CN108965437A - Domain framework vehicle netbios, domain cooperative processing method and the domain control device of electric car - Google Patents
Domain framework vehicle netbios, domain cooperative processing method and the domain control device of electric car Download PDFInfo
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- CN108965437A CN108965437A CN201810807262.7A CN201810807262A CN108965437A CN 108965437 A CN108965437 A CN 108965437A CN 201810807262 A CN201810807262 A CN 201810807262A CN 108965437 A CN108965437 A CN 108965437A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/12—Avoiding congestion; Recovering from congestion
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/50—Queue scheduling
- H04L47/62—Queue scheduling characterised by scheduling criteria
- H04L47/625—Queue scheduling characterised by scheduling criteria for service slots or service orders
- H04L47/6275—Queue scheduling characterised by scheduling criteria for service slots or service orders based on priority
Abstract
The present invention relates to the technical fields of electric car, specially domain framework vehicle netbios, domain cooperative processing method and the domain control device of electric car, including vehicle-mounted switch, vehicle-mounted core network, energy source domain control device and its sub-network system, power chassis domain control device and its sub-network system, vehicle body domain control device and its sub-network system, intelligence/auxiliary drive domain control device and its sub-network system, Infotainment domain control device and its sub-network system；Vehicle-mounted switch is connect by vehicle-mounted core network with each domain control device, and each domain control device is connect by respective vehicle-mounted sub-network with its system in domain respectively again；Vehicle-mounted switch manages the interaction of each domain control device using domain cooperative processing method, realizes the implementation of cross-domain function.The invention can significantly improve the exploitativeness of the Vehicular multifunction system integration, while effectively inhibit network congestion, latency issue, improve reliability, the real-time of vehicle control.
Description
Technical field
The present invention relates to the technical fields of electric car, specially the domain framework vehicle netbios of electric car, domain association
With processing method and domain control device.
Background technique
Continuous improvement with people to energy-saving and environmental protection and demand for security, research and development are intelligent, the high-performance of net connectionization is electronic
Automobile becomes new trend.Compared with traditional electric car, intelligent, net connectionization high performance electric vehicle passes through integrated use
Intelligence/DAS (Driver Assistant System), line traffic control power chassis system, energy resource system, bodywork system and information entertainment are improving energy
Tool has great advantage in terms of source service efficiency, Green Travel and traffic safety, it has also become the hot spot competitively researched and developed.However, another
On the one hand, the utilization of a large amount of electronic control systems of Various Functions brings new challenge, the difference of such as data transfer demands again
Alienation obviously increases, such as the letter of the real-time continuous property transmission of high-precision environment sensing information requirements, power chassis control system
Breath requires high flexibility, the information entertainment information of short packet transmission in real time, the information requirements of bodywork system transmission then to require
Big network throughput；Data transmission exchange capacity is significantly increased, such as environment sensing information, intelligence/auxiliary Driving control letter
The substantial increase of the real time datas such as breath, line traffic control power chassis control information, safety warning information.Current electric car generallys use
A plurality of vehicle bus interconnection is integrated, such as integrated using a plurality of CAN (Controller Area Network) bus interconnection.By
In by data packet length (data field length of CAN is up to 8 bytes) and transmission rate, (peak transfer rate of CAN is
Intelligent, net connectionization high performance electric vehicle control function is placed directly in existing In-vehicle networking system by influence 1Mbits/s)
The problems such as being realized in system, not only performance difficulty, but also inevitably causing network congestion, network delay, and then influence vehicle
Control reliability, real-time, to vehicle operation bring very big security risk.Traditional vehicle netbios has been unable to satisfy intelligence
Energyization, the actual needs for netting connectionization high performance electric vehicle.
Summary of the invention
The present invention proposes domain framework vehicle netbios, domain cooperative processing method and domain the control dress of new electric car
It sets, can significantly improve the exploitativeness of the Vehicular multifunction system integration, while effectively inhibiting network congestion, latency issue, mention
Reliability, the real-time of high vehicle control, greatly improve vehicle operation safety, be high performance electric vehicle intelligence,
It nets connectionization and technical support is provided.
The specific technical proposal is:
The domain framework vehicle netbios of electric car includes vehicle-mounted switch, vehicle-mounted core network, energy source domain control
Device and its sub-network system, power chassis domain control device and its sub-network system, vehicle body domain control device and sub-network system
System, intelligence/auxiliary drive domain control device and its sub-network system, Infotainment domain control device and its sub-network system；
Wherein vehicle-mounted switch is connect by vehicle-mounted core network with each domain control device, forms vehicle-mounted core network
System, each domain control device are connect by respective vehicle bus with sub-network systems other in domain respectively again simultaneously, form domain
Network system.
The domain cooperative processing method of the domain framework vehicle netbios of the electric car, the vehicle-mounted switch is using association
The data exchange that each domain control device is managed with processing method, realizes the implementation of cross-domain function；
The cooperative processing method, including based on first in, first out principle, based on priority queueing non-preemption principle, be based on
Dispatch list dispatching principle；
The first in, first out principle is to send data packet according to the received sequencing of data packet, first received data packet
It is first sent, is sent after rear received data packet；
Described is that transmission sequence, priority are determined according to the priority of data packet based on priority queueing non-preemption principle
More higher, more first to be sent, the lower priority the slower to be sent, and each data packet once starts transmission, can not stop, Zhi Daofa
Send completion；
The principle based on scheduling list scheduling are as follows: determine that the transmission of data packet is suitable based on the dispatch list designed in advance
Sequence.
Further, the principle based on scheduling list scheduling is using flexible time trigger dispatching algorithm；
The flexible time trigger dispatching algorithm are as follows: the transmission of data packet using the basic cycle manage, the basic cycle by
Host node on one temporal meaning is generated by periodically sending traffic order, after each node receives traffic order, is pressed
It is sent according to traffic order log-on data packet, the number n for allowing to send data packet in each basic cycle meets with lower inequality:
Wherein Tbasic-cycleIt is the time span of basic cycle,It is the transmission time of data packet i, max
() is maximizing operation, and ∑ () is summation operation.
The present invention also provides the domain control device of above-mentioned domain cooperative processing method, the domain control device is using scheduling and control
Cooperative Mode processed receives the management of vehicle-mounted switch, and realizes the implementation of each function in domain, including receiving module, controller mould
Block, Scheduler module, sending module；
Scheduling and control Cooperative Mode are as follows: the information of vehicles that is received according to receiving module and from vehicle-mounted switch
Order, using mode of the controller module in conjunction with Scheduler module, wherein controller module is responsible for vehicle letter based on the received
It ceases and the control command calculation processing from vehicle-mounted switch generates vehicle feedback status information and control command, scheduler mould
Block is responsible for information of vehicles based on the received and the traffic order calculation processing from vehicle-mounted switch generates communication scheduling order,
Last control command and traffic order are sent to correspondingly received object by sending module.
Beneficial effects of the present invention:
1. can effectively meet different function electronics by using domain framework vehicle netbios and domain cooperative processing method
The modularized design of system and cross-domain integrated；
2., can be obvious by using domain cooperative processing method and the domain control device based on scheduling with control Cooperative Mode
The exploitativeness of the Vehicular multifunction system integration is improved, while effectively inhibiting network congestion, latency issue, improves vehicle control
Reliability, real-time greatly improve the safety of vehicle operation.
Detailed description of the invention
Fig. 1 embodiment domain framework vehicle netbios；
Fig. 2 (a) embodiment first in first out implementation principle；
Fig. 2 (b) embodiment is based on priority queueing non-preemption implementation principle；
Fig. 3 embodiment dispatch list and basic cycle；
Fig. 4 embodiment domain cooperative processing method implementation result figure；
The scheduling of Fig. 5 embodiment domain control device and control coprocessing mode.
Specific embodiment
Next in conjunction with attached drawing, implementation of the invention is described in detail.
According to the demand of intelligent net connectionization high performance electric vehicle system integration control, using domain framework In-vehicle networking
System, domain cooperative processing method and domain control device improve the exploitativeness of the Vehicular multifunction system integration, while effectively inhibiting
Network congestion, latency issue improve reliability, the real-time of vehicle control, and then improve the safety of vehicle operation.
As shown in Figure 1, being embodiment electric car domain framework vehicle netbios structure chart.The electric car specifically includes
Vehicle-mounted switch, vehicle-mounted high-speed main network and 5 domain sub-network systems comprising domain control device.5 domain sub-network systems
System is respectively can source domain sub-network system, power chassis domain sub-network system, vehicle body domain sub-network system, the driving of intelligence/auxiliary
Domain sub-network system, Infotainment domain sub-network system, wherein can source domain sub-network system mainly realize can source domain control device,
Power management from the integrated of module, charger and DC converting DCDC system etc., mainly realize by power chassis domain sub-network system
Power chassis domain control device, driving-transmission system (electric machine controller MCU, automatic transmission AMT), braking system (EBS/
ABS), steering system (EPS/AFS) etc. is integrated, and vehicle body domain sub-network system mainly realizes vehicle body domain control device, car door, vehicle
Window, seat system etc. it is integrated, intelligence/auxiliary drive domain sub-network system mainly realize intelligence/auxiliary driving domain control device,
Video, radar, inertial navigation system etc. integrate, and Infotainment domain sub-network system is mainly realized Infotainment domain control device, driven
Sail the integrated of information, audio, video and internet connection system etc..Each domain control device is responsible for realizing various functions in this domain
It realizes, the execution including state acquisition processing, the generation of Decision Control order and order, while receiving vehicle-mounted switch
Management realizes that cross-domain function is implemented.
By taking electronic urgent brakes EBS as an example.Firstly, intelligence/auxiliary drives domain control device, driven by intelligence/auxiliary
Domain sub-network, realization are exchanged with the high speed of video, radar etc., real time information, are calculated and are generated braking commands, numbers in real time a large amount of at this time
It is transmitted according in this domain sub-network, then, intelligence/auxiliary drives domain control device, it then follows the management of vehicle-mounted switch will stop
Vehicle order is transmitted to power chassis domain control device by vehicle-mounted backbone network, starts braking system by chassis domain control device, together
When, which is transmitted to vehicle body domain control device and energy source domain control device respectively again, is opened by vehicle body domain control device
Dynamic brake lamp and seat harness clamping system start energy regenerating management monitoring system by energy source domain control device, real at this time
Existing cross-domain integrated control.
To sum up, domain framework vehicle netbios, domain cooperative processing method and the domain control device of proposition are, it can be achieved that vehicle control
The modularized design of system processed can significantly improve the exploitativeness of the Vehicular multifunction system integration, while again due to a large amount of real-time
Data exchange respectively in each domain sub-network realize, necessary cross-domain information then receive vehicle-mounted switch management realize across
The real-time reliable transmission in domain, to effectively inhibit, In-vehicle networking is crowded, latency issue, improves reliability, the reality of vehicle control
Shi Xing, and then improve the safety of vehicle operation.
Vehicle-mounted switch manages the communication of each domain control device using domain cooperative processing method, can use first in first out
Principle, the principle based on priority queueing non-preemption principle and based on scheduling list scheduling.
As shown in Fig. 2 (a), first in first out is managed according to the received sequencing of information using fifo queue
The transmission of information.
As shown in Fig. 2 (b), it is based on priority queueing non-preemption principle, it is smooth according to the priority by priority management,
Use the transmission of selection switch management information.
As shown in figure 3, the principle based on scheduling list scheduling realizes that the basic cycle is started by trigger frame using the basic cycle,
The packet tags that starting is sent in the basic cycle are loaded in trigger frame, trigger frame is by the host node cycle on temporal meaning
Property send, specifically sent by vehicle-mounted switch in the present embodiment.The example mainly includes two basic cycles, wherein first
Basic cycle mainly realizes the transmission of status signal data packet, including status signal S1, S2, S3, second basic cycle are main
Realize the transmission of command signals data packet, including command signal M1, M2, M3.It two basic cycles, runs, realizes in cycles
Flexible time trigger management and running.
The data packet number handled in each basic cycle needs to meet
Therefore, the delay of data packet transmission is effectively limited to less than the basic cycle, to improve data cross-domain transmission
Real-time.
Fig. 4 is embodiment domain cooperative processing method implementation result figure, it is seen that status signal from each domain control device and
Signal is controlled by the management of the vehicle-mounted switch of receiving, realizes being sent in different cycles, and forward delay interval is had
Effect limitation, so as to avoid network congestion behavior, and improve transmission real-time, thus improve the reliability of vehicle control,
Real-time and vehicle operational safety.
Fig. 5 is the scheduling of embodiment domain control device and control domain coprocessing mode, and receiving module passes through backbone network and domain
Sub-network, receives information of vehicles and the order from vehicle-mounted switch, and controller module is responsible for information of vehicles based on the received
And the control command calculation processing from vehicle-mounted switch generates vehicle feedback status information and control command, Scheduler module
It is responsible for information of vehicles based on the received and the traffic order calculation processing from vehicle-mounted switch generates communication scheduling order, from
And realize that scheduling is cooperateed with control in effect, last sending module is responsible for implementing the transmission of control command and traffic order.
To sum up, it suggests plans in the exploitativeness for improving the Vehicular multifunction system integration, inhibition In-vehicle networking is crowded, prolongs
When, it can be high property that the reliability, real-time and vehicle operational safety aspect for improving vehicle control, which have apparent technical effect,
The intelligence of energy electric car, net connectionization provide technical support.
The foregoing is merely example of the present invention, the present invention is not limited solely to above-described embodiment, all at this
Locality change, equivalent replacement, the improvement etc. done within the spirit and principle of invention should be included in protection model of the invention
Within enclosing.
Claims (4)
1. the domain framework vehicle netbios of electric car, it is characterised in that: comprising vehicle-mounted switch, vehicle-mounted core network,
It can source domain control device and its sub-network system, power chassis domain control device and its sub-network system, vehicle body domain control device
And sub-network system, intelligence/auxiliary drive domain control device and its sub-network system, Infotainment domain control device and its subnet
Network system；
Wherein vehicle-mounted switch is connect by vehicle-mounted core network with each domain control device, forms vehicle-mounted core network system
System, each domain control device are connect by respective vehicle bus with sub-network systems other in domain respectively again simultaneously, form domain subnet
Network system.
2. the domain cooperative processing method of the domain framework vehicle netbios of electric car according to claim 1, feature
Be: the vehicle-mounted switch manages the data exchange of each domain control device using cooperative processing method, realizes cross-domain function
Implementation；
The cooperative processing method, including be based on first in, first out principle, be based on priority queueing non-preemption principle, based on scheduling
List scheduling principle；
The first in, first out principle is to send data packet according to the received sequencing of data packet, first received data packet elder generation quilt
It sends, is sent after rear received data packet；
Described is to determine that transmission sequence, priority are higher according to the priority of data packet based on priority queueing non-preemption principle
More first to be sent, the lower priority the slower to be sent, and each data packet once starts transmission, can not stop, until having sent
At；
The principle based on scheduling list scheduling are as follows: the transmission sequence of data packet is determined based on the dispatch list designed in advance.
3. the domain cooperative processing method of the domain framework vehicle netbios of electric car according to claim 2, feature
Be: the principle based on scheduling list scheduling is using flexible time trigger dispatching algorithm；
The flexible time trigger dispatching algorithm are as follows: the transmission of data packet is managed using the basic cycle, and the basic cycle is by one
Host node on temporal meaning is generated by periodically sending traffic order, after each node receives traffic order, according to tune
It drags out a miserable existence and log-on data packet is enabled to send, the number n for allowing to send data packet in each basic cycle meets with lower inequality:
Wherein Tbasic-cycleIt is the time span of basic cycle,It is the transmission time of data packet i, max () is
Maximizing operation, ∑ () are summation operation.
4. the domain control device of domain cooperative processing method according to claim 2, it is characterised in that: the domain control device
The management of vehicle-mounted switch is received using scheduling and control Cooperative Mode, and realizes the implementation of each function in domain, including receive
Module, controller module, Scheduler module, sending module；
Scheduling and control Cooperative Mode are as follows: the information of vehicles received according to receiving module and the life from vehicle-mounted switch
It enables, using mode of the controller module in conjunction with Scheduler module, wherein controller module is responsible for information of vehicles based on the received
And the control command calculation processing from vehicle-mounted switch generates vehicle feedback status information and control command, Scheduler module
It is responsible for information of vehicles based on the received and the traffic order calculation processing from vehicle-mounted switch generates communication scheduling order, most
Control command and traffic order are sent to correspondingly received object by sending module afterwards.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810807262.7A CN108965437A (en) | 2018-07-21 | 2018-07-21 | Domain framework vehicle netbios, domain cooperative processing method and the domain control device of electric car |
| PCT/CN2018/111244 WO2020019543A1 (en) | 2018-07-21 | 2018-10-22 | Electric vehicle domain architecture vehicle network system, domain collaborative processing method and domain control device |
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| CN201810807262.7A CN108965437A (en) | 2018-07-21 | 2018-07-21 | Domain framework vehicle netbios, domain cooperative processing method and the domain control device of electric car |
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| CN109606290A (en) * | 2018-12-25 | 2019-04-12 | 北京理工大学 | The bitopology network control system and its dispatching method of electric car |
| WO2020019543A1 (en) * | 2018-07-21 | 2020-01-30 | 北京理工大学 | Electric vehicle domain architecture vehicle network system, domain collaborative processing method and domain control device |
| CN111572364A (en) * | 2020-04-28 | 2020-08-25 | 东风汽车集团有限公司 | Power domain control system of electric automobile |
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| CN114802058B (en) * | 2022-06-23 | 2022-09-30 | 北京理工大学 | Intelligent electric vehicle regional architecture vehicle-mounted networked control system and scheduling method |
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| CN114884998B (en) * | 2022-07-11 | 2022-09-06 | 北京理工大学 | Cooperative software defined vehicle-mounted network system, scheduling method and CACC |
| CN116001708A (en) * | 2023-02-22 | 2023-04-25 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Response speed compensation method, quick response method and storage medium of drive-by-wire chassis |
| CN116001708B (en) * | 2023-02-22 | 2023-06-16 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Response speed compensation method, quick response method and storage medium of drive-by-wire chassis |
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