CN114598752A - Message processing method, device and related equipment - Google Patents

Message processing method, device and related equipment Download PDF

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Publication number
CN114598752A
CN114598752A CN202210224002.3A CN202210224002A CN114598752A CN 114598752 A CN114598752 A CN 114598752A CN 202210224002 A CN202210224002 A CN 202210224002A CN 114598752 A CN114598752 A CN 114598752A
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message
messages
format
priority
period
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CN114598752B (en
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潘文卿
王飞飞
宋炳雨
周善政
彭梦泽
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Weichai Power Co Ltd
Weifang Weichai Power Technology Co Ltd
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Weichai Power Co Ltd
Weifang Weichai Power Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/06—Notations for structuring of protocol data, e.g. abstract syntax notation one [ASN.1]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/08—Protocols for interworking; Protocol conversion
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/26—Special purpose or proprietary protocols or architectures
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/50—Reducing energy consumption in communication networks in wire-line communication networks, e.g. low power modes or reduced link rate

Abstract

The application provides a message processing method, which can obtain a plurality of first messages with the same priority in a first format, then convert the plurality of first messages into second messages with a second format, wherein the priority of the second messages is the same as that of the first messages, and then the second messages are used for communication, so that the data volume in the messages can be increased, and the load rate of a bus can be reduced.

Description

Message processing method, device and related equipment
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a message processing method, an apparatus, a device, a computer-readable storage medium, and a computer program product.
Background
A Controller Area Network (CAN) serial communication protocol is a network standard protocol that has wide applications in automobile systems, and with the continuous development of wireless communication technology, new requirements are also provided for the transmission speed of the CAN serial communication protocol.
A variable Rate controller local area network (CAN with Flexible Data-Rate, CAN fd) uses a physical layer with less modification on the basis of a CAN bus, and CAN optimize the transmission bandwidth and Data length by a standard J1939 protocol, thereby improving the Data transmission efficiency. However, the J1939 protocol is formulated based on the conventional CAN, and does not increase the load rate of the bus, so that improvement of data transmission efficiency is limited.
Therefore, a message processing method is needed to improve the data transmission efficiency.
Disclosure of Invention
The application provides a message processing method. The method can process the message in the first format, and the efficiency of data transmission can be improved by communicating the processed message. The application also provides a device, equipment, a computer readable storage medium and a computer program product corresponding to the method.
In a first aspect, the present application provides a method for processing a packet, where the method includes:
acquiring a plurality of first messages with the same priority, wherein the first messages are messages in a first format;
converting the plurality of first messages into a second message, wherein the second message is a message in a second format, the priority of the second message is the same as that of the plurality of first messages, and the second message comprises all information contained in the plurality of first messages;
and communicating through the second message.
In some of the possible implementations of the present invention,
the converting the plurality of first messages into one second message includes:
determining a minimum first message with a minimum period from the plurality of first messages;
and determining the period of the minimum first message as the period of a second message.
In some possible implementation manners, the converting the first packet into the second packet includes:
and converting the first message into a second message by reconstructing a structure of an extended frame address of the second message.
In some possible implementation manners, the second packet includes an exclusive or value of a parameter group number PGN of the first packet.
In some possible implementations, the first format is a format that conforms to a controller area network, CAN, protocol.
In some possible implementations, the first format is a variable rate controller area network, CANFD, format.
In a second aspect, the present application provides a message processing apparatus, including:
the device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a plurality of first messages with the same priority, and the first messages are messages in a first format;
a conversion module, configured to convert the plurality of first messages into a second message, where the second message is a message in a second format, a priority of the second message is the same as a priority of the plurality of first messages, and the second message includes all information included in the plurality of first messages;
and the communication module is used for carrying out communication through the second message.
In some of the possible implementations of the present invention,
the conversion module is specifically configured to:
determining a minimum first message with a minimum period from the plurality of first messages;
and determining the period of the minimum first message as the period of a second message.
In some possible implementations, the conversion module is specifically configured to:
and converting the first message into a second message by reconstructing a structure of an extended frame address of the second message.
In some possible implementation manners, the second packet includes an exclusive or value of a parameter group number PGN of the first packet.
In some possible implementations, the first format is a format that conforms to a controller area network, CAN, protocol.
In some possible implementations, the first format is a variable rate controller area network, can fd, format.
In a third aspect, the present application provides an apparatus comprising a processor and a memory. The processor and the memory communicate with each other. The processor is configured to execute instructions stored in the memory to cause the apparatus to perform a method as in the first aspect or any implementation of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium having instructions stored therein, the instructions instructing a device to execute the method according to the first aspect or any implementation manner of the first aspect.
In a fifth aspect, the present application provides a computer program product comprising instructions which, when run on a device, cause the device to perform the method of the first aspect or any of the implementations of the first aspect.
The present application can further combine to provide more implementations on the basis of the implementations provided by the above aspects.
According to the technical scheme, the embodiment of the application has the following advantages:
the embodiment of the application provides a message processing method, which can acquire a plurality of first messages with the same priority in a first format, then convert the plurality of first messages into a second message with a second format, wherein the priority of the second message is the same as that of the first message, then communicate through the second message, and send information carried by the plurality of first messages through one second message, so that the data volume in the messages is effectively improved, and the load rate of a bus is reduced.
The present application can further combine to provide more implementations on the basis of the implementations provided by the above aspects.
Drawings
In order to more clearly illustrate the technical method of the embodiments of the present application, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive labor.
Fig. 1 is a schematic flowchart of a message processing method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a message processing apparatus according to an embodiment of the present application.
Detailed Description
The scheme in the embodiments provided in the present application will be described below with reference to the drawings in the present application.
The terms "first" and "second" in the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
Some technical terms referred to in the embodiments of the present application will be first described.
The CAN FD uses a physical layer with smaller change and a two-wire serial communication protocol on the basis of inheriting the main characteristics of a CAN bus, and optimizes both bandwidth and data length. The extended frame structure of the CANFD protocol is shown in table 1, and the protocol is divided into a data segment and an arbitration segment, wherein the maximum baud rate of the arbitration segment is 1Mbps, the maximum baud rate of the data segment is 8Mbps, and the maximum length of the data segment is 64 bytes. Therefore, CANFD can improve the transmission efficiency of data.
Table 1 extended frame structure of CANFD protocol
Figure BDA0003534952140000041
TABLE 1
However, CANFD is usually based on the standard J1939 protocol, which is established based on the conventional CAN protocol. If applied to the CANFD protocol, the 8 bytes in the data field are unchanged. The baud rate of the data segment, usually the baud rate of the communication CAN of an automobile in a network topology structure, is 250kbps, and according to the use rule of the CANFD, the data segment CAN be increased to 2 times or 4 times of the arbitration segment, namely 500kpbs or 1 Mbps. But only the rate of the data segments is increased without increasing the load rate of the bus.
In view of the above, the present application provides a message processing method, which may be executed by an Electronic Control Unit (ECU). An electronic control unit is a control device composed of an integrated circuit for implementing a series of functions such as analysis processing and transmission of data, and generally includes a plurality of components such as an input circuit, an a/D (analog/digital) converter, a microcomputer, and an output circuit.
Specifically, the electronic control unit acquires a plurality of first messages with the same priority and in a first format, and then converts the plurality of first messages into a second message, wherein the priority of the second message is the same as the priority of the first message, so that communication can be performed through the second message.
In order to make the technical solution of the present disclosure clearer and easier to understand, an ECU is taken as an example, and as shown in fig. 1, a message processing method provided by the embodiment of the present disclosure is introduced.
S102: the ECU acquires a plurality of first messages with the same priority.
The first message is a message in a first format. In some possible implementations, the first format may be a format that conforms to the CAN protocol. The data segment of each packet includes 8 bytes, and each standard includes a Parameter Group Number (PGN).
The method is used for converting a plurality of messages in a first format into a message in a second format, and because the priority of the first messages in the first format is the same, the priority of the second messages in the second format after format conversion is the same as that of the first messages in the first format. And the period of the second message is the period with the minimum period in the plurality of messages in the first message.
The description will be given by taking four first messages with the priority of 6 and the periods of 10ms, 20ms, and 50ms as examples, respectively, for a plurality of first messages with the same priority. The PGNs of the 4 sub-messages are respectively: 0xF004 (binary: 1111000000000100), 0xF005 (binary: 1111000000000101), 0xFFE1 (binary: 1111111111100001), and 0xFF03 (1111111100000011).
S104: the ECU converts a plurality of first messages into a second message.
Wherein the second message is a message in a second format. In this embodiment, the second format is a format defined by the CANFD protocol. One second message includes all information included in the plurality of first messages.
The ECU may reconstruct the plurality of messages in the first format using the extended frame address of 29 bits.
In the frame structure of the CANFD, the standard frame of the arbitration segment is 19bits, and the extended frame is 29 bits. Specifically, as shown in table 2, bits 0 to bit7 are determined as 8 bits of the source address, which are used to indicate which controller the message is sent out from. Setting bits 8 to 25 as information of a plurality of first messages, wherein bits 8 to 22 represent exclusive or values of PGNs of the plurality of first messages, and bits 23 to 25 represent the number of the first messages. Setting bits 26-28 as priorities, wherein the priorities are the same as the priorities of the first message.
Table 2 extended frame address reconstruction
Figure BDA0003534952140000061
Figure BDA0003534952140000062
TABLE 2
The priority of the message represents the arbitration priority on the bus, and decreases from 0 to 7 in sequence, 0(28 bits, 27 bits and 26 bits are: 000 in sequence) represents the highest priority, and 7 represents the lowest priority (28 bits, 27 bits and 26 bits are: 111 in sequence). Usually, the priority of the message is 3 (011 for 28 bits, 27 bits and 26 bits in sequence) or 6 (110 for 28 bits, 27 bits and 26 bits in sequence). When the message indicates to control the engine speed, the priority is typically 3.
The total 3bits of the identifiers bit23 to bit25 is used for representing the number of PGNs including the standard J1939 message, so that a second message can include at most 7 first messages. The PGNs of the plurality of first packets may be collectively represented in the second packet by an exclusive or value. The total 15bits of bits 8-bit 22 are exclusive or values of all PGNs comprising the standard J1939 standard message.
Exemplarily, if the priority of 4 messages in the first format is 6, the PGNs of the 4 messages are: 0xF004 (binary: 1111000000000100), 0xF005 (binary: 1111000000000101), 0xFFE1 (binary: 1111111111100001), and 0xFF03(1111111100000011), then bit28 to bit8 of the address of the corresponding second message, i.e., the can fd message, are: 110100000000011100011.
in the CANFD protocol, the ratio of the baud rate of the arbitration section to the baud rate of the data section can be 1:2 or 1:4, so that the baud rate of the data section can be improved, the length of the data section can be increased, and the data loading capacity of one message can be increased.
TABLE 3 CANFD data field Format
Figure BDA0003534952140000063
Figure BDA0003534952140000071
TABLE 3
In 64 bytes of a data field (data field) of a CANFD message, one standard message occupies 12 bytes, including PGN, cycle, data segment, and the like. As shown in table 3, 2 bytes are PGN, 2 bytes are period, and 8 bytes are data segment. The CANFD data segment may be 8 bytes, 16 bytes, 32 bytes, 48 bytes or 64 bytes, etc., where one data segment is a 64-byte message and may include 5 standard messages of 12 bytes.
The period indicates a period of updating the content of 8 bytes of the following data segment, and may be, for example, 10ms, 20ms, or 50 ms. The messages in different periods can be combined into a CANFD message, the period of the CANFD message includes the minimum value of the messages, and the other periods are multiples of the minimum value. For example, the plurality of first packets includes first packets with a period of 10ms, 20ms, or 50ms, and the second packets have a period of 10 ms. Messages with a time less than 100ms can be combined into a CANFD message with a period of 10ms, and messages with a time greater than or equal to 100ms can be combined into a CANFD message with a time of 100 ms.
For example, a CANFD message includes: 2 messages with 10ms period, 1 message with 20ms period and 1 message with 50ms period. The cycle of the CANFD message is 10 ms. As shown in the following table, the 1 st and 2 nd messages are both messages with a period of 10ms, the 3 rd message is a message with a period of 20ms, data is updated once every other period, and the 4 th message with a period of 50ms is updated once every other period of 4.
The data segment refers to a signal included in the arbitration segment PGN.
Table 4 address layout of CANFD message arbitration stage
Figure BDA0003534952140000072
Figure BDA0003534952140000081
Figure BDA0003534952140000082
TABLE 4
Taking a can fd message including the 4J 1939 messages as an example, as shown in table 4, the priorities of the 4J 1939 messages in the arbitration segment are all 6, the source address is 0x00, which indicates that a broadcast sent from the engine controller is sent to the bus, the PGNs are 0xF004 (binary: 1111000000000100), 0xF005 (binary: 1111000000000101), 0xFFE1 (binary: 1111111111100001), and 0xFF03(1111111100000011), respectively, the number of PGNs in the second message is 4(bit25 to bit23 are 0100), and the xor values of the N PGNs (bit22 to bit 8) are 0000000011100011.
TABLE 5 addresses of CANFD data segments
Figure BDA0003534952140000083
TABLE 5
The data segment is shown in table 5, where the PGN of the 1 st message is 0xF004, the period is 0x0A (10ms), the data segment is 0x0102030405060708, the PGN of the 2 nd message is 0xF005, the period is 0x0A (10ms), the data segment is 0x0102030405060708, the PGN of the 3 rd message is 0xFFE1, the period is 0x14(20ms), the data segment is 0x0102030405060708, the PGN of the 4 th message is 0xFF03, the period is 0x32(50ms), and the data segment is 0x 2030100405060708.
In some possible implementation manners, the first packet may be obtained according to an arbitration segment address of a CANFD shown in table 4 and an address of a data segment of the CANFD shown in table 5. Specifically, the first sub-packet may be obtained by parsing: the address is 0x18F00400, the period is 10ms, and the data content is 0x 0102030405060708; a second sub-message: the address is 0x18F00500, the period is 10ms, and the data content is 0x 0102030405060708; a third sub-message: the address is 0x18FFE100, the period is 20ms, and the data content is 0x 0102030405060708; a fourth sub-message: the address is 0x18FF0300, the period is 50ms, and the data content is 0x 0102030405060708. Therefore, all information carried by the plurality of first messages can be acquired according to the second message, and data loss is avoided.
S106: the ECU communicates via a second message.
Because one second message can include information included in a plurality of first messages, the ECU can transmit more data through the communication of the second message, and the load rate of the bus is reduced.
Illustratively, if the above 4 messages are transmitted in a manner that the arbitration segment baud rate is 250kbps and the data segment baud rate is 1Mbps, the periods of the 4 message updates are 10ms, 20ms and 50ms, respectively. According to the traditional load rate calculation, the load rate of two messages transmitting 10ms is 6%, the load rate of one message transmitting 20ms is 3%, the load rate of one message transmitting 50ms is 1.2%, and the load rate of a bus is 16.2%.
And the information included in the above 4 first messages is transmitted through the second message, wherein the arbitration segment is 45bits in total, each bit needs 4us, the data segment is 415bits in total, and each bit needs 1us, so that the time required for transmitting one second message is 595us, and then the load rate is 5.95%.
In this embodiment, the arbitration segment may be extended by using the characteristics of the CANFD protocol, and then configured according to the fixed ratio of the arbitration segment to the data segment, so as to increase the ratio of the data segment and increase the data load of one packet.
The baud rate of the data segment based on the CANFD protocol can be enhanced, and the characteristics of a standard J1939 message can be combined, so that the CANFD message comprises information of a plurality of first messages, and the plurality of first messages can be realized only by one second message, thereby effectively improving the transmission speed and reducing the load rate.
Through the description above, the present application provides a message processing method, specifically, an ECU acquires multiple first messages with the same priority, where the first messages are messages in a first format, converts the multiple first messages into a second message in a second format, where the priority of the second message is the same as that of the multiple first messages, and then performs communication through the second message. The second message comprises all information included in the first message, so that the first messages in multiple formats can be converted into the first message in one format for communication, the data volume of message transmission is improved, and the load rate of a bus is reduced.
Corresponding to the above method embodiment, the present application further provides a message processing apparatus, and referring to fig. 2, the apparatus 200 includes: an acquisition module 202, a conversion module 204, and a communication module 206.
The device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a plurality of first messages with the same priority, and the first messages are messages in a first format;
a conversion module, configured to convert the plurality of first messages into a second message, where the second message is a message in a second format, and a priority of the second message is the same as a priority of the plurality of first messages, and the second message includes all information included in the plurality of first messages;
and the communication module is used for carrying out communication through the second message.
In some of the possible implementations of the present invention,
the conversion module is specifically configured to:
determining a minimum first message with a minimum period from the plurality of first messages;
and determining the period of the minimum first message as the period of a second message.
In some possible implementations, the conversion module is specifically configured to:
and converting the first message into a second message by reconstructing a structure of an extended frame address of the second message.
In some possible implementation manners, the second packet includes an exclusive or value of a parameter group number PGN of the first packet.
In some possible implementations, the first format is a format that conforms to a controller area network, CAN, protocol.
In some possible implementations, the first format is a variable rate controller area network, CANFD, format.
The application provides a device for implementing a message processing method. The apparatus includes a processor and a memory. The processor and the memory communicate with each other. The processor is configured to execute instructions stored in the memory to cause the device to perform a message processing method.
The present application provides a computer-readable storage medium having instructions stored therein, which, when run on a device, cause the device to perform the above-mentioned message processing method.
A computer program product comprising instructions which, when run on an apparatus, cause the apparatus to perform the above message processing method.
It should be noted that the above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiments of the apparatus provided in the present application, the connection relationship between the modules indicates that there is a communication connection therebetween, and may be implemented as one or more communication buses or signal lines.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus necessary general-purpose hardware, and certainly can also be implemented by special-purpose hardware including special-purpose integrated circuits, special-purpose CPUs, special-purpose memories, special-purpose components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, for the present application, the implementation of a software program is more preferable. Based on such understanding, the technical solutions of the present application may be substantially embodied in the form of a software product, which is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, an exercise device, or a network device) to execute the method according to the embodiments of the present application.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website site, computer, training device, or data center to another website site, computer, training device, or data center via wired (e.g., coaxial cable, fiber optics, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device, such as a training device, data center, etc., that includes one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

Claims (10)

1. A message processing method is characterized by comprising the following steps:
acquiring a plurality of first messages with the same priority, wherein the first messages are messages in a first format;
converting the plurality of first messages into a second message, wherein the second message is a message in a second format, the priority of the second message is the same as that of the plurality of first messages, and the second message comprises all information contained in the plurality of first messages;
and communicating through the second message.
2. The method of claim 1,
the converting the plurality of first messages into one second message includes:
determining a minimum first message with a minimum period from the plurality of first messages;
and determining the period of the minimum first message as the period of a second message.
3. The method of claim 1, wherein converting the first packet into a second packet comprises:
and converting the first message into a second message by reconstructing a structure of an extended frame address of the second message.
4. The method of claim 1, wherein the second packet comprises an XOR value of a parameter set number (PGN) of the first packet.
5. The method of claim 1, wherein the first format is a format compliant with a Controller Area Network (CAN) protocol.
6. The method of claim 1, wherein the first format is a variable rate Controller Area Network (CANFD) format.
7. A message processing apparatus, the apparatus comprising:
the device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a plurality of first messages with the same priority, and the first messages are messages in a first format;
a conversion module, configured to convert the plurality of first messages into a second message, where the second message is a message in a second format, a priority of the second message is the same as a priority of the plurality of first messages, and the second message includes all information included in the plurality of first messages;
and the communication module is used for carrying out communication through the second message.
8. An apparatus, comprising a processor and a memory;
the processor is to execute instructions stored in the memory to cause the device to perform the method of any of claims 1 to 6.
9. A computer-readable storage medium comprising instructions that direct a device to perform the method of any of claims 1-6.
10. A computer program product, characterized in that it causes a computer to carry out the method according to any one of claims 1 to 6, when said computer program product is run on a computer.
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