame is received from the second node through the bus, and the synchronization frame includes permission indication information. The permission indication information is used to indicate that at least one of the first nodes has access permission of the bus within a set time range.

[0083] In actual application, the first node can receive the synchronization frame sent by the second node through the bus, and the synchronization frame carries the permission indication information used to indicate that at least one of the first nodes has access permission of the bus within a set time range. The first node having the access permission of the bus can transmit a message through the bus.

[0084] In some embodiments, after the integrated bus-type electronic and electrical architecture for vehicles is built, the second node can send a synchronization frame to all the first nodes through the bus. The synchronization frame can be used to indicate whether a certain first node has access permission of the bus. After receiving the synchronization frame through the bus, the first node can determine whether it has permission to transmit a message according to the permission indication information carried in the synchronization frame.

[0085] In some embodiments of the present disclosure, the permission indication information includes a node identifier of at least one of the first nodes; and the node identifier is used to indicate that the first node corresponding to the node identifier has the access permission within the time range.

[0086] In some embodiments, the node identifier of the first node can be a code or a name of the first node, which is not limited in the present disclosure and can be set according to actual needs by those skilled in the art.

[0087] In actual application, the synchronization frame sent by the second node can carry multiple first node identifiers, so that the multiple first nodes can determine whether there is a node identifier of itself in the received synchronization frame to determine whether the first node has access permission of the bus. If yes, the first node transmits a message through the bus. If no, the first node waits for the next synchronization frame sent by the second node until the synchronization frame sent by the second node carries the node identifier of the first node, and then the first node transmits a message through the bus.

[0088] In some embodiments, the bus is connected with three first nodes, namely ECU1, ECU2 and ECU3. The identifier of ECU1 is 1001, the identifier of ECU2 is 1002, and the identifier of ECU3 is 1003. The second node sends a synchronization frame to the three first nodes. After receiving the synchronization frame, the three first nodes determine whether the synchronization frame carries a node identifier of itself. If yes, it means that the first node has access permission of the bus. If no, the first node waits for the next synchronization frame sent by the second node until the synchronization frame sent by the second node carries the node identifier of the first node, and then the first node transmits a message through the bus.

[0089] In some embodiments, the second node sends a synchronization frame to three first nodes and carries a plurality of node identifiers 1001, 1002, at this time, after receiving the synchronization frame, the ECU1 and the ECU2 determine that they have the bus access right according to the plurality of node identifiers, if the ECU1 and the ECU2 have messages to be transmitted at this time, the messages can be transmitted through the bus; and the ECU3 does not find its own node identifier 1003 in the synchronization frame received this time, and waits for the next synchronization frame sent by the second node, until it receives the synchronization frame sent by the second node carrying its own node identifier, and then transmits the message through the bus.

[0090] In some embodiments of the present disclosure, the method further comprises: if the node identifier of the at least one first node includes the node identifier i of the first node i, accessing the bus to transmit message data.

[0091] In some embodiments, after receiving the synchronization frame, the at least one first node can determine whether it has the bus access right according to whether the plurality of first node identifiers carried in the synchronization frame this time include its own identifier, and determine whether its time is in the time period of the bus access right according to the validity time information carried, if both are satisfied, the message can be transmitted through the bus in the vehicle, if not, stop transmitting the message immediately.

[0092] In some embodiments, in the case that a certain first node i has the bus access right, it can listen to the bus state of the bus in the vehicle, such as the bus state being idle, congested, etc.; when the bus state of the bus is idle, the first node i can transmit the message to other first nodes or second nodes through the bus.

[0093] In some embodiments of the present disclosure, the accessing the bus to transmit message data comprises: accessing the bus to transmit message data based on a contention mechanism.

[0094] In some embodiments, in the case that a certain first node has the access right, since the node group corresponding to the first node can have a plurality of first nodes, if a plurality of first nodes in the node group need to send messages at this time, the plurality of first nodes can access the bus to transmit message data based on a contention mechanism.

[0095] In some embodiments of the present disclosure, the plurality of first nodes are divided into a plurality of node groups, and all the node identifiers in the right indication information are node identifiers of the first nodes included in the first node group.

[0096] In some embodiments, the plurality of node groups can be obtained by grouping the plurality of first nodes according to their functions before the integrated bus-based electronic and electrical architecture for vehicles is built, or the plurality of node groups can be obtained by grouping randomly, and the present disclosure does not limit this. Those skilled in the art can group according to actual conditions.

[0097] As shown in FIG. 2, the total number of ECUs (first nodes) can be n, and all the ECUs are evenly divided into k groups, so that each group contains n / k ECUs. In the time period of a synchronization frame, only the ECUs in one group can obtain bus access permission. For example, ECU1, ECU5, and ECUn can be in the same node group, and ECU2, ECU3, and ECX can be in the same node group.

[0098] In some embodiments, the second node can determine a node group as a target node group to grant bus access permission in the plurality of node groups, obtain the identities of the plurality of first nodes in the target node group, generate a synchronization frame carrying the identities of the first nodes in the target node group, and send the synchronization frame to all the first nodes connected to the bus, so that all the first nodes connected to the bus determine whether they have bus access permission through the synchronization frame.

[0099] In some embodiments, the target node group is determined by the second node by polling or selection from the plurality of node groups. For example, if there are three node groups A1, B2, and C3, the second node can use the polling method to sequentially select A1, B2, and C3 as the target node group in a certain time period. Alternatively, the second node can select a node group as the target node group in a certain time period.

[0100] In practical applications, since there are a plurality of first nodes in the Ethernet bus, if a plurality of first nodes need to send messages, a large number of sending collisions will occur when using the contention mechanism of carrier sense multiple access / collision detection (CSMA / CD) to compete for Ethernet bus access permission, which makes the messages have to undergo a large number of meaningless retransmissions. Therefore, the establishment of node groups can be used to compete for Ethernet bus access permission by CSMA / CD, which can avoid the problem of a large number of first nodes in the traditional bus-based Ethernet competing for the bus at the same time.

[0101] In some embodiments, after the plurality of node groups are pre-grouped, the second node can determine the target node group in a sequential polling manner; for example, if the plurality of first nodes are divided into three groups A, B and C, the second node can establish an access window and send a synchronization frame to all the first nodes, and carry the identifiers of the plurality of first nodes in the A node group in the synchronization frame, so as to grant the plurality of first nodes in the A node group the bus access right through the plurality of first node identifiers. Since the identifiers of the first nodes in the BC two node groups are not carried in this synchronization frame, the BC two node groups have no bus access right.

[0102] For example, the second node can also change the polling order to adjust the order of the bus access right of the node groups.

[0103] In some embodiments of the present disclosure, the synchronization frame further comprises right effective time information, which is used to indicate the time range.

[0104] In some embodiments, the second node can also establish an access window before sending the synchronization frame. When the access window is established, the start and end times of the access window can be set as the access window time information, and the access window time information can be sent to the target node group as the bus access right effective time information of a certain node group together with the synchronization frame.

[0105] As shown in FIG. 4, the second node pre-establishes five access windows, sets the start and end times of the access windows as the access window time information, and sends the access window time information as the bus access right effective time information of a certain node group. In the start of an access window, only one group of ECUs can compete for the bus access right, so the bus of the whole vehicle can be equivalent to the architecture composed of the SOCs and the ECUs in the control group, i.e., the equivalent node number of the bus is n / k+1, and the architecture of the bus is greatly simplified.

[0106] Obviously, for all time points, the total number of nodes that have the right to compete for the bus to send data in this instant (time range) is the same n / k+1; where K is the number of controller groups, and n is the total number of ECUs (first nodes).

[0107] In some embodiments, after receiving the synchronization frame, the first node can determine whether it has the bus access right according to whether the identifier of the first node is contained in the plurality of first node identifiers carried in the synchronization frame, and determine whether its time is in the time range in which the bus access right is effective according to the right effective time information carried in the synchronization frame. If both conditions are met, the first node can transmit the message through the bus of the vehicle; if not, the first node can immediately stop transmitting the message.

[0108] As shown in FIG. 5, the first nodes ECU2 and ECU3 are in the same group, and after the first synchronization frame is sent, the group to which the ECU2 and ECU3 belong obtains the bus access right; while the first node ECU1 is in another group and has to wait in this period of time; secondly, in the first access window, even if the ECU2 and ECU3 have no data to send, the bus is in an idle state, and the data packet of the ECU1 cannot be sent, and when the next access window starts, the data packet can be sent only after the ECU1 obtains the bus access right.

[0109] In some embodiments, a scheduling table can also be configured in the second node in advance, which can include the start and end time of each access window as the access window time information, and the access window time information as the bus access right validity time information of a target node group; the ordering mode of the plurality of node groups as the target node group and the plurality of first node identifiers.

[0110] In some embodiments, the second node can generate an access window according to the pre-configured scheduling table, set the access window time information according to the scheduling table, and then determine the target node group from the plurality of node groups in the order in the pre-configured scheduling table, and take the access window time information as the bus access right validity time information of the target node group.

[0111] In some embodiments, the access window time information of each access window includes the start and end time, and the time range of the target node group right validity time corresponds thereto; after the second node determines that the time range indicated by the right validity time information ends according to the built-in master clock, the second node can determine a new target node group according to the order of the node groups in the scheduling table, establish a new access window, and then find the identifiers of the first nodes included in the new target node group from the scheduling table, generate a new synchronization frame carrying the identifiers of the first nodes included in the new target node group and send it to all the first nodes connected to the bus.

[0112] In some embodiments, the second node can first establish an access window according to the scheduling table, and then determine a target node group; or the second node can first determine a target node group according to the scheduling table, and then establish an access window; the order of the two is not limited by the present disclosure.

[0113] In some embodiments of the present disclosure, the synchronization frame further includes current time information, and the method further includes performing time synchronization according to the current time information.

[0114] In some embodiments, a precise master clock can be pre-installed in the second node, and a slave clock can be pre-installed in each of the plurality of first nodes. The master clock time (current time information) is sent to all first nodes connected to the bus through a synchronization frame, and all first nodes synchronize the slave clock with the current time information carried in the synchronization frame to achieve precise time synchronization between the second node and each first node.

[0115] In actual application, when the first node receives the synchronization frame, the internal clock of the first node can be adjusted according to the current time information carried in the synchronization frame to keep consistent with the time of the synchronization frame.

[0116] In some embodiments of the present disclosure, an electronic appliance architecture includes a plurality of first nodes, and the electronic appliance architecture further includes a second node. The plurality of first nodes and the second node communicate through a bus. A first node i in the plurality of first nodes receives a synchronization frame from the second node through the bus.

[0117] The synchronization frame includes permission indication information, and the permission indication information is used to indicate that at least one first node has access permission of the bus within a set time range, so as to realize the application of an integrated bus architecture in a vehicle, improve the performance of the network, and greatly simplify the whole vehicle network architecture through the bus design. The complex processes such as protocol conversion, domain control gateway chip forwarding, and Ethernet communication between domain control gateways caused by heterogeneous networks are avoided, the performance and reliability of the network are improved, and the technology is particularly suitable for low or ultra-low configuration vehicles to achieve cost reduction and efficiency improvement. In addition, by pre-judging whether the first node has the bus access permission, the bus is allowed to be used for transmitting a message only in the case that the first node has the bus access permission, so as to avoid the network congestion problem caused by a large number of modules mounted on the same bus, greatly reduce the bus load rate, and realize lower frame loss rate and more stable transmission efficiency.

[0118] The flow of the competition mechanism of the electronic appliance architecture in some embodiments of the present disclosure is described below in combination with FIG. 6.

[0119] Step S1, message generation.

[0120] In some embodiments, a plurality of first nodes connected by a vehicle bus can generate corresponding messages according to actual application processes. The first node after generating the message is a target first node. The message can be a message that the target first node needs to send to the second node, or a message that the target first node needs to send to another node.

[0121] Step S2, whether to have access permission of the bus. If yes, go to the access window (step S2-1), otherwise, wait for the next access window (step S2-2).

[0122] In some embodiments, the first nodes can be grouped into at least one node group according to their functions after the electronic architecture of the vehicle is set up, or the grouping can be random, and the present disclosure does not limit this, and those skilled in the art can group according to actual conditions.

[0123] A schedule table is configured in the second node in advance, which can include the start and end time of each access window as access window time information, and the access window time information as the bus access permission effective time information of a target node group; the ordering mode of the plurality of node groups as the target node group and the plurality of first node identifiers.

[0124] The second node can generate an access window according to the schedule table, configure the access window time information, then determine the target node group from the plurality of node groups according to the order of the plurality of node groups in the preset schedule table, and take the access window time information as the bus access permission effective time information of the target node group, and then find the identifier of the first node contained in the target node group through the schedule table, generate a synchronization frame carrying the identifier of the first node contained in the target node group and send it to all first nodes connected to the bus.

[0125] The target first node can determine whether it has the right to access the bus according to the received synchronization frame and the carried information, if yes, it reaches the access window and prepares to send a message; if not, it waits for the next synchronization frame sent by the second node and the newly generated access window.

[0126] In some embodiments, the schedule table contains the identifiers of the first nodes that can access the bus in each access window, and the schedule table can be in time steps T, T being the time segment length of an access window; the second node sends a synchronization frame to all first nodes once every time step T, and the process is repeated; the synchronization frame contains the following information: the current accurate time of the master clock, the accurate time of the end of the current access window, and all first nodes that have the access right to the bus in the current access window.

[0127] When the first node receives the synchronization frame, it adjusts the internal clock to be consistent with the time of the synchronization frame, and determines whether it has the access right to the bus in the next access window, if not, the first node immediately stops sending data; for example, even if the first node has no access right to the bus in the access window, it is still connected to the bus, and the first node receiving the bus message is not limited by the access window.

[0128] Step S3, listen to the bus state, determine whether the bus is idle (step S3-1), if yes, send a message (step S3-2), if not, continue to listen to the bus state.

[0129] The target first node can listen to the bus state of the bus in the vehicle when having the bus access right, such as the bus state being idle, congested, and the like; when the bus state is idle, the target first node can transmit the target message to other first nodes or second nodes through the bus; when the bus state is congested, the message transmission is stopped, and the bus state is continuously listened to.

[0130] In step S4, it is determined whether a conflict occurs when the message is transmitted. If yes, the process returns to step S3; otherwise, the message is transmitted to the end (step S4-1).

[0131] Since the second node gives the bus access right to all the first nodes in the target node group, when there are multiple target first nodes in a target node group that need to transmit messages, since the multiple target first nodes in the group have the right, a competition mechanism between groups is generated. When the target first nodes in the group determine that a conflict occurs when the message is transmitted, the target first nodes can determine whether to return according to the priority of the message transmitted by the target first nodes. The target first nodes with low message priority can choose to end the transmission and continue to listen to the bus state. The target first nodes with high message priority can transmit the message to the end after the transmission of the target first nodes with low message priority is completed, or after the target first nodes with high message priority transmit the message again and no conflict occurs.

[0132] According to some embodiments of the present disclosure, the target first node determines whether to have the bus access right before each message is transmitted, so that the rush problem caused by a large amount of data simultaneously competing for the bus in the traditional bus type Ethernet can be avoided.

[0133] Some embodiments of the present disclosure also provide another communication method for an electronic and electrical architecture of a vehicle, the electronic and electrical architecture including a plurality of first nodes, the electronic and electrical architecture further including a second node, the plurality of first nodes and the second node communicating through a bus, the method being applied to the second node.

[0134] In some embodiments, an integrated bus type electronic and electrical architecture for vehicles can be built in advance, such as a central computing platform, a vehicle body, energy, a chassis, a cabin, and a large number of intelligent sensor components of an auxiliary driving system.

[0135] As shown in FIG. 2, the SOC (system on chip) represents the main chip of the central computing platform as a second node, and each ECU (electronic controller) represents the intelligent sensor corresponding to each region in the vehicle as a first node, and the total number of electronic controllers is n; each electronic controller is connected to the central computing platform through a bus-type Ethernet to realize the communication transmission between the intelligent sensor and the actuator and the central computing and control platform; for example, the second node and the first node have a master-slave relationship on the bus; the second node exists as a master node in the bus structure, and the remaining first nodes exist as slave nodes; the master node second node has the right to compete for the bus and send data at any time, and has the highest priority.

[0136] In some embodiments of the present disclosure, the bus is an Ethernet bus.

[0137] In some embodiments, the bus can be an Ethernet bus, or a Controller Area Network (CAN) bus or a Local Interconnect Network (LIN) bus.

[0138] In some embodiments of the present disclosure, the first node is at least one of an ECU unit, an actuator, a sensor, a domain controller, and a region controller of the vehicle, and the second node is a central computing platform or a domain controller of the vehicle.

[0139] In some embodiments, the first node can be an electronic controller (ECU) unit corresponding to a sensor or an actuator in the vehicle, such as an actuator ECU unit for controlling the power system (such as engine stop or start), airbag, brake, etc.

[0140] In actual applications, the central computing platform in the vehicle can be connected to the bus as a second node and a plurality of first nodes, for example, the first node is an ECU unit corresponding to a sensor or an actuator in the vehicle, and the second node is a controller corresponding to a computing or control platform in the vehicle.

[0141] In some embodiments, as shown in FIG. 7, the following steps can be included:

[0142] Step 701, transmitting a synchronization frame to the first node through the bus; the synchronization frame includes permission indication information, and the permission indication information is used to indicate that at least one of the plurality of first nodes has access to the bus within a set time range.

[0143] In some embodiments, after the integrated bus-based electronic and electrical architecture for vehicles is built, the second node can send a synchronization frame to all the first nodes through the bus, and the synchronization frame can be used to indicate whether a certain first node has access to the bus. After receiving the synchronization frame through the bus, the plurality of first nodes can determine whether they have the right to send messages according to the permission indication information carried in the synchronization frame.

[0144] In actual applications, the plurality of first nodes can receive the synchronization frame sent by the second node through the bus, and the permission indication information carried in the synchronization frame is used to indicate that at least one first node has access to the bus within a set time range, and the first node with access to the bus can transmit messages through the bus.

[0145] In some embodiments of the present disclosure, the permission indication information includes the node identifier of the at least one first node; and the node identifier is used to indicate that the first node corresponding to the node identifier has the access right within the time range.

[0146] In some embodiments, the node identifier of the first node can be the code or name of the first node, and the present disclosure does not make any limitation thereon, and those skilled in the art can set it according to actual needs.

[0147] In actual applications, the synchronization frame sent by the second node can carry a plurality of first node identifiers, so that the first node can determine whether there is its own node identifier in the received synchronization frame to determine whether it has access to the bus. If yes, it transmits messages through the bus, and if no, it waits for the next synchronization frame sent by the second node until it receives the synchronization frame sent by the second node carrying its own node identifier, and then transmits messages through the bus.

[0148] In some embodiments, the bus is connected with three first nodes, namely ECU1, ECU2 and ECU3; the identifier of ECU1 is 1001, the identifier of ECU2 is 1002, and the identifier of ECU3 is 1003; the second node sends a synchronization frame to the three first nodes, and after receiving the synchronization frame, the three first nodes determine whether the first node identifier carried in the synchronization frame includes its own node identifier. If yes, it means that the first node has access to the bus, and if no, it waits for the next synchronization frame sent by the second node until it receives the synchronization frame sent by the second node carrying its own node identifier, and then transmits messages through the bus.

[0149] In some embodiments, the second node sends a synchronization frame to the three first nodes and carries the plurality of node identifiers 1001, 1002, at this time, after receiving the synchronization frame, the ECU1 and the ECU2 determine that they have the bus access right according to the plurality of node identifiers, if the ECU1 and the ECU2 have messages to be transmitted at this time, the messages can be transmitted through the bus; and the ECU3 does not find its own node identifier 1003 in the synchronization frame received this time, and waits for the next synchronization frame sent by the second node, until the synchronization frame sent by the second node carries its own node identifier, and then transmits the message through the bus.

[0150] In some embodiments of the present disclosure, the plurality of first nodes are divided into a plurality of node groups, and all the node identifiers in the permission indication information are node identifiers of the first nodes included in the first node group.

[0151] In some embodiments, after the integrated bus-type electronic and electrical architecture for vehicles is built, the plurality of first nodes can be grouped according to their functions to obtain the plurality of first node groups, or the plurality of first node groups can be obtained by random grouping, which is not limited in the present disclosure, and the grouping can be performed according to the actual situation by those skilled in the art.

[0152] As shown in FIG. 2, the total number of ECUs (first nodes) can be n, all the ECUs are evenly divided into k groups, so that each group contains n / k ECUs, and only the ECUs in one group can obtain the bus access right in the time period of a synchronization frame; for example, the ECU1, the ECU5 and the ECUUn are in the same node group, and the ECU2, the ECU3 and the ECUx are in the same node group.

[0153] In some embodiments, the second node can determine a node group as a target first node group to give the bus access right in the plurality of first node groups, then obtain the identifiers of the plurality of first nodes in the target first node group, generate a synchronization frame carrying the identifiers of the first nodes included in the target first node group and send it to all the first nodes connected by the bus, so that all the first nodes connected by the bus determine whether they have the bus access right through the synchronization frame.

[0154] In some embodiments, the target first node group is determined by the second node according to the plurality of first node groups in a polling or selected manner; for example, there are A1, B2 and C3 three first node groups, the second node can use the polling manner to sequentially select A1, B2 and C3 three first node groups as the target first node group in a certain time period; or select a first node group as the target first node group in a certain time period.

[0155] In actual application, since there are multiple first nodes in the bus, if multiple first nodes all need to send messages, a large number of sending collisions will occur when a carrier sense multiple access with collision detection (CSMA / CD) contention mechanism is used to contend for the access right of the Ethernet bus, so that the messages have to undergo a large number of meaningless retransmissions; therefore, the CSMA / CD contention for the access right of the Ethernet bus can be performed by establishing node groups, so as to avoid the rush problem caused by the simultaneous contention of a large number of first nodes in the traditional bus-type Ethernet.

[0156] In some embodiments, after the multiple first node groups are pre-grouped, the second node can determine the target first node group in a polling manner; for example, if the multiple first nodes are divided into three groups A, B and C, the second node can establish an access window and send a synchronization frame to all the first nodes, and carry the identifiers of the multiple first nodes in the A node group, so as to give the multiple first nodes in the A node group the bus access right through the multiple first node identifiers; since the identifiers of the first nodes in the BC two node groups are not carried in this synchronization frame, the two node groups BC have no bus access right; for example, the second node can also change the polling order to adjust the order of the bus access right of the first node groups.

[0157] In actual application, the target first node group is determined by the second node according to the polling or selection of the multiple first node groups; for example, if there are three first node groups A1, B2 and C3, the second node can poll the three first node groups A1, B2 and C3 in turn as the target first node group in a certain time period; or select a certain first node group as the target first node group in a certain time period.

[0158] In some embodiments of the present disclosure, the first node group is determined from the multiple node groups according to the order of the multiple node groups in the preset schedule table.

[0159] In some embodiments, a schedule table can be pre-configured in the second node, the schedule table can include: the start and end time of each access window as access window time information, and the access window time information as the bus access right validity time information of a certain target first node group; the ordering manner of the multiple first node groups as the target first node group and the multiple first node identifiers.

[0160] In actual application, the second node can generate an access window according to the pre-configured schedule table, set the access window time information according to the schedule table, and then determine the target first node group from the multiple first node groups in turn according to the order of the multiple first node groups in the preset schedule table, and take the access window time information as the bus access right validity time information of the target first node group.

[0161] In some embodiments, the second node can first establish an access window according to the schedule table, and then determine the target first node group; or the second node can first determine the target first node group according to the schedule table, and then establish an access window; the order of the two is not limited by the present disclosure.

[0162] In some embodiments of the present disclosure, the synchronization frame further comprises permission effective time information, which is used to indicate the time range.

[0163] In some embodiments, before sending the synchronization frame, the second node can further establish an access window, and when establishing the access window, the start and end times of the access window can be set as the access window time information, and the access window time information can be sent to the target first node group as the bus access permission effective time information of a certain first node group together with the synchronization frame.

[0164] As shown in FIG. 4, the second node has previously established five access windows, and set the start and end times of the access windows as the access window time information, and sent the access window time information as the bus access permission effective time information of a certain first node group. In the start of an access window, since only the ECUs in one group can compete for the bus access right, the bus of the whole vehicle can be equivalent to the architecture composed of the SOC and the ECUs in the control group, i.e. the equivalent node number of the bus is n / k+1, and the architecture of the bus is greatly simplified. Obviously, for all time points, the total number of nodes that have the right to compete for the bus to send data at this moment (in the time range) is the same n / k+1. Wherein, K is the number of controller groups, and n is the total number of ECUs (first nodes).

[0165] In some embodiments, after receiving the synchronization frame, the first node can determine whether it has the bus access right according to whether the identifier of the first node is contained in the multiple first node identifiers carried by the synchronization frame, and determine whether the time of the first node is in the time range of the bus access right according to the permission effective time information carried by the synchronization frame. If both are satisfied, the first node can transmit the message through the bus of the vehicle, and if not, the first node can immediately stop transmitting the message.

[0166] As shown in FIG. 5, the first nodes ECU2 and ECU3 are in the same group, and after the first synchronization frame is sent, the group to which ECU2 and ECU3 belong obtains the bus access right; while the first node ECU1 is in another group, and must wait in this time period. Secondly, in the first access window, even if ECU2 and ECU3 have no data to send, the bus is in an idle state, and the data packet of ECU1 cannot be sent. When the next access window starts, the data packet of ECU1 can be sent only after ECU1 obtains the bus access right.

[0167] In some embodiments, the second node can also be pre-configured with a schedule table, which can include the start and end time of each access window as the access window time information, and the access window time information as the bus access permission effective time information of a target first node group; the order of the plurality of first node groups as the target first node group; and the plurality of first node identifiers.

[0168] In some embodiments, the second node can generate an access window according to the pre-configured schedule table, set the access window time information according to the schedule table, and then determine the target first node group in order from the plurality of first node groups in the pre-set schedule table, and take the access window time information as the bus access permission effective time information of the target first node group.

[0169] In some embodiments, the access window time information of each access window includes the start and end time, and the time range of the target first node group permission effective time corresponds thereto; after the second node determines that the time range indicated by the permission effective time information ends according to the built-in master clock, it can determine a new target first node group according to the order of the first node groups in the schedule table, establish a new access window, find the identifiers of the first nodes included in the new target first node group through the schedule table, generate a new synchronization frame carrying the identifiers of the first nodes included in the new target first node group, and send it to all first nodes connected to the bus.

[0170] In some embodiments, the second node can establish an access window according to the schedule table first, and then determine the target first node group; or it can determine the target first node group according to the schedule table first, and then establish an access window; the order of the two is not limited by the present disclosure.

[0171] In some embodiments, the access window time information of each access window includes the start and end time, and the time range of the target first node group permission effective time corresponds thereto; after the second node determines that the time range indicated by the permission effective time information ends according to the built-in master clock, it can determine a new target first node group according to the order of the first node groups in the schedule table, establish a new access window, find the identifiers of the first nodes included in the new target first node group through the schedule table, generate a new synchronization frame carrying the identifiers of the first nodes included in the new target first node group, and send it to all first nodes connected to the bus.

[0172] In some embodiments of the present disclosure, the synchronization frame further includes current time information, which is used for time synchronization between the first node and the second node.

[0173] In some embodiments, a precise master clock can be pre-installed in the second node and a slave clock can be pre-installed in the first node, respectively, the second node sends the master clock time (current time information) to all the first nodes through the synchronization frame, and the first node synchronizes the slave clock according to the current time information carried in the synchronization frame, so as to realize the precise time synchronization between the second node and the first nodes.

[0174] In actual application, when the first node receives the synchronization frame, the internal clock of the first node can be adjusted according to the current time information carried in the synchronization frame for time synchronization, so as to keep consistent with the time of the synchronization frame.

[0175] In some embodiments of the present disclosure, an electronic and electrical architecture for a vehicle includes a plurality of first nodes and a second node, the plurality of first nodes and the second node communicate through a bus, and the second node is configured to transmit a synchronization frame to the first nodes through the bus.

[0176] The synchronization frame includes permission indication information, the permission indication information is used to indicate that at least one first node has access permission of the bus within a set time range, so as to realize the application of an integrated bus architecture in the vehicle, improve the performance of the network, and the bus design greatly simplifies the whole vehicle network architecture, avoids the complex processes such as protocol conversion, domain control gateway chip forwarding, and Ethernet communication between domain control gateways caused by heterogeneous networks, improves the performance and reliability of the network, and is particularly suitable for low or ultra-low configuration vehicles to achieve cost reduction and efficiency improvement. In addition, by pre-judging whether the first node has the bus access permission, the bus is allowed to be used for transmitting messages only in the case that the first node has the bus access permission, so as to avoid the network congestion problem caused by a large number of modules mounted on the same bus, greatly reduce the bus load rate, and realize lower frame loss rate and more stable transmission efficiency.

[0177] The following exemplary describes some embodiments of the present disclosure in combination with the above content.

[0178] It is assumed that the probability of an ECUi sending a data packet at an instant is pi (0≤pi≤100%), and for the sake of simplifying the calculation, it is assumed that all pi are approximately equal to p, so the probability Pc of the collision of the bus sending data based on some embodiments of the present disclosure can be quantitatively calculated as follows:

[0179] Wherein, n is the total number of ECUs, and K is the number of controller groups.

[0180] Similarly, the collision probability P’c of the traditional bus type Ethernet network not using some embodiments of the present disclosure can be calculated as follows:

[0181] It can be known from the comparison between the above formula 1 and formula 2 that: P c<< P' c (Formula 3)

[0182] From Formula 3, due to the characteristics of the technology of some embodiments of the present disclosure, the probability of time delay caused by packet collision is very small and can be ignored; at the same time, due to the adoption of the larger bandwidth of the Gigabit Ethernet by some embodiments of the present disclosure, the link transmission time delay of each packet is only 1 / 20000 of the controller area network bus.

[0183] Therefore, in the technology of some embodiments, the time delay of a packet is approximately equal to the window waiting time delay D, and the maximum value of D is Dmax; according to the logical characteristics of the technology, the maximum time delay occurs when a packet is generated at the end of the access window of the ECU, and it is forced to wait for the arrival of the next access window; therefore, Dmax can be calculated by the following formula: D max = (k-1)T (Formula 4)

[0184] As for the vehicle network, most of the packets are periodic short frames, and the maximum value of the acceptable time delay Dmax of such packets must be less than the minimum period Tmin of the packets; in actual vehicle networks, the minimum period of the packets is about 10ms, so the value of T can be set to 1ms and the value of k can be set to 10 as typical values; based on the typical values of the above assumptions, the performance improvement effect of the technology on the overall network can be quantitatively analyzed, so we have:

[0185] Therefore, in some embodiments of the present disclosure, the maximum time delay can meet the maximum time delay limit of the vehicle network packets; and in actual application scenarios, Dmax only occurs in very special cases, and D is much smaller than Dmax in general cases, so some embodiments of the present disclosure have sufficient feasibility in terms of time delay.

[0186] Under the same setting, assuming that a certain vehicle model has a total of 50 ECUs, and the average probability of sending data packets at a moment is about p=0.5%, according to Formula 1 and Formula 2, we have Pc=2.9% and P’c=22.5%; therefore, after applying the scheme of some embodiments of the present disclosure, the probability of packet collision is only 12% of the original; it can be seen that the problem of sending packet collision can be solved based on the scheme of some embodiments of the present disclosure.

[0187] In summary, the new access mechanism proposed by the invention can solve the problem of packet sending collision caused by the large number of ECUs in the vehicle network when the bus type Ethernet is applied to the vehicle network. Therefore, the new access mechanism proposed by some embodiments of the present disclosure makes it possible to apply the bus type Ethernet to the vehicle environment. While improving the performance and reliability of the vehicle network, it can also greatly reduce the cost and complexity of the vehicle network, and realize the integrated network architecture of the vehicle.

[0188] It should be noted that, for the method embodiments, the methods can be described in terms of a series of operations or steps, but those skilled in the art should understand that the embodiments of the present disclosure are not limited by the order of the described operations or steps and are not necessarily performed in the order of the described operations or steps. Furthermore, those skilled in the art should understand that the described operations or steps can be performed at the same time or in different orders. In addition, those skilled in the art should understand that the embodiments described in the specification are preferred embodiments, and the operations involved are not necessarily required by the embodiments of the present disclosure.

[0189] Some embodiments of the present disclosure also provide a first node, as shown in FIG. 8, the first node 210 is used in an electronic and electrical architecture 200 of a vehicle, the electronic and electrical architecture 200 further includes a bus 230 and a second node 220, the first node 210 includes a processing unit 211 and a transceiver unit 212. The transceiver unit 212 is configured to receive a synchronization frame from the second node 220 through the bus 230, the synchronization frame including permission indication information. The processing unit 211 is configured to determine whether the first node 210 has access to the bus 230 within a set time range according to the permission indication information.

[0190] In some embodiments of the present disclosure, the permission indication information includes at least one node identifier of the first node; the node identifier is used to indicate that the first node corresponding to the node identifier has the access right within the time range.

[0191] In some embodiments of the present disclosure, the first node is further configured to access the bus to transmit packet data if the at least one node identifier of the first node includes the node identifier i of the first node i.

[0192] In some embodiments of the present disclosure, the access to the bus to transmit packet data includes accessing the bus to transmit packet data based on a contention mechanism.

[0193] In some embodiments of the present disclosure, the plurality of first nodes are divided into a plurality of node groups, and all node identifiers in the permission indication information are node identifiers of first nodes included in a first node group.

[0194] In some embodiments of the present disclosure, the synchronization frame further includes permission effective time information, and the permission effective time information is used to indicate the time range.

[0195] In some embodiments of the present disclosure, the synchronization frame further includes current time information, and the method further includes performing time synchronization according to the current time information.

[0196] In some embodiments of the present disclosure, the first node and the second node satisfy at least one of the following: the first node is at least one of an ECU unit, an actuator, a sensor, a domain controller, and a region controller of the vehicle; or the second node is one of a central computing platform or a domain controller of the vehicle.

[0197] In some embodiments of the present disclosure, the bus is an Ethernet bus.

[0198] Some embodiments of the present disclosure also provide a second node, as shown in FIG. 8, the second node 220 is used in an electronic appliance architecture 200 of a vehicle 100, the electronic appliance architecture 200 further includes a bus 230 and a plurality of first nodes 210, the first node 210 includes a processor 213 connected with a memory; the processor 213 is configured to invoke a computer program stored in the memory to execute the method as above.

[0199] Some embodiments of the present disclosure also provide an electronic appliance architecture of a vehicle, as shown in FIG. 8, the electronic appliance architecture 200 includes the plurality of first nodes 210 and the second node 220 as above, the plurality of first nodes 210 and the second node 220 communicate through the bus 230.

[0200] Some embodiments of the present disclosure also provide a vehicle, as shown in FIG. 8, the vehicle 100 includes the electronic appliance architecture 200 as above.

[0201] Some embodiments of the present disclosure also provide a computer readable storage medium, the computer readable storage medium stores a computer program, the computer program is executed by a processor to implement the method as above.

[0202] Some embodiments of the present disclosure also provide a computer program product, the computer program product includes a computer program, the computer program is executed by a processor to implement the method as above.

[0203] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the related parts are referred to the part of the method embodiments.

[0204] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present disclosure are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation portal for user to choose authorization or refusal.

[0205] The various embodiments in the specification are described in progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts between the embodiments can be mutually referred to.

[0206] Those skilled in the art will understand that the embodiments of the disclosure can be provided as a method, device, or computer program product. Therefore, the embodiments of the disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Also, the embodiments of the disclosure can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0207] The embodiments of the disclosure are described with reference to flowcharts and / or block diagrams of the method, terminal device (system), and computer program product according to the embodiments of the disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device produce a device that implements the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0208] These computer program instructions can also be stored in a computer-readable storage medium that can guide the computer or other programmable data processing terminal device to work in a specific manner, so that the instructions stored in the computer-readable storage medium produce a product including instruction devices that implement the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0209] These computer program instructions can also be loaded into a computer or other programmable data processing terminal device, so that a series of operation steps are performed on the computer or other programmable terminal device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0210] Although some embodiments of the disclosure have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to explain all changes and modifications within the scope of some embodiments of the disclosure.

[0211] Finally, it needs to be pointed out that in this article, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or terminal device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or terminal device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or terminal device including the above element.

[0212] The above provides a communication method, a first node, a second node, an architecture, a vehicle and a medium, some embodiments are applied in this article to explain the principles and implementation manners of the disclosure, and the above embodiment description is only used to help understand the method and core idea of the disclosure; meanwhile, for those skilled in the art, according to the idea of the disclosure, the specific implementation manner and application range will be changed, and the above description should not be understood as a limitation of the disclosure.

Claims

1. A communication method for an electronic and electrical architecture of a vehicle, wherein, The electronic appliance architecture comprises a plurality of first nodes, and further comprises a second node, the plurality of first nodes and the second node communicate through a bus, the method is applied to a first node i in the plurality of first nodes; the method comprises: receiving a synchronization frame from the second node through the bus; wherein the synchronization frame comprises permission indication information, the permission indication information is used to indicate that at least one first node in the plurality of first nodes has access permission of the bus within a set time range.

2. The method of claim 1, wherein, The permission indication information comprises a node identifier of the at least one first node; the node identifier is used to indicate that the first node corresponding to the node identifier has the access permission within the time range.

3. The method of claim 2, further comprising: if the node identifier of the at least one first node comprises a node identifier i of the first node i, accessing the bus to transmit packet data.

4. The method of claim 3, wherein, The access to the bus to transmit the packet data comprises: accessing the bus to transmit the packet data based on a contention mechanism.

5. The method of any one of claims 2-4, wherein, The plurality of first nodes are divided into a plurality of node groups, the plurality of node groups comprise a first node group, and all node identifiers in the permission indication information are node identifiers of first nodes included in the first node group.

6. The method of any one of claims 1-5, wherein, The synchronization frame further comprises permission effective time information, and the permission effective time information is used to indicate the time range.

7. The method of any one of claims 1-6, wherein, The synchronization frame further comprises current time information, and the method further comprises: performing time synchronization according to the current time information.

8. The method of any one of claims 1-7, wherein, The first node i and the second node satisfy at least one of the following conditions: The first node i is at least one of an electronic controller ECU unit, an actuator, a sensor, a domain controller and a region controller of the vehicle; or The second node is a central computing platform or a domain controller of the vehicle.

9. The method of any one of claims 1-8, wherein, The bus is an Ethernet bus.

10. A communication method for an electronic and electrical architecture of a vehicle, wherein, The electronic appliance architecture comprises a plurality of first nodes, and further comprises a second node, the plurality of first nodes and the second node communicate through a bus, the method is applied to the second node, and the method comprises: transmitting a synchronization frame to the first nodes through the bus; wherein the synchronization frame comprises permission indication information; the permission indication information is used to indicate that at least one first node in the plurality of first nodes has access permission of the bus within a set time range.

11. The method of claim 10, wherein, The permission indication information comprises a node identifier of the at least one first node; the node identifier is used to indicate that the first node corresponding to the node identifier has the access permission within the time range.

12. The method of claim 11, wherein, The plurality of first nodes are divided into a plurality of node groups, the plurality of node groups comprise a first node group; and all node identifiers in the permission indication information are node identifiers of first nodes included in the first node group.

13. The method of claim 12, wherein, The first node group is determined from the plurality of node groups according to an order of the plurality of node groups in a preset schedule table.

14. The method of claim 10, wherein, The synchronization frame further comprises permission effective time information, and the permission effective time information is used to indicate the time range.

15. The method of any one of claims 10 to 14, wherein, The synchronization frame further comprises current time information, the current time information being used for time synchronization between the first node and the second node.

16. The method of any one of claims 10-15, wherein, The first node and the second node satisfy at least one of the following: The first node is at least one of an electronic controller (ECU) unit, an actuator, a sensor, a domain controller, and a zone controller of the vehicle; or The second node is a central computing platform or a domain controller of the vehicle.

17. The method of any one of claims 10-16, wherein, The bus is an Ethernet bus.

18. A first node for an electronic appliance architecture of a vehicle, the electronic appliance architecture further comprising a bus and a second node; the first node comprising: a processing unit and a transceiver unit, wherein: the transceiver unit is configured to receive a synchronization frame from the second node through the bus; wherein the synchronization frame comprises permission indication information; and the processing unit is configured to determine whether the first node has access to the bus within a set time range according to the permission indication information.

19. A second node for an electronic appliance architecture of a vehicle, the electronic appliance architecture further comprising a bus and a plurality of first nodes, any one of the plurality of first nodes comprising a processor connected with a memory; the processor is configured to invoke a computer program stored in the memory to execute the method according to any one of claims 1 to 9, or to execute the method according to any one of claims 10 to 17.

20. An electronic appliance architecture of a vehicle, comprising a plurality of first nodes according to claim 18 and a second node according to claim 19, the plurality of first nodes and the second node communicating through the bus.

21. A vehicle comprising the electronic appliance architecture according to claim 20.

22. A computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the method according to any one of claims 1 to 9, or the computer program being executed by a processor to implement the method according to any one of claims 10 to 17.

23. A computer program product comprising a computer program, the computer program being executed by a processor to implement the method according to any one of claims 1 to 9, or the computer program being executed by a processor to implement the method according to any one of claims 10 to 17.

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