CN114785474A - In-vehicle SOME/IP transmission method and device based on TSN time sensitive network - Google Patents

Abstract

The invention provides an in-vehicle SOME/IP transmission method and device based on a TSN time-sensitive network, which specifically includes at least: starting a core process in a SOMEIPTTd module, initializing a bottom socket channel; monitoring data packets from an application layer, and transferring data through the SOMEIPTTd module After the packet is encapsulated based on the SOME/IP protocol, it is transmitted to the lower-layer socket channel to send the data packet to the target client; or the SOME/IP protocol-based multiple applications between the application layers realize data exchange through the SOMEIPTTd module. . An in-vehicle SOME/IP transmission method for a time-sensitive network, further optional, the SOMEIPTTd module is provided with a time timing trigger mechanism, and the time information is obtained through a shared memory and a gPTP core time synchronization process, and restored to a real-time clock. Through the above technical solutions, the transmitted or received data can be encapsulated or unpacked, so as to realize time synchronization of data with different priorities.

Description

In-vehicle SOME/IP transmission method and device based on TSN time-sensitive network

technical field

The present invention relates to the technical field of time-sensitive networks for vehicle communication, in particular to a method and device for in-vehicle SOME/IP transmission based on TSN time-sensitive networks.

Background technique

In recent years, with the development and progress of technology, it has promoted the progress of the automobile industry, and the automobile industry has continued to move forward in the direction of assisted driving, automatic driving, and unmanned driving, making the traditional vulgar and high-reliability transmission CAN bus unable to meet the requirements of image or The sensors of video and lidar need high bandwidth and low latency, and the in-vehicle Ethernet bus technology has high bandwidth, real-time performance and low cost. The protocol carries out data communication, but based on the current time-sensitive network (TSN), it mainly works at the OSI-2 data link layer. The native TSN is evolved from AVB, so the current time sensitivity is mainly in the AVB data stream, that is, layer 2. Packet AVBTP. With the gradual evolution of the E/E architecture, the regional architecture has gradually become the mainstream. However, the regional architectures are connected through high-bandwidth vehicle Ethernet. At present, ordinary Ethernet is a best-effort transmission and cannot guarantee the real-time transmission. TSN time-sensitive ensures the real-time nature of network data, but in the car's internal control instructions, key commands are transmitted through SOME/IP, but AUTOSAR does not specify and specify how these control instructions and key data transmitted through SOME/IP are implemented. Therefore, the development of the existing automobile technology urgently needs to provide a real-time transmission technology based on the TSN network.

SUMMARY OF THE INVENTION

Based on the defects in the prior art, the present invention provides one of the solutions to solve one of the technical defects in the prior art.

Specifically, the present invention provides an in-vehicle SOME/IP transmission method for a TSN time-sensitive network, which specifically includes at least: starting a core process in the SOMEIPTTd module, and initializing a bottom-layer socket channel;

Monitor the data packets from the application layer, encapsulate the data packets based on the SOME/IP protocol through the SOMEIPTTd module, and transmit them to the lower-layer socket channel to send the data packets to the target client;

Or, the SOMEIPTTd module realizes data exchange between multiple application programs based on the SOME/IP protocol between the application layers.

An in-vehicle SOME/IP transmission method for a TSN time-sensitive network, further optional, the SOMEIPTTd module is provided with a time timing trigger mechanism, and the time information is obtained through a shared memory and a gPTP core time synchronization process, and restored to a real-time clock.

An in-vehicle SOME/IP transmission method of a TSN time-sensitive network, further optionally, an application program processing an application layer transmits data to be sent to a SOMEIPTTd module.

An in-vehicle SOME/IP transmission method for a TSN time-sensitive network, further optionally, obtaining transmission priority, and creating a corresponding VLANtag on a vehicle Ethernet sending port according to the priority, for sending data packets of the corresponding priority.

An in-vehicle SOME/IP transmission method for a TSN time-sensitive network, further optionally, a SOMEIPTTd module configures transmission information according to priority, and selects a channel according to the time-sensitive information.

An in-vehicle SOME/IP transmission method of a TSN time-sensitive network, further optional, the SOMEIPTTd module sends SOME/IP protocol communication data according to a real-time clock and a priority channel.

An in-vehicle SOME/IP transmission method for a TSN time-sensitive network, further optional, when a data packet needs to be forwarded to a target client through a gateway, the gateway parses the received data packet, obtains VLANtag information of the data packet, and the gateway Real-time forwarding of time-sensitive data according to VLANtag information.

An in-vehicle SOME/IP transmission method of a TSN time-sensitive network, further optionally, when time-sensitive data arrives at a data port of a target client, the SOMEIPTTd module receives the data according to a priority channel.

An in-vehicle SOME/IP transmission method for a TSN time-sensitive network, further optionally, the SOMEIPTTd module triggers a time recovery mechanism according to a time-sensitive priority;

The SOMEIPTTd module parses the SOME/IP protocol content according to the core protocol content, and sends key data to the application program in the SOME/IP application layer.

An in-vehicle SOME/IP transmission device based on a TSN time-sensitive network, characterized in that it includes: a target client, a service client, and a gateway, and the service client and the target client communicate based on the SOME/IP protocol;

As an information exchange device between the target client and the service client, the gateway receives and forwards data to the target client based on the SOME/IP protocol.

The target client or service client includes the SOMEIPTTd module, which is used to realize real-time communication of data based on the SOME/IP protocol.

An in-vehicle SOME/IP transmission device based on a time-sensitive network, further optional, the SOMEIPTTd module at least includes:

gPTP time synchronization process sub-module, used for time synchronization of sending or receiving data;

The SOME/IP core protocol processing sub-module is used to encapsulate or unpack data according to the SOME/IP protocol;

TSN priority and time-sensitive sub-modules are used to determine the priority of sending or receiving data;

Priority channel and VLANtag sub-modules are used to create transmission channels and add VLANtags according to the data priority.

A device based on a TSN time-sensitive network, comprising at least a processor and a memory, wherein the memory is used for storing the computer program of the above method,

The processor, coupled with the memory, is used for executing the computer program, so as to implement the SOME/IP protocol-based data communication between the target client and the server.

Beneficial effects:

In the technical solution provided by the present invention, by setting middleware based on the SOME/IP protocol, a SOMEIPTTd module is set in the middleware, and multiple sub-modules are set in the SOMEIPTTd module to encapsulate or unpack the transmitted or received data to realize Time synchronization is achieved for data with different priorities.

Description of drawings

The following drawings merely illustrate and explain the present invention schematically, and do not limit the scope of the present invention.

FIG. 1 is a schematic diagram of a relationship between a SOMEIPTTd module including sub-modules according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a SOMEIPTTd module dividing ports according to priorities according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of communication between multiple application APPs 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 communicating through a network based on the SOME/IP protocol according to an embodiment of the present invention.

Detailed ways

In order to have a clearer understanding of the technical features, purposes and effects herein, the specific embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals denote the same parts. For the sake of brevity of the drawings, the relevant parts of the present invention are schematically shown in each drawing, and do not represent the actual structure as a product. In addition, in order to make the drawings simple and easy to understand, in some drawings, only one of the components having the same structure or function is schematically shown, or only one of them is marked.

With regard to the control system, functional modules and application programs (APP) are well known to those skilled in the art, and can take any appropriate form, either hardware or software, a plurality of discretely set functional modules, or are multiple functional units integrated into one hardware. In the simplest form, the control system may be a controller, such as a combinational logic controller, a microprogram controller, etc., as long as the operations described in this application can be implemented. Of course, the control system can also be integrated into a physical device as different modules, which do not deviate from the basic principles and protection scope of the present invention.

In the present invention, "connection" 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 limit the present disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that, when used in the specification, the terms "comprising" and/or "comprising" refer to the presence of stated features, values, steps, operations, elements and/or components, but do not exclude the presence of One or more other features, values, steps, operations, elements, components, and/or groups of components thereof are present or additionally added. 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 terms "vehicle" or "vehicle's" or other similar terms as used herein generally include motor vehicles, such as passenger cars including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles, Includes various boats, ships' vessels, aircraft, etc., and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (such as fuels derived from energy sources other than petroleum) . As mentioned herein, a hybrid vehicle is a vehicle having two or more power sources, such as both gasoline-powered and electric-powered vehicles.

Furthermore, 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 to be executed by a processor, controller or the like. Examples of computer-readable media include, but are not limited to, ROM, RAM, compact disc (CD)-ROMs, magnetic tapes, 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, eg, by a telematics server or a controller area network (CAN).

Based on the defects of the prior art, the applicant proposes a technical solution to solve one of the defects of the prior art. Specifically, this embodiment provides an in-vehicle SOME/IP transmission device based on a TSN time-sensitive network, referring to FIG. 1 to FIG. 4 , which specifically includes at least:

The SOME/IP transmission device includes at least one or more of a microprocessor controller, a SoC controller, a PC, and a mobile terminal,

The SOME/IP transmission device is provided with a SOME/IP protocol stack, and the SOME/IP protocol stack is implemented based on the SOMEIPTTd module.

The SOMEIPTTd module includes at least: SOME/IP core protocol processing sub-module, TSN priority and time-sensitive processing sub-module, priority channel and VLANtag module, gPTP time synchronization sub-module;

The SOMEIPTTd module encapsulates and sends the data generated by the application program at the application layer based on the SOME/IP protocol through the above sub-modules;

The SOME/IP core protocol processing sub-module is used to encapsulate or unpack data according to the SOME/IP protocol;

Specifically, the packet format of the SOME/IP protocol is as follows:

It consists of a message header (Header) and a message body (Payload). Header mainly includes the following fields:

Message ID is used to uniquely identify the message. When the message is of Method type, it consists of Service ID and MethodID. When the message is of Event type, it consists of Service ID and Event ID;

Length, message length (from Request ID to Payload);

Request ID, which can be used by service providers and callers to distinguish different calls of the same message, consists of Client ID and Session ID;

The service provider is Service, the service caller is Client, Service ID and Client ID are used to distinguish, and the values of these IDs are uniformly configured in an SOA architecture.

The gPTP time synchronization submodule is used for time synchronization of sending or receiving data. Specifically, the gPTP protocol calculates the time offset and time delay of the master clock and the slave clock in the communication network, thereby revising and synchronizing each clock;

Synchronize the master clock and the slave clock according to gPTP, so that the TSN priority and time-sensitive processing sub-module can accurately add time stamps when data is sent, and process high-priority data packets;

TSN priority and time-sensitive sub-modules are used to determine the priority of sending or receiving data;

Priority channel and VLANtag sub-modules are used to create transmission channels and add VLANtags according to the data priority.

Specifically, the SOME/IP layer is set on the protocol stack above the transport layer, and is used for data middleware programs to transmit based on TCP and UDP. When the data packets reach below the transport layer, they are encapsulated into IP packets, and then TSN is the data packet. Link layer real-time transmission mechanism.

Specifically, the data flow arrangement plan is firstly carried out, and the attributes of the transmitted data are defined.

For example, which data streams are time-sensitive data and which data streams are ordinary data. For example, there are currently three control instruction streams that need to be transmitted through SOME/IP.

1) Chassis control command, priority P7, eventID 9007

2) Control commands such as windows and lights, priority P5 eventID 9005

3) General instructions. Priority P0 eventID 9001

See Figure 2, step 1, divide the ports of the ECU into VLANs according to their priorities, and use tools to create a VLAN table:

VLAN_A Priority 0 VLANID 1 VLAN_B Priority 5 VLANID 5 VLAN_C Priority 7 VLANID 7

Step 2:

Generate 3 VLAN ports Eth0.1, Eth0.5, and Eth0.7 on the ETH port of the ECU

Step 3:

Data packets sent through Eth0.1 with VLAN1 information, data packets sent through Eth0.5 with VLAN5, priority 5, VLANtag information, data sent through Eth0.7 port, with VLAN7, priority 7 VLANtag information.

Specifically, this embodiment also provides a data transmission device, specifically referring to FIG. 4 , which specifically includes: a target client, a service client, and a gateway, and the service client and the target client communicate based on the SOME/IP protocol;

As an information exchange device between the target client and the service client, the gateway receives and forwards data to the target client based on the SOME/IP protocol.

The target client or service client includes the SOMEIPTTd module, which is used to realize real-time communication of data based on the SOME/IP protocol.

Specifically, both the service client and the target client can be in-vehicle ECUs, and according to hardware configuration, can be SoC chips, FPGA-based chips or dedicated ASIC chips;

The service client is relative to the target client. When the service is provided, it is called the service client. When the service is called, it is called the target client. The target client needs to call the service in the service client to perform the preset task. The specific communication method is as follows:

After the service client establishes a SOME/IP communication connection with the target client, the data packets generated by APP1 or APP2 are encapsulated at the application layer and sent to the SOME/IP middleware for packet encapsulation based on the SOME/IP protocol, and then sent to the SOME/IP middleware. into the underlying protocol stack;

After receiving the underlying protocol stack, encapsulate it again and transmit it to the network transmission bus;

The network transmission bus is transmitted to the gateway, and the gateway obtains the received data packet and selects the corresponding transmission channel according to the priority to transmit to the network transmission bus connected to the target client, and then transmits it to the underlying protocol stack of the target client. The underlying protocol stack is unpacked and sent to SOME/IP middleware for parsing according to the SOME/IP-based message format, and then sent to APP3 or APP4 of the required data.

This embodiment also provides an in-vehicle SOME/IP transmission method based on a TSN time-sensitive network, which specifically includes:

Start the core process in the SOMEIPTTd module and initialize the underlying socket channel;

Monitor the data packets from the application layer, encapsulate the data packets based on the SOME/IP protocol through the SOMEIPTTd module, and then transmit them to the lower-layer socket channel to send the data packets to the target client.

Specifically, under normal circumstances, data communication between different ECUs is forwarded through a gateway, and some are directly communicated without going through a gateway.

The SOMEIPTTd module is equipped with a time timing trigger mechanism, which obtains time information through the shared memory and the gPTP core time synchronization process, and restores it to a real-time clock.

Specifically, the SOMEIPTTd module obtains the time offset and time delay between its own node and the master clock in the in-vehicle network through the time timing trigger mechanism from the gPTP core time synchronization process, and corrects the local clock according to the time offset and time delay. Add precise sync timestamps.

The application processing the application layer sends the data to be sent to the SOMEIPTTd module through inter-process communication.

Referring to Figure 3, in the application layer, SOME/IP APP1, SOME/IP APP2, SOME/IP APP3, SOME/IPAPP4 and other applications may generate service data or call service request data. can be produced by itself. If SOME/IP APP1 triggers a request for calling a service, or SOME/IP APP1 invokes SOME/IP APP2 through the SOME/IPTT module to implement a preset function, thereby generating a data packet of the preset service.

Or SOME/IP APP1 transmits data to SOME/IP APP2 through the SOME/IPTT module, at this time, process communication is realized within the system based on the SOME/IPTT module.

If the data packet needs to be transmitted to the target client outside the system, it is transmitted through the underlying socket channel.

Obtain the transmission priority, and create the corresponding VLANtag on the vehicle Ethernet sending port according to the priority, which is used to send the data packets of the corresponding priority;

The SOMEIPTTd module configures the transmission information according to the priority, and selects the channel according to the time-sensitive information.

The SOMEIPTTd module sends SOME/IP protocol communication data according to the priority channel according to the real-time clock.

When the data packet needs to be forwarded to the target client through the gateway, the gateway parses the received data packet and obtains the VLANtag information of the data packet. The gateway forwards the time-sensitive data in real time according to the VLANtag information.

When time-sensitive data arrives at the data port of the target client, the SOMEIPTTd module receives the data according to the priority channel.

The SOMEIPTTd module triggers the time recovery mechanism according to the time-sensitive priority;

The SOMEIPTTd module parses the SOME/IP protocol content according to the core protocol content, and sends key data to the application program in the SOME/IP application layer.

The above are only preferred embodiments of the present invention, and the present invention is not limited to the above embodiments. Those skilled in the art can understand that the form in this embodiment is not limited to this, and the adjustable manner is not limited to this. It can be understood that other improvements and changes directly derived or thought of by those skilled in the art without departing from the basic idea of the present invention should be considered to be included within the protection scope 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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