CN114785474A - In-vehicle SOME/IP transmission method and device based on TSN time sensitive network - Google Patents
In-vehicle SOME/IP transmission method and device based on TSN time sensitive network Download PDFInfo
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L7/00—Arrangements for synchronising receiver with transmitter
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/46—Interconnection of networks
- H04L12/4633—Interconnection of networks using encapsulation techniques, e.g. tunneling
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/46—Interconnection of networks
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- H04L12/4645—Details on frame tagging
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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
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
- H04L69/161—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields
- H04L69/162—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields involving adaptations of sockets based mechanisms
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L7/00—Arrangements for synchronising receiver with transmitter
- H04L7/0008—Synchronisation information channels, e.g. clock distribution lines
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Abstract
The invention provides a method and a device for transmitting SOME/IP in a vehicle based on a TSN time sensitive network, which at least comprise the following steps: starting a core process in the SOMEIPTD module, and initializing a bottom socket channel; monitoring a data packet from an application layer, packaging the data packet based on an SOME/IP protocol through an SOMEIPTd module, transmitting the data packet to a lower layer socket channel and sending the data packet to a target client; or data exchange is realized among a plurality of application programs based on the SOME/IP protocol between the application layers through the SOMEIPTd module. A time sensitive network SOME/IP transmission method in a vehicle is further optional, wherein an SOMEIPTd module is provided with a time timing trigger mechanism, time information is obtained through a shared memory and a gPTP core time synchronization process, and the time information is recovered to a real-time clock. By the technical scheme, the transmitted or received data can be encapsulated or unpacked so as to realize time synchronization of the data with different priorities.
Description
Technical Field
The invention relates to the technical field of time sensitive networks for automobile communication, in particular to an in-automobile SOME/IP transmission method and device based on a TSN time sensitive network.
Background
In recent years, with the development and progress of technologies, the automobile industry is advanced by a pusher, and the automobile industry is continuously advanced towards the directions of auxiliary driving, automatic driving and unmanned driving, so that the traditional low-custom and high-reliability transmission CAN bus cannot meet the development requirements of high bandwidth and low delay required by sensors of image, video and laser radar, while the vehicle-mounted ethernet bus technology has higher bandwidth, real-time performance and low cost and becomes a necessary choice, and the communication protocol of the vehicle-mounted ethernet time-sensitive network (TSN) carries out data communication, but the current time-sensitive network (TSN) mainly works in an OSI-2 data link layer, and the native TSN is evolved from AVB, so the current time sensitivity is mainly in AVB data stream, namely, data packet AVBTP of layer 2. With the gradual evolution of the E/E architecture, the regional architectures have become mainstream, however, the regional architectures are connected through a high-bandwidth vehicle-mounted ethernet, at present, the common ethernet is best-effort transmission and cannot guarantee the real-time performance of transmission, and the TSN time sensitivity guarantees the real-time performance of network data, but in an automobile internal control command, a key command is transmitted through the SOME/IP, but the AUTOSAR does not specify and indicate how to implement the real-time performance of the control command and the key data transmitted through the SOME/IP, so that the development of the existing automobile technology urgently needs to provide a real-time transmission technology capable of implementing the TSN-based network.
Disclosure of Invention
Based on the defects in the prior art, the present invention provides a solution based on one of the technical defects in the prior art.
Specifically, the invention provides an in-vehicle SOME/IP transmission method of a TSN time sensitive network, which at least comprises the following steps: starting a core process in the SOMEIPTD module, and initializing a bottom socket channel;
monitoring a data packet from an application layer, packaging the data packet based on an SOME/IP protocol through an SOMEIPTd module, transmitting the data packet to a lower layer socket channel and sending the data packet to a target client;
or data exchange is realized among a plurality of application programs based on the SOME/IP protocol between the application layers through the SOMEIPTd module.
A time timing trigger mechanism is arranged on an SOMEIPTd module, time information is obtained through a shared memory and a gPTP core time synchronization process, and the time information is recovered to be a real-time clock.
A method for transmitting SOME/IP in a TSN time sensitive network is further provided, and further optionally, an application program processing an application layer transmits data to be transmitted to an SOMEIPTd module.
Optionally, the transmission priority is obtained, and a corresponding vlan tag is created at a vehicle-mounted ethernet transmission port according to the priority, so as to transmit a data packet with the corresponding priority.
A method for transmitting SOME/IP in a TSN time sensitive network is further optional, wherein an SOMEIPTd module configures transmission information according to priority, and channel selection is carried out according to time sensitive information.
A method for transmitting SOME/IP in a vehicle of a TSN time sensitive network is further optional, wherein an SOMEIPTd module sends SOME/IP protocol communication data according to a priority channel according to a real-time clock.
A TSN time sensitive network in-vehicle SOME/IP transmission method is further optional, when a data packet needs to be transmitted to a target client through a gateway, the gateway analyzes the received data packet to obtain VLANtag information of the data packet, and the gateway forwards time sensitive data in real time according to the VLANtag information.
A method for transmitting SOME/IP in a TSN time sensitive network is further optional, and when time sensitive data reach a data port of a target client, an SOMEIPTd module receives the data according to a priority channel.
A kind of TSN time sensitive network vehicle SOME/IP transmission method, further choose, SOMEIPTd module is according to the time sensitive priority, the triggering time resumes the mechanism;
and the SOMEIPTd module analyzes the SOME/IP protocol content according to the core protocol content and sends the key data to an application program in the SOME/IP application layer.
An in-vehicle SOME/IP transmission device based on a TSN time sensitive network, characterized by comprising: the system comprises a target client, a service client and a gateway, wherein the service client and the target client communicate based on an SOME/IP protocol;
the gateway is used as information exchange equipment of the target client and the service client, and receives and forwards data to the target client based on the SOME/IP protocol.
The target client or the service client comprises a SOMEIPTd module used for enabling data to realize real-time communication based on SOME/IP protocol.
An in-vehicle SOME/IP transmission apparatus based on a time sensitive network, further optionally, the SOME ipttd module at least includes:
the gPTP time synchronization process submodule is used for time synchronization of data sending or receiving;
the SOME/IP core protocol processing submodule is used for encapsulating or unpacking the data according to the SOME/IP protocol;
the TSN priority and time sensitive submodule is used for judging the priority of sending or receiving data;
and the priority channel and VLANtag submodule is used for creating a transmission channel and adding a VLANtag according to the priority of the data.
An apparatus based on a TSN time sensitive network, comprising at least a processor and a memory, characterized in that the memory is adapted to store a computer program of the above method,
the processor is coupled with the memory and used for executing the computer program so as to realize data communication between the target client and the server based on the SOME/IP protocol.
Has the advantages that:
in the technical scheme provided by the invention, a middleware based on an SOME/IP protocol is set, an SOMEIPTd module is set in the middleware, and a plurality of sub-modules are set in the SOMEIPTd module to package or unpack transmitted or received data so as to realize time synchronization of data with different priorities.
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The following drawings are only schematic illustrations and explanations of the present invention, and do not limit the scope of the present invention.
Fig. 1 is a relationship diagram of a module comprising submodules according to the somepipttd in the embodiment of the present invention.
Fig. 2 is a schematic diagram of the somepipttd module according to the priority division ports according to an embodiment of the invention.
FIG. 3 is a schematic diagram of communication among multiple applications APP based on SOME/IP according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a service client and a target client based on the SOME/IP protocol performing communication through a network according to an embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects, and effects herein, embodiments of the present invention will now be described with reference to the accompanying drawings, in which like reference numerals refer to like parts throughout. For the sake of simplicity, the drawings are schematic representations of relevant parts of the invention and are not intended to represent actual structures as products. In addition, for simplicity and clarity of understanding, only one of the components having the same structure or function is schematically illustrated or labeled in some of the drawings.
As for the control system, the functional module, application program (APP), is well known to those skilled in the art, and may take any suitable form, either hardware or software, and may be a plurality of functional modules arranged discretely, or a plurality of functional units integrated into one piece of hardware. In its simplest form, the control system may be a controller, such as a combinational logic controller, a micro-programmed controller, or the like, so long as the operations described herein are enabled. Of course, the control system may also be integrated as a different module into one physical device without departing from the basic principle and scope of the invention.
The term "connected" as used herein may include direct connection, indirect connection, communication connection, and electrical connection, unless otherwise specified.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items
It should be understood that the term "vehicle" or "vehicular" or other similar terms as used herein generally includes motor vehicles such as passenger automobiles including Sports Utility Vehicles (SUVs), buses, trucks, various commercial vehicles, watercraft including a variety of boats, ships, aircraft, and the like, and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from non-petroleum sources). As referred to herein, a hybrid vehicle is a vehicle having two or more power sources, such as both gasoline-powered and electric-powered vehicles.
Further, the controller of the present disclosure may be embodied as a non-transitory computer readable medium on a computer readable medium containing executable program instructions executed by a processor, controller, or the like. Examples of the computer readable medium include, but are not limited to, ROM, RAM, Compact Disc (CD) -ROM, magnetic tape, floppy disks, flash drives, smart cards, and optical data storage devices. The computer readable recording medium CAN also be distributed over network coupled computer systems so that the computer readable medium is stored and executed in a distributed fashion, such as by a telematics server or Controller Area Network (CAN).
Based on the drawbacks of the prior art, the applicant proposes a solution to one of the drawbacks of the prior art. Specifically, the present embodiment provides an in-vehicle SOME/IP transmission device based on a TSN time sensitive network, which, referring to fig. 1 to fig. 4, specifically includes at least:
the SOME/IP transmission device at least comprises one or more of a microprocessor controller, an SoC controller, a PC and a mobile terminal,
the SOME/IP transmission device is provided with an SOME/IP protocol stack which is realized based on an SOMEIPTd module.
The SOMEIPTd module at least comprises: the system comprises an SOME/IP core protocol processing submodule, a TSN priority and time sensitive processing submodule, a priority channel and VLANtag module and a gPTP time synchronization submodule;
the SOMEIPTd module encapsulates and transmits data generated by an application program in an application layer based on an SOME/IP protocol through the sub-module;
the SOME/IP core protocol processing submodule is used for encapsulating or unpacking data according to an SOME/IP protocol;
specifically, the message format of the SOME/IP protocol is as follows:
the message Header mainly comprises the following fields:
the Message ID is used for uniquely identifying the Message, and consists of a Service ID and a Method ID when the Message is of a Method type and consists of a Service ID and an Event ID when the Message is of an Event type;
length, message Length (starting from Request ID to ending in Payload);
the Request ID, which is used by the service provider and the caller to distinguish different calls of the same message, consists of a Client ID and a Session ID;
the Service provider is Service, the Service caller is Client, the Service ID and the Client ID are used for distinguishing, and the numerical values of the IDs are uniformly configured in an SOA architecture.
And the gPTP time synchronization sub-module is used for time synchronization of transmitting or receiving data. Specifically, the gPTP protocol calculates the time offset and time delay of a master clock and a slave clock in a communication network, so as to correct and synchronize the clocks;
synchronizing a master clock and a slave clock according to gPTP, so that the TSN priority and time sensitive processing submodule can accurately add a timestamp in time when data are sent and process a data packet with high priority;
the TSN priority and time sensitive submodule is used for judging the priority of sending or receiving data;
and the priority channel and VLANtag submodule is used for creating a transmission channel and adding a VLANtag according to the priority of the data.
Specifically, the SOME/IP layer is disposed in a protocol stack above a transport layer, and is used for a data middleware program to transmit based on TCP and UDP, and when a data packet reaches below the transport layer, the data packet is encapsulated into an IP packet, and then the TSN is a real-time transmission mechanism of a data link layer.
Specifically, a data stream arrangement plan is first performed, defining the attributes of the transmitted data.
Such as: which data streams belong to time sensitive data and which data streams belong to common data, for example, there are currently 3 control instruction streams that need to be transmitted via SOME/IP.
1) Chassis control command, priority P7, eventID 9007
2) Window and light control commands, priority P5 eventID 9005
3) A general instruction. Priority P0 evenID 9001
Referring to fig. 2, in step one, the ports of the ECU are divided into VLANs according to priority, and a VLAN table is created using a tool:
| | Priority | 0 | |
| | Priority | 5 | |
| | Priority | 7 | |
step two:
3 VLAN ports Eth0.1, Eth0.5 and Eth0.7 are generated on ETH port of ECU
Step three:
the data packet sent through Eth0.1 carries information of VLAN1, the data packet sent through Eth0.5 carries information of VLAN5, priority 5, VLANtag, the data packet sent through Eth0.7 port carries information of VLAN7, priority 7.
Specifically, this embodiment further provides a data transmission device, specifically referring to fig. 4, which specifically includes: the system comprises a target client, a service client and a gateway, wherein the service client and the target client communicate based on an SOME/IP protocol;
the gateway is used as information exchange equipment of the target client and the service client, and receives and forwards data to the target client based on the SOME/IP protocol.
The target client or the service client comprises a SOMEIPTd module used for enabling data to realize real-time communication based on SOME/IP protocol.
Specifically, both the service client and the target client can be in-vehicle ECUs, and can be SoC chips, or can be realized by FPGA-based chips or special ASIC chips according to hardware configuration;
when the calling service is called a target client, the target client needs to call the service in the service client to execute a preset task, and a specific communication method is as follows:
after the service client establishes SOME/IP communication connection with the target client, a data packet generated by APP1 or APP2 is encapsulated in an application layer, then sent to SOME/IP middleware for message encapsulation based on SOME/IP protocol, and then sent to a bottom layer protocol stack;
the bottom protocol stack receives the data and then packages the data again and transmits the data to a network transmission bus;
and the gateway obtains the received data packet and selects a corresponding transmission channel according to the priority to transmit the data packet to a network transmission bus connected with the target client, and then transmits the data packet to a bottom protocol stack of the target client, the bottom protocol stack of the target client is unpacked and then is sent to an SOME/IP middleware to analyze the data packet according to a message format based on SOME/IP, and then the data packet is sent to APP3 or APP4 of the required data.
The embodiment also provides an in-vehicle SOME/IP transmission method based on the TSN time-sensitive network, which specifically includes:
starting a core process in the SOMEIPTD module, and initializing a bottom socket channel;
monitoring a data packet from an application layer, packaging the data packet based on an SOME/IP protocol through an SOMEIPTd module, transmitting the data packet to a lower layer socket channel, and sending the data packet to a target client.
Specifically, in general, data communication between different ECUs is transferred through a gateway, and there is a case where data communication is directly performed without passing through the gateway.
The SOMEIPTd module is provided with a time timing trigger mechanism, and time information is acquired through a shared memory and a gPTP core time synchronization process and recovered to a real-time clock.
Specifically, the somepipttd module acquires time offset and time delay between a node and a main clock in the in-vehicle network from a gPTP core time synchronization process through a time timing trigger mechanism, corrects a local clock according to the time offset and the time delay, and adds an accurate synchronization timestamp to the data packet.
The application program processing the application layer sends the data to be sent to the SOMEIPTd module through interprocess communication.
Referring to fig. 3, in the application layer, it is possible for applications such as SOME/IP APP1, SOME/IP APP2, SOME/IP APP3, SOME/IP APP4, etc. to generate service data or call service request data, where the data may be generated by a process or by itself. If the SOME/IP APP1 triggers a request for calling the service, or the SOME/IP APP1 calls the SOME/IP APP2 through the SOME/IPTT module to realize a preset function, so that a data packet of the preset service is generated.
Or the SOME/IP APP1 transmits data to the SOME/IP APP2 through the SOME/IPTT module, and process communication is achieved inside the system based on the SOME/IPTT module.
And if the data packet needs to be transmitted to a target client outside the system, transmitting the data packet through a bottom socket channel.
Acquiring transmission priority, and creating a corresponding VLANtag at a vehicle-mounted Ethernet transmitting port according to the priority for transmitting a data packet with the corresponding priority;
and the SOMEIPTd module configures transmission information according to the priority and selects channels according to the time sensitive information.
And the SOMEIPTd module sends SOME/IP protocol communication data according to the priority channel and the real-time clock.
When the data packet needs to be transmitted to the target client through the gateway, the gateway analyzes the received data packet to obtain VLANtag information of the data packet, and the gateway forwards the time-sensitive data in real time according to the VLANtag information.
When the time sensitive data reaches a data port of the target client, the SOMEIPTd module receives the data according to the priority channel.
The SOMEIPTd module triggers a time recovery mechanism according to the time sensitive priority;
and the SOMEIPTd module analyzes the SOME/IP protocol content according to the core protocol content and sends the key data to an application program in the SOME/IP application layer.
What has been described above is only a preferred embodiment of the present invention, and the present invention is not limited to the above examples. It is apparent to those skilled in the art that the form in this embodiment is not limited thereto, and the adjustable manner is not limited thereto. It is to be understood that other modifications and variations directly derivable or suggested to one skilled in the art without departing from the basic idea of the present invention are to be considered within the scope of protection of the present invention.
Claims (12)
1. A kind of vehicle SOME/IP transmission method based on TSN time sensitive network, characterized by that, start the kernel process in SOMEIPTd module, initialize the bottom socket channel;
monitoring a data packet from an application layer, packaging the data packet based on an SOME/IP protocol through an SOMEIPTd module, transmitting the data packet to a lower layer socket channel and sending the data packet to a target client;
or data exchange is realized among a plurality of application programs based on the SOME/IP protocol between the application layers through the SOMEIPTd module.
2. The in-vehicle SOME/IP transmission method based on the TSN time sensitive network is characterized in that the SOMEIPTd module is provided with a time timing trigger mechanism, and time information is acquired through a shared memory and a gPTP core time synchronization process and is recovered to a real-time clock.
3. The in-vehicle SOME/IP transmission method based on the TSN time sensitive network as recited in claim 1, wherein the application program processing the application layer transmits the data to be transmitted to the SOMEIPTd module.
4. The in-vehicle SOME/IP transmission method based on the TSN time sensitive network as recited in any one of claims 1 to 3, wherein the transmission priority is obtained, and a corresponding VLANtag is created at the transmission port of the in-vehicle Ethernet according to the priority for transmitting the data packet with the corresponding priority.
5. The in-vehicle SOME/IP transmission method based on the TSN time sensitive network as claimed in claim 1, wherein the SOMEIPTd module configures transmission information according to priority and performs channel selection according to the time sensitive information.
6. The in-vehicle SOME/IP transmission method based on the TSN time sensitive network as claimed in claim 1, wherein the SOME IPTd module sends SOME/IP protocol communication data according to the priority channel and the real-time clock.
7. The in-vehicle SOME/IP transmission method based on the TSN time-sensitive network as claimed in claim 1, wherein when the data packet needs to be forwarded to the target client through the gateway, the gateway parses the received data packet to obtain the VLANtag information of the data packet, and the gateway forwards the time-sensitive data in real time according to the VLANtag information.
8. The in-vehicle SOME/IP transmission method based on the TSN time sensitive network as claimed in claim 1, wherein when the time sensitive data reaches the data port of the target client, the SOMEIPTd module receives the data according to the priority channel.
9. The in-vehicle SOME/IP transmission method based on the TSN time sensitive network as recited in claim 8, wherein the SOMEIPTd module triggers a time recovery mechanism according to the time sensitive priority;
and the SOMEIPTd module analyzes the SOME/IP protocol content according to the core protocol content and sends the key data to an application program in the SOME/IP application layer.
10. An in-vehicle SOME/IP transmission device based on a TSN time sensitive network, characterized by comprising: the system comprises a target client, a service client and a gateway, wherein the service client and the target client communicate based on an SOME/IP protocol;
the gateway is used as information exchange equipment of a target client and a service client, and receives and forwards data to the target client based on the SOME/IP protocol;
the target client or the service client comprises a SOMEIPTd module used for enabling data to realize real-time communication based on SOME/IP protocol.
11. The device of claim 10, wherein the somepipttd module comprises at least:
the gPTP time synchronization process submodule is used for time synchronization of data sending or receiving;
the SOME/IP core protocol processing submodule is used for encapsulating or unpacking data according to an SOME/IP protocol;
the TSN priority and time sensitive submodule is used for judging the priority of sending or receiving data;
and the priority channel and VLANtag sub-module is used for creating a transmission channel and adding a VLANtag according to the priority of the data.
12. An in-vehicle SOME/IP transport apparatus based on a TSN time sensitive network, comprising at least a processor and a memory, wherein the memory is adapted to store a computer program according to the method of any of claims 1 to 9,
the processor is coupled with the memory and used for executing the computer program so as to realize data communication between the target client and the server based on the SOME/IP protocol.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115996196A (en) * | 2022-12-27 | 2023-04-21 | 中汽研（天津）汽车工程研究院有限公司 | Vehicle-mounted time-sensitive network communication method based on SOME/IP protocol |
| WO2024174486A1 (en) * | 2023-02-23 | 2024-08-29 | 广州汽车集团股份有限公司 | Soa architecture-based vehicle-side service call processing method, system, storage medium, and vehicle |
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