CN109263581A - A kind of real-time commitment method for automatic driving vehicle - Google Patents
A kind of real-time commitment method for automatic driving vehicle Download PDFInfo
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- CN109263581A CN109263581A CN201811325180.5A CN201811325180A CN109263581A CN 109263581 A CN109263581 A CN 109263581A CN 201811325180 A CN201811325180 A CN 201811325180A CN 109263581 A CN109263581 A CN 109263581A
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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
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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Abstract
The invention belongs to the unmanned fields of vehicle, disclose a kind of real-time commitment method for automatic driving vehicle, and each real-time ethernet intelligent Communication Node is interconnected by single pair twisted pair and interchanger, constitute real-time ethernet In-vehicle networking；At least there is a real-time ethernet intelligent node in network is host node, by each real-time ethernet intelligent node of unitcast request frame wheel sequence in each communication cycle, coordinates each slave station, distributes the bus right to use, realizes real time communication；Remaining is configured to from node, and each node has unique node number；A replys frame is sent from node receiving the claim frame that host node sends, in the data broadcasting to network that oneself needs is sent.Each node in inventive network can collect once/data are sent, even if facing ever-increasing onboard sensor, its real-time will not be reduced, adapts to the development trend of the following automatic driving vehicle.
Description
Technical field
The invention belongs to the unmanned field of vehicle more particularly to a kind of real-time commitments for automatic driving vehicle
Method.
Background technique
Currently, the prior art commonly used in the trade is such that
The prior art commonly used in the trade includes: LIN bus, CAN bus, FLERAY bus, MOST bus；LIN bus network
Network be single host node and it is multiple from node constitute, can connecting node number it is few, signal without arbitration, judge by identifier, mark
Knowledge symbol length is long, and rate is up to 20kbps, and transmission range is short；CAN bus network is multiple nodes composition, using arbitration mode
Communication, can connecting node number it is more, real-time is low, and rate is up to 1Mbps；FLERAY bus and MOST bus are all when using
Between the communication mode that triggers, real-time is high, realize it is more complex, it is at high cost, at present using relatively fewer；The performance of CAN bus is steady
Fixed and cheap, the prior art is mature, so usually matching with LIN bus in the industry often using CAN bus as vehicle netbios
It closes and uses.
With the fast development of automotive electronic technology, following development of automobile will towards active safety and intelligent driving and most
Realize that unpiloted mode changes eventually.Unmanned is to collect ring by computer technology, electronic communication, sensing technology etc.
Complex art inter-trade, interdisciplinary on the basis of the links such as border perception, real-time control and accurate execution, while represent one
The research strength and the modernization of industry of country are to accelerate expanding economy, promote one ring of key of modernization of industry paces, have
Important strategic importance.
But existing mainstream vehicle-carrying communication bus but limits unpiloted process, even if continuous improve, passes through
The communication mode of multiple LIN combination CAN solves the needs of mass data high-speed communication, and the transmission mechanism of priority arbitration is deposited
The lower signal of priority is in communication cycle by the continuous postposition of high priority, reality in serious hysteresis quality, communication cycle
When property cannot ensure, will cause the catastrophic effect that can not be retrieved, and be greatly to threaten to life security.
In conclusion problem of the existing technology is:
In the prior art, bus " free time " or " busy " Status unknown, are easy to happen conflict, cause the mistake of signal；
After error signal generates, it can retransmit, largely occupy bus resource, or even result in blockage；
(2) using the transmission mechanism of priority arbitration there are serious hysteresis quality, data cannot be transmitted effectively；
(3) growing number of onboard sensor is faced, data volume is constantly incremented by, and real-time constantly decays；
(4) in network can connecting node number it is few, transmission rate is low；
(5) real-time is high in the prior art, and performance preferably bus is at high cost, and application field is limited.
Solve the difficulty and meaning of above-mentioned technical problem:
Difficulty is: the basic reason of above-mentioned technical problem is the limitation of itself.Due to opening for early stage bus communication
Hair content is manned service for early stage, need to only meet the transmission of vehicle mounted electrical apparatus, without consider auxiliary drive and
Real-time, hardware circuit design is relatively simple, and number of network node is limited by physical characteristic；Software protocol is limited, can not
It realizes and updates iteration；If carrying out secondary development, being promoted is also that income is little, is not able to satisfy the following vehicle
Demand, therefore need to seek a kind of new communication construction.
Bring meaning after the solution prior art:
So that vehicle-mounted real-time ethernet the In-vehicle networking communications field application more further, pushed vehicle-mounted real-time ether
Net vehicle application and constantly improve.Vehicle-mounted real-time ethernet is had excellent performance, and has communication hard real-time, transmission rate
Height, accessible node is more, and framework realization is simple, and the features such as high, is at low cost in face of numerous vehicle adaptability, satisfaction is intelligent at this stage
The communication requirement driven is assisted, the communication condition of unpiloted harshness can be more met by constantly updating iteration.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of real-time commitments for automatic driving vehicle
Method.The present invention is with the real-time of network communication in raising system, it is ensured that each signal can be in transmission cycle in each period
Do not conflict mutually inside, order transfer, and can at least receive/send and once ensure that the real-time of communication is realized, meet nothing
People drives the communication requirement that vehicle perceives complex environment.
The invention is realized in this way a kind of real-time commitment method for automatic driving vehicle, network is by multiple
Real-time ethernet intelligent Communication Node is constituted, and each real-time ethernet intelligent Communication Node is real by single pair twisted pair and interchanger
It now interconnects, constitutes real-time ethernet In-vehicle networking；At least there is a real-time ethernet intelligent node in network is host node, then
By each real-time ethernet intelligent node of unitcast request frame wheel sequence in each communication cycle, to coordinate each slave station, rationally
The bus right to use is distributed, avoids conflicting, realizes real time communication；Remaining is configured to from node, and each node has unique node number,
With " 1 " for Base Serial Number, for distinguishing the equipment in network, while the complexity for writing program is reduced；Master is being received from node
The claim frame that node is sent can send a reply frame, i.e., in the data broadcasting to network for oneself being needed to send.
Further, the real-time ethernet intelligent Communication Node is the controller that can carry real time ethernet protocol, more piece
Point interconnection constitutes real-time ethernet In-vehicle networking, is the carrier that control method is realized, the control for vehicle communicates.
Further, the host node is to be configured to the real-time ether with coordinating communication function by real time ethernet protocol
Net intelligent node；Host node each communication cycle all can other the unicast of real-time ethernet intelligent node one on network ask
Frame is sought, real-time ethernet intelligent node on polled network is effectively coordinated each real-time ethernet intelligent node and reasonably used
Bus avoids the conflict of transmission signal and omits the time of bus collision detection, enhances real-time and stability.
Further, the unicast is the reception mode for the claim frame that host node is sent, and claim frame contains number information；Net
There is corresponding number from node each of on network, when host node sends claim frame, only numbers consistent node and just connect
Claim frame is received, other nodes do not receive；After claim frame is received from node, it will then reply frame and be broadcast on network, on network
The orderly transmission of data.
Further, described to broadcast as uploading to the reply on network after receiving the claim frame that host node is sent from node
Frame, the number which does not specify are received without corresponding node, and each node on network can receive.
Further, the reply frame is data on sensor on the collected vehicle of real-time ethernet intelligent node, and is passed to
On network, data information is provided for each node, perceives external environment, realizes the control to vehicle.
Further, described from node is real-time ethernet intelligent node, and each node has unique node number, be with " 1 "
Base Serial Number for distinguishing the equipment in network, while reducing the complexity for writing program, and number of nodes is no more than " 239 "；
Such node does not have coordinated control ability, only undertakes sending and receiving for data, and only just send out after receiving claim frame
It transmits data on network, i.e. reply frame.
Further, the request-reply just completes primary information interaction, and so on, it scans through all in network
Node, i.e. a communication cycle.Data can once be collected/be sent to each node in network, and will not set with other
Standby conflict mutually, ensure that the real-time and accuracy of information transmission.
Another object of the present invention is to provide the real-time commitment sides that automatic driving vehicle is used for described in a kind of realize
The computer program of method.
Another object of the present invention is to provide a kind of terminal, it is described for unmanned that the terminal at least carries realization
The controller of the real-time commitment method of vehicle.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is in computer
When upper operation, so that computer executes the real-time commitment method for automatic driving vehicle.
In conclusion advantages of the present invention and good effect are as follows:
The present invention is controlled using host node, orderly use is carried out to bus, bus state is controllable, avoids rushing for information
It is prominent, greatly reduce the error rate of information；
The present invention is controlled using host node, the communication node in network can flexible access, and do not influence other nodes just
It is often used and does not destroy the stability of network, it is tens times of existing bus, superior performance that number of nodes, which at most can access 239,；
Communication mode of the invention can support different bus topology modes, such as bus-type, star, the mixing of bus star
Type, bus topology mode multiplicity.
The present invention has abandoned the ruling mode of arbitration, shortens the information exchange time, substantially increases real-time, drop simultaneously
Low hardware cost；
Minimum traffic rate of the invention is 10M, reaches as high as gigabit rank, is that more than ten times of common status bus are even several
Hundred times；
Each node in inventive network can collect once/data are sent, even if in face of ever-increasing vehicle-mounted
Sensor will not reduce its real-time, adapt to the development trend of the following automatic driving vehicle.
It is compared with the prior art, there is stronger advantage, as shown in the table:
Detailed description of the invention
Fig. 1 is the real-time commitment method flow diagram provided in an embodiment of the present invention for automatic driving vehicle.
Fig. 2 is the real-time commitment system diagram provided in an embodiment of the present invention for automatic driving vehicle.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
In the prior art, bus " free time " or " busy " Status unknown, are easy to happen conflict, cause the mistake of signal.
Application of the invention is further described below with reference to concrete analysis.
In real-time commitment method provided in an embodiment of the present invention for automatic driving vehicle, network is by multiple real-time
Ethernet intelligent Communication Node is constituted, and each real-time ethernet intelligent Communication Node is realized mutual by single pair twisted pair and interchanger
Even, real-time ethernet In-vehicle networking is constituted；At least there is a real-time ethernet intelligent node in network is host node, then each
By each real-time ethernet intelligent node of unitcast request frame wheel sequence in communication cycle, to coordinate each slave station, reasonable distribution
The bus right to use avoids conflicting, and realizes real time communication；Remaining is configured to from node, and each node has unique node number, with
" 1 " is Base Serial Number, for distinguishing the equipment in network, while reducing the complexity for writing program；Main section is being received from node
The claim frame that sends of point can send a replys frame, i.e., in the data broadcasting to network oneself needs sent.Principal and subordinate is real-time
Ethernet intelligent Communication Node system block diagram is as shown in Fig. 2, the transfer control method of real time communication is as shown in Figure 1.
The real-time ethernet intelligent Communication Node is the controller that can carry real time ethernet protocol, and multinode interconnects structure
It is the carrier that control method is realized at real-time ethernet In-vehicle networking, the control for vehicle communicates.
The host node is the real-time ethernet intelligence for being configured to have coordinating communication function by real time ethernet protocol
Node；Host node each communication cycle all can other one claim frame of real-time ethernet intelligent node unicast on network,
Real-time ethernet intelligent node on polled network effectively coordinates each real-time ethernet intelligent node and reasonably uses bus,
It avoids the conflict of transmission signal and omits the time of bus collision detection, enhance real-time and stability.
The unicast is the reception mode for the claim frame that host node is sent, and claim frame contains number information；On network
Each there is corresponding number from node, when host node sends claim frame, only numbers consistent node and just receive request
Frame, other nodes do not receive；After claim frame is received from node, it will then reply frame and be broadcast on network, the data on network
Orderly transmission.
It is described to broadcast as uploading to the reply frame on network, the frame after receiving the claim frame that host node is sent from node
The number that do not specify is received without corresponding node, and each node on network can receive.
The reply frame is data on sensor on the collected vehicle of real-time ethernet intelligent node, and is passed on network,
Data information is provided for each node, perceives external environment, realizes the control to vehicle.
Described from node is real-time ethernet intelligent node, and each node has unique node number, is that starting is compiled with " 1 "
Number, for distinguishing the equipment in network, while the complexity for writing program is reduced, number of nodes is no more than " 239 "；Such section
Point does not have coordinated control ability, only undertakes sending and receiving for data, and data are only just sent after receiving claim frame
Onto network, that is, reply frame.
Request-the reply just completes primary information interaction, and so on, all nodes in network are scanned through, i.e.,
One communication cycle.Data can once be collected/be sent to each node in network, and will not rush mutually with other equipment
It is prominent, it ensure that the real-time and accuracy of information transmission.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of real-time commitment method for automatic driving vehicle, which is characterized in that described to be used for automatic driving vehicle
Real-time commitment method include:
Each real-time ethernet intelligent Communication Node is interconnected by single pair twisted pair and interchanger, constitutes the vehicle-mounted net of real-time ethernet
Network；
At least there is a real-time ethernet intelligent node in network is host node, passes through unitcast request in each communication cycle
The each real-time ethernet intelligent node of frame wheel sequence coordinates each slave station, distributes the bus right to use, realizes real time communication；
Remaining is configured to from node, and each node has unique node number, is Base Serial Number with 1, distinguishes the equipment in network；From
Node sends a replys frame receiving the claim frame that host node sends, the data broadcasting that oneself needs is sent to network
On.
2. being used for the real-time commitment method of automatic driving vehicle as described in claim 1, which is characterized in that network is by more
A real-time ethernet intelligent Communication Node is constituted；
The real-time ethernet intelligent Communication Node is the controller for carrying real time ethernet protocol, and multinode interconnection constitutes real-time
Ethernet In-vehicle networking, the control for vehicle communicate.
3. being used for the real-time commitment method of automatic driving vehicle as described in claim 1, which is characterized in that the main section
Point is to be configured to the real-time ethernet intelligent node with coordinating communication function by real time ethernet protocol；
Other one claim frame of real-time ethernet intelligent node unicast of host node in each communication cycle on network, poll net
Real-time ethernet intelligent node on network coordinates each real-time ethernet intelligent node and reasonably uses bus.
4. being used for the real-time commitment method of automatic driving vehicle as described in claim 1, which is characterized in that the unicast
For the reception mode for the claim frame that host node is sent, claim frame includes number information；There is correspondence from node each of on network
Number only number consistent node when host node sends claim frame and just receive claim frame, other nodes do not receive；
After claim frame is received from node, it will then reply frame and be broadcast on network, the orderly transmission of the data on network.
5. being used for the real-time commitment method of automatic driving vehicle as described in claim 1, which is characterized in that the broadcast
It is described to reply what frame was not specified to upload to the reply frame on network after receiving the claim frame that host node is sent from node
Number is received without corresponding node, and each node on network can receive.
6. being used for the real-time commitment method of automatic driving vehicle as described in claim 1, which is characterized in that the reply
Frame is data on sensor on the collected vehicle of real-time ethernet intelligent node, and is passed on network, provides number for each node
It is believed that breath, perceives external environment, the control to vehicle is realized；
Described from node is real-time ethernet intelligent node, and each node has unique node number, be Base Serial Number with 1, be used to
The equipment in network is distinguished, number of nodes is no more than 239；Sending and receiving for data is undertaken from node, and is only asked receiving
It is just sent data on network after seeking frame.
7. being used for the real-time commitment method of automatic driving vehicle as described in claim 1, which is characterized in that in network
Data are once collected/sent to each node, and other equipment do not conflict mutually.
8. a kind of realize described in claim 1~7 any one based on the real-time commitment method of automatic driving vehicle
Calculation machine program.
9. a kind of terminal, which is characterized in that the terminal, which is at least carried, to be realized described in claim 1~7 any one for nothing
People drives the controller of the real-time commitment method of vehicle.
10. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer executes such as
The real-time commitment method of automatic driving vehicle is used for described in claim 1-7 any one.
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| CN111447126A (en) * | 2019-12-05 | 2020-07-24 | 炬星科技（深圳）有限公司 | Ethernet bus communication method, device, robot, equipment and computer readable storage medium |
| CN113162719A (en) * | 2021-02-25 | 2021-07-23 | 上海赫千电子科技有限公司 | Annular network data communication architecture based on optical fiber vehicle-mounted Ethernet |
| CN114143154A (en) * | 2022-02-07 | 2022-03-04 | 北京大学 | OFDM modulation-based single-twisted-pair Ethernet transmission system and method |
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| CN111447126B (en) * | 2019-12-05 | 2022-02-22 | 炬星科技（深圳）有限公司 | Ethernet bus communication method, device, robot, equipment and computer readable storage medium |
| CN114978875A (en) * | 2021-02-23 | 2022-08-30 | 广州汽车集团股份有限公司 | Vehicle-mounted node management method and device and storage medium |
| CN113162719A (en) * | 2021-02-25 | 2021-07-23 | 上海赫千电子科技有限公司 | Annular network data communication architecture based on optical fiber vehicle-mounted Ethernet |
| CN114143154A (en) * | 2022-02-07 | 2022-03-04 | 北京大学 | OFDM modulation-based single-twisted-pair Ethernet transmission system and method |
| CN114143154B (en) * | 2022-02-07 | 2022-04-26 | 北京大学 | OFDM modulation-based single-twisted-pair Ethernet transmission system and method |
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