CN112422700B - Vehicle-mounted network redundant communication method and system based on DDS (direct digital synthesizer) protocol and TSN (time delay network) technology - Google Patents
Vehicle-mounted network redundant communication method and system based on DDS (direct digital synthesizer) protocol and TSN (time delay network) technology Download PDFInfo
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- CN112422700B CN112422700B CN202110096760.7A CN202110096760A CN112422700B CN 112422700 B CN112422700 B CN 112422700B CN 202110096760 A CN202110096760 A CN 202110096760A CN 112422700 B CN112422700 B CN 112422700B
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- H04L67/00—Network arrangements or protocols for supporting network services or applications
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- H—ELECTRICITY
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- H—ELECTRICITY
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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Abstract
The invention provides a vehicle-mounted network redundant communication method and system based on DDS protocol and TSN technology, which is characterized in that key instruction data are packaged into an Ethernet message, processed by a TSN unit and sent to a TSN switch link to form redundancy; the remote gateway receives the Ethernet data frames from different links, analyzes the carried R-TAG option through the TSN unit, restores the key instruction data, converts the key instruction data into signals and sends the signals to the corresponding actuator. The invention realizes the link redundancy of Ethernet data transmission through the TSN unit and the TSN switch, improves the reliability of DDS data transmission, and ensures the communication function safety of the automatic driving emergency scene.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a vehicle-mounted network redundant communication method and system based on a DDS (direct digital synthesis) protocol and a TSN (time delay network) technology.
Background
With the rapid development of the automatic driving technology, more and more functional safety demands are made for the vital. And the function security is obvious on the vehicle-mounted network communication. From the evolution route of the vehicle-mounted EE architecture, vehicle-mounted ethernet transmission has been a big trend.
Meanwhile, with the help of Data Distribution Service (DDS) as a Data-centric distributed Real-Time communication middleware, although reliable Distribution of Data can be guaranteed to some extent by QOS characteristics or reliable protocols, the problem of failure of a communication link still cannot be solved comprehensively.
The CAN/LIN/FlexRay bus of a conventional on-board network also allows for redundant backups on cable deployments. Compared with the ethernet, the solution provided by the current TSN 802.1CB specification perfectly fits the communication redundancy of the ethernet link. Therefore, a method for implementing communication redundancy in the vehicle-mounted network by using the DDS protocol and the TSN technology is very important.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides a vehicle-mounted network redundant communication method and a vehicle-mounted network redundant communication system based on a DDS protocol and a TSN technology.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: a vehicle-mounted network redundant communication method based on DDS protocol and TSN technology includes the steps:
(1) the central controller decides key instruction data, packages the key instruction data into an Ethernet message and transmits the key instruction data to the TSN switching unit; the TSN switching unit adds an R-TAG option in an Ethernet frame header, copies the Ethernet data frame and sends the Ethernet data frame to a TSN switch link;
(2) the TSN receives the Ethernet data frame and analyzes the serial number ID in the R-TAG option; selecting switches of different links to send the same serial number ID to form link redundancy;
(3) the gateway receives the Ethernet data frames from different links, analyzes the carried R-TAG option through the TSN switching unit, and eliminates the Ethernet data frames with repeated serial number IDs; and restoring the key instruction data according to the correct Ethernet message, converting the key instruction data into a signal and sending the signal to the corresponding actuator.
Further, the R-TAG options in the ethernet header include the ethertype, the compressed key and the sequence number ID.
Further, the TSN switching unit copies the key Ethernet data frame according to the compression key value.
Further, the TSN switch runs the 802.1CB specification protocol.
Further, the central controller decides key instruction data, encapsulates the key instruction data into DDS data messages through DDS nodes, and encapsulates the DDS data messages into standard Ethernet messages through a Raw-Eth module.
Further, after receiving the correct ethernet message, the gateway analyzes the DDS data message through a Raw-Eth module, and then analyzes and restores the key instruction data through the DDS node.
A vehicle-mounted network redundant communication system based on DDS protocol and TSN technology comprises a central controller, a TSN switch, a gateway and an actuator; TSN switching units are deployed on the central controller and the gateway;
the central controller decides key instruction data according to an automatic driving algorithm, packages the key instruction data into an Ethernet message, and processes an Ethernet data frame through a TSN switching unit to make link redundancy;
the Ethernet data frames sent by the central controller are sent to a destination gateway through different paths by a TSN switch, the Ethernet data frames are received by the gateway, and the TSN unit processes the Ethernet data frames for multiple sending and selective receiving;
and then, restoring the key instruction data according to the correct Ethernet message, converting the key instruction data into a signal and sending the signal to a corresponding actuator.
Further, a DDS node and a Raw-Eth module are also deployed on the central controller; and a DDS node and a Raw-Eth module are also deployed on the gateway.
Has the advantages that: the invention adds R-TAG option in the Ethernet frame header, copies the Ethernet data frame, and utilizes the TSN switch to perform transmission link redundancy communication. The invention realizes the link redundancy of Ethernet data transmission through the TSN unit and the TSN switch, improves the reliability of DDS data transmission, and ensures the communication function safety of the automatic driving emergency scene.
The invention is suitable for the Ethernet data transmission releasing subscription through DDS protocol, and has good guarantee for the scenes of link packet loss, packet error, link congestion packet loss and the like. The invention utilizes the flexibility of the DDS to realize the data bearing and the reliable redundancy characteristic of the TSN to ensure the communication reliability requirement of the vehicle-mounted Ethernet.
The invention utilizes the exchanger to support TSN 802.1CB protocol specification, realizes the link redundancy of the vehicle-mounted Ethernet and ensures the link reliability of DDS protocol communication. The invention is suitable for the vehicle-mounted Ethernet and issues the key instruction data of the subscription executor through the DDS protocol.
Drawings
FIG. 1 is a network topology diagram of an in-vehicle TSN network connection;
FIG. 2 is a diagram of a TSN data frame structure;
fig. 3 is a schematic diagram of TSN ethernet frame link redundancy;
fig. 4 is a schematic diagram of TSN redundant communication between DDS nodes.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1, the vehicle-mounted network redundancy communication system based on the dds (data Distribution service) protocol and the TSN (Time-Sensitive Networking) technology includes a central controller, TSN switches 1 to 4, a gateway, and an actuator. The central controller and the gateways are deployed with TSN switching units.
The central controller decides a key instruction according to an automatic driving algorithm, encapsulates the key instruction into an Ethernet message through a DDS protocol, and processes an Ethernet frame through a TSN switching unit to make link reliable redundancy. The Ethernet frame sent by the central controller is sent to the destination gateway through different paths by the TSN switch, the gateway conducts repeated ID check through the TSN unit according to the received Ethernet frame, selects and receives the correct Ethernet frame, and deletes the repeated or wrong frame. And analyzing and restoring the key instruction by utilizing a DDS protocol, converting the key instruction into a signal and sending the signal to a corresponding actuator.
The central controller is provided with a DDS node, a Raw-Eth module and a TSN switching unit, the DDS node is responsible for issuing key instruction data, and the TSN switching unit is responsible for copying data frames.
The gateway is provided with a DDS node, a Raw-Eth module and a TSN exchange unit, the DDS node is responsible for subscribing key instruction data, and the TSN exchange unit is responsible for eliminating repeated data frames.
The DDS node is responsible for issuing/subscribing key instruction data and then sending the key instruction data through an Ethernet interface; the nodes are connected through the TSN switches 1-4 to form a ring network, and redundancy of Ethernet frames is supported.
The invention discloses a vehicle-mounted network redundant communication method based on a DDS protocol and a TSN technology, which comprises the following steps:
(1) the central controller operates an automatic driving module, makes decisions through a series of automatic driving algorithms such as perception prediction and the like to generate key instruction data, and then encapsulates the key instruction data into an Ethernet message by adopting a DDS protocol through DDS nodes and transmits the key instruction data to the TSN switching unit. And the TSN switching unit on the central controller is responsible for copying the Ethernet data frame and sending the Ethernet data frame to the TSN switching link.
As shown in fig. 2, the standard ethernet frame may include a user vlan (virtual Local Area network) information C-tag (customer tag), and the TSN switch unit processes the ethernet frame, and adds an R-tag (redundancy tag) option in the ethernet frame header and sends the ethernet frame to the TSN switch. An R-TAG option needs to be added to a common ethernet frame header to fill in key information such as an ethernet type, a compressed key value, a sequence number ID, and the like. The compression key value is a reserved field of a multiplexing 802.1CB specification, is replaced by a DDS data key value and is compressed into an R-TAG, and is used for identifying key DDS data by a TSN switching unit to perform multi-transmission selective reception. And according to the query of the compressed key value, designating the key data frame for copying. Finally, a Cyclic Redundancy Check (CRC) field is added to the ethernet packet to ensure the integrity of the data frame.
(2) The data frame is sent to the TSN through the Ethernet, an 802.1CB function is started on the TSN, and after each TSN receives the data frame, a serial number ID in an R-TAG option is analyzed; and then, message path replication is carried out according to the serial number ID, and the switches of different links are selected to transmit the same serial number ID to form link redundancy.
(3) The gateway receives the Ethernet messages from different links, and ensures that a correct message is sent under any link condition; analyzing the R-TAG option carried by the received Ethernet message through a TSN switching unit, performing multi-transmission and selective-reception operation according to the serial number ID, eliminating the message with the repeated serial number ID, and eliminating repeated frames; then the correct Ethernet frame is sent to the DDS node for analysis and restoration; and the restored key instruction data is converted into a signal and sent to a corresponding actuator to execute operation.
(4) The actuator operates the automobile parts according to a certain command rule, such as steering or braking.
As shown in fig. 3, the process of ethernet frame duplication and elimination by the TSN switch unit, where a, B, and C respectively represent three different data packets, and SW1 and SW2 respectively represent two TSN switches, assuming that only B packet needs to be TSN duplicated, specifically includes the steps of:
(1) the TSN switch at the sending side runs an 802.1CB standard protocol, fills an R-TAG option into an Ethernet data frame, copies a message path according to a serial number ID, selects switches of different links for sending the same serial number ID, and forms link redundancy;
(2) the receiving side TSN switch runs an 802.1CB standard protocol and is responsible for receiving R-TAG options, eliminating repeated or wrong data frames and receiving correct and complete data frames.
The TSN switch runs the 802.1CB specification protocol, supporting the functions of data frame replication and elimination.
As shown in fig. 4, the implementation process of the vehicle data communication redundancy scheme by the central controller and the gateway specifically includes the steps of:
(1) the DDS node is responsible for packaging the KEY instruction data into a DDS data segment and sending a compressed KEY carrying the service flow identification characteristics to the Raw-Eth module;
(2) the Raw-Eth module directly receives and transmits data frames at a link layer by using an original socket interface provided by an Operating System (OS); meanwhile, the DDS data segment is responsible for adding a TSN Ethernet type (ETH _ P _ TSN) and a compressed KEY field before the DDS data segment, and then the message is encapsulated into a standard Ethernet message format and is sent to a TSN unit;
(3) the TSN switch unit is responsible for padding the R-TAG option and the duplication and elimination of ethernet frames.
The invention realizes the link redundancy of Ethernet data transmission through the TSN unit and the TSN switch, improves the reliability of DDS data transmission, and ensures the communication function safety of the automatic driving emergency scene.
Claims (8)
1. A vehicle-mounted network redundant communication method based on DDS protocol and TSN technology is characterized by comprising the following steps:
(1) the central controller decides key instruction data, packages the key instruction data into an Ethernet message and transmits the key instruction data to the TSN switching unit; the TSN switching unit adds R-TAG options in the Ethernet frame header, copies the Ethernet data frame, completes the copying, sends the Ethernet data frame to different TSN switch links through the TSN switching unit, and each link is connected corresponding to different switches to form a mesh multi-branch connection;
(2) the Ethernet data frame is sent to the TSN switches through the Ethernet, and after each TSN switch receives the data frame, the serial number ID in the R-TAG option is analyzed; then, message path copying is carried out according to the serial number ID, switches of different links are selected to send the same serial number ID, and the same action is repeated by a plurality of TSN switches of different links to form link redundancy;
(3) the gateway receives the Ethernet data frame from different links, and ensures that a correct message is sent under any link condition; analyzing the carried R-TAG option through a TSN switching unit, and performing multi-transmission selective reception operation according to the serial number ID to eliminate the Ethernet data frames with the serial number ID appearing repeatedly; and restoring the key instruction data according to the correct Ethernet message, converting the key instruction data into a signal and sending the signal to the corresponding actuator.
2. The DDS protocol and TSN technology-based vehicular network redundancy communication method of claim 1, wherein the R-TAG option in the ethernet header includes ethertype, compressed key value and sequence number ID.
3. The DDS protocol and TSN technology-based vehicle network redundant communication method of claim 2, wherein the TSN switch unit copies the key ethernet data frame according to the compression key value.
4. The DDS protocol and TSN technology-based vehicle network redundancy communication method of claim 1, wherein the TSN switch runs 802.1CB specification protocol.
5. The DDS protocol and TSN technology-based vehicle-mounted network redundant communication method as claimed in claim 1, wherein the central controller determines the key instruction data, encapsulates the key instruction data into a DDS data packet through a DDS node, and encapsulates the DDS data packet into a standard ethernet packet through a RAW-ETH module.
6. The DDS protocol and TSN technology-based vehicle network redundant communication method as claimed in claim 1, wherein after receiving the correct ethernet packet, the gateway parses the DDS data packet through the RAW-ETH module, and then parses and restores the key instruction data through the DDS node.
7. A vehicle-mounted network redundant communication system based on DDS protocol and TSN technology is characterized by comprising a central controller, a TSN switch, a gateway and an actuator; TSN switching units are deployed on the central controller and the gateway;
the central controller decides key instruction data according to an automatic driving algorithm, packages the key instruction data into an Ethernet message, and processes an Ethernet data frame through a TSN switching unit to make link redundancy;
ethernet data frames sent by the central controller are sent to a destination gateway through TSN switches through different paths, and each TSN switch analyzes a serial number ID in an R-TAG option after receiving the data frames; then, message path copying is carried out according to the serial number ID, and switches of different links are selected to transmit the same serial number ID to form link redundancy;
the gateway receives the Ethernet data frame, and ensures that a correct message is sent under any link condition; analyzing the carried R-TAG option through the TSN switching unit, processing the Ethernet data frames by the TSN unit for multiple-sending selective receiving, and eliminating the Ethernet data frames with repeated serial number IDs;
and then, restoring the key instruction data according to the correct Ethernet message, converting the key instruction data into a signal and sending the signal to a corresponding actuator.
8. The DDS protocol and TSN technology-based vehicle network redundant communication system of claim 7, wherein the central controller is further deployed with a DDS node and a RAW-ETH module; the gateway is also provided with a DDS node and a RAW-ETH module.
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| CN113079133B (en) * | 2021-03-16 | 2021-12-07 | 深圳市盛博科技嵌入式计算机有限公司 | Data transmission method of gateway and gateway equipment |
| CN113364856B (en) * | 2021-06-03 | 2023-06-30 | 奥特酷智能科技(南京)有限公司 | Vehicle-mounted Ethernet system based on shared memory and heterogeneous processor |
| CN113938443B (en) * | 2021-07-28 | 2022-10-21 | 北京大学 | Wireless internet of things protocol switch |
| CN113923172B (en) * | 2021-07-28 | 2022-10-21 | 北京大学 | FF field bus switch with time certainty |
| CN113746605B (en) * | 2021-08-26 | 2023-01-24 | 深圳市盛博科技嵌入式计算机有限公司 | Reliable industrial data stream transmission method |
| CN215682332U (en) * | 2021-09-16 | 2022-01-28 | 北京车和家信息技术有限公司 | Intelligent automobile communication system |
| CN114301946B (en) * | 2021-12-30 | 2023-06-16 | 湖南大学 | Vehicle-mounted heterogeneous network system taking TSN as backbone network and vehicle |
| CN114844774B (en) * | 2022-04-24 | 2023-07-14 | 重庆长安汽车股份有限公司 | Redundant communication system, method and storage medium of vehicle-mounted Ethernet ring |
| CN114978754B (en) * | 2022-06-21 | 2023-09-19 | 奥特酷智能科技(南京)有限公司 | TSN anomaly detection method and system |
| CN114793210B (en) * | 2022-06-23 | 2022-09-13 | 北京轻网科技有限公司 | Method, device and system for transmitting and receiving data message in multiple-transmission and selective-reception manner |
| CN115941386A (en) * | 2022-11-30 | 2023-04-07 | 重庆长安汽车股份有限公司 | Vehicle-mounted Ethernet ring network data redundancy processing method, device, equipment and medium |
| CN116248583A (en) * | 2023-01-03 | 2023-06-09 | 重庆长安汽车股份有限公司 | Communication redundancy configuration method and device of vehicle-mounted controller, vehicle and storage medium |
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