CN110758289B - Sleep and wake-up method of in-vehicle hybrid network comprising vehicle-mounted Ethernet - Google Patents
Sleep and wake-up method of in-vehicle hybrid network comprising vehicle-mounted Ethernet Download PDFInfo
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Abstract
The invention provides a sleep and wake-up method of an in-vehicle hybrid network comprising a vehicle-mounted Ethernet, which is characterized by comprising the following steps: step S1, the vehicle controller is connected to the network through the bus connected with the vehicle controller and managed by the network manager; step S2, when a sleep triggering condition exists in the network, the network coordinator determines whether the buses in the network are in a sleep state, if any bus is not in the sleep state, the current network maintains the network mode, and if all buses are in the sleep state, after a preset waiting time, the network coordinator releases the network and enters the total sleep mode. The technical scheme provided by the invention CAN manage the sleep and awakening states of the in-vehicle hybrid network containing the vehicle-mounted Ethernet, and manage the sleep and awakening states containing the Autosar Ethernet network, the Autosar CAN network and the OSEK CAN network in a coordinated manner, so that the in-vehicle network resources are saved, the energy is saved, and the efficiency is improved.
Description
Technical Field
The invention relates to the field of intelligent automobiles, in particular to a sleep and wake-up method of an in-vehicle hybrid network comprising a vehicle-mounted Ethernet.
Background
Along with the popularization of automobiles, more and more automobiles enter thousands of households, the living consumption level of people is continuously improved, the number of automobiles is also continuously increased, and the intelligent requirements of people on electric appliances in the automobiles are higher and higher. When the requirement for intelligent data of an automobile is improved, the traditional CAN network (2M/s) cannot meet the data transmission requirement of the intelligent automobile due to low transmission rate, and in order to solve the problem of data transmission of flow, an automobile Ethernet (100M/s) with high-speed transmission is introduced into the intelligent automobile, but is gradually introduced into the automobile along with the automobile Ethernet, so that the originally complex automobile wire harness network is more complex. On the premise of adding the automobile Ethernet, the automobile internal network management can have a plurality of modes according to the bus and the protocol: the CAN network management System comprises an AUTOSAR (automatic Open System architecture) -based CAN network management System, an AUTOSAR-based Ethernet network management System, and an OSEK (Open systems and interfaces for electronics in automobiles) based CAN network management System, wherein different networks are directly or indirectly connected with an automobile gateway through respective buses, and further provides a challenge on how to coordinate and manage sleep and wake-up when the automobile gateway device manages the multi-bus networks. However, the network management or signal level of the CAN is adopted in the existing automobile, and along with the fact that the ECU controller is converted into the ethernet from the CAN in a bus form, the ethernet ECU controller needs to be awakened and managed by sleep, and the gateway device faces the following problems: there is a need to support ethernet network sleep wake management on the one hand and a policy to coordinate with other bus sleep wake management mechanisms on the other hand. The invention provides a method for realizing the management of an automobile gateway device, which aims to solve the problem that the traditional CAN bus network management and the Ethernet network management need to be simultaneously supported, and the CAN network management also has two protocols of OSEK and AUTOSAR, so that a plurality of protocols and a plurality of bus forms exist for the sleep and awakening of an automobile.
Disclosure of Invention
Based on the defects in the prior art, the invention provides a sleep and wake-up method for an in-vehicle hybrid network comprising a vehicle-mounted Ethernet, which is characterized by comprising the following steps:
step S1, the vehicle controller is connected to the network through the bus connected with the vehicle controller and managed by the network manager;
step S2, when the network has the condition of triggering sleep, the network coordinator judges whether the buses in the network are in the sleep state, if any bus is not in the sleep state, the current network keeps the network mode, if all buses are in the sleep state, the network coordinator releases the network and enters the total sleep mode after the preset waiting time;
the controller at least comprises one or more of an ECU and a node gateway;
the network manager comprises an Autosar network manager and an OSEK CAN network manager, wherein the Autosar network manager comprises an Autosar Ethernet network manager and an Autosar CAN network manager; the bus at least comprises an Autosar Ethernet bus, an Autosar CAN bus and an OSEK CAN bus, and the network manager manages the corresponding bus.
A sleep and wake-up method for an in-vehicle hybrid network including a vehicle-mounted Ethernet, further, the step 2 specifically includes:
step S21, when the sleep is triggered, the application notifies the bus network management module, triggers the network coordination mark to coordinate the network and judges whether the bus in the current network is in the dormant state;
step S22, judging whether the OSEK CAN bus is not used, if not, indicating that the node in the OSEK network has a network request, and keeping the network mode; if yes, go to step S23;
step S23, judging whether the Autosar Ethernet bus and the Autosar CAN bus are not used, if not, indicating that a node in the Autosar network has a network request, and keeping the network mode; if yes, go to step S24;
step S24, judging whether the network coordinator mark is in the bus sleep mode, if not, indicating that the network node has a network request, and keeping the network mode; if yes, go to step S25;
step S25, the network coordinator releases the network, and after a preset waiting time, the network coordinator puts the network in a sleep state.
A sleep and wake method for an in-vehicle hybrid network including an in-vehicle ethernet network, further comprising: the sleep state under the Autosar bus is managed based on a distributed direct network management strategy, wherein each node executes network activities according to network management messages sent or received in a communication system, if each network node wants to keep communication, the network management messages are periodically sent, and if the communication is not needed, the network management messages are stopped being sent;
when the bus communication is released and no network management message is sent or received within the preset time, entering a bus sleep mode;
the maximum time interval for a node to send a network management message is that the second node should send the network management message at the latest before the first node sends the second network management message.
A sleep and wake-up method of a hybrid network in a vehicle comprising a vehicle-mounted Ethernet, further, the network management mode of an Autosar network manager comprises a bus sleep mode, a network mode and a bus pre-sleep mode, the operation mode of a network node or an ECU is switched among different modes according to different trigger conditions, and the change of any mode is informed to the application of an upper layer through a callback function;
the network mode includes at least: a repeat message state, a normal operation state, a ready-to-sleep state.
A sleep and wake-up method for an in-vehicle hybrid network including an in-vehicle ethernet network, further, the condition for interconversion between the repeat message state and the normal operation state comprises: when the node needs network communication and can correctly receive and transmit the network management message, the repeated message state is converted into a common operation state; when the node receives the network management message in the repeated message state or the node needs to enter the repeated message state, the node is converted into the repeated message state from the ordinary operation state;
the conditions for interconversion between the repeat message state and the prepare-to-sleep state include:
when the timing time of the repeated message state is up and the node does not need network communication, the repeated message state is converted into a sleep preparation state; when a network management message or a node in a repeated message state is received and the node requires to enter the repeated message state, converting from a sleep preparation state to the repeated message state;
the conditions for interconversion between the normal operating state and the sleep-ready state include: the nodes do not need to communicate and request to release the bus to convert the common operation state into a sleep preparation state; when the nodes need to communicate and request the bus, the state of preparing sleep is converted into a common operation state;
in the state of the sleep preparation mode, when the network manager times out, the sleep preparation mode is switched to the bus sleep preparation mode, and if the network manager is not awakened within the preset waiting time, the network manager enters the bus sleep mode.
When the number of times of sending errors or receiving errors of a node in the network mode exceeds a threshold value, the node enters the limp state and repeatedly sends limp state information at intervals in the state, and if the information sent by the node fails or cannot receive a network management message within preset time, the node reports the node error to an application layer;
the conversion conditions of the lameness state and the repeated extinction state, the sleep preparation state and the normal operation state comprise:
in the timing time of the repeated message state, the node sends an error to reach or receives an error exceeding a threshold value, and the repeated message state is converted into a limp state; in the limp state, the node can correctly send the network management message and can receive the network management message without the sleep mark, and the limp state is converted into a repeated message state; in a normal operation state, the node sends an error to reach or receives an error exceeding a threshold value, and the normal operation state is converted into a limp state; in the lameness state, the node receives a network management message with a sleep mark and converts the lameness state into a sleep preparation state; in the sleep preparation state, the node is in a limp state before, and receives a network management message without sleep, and the node is converted into the limp state from the sleep preparation state.
A sleep and wake-up method of an in-vehicle hybrid network including a vehicle-mounted Ethernet further, in a limp home state, after nodes in the network enter a sleep preparation state without bus communication, before a network management timer times out, a network management message with a sleep flag bit is continuously and repeatedly transmitted;
when a node which can not normally send a message in the network receives the sleep message, the node is set to enter a sleep preparation state, and after other nodes receive the message, the node registers the information of the node for sleep preparation and does not modify the network state and a network management timer;
when the nodes in the network all send the network management message with the sleep mark, the nodes synchronously enter the bus pre-sleep mode.
A sleep and wake method for an in-vehicle hybrid network including an in-vehicle ethernet network, further comprising: the network management method under the OSEK CAN bus specifically comprises the following steps: the OSEK network management uses a token ring mechanism, and a token is transmitted from a node with a low network address to a node with a high network address, and is transmitted to a node with a lowest address if no node with a higher network address exists; the token ring is established according to the network address of the ECU, each ECU can receive network management information, and only one node with the same destination address can obtain a token;
the network management mode of the OSEK CAN network manager comprises a network mode and network awakening, wherein the network awakening of the OSEK CAN comprises a limp state, a reset state and a normal state, when a receiving error calculator or a sending error counter exceeds a threshold value, the normal state or the reset state is converted into the limp state, and in the limp state, a network message is sent and successfully received, enters the reset state and is converted into the normal state.
A sleep and wake-up method for an in-vehicle hybrid network including a vehicle Ethernet, further, the sleep state of an OSEK CAN network bus comprises the following steps:
step S301, a logical loop is established,
step S302, judging whether the nodes meet the dormancy condition one by one according to the logic ring established by the nodes, if so, executing step S303, and if not, executing step S304
Step S303, the nodes meeting the dormancy condition send ring messages with the sleep.ind being equal to 1, and step S305 is executed by skipping;
step S304, the nodes which do not meet the dormancy condition send ring messages with the sleep.ind being equal to 0, and step S302 is executed by skipping;
step S305, judging whether all nodes in the logic ring meet the sleep state, if so, executing step S306, and if not, skipping to execute step S302;
step S306, the judged node sends the sleep response position 1 of the message in the network and sends the message to the network, and the node enters a sleep waiting state and stops sending the message;
step S307, after receiving the gateway message with the sleep response position of 1, the other nodes immediately enter a sleep waiting state and stop sending the message;
step S308, starting a timer in a sleep waiting state;
step S309, when the timer is up, the network sleep state is entered.
A sleep and wake-up method for an in-vehicle hybrid network including an in-vehicle Ethernet, further comprising: step S3, when the awakening condition is triggered, the application layer calls the instruction that the current network is in the network mode when the total network management module is triggered;
step S4, the network management coordinator triggers the Ethernet network and the CAN network, the triggering network request of AUTOSAR protocol, and the OSEK coordinates the triggering awakening condition;
step S5, the AUTOSAR network management initiates network awakening, including AUTOSAR Ethernet and AUTOSAR CAN, the OSEK CAN network management initiates network awakening according to the protocol thereof, and establishes a logic ring;
step S6, the bus network management wakes up the controller on the bus, and the wake-up process is finished;
triggering an Ethernet network and a CAN network by a network management coordinator, triggering a network request of an AUTOSAR protocol, and coordinating and triggering a wake-up condition by an OSEK;
the OSEK CAN network management mode and the AUTOSAR network management mode have one-to-one correspondence;
the process of establishing the logic loop after the OSEK CAN network is awakened comprises the following steps:
step S51, after the controller is awakened, the node which wants to participate in the network will send an Alive message first to apply for joining the logic ring;
and step S52, after the logic Ring is built, each node sends Ring messages in sequence to transmit tokens to the following nodes.
Has the advantages that:
1. the technical scheme provided by the invention CAN manage the sleep and awakening states of the in-vehicle hybrid network containing the vehicle-mounted Ethernet, and manage the sleep and awakening states containing the Autosar Ethernet network, the Autosar CAN network and the OSEK CAN network in a coordinated manner, so that the in-vehicle network resources are saved, the electricity is saved, and the efficiency is improved;
2. the technical scheme provided by the invention increases the limp state in the network mode in the Autosar network manager, can detect the failed node, and avoids that the node is judged to be in the dormant state by mistake after the node fails.
Drawings
The following drawings are only schematic illustrations and explanations of the present invention, and do not limit the scope of the present invention.
Fig. 1 is a schematic structural diagram of an in-vehicle hybrid network architecture including a vehicle ethernet according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a central gateway including a wake-on-sleep management apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a network management mode in an Autosar network manager according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an Autosar network manager including a limp state network management mode according to an embodiment of the present invention.
Fig. 5 is a flowchart of a method for detecting a failed node in an Autosar network manager having a limp state network management mode according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a network management mode in an OSEK CAN network manager according to an embodiment of the present invention.
FIG. 7 is a flowchart illustrating an OSEK CAN network sleep state in an OSEK CAN network manager in accordance with an embodiment of the present invention.
Fig. 8 is a bus sleep management coordination method under a hybrid network architecture of a vehicle including a vehicle ethernet according to an embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects, and effects herein, embodiments of the present invention will now be described with reference to the accompanying drawings, in which like reference numerals refer to like parts throughout. For the sake of simplicity, the drawings are schematic representations of relevant parts of the invention and are not intended to represent actual structures as products. In addition, for simplicity and clarity of understanding, only one of the components having the same structure or function is schematically illustrated or labeled in some of the drawings.
As for the control system, the functional module, application program (APP), is well known to those skilled in the art, and may take any suitable form, either hardware or software, and may be a plurality of functional modules arranged discretely, or a plurality of functional units integrated into one piece of hardware. In its simplest form, the control system may be a controller, such as a combinational logic controller, a micro-programmed controller, or the like, so long as the operations described herein are enabled. Of course, the control system may also be integrated as a different module into one physical device without departing from the basic principle and scope of the invention.
The term "connected" in the present invention may include direct connection, indirect connection, communication connection, and electrical connection, unless otherwise specified.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, values, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, values, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items
It should be understood that the term "vehicle" or "vehicular" or other similar terms as used herein generally includes motor vehicles such as passenger automobiles including Sport Utility Vehicles (SUVs), buses, trucks, various commercial vehicles, watercraft including a variety of boats, ships, aircraft, and the like, and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from non-petroleum sources). As referred to herein, a hybrid vehicle is a vehicle having two or more power sources, such as both gasoline-powered and electric-powered vehicles.
Further, the controller of the present disclosure may be embodied as a non-transitory computer readable medium on a computer readable medium containing executable program instructions executed by a processor, controller, or the like. Examples of computer readable media include, but are not limited to, ROM, RAM, Compact Disc (CD) -ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer readable recording medium CAN also be distributed over network coupled computer systems so that the computer readable medium is stored and executed in a distributed fashion, such as by a telematics server or Controller Area Network (CAN).
Example 1:
the embodiment provides a sleep and wake-up management device of an in-vehicle hybrid network including a vehicle-mounted ethernet, referring to fig. 1, including a central gateway, where the central gateway is connected to corresponding ECUs or node gateways through a plurality of buses based on different transmission protocols, respectively, where the buses at least include: an Autosar Ethernet (Ethernet) bus, an Autosar CAN bus, an OSEK CAN bus.
FIG. 1 is a schematic structural diagram of an in-vehicle hybrid network architecture including a vehicle Ethernet in an embodiment;
fig. 1 shows that a1 and a2 are connected to the Autosar Ethernet bus, and a1 and a2 may represent node gateways, ECUs, nodes, and the like on the Autosar Ethernet bus. A1, A2 data receiving and transmitting are based on the vehicular Ethernet protocol of Autosar Ethernet, B1, B2 and B3 CAN represent node gateways, ECUs, nodes and the like on an OSEK CAN bus, and B1, B2 and B3 data receiving and transmitting are based on the OSEK CAN protocol. C1, C2, C3 may all represent node gateways, ECUs, nodes, etc. on the Autosar CAN bus. The data receiving and transmitting of B1, B2 and B3 are all based on Autosar CAN protocol.
The central gateway at least includes a sleep wake-up management device (see fig. 2, fig. 2 is a schematic structural diagram of the central gateway including the sleep wake-up management device), and the sleep wake-up management device at least includes a bus network management module, a network coordinator, an Autosar network manager, and an OSEK CAN network manager, wherein the Autosar network manager includes an Autosar ethernet manager and an Autosar CAN network manager;
the bus network management module is connected with a network coordinator, and the network coordinator is respectively connected with an Autosar Ethernet bus manager, an Autosar CAN network manager and an OSEK CAN network manager.
A bus network management module configured to manage a plurality of bus protocol communications within the vehicle;
a network coordinator configured to coordinate a plurality of different classes of network managers within the vehicle, including managing sleep and wake-up of a plurality of buses within the vehicle using a built-in algorithm;
the system comprises an Autosar Ethernet manager, a network node and an ECU, wherein the Autosar Ethernet manager is configured for managing the network node and the ECU which are accessed based on an Autosar Ethernet bus, and comprises the communication, the sleep and the awakening of the network node and the ECU;
the system comprises an Autosar Ethernet manager, a network node and an ECU, wherein the Autosar Ethernet manager is configured for managing the network node and the ECU which are accessed based on an Autosar Ethernet bus, and comprises the communication, the sleep and the awakening of the network node and the ECU;
the Autosar CAN manager is configured for managing sleep and awakening of network nodes and the ECU which are accessed under the Autosar CAN bus for management;
and the OSEK network manager is configured to manage sleep and wake of the network nodes and the ECU based on access under the Autosar CAN bus.
For the Autosar network manager, in order to facilitate management of the accessed device, in this embodiment, the network of the Autosar network manager includes three working modes, see fig. 3, specifically including a bus sleep mode, a network mode, and a bus pre-sleep mode, and according to different trigger conditions, the running modes of the network node or the ECU are cyclically switched among the three, if the current mode is the network mode, when the network pre-sleep condition is met, the ethernet bus is converted from the network mode to the bus pre-sleep mode, and then enters the bus sleep mode when the network sleep condition is met. The change of any one mode among the three modes is notified to the application of the upper layer through a callback function;
the network mode includes three internal states: a repeated message state, a normal operation state, a ready-to-sleep state, wherein the repeated message state is used to ensure that a node from the bus sleep mode or bus pre-sleep mode to the network is discovered by other nodes on the bus, the repeated message state can be used to detect nodes connected to the bus; when entering the repeat message state, the node should start transmitting identification information; under the state of repeated messages, when the timer is overtime and overflows, the Ethernet bus manager reloads the timer; the Ethernet bus manager keeps a preset time period in a repeated message state, and reconfiguration is needed when the time period is exceeded; when leaving the repeated message state, if the node needs to communicate, entering a common operation state; if the node does not need to communicate, then a prepare sleep mode is entered and the repeat message is cleared.
The normal operating state: the common operation state can keep the bus in the awakening state; identification information should be transmitted from the sleep-ready state to the normal operation state; under normal operating conditions, the Ethernet bus manager reloads the timer when the timer times out. If the node does not need to use communication, the network should be released and the node should enter a sleep-ready state; if the node receives the request of the repeated message state, the node enters the repeated message state, and if the node needs to enter the repeated message state, the node enters the repeated message state and sets the request of the repeated message state.
And preparing a sleep state, wherein the sleep state is used for waiting for the nodes on other buses to enter a sleep preparation mode in the sleep preparation state if the node is ready to release the bus and other nodes need to use the bus. After entering the sleep-ready state, the ethernet bus manager stops the transmission of the message information. If the timer is overtime and overflows, the node enters a sleep preparation mode; if the node needs to use the bus, the node enters a normal mode of operation. If the node receives the request of the repeated message state, the node enters the repeated message state, and if the node needs to enter the repeated message state, the node enters the repeated message state and sets the request of the repeated message state.
The bus pre-sleep mode is configured to wait for all nodes on the bus to have time to stop the active state of the nodes before entering the bus sleep mode: such as emptying the queue for the transmitted message. In the bus pre-sleep mode, all nodes are silenced; when a node enters bus pre-sleep mode, upper layer applications should be notified. By configuring the wait parameter, the time that the node stays in the bus pre-sleep mode can be changed, and after the time, the node enters other states. When a message is received under the bus pre-sleep mode or communication is requested by an upper layer application, the node enters a normal operation state in the network.
The bus sleep mode is configured to enable the nodes on the bus to be in a sleep state when the nodes on the bus do not have messages within a preset time period or do not have requests for actively sending messages to other targets;
in bus sleep mode, the node may be woken up. The two parameters of the overtime of the timer and the sleep time of the bus are matched with each other on the nodes on the whole bus, so that the nodes on the bus can be enabled to sleep uniformly.
When entering the bus sleep mode, the upper layer (bus network management module) application should be notified.
In the bus sleep mode, if a message is successfully received, the ethernet bus manager should call a function to enter a repeat message state in the network mode.
Specifically, the state transition diagram of the automotive ethernet network management is shown in fig. 3, and the state transition condition is (1) that the network management enters a bus sleep mode after initialization; (2) a node requests network communication; (3) when the timing time of the repeated message state is up, the node needs network communication and can correctly receive and transmit the network management message; (4) receiving a network management message in a repeated message state or requesting a node to enter the repeated message state; (5) the timing time of the repeated message state is up, and the node does not need network communication; (6) receiving a network management message in a repeated message state or requesting a node to enter the repeated message state; (7) the nodes need to communicate and request the bus; (8) the nodes do not need to communicate and release the bus; (9) the node receives the network management message; (10) the node itself requests network communication; (11) the network management timer times out; (12) the pre-dormancy timer times out; (13) the system is powered off.
Referring to fig. 4, in order to solve the problem of discovering and monitoring a failed node under the ethernet bus, in the network mode, a limp state is added for being practical when a certain node under the bus has an error, and the node is prevented from being forced to enter a sleep state after the node fails. Specifically, in the network mode, a limp-home state is added, and when the node cannot normally use the bus, the state is entered; modifying a sleep mechanism, adding a sleep flag bit in a communication protocol in a network manager, when a node enters a sleep preparation state when the node is ready to sleep, repeatedly sending a network management message with the sleep flag bit, and judging whether the node is in a fault state or the sleep preparation state by other nodes on the basis.
In the Autosar network management communication protocol, a sleep flag is added, specifically referring to table 1 and table 2, where table 1 is a basic structure of an ethernet network management protocol data unit;
table 1 shows the basic structure of the Autosar network management protocol data unit
TABLE 2 data Structure for Control Bit Vector
The meaning of each field in the table 1 is that User data is User-defined data, for the CAN bus, the length of the User data CAN be 6 bytes, and a system User CAN realize a network management extension algorithm according to different network wiring characteristics.
And a Control Bit Vector, wherein whether a fault node needs to be detected or not and the type of the network management message are shown in the table 2.
Each sender has a unique network identifier, which is statically configured in the network design process and is used for identifying the node sending the message;
rpt (2 bits) 11 represents network request fault detection, 01 represents transmission of a common network management message, and 10 represents that a node sends a limp state message;
rdyssleep (1 bit) which is mainly used for identifying whether the nodes need bus communication or not, namely whether the nodes are going to enter a sleep state or not. The position 1 indicates that the node is to enter a sleep state, and the position 0 indicates that the node needs bus communication;
specifically, referring to fig. 4, fig. 4 adds a limp home state to fig. 3, specifically changing the relationship of the corresponding nodes as follows: (14) within the timing time of the repeated message state, the node sending error reaches or the receiving error exceeds a threshold value; (15) the node can correctly send the network management message and can receive the network management message without the sleep mark; (16) the node sends the error to reach or receives the error and exceeds the threshold value; (17) the node receives a network management message with a sleep mark; (18) the node was previously in a limp state and received a network management message without sleep.
In the increased limp state, the network management of the Ethernet adopts a sleep negotiation method, and after nodes in the network enter a sleep preparation state without bus communication, the network management message with a sleep flag bit is continuously and repeatedly sent before a network management timer is overtime. When the node which can not normally send the message in the network receives the sleep message, the node itself is set to enter the sleep preparation state, and after other nodes receive the message, except for registering the information of the node for sleep preparation, the node does not make any modification to the network state and the network management timer. The network management message with the sleep mark in the network has no influence on the network state of the online node, so when the nodes in the network all send the network management message with the sleep mark, the nodes can synchronously enter the sleep mode. The fault node can not send the network management message, and the adoption of the sleep negotiation method can not only ensure that the node in the network enters a synchronous sleep mode, but also judge the fault node in the network.
The node detection mechanism of the network node in the increased limp state, referring to fig. 5, the fault node detection is another function of network management, and the fault node detection function is realized by modifying the sleep mechanism of the network and configuring a dynamic network management table in the network management interface module. The network management table includes 3 fields, respectively, a node ID, a non-transmitted data interval, and a failure counter Cnt. At the beginning of the start of the Ethernet network manager, each node defaults to enter a repeated message state, and each node sends network management messages in the repeated message state according to a certain sequence. Other nodes report the received message of the Ethernet network manager to an Ethernet network manager interface module, and store the source address of the received network manager protocol data unit in a network management table node ID column, and the repeated ID does not record the table. When receiving the network management message of any one node, clearing 0 the 'unsent data interval' and the 'failure counter Cnt' corresponding to the node. A node may fail when it does not send network management messages during the unsent data interval. If some nodes need to detect the network management message, the network management message in the repeated state is sent, the normal nodes send the network management message in the repeated message state in the next sending period after receiving the message, and if the node does not send the network management message, the fault counter Cnt is added by 1. And repeating the process, and when the fault counter Cnt reaches the threshold value, considering that the node is in fault and reporting the fault to the application layer.
In this embodiment, the AUTOSAR employs a distributed direct network-based management policy, in which each node under the AUTOSAR bus executes self-sufficient network activities according to message messages of the ethernet bus manager sent or received in the communication system;
the peer-to-peer algorithm of the Autosar network manager is based on periodic message information, the message information is sent through broadcasting, all nodes in the network under all Ethernet buses can receive the message information, and the received message information indicates that the node sending the message information tends to keep the network working mode. If a node is ready to enter the bus sleep mode, it stops sending message messages, but as long as it can also receive message messages from other nodes, it delays the transition to the bus sleep mode. Finally, within a certain time limit, each node starts the transition to the bus sleep mode since it no longer receives the message.
If any node in the network requires bus communication, it may wake up the network from the bus sleep mode by sending a message.
The AUTOSAR network management policy may be summarized as two points:
s101, if each network node wants to keep bus communication, each network node always sends periodic network management information; if it no longer needs to maintain bus communication, it no longer sends network management messages.
S102, if the bus communication has been released and no network management message has been sent or received within a configured period of time, a transition to a bus sleep mode is performed.
Implementing such a peer-to-peer algorithm may be maintained by a network state machine. The characteristics of this state machine are as follows:
a1) the AUTOSAR network management state machine should contain the state, transitions and trigger conditions from the perspective of a network node.
a2) The transition of the AUTOSAR network management state machine should be triggered by a function call at the NmIf layer or the expiration of its own timer.
The AUTOSAR CAN network manager is configured to be used for managing network nodes and the ECU which are accessed under the Autosar CAN network, and comprises the communication, the sleep and the awakening of the network nodes and the ECU;
for the AUTOSAR CAN network manager, since both the AUTOSAR and ethernet network managers are based on the AUTOSAR architecture, in this embodiment, the operating mode and state transition of the node under the CAN bus are the same as those of the node under the ethernet bus management.
The OSEK CAN network manager is configured for managing network nodes and the ECU which are accessed under an OSEK CAN bus, and comprises the communication, the sleep and the awakening of the network nodes and the ECU;
for the OSEK CAN network manager, in order to manage the accessed devices, in this embodiment, the OSEK CAN network manager includes two operating modes, see fig. 6, specifically including network sleep and network wake-up, and the operating modes of the network nodes or the ECU are cyclically switched between the two operating modes according to different trigger conditions. To elaborate the switching between wake-on-lan and network states, see table 3,
table 3 shows the message format for OSEK CAN network management
In table 3, Base ID indicates a Base address of the network management packet, that is, an ID allocation interval, and Source ID indicates a Source address of the network management packet, that is, an address of a node that transmits the network management packet; the Destination ID represents a Destination address of the network management message, namely a node address which needs to receive the network management message; the Option Code represents a control field, and the meaning of each bit of the control field is shown in Table 2; data represents the Data field, currently reserved, filled with "0x 00".
Table 4 shows a data structure of a control field of a network management packet
In table 4, Bit0, position 1, represents that the network management message is an Alive message; bit1 position 1 represents the network management message is Ring message; bit2 position 1 represents that the network management message is a Limphone limping message; the Bit 4 is a sleep indication Bit, and the position 1 represents that the node does not need network communication any more; bit 5 is a sleep response Bit, and the position 1 represents that the node has monitored that the node used in the current logic ring has indicated sleep to the position 1, and the network segment is ready to enter the sleep state. The other bits are reserved bits, filled with 0 s. Meanwhile, the bits of Bit0, Bit1 and Bit2 are mutually exclusive, i.e. only one of the bits is 1.
The types of the OSEK CAN network management messages CAN be divided into Alive messages, Ring messages and Lipphone messages:
b1) an Alive message: and after the nodes in the network segment are initialized or skipped, sending an Alive message for declaring the existence of the nodes. The destination address of the Alive message is equal to the address of the node.
b2) Ring message: i.e. logical ring messages. In a stable logical ring, a node is used to transmit a network management packet of state information.
b3) And the LimpHone message comprises: and after the receiving error counter or the sending error counter exceeds a threshold value, the node sends the LimpHone message at a fixed period. And the target address of the LimpHone message is equal to the local address of the node.
The OSEK CAN network management uses a token ring mechanism, a token is transmitted from a node with a low network address to a node with a high network address, and if no node with a higher network address exists, the token is transmitted to a node with a lowest address; the token ring is established according to the network address of the ECU, each ECU receives the network management message, and only one node with the same destination address can obtain the token.
The network awakening of the OSEK comprises a limp state, a reset state and a normal state, wherein when a receiving error calculator or a sending error counter exceeds a threshold value, the normal state or the reset state is converted into the limp state, and in the limp state, a network message is sent and successfully received, then the network message enters the reset state, and is converted into the normal state.
The process of establishing the logic ring after awakening comprises the following steps:
s51, the node which wants to participate in the network after the controller is awakened will send an Alive message to apply for joining the logic ring.
And S52, after the logic Ring is built, each node sends Ring messages in sequence to transmit tokens to subsequent nodes.
And (3) synchronous dormancy process:
c1) if a node in the logic Ring wants to sleep, an indicator bit of sleep.
c2 when all nodes in the logical ring have set the sleep.ind indication bit, it also means that any node receives the sleep.ind indication bits of all other nodes.
c3) Ack indication bits are set by all nodes in the logical ring.
c4 any node receives the sleep.ack indicator bits of all other nodes.
c5) All nodes synchronously enter a sleep waiting state. c6) And if the WaitBusSleep time does not receive the wake-up time, all the nodes synchronously enter a sleep state.
Fig. 7 is a flow chart of an OSEK CAN network sleep state in an OSEK CAN network manager.
The sleep state of the OSEK CAN network comprises the following steps:
step S301, establishing a logic ring;
step S302, judging whether the nodes meet the dormancy condition one by one according to the logic ring established by the nodes, if so, executing step S303, and if not, executing step S304;
step S303, the nodes meeting the dormancy condition send ring messages with the sleep.ind being equal to 1, and step S305 is executed by skipping;
step S304, the nodes which do not meet the dormancy condition send ring messages with the sleep.ind being equal to 0, and step S302 is executed by skipping;
step S305, judging whether all nodes in the logic ring meet the sleep state, if so, executing step S306, and if not, skipping to execute step S302;
step S306, the judged node sends the sleep response position 1 of the message in the network and sends the message to the network, and the node enters a sleep waiting state and stops sending the message;
step S307, after receiving the gateway message with the sleep response position of 1, the other nodes immediately enter a sleep waiting state and stop sending the message;
step S308, starting a timer in a sleep waiting state;
step S309, when the timer is up, the network sleep state is entered;
in addition, when the OSEK CAN network is in a dormant state and an application program needs CAN communication, the ECU wakes up for a request network; when the node is in a dormant state, if a wake-up event is received, the node is awakened and sends an Alive message.
Example 2:
the embodiment provides a sleep and wake-up method for a vehicle-mounted Ethernet network, which comprises the following steps:
step S1, the vehicle controller is connected to the network through the bus connected with the vehicle controller and managed by the network manager;
the network manager comprises an Autosar network manager and an OSEK CAN network manager, wherein the Autosar network manager comprises an Autosar Ethernet network manager and an Autosar CAN network manager; the bus at least comprises an Autosar Ethernet bus, an Autosar CAN bus and an OSEK CAN bus, and the network manager manages the corresponding bus;
the controller at least comprises one or more of an ECU and a node gateway;
step S2, when the network has the condition of triggering sleep, the network coordinator judges whether the bus is in the sleep state according to the bus in the network, if any bus is not in the sleep state, the current network is in the sleep waiting state, if all buses are in the sleep state, the network coordinator releases the network and enters the total sleep mode after the preset waiting time;
in step S2, it is determined that the ethernet bus is based on the OSEK CAN bus, and then it is determined that the ethernet bus is based on the Autosar CAN bus;
step S3, when the awakening condition is triggered, the application layer calls the instruction that the current network is in the network mode when the total network management module is triggered;
step S4, the network management coordinator triggers the Ethernet network and the CAN network, the triggering network request of AUTOSAR protocol, and the OSEK coordinates the triggering awakening condition;
step S5, the AUTOSAR network management initiates network awakening, including AUTOSAR Ethernet and AUTOSAR CAN, the OSEK CAN network management initiates network awakening according to the protocol thereof, and establishes a logic ring;
step S6, the bus network management wakes up the controller on the bus, and the wake-up process ends.
Fig. 8 is a flowchart of a bus sleep management coordination method under the vehicle-mounted ethernet architecture in the present embodiment, referring to fig. 8;
the specific steps at step S2 include:
step S21, when the sleep is triggered, the application notifies the bus network management module, triggers the network coordination mark to coordinate the network and judges whether the bus in the current network is in the dormant state;
step S22, judging whether an OSEK CAN bus (CAN bus _ flag) is not used, if not, indicating that a node in the OSEK network has a network request, and keeping a network mode; if yes, go to step S23;
step S23, judging whether the Autosar Ethernet bus and the Autosar CAN bus are not used, if not, indicating that a node in the Autosar network has a network request, and keeping the network mode; if yes, go to step S24;
wherein, the Autosar Ethernet bus and the Autosar CAN bus are judged through an Ethernet bus _ flag mark
Step S24, judging whether the Coordinator flag (Coordinator-flag) is in the bus sleep mode, if not, indicating that the network node has a network request, and keeping the network mode; if yes, go to step S25;
step S25, the network coordinator releases the network, and after a preset waiting time, the network coordinator puts the network in a sleep state.
The sleep state under the Autosar bus is managed based on a distributed direct network management strategy, wherein each node executes network activities according to network management messages sent or received in a communication system, if each network node wants to keep communication, the network management messages are periodically sent, and if the communication is not needed, the network management messages are stopped being sent;
when the bus communication is released and no network management message is sent or received within the preset time, entering a bus sleep mode;
the maximum time interval of the nodes for sending the network management message is that the second node should send the network management message before the first node sends the second network management message at the latest;
the Autosar network manager comprises an Autosar Ethernet network manager and an Autosar Can network manager, and the network management modes of the Autosar Ethernet network manager and the Autosar Can network manager are the same;
the network management mode of the Autosar network manager comprises a bus sleep mode, a network mode and a bus pre-sleep mode, the operation mode of a network node or an ECU is switched among different modes according to different trigger conditions, and the change of any mode is notified to the application of an upper layer through a callback function;
the network mode includes at least: the method comprises a repeated message state, a normal operation state and a sleep preparation state, wherein the switching of the internal state in the network mode comprises the following steps:
when the system is powered on, the network management is initialized and then enters a bus sleep mode, and when a node requests to communicate, the bus sleep mode is converted into a repeated message state in the network mode;
the conditions for the interconversion of the repeat message state and the normal operating state include: when the node needs network communication and can correctly receive and transmit the network management message, the repeated message state is converted into a common operation state; when the node receives the network management message in the repeated message state or the node needs to enter the repeated message state, the node is converted into the repeated message state from the ordinary operation state;
the conditions for interconversion between the repeat message state and the prepare-to-sleep state include:
when the timing time of the repeated message state is up and the node does not need network communication, the repeated message state is converted into a sleep preparation state; when a network management message or a node in a repeated message state is received and the node requires to enter the repeated message state, converting from a sleep preparation state to the repeated message state;
the conditions for interconversion between the normal operating state and the sleep-ready state include: the nodes do not need to communicate and request to release the bus to convert the common operation state into a sleep preparation state; when the nodes need to communicate and request the bus, the state of preparing sleep is converted into a common operation state;
in the state of the sleep preparation mode, when the network manager times out, the sleep preparation mode is switched to the bus sleep preparation mode, and if the network manager is not awakened within the preset waiting time, the network manager enters the bus sleep mode.
The network mode also comprises a limp state, when the number of times of sending errors or receiving errors of the node in the network mode exceeds a threshold value, the node enters the limp state and repeatedly sends limp state information at intervals in the state, and if the information sent by the node fails or the network management information cannot be received within the preset time, the node is reported to an application layer in an error mode;
the conversion conditions of the lameness state and the repeated extinction state, the sleep preparation state and the normal operation state comprise:
in the timing time of the repeated message state, the node sends an error to reach or receives an error exceeding a threshold value, and the repeated message state is converted into a limp state; in the limp state, the node can correctly send the network management message and can receive the network management message without the sleep mark, and the limp state is converted into a repeated message state; in a normal operation state, the node sends an error to reach or receives an error exceeding a threshold value, and the normal operation state is converted into a limp state; in the lameness state, the node receives a network management message with a sleep mark and converts the lameness state into a sleep preparation state; in the sleep preparation state, the node is in a limp state before, and receives a network management message without sleep, and the node is converted into the limp state from the sleep preparation state.
Sleep state under OSEK bus: the OSEK network management uses a token ring mechanism, and a token is transmitted from a node with a low network address to a node with a high network address, and is transmitted to a node with a lowest address if no node with a higher network address exists; the token ring is established according to the network address of the ECU, each ECU receives the network management message, and only one node with the same destination address can obtain the token.
The network awakening of the OSEK comprises a limp state, a reset state and a normal state, wherein when a receiving error calculator or a sending error counter exceeds a threshold value, the normal state or the reset state is converted into the limp state, and in the limp state, a network message is sent and successfully received, then the network message enters the reset state, and is converted into the normal state.
The embodiment provides a method for sleeping and waking up a vehicle-mounted Ethernet network, further comprising:
step S3, when the awakening condition is triggered, the application layer calls the instruction that the current network is in the network mode when the total network management module is triggered;
step S4, the network management coordinator triggers the Ethernet network and the CAN network, the triggering network request of AUTOSAR protocol, and the OSEK coordinates the triggering awakening condition;
step S5, the AUTOSAR network management initiates network awakening, including AUTOSAR Ethernet and AUTOSAR CAN, the OSEK CAN network management initiates network awakening according to the protocol thereof, and establishes a logic ring;
step S6, the bus network management wakes up the controller on the bus, and the wake-up process ends.
The network management coordinator triggers the Ethernet network and the CAN network, triggers the network request of the AUTOSAR protocol, and coordinates the triggering awakening condition by the OSEK. In order to keep the AUTOSAR and OSEK network management states consistent, the network management corresponding relation is according to the following table 5.
TABLE 5 one-to-one correspondence between OSEK and AUTOSAR network management modes
What has been described above is only a preferred embodiment of the present invention, and the present invention is not limited to the above examples. It is clear to those skilled in the art that the form in this embodiment is not limited thereto, and the adjustable manner is not limited thereto. It is to be understood that other modifications and variations, which may be directly derived or suggested to one skilled in the art without departing from the basic concept of the invention, are to be considered as included within the scope of the invention.
Claims (10)
1. A sleep and wake-up method for an in-vehicle hybrid network including a vehicle Ethernet, comprising:
step S1, the vehicle controller is connected to the network through the bus connected with the vehicle controller and managed by the network manager;
step S2, when there is a triggered sleep condition in the network, the network coordinator judges whether the buses in the network are in a sleep state, if any one of the buses is not in the sleep state, the current network maintains the network mode, and if all the buses are in the sleep state, after a preset waiting time, the network coordinator releases the network and enters the bus sleep mode;
the controller at least comprises one or more of an ECU and a node gateway;
the network manager comprises an Autosar network manager and an OSEK CAN network manager, wherein the Autosar network manager comprises an Autosar Ethernet network manager and an Autosar CAN network manager; the bus at least comprises an Autosar Ethernet bus, an Autosar CAN bus and an OSEK CAN bus, and the network manager manages the corresponding bus;
the network management mode of the Autosar network manager at least comprises a network mode, and the network mode at least comprises: a repeat message state, a normal operating state, a sleep ready state, a limp state;
when the node can not use the bus normally, the node enters a limp state, a sleep zone bit is added in a communication protocol in a network manager, when the node enters a sleep preparation state when the node is ready to sleep, the network management message with the sleep zone bit is repeatedly sent, and other nodes judge whether the node is in a fault state or the sleep preparation state on the basis;
in a limp-home state, after nodes in a network enter a sleep preparation state without bus communication, the network management message with a sleep zone bit is continuously and repeatedly sent before a network management timer is overtime; when the node which can not normally send the message in the network receives the sleep message, the node itself is set to enter the sleep preparation state, and after other nodes receive the message, except for registering the information of the node for sleep preparation, the node does not make any modification to the network state and the network management timer.
2. The sleep and wake-up method for the in-vehicle hybrid network including the vehicle ethernet according to claim 1, wherein the step S2 specifically includes:
step S21, when the sleep is triggered, the application notifies the bus network management module, triggers the network coordination mark to coordinate the network and judges whether the bus in the current network is in the dormant state;
step S22, judging whether the OSEK CAN bus is not used, if not, indicating that the node in the OSEK network has a network request, and keeping the network mode; if yes, go to step S23;
step S23, judging whether the Autosar Ethernet bus and the Autosar CAN bus are not used, if not, indicating that a node in the Autosar network has a network request, and keeping the network mode; if yes, go to step S24;
step S24, judging whether the network coordinator mark is in the bus sleep mode, if not, indicating that the network node has a network request, and keeping the network mode; if yes, go to step S25;
step S25, the network coordinator releases the network, and after a preset waiting time, the network coordinator puts the network in a sleep state.
3. The sleep and wake-up method of an in-vehicle hybrid network including an in-vehicle ethernet according to claim 1, comprising: the sleep state under the Autosar bus is managed based on a distributed direct network management strategy, wherein each node executes network activities according to network management messages sent or received in a communication system, if each network node wants to keep communication, the network management messages are periodically sent, and if the communication is not needed, the network management messages are stopped being sent;
when the bus communication is released and no network management message is sent or received within the preset time, entering a bus sleep mode;
the maximum time interval for a node to send a network management message is that the second node should send the network management message at the latest before the first node sends the second network management message.
4. The sleep and wake-up method of the in-vehicle hybrid network including the vehicle ethernet according to claim 1, wherein the network management mode of the Autosar network manager includes a bus sleep mode, a network mode, and a bus pre-sleep mode, and according to different trigger conditions, the operation mode of the network node or the ECU is switched among different modes, and the change of any one mode is notified to the upper application through a callback function;
the network mode includes at least: a repeat message state, a normal operation state, a ready-to-sleep state.
5. The sleep and wake-up method of an in-vehicle hybrid network including an in-vehicle ethernet according to claim 4, wherein the condition that the repeated message state and the normal operation state are mutually converted comprises: when the node needs network communication and can correctly receive and transmit the network management message, the repeated message state is converted into a common operation state; when the node receives the network management message in the repeated message state or the node needs to enter the repeated message state, the node is converted into the repeated message state from the ordinary operation state;
the conditions for interconversion between the repeat message state and the prepare-to-sleep state include:
when the timing time of the repeated message state is up and the node does not need network communication, the repeated message state is converted into a sleep preparation state; when a network management message or a node in a repeated message state is received and the node requires to enter the repeated message state, converting from a sleep preparation state to the repeated message state;
the conditions for interconversion between the normal operating state and the sleep-ready state include: the nodes do not need to communicate, and when the nodes request to release the bus, the nodes are converted into a sleep preparation state from a common operation state; when the nodes need to communicate and request the bus, the state of preparing sleep is converted into a common operation state;
in the state of the sleep preparation mode, when the network manager times out, the sleep preparation mode is switched to the bus sleep preparation mode, and if the network manager is not awakened within the preset waiting time, the network manager enters the bus sleep mode.
6. The sleep and wake-up method of the in-vehicle hybrid network including the vehicle ethernet according to claim 4, wherein the network mode further includes a limp state, when the number of times of transmission errors or reception errors of the node in the network mode exceeds a threshold, the node enters the limp state and repeatedly transmits information of the limp state at intervals in the state, and if the message transmitted by the node fails or the network management message cannot be received within a preset time, the node is reported to the application layer as an error;
the conversion conditions of the lameness state and the repeated message state, the sleep preparation state and the normal operation state comprise:
in the timing time of the repeated message state, the node sends an error or receives an error exceeding a threshold value, and the repeated message state is converted into a limp state; in the limp state, the node can correctly send the network management message and can receive the network management message without the sleep mark, and the limp state is converted into a repeated message state; in the normal operation state, the node transmits an error or receives an error exceeding a threshold value, and the normal operation state is converted into a limp state; in the lameness state, the node receives a network management message with a sleep mark and converts the lameness state into a sleep preparation state; in the sleep preparation state, the node is in a limp state before, and receives a network management message without sleep, and the node is converted into the limp state from the sleep preparation state.
7. The sleep and wake-up method of an in-vehicle hybrid network including an in-vehicle ethernet according to claim 6, wherein in a limp home state, after a node in the network enters a sleep preparation state without bus communication, a network management message with a sleep flag is repeatedly transmitted until a network management timer is expired;
when a node which can not normally send a message in the network receives the sleep message, the node is set to enter a sleep preparation state, and after other nodes receive the message, the node registers the information of the node for sleep preparation and does not modify the network state and a network management timer;
when the nodes in the network all send the network management message with the sleep mark, the nodes synchronously enter the bus pre-sleep mode.
8. The sleep and wake-up method of an in-vehicle hybrid network including an in-vehicle ethernet according to claim 1, comprising: the network management method under the OSEK CAN bus specifically comprises the following steps: the OSEK network management uses a token ring mechanism, and a token is transmitted from a node with a low network address to a node with a high network address, and is transmitted to a node with a lowest address if no node with a higher network address exists; the token ring is established according to the network address of the ECU, each ECU can receive network management information, and only one node with the same destination address can obtain a token;
the network management mode of the OSEK CAN network manager comprises a network mode and network awakening, wherein the network awakening of the OSEK CAN comprises a limp state, a reset state and a normal state, when a receiving error calculator or a sending error counter exceeds a threshold value, the normal state or the reset state is converted into the limp state, and in the limp state, a network message is sent and successfully received, enters the reset state and is converted into the normal state.
9. The sleep and wake-up method of an in-vehicle hybrid network including an in-vehicle ethernet according to claim 8, wherein the sleep state of the OSEK CAN network bus comprises the steps of:
step S301, a logical loop is established,
step S302, judging whether the nodes meet the dormancy condition one by one according to the logic ring established by the nodes, if so, executing step S303, and if not, executing step S304;
step S303, the nodes meeting the dormancy condition send ring messages with the sleep.ind being equal to 1, and step S305 is executed by skipping;
step S304, the nodes which do not meet the dormancy condition send ring messages with the sleep.ind being equal to 0, and step S302 is executed by skipping;
step S305, judging whether all nodes in the logic ring meet the sleep state, if so, executing step S306, and if not, skipping to execute step S302;
step S306, the judged node sends the sleep response position 1 of the message in the network to the network, the node enters a sleep waiting state and stops sending the message;
step S307, after receiving the gateway message with the sleep response position of 1, the other nodes immediately enter a sleep waiting state and stop sending the message;
step S308, starting a timer in a sleep waiting state;
step S309, when the timer is up, the network sleep state is entered.
10. The sleep and wake-up method of an in-vehicle hybrid network including an in-vehicle ethernet according to claim 1, further comprising: step S3, when the awakening condition is triggered, the application layer calls the instruction that the current network is in the network mode when the total network management module is triggered;
step S4, the network management coordinator triggers the Ethernet network and the CAN network, the triggering network request of AUTOSAR protocol, and the OSEK coordinates the triggering awakening condition;
step S5, the AUTOSAR network management initiates network awakening, including AUTOSAR Ethernet and AUTOSAR CAN, the OSEK CAN network management initiates network awakening according to the protocol thereof, and establishes a logic ring;
step S6, the bus network management wakes up the controller on the bus, and the wake-up process is finished;
triggering an Ethernet network and a CAN network by a network management coordinator, triggering a network request by an AUTOSAR protocol, and coordinating and triggering a wake-up condition by an OSEK;
the OSEK CAN network management mode corresponds to the AUTOSAR network management mode one by one;
the process of establishing the logic loop after the OSEK CAN network is awakened comprises the following steps:
step S51, after the controller is awakened, the node which wants to participate in the network will send an Alive message first to apply for joining the logic ring;
and step S52, after the logic Ring is built, each node sends Ring messages in sequence to transmit tokens to the following nodes.
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| CN114844711B (en) * | 2022-05-17 | 2024-04-09 | 北京经纬恒润科技股份有限公司 | Method and device for detecting safety state of vehicle-mounted Ethernet |
| CN114978883B (en) * | 2022-05-20 | 2023-10-20 | 中国第一汽车股份有限公司 | Network wakeup management method and device, electronic equipment and storage medium |
| CN115225454B (en) * | 2022-06-06 | 2024-03-29 | 广州汽车集团股份有限公司 | Abnormality monitoring method and device for vehicle, electronic equipment and storage medium |
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