WO2024000214A1

WO2024000214A1 - Communication method in vehicle and related apparatus

Info

Publication number: WO2024000214A1
Application number: PCT/CN2022/102139
Authority: WO
Inventors: 李�杰
Original assignee: 华为技术有限公司
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2024-01-04

Abstract

A communication method in a vehicle and a related apparatus. The method comprises: a first control unit sends a first packet by means of a first transmission interface; and the first control unit sends a second packet by means of a second transmission interface, wherein data in the first packet and data in the second packet are associated, and communication protocols followed by the first transmission interface and the second transmission interface are different (S301). The present application can meet safe communications of a control unit having an increasing requirement on functional safety.

Description

Communication method and related device in vehicle

Technical field

The present application relates to the field of smart car technology, and in particular, to a communication method and related devices in a vehicle.

Background technique

With the development of smart car technology, especially with the development of driverless technology, more and more data needs to be interactively communicated between various units in the vehicle, and the functional safety requirements of the units in the vehicle are also getting higher and higher. The existing controller area network (CAN) in vehicles can no longer meet the secure communication needs of vehicle control units with increasingly higher functional safety requirements.

Contents of the invention

The embodiment of the present application discloses a communication method and related devices in a vehicle, which can meet the safe communication of vehicle control units with increasingly higher functional safety requirements.

In a first aspect, this application provides a communication method in a vehicle, which method includes:

The first control unit sends the first message through the first transmission interface;

The aforementioned first control unit sends the second message through the second transmission interface;

The data in the first message and the data in the second message are related, and the communication protocols followed by the first transmission interface and the second transmission interface are different.

Optionally, the aforementioned first transmission interface is a controller area network CAN interface, and the aforementioned second transmission interface is a vehicle-mounted Ethernet interface.

Optionally, the correlation between the data in the first message and the data in the second message may include the following situation: the data in the first message and the data in the second message are the same.

Optionally, the correlation between the data in the first message and the data in the second message may include the following situation: the data included in the second message is the first target data, and the first message includes The data is verification information, and the verification information is used to verify the first target data.

Optionally, the correlation between the data in the first message and the data in the second message may include the following situation: the data included in the second message is the second target data, and the first message includes The data of is the first data, and the first data is part of the data in the second target data.

Optionally, the correlation between the data in the first message and the data in the second message may include the following situations: the data in the first message is the second data, and the data in the second message is the third data, The second data and the third data are respectively part of the third target data, and the third target data is the data to be sent by the first control unit within one or more clock cycles. The second data and the third data are used to restore the third target data.

In this application, the first control unit can transmit data through two transmission interfaces following different communication protocols. The data transmitted by the two transmission interfaces are related, that is, using a heterogeneous redundant communication method, which can solve the problem of simultaneous transmission. Defects in this transmission technology lead to the failure of external interaction of the control unit, which improves the interactive performance of the control unit and also improves the communication security and reliability of the control unit. Thereby meeting the secure communication of vehicle control units with increasingly higher functional safety requirements.

In a possible embodiment, the aforementioned first message includes N1 messages corresponding to the aforementioned first transmission interface, and the aforementioned second message includes M1 messages corresponding to the aforementioned second transmission interface, and is encapsulated into the aforementioned N1 The data in each packet is the same as the data encapsulated in the aforementioned M1 packets, and both the aforementioned N1 and the aforementioned M1 are integers greater than 0.

In this application, the data transmitted by the first transmission interface and the second transmission interface are the same, ensuring that the unit that receives these data (hereinafter referred to as the second control unit for short) can receive these data. Moreover, the two transmission interfaces follow different communication protocols, which can solve the problem of external interaction failure of the control unit due to defects in the same transmission technology.

In a possible embodiment, in the first case, the aforementioned M1=1, the data in the aforementioned second message includes the data to be sent by the aforementioned first control unit within one or more clock cycles; or,

In the second case, the aforementioned N1=M1;

The aforementioned first situation includes at least one of the following situations: the aforementioned second message is a message sent by the aforementioned first control unit in response to the data collection request of the data collection unit, and the aforementioned second message is a broadcast message or a multicast message. message, or the aforementioned second message is a message sent by the aforementioned first control unit in response to a request from the vehicle status monitoring unit;

The aforementioned second situation includes that the data in the aforementioned second message is information for controlling the aforementioned vehicle driving operation.

In this application, although the data in the packets transmitted by the first transmission interface and the second transmission interface are the same, the number of encapsulated packets may be different for different application scenarios. For example, because the length of the message transmitted by the second transmission interface is relatively large, more data can be encapsulated at one time. Therefore, for the first scenario mentioned above, since the real-time requirements of the data are not high, the data to be sent within one or more clock cycles can be encapsulated and sent in one message at a time. For the second scenario mentioned above, which has high real-time requirements for data, the packets sent through the two interfaces can be encapsulated into the same number of packets to reduce the data encapsulation time and ensure data transmission efficiency. It can be seen that in this application, heterogeneous transmission networks can be used to flexibly transmit messages in different ways for different application scenarios.

In a possible embodiment, the aforementioned second message includes extended information, and the aforementioned extended information includes one or more of the following: status information of the subsystem where the aforementioned first control unit is located, control information issued by the aforementioned first control unit. instructions, or the sensor data collected by the aforementioned first control unit.

In this application, since the length of the message transmitted by the second transmission interface is relatively large, more data can be encapsulated at one time. Therefore, some additional extended information can be encapsulated for transmission, data can be transmitted in response to various application requirements, and the flexibility and practicality of the communication network can be improved.

In a possible embodiment, the aforementioned first message includes N2 messages corresponding to the aforementioned first transmission interface, the aforementioned second message includes M2 messages corresponding to the aforementioned second transmission interface, and the aforementioned M2 messages The data included in the text is the first target data, and the data of the aforementioned N2 messages is verification information. The aforementioned verification information is used to verify the aforementioned first target data. The aforementioned N2 and the aforementioned M2 are both integers greater than 0.

Compared with the above-mentioned implementation of the first transmission interface and the second transmission interface transmitting the same data, in this application, the verification information of the data is transmitted through the first transmission interface, and the data is transmitted through the second transmission interface. This kind of data transmission The difference processing mechanism can significantly shorten the data transmission time when the transmission bandwidth of the second transmission interface is large, complete the data transmission in a shorter time, and effectively complete the data verification. This reduces the time cost of joint interaction between control units, reduces the time loss of direct communication between vehicle components, and improves interaction performance.

In a possible embodiment, the aforementioned first message includes N3 messages corresponding to the aforementioned first transmission interface, the aforementioned second message includes M3 messages corresponding to the aforementioned second transmission interface, and the aforementioned M3 messages The data included in the text is the second target data, the data of the aforementioned N3 messages is the first data, the aforementioned first data is part of the aforementioned second target data, and the aforementioned N3 and the aforementioned M3 are both integers greater than 0.

In this application, a part of the entire data is transmitted through the first transmission interface, and the entire data is transmitted through the second transmission interface. This differential processing mechanism of data transmission can significantly shorten the data transmission time when the transmission bandwidth of the second transmission interface is large. The transmission time can be used to complete the data transmission in a shorter time. In addition, the data transmitted by the first transmission interface can be used to verify the overall data transmitted by the second interface, thereby effectively completing the data verification. This reduces the time cost of joint interaction between control units, reduces the time loss of direct communication between vehicle components, and improves interaction performance.

In a possible embodiment, the aforementioned first message includes N4 messages corresponding to the aforementioned first transmission interface, the aforementioned second message includes M4 messages corresponding to the aforementioned second transmission interface, and the aforementioned first message The data in the message is the second data, the data in the second message is the third data, the second data and the third data are part of the third target data respectively, and the third target data is the first control data. The data to be sent by the unit in one or more clock cycles, the aforementioned N4 and the aforementioned M4 are both integers greater than 0.

Optionally, the aforementioned second data and the aforementioned third data are used to restore the aforementioned third target data.

In this application, through the above design, even if the information in the message sent by a certain transmission interface is intercepted, all the data cannot be restored, thus playing a role in data encryption and protection. In addition, this differentiated encryption transmission method can reduce the dependence of transmission encryption on encryption algorithms, and can achieve high-level ciphertext transmission without the need for complex encryption algorithms. The embodiments of this application can significantly reduce the device's overhead in ciphertext transmission.

In a possible embodiment, the aforementioned first message includes a verification message, the aforementioned verification message and the aforementioned second message include synchronization verification information, and the aforementioned verification message and the aforementioned synchronization verification information are denoted by In order to verify the real-time nature of the aforementioned second message, the aforementioned synchronization verification information includes the identification ID of the aforementioned verification message, the sequence number of the clock cycle when the aforementioned verification message is sent, and the verification of the data in the aforementioned second message. test value.

In this application, the transmitted messages between the two transmission interfaces can be used to modify the real-time constrained communication of each other, complete the real-time constrained communication solution of the transmission network, and realize the real-time communication transformation of the network. This builds real-time functionality in redundant communication scenarios.

In a possible embodiment, the first control unit is a control unit included in the steering system in the aforementioned vehicle, a control unit included in the braking system in the aforementioned vehicle, a control unit included in the power system in the aforementioned vehicle, the aforementioned vehicle The control unit included in the body domain controller VDC system, the vehicle control unit VCU in the aforementioned vehicle, or the control unit included in the autonomous driving and assistance system ADAS in the aforementioned vehicle.

In this application, the above-mentioned control units are units with high functional safety level requirements. By designing a heterogeneous redundant communication network for these units, it can be ensured that the data of these units can be transmitted accurately and quickly to meet the requirements of the corresponding functional safety level.

In a possible embodiment, the aforementioned first control unit is a control unit included in the VDC system in the aforementioned vehicle, a vehicle control unit VCU in the aforementioned VDC system, or a control unit of the autonomous driving and assistance system ADAS;

The aforementioned first control unit communicates with the P second control units in the aforementioned vehicle through the aforementioned first transmission interface;

The aforementioned first control unit communicates with the aforementioned P second control units respectively through the P aforementioned second transmission interfaces;

Wherein, the aforementioned P is an integer greater than 0.

In this application, the communication network connected to the first transmission interface has a bus topology structure, and the communication network connected to the second transmission interface has a star topology structure.

In a possible embodiment, the aforementioned first control unit is the control unit of the VDC system in the aforementioned vehicle, the vehicle control unit VCU in the aforementioned VDC system, or the control unit of the autonomous driving and assistance system ADAS;

The aforementioned first control unit communicates with the P second control units in the aforementioned vehicle through the aforementioned first transmission interface; the aforementioned P is an integer greater than 0;

The aforementioned first control unit communicates with the aforementioned P second control units through the aforementioned second transmission interface.

In this application, the communication network connected to the first transmission interface and the second transmission interface is a bus topology.

The first control unit communicates with the switching unit in the vehicle through the second transmission interface, and the switching unit is used to forward messages sent by the first control unit to the second control unit through the second transmission interface.

In this application, the communication network connected to the first transmission interface has a bus topology structure, and the communication network connected to the second transmission interface has a switched network structure.

In a second aspect, this application provides a communication method in a vehicle, which method includes:

The second control unit receives the first message through the first transmission interface;

The aforementioned second control unit receives the second message through the second transmission interface;

Optionally, the correlation between the data in the first message and the data in the second message may include the following situations: the data in the first message is the second data, and the data in the second message is the third data, The second data and the third data are respectively part of the third target data, and the third target data is the data to be received by the second control unit within one or more clock cycles. The second data and the third data are used to restore the third target data.

In this application, the above-mentioned first message and second message can come from the first control unit, and data can be transmitted between the first control unit and the second control unit through two transmission interfaces following different communication protocols. The two The data transmitted by the transmission interface is related, that is, using heterogeneous redundant communication methods, which can solve the problem of external interaction failure of the control unit due to defects in the same transmission technology, improve the interaction performance of the control unit, and also improve the Communication security and reliability of the control unit.

In a possible embodiment, the aforementioned first message includes N4 messages corresponding to the aforementioned first transmission interface, the aforementioned second message includes M4 messages corresponding to the aforementioned second transmission interface, and the aforementioned first message The data in the message is the second data, the data in the second message is the third data, the second data and the third data are part of the third target data respectively, and the third target data is the first control data. The data to be sent by the unit within one or more clock cycles, the aforementioned N4 and the aforementioned M4 are both integers greater than 0.

In a possible embodiment, the first message includes a verification message;

When the aforementioned second message is received by the aforementioned second control unit within a preset time period after the aforementioned second control unit receives the aforementioned verification message, the aforementioned second message is determined to be valid;

or,

If the second message is received by the second control unit after exceeding the preset time period, the second message is determined to be invalid.

In a possible embodiment, the aforementioned verification message and the aforementioned second message include synchronization verification information, and the aforementioned synchronization verification information includes the identification ID of the aforementioned verification message, the location where the aforementioned verification message is sent, and The sequence number of the clock cycle and the check value of the data in the aforementioned second message;

When the aforementioned second message is received by the aforementioned second control unit within a preset time period after the aforementioned second control unit receives the aforementioned verification message, the aforementioned second message is determined to be valid, including:

The aforementioned second message is received by the aforementioned second control unit within a preset time period after the aforementioned second control unit receives the aforementioned verification message, and the aforementioned synchronization verification information in the aforementioned second message is consistent with the aforementioned verification message. If the synchronization check information in the two messages is the same, the second message is determined to be valid.

In a possible embodiment, the time when the aforementioned first message is received by the aforementioned second control unit is later than the time when the aforementioned second message is received by the aforementioned second control unit;

After the aforementioned second control unit receives the second message through the second transmission interface, it also includes:

The aforementioned second control unit performs calculation based on the data in the aforementioned second message.

In a possible embodiment, after receiving the first message through the first transmission interface, the second control unit further includes:

The aforementioned second control unit performs verification processing on the data in the aforementioned first message and the aforementioned second message.

In a possible embodiment, the aforementioned second control unit performs verification processing on the data in the aforementioned first message and the aforementioned second message, including:

When it is determined that the data in the first message is different from the data in the second message, the second control unit receives the third message through the second transmission interface based on a retransmission mechanism;

When the data in the third message is the same as the data in the second message, the second control unit executes an error correction strategy on the data in the first message.

In this application, the communication network where the second transmission interface is located has a larger transmission bandwidth and can transmit the above-mentioned second message to the second control unit quickly. Then, the second control unit can first based on the received second message. Calculations were performed using the data in the text. Verify after receiving the data in the first message. Compared with the existing multi-channel redundant CAN communication mode of receiving data and processing calculation data, the example of this application can complete the two-step operation of receiving and data processing within the original time of receiving data, significantly improving communication and data processing efficiency.

In a possible embodiment, the aforementioned second control unit is a control unit included in the steering system in the aforementioned vehicle, a control unit included in the braking system in the aforementioned vehicle, a control unit included in the power system in the aforementioned vehicle, the aforementioned vehicle The control unit included in the body domain controller VDC system, the vehicle control unit VCU in the aforementioned vehicle, or the control unit included in the autonomous driving and assistance system ADAS in the aforementioned vehicle.

In a possible embodiment, the aforementioned second control unit is a control unit included in the steering system in the aforementioned vehicle, a control unit included in the braking system in the aforementioned vehicle, or a control unit included in the power system in the aforementioned vehicle;

The aforementioned second control unit communicates with the aforementioned first control unit through the aforementioned first transmission interface. The aforementioned second control unit also communicates with the aforementioned first control unit through the aforementioned second transmission interface. The aforementioned first control unit is a body domain in the aforementioned vehicle. The control unit included in the controller VDC system, the vehicle control unit VCU in the aforementioned vehicle, or the control unit included in the autonomous driving and assistance system ADAS in the aforementioned vehicle.

In a possible embodiment, the second control unit communicates with the switching unit in the vehicle through the second transmission interface, and the switching unit is used to forward the data from the second control unit to the first control unit through the second transmission interface. messages sent by the unit.

In a third aspect, a control unit according to an embodiment of the present application includes:

A sending unit, configured to send the first message through the first transmission interface;

The aforementioned sending unit is also used to send the second message through the second transmission interface;

In the second case, the aforementioned N1=M1;

Wherein, the aforementioned P is an integer greater than 0.

In a fourth aspect, this application provides a control unit including:

A receiving unit, configured to receive the first message through the first transmission interface;

The aforementioned receiving unit is also used to receive the second message through the second transmission interface;

In a possible embodiment, the first message includes a verification message;

or,

In a possible embodiment, the aforementioned verification message and the aforementioned second message include synchronization verification information, and the aforementioned synchronization verification information includes the identification ID of the aforementioned verification message, the location where the aforementioned verification message is sent, and The sequence number of the clock cycle and the verification value of the data in the second message; the second message is received by the second control unit within a preset time after the second control unit receives the verification message. Next, the aforementioned second message was determined to be valid, including:

The above-mentioned second control unit also includes a calculation unit, configured to perform calculations based on the data in the above-mentioned second message after the above-mentioned receiving unit receives the second message through the second transmission interface.

In a possible embodiment, the above-mentioned second control unit further includes a verification unit, configured to perform verification on the above-mentioned first message and the above-mentioned second message after the aforementioned receiving unit receives the first message through the first transmission interface. The data is verified.

In a possible embodiment, the aforementioned verification unit is specifically used for:

When it is determined that the data in the first message is different from the data in the second message, receiving the third message through the second transmission interface based on the retransmission mechanism;

When the data in the third message is the same as the data in the second message, an error correction strategy is performed on the data in the first message.

In a possible embodiment, the first transmission interface is a controller area network CAN interface, and the second transmission interface is a vehicle Ethernet interface.

In a fifth aspect, embodiments of the present application provide a communication system. The communication system includes a first control unit and a second control unit. The aforementioned first control unit is used to execute the method described in any one of the above-mentioned first aspects. The aforementioned third control unit The two control units are used to execute the method described in any one of the above second aspects.

In a sixth aspect, embodiments of the present application provide a controller, which includes a control unit and a memory. The memory is coupled to the control unit. When the control unit executes the computer program or computer instructions stored in the memory, the method described in any one of the above first aspects can be implemented. The device may also include a transmission interface, which is used for the device to communicate with other devices. For example, the transmission interface may be a transceiver, a circuit, a bus, a module, or other types of transmission interfaces.

In one possible implementation, the device may include:

Memory for storing computer programs or computer instructions;

Control unit for:

Send the first message through the first transmission interface;

Send the second message through the second transmission interface;

It should be noted that the computer program or computer instructions in the memory in this application can be stored in advance or downloaded from the Internet when using the device. This application does not specifically limit the source of the computer program or computer instructions in the memory. The coupling in the embodiment of this application is an indirect coupling or connection between devices, units or modules, which may be in electrical, mechanical or other forms, and is used for information interaction between devices, units or modules.

In a seventh aspect, embodiments of the present application provide a controller, which includes a control unit and a memory. The memory is coupled to the control unit. When the control unit executes the computer program or computer instructions stored in the memory, the method described in any one of the above second aspects can be implemented. The device may also include a transmission interface, which is used for the device to communicate with other devices. For example, the transmission interface may be a transceiver, a circuit, a bus, a module, or other types of transmission interfaces.

In one possible implementation, the device may include:

Memory for storing computer programs or computer instructions;

Control unit for:

Receive the first message through the first transmission interface;

Receive the second message through the second transmission interface;

In an eighth aspect, embodiments of the present application provide a chip, which includes a processor and a memory, wherein the memory is used to store computer programs or computer instructions, and the processor is used to execute the computer program or computer instructions stored in the memory, The aforementioned chip is caused to perform the method described in any one of the above first aspects.

In a ninth aspect, embodiments of the present application provide a chip, which includes a processor and a memory, wherein the memory is used to store computer programs or computer instructions, and the processor is used to execute the computer program or computer instructions stored in the memory, The aforementioned chip is caused to perform the method described in any one of the above second aspects.

In a tenth aspect, an embodiment of the present application provides a vehicle. The vehicle includes a first control unit and/or a second control unit. The first control unit is used to execute the method described in any one of the first aspects. The second control unit The control unit is configured to execute the method described in any one of the above second aspects.

In an eleventh aspect, the present application provides a computer-readable storage medium that stores a computer program or computer instructions. The computer program or computer instructions are executed by a processor to implement any one of the above-mentioned first aspects. method described.

In a twelfth aspect, the present application provides a computer-readable storage medium that stores a computer program or computer instructions. The computer program or computer instructions are executed by a processor to implement any one of the above-mentioned second aspects. method described.

In a thirteenth aspect, the present application provides a computer program product. When the computer program product is executed by a processor, any of the methods described in the first aspect will be executed.

In a fourteenth aspect, the present application provides a computer program product. When the computer program product is executed by a processor, any of the methods described in the second aspect will be executed.

In a fifteenth aspect, embodiments of the present application provide a chip, which includes a processor, wherein the processor is used to execute a computer program or computer instructions stored in a memory, so that the chip executes any one of the above first aspects. Methods.

In a sixteenth aspect, embodiments of the present application provide a chip, which includes a processor, wherein the processor is used to execute a computer program or computer instructions stored in a memory, so that the chip executes any one of the above second aspects. Methods.

The solutions provided by the above-mentioned third aspect to the sixteenth aspect are used to implement or cooperate with the corresponding methods provided in the above-mentioned first or second aspect, and therefore can achieve the same or better results as the corresponding methods in the first or second aspect. The corresponding beneficial effects will not be described again here.

Description of drawings

Figure 1A shows a schematic diagram of the communication system architecture provided by an embodiment of the present application;

Figure 1B shows a schematic diagram of the communication system architecture provided by an embodiment of the present application;

Figure 1C shows a schematic diagram of the communication system architecture provided by the embodiment of the present application;

Figure 2A shows a schematic diagram of the steering system architecture provided by an embodiment of the present application;

Figure 2B shows a schematic diagram of the braking system architecture provided by the embodiment of the present application;

Figure 3 shows a schematic flow chart of the communication method provided by the embodiment of the present application;

Figure 4 shows a schematic diagram of message sending provided by the embodiment of the present application;

Figure 5 shows a schematic diagram of the message sending process provided by the embodiment of the present application;

Figure 6 shows a schematic diagram of message sending provided by the embodiment of the present application;

Figure 7 shows another message sending schematic diagram provided by the embodiment of the present application;

Figure 8 shows a schematic diagram of the message format provided by the embodiment of this application;

Figures 9 and 10 show a schematic structural diagram of a control unit provided by an embodiment of the present application;

Figures 11 and 12 show another structural schematic diagram of a control unit provided by an embodiment of the present application.

Detailed ways

In the embodiment of this application, "multiple" refers to two or more. In the embodiment of this application, "and/or" is used to describe the association of associated objects, indicating three relationships that can exist independently. For example, A and/or B can mean: A exists alone, B exists alone, or both. There are A and B. Descriptions such as "at least one (or at least one) of a1, a2, ... and an" used in the embodiments of this application include the situation where any one of a1, a2, ... and an exists alone. , also includes any combination of any more of a1, a2,... and an, each situation can exist alone; for example, the description of "at least one of a, b, and c" includes a single a , b alone, c alone, a and b combination, a and c combination, b and c combination, or a combination of abc.

In the various embodiments of this application, if there is no special explanation or logical conflict, the terms and/or descriptions between the various embodiments are consistent and can be referenced to each other. The technical features in different embodiments are based on their inherent logic. Relationships can be combined to form new embodiments.

The drawings needed to be used in the embodiments of this application will be introduced below.

Referring to FIG. 1A , FIG. 1B and FIG. 1C , a schematic diagram of an in-vehicle communication system provided by the present application is exemplarily shown.

In a possible implementation, an in-vehicle communication system provided by the embodiment of the present application may be as shown in Figure 1A. The communication system includes multiple control units, and n control units are exemplarily shown in the figure, where n is an integer greater than 1. As can be seen in the figure, each control unit includes a first communication network interface and a second communication network interface. The first communication network interface and the second communication network interface included in the control unit are mutually redundant communication interfaces for the control unit. That is, the control unit can communicate with another control unit through the first communication network interface, and can also communicate with the other control unit through the second communication network interface. The control unit accesses the first communication network through the first communication network interface and accesses the second communication network through the second communication network interface. The control unit is both a network node of the first communication network and a network node of the second communication network. The first communication network and the second communication network are mutually redundant communication networks for the control unit. That is, the control unit can communicate with another control unit through the first communication network or communicate with the other control unit through the second communication network.

The first communication network shown in FIG. 1A is a network with a bus topology. The second communication network shown in FIG. 1A is a network with a star topology, and the control unit 1 is the central node of the star topology. It can be seen that in the first communication network, each control unit includes a first communication network interface, and these first communication network interfaces are connected to a first communication network bus to transmit data through the first communication network bus. That is, the control unit can communicate with one or more other control units through the first communication network bus. In the second communication network, the control unit 1 is a central network node and includes a plurality of second communication network interfaces. Each second communication network interface is connected to another control unit through a second communication network bus. The first communication network interface of the control unit 1 and each second communication network interface of the control unit 1 are mutually redundant communication interfaces.

In a possible implementation, an in-vehicle communication system provided by the embodiment of the present application may be as shown in Figure 1B. The difference between the communication system shown in FIG. 1B and the communication system shown in FIG. 1A is the topological structure of the second communication network. The second communication network of the communication system shown in FIG. 1B is a network with a bus topology. It can be seen that in the second communication network, each control unit includes a second communication network interface, and these second communication network interfaces are connected to a second communication network bus, and data is transmitted through the second communication network bus. That is, the control unit can communicate with one or more other control units through the second communication network bus. For the rest of the relevant introduction to Figure 1B, please refer to the introduction of Figure 1A above, and will not be described again here.

In a possible implementation, an in-vehicle communication system provided by the embodiment of the present application may be as shown in Figure 1C. The communication system shown in FIG. 1C is different from the communication system shown in FIG. 1A in the topological structure of the second communication network. The second communication network of the communication system shown in Figure 1C is a switched network structure. It can be seen that in the second communication network, in addition to the control unit, a plurality of switching units are also included. These switching units are used to forward data between control units. Each switching unit can be connected to at least two control units through a second communication network interface for forwarding data between the at least two control units. One switching unit can also be connected to another switching unit through the second communication network interface, and the two switching units connected through the second communication network interface can forward data from each other to each other. Optionally, the network interface in the second communication network can also provide a single point of access for other devices, units or equipment in the vehicle to communicate. That is, the control unit may not pass through the switching unit, but through the second communication network interface. Communicates directly with other devices, units or equipment. For the rest of the relevant introduction of Figure 1C, please refer to the introduction of Figure 1A above, and will not be described again here.

In a possible embodiment, the above-mentioned switching unit includes a local area network switch chip (LAN switch, LSW). For example, the switching unit may be a gateway or a vehicle integration unit (VIU). In specific implementation, VIU can provide some or all of the data processing functions or control functions for multiple control units. The following is an example of the functions of VIU. It should be understood that the above VIU can have one or more of the following functions:

① Electronic control function, that is, VIU is used to realize the electronic control functions provided by the electronic control unit (ECU) inside some or all of the above control units. For example, the control functions required by a certain control unit, or the data processing functions required by a certain control unit.

② The same functions as the gateway, that is, the VIU can also have some or all of the same functions as the gateway, such as protocol conversion function, protocol encapsulation and forwarding function, and data format conversion function.

③The processing function of data across control units, that is, the function of processing or calculating data obtained from the actuators of multiple control units.

It should be noted that the data involved in the above functions may include the operating data of the actuator in the control unit, for example, the motion parameters of the actuator, the working status of the actuator, etc. The data involved in the above functions may also be data collected through the data acquisition unit of the control unit (for example, a sensitive element or sensor). For example, the road information on which the vehicle is traveling or weather information collected through the vehicle's sensitive components are not specifically limited in the embodiments of the present application.

In this embodiment of the present application, the communication protocols followed by the first communication network interface and the second communication network interface are different, that is, the communication protocols followed by the first communication network and the second communication network are different.

In a possible implementation, the first communication network may be a CAN network. The above-mentioned first communication network interface may be a CAN interface. The first communication network and the first communication network interface follow the communication protocol of the CAN network. The above-mentioned second communication network may be vehicle Ethernet. The above-mentioned second communication network interface may be a vehicle-mounted Ethernet interface. The second communication network and the second communication network interface follow the communication protocol of the vehicle Ethernet.

In a possible implementation, the above-mentioned CAN network may be a controller area network with flexible data-rate (CAN with flexible data-rate, CANFD). The CAN interface of the above control unit may be a CANFD bus interface. Or, in another possible implementation, the above-mentioned CAN network may be a third-generation CAN communication technology network (CAN extra large, CANXL). The CAN interface of the above control unit may be a CANXL bus interface.

In a possible implementation, the above-mentioned vehicle Ethernet interface may be an Ethernet interface of a Fast Ethernet standard such as 10BASE-T1S, 10BASE-T1, 100Base-T1 or 1000Base-T1.

In a possible embodiment, the first communication network may be a CAN network. The above-mentioned first communication network interface may be a CAN interface. The first communication network and the first communication network interface follow the communication protocol of the CAN network. The above-mentioned second communication network may be a vehicle-mounted wireless network. The above-mentioned second communication network interface may be a vehicle-mounted wireless network interface. The second communication network and the second communication network interface follow the communication protocol of the vehicle wireless network.

The above-mentioned second communication network is not limited to the network introduced above. For example, it may also be a Bluetooth network or a vehicle-mounted network defined in the future. The above-mentioned second communication network interface is not limited to the network interface introduced above. For example, it may also be a Bluetooth interface or a vehicle-mounted network interface defined in the future. The embodiments of the present application are not limited to this.

In a possible implementation, the control unit in Figure 1A, Figure 1B and Figure 1C can be a unit with high functional safety. For example, the unit with higher functional safety may be a control unit with an automotive safety integrity level (ASIL) reaching level C or level D or higher. Units with high functional safety will require a redundant backup mechanism for the main control and system interaction communication links to prevent risks such as control failure caused by the failure of a single communication link. For example, the control unit 1 in the above-mentioned Figures 1A, 1B and 1C can be a control unit included in a vehicle domain controller (vehicle domain controller, VDC) system, or can be a whole vehicle controller in the vehicle. (vehicle control unit, VCU), or it can be a control unit included in the autonomous driving and assistance system (advanced driver assistance system, ADAS) in the vehicle. For example, the control unit other than the control unit 1 in the communication system shown in FIG. 1A, FIG. 1B and FIG. 1C may include a control unit included in the steering system in the vehicle, a control unit included in the braking system, or a power unit. The system includes control units, etc. The power system may include front drive motors and rear drive motors. It should be noted that this is only an example and does not constitute a limitation on the embodiments of the present application. The control unit in the above communication system can be any subsystem or controller in the vehicle that requires redundant access, and the embodiment of the present application does not limit this.

The structure of the communication system shown in FIG. 1A, FIG. 1B and FIG. 1C is only an example and does not constitute a limitation on the embodiments of the present application.

The embodiments of this application implement heterogeneous communication technology under dual networks with different communication protocols. By constructing heterogeneous network communication and improving functional safety features, it can solve the problem of common cause failure and the problem of excessive delay overhead caused by communication interaction efficiency in the system. , as well as a series of problems such as the difficulty in expanding the capacity of network access points. This common cause failure refers to the risk of failure of units implemented using related technologies due to the same design defect or quality problem due to the same factor. For example, if serious logic flaws are found in the CAN bus, or there are other unknown design flaws, once the failure occurs, all interfaces using this technology may fail. This leads to system interaction failure, and there is a common factor that causes the system to fail.

Based on the above description, in the communication system provided by the embodiment of the present application, the control unit includes a first communication network interface and a second communication network interface that are redundant to each other. The following takes the control unit included in the steering system or braking system as an example to introduce the redundant communication interface design scheme of the control unit. See FIG. 2A and FIG. 2B for example.

FIG. 2A exemplarily shows a schematic structural diagram of the steering system. It can be seen that the steering system includes steering controller 1 and steering controller 2. The steering controller 1 and the steering controller 2 are the control units included in the above-mentioned steering system. Steering controller 1 and steering controller 2 are connected and can communicate with each other. The steering system also includes power module 1, power module 2, power supply 1, power supply 2, etc. The power module 1 is connected to the steering controller 1 and is used to provide steering control instruction signals to the steering controller 1 . The power module 2 is connected to the steering controller 2 and is used to provide steering control indication signals to the steering controller 2 . The power supply 1 is connected to the steering controller 1 and the power module 1 respectively, and is used to supply power to the steering controller 1 and the power module 1. The power supply 2 is connected to the steering controller 2 and the power module 2 respectively, and is used to supply power to the steering controller 2 and the power module 2 . In addition, the steering controller 1 is connected to the first communication network interface and accesses the first communication network through the first communication network interface. The steering controller 2 is connected to the second communication network interface and accesses the second communication network through the second communication network interface.

It can be seen that in Figure 2A above, the steering system includes two steering controllers, one steering controller is connected to the first communication network interface, and the other steering controller is connected to the second communication network interface, thus realizing the differentiation of the steering system. Design of redundant communication interface.

By way of example, the above-mentioned first communication network interface may be a CAN transceiver. For example, the above-mentioned second communication network interface may be implemented based on a vehicle Ethernet physical layer (PHY), or may be a vehicle Ethernet transceiver. For example, the steering controller may be a micro control unit (MCU), ECU or other processing unit, etc., and the embodiment of the present application does not limit this.

In another possible embodiment, the first communication network interface and the second communication network interface may be designed on one of the above-mentioned two steering controllers. That is, the first communication network interface and the second communication network interface can be connected to a steering controller.

In another possible implementation, the steering system may also include one steering controller or two or more steering controllers. Then, the first communication network interface may be connected to any steering controller in the steering system, and the second communication network interface may also be connected to any steering controller in the steering system.

Figure 2B illustrates a schematic structural diagram of the braking system. It can be seen that the braking system includes brake controller 1 and brake controller 2. The brake controller 1 and the brake controller 2 are the control units included in the brake system. Brake controller 1 and brake controller 2 are connected and can communicate with each other. The braking system also includes motor drive unit 1, motor drive unit 2, pedal stroke sensor, wheel speed sensor, deceleration sensor, etc. The motor drive unit 1 is connected to the brake controller 1 and is used to drive the motor based on instructions from the brake controller 1 . The motor drive unit 2 is connected to the brake controller 2 and is used to drive the motor based on instructions from the brake controller 2 . The pedal stroke sensor, wheel speed sensor and deceleration sensor are all connected to the two brake controllers to provide corresponding sensing data to the brake controllers. In addition, the brake controller 1 is connected to the first communication network interface and accesses the first communication network through the first communication network interface. The brake controller 2 is connected to the second communication network interface and accesses the second communication network through the second communication network interface.

It can be seen that in the above Figure 2B, the braking system includes two brake controllers, one brake controller is connected to the first communication network interface, and the other brake controller is connected to the second communication network interface, thereby realizing Design of heterogeneous redundant communication interfaces for braking systems. For example, the above-mentioned first communication network interface may be a first transmission transceiver. For example, the above-mentioned second communication network interface may be implemented based on the second communication network PHY, or may be a second communication network transceiver. For example, the brake controller may be an MCU, an ECU, or other processing unit, which is not limited in the embodiment of the present application.

In another possible embodiment, the first communication network interface and the second communication network interface may be designed on one of the two brake controllers. That is, the first communication network interface and the second communication network interface can be connected to a brake controller.

In another possible implementation, the braking system may also include one brake controller or two or more brake controllers. Then, the first communication network interface can be connected to any brake controller in the braking system, and the second communication network interface can also be connected to any brake controller in the braking system. .

The design of heterogeneous redundant communication interfaces of other control units, such as the control unit included in the power system, the control unit included in VDC, the control unit included in VCU or ADAS, etc. can refer to the redundant communication interface design of the steering system or braking system mentioned above. , no details will be given in the embodiments of this application.

The embodiments of the present application set up mutually redundant heterogeneous network communication interfaces in the control unit, so that the different physical transmission characteristics of the first transmission bus and the second communication network bus can be utilized, and the defects caused by the same transmission technology can be solved. A problem that causes the external interaction of the control unit to fail. It improves the interactive performance of the control unit and also improves the communication security and reliability of the control unit. In addition, if the second communication network is a vehicle-mounted Ethernet, the large bandwidth characteristics of the second communication network can also be used to improve data transmission efficiency.

The communication method in the vehicle provided by the embodiment of the present application is introduced below. This method can be exemplarily applied to the control unit of the above communication system. For example, referring to Figure 3, the communication method includes but is not limited to the following steps:

S301. The first control unit sends a first message through the first transmission interface, and sends a second message through the second transmission interface. The data in the first message and the data in the second message are related. , the first transmission interface and the second transmission interface follow different communication protocols.

For example, the above-mentioned first control unit may be a control unit included in the steering system, a control unit included in the braking system, a control unit included in the power system, and a control unit included in the body domain controller VDC system in the vehicle. The vehicle control unit VCU, or the control unit included in the autonomous driving and assistance system ADAS, etc.

The first control unit is provided with a first transmission interface and a second transmission interface that are redundant to each other. For example, the first transmission interface may be the above-mentioned first communication network interface, and the second transmission interface may be the above-mentioned second communication network interface. Regarding the design of the first transmission interface and the second transmission interface in the first control unit, reference may be made to the design in the above-mentioned FIG. 2A or FIG. 2B and its possible implementations, and will not be described again here.

It should be noted that the examples of this application do not limit the specific form of the first control unit. The control unit provided with the first transmission interface and the second transmission interface that are redundant to each other can be the first control unit described in the embodiments of this application. unit.

Specifically, the first control unit may send a message to another control unit (referred to as the second control unit for short) through the mutually redundant first transmission interface and the second transmission interface. The message sent by the first control unit to the second control unit through the first transmission interface may be referred to as the first message for short. The message sent by the first control unit to the second control unit through the second transmission interface may be referred to as the second message for short. The data in the first message and the data in the second message are related. The correlation between the data in the first message and the second message will be further introduced later, which will not be described in detail here. For example, the data in the first message refers to the payload in the first message, and the data in the second message refers to the payload in the second message.

S302. The second control unit receives the first message through the third transmission interface, and receives the second message through the fourth transmission interface. The third transmission interface and the fourth transmission interface follow different communication protocols.

For example, if the above-mentioned first control unit is a control unit included in the steering system in the vehicle, a control unit included in the braking system, or a control unit included in the power system, etc., then the second control unit may be a control unit included in the VDC system in the vehicle. The control unit, the VCU in the vehicle or the control unit included in the autonomous driving and assistance system ADAS, etc. In this case, for example, the first message and the second message sent by the first control unit to the second control unit may include control information or instruction information. The embodiment of the present application does not limit the information included in the first message and the second message.

Or, for example, if the above-mentioned first control unit is a control unit included in the VDC system in the vehicle, a VCU in the vehicle or a control unit included in the autonomous driving and assistance system ADAS, etc., then the second control unit may be a control unit included in the vehicle. A control unit included in the steering system, a control unit included in the braking system, or a control unit included in the power system, etc. In this case, for example, the first message and the second message sent by the first control unit to the second control unit may include sensor data collected by the first control unit, etc. The embodiment of the present application does not limit the information included in the first message and the second message.

The second control unit is provided with a third transmission interface and a fourth transmission interface that are redundant to each other. For example, the third transmission interface may be the above-mentioned first communication network interface, and the fourth transmission interface may be the above-mentioned second communication network interface. Regarding the design of the third transmission interface and the fourth transmission interface in the second control unit, reference may be made to the design in the above-mentioned FIG. 2A or FIG. 2B and its possible implementations, and will not be described again here.

It should be noted that the examples of this application do not limit the specific form of the second control unit. The control unit provided with the third transmission interface and the fourth transmission interface that are mutually redundant can be the second control unit described in the embodiments of this application. unit.

In a specific implementation, after the above-mentioned first control unit sends the first message through the first transmission interface, the first message is transmitted to the first communication network through the first transmission interface, and the first message is transmitted through the first communication network. transmitted to the second control unit. For example, the first communication network may be the first communication network in the above-mentioned FIG. 1A, FIG. 1B or FIG. 1C. The second control unit receives the first message through the third transmission interface.

Similarly, after the above-mentioned first control unit sends the second message through the second transmission interface, the second message is transmitted to the second communication network through the second transmission interface, and the second message is transmitted to the second communication network through the second communication network. Second control unit. For example, the second communication network may be the second communication network in the above-mentioned FIG. 1A, FIG. 1B or FIG. 1C. The second control unit receives the second message through the fourth transmission interface.

It can be seen that the first control unit accesses the first communication network through the first transmission interface and accesses the second communication network through the second transmission interface. The second control unit is connected to the first communication network through the third transmission interface, and is connected to the second communication network through the fourth transmission interface. The first communication network and the second communication network are mutually redundant.

In a possible embodiment, the correlation between the data in the first message and the data in the second message may include the following situation: the data in the first message and the data in the second message are the same. .

In a specific implementation, the above-mentioned first message includes N1 messages that comply with the communication protocol of the above-mentioned first communication network. For the convenience of description, the messages that comply with the communication protocol of the first communication network will be referred to as the first communication network for short. message. The N1 first communication network messages are sent through the above-mentioned first transmission interface, and the N1 first communication network messages can also be called N1 messages corresponding to the first transmission interface. The above-mentioned second message includes M1 messages complying with the communication protocol of the above-mentioned second communication network. For convenience of description, the messages complying with the communication protocol of the second communication network will be referred to as the second communication network message for short. The M1 second communication network messages are sent through the above-mentioned second transmission interface, and the M1 second communication network messages can also be called M1 messages corresponding to the second transmission interface. Both N1 and M1 are integers greater than 0. Then, the data included in the N1 first communication network packets and the data included in the M1 second communication network packets are the same.

In a possible embodiment, the transmission bandwidth of the second communication network is greater than the transmission bandwidth of the first communication network, and the data length of the second communication network message is greater than the data length of the first communication network message. Therefore, when transmitting the same data, compared with the first communication network, the data transmission can be completed through the second communication network in less transmission time and fewer messages. For ease of understanding, the following takes the first communication network as the CAN network (the first communication network messages are CAN messages) and the second communication network as the vehicle Ethernet network (the second communication network messages are Ethernet messages) as an example.

For example, since the payload length of the Ethernet message is larger, more bytes of data can be loaded. For example, the longest length of an Ethernet message is 1518 bytes, and the longest payload can be 1476 bytes. Using different Ethernet communication protocols, the payload length of the Ethernet packet may be different. The payload length of CAN messages is smaller and the amount of data loaded is smaller. For example, a CAN message is about 11 bytes, of which the Payload can hold up to 8 bytes. For example, for CAN FD network messages, the Payload of the CAN FD message can only load up to 64 bytes. Therefore, if you want to transmit the same data through the CAN network and the vehicle Ethernet network respectively, you need to use more CAN messages to load the data, and only need to use fewer Ethernet messages to load the data.

In a possible implementation, the communication bandwidth of the above-mentioned CAN network is small (for example, 1Mbps, etc.), and the communication bandwidth of the above-mentioned vehicle Ethernet network is large (for example, 10Mbps, 100Mbps, or 1000Mbps, etc.), then, at the same clock When the same amount of data is transmitted within a cycle, the M1 second communication network messages, that is, the M1 Ethernet messages, are received by the second control unit earlier than the N1 first communication network messages, that is, the N1 CAN messages. That is to say, the transmission efficiency of data transmission through the vehicle Ethernet network is higher and the transmission time overhead is smaller. Then, after the second control unit receives the M1 Ethernet messages, it can perform calculations based on the data in the M1 Ethernet messages without waiting for N1 CAN messages to be received before calculating, thereby improving the accuracy of the data. Transmission and processing efficiency. For ease of understanding, reference may be made to FIG. 4 as an example.

Figure 4 takes a clock cycle as an example. The clock cycle is also called the oscillation cycle and is defined as the reciprocal of the clock frequency. A clock cycle is the most basic and smallest unit of time in a computer. One clock cycle may be, for example, 10 milliseconds or a multiple of 10 milliseconds, etc. This is not limited in the embodiment of the present application. During this clock cycle, the first control unit sends data to the second control unit. The first control unit can send this data to the second control unit via the mutually redundant CAN network and the vehicle Ethernet network.

When sending the data through the CAN network, the first control unit can encapsulate the data into a CAN message. Since the payload length of the CAN message is small, multiple CAN messages (in Figure 4, five CAN messages are used to load the data as an example) can be used to load the data. Then, the first control unit sends the multiple CAN messages through the first transmission interface, and the multiple CAN messages are transmitted to the second control unit through the CAN network. Transmitted to the second control unit is received by the second control unit.

When sending the data through the vehicle Ethernet, the first control unit can encapsulate the data into an Ethernet message. Since the payload length of the Ethernet packet is large, the data can be loaded with a smaller number of Ethernet packets (in Figure 4, one Ethernet packet is used to load the data as an example). Then, the first control unit sends the Ethernet message through the second transmission interface, and the Ethernet message is transmitted to the second control unit through the vehicle Ethernet network.

The processing flow of the above-mentioned first control unit sending data through the CAN network and the vehicle-mounted Ethernet can be exemplarily shown in Figure 5 . First, the first control unit begins to organize data, which may be data within one or more clock cycles, for example. After determining the data to be sent, on the one hand, the first control unit can split the data into several parts based on the CAN protocol, load the split data, and package it to generate multiple CAN messages. Then, the multiple CAN messages are sent through the CAN network. On the other hand, the first control unit can load and package the data to be sent into an Ethernet message based on the vehicle Ethernet protocol, and then send the Ethernet message through the vehicle Ethernet.

The transmission rate of the CAN network is smaller than that of the automotive Ethernet. As can be seen in Figure 4, the time to transmit a CAN message is longer than the time to transmit an Ethernet message. For example, if the transmission rate of the CAN network is 500kbps, the length of the CAN message is 11 bytes, the transmission rate of the vehicle Ethernet is 100Mbps, and the length of the Ethernet message is 360 bytes, then a CAN message is sent through the CAN network. It takes approximately 0.26 milliseconds (ms), that is, T1, T2, T3, T4, and T5 in FIG. 4 are approximately 0.26 ms. However, it only takes 0.028ms to send an Ethernet message through the vehicle Ethernet, that is, T1' in Figure 4 is approximately 0.028ms. Moreover, multiple CAN messages need to be transmitted but only one Ethernet message needs to be transmitted. It can be seen that transmitting data through vehicle Ethernet can greatly improve the transmission efficiency.

As can be seen in Figure 4, the Ethernet message sent through the vehicle Ethernet takes T1’ to be transmitted to the second control unit, that is, it only takes T1’ to transmit the data to the second control unit through the vehicle Ethernet. Multiple CAN messages sent through the CAN network require (T1+T2+T3+T4+T5) time to be fully transmitted to the second control unit, that is, it takes (T1+T2 +T3+T4+T5) time. Then, after the second control unit receives the Ethernet message through the vehicle Ethernet and obtains the data, it can first perform calculations based on the obtained data to obtain the first calculation result.

For example, after receiving the above-mentioned Ethernet message, the second control unit can parse the Ethernet message to obtain the data in the message. And can cache the obtained data to the local buffer. Then, the second control unit can adopt a priority calculation strategy, import the obtained data into the application or algorithm module for calculation, and obtain the above-mentioned first calculation result. The calculation result can be used as a calculation input for another control unit or application or module, and the embodiment of the present application does not limit this.

During the above calculation process, the second control unit can continue to receive CAN messages. In a possible embodiment, in the above-mentioned Figure 4, after receiving the above-mentioned multiple CAN messages and obtaining the data in the CAN messages, the second control unit can compare the data in the CAN messages and the aforementioned received Ethernet. The data in the message is verified. The specific implementation of the verification will be described in detail later and will not be detailed here.

It can be seen that compared with the existing multi-channel redundant CAN communication mode of receiving data and processing calculation data, the example of this application can complete the two-step operation of receiving and data processing within the original time of receiving data, significantly improving communication. and data processing efficiency.

In a possible embodiment, based on the previous description, it can be known that the second control unit receives the above-mentioned first message (such as the multiple CAN messages in the above-mentioned FIG. 4) and the above-mentioned second message (such as the above-mentioned CAN messages in FIG. 4). After the Ethernet message), verification can be performed based on the data in the first message and the second message.

In a possible implementation, the data in the first message and the data in the second message can be directly compared. If the two data are the same, it means that the data has not been erroneously or tampered with during the transmission process. The data received is safe data. If the two data are different, it indicates that at least one of the data is abnormal.

In a possible implementation, the second control unit has calculated the first calculation result based on the data in the second message. Then, the second control unit can perform calculations in the same calculation method based on the data in the first message to obtain the second calculation result. If the two calculation results are the same, it means that the data has not been errored or tampered with during the transmission process, and the received data is safe data. If the results of these two calculations are different, it indicates that at least one piece of data is abnormal.

In a possible implementation, the first message transmitted above may include a data check code, and the second message may also include the same data check code. The second control unit may compare the data check code in the first message with the data check code in the second message. If the data check codes in the two messages are the same, it means that the data did not make errors or was tampered with during the transmission process, and the received data is safe data. If the data check codes in the two packets are different, it indicates that at least one piece of data is abnormal. For example, the data check code may be a hash value calculated by using a hash algorithm on the data encapsulated in the first message or the second message.

For example, the above-mentioned data check code may be a data check code calculated by the first control unit for the data encapsulated in the first message or the second message. Since the first message includes N1 first communication network messages (for example, the 5 CAN messages in Figure 4 above), any one of the N1 first communication network messages may carry the Data check code. Or, for example, the above data check code includes N1 check codes. The N1 check codes are check codes calculated separately for the data encapsulated in each of the N1 first communication network messages. In this case, each first communication network message includes a check code, and the check code is the check code of the data encapsulated in the message. Then, the second message may include the N1 check codes.

In a possible implementation, the first message transmitted above may include a data signature, and the second message may also include the same data signature. The second control unit may compare the data signature in the first message with the data signature in the second message. If the data signatures in the two messages are the same, it means that the data did not make errors or was tampered with during the transmission process, and the received data is safe. If the data signatures in the two packets are different, it indicates that at least one piece of data is abnormal.

Similarly, for example, the above-mentioned data signature may be a data signature calculated by the first control unit on the data encapsulated in the first message or the second message. Since the first message includes N1 first communication network messages (for example, the 5 CAN messages in Figure 4 above), any one of the N1 first communication network messages may carry the Data signature. Or, for example, the above data signature includes N1 data signatures. The N1 data signatures are data signatures obtained by separately calculating the data encapsulated in each of the N1 first communication network messages. In this case, each first communication network message includes a data signature, which is the data signature of the encapsulated data in the message. Then, the N1 data signatures may be included in the second message.

In a possible implementation, the second control unit can use a hash algorithm to calculate the data in the first message to obtain a hash value, and then use the same hash algorithm to calculate the data in the second message. The data is calculated to obtain another hash value. If the two hash values are the same, it means that the data has not been errored or tampered with during transmission, and the received data is safe. If the two hash values are different, it indicates that at least one piece of data is abnormal.

In a possible implementation, if it is determined that at least one piece of data is abnormal, the second control unit may send a request to retransmit the data to the first control unit, and may indicate in the request that the second control unit transmits the data through the third data transmission unit with a larger transmission bandwidth. A second communication network such as automotive Ethernet is used to retransmit the data. Based on the request, the first control unit can re-encapsulate the data to generate a new second communication network message (referred to as the third message for short), and then quickly send the third message to the second control unit through the second communication network. unit. After receiving the third message, the second control unit parses and obtains the data in the third message, and compares the obtained data with the data in the second message. If the data in the second message and the third message are the same, it means that the data in the second message is normal, and the data in the first message is abnormal. Then, the second control unit may discard the data of the first message, or may request the first control unit to retransmit the data through the first communication network, such as a CAN network.

In one possible embodiment, communication jitter occurs due to transmission congestion between the first control unit and the second control unit, which increases the transmission delay of the first message and/or the second message, making it impossible to transmit the message on time. All are transferred to the second control unit. In this case, if the received data is calculated according to the preset time, partial data may be received at this time, resulting in incorrect calculation results. In order to avoid this situation from happening, it is necessary to eliminate the impact of increased transmission delay caused by communication jitter.

For example, the impact of communication jitter can be eliminated by reserving time gaps during the communication sending and receiving process. Specifically, the above-mentioned second control unit may first perform data verification after receiving the above-mentioned second message and the first message. If the data verification fails, it may be due to communication jitter that the second message and/or the first message are not completely received. In this case, you can wait for a preset time period. Then, the data in the received first message and the second message are verified. The data will be calculated after passing the verification. In this implementation, the task processing time is allocated through the adjustment of data verification and the waiting mechanism to ensure that all data is received before calculation is performed, thereby ensuring the correctness of the calculation results and eliminating the impact of communication jitter.

Or, for example, when the second communication network is a vehicle-mounted Ethernet, high-precision time synchronization can be achieved through the vehicle-mounted Ethernet to eliminate the impact of communication jitter. Specifically, in vehicle Ethernet, the general precise time protocol (gPTP) can be used to achieve high-precision time synchronization between the above-mentioned first control unit and the second control unit. In addition, during the operation of the first control unit and the second control unit, the time-sensitive network (TSN) protocol and the Institute of Electrical and Electronics Engineers (IEEE) 802.1Qbv standard can be used. Implement a transmission protocol based on time slot allocation to achieve periodic task synchronization. This enables strict timeline and time synchronization during message transmission to eliminate communication jitter. In this implementation, after high-precision time synchronization is completed between the first control unit and the second control unit, when the first control unit sends a message to the second control unit, the message sending can be staggered according to the order of time. Time, control the time point when messages are sent, and solve the problem of communication conflicts caused by time synchronization from the source, thus avoiding communication jitter.

In a possible embodiment, within one clock cycle, the first control unit has multiple sending opportunities to send messages to the second control unit. The sending opportunity refers to a sending opportunity, and each sending opportunity is pre-configured with transmission resources (time domain resources and/or frequency domain resources) for sending data. In this case, when the above-mentioned first control unit sends a message to the second control unit through the second communication network (such as vehicle Ethernet), the data to be sent in one clock cycle can be divided into several transmissions without having to All these data are encapsulated into a message and sent. For example, assume that within one clock cycle, the first control unit has three sending opportunities to send messages to the above-mentioned second control unit. Then, the first control unit can divide the data that needs to be sent into three parts, and encapsulate one part of the data into a message (for example, an Ethernet message) and send it to the second control unit every time a sending opportunity comes. That is, within this clock cycle, the first control unit can send one message three times to complete the data transmission. Optionally, each sending opportunity is not limited to sending one message, but may also send multiple messages. This embodiment of the present application does not limit this.

In a possible embodiment, when the first control unit sends a message to the second control unit through the first communication network and the second communication network, the sending trigger signal for sending the message through the first communication network may be the same as the sending trigger signal through the second communication network. The sending trigger signal of the network sending message is the same. That is, the same sending trigger signal is used to control the sending of the two messages. For example, the sending trigger signals of the first message and the second message are the same.

In a possible embodiment, if the above-mentioned second control unit is used to collect data in the first control unit, the second control unit can be regarded as a data collection unit. Then, the above-mentioned second message is a message sent by the above-mentioned first control unit to the second control unit in response to the data collection request of the second control unit (for example, it may be an Ethernet message transmitted through the above-mentioned vehicle Ethernet). In this case, if the data that the second control unit requires to be collected is the data of the first control unit in one or more clock cycles, then the first control unit can encapsulate all the data to be sent in the one or more cycles. It is sent within the above-mentioned second message. That is, the data in the second message may include data to be sent by the first control unit within one or more clock cycles. By encapsulating one or more cycles of data into one message for transmission, the embodiments of the present application can reduce the message encapsulation and transmission overhead, reduce system complexity, and improve the efficiency of data collection.

In a possible embodiment, in addition to sending data to the second control unit, the first control unit may also send data to one or more other control units. In this case, the above-mentioned second message may be a multicast message or a broadcast message, that is, the first control unit transmits the message through multicast or broadcast based on the above-mentioned second communication network (for example, it may be a vehicle-mounted Ethernet). The second message is sent to the second control unit and one or more other control units. The data in the multicast message or broadcast message may include data to be sent by the first control unit within one or more clock cycles. Data distribution is achieved through multicast messages or broadcast messages, which can effectively reduce the overhead of maintaining multiple duplicate effective communication channels during one-to-many communication. When the second communication network is vehicle Ethernet, the Layer 2 multicast or broadcast mechanism of vehicle Ethernet can be used to effectively implement one-to-many communication.

In a possible embodiment, if the above-mentioned second control unit is used to monitor the status of the system where the first control unit is located, the second control unit can be regarded as a vehicle status monitoring unit. Then, the above-mentioned second message is a message sent by the above-mentioned first control unit to the second control unit in response to the status data collection request of the second control unit (for example, it may be an Ethernet message transmitted through the above-mentioned vehicle Ethernet) . In this case, the first control unit can encapsulate all the data required within one or more cycles in the above-mentioned second message and send it to the second control unit. That is, the data in the second message may include data to be sent by the first control unit within one or more clock cycles. By encapsulating one or more cycles of data into one message for transmission, the embodiments of the present application can reduce the message encapsulation and transmission overhead, reduce system complexity, and improve the efficiency of data collection.

In a possible embodiment, the above-mentioned second control unit is used to specifically control vehicle driving operations (such as emergency braking operations, vehicle driving stability control operations (such as operations to control the vehicle to avoid skidding), etc.), and the above-mentioned first control unit The unit is configured to send specific information for controlling the driving operation of the vehicle to the second control unit, that is, sending instruction information for operation control. The operation control instruction information sent has high real-time requirements, and the accuracy of the information must be ensured. In this case, within one clock cycle, the number of messages sent by the first control unit through the above-mentioned first communication network (such as the above-mentioned N1), and the number of messages sent through the above-mentioned second communication network (such as the above-mentioned M1 )same. Taking the first communication network as the CAN network and the second communication network as the vehicle Ethernet as an example, the above-mentioned first message includes N1 CAN messages, the above-mentioned second message includes M1 Ethernet messages, N1=M1. At this time, the N1 CAN messages and the M1 Ethernet messages correspond one to one, and a CAN message and the Ethernet message corresponding to the CAN message can be sent synchronously to ensure the real-time nature of the messages. Moreover, the one-to-one correspondence between CAN messages and Ethernet messages can also facilitate the verification of data in the messages and improve the accuracy of the data in the messages.

In a possible embodiment, for the above-mentioned second message (for example, it can be a vehicle-mounted Ethernet message), since the message length is longer, more data can be loaded, so the second message can also be extended with information. . The extended information may include, for example: the system status of the system where the first control unit is located, the control instructions sent by the first control unit, the sensor data collected by the first control unit, or the intermediate calculation amount calculated by the first control unit. one or more messages. Regarding the extended information, this is only an example and does not constitute a limitation on the embodiments of the present application. In specific implementation, the extended information may also include other information, which is not limited by the embodiments of the present application.

In a possible embodiment, the first control unit and the second control unit may utilize different transmission characteristics of the first communication network and the second communication network to implement a differential processing mechanism for data transmission. In this case, the correlation between the data in the first message and the data in the second message may include the following situation: the data included in the second message is the first target data, and the data in the first message The included data is verification information, and the verification information is used to verify the first target data.

Specifically, the above-mentioned first message includes N2 first communication network messages. The N2 first communication network messages are sent through the above-mentioned first transmission interface, and the N2 first communication network messages can also be called N2 messages corresponding to the first transmission interface. The above-mentioned second message includes M2 second communication network messages. The M2 second communication network messages are sent through the above-mentioned second transmission interface, and the M2 second communication network messages can also be called M2 messages corresponding to the second transmission interface. Both N2 and M2 are integers greater than 0. Then, the data included in the M2 messages is the above-mentioned first target data, and the data in the N2 messages is verification information used to verify the first target data. For ease of understanding, the following takes the first communication network as the CAN network (the first communication network messages are CAN messages) and the second communication network as the vehicle Ethernet network (the second communication network messages are Ethernet messages) as an example. See Figure 6 for example.

FIG. 6 takes one clock cycle as an example. During this clock cycle, the first control unit sends the above-mentioned first target data to the second control unit. The first control unit can send the first target data to the second control unit through the mutually redundant CAN network and the vehicle-mounted Ethernet network, and implement verification of the first target data. The first target data can be any data, and the embodiment of the present application does not limit this.

Specifically, the first control unit may send the first target data to the second control unit through the vehicle Ethernet network, and then send the verification information of the first target data to the second control unit through the CAN network. When sending the first target data through the vehicle Ethernet, the first control unit may encapsulate the first target data into an Ethernet message. Since the payload length of the Ethernet packet is relatively large, the first target data can be loaded with a smaller number of Ethernet packets (in Figure 6, one Ethernet packet is used as an example to load the first target data). . Then, the first control unit sends the Ethernet message (for example, the above-mentioned second message) through the second transmission interface, and the Ethernet message is transmitted to the second control unit through the vehicle-mounted Ethernet network.

The above-mentioned verification information of the first target data may be a verification value calculated by the first control unit based on the first target data. For example, the first control unit can calculate the first target data through a hash algorithm to obtain a hash value, and the hash value is the verification information of the first target data. Alternatively, for example, the first control unit can calculate the first target data through the MD5 algorithm to obtain a hash value, and the hash value is the verification information of the first target data. The embodiment of this application does not limit the specific verification calculation algorithm. Then, the first control unit may encapsulate the verification information of the first target data into a CAN message. Since the length of the payload of the CAN message is small, one or more CAN messages can be determined based on the amount of verification information (in Figure 6, one CAN message is used to load the verification of the first target data). Information (for example) loads the verification information of the first target data. Then, the first control unit sends the CAN message (for example, the above-mentioned first message) through the first transmission interface, and the CAN message is transmitted to the second control unit through the CAN network.

The transmission rate of the CAN network is smaller than that of the automotive Ethernet. As can be seen in Figure 6, the time to transmit a CAN message is longer than the time to transmit an Ethernet message. For example, if the transmission rate of the CAN network is 500kbps, the length of the CAN message is 11 bytes, the transmission rate of the vehicle Ethernet is 100Mbps, and the length of the Ethernet message is 1200 bytes, then a CAN message is sent through the CAN network. It takes approximately 0.26 milliseconds (ms), that is, T1 in FIG. 6 is approximately 0.26 ms. However, it only takes 0.112ms to send an Ethernet message through the vehicle Ethernet, that is, T2 in Figure 6 is approximately 0.112ms. It can be seen that transmitting the first target data through the vehicle Ethernet can greatly improve the transmission efficiency.

Since the Ethernet message is transmitted to the second control unit before the CAN message, after receiving the Ethernet message, the second control unit can first perform preprocessing and other operations on the data in the Ethernet message. For example, after receiving the above-mentioned Ethernet message, the second control unit can parse the Ethernet message to obtain the data in the message. And can cache the obtained data to the local buffer. The second control unit can then perform some preprocessing operations based on the obtained data. For example, a cyclic redundancy check (CRC) can be performed on the data, or a checksum can be used to check whether there are errors during the transmission of the data, such as whether there are bit errors. (0 becomes 1, or 1 becomes 0) etc. For example, the same verification calculation algorithm as the above-mentioned first control unit can be used to calculate the obtained data to obtain another verification value for comparison with the verification information in the CAN message. This is only an example, and the embodiment of the present application does not limit the preprocessing operation.

Then, after the second control unit receives the above-mentioned CAN message, it obtains the verification information in the CAN message. Based on the above description, it can be known that the verification information may be a verification value. If the second control unit has calculated the check value of the data in the preprocessing of the data in the Ethernet message obtained above, then the check value obtained from the CAN message can be directly compared with the calculated value. Check value is compared. If the two check values are the same, it means that the data has not been tampered with during transmission, and the received data is safe. If the two check values are different, it indicates that at least one of the data in the Ethernet message and the check information in the CAN message is abnormal.

In another possible implementation, if the second control unit does not calculate the check value of the data in the preprocessing of the data in the Ethernet message obtained above, then it can obtain the check value in the CAN message. After the value is calculated, the data in the Ethernet message is calculated using the same verification calculation algorithm as the above-mentioned first control unit to obtain another verification value. Then, compare the two check values. If the two check values are the same, it means that the data has not been tampered with during transmission, and the received data is safe. If the two check values are different, it indicates that at least one of the data in the Ethernet message and the check information in the CAN message is abnormal.

In a possible implementation, if at least one of the data in the Ethernet message and the verification information in the CAN message received by the second control unit is abnormal, then the second control unit can report to the first control unit Sends a request to retransmit the data and can indicate in the request that the data is to be retransmitted via automotive Ethernet. Based on the request, the first control unit can re-encapsulate the above-mentioned first target data to generate a new Ethernet message, and then quickly send the new Ethernet message to the second control unit through the vehicle Ethernet. After receiving the new Ethernet message, the second control unit parses and obtains the data in the new Ethernet message, and compares the obtained data with the data in the above-mentioned Ethernet message. If the data in the Ethernet message and the new Ethernet message are the same, it means that the data in the Ethernet message is normal, but the verification information in the above-mentioned CAN message is abnormal. Then, the second control unit may discard the verification information of the CAN message, or may request the first control unit to retransmit the verification information through the CAN network.

Compared with the above implementation method of transmitting the same data between the CAN network and the vehicle-mounted Ethernet network, the difference processing mechanism of data transmission in the embodiment of the present application significantly shortens the data transmission time, and can complete the data transmission in a shorter time, and effectively Data verification is completed. This reduces the time cost of joint interaction between control units, reduces the time loss of direct communication between vehicle components, and improves interaction performance.

In a possible embodiment, the first control unit and the second control unit may utilize different transmission characteristics of the first communication network and the second communication network to implement a differential processing mechanism for data transmission. In this case, the correlation between the data in the first message and the data in the second message may include the following situation: the data included in the second message is the second target data, and the data in the first message The included data is first data, and the first data is part of the second target data.

Specifically, the above-mentioned first message includes N3 first communication network messages. The N3 first communication network messages are sent through the above-mentioned first transmission interface, and the N3 first communication network messages can also be called N3 messages corresponding to the first transmission interface. The above-mentioned second message includes M3 second communication network messages. The M3 second communication network messages are sent through the above-mentioned second transmission interface, and the M3 second communication network messages can also be called M3 messages corresponding to the second transmission interface. Both N3 and M3 are integers greater than 0. Then, the data included in the M3 messages is the above-mentioned second target data, and the data in the N3 messages is part of the second target data, that is, the above-mentioned first data. For ease of understanding, the following takes the first communication network as the CAN network (the first communication network messages are CAN messages) and the second communication network as the vehicle Ethernet network (the second communication network messages are Ethernet messages) as an example. See Figure 7 for an example.

FIG. 7 takes one clock cycle as an example. During this clock cycle, the first control unit sends the above-mentioned second target data to the second control unit. The first control unit may send the second target data to the second control unit through the mutually redundant CAN network and the vehicle Ethernet network. The second target data can be any data, and the embodiment of the present application does not limit this. The first data included in the first message may be any part of the second target data. For example, after the first message is received by the second control unit, the first data in the first message can be used to verify the second target data in the received second message. For details, please refer to the following description. .

Specifically, the first control unit may send the second target data to the second control unit through the vehicle-mounted Ethernet network, and then send the first data of the second target data to the second control unit through the CAN network. When sending the second target data through the vehicle Ethernet, the first control unit may encapsulate the second target data into an Ethernet message. Since the payload length of the Ethernet packet is relatively large, the second target data can be loaded with a smaller number of Ethernet packets (in Figure 7, one Ethernet packet is used as an example to load the second target data). . Then, the first control unit sends the Ethernet message (for example, the above-mentioned second message) through the second transmission interface, and the Ethernet message is transmitted to the second control unit through the vehicle-mounted Ethernet network.

The first control unit may encapsulate the first data of the second target data into a CAN message. Since the length of the payload of the CAN message is small, one or more CAN messages can be determined based on the data amount of the first data (in Figure 7, one CAN message is used to load the second target data). One data (for example) loads the first data of the second target data. Then, the first control unit sends the CAN message (for example, the above-mentioned first message) through the first transmission interface, and the CAN message is transmitted to the second control unit through the CAN network.

The transmission rate of the CAN network is smaller than that of the automotive Ethernet. As can be seen in Figure 7, the time to transmit a CAN message is longer than the time to transmit an Ethernet message. For example, if the transmission rate of the CAN network is 500kbps, the length of the CAN message is 11 bytes, the transmission rate of the vehicle Ethernet is 100Mbps, and the length of the Ethernet message is 1200 bytes, then a CAN message is sent through the CAN network. It takes approximately 0.26 milliseconds (ms), that is, T1 in FIG. 7 is approximately 0.26 ms. However, it only takes 0.112ms to send an Ethernet message through the vehicle Ethernet, that is, T2 in Figure 7 is approximately 0.112ms. It can be seen that transmitting the second target data through the vehicle Ethernet can greatly improve the transmission efficiency.

Since the Ethernet message is transmitted to the second control unit before the CAN message, after the second control unit receives the Ethernet message, it can first preprocess the second target data in the Ethernet message, etc. operate. For example, after receiving the above-mentioned Ethernet message, the second control unit can parse the Ethernet message to obtain the data in the message. And can cache the obtained data to the local buffer. The second control unit can then perform some preprocessing operations based on the obtained data. For example, the data can be checked by CRC check or checksum check to check whether there are errors in the data during transmission, such as whether there are bit errors (0 becomes 1, or 1 becomes 0), etc. . This is only an example, and the embodiment of the present application does not limit the preprocessing operation.

Then, after the second control unit receives the above-mentioned CAN message, it obtains the first data in the CAN message. Based on the above description, it can be known that the first data can be used to verify the above-received second target data. For example, the first control unit may mark the first data encapsulated in the second target data of the second message, that is, the Ethernet message. For example, the first data may mark the bits occupied by the first data in the Ethernet message. bits, etc., the embodiments of this application do not limit this. After the second control unit receives the Ethernet message, the first data in the second target data in the Ethernet message can be obtained based on the preset mark. Then, the obtained first data can be compared with the first data in the first message, that is, the above-mentioned CAN message, to implement data verification. If the two pieces of data are the same, it means that there were no errors or tampering with the data during transmission, and the received data is safe. If the two pieces of data are different, it means that at least one of the data in the Ethernet message and the data in the CAN message is abnormal.

In a possible implementation, if at least one of the data in the Ethernet message and the first data in the CAN message received by the second control unit is abnormal, then the second control unit may report to the first control unit Sends a request to retransmit the data and can indicate in the request that the data is to be retransmitted via automotive Ethernet. Based on the request, the first control unit can re-encapsulate the second target data to generate a new Ethernet message, and then quickly send the new Ethernet message to the second control unit through the vehicle Ethernet. After receiving the new Ethernet message, the second control unit parses and obtains the data in the new Ethernet message, and compares the obtained data with the data in the above-mentioned Ethernet message. If the data in the Ethernet message and the new Ethernet message are the same, it means that the data in the Ethernet message is normal, and the first data in the above-mentioned CAN message is abnormal. Then, the second control unit may discard the first data of the CAN message, or may request the first control unit to retransmit the first data through the CAN network.

In a possible embodiment, the first control unit and the second control unit can utilize different transmission characteristics of the first communication network and the second communication network to implement a differential processing mechanism for data transmission, and through this The difference processing mechanism can achieve the effect of encrypted data transmission. In this case, the correlation between the data in the first message and the data in the second message may include the following situations: the data in the first message is the second data, and the data in the second message is the third data. , the second data and the third data are respectively partial data in the third target data, and the third target data is the data to be sent by the first control unit within one or more clock cycles. The second data and the third data are used to restore the third target data. For example, the second data and the third data together are the third target data.

Specifically, the above-mentioned first message includes N4 first communication network messages. The N4 first communication network messages are sent through the above-mentioned first transmission interface, and the N4 first communication network messages can also be called N4 messages corresponding to the first transmission interface. The above-mentioned second message includes M4 second communication network messages. The M4 second communication network messages are sent through the above-mentioned second transmission interface, and the M4 second communication network messages can also be called M4 messages corresponding to the second transmission interface. Both N4 and M4 are integers greater than 0. Then, the data included in the M4 messages is the above-mentioned second target data, and the data in the N4 messages is part of the second target data, that is, the above-mentioned first data. For ease of understanding, the following takes the first communication network as the CAN network (the first communication network messages are CAN messages) and the second communication network as the vehicle Ethernet network (the second communication network messages are Ethernet messages) as an example.

In a specific implementation, the CAN network and the vehicle-mounted Ethernet can be used to realize data transmission between the first control unit and the second control unit, which has a data encryption effect. Specifically, high-level encrypted transmission of messages can be achieved by taking advantage of the differences in message formats, message protocols and physical characteristics transmitted by the CAN network and the vehicle-mounted Ethernet network. Due to the versatility and networked nature of Ethernet messages, they are easily captured, cracked, or copied, resulting in information interception. Based on this, the heterogeneous redundant network in the embodiment of the present application can be used to perform high-level encrypted and secure transmission.

For example, after the first control unit determines the data to be sent to the second control unit, the data can be divided into two parts according to preset rules, one part is transmitted through the CAN network, and the other part is transmitted through the vehicle Ethernet. For example, the preset rule can be to randomly divide the data into two parts, or it can be to extract data according to a preset byte length interval, and the extracted data is one part, and the remaining data is another part, etc. This application implements For example, there are no restrictions on this default rule. For example, the data sent by the first control unit to the second control unit may be data to be sent by the first control unit within one or more clock cycles, and this embodiment of the present application does not limit this.

When sending data through the CAN network, the first control unit can encapsulate the data into N4 CAN messages. Then, the first control unit sends the N4 CAN messages through the first transmission interface, and the N4 CAN messages are transmitted to the second control unit through the CAN network. When sending the data through the vehicle Ethernet, the first control unit can encapsulate the data into M4 Ethernet messages. Then, the first control unit sends the M4 Ethernet messages through the second transmission interface, and the M4 Ethernet messages are transmitted to the second control unit through the vehicle-mounted Ethernet network.

After the above-mentioned second control unit receives the above-mentioned N4 CAN messages and M4 Ethernet messages, it can obtain the data in these messages to complete subsequent calculations and processing. This embodiment of the present application does not perform this specific calculation and processing. limit.

Through the above design, even if the information in the Ethernet message is intercepted, all the data cannot be restored, thus playing a role in data encryption and protection. In addition, this differentiated encryption transmission method can reduce the dependence of transmission encryption on encryption algorithms, and can achieve high-level ciphertext transmission without the need for complex encryption algorithms. The embodiments of this application can significantly reduce the device's overhead in ciphertext transmission.

In a possible embodiment, the first communication network is a hard real-time system, and the second communication network is a non-real-time system. Since the communication in the second communication network is non-real-time, it may happen that the second communication network message sent by the first control unit to the second control unit cannot be delivered on time, resulting in an error in the processing result. For example, for the first control unit and the second control unit, the current clock cycle is clock cycle 2. Under normal circumstances, the second control unit receives the second communication network message sent by the first control unit in clock cycle 2. . However, due to the non-real-time nature of the second communication network, if the second communication network is congested, the second communication network message sent by the first control unit is delayed, resulting in the second control unit receiving within clock cycle 2. The second communication network message sent by the first control unit in clock cycle 1. If the second control unit performs subsequent processing according to receiving the second communication network message sent in clock cycle 1, an error in the processing result will occur. Then, in order to improve the communication real-time performance of the entire communication system, the hard real-time performance of the first communication network and the certainty of transmission delay can be used to verify the real-time performance of the second communication network message. For example, the above-mentioned first communication network is a CAN network, and the second communication network is a vehicle-mounted Ethernet.

Specifically, the first message may include a verification message, and the verification message may be used to verify the real-time nature of the second message. For example, the verification message and the second message may use the same sending trigger signal. When the sending trigger signal is generated, the sending operations of the verifying message and the second message are simultaneously triggered. Then, the verification message is transmitted to the second control unit through the first communication network, and the second message is transmitted to the second control unit through the second communication network.

Based on the previous description, when the second communication network is congested, the second message is blocked during the transmission process, resulting in a delay in sending the second message to the second control unit. In this case, the above verification message will be received by the second control unit before the second message. In specific implementation, a preset duration can be set. If the second message is received by the second control unit within the preset time period after the verification message is received, it is determined that the second message is valid. If the second message is not received by the second control unit for more than the preset time period after the verification message is received, the second message is determined to be invalid. The fact that the second message is valid means that it can be used normally to participate in subsequent processing. The invalidity of the second message means that the second message is not a message to be received in the current clock cycle. Invalid packets can be discarded, and the embodiment of the present application does not limit this.

The above preset time period does not exceed the clock cycle in which the verification message is transmitted. For example, assume that a clock cycle is 10 seconds, and the verification message is received by the second control unit at the 3rd second of the clock cycle. Then, the preset duration can be any duration between 0 seconds and 7 seconds. The embodiment of this application does not limit the specific value of the preset time period.

In specific implementation, since the first control unit will continuously send many messages to the second control unit, it is necessary to determine the relationship between the above-mentioned verification message and the second message in so many messages before further passing the verification message. The verification message is used to verify the real-time nature of the second message. For example, the same synchronization verification information can be set in the verification message and the second message, and the second control unit can determine the verification message and the second message based on the same synchronization verification information. relation. The synchronization verification information may include the identification ID of the verification message, the sequence number of the clock cycle in which the verification message is sent, and the verification value of the data in the second message. For ease of understanding, the above-mentioned first communication network is a CAN network, the verification insulation is a CAN message, the second communication network is a vehicle-mounted Ethernet, and the second message is an Ethernet message. See Figure 8 for example.

As can be seen in Figure 8, the message identifier refers to the identifier generated when the verification message is generated. The identifier can be a frame identifier. The frame identifier is used to identify the sequence number of the frame in which the message is located, and also identifies the message. serial number. The clock cycle sequence number refers to the sequence number of the clock cycle in which the verification message, that is, the CAN message is sent, and is also the sequence number of the clock cycle in which the second message, that is, the Ethernet message is sent. This clock cycle number can be expressed as a sequence counter (Sequence Counter). The data check value is the data actually sent in the Ethernet message, that is, the check value of data 1 in Figure 8. For example, the data check value may be calculated through CRC check or checksum check on the data 1 to obtain the check value. The data 1 can be user-defined sending data (User define Data). The message identifier, clock cycle sequence number and data check value are the above-mentioned synchronization check information. In the CAN message, the synchronization check information is loaded in the bytes of the payload of the CAN message. For example, both the clock cycle sequence number and the data check value can occupy 4 bytes. In Ethernet packets, the packet identifier can be loaded in the packet header. Then, the clock cycle sequence number, data 1 and data check value can be loaded in the bytes of the payload of the Ethernet message. When the first control unit encapsulates the verification message and the Ethernet message, the synchronization verification information encapsulated in the verification message and the Ethernet message is the same. After receiving the verification message, the second control unit can first obtain the synchronization verification information in the verification message and save it. Then, the second control unit can check the corresponding synchronization verification information in the subsequently received Ethernet message. If the synchronization check information in an Ethernet message is the same as the synchronization check information in the verification message, and the time of receiving the certain Ethernet message is within the preset time after the verification message is received, Within the range, it can be determined that the certain Ethernet message is valid.

In a possible implementation, the above data check value is not limited to the check of data 1, but can also be the check of the entire Ethernet message. In this case, the above data check value may be the check value of the entire Ethernet message. For example, the data check value may be calculated through CRC check or checksum check on the entire message to obtain the check value.

In the above embodiment, since the first communication network is a hard real-time system, the transmission delay of messages transmitted on the bus of the network is certain, and there will be no message delay when congestion occurs in the second communication network. Transmission issues. Therefore, the real-time nature of the second communication network message is verified through the hard real-time nature of the first communication network and the certainty of transmission delay. In this way, the certainty and timeliness of the transmitted data are ensured, and the communication system is improved. real-time communication. The embodiments of this application can be applied in data transmission scenarios that are sensitive to business information and sensitive to delay.

In summary, the solution of this application uses the above-mentioned first communication network and the second communication network to construct a heterogeneous and redundant communication network, realizes heterogeneous communication methods, and solves the common problems of high-function secure communication between systems. due to failure issues.

This application solution uses a new communication transmission mechanism, which effectively improves the transmission efficiency. Through the improvement of transmission efficiency, more information can be transmitted, and the transmission time can also be significantly shortened. The calculation method can be changed by shortening the transmission time. By calculating in advance and verifying the transmission results, the interactive computing efficiency of the alignment system can be improved, bringing system benefits. Changed the traditional transmission and calculation model.

This application enables a new data transmission method, which can realize highly reliable in-vehicle communication. For data encryption transmission requirements, the transmission can be completed by placing the data on different buses. Through differential transmission, the security of data transmission can be enhanced, the dependence on complex encryption algorithms can be reduced, and the cost of secure communication and encrypted transmission can be reduced.

In addition, through a redundant communication network constructed by a strong real-time first communication network such as the CAN network and a non-real-time second communication network such as vehicle Ethernet, it is possible to correct and constrain the vehicle Ethernet communication through the real-time nature of the CAN network. Real-time, complete the real-time constrained communication solution of high-speed transmission network, and realize the real-time communication transformation of Ethernet. This builds real-time performance in redundant communication scenarios.

The above mainly introduces the communication method in the vehicle provided by the embodiment of the present application. It can be understood that, in order to implement the above corresponding functions, each control unit or device includes a corresponding hardware structure and/or software module for executing each function. In conjunction with the units and steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is performed by hardware or computer software driving the hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.

Embodiments of the present application can divide the device into functional modules according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software function modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. In actual implementation, there may be other division methods.

In the case where each functional module is divided corresponding to each function, the embodiment of the present application also provides a device for implementing any of the above methods. For example, a device is provided including a first control unit for implementing any of the above methods. The unit (or means) of each step performed. As another example, another device is provided, including a unit (or means) for implementing each step performed by the second control unit in any of the above methods.

For example, please refer to FIG. 9 , which is a schematic structural diagram of a control unit provided by an embodiment of the present application. The control unit 900 shown in FIG. 9 may be the first control unit in the above method embodiment. The control unit 900 includes a sending unit 901. in:

Sending unit 901, configured to send the first message through the first transmission interface;

The aforementioned sending unit 901 is also used to send the second message through the second transmission interface;

The data in the first message and the data in the second message are related, and the communication protocols followed by the first transmission interface and the second transmission interface are different. The sending unit 901 may be used to implement the sending operation of S301 shown in FIG. 3 above.

In the second case, the aforementioned N1=M1;

Wherein, the aforementioned P is an integer greater than 0.

For the specific operations and beneficial effects of each unit in the control unit 900 shown in Figure 9, please refer to the corresponding descriptions in Figure 3 and its possible embodiments, and will not be described again here.

For example, please refer to FIG. 10 , which is a schematic structural diagram of another control unit provided by an embodiment of the present application. The control unit 1000 shown in FIG. 10 may be the second control unit in the above method embodiment. The control unit 1000 includes a receiving unit 1001. in:

The receiving unit 1001 is used to receive the first message through the third transmission interface;

The aforementioned receiving unit 1001 is also used to receive the second message through the fourth transmission interface;

The data in the first message and the data in the second message are related, and the communication protocols followed by the third transmission interface and the fourth transmission interface are different. The receiving unit 1001 may be used to perform the receiving operation in S302 in Figure 3 above.

In a possible embodiment, the aforementioned first message includes N1 messages corresponding to the aforementioned third transmission interface, and the aforementioned second message includes M1 messages corresponding to the aforementioned fourth transmission interface, and is encapsulated into the aforementioned N1 The data in each packet is the same as the data encapsulated in the aforementioned M1 packets, and both the aforementioned N1 and the aforementioned M1 are integers greater than 0.

In a possible embodiment, the aforementioned first message includes N2 messages corresponding to the aforementioned third transmission interface, the aforementioned second message includes M2 messages corresponding to the aforementioned fourth transmission interface, and the aforementioned M2 messages The data included in the text is the first target data, and the data of the aforementioned N2 messages is verification information. The aforementioned verification information is used to verify the aforementioned first target data. The aforementioned N2 and the aforementioned M2 are both integers greater than 0.

In a possible embodiment, the aforementioned first message includes N3 messages corresponding to the aforementioned third transmission interface, the aforementioned second message includes M3 messages corresponding to the aforementioned fourth transmission interface, and the aforementioned M3 messages The data included in the text is the second target data, the data of the aforementioned N3 messages is the first data, the aforementioned first data is part of the aforementioned second target data, and the aforementioned N3 and the aforementioned M3 are both integers greater than 0.

In a possible embodiment, the first message includes N4 messages corresponding to the third transmission interface, the second message includes M4 messages corresponding to the fourth transmission interface, and the first message The data in the message is the second data, the data in the second message is the third data, the second data and the third data are part of the third target data respectively, and the third target data is the first control data. The data to be sent by the unit within one or more clock cycles, the aforementioned N4 and the aforementioned M4 are both integers greater than 0.

In a possible embodiment, the first message includes a verification message;

When the aforementioned second message is received by the aforementioned second control unit within a preset time period after the aforementioned second control unit receives the aforementioned verification message, the aforementioned second message is determined to be valid; or,

The above-mentioned second control unit also includes a calculation unit, configured to perform calculations based on the data in the above-mentioned second message after the above-mentioned receiving unit 1001 receives the second message through the fourth transmission interface.

In a possible embodiment, the above-mentioned second control unit further includes a verification unit, configured to verify the above-mentioned first message and the above-mentioned second message after the foregoing receiving unit 1001 receives the first message through the third transmission interface. The data in the file is verified.

When it is determined that the data in the first message is different from the data in the second message, receiving the third message through the fourth transmission interface based on the retransmission mechanism;

The aforementioned second control unit communicates with the aforementioned first control unit through the aforementioned third transmission interface. The aforementioned second control unit also communicates with the aforementioned first control unit through the aforementioned fourth transmission interface. The aforementioned first control unit is a body domain in the aforementioned vehicle. The control unit included in the controller VDC system, the vehicle control unit VCU in the aforementioned vehicle, or the control unit included in the autonomous driving and assistance system ADAS in the aforementioned vehicle.

In a possible embodiment, the second control unit communicates with the switching unit in the vehicle through the fourth transmission interface, and the switching unit is used to forward the information from the second control unit to the first control unit through the fourth transmission interface. Messages sent by the unit.

In a possible embodiment, the third transmission interface is a controller area network CAN interface, and the fourth transmission interface is a vehicle Ethernet interface.

For the specific operations and beneficial effects of each unit in the control unit 1000 shown in Figure 10, please refer to the corresponding descriptions in Figure 3 and its possible embodiments, and will not be described again here.

It should be understood that the division of each unit in the above device (such as the above-mentioned control unit 900 or control unit 1000) is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or it can also be physically separated. In addition, the unit in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, instructions are stored in the memory, and the processor calls the instructions stored in the memory to implement any of the above methods. Or realize the functions of each unit of the device, where the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory within the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and some or all of the functions of the units can be implemented through the design of the hardware circuits, which can be understood as one or more processors; for example, in one implementation, The hardware circuit is an application-specific integrated circuit (ASIC), which realizes the functions of some or all of the above units through the design of the logical relationships of the components in the circuit; for another example, in another implementation, the hardware circuit is It can be realized by programmable logic device (PLD), taking field programmable gate array (FPGA) as an example, which can include a large number of logic gate circuits, and the logic gate circuits are configured through configuration files. connection relationships, thereby realizing the functions of some or all of the above units. All units of the above device may be fully realized by the processor calling software, or may be fully realized by hardware circuits, or part of the units may be realized by the processor calling software, and the remaining part may be realized by hardware circuits.

In the embodiment of the present application, the processor is a circuit with signal processing capabilities. In one implementation, the processor may be a circuit with instruction reading and execution capabilities, such as a CPU, a microprocessor, and a graphics processor. (graphics processing unit, GPU) (can be understood as a microprocessor), or digital signal processor (digital signal processor, DSP), etc.; in another implementation, the processor can achieve certain functions through the logical relationship of the hardware circuit. Function, the logical relationship of the hardware circuit is fixed or can be reconstructed, such as the hardware circuit implemented by the processor for ASIC or PLD, such as FPGA. In a reconfigurable hardware circuit, the process of the processor loading the configuration file and realizing the hardware circuit configuration can be understood as the process of the processor loading instructions to realize the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (Neural Network Processing Unit, NPU), a tensor processing unit (TPU), a deep learning processing unit (deep learning processing unit, DPU), etc.

It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA , or a combination of at least two of these processor forms.

In addition, each unit in the above device may be integrated together in whole or in part, or may be implemented independently. In one implementation, these units are integrated together and implemented as a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The at least one processor may be of different types, such as a CPU and an FPGA, a CPU and an artificial intelligence processor, CPU and GPU etc.

For example, see FIG. 11 , which is a schematic structural diagram of a possible physical entity of the control unit provided by this application. The control unit 1100 shown in FIG. 11 may be the first control unit in the method described in the above embodiment. The control unit 1100 includes: a processor 1101, a memory 1102 and a communication interface 1103. The processor 1101, the communication interface 1103, and the memory 1102 may be connected to each other or to each other via a bus 1104. The communication interface 1103 may include the first transmission interface and the second transmission interface in the above-mentioned first control unit.

Exemplarily, the memory 1102 is used to store computer programs and data of the control unit 1100. The memory 1102 may include, but is not limited to, random access memory (random access memory, RAM), read-only memory (read-only memory, ROM), Erasable programmable read-only memory (erasable programmable read only memory, EPROM) or portable read-only memory (compact disc read-only memory, CD-ROM), etc.

Software or program codes required for all or part of the functions of the first control unit in the above method embodiment are stored in the memory 1102 .

In a possible implementation, if the software or program code required for part of the functions is stored in the memory 1102, the processor 1101, in addition to calling the program code in the memory 1102 to implement part of the functions, can also cooperate with other components (such as communication interface 1103) together to complete other functions described in the method embodiment (such as the function of receiving or sending data).

The number of communication interfaces 1103 may be multiple, and are used to support the control unit 1100 to communicate, such as receiving or sending data or signals.

For example, the processor 1101 may be the above-described CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms, etc. The processor 1101 may be used to read the program stored in the above-mentioned memory 1102 and perform the operations performed by the first control unit in the method described in the above-mentioned Figure 3 and its possible embodiments.

For the specific operations and beneficial effects of each unit in the control unit 1100 shown in Figure 11, please refer to the corresponding descriptions in the above method embodiments, and will not be described again here.

For example, see FIG. 12 , which is a schematic structural diagram of a possible physical entity of the control unit provided by this application. The control unit 1200 shown in FIG. 12 may be the second control unit in the method described in the above embodiment. The control unit 1200 includes: a processor 1201, a memory 1202 and a communication interface 1203. The processor 1201, the communication interface 1203, and the memory 1202 may be connected to each other or to each other via a bus 1204. The communication interface 1203 may include the third transmission interface and the fourth transmission interface in the above-mentioned second control unit.

Exemplarily, the memory 1202 is used to store computer programs and data of the control unit 1200. The memory 1202 may include but is not limited to RAM, ROM, EPROM or CD-ROM, etc.

Software or program codes required for all or part of the functions of the second control unit in the above method embodiment are stored in the memory 1202 .

In a possible implementation, if the software or program code required for some functions is stored in the memory 1202, the processor 1201, in addition to calling the program code in the memory 1202 to implement some functions, can also cooperate with other components (such as communication interface 1203) together to complete other functions described in the method embodiment (such as the function of receiving or sending data).

The number of communication interfaces 1203 may be multiple, and are used to support the control unit 1200 to communicate, such as receiving or sending data or signals.

For example, the processor 1201 may be the above-described CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms, etc. The processor 1201 may be used to read the program stored in the above-mentioned memory 1202 and perform the operations performed by the second control unit in the method described in the above-mentioned Figure 3 and its possible embodiments.

For the specific operations and beneficial effects of each unit in the control unit 1200 shown in Figure 12, please refer to the corresponding descriptions in the above method embodiments, and will not be described again here.

An embodiment of the present application also provides a communication system, which includes the first control unit and the second control unit in the above method embodiment.

An embodiment of the present application also provides a chip, which includes a processor and a memory, wherein the memory is used to store computer programs or computer instructions, and the processor is used to execute the computer program or computer instructions stored in the memory, so that the chip Execute the operations performed by the above-mentioned first control unit.

An embodiment of the present application also provides a chip, which includes a processor and a memory, wherein the memory is used to store computer programs or computer instructions, and the processor is used to execute the computer program or computer instructions stored in the memory, so that the chip Execute the operations performed by the above-mentioned second control unit.

An embodiment of the present application also provides a chip, which includes a processor, wherein the processor is used to call a computer program or computer instructions stored in a memory, so that the chip performs the operations performed by the first control unit.

An embodiment of the present application also provides a chip, which includes a processor, wherein the processor is used to call a computer program or computer instructions stored in a memory, so that the chip performs the operations performed by the second control unit.

An embodiment of the present application also provides a vehicle, which includes the above-mentioned first control unit and/or second control unit.

Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores computer programs or computer instructions. The computer programs or computer instructions are executed by a processor to implement the above-mentioned embodiments and possible embodiments thereof. The operation performed by the first control unit in any embodiment.

Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores computer programs or computer instructions. The computer programs or computer instructions are executed by a processor to implement the above-mentioned embodiments and possible embodiments thereof. The operations performed by the second control unit in any embodiment.

Embodiments of the present application also provide a computer program product. When the computer program product is read and executed by a computer, the operation performed by the first control unit in any of the above embodiments and possible embodiments will be be executed.

Embodiments of the present application also provide a computer program product. When the computer program product is read and executed by a computer, the operation performed by the second control unit in any of the above embodiments and possible embodiments will be be executed.

To sum up, in this application, data can be transmitted between the first control unit and the second control unit through two transmission interfaces that follow different communication protocols. The data transmitted by the two transmission interfaces are related, that is, using Heterogeneous redundant communication methods can solve the problem of external interaction failure of control units due to defects in the same transmission technology, improve the interactive performance of control units, and also improve the communication security and reliability of control units.

In this application, the terms "first", "second" and other words are used to distinguish the same or similar items with basically the same functions and functions. It should be understood that the terms "first", "second" and "nth" There is no logical or sequential dependency, and there is no limit on the number or execution order. It should also be understood that, although the following description uses the terms first, second, etc. to describe various elements, these elements should not be limited by the terms. These terms are only used to distinguish one element from another.

It should also be understood that in each embodiment of the present application, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not be determined by the execution order of the embodiments of the present application. The implementation process constitutes no limitation.

It will also be understood that the term "includes" (also "includes," "including," "comprises," and/or "comprising") when used in this specification specifies the presence of stated features, integers, steps, operations, elements , and/or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groupings thereof.

It should also be understood that references throughout this specification to "one embodiment," "an embodiment," and "a possible implementation" mean that specific features, structures, or characteristics related to the embodiment or implementation are included herein. In at least one embodiment of the application. Therefore, “in one embodiment” or “in an embodiment” or “a possible implementation” appearing in various places throughout this specification do not necessarily refer to the same embodiment. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner in one or more embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present application. scope.

Claims

A communication method in a vehicle, characterized in that the method includes:

The first control unit sends the first message through the first transmission interface;

The first control unit sends the second message through the second transmission interface;

The data in the first message and the data in the second message are related, and the first transmission interface and the second transmission interface follow different communication protocols.
The method of claim 1, wherein the first message includes N1 messages corresponding to the first transmission interface, and the second message includes N1 messages corresponding to the second transmission interface. M1 messages, the data encapsulated in the N1 messages are the same as the data encapsulated in the M1 messages, and both N1 and M1 are integers greater than 0.
The method according to claim 2, characterized in that, in the first case, the M1=1, the data in the second message includes the first control unit’s response time within one or more clock cycles. the data to be sent; or,

In the second case, the N1=M1;

The first situation includes at least one of the following situations: the second message is a message sent by the first control unit in response to the data collection request of the data collection unit, and the second message is a broadcast message Or a multicast message, or the second message is a message sent by the first control unit in response to a request from the vehicle status monitoring unit;

The second situation includes that the data in the second message is information for controlling the driving operation of the vehicle.
The method according to claim 2 or 3, characterized in that the second message includes extended information, and the extended information includes one or more of the following: the status of the subsystem where the first control unit is located Information, control instructions issued by the first control unit, or sensor data collected by the first control unit.
The method of claim 1, wherein the first message includes N2 messages corresponding to the first transmission interface, and the second message includes N2 messages corresponding to the second transmission interface. M2 messages, the data included in the M2 messages is the first target data, the data of the N2 messages is verification information, and the verification information is used to verify the first target data, The N2 and the M2 are both integers greater than 0.
The method of claim 1, wherein the first message includes N3 messages corresponding to the first transmission interface, and the second message includes N3 messages corresponding to the second transmission interface. M3 messages, the data included in the M3 messages is the second target data, the data of the N3 messages is the first data, and the first data is part of the data in the second target data , the N3 and the M3 are both integers greater than 0.
The method according to claim 1, characterized in that the first message includes N4 messages corresponding to the first transmission interface, and the second message includes N4 messages corresponding to the second transmission interface. M4 messages, the data of the first message is the second data, the data of the second message is the third data, the second data and the third data are respectively the third target data. Part of the data, the third target data is the data to be sent by the first control unit within one or more clock cycles, and both N4 and M4 are integers greater than 0.
The method of claim 7, wherein the second data and the third data are used to restore the third target data.
The method according to any one of claims 1 to 8, characterized in that the first message includes a verification message, and the verification message and the second message include synchronization verification information. , the verification message and the synchronization verification information are used to verify the real-time nature of the second message, and the synchronization verification information includes the identification ID of the verification message, the verification message The sequence number of the clock cycle in which the message is sent and the check value of the data in the second message.
The method according to any one of claims 1 to 9, characterized in that the first control unit is a control unit included in the steering system of the vehicle, and the braking system in the vehicle includes a control unit, The control unit included in the power system in the vehicle, the control unit included in the body domain controller VDC system in the vehicle, the vehicle control unit VCU in the vehicle, or the autonomous driving and assistance system in the vehicle ADAS included control unit.
The method according to any one of claims 1 to 10, characterized in that the first control unit is a control unit included in the VDC system in the vehicle, a vehicle control unit VCU in the VDC system, or Control unit for autonomous driving and assistance systems ADAS;

The first control unit communicates with P second control units in the vehicle through the first transmission interface;

The first control unit communicates with the P second control units respectively through P second transmission interfaces;

Wherein, P is an integer greater than 0.
The method according to any one of claims 1 to 10, characterized in that the first control unit is a control unit of the VDC system in the vehicle, a vehicle control unit VCU in the VDC system, or an autonomous Control units for driving and assistance systems ADAS;

The first control unit communicates with P second control units in the vehicle through the first transmission interface; the P is an integer greater than 0;

The first control unit communicates with the P second control units through the second transmission interface.
The method according to any one of claims 1 to 10, characterized in that the first control unit is a control unit of the VDC system in the vehicle, a vehicle control unit VCU in the VDC system, or an autonomous Control units for driving and assistance systems ADAS;

The first control unit communicates with P second control units in the vehicle through the first transmission interface; the P is an integer greater than 0;

The first control unit communicates with the switching unit in the vehicle through the second transmission interface, and the switching unit is used to forward the information sent by the first control unit to the second control unit through the second transmission interface. sent message.
The method according to any one of claims 1-13, characterized in that the first transmission interface is a controller area network CAN interface, and the second transmission interface is a vehicle-mounted Ethernet interface.
A communication method in a vehicle, characterized in that the method includes:

The second control unit receives the first message through the first transmission interface;

The second control unit receives the second message through the second transmission interface;

The data in the first message and the data in the second message are related, and the first transmission interface and the second transmission interface follow different communication protocols.
The method of claim 15, wherein the first message includes N1 messages corresponding to the first transmission interface, and the second message includes N1 messages corresponding to the second transmission interface. M1 messages, the data encapsulated in the N1 messages are the same as the data encapsulated in the M1 messages, and both N1 and M1 are integers greater than 0.
The method of claim 15, wherein the first message includes N2 messages corresponding to the first transmission interface, and the second message includes N2 messages corresponding to the second transmission interface. M2 messages, the data included in the M2 messages is the first target data, the data of the N2 messages is verification information, and the verification information is used to verify the first target data, The N2 and the M2 are both integers greater than 0.
The method of claim 15, wherein the first message includes N3 messages corresponding to the first transmission interface, and the second message includes N3 messages corresponding to the second transmission interface. M3 messages, the data included in the M3 messages is the second target data, the data of the N3 messages is the first data, and the first data is part of the data in the second target data , the N3 and the M3 are both integers greater than 0.
The method of claim 15, wherein the first message includes N4 messages corresponding to the first transmission interface, and the second message includes N4 messages corresponding to the second transmission interface. M4 messages, the data of the first message is the second data, the data of the second message is the third data, the second data and the third data are respectively the third target data. Part of the data, the third target data is the data to be received by the second control unit within one or more clock cycles, and both N4 and M4 are integers greater than 0.
The method of claim 19, wherein the second data and the third data are used to restore the third target data.
The method according to any one of claims 15-20, characterized in that the first message includes a verification message;

If the second message is received by the second control unit within a preset time period after the second control unit receives the verification message, the second message is determined to be valid. ;

or,

If the second message is received by the second control unit after exceeding the preset time period, the second message is determined to be invalid.
The method according to claim 21, characterized in that the verification message and the second message include synchronization verification information, and the synchronization verification information includes the identification ID of the verification message, The sequence number of the clock cycle in which the verification message is sent and the verification value of the data in the second message;

If the second message is received by the second control unit within a preset time period after the second control unit receives the verification message, the second message is determined to be valid. ,include:

The second message is received by the second control unit within a preset time period after the second control unit receives the verification message, and the synchronization verification information in the second message If the synchronization verification information in the verification message is the same, the second message is determined to be valid.
The method according to claim 16, characterized in that the time when the first message is received by the second control unit is later than the time when the second message is received by the second control unit;

After receiving the second message through the second transmission interface, the second control unit also includes:

The second control unit performs calculations based on the data in the second message.
The method according to claim 23, characterized in that, after the second control unit receives the first message through the first transmission interface, it further includes:

The second control unit performs verification processing on the data in the first message and the second message.
The method according to claim 24, characterized in that the second control unit performs verification processing on the data in the first message and the second message, including:

When it is determined that the data in the first message is different from the data in the second message, the second control unit receives the third message through the second transmission interface based on a retransmission mechanism;

When the data in the third message is the same as the data in the second message, the second control unit executes an error correction strategy on the data in the first message.
The method according to any one of claims 15 to 25, characterized in that the second control unit is a control unit included in the steering system in the vehicle, and the braking system in the vehicle includes a control unit, The control unit included in the power system in the vehicle, the control unit included in the body domain controller VDC system in the vehicle, the vehicle control unit VCU in the vehicle, or the autonomous driving and assistance system in the vehicle ADAS included control unit.
The method according to any one of claims 15 to 26, characterized in that the second control unit is a control unit included in the steering system in the vehicle, and the braking system in the vehicle includes a control unit, or a control unit included in the power system in the vehicle;

The second control unit communicates with the first control unit through the first transmission interface. The second control unit also communicates with the first control unit through the second transmission interface. The first control unit is The control unit included in the body domain controller VDC system in the vehicle, the vehicle control unit VCU in the vehicle, or the control unit included in the autonomous driving and assistance system ADAS in the vehicle.
The method according to claim 27, characterized in that the second control unit communicates with a switching unit in the vehicle through the second transmission interface, and the switching unit is used to forward the second control unit through A message sent by the second transmission interface to the first control unit.
The method according to any one of claims 15 to 28, characterized in that the first transmission interface is a controller area network CAN interface, and the second transmission interface is a vehicle Ethernet interface.
A communication system, characterized in that the communication system includes a first control unit and a second control unit, the first control unit is used to execute the method according to any one of the above claims 1-14, and the third control unit Two control units are used to execute the method described in any one of the above claims 15-29.
A control unit, characterized by including:

A sending unit, configured to send the first message through the first transmission interface;

The sending unit is also used to send the second message through the second transmission interface;

The data in the first message and the data in the second message are related, and the first transmission interface and the second transmission interface follow different communication protocols.
A control unit, characterized by including:

A receiving unit, configured to receive the first message through the first transmission interface;

The receiving unit is also configured to receive the second message through the second transmission interface;

The data in the first message and the data in the second message are related, and the first transmission interface and the second transmission interface follow different communication protocols.
A controller, characterized in that the controller includes a control unit and a memory, wherein the memory is used to store computer programs or computer instructions, and the control unit is used to execute the computer program or computer instructions stored in the memory. Instructions to cause the controller to perform the method as described in any one of claims 1-13; or to cause the controller to perform the method as described in any one of claims 15-29.
A chip, characterized in that the chip includes a processor and a memory, wherein the memory is used to store computer programs or computer instructions, and the processor is used to execute the computer program or computer instructions stored in the memory, so that The chip performs the method according to any one of claims 1-13; or, causes the controller to perform the method according to any one of claims 15-29.
A vehicle, characterized in that the vehicle includes a first control unit and/or a second control unit, the first control unit is used to execute the method according to any one of the above claims 1-14, and the third control unit Two control units are used to execute the method described in any one of the above claims 15-29.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program or computer instructions, and the computer program or computer instructions are executed by a processor to implement any one of claims 1 to 14 Methods;

Alternatively, the computer-readable storage medium stores a computer program or computer instructions, and the computer program or computer instructions are executed by a processor to implement the method described in any one of claims 15 to 29.