CN117278627A - DDS communication system and method for integrating DDS in AUTOSAR CP - Google Patents

DDS communication system and method for integrating DDS in AUTOSAR CP Download PDF

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Publication number
CN117278627A
CN117278627A CN202311135653.6A CN202311135653A CN117278627A CN 117278627 A CN117278627 A CN 117278627A CN 202311135653 A CN202311135653 A CN 202311135653A CN 117278627 A CN117278627 A CN 117278627A
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dds
module
data
autosar
wrapper
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CN202311135653.6A
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Inventor
柯柱良
鄢铭亮
沈恺
宁佳欣
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Shanghai Lingnian Technology Co ltd
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Shanghai Lingnian Technology Co ltd
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Priority to CN202311135653.6A priority Critical patent/CN117278627A/en
Publication of CN117278627A publication Critical patent/CN117278627A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/56—Provisioning of proxy services
    • H04L67/566—Grouping or aggregating service requests, e.g. for unified processing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H04L67/1095—Replication or mirroring of data, e.g. scheduling or transport for data synchronisation between network nodes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • 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
    • 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
    • H04L69/18—Multiprotocol handlers, e.g. single devices capable of handling multiple protocols

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)

Abstract

The invention relates to a DDS communication system and an integrated DDS method in an AUTOSAR CP, wherein a DDS Wrapper module and a DDS Core module are designed for integrating a DDS protocol into the AUTOSAR CP, the DDS Wrapper module and the DDS Core module interact with the AUTOSAR CP through a PDUR module, a memory pool is designed in the DDS Wrapper module, so that the support of multiple cores and the support of the safety integrity level of an ASIL automobile can be met, and the problem that the current technology cannot meet the requirements of multiple cores and the safety of functions can be solved; the DDS code generator is designed in the system and used for generating the DDS dynamic code, so that the user operation can be simplified, and the development efficiency can be improved. The method is applied to service-based communication and data exchange among perception, decision and control modules in the automatic driving system, can realize efficient real-time data transmission and synchronization, ensures cooperative work among the modules, and improves the safety and reliability of the automatic driving system.

Description

DDS communication system and method for integrating DDS in AUTOSAR CP
Technical Field
The present invention relates to a data communication technology, and in particular, to a DDS communication system and a DDS integration method in an AUTOSAR CP.
Background
DDS (Data Distribution Service) is a data distribution service for real-time systems. It is a middleware technology for transmitting and distributing data in a distributed system. The DDS can provide an efficient, reliable and real-time data transmission mechanism to realize data exchange and sharing between different computer nodes, and is therefore highly focused by the automotive industry.
DDS has started to be applied in an AUTOSAR AP (Automotive Open System Architecture Adaptive Platform automobile open system architecture adaptive platform), but in an AUTOSAR CP (Automotive Open System Architecture Classic Platform automobile open system architecture classical platform) standard and architecture, a SOME/IP (Scalable Service-Oriented Middleware Over IP over IP Service oriented middleware) protocol stack for the automotive field is more used, and DDS has not yet been standardized in an AUTOSAR CP. Therefore, a secure, reliable solution is needed that can integrate the DDS protocol into the AUTOSAR CP.
Although several methods for implementing DDS communication based on AUTOSAR have been published. However, the multi-core MCU is not mentioned, and support for the multi-core MCU cannot be ensured. Functional safety is not analyzed either, and functional communication involving safety cannot be ensured to meet the ASIL (Automotive Safety Integrity Level automotive safety integrity level) automotive safety integrity level.
Disclosure of Invention
Aiming at the problems, a DDS communication system and a method for integrating the DDS in an AUTOSAR CP are provided.
The technical scheme of the invention is as follows: a DDS communication system is constructed on an AUTOSAR CP, and sequentially comprises a SWC module, a RTE module, an LDCOM module, a PDUR module, an SOAD module and a TCPIP protocol stack which are connected in a bidirectional manner; the system also comprises a DDS Wrapper module and a DDS Core module, which are used for integrating a DDS protocol into the AUTOSAR CP, and the DDS Wrapper module and the DDS Core module interact with the AUTOSAR CP through the PDUR module;
the SWC module is a software component module and is used for processing specific application program logic related to the DDS data of the data distribution service;
the RTE module is a runtime environment module and serves as an intermediary between the SWC module and the underlying base software layer;
the LDCOM module is a big data communication module and allows efficient and direct communication between software components in an AUTOSAR system;
the PDUR module is used for providing the routing service of the I-PDU for the protocol data unit routing;
the SOAD module is a socket adapter and is positioned at an interface layer between the communication service module using PDUR and the TCP/IP protocol stack based on the socket;
the TCPIP provides transmission and reception of Internet protocol data for a transmission control protocol/network protocol; the DDS Wrapper module is positioned at an interface layer between the PDUR module and the DDS Core module and used for storing and managing the input I-PDU data;
the DDS Core module provides support for multi-Core operation of the DDS Wrapper module, performs serialization/deserialization, quality service management and safety management on the DDS data, provides required DDS API standards, and realizes DDS standards.
Preferably, the DDS Wrapper module includes a memory pool, where the memory pool is used to store data from the PDUR uppyer, and the memory pool stores data from multiple cores and different security levels in a partitioned manner.
Preferably, the DDS Core module sequentially comprises a DDS layer, an RTPS layer and a runtime layer, wherein the DDS layer realizes most of API standards and is realized on DDS standards; the RTPS layer is an implementation of the RTPS-DDSI specification; the run time layer is a low layer, dynamically creates projects, builds the projects through message transmission, builds a corresponding function structure body, and develops and creates functions which cannot be realized on the CP by the DDS layer and the RTPS layer.
Preferably, the system further comprises a DDS code generator as a tool chain for generating dynamic codes of the DDS on CP, wherein the DDS code generator comprises two description files and 3 generators, and the first description file Dds_bswmd.arxml contains all configuration items required by the CP DDS; the second description file dds_ecuc.arxml is an arxml structured file generated from all configuration items in the first description file dds_bswmd.arxml; the first generator analyzes the arxml file to generate a C file of the Dds Wrapper, wherein the C file comprises a data structure, a main function scheduling period and memory pool size content which are used by the interaction of the DDS and the AUTOSAR CP; the second generator is responsible for converting the DDS data information stored in the arxml into IDL format; the third generator plays an auxiliary role on the second generator, renders IDL files of the second generator and generates C files of DDS Core.
The DDS Wrapper module and the DDS Core module are designed and are used for integrating a DDS protocol into the AUTOSAR CP, and the DDS Wrapper module and the DDS Core module interact with the AUTOSAR CP through a protocol data unit route PDUR;
the DDS data issuing method comprises the following steps: firstly, an SWC module calls an interface in an RTE module and sends a signal containing subject information to an LDCOM module; then, the LDCOM module routes the IPDU to the DDS Wrapper module through the PDUR module; the DDS Wrapper module stores PDUR from a high layer into a memory pool, checks data in the memory pool, and then sends the data in the memory pool to the DDS Core module in a set period; the DDS Core module performs serialization, quality service management and security management treatment on the received data, and then routes the treated data to the SOAD module through the PDUR-R LowLayer; finally, the DDS data is sent out through a TCPIP protocol stack, and the issue of the DDS data is completed;
subscription DDS data: firstly, the SOAD module routes received DDS data to a DDS Wrapper module through a PDUR module, and the DDS Wrapper module stores data from a LowLayer lower layer into a memory pool; then the DDS Wrapper module calls an interface of the DDS Core module to perform deserialization, quality service management and security management processing on the data from the LowLayer; finally, the DDS Wrapper module routes the deserialized data to the LDCOM module through the PDUR UpLayer, and the SWC module reads the received data through the RTE module interface.
Furthermore, one path of UDP unicast is designed in the SOAD module, and the DDS Core module realizes application data interaction among all the particles in a UDP unicast mode; the SOAD module and the TCPIP module realize the addition and deletion of local and remote sockets in a static configuration mode; for each remote particle, a corresponding unicast SocketConnection is designed to send DDS data, and each SocketConnection is associated with a RoutingGroup.
Furthermore, a path of UDP multicast is designed in the SOAD module and is used for receiving the service discovery message; and one path is used for UDP multicast of the service discovery message; when receiving the service discovery message from the remote end locally, the DDS Core module may call the interface in the SOAD module to enable RoutingGroup, and then may subscribe and publish DDS data.
A DDS communication system is built by integrating a DDS method in an AUTOSAR CP in an automatic driving system and is used for service-based communication and data exchange among sensing, decision and control modules.
The invention has the beneficial effects that: the DDS communication system and the method integrate the DDS method in the AUTOSAR CP, and a DDS Wrapper (Data Distribution Service Wrapper data distribution service Wrapper) module is designed to serve as a middle layer of PDUR (Protocol Data Unit Router protocol data unit routing) and DDS, so that the problem that the DDS protocol is difficult to integrate into the AUTOSAR CP can be solved; the DDS Wrapper module is provided with a memory pool, so that the support of multiple cores and the support of ASIL automobile safety integrity level can be met, and the problem that the current technology cannot meet the requirements of multiple cores and functional safety can be solved; the DDS code generator is designed in the system and used for generating the DDS dynamic code, so that the user operation can be simplified, and the development efficiency can be improved.
Drawings
FIG. 1 is a schematic diagram of a DDS on CP communication architecture according to the present invention;
fig. 2 is a diagram of a complete transmission path when DDS data is distributed according to the present invention;
fig. 3 is a diagram of a complete transmission path when subscribing to DDS data according to the present invention;
FIG. 4 is a diagram of a memory pool structure of the present invention;
fig. 5 is a block diagram of the DDS Core of the present invention;
fig. 6 is a DDS code generator of the present invention.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
The invention discloses a DDS communication system architecture and an integration method based on AUTOSAR, which aim to integrate a DDS protocol in an AUTOSAR CP, ensure the support of a communication system to a multi-core micro control unit MCU, and ensure that the communication function meets the safety integrity level of an ASIL automobile.
As shown in fig. 1, the DDS on CP communication architecture diagram sequentially includes two-way connected modules, including SWC (Software Component software component), RTE (Runtime environment runtime environment), LDCOM (Large Data Communicaiton big data communication), PDUR (Protocol Data Unit Router protocol data unit routing), SOAD (Socket Adapter), and TCPIP (Transmission Control transmission control protocol/network protocol) protocol stacks, which are all modified and reused from the AUTOSAR CP. The DDS Wrapper (Data Distribution Service Wrapper data distribution service Wrapper) and DDS Core (data distribution service Core) are new modules for integrating DDS protocols into the AUTOSAR CP, which interact with the AUTOSAR CP through protocol data unit routing PDUR.
And the SWC module is used for processing specific application logic related to the DDS data of the data distribution service.
The RTE module acts as an intermediary between the SWC module and the underlying base software layer, such as the operating system and communication stack.
An LDCOM module allows efficient and direct communication between software components within an AUTOSAR system.
A PDUR module that provides routing services for I-PDUs (multiplexers).
The SOAD module is located at an interface layer between a communication service module using PDUs (protocol data units, such as PDU Router-PDU routers) and a socket-based TCP/IP protocol stack.
TCPIP, the ethernet communications stack, provides the functionality to send and receive internet protocol data.
The DDS Wrapper module is an interface layer between the PDUR module and the DDS Core module and is used for managing the incoming I-PDU.
The DDS Core module provides support for multi-Core operation of the DDS Wrapper module, provides most of DDS API (standard), and is an implementation of DDS standards.
The complete transmission path of the DDS data distribution in the present invention is shown in FIG. 2: firstly, an SWC module calls an interface in an RTE module and sends a signal containing Topic (theme) information to an LDCOM module; then, the LDCOM module routes the IPDU to the DDS Wrapper module through the PDUR module; the DDS Wrapper module stores PDUR (protocol data unit route) from UpLayer (higher layer) into the memory pool, checks data in the memory pool, and then sends the data in the memory pool to the DDS Core module in a certain period; the DDS Core module performs serialization, qoS (Quality of Service quality of service) management, security management and other treatments on the received data, and then routes the treated data to the SOAD module through a PDUR-R LowLayer (lower layer); and finally, sending the DDS data out through a TCPIP protocol stack.
The complete transmission path of the present invention when subscribing to DDS data is shown in fig. 3: firstly, the SOAD module routes received DDS data to a DDS Wrapper module through a PDUR module, and the DDS Wrapper module stores data from a LowLayer lower layer into a memory pool; then the DDS Wrapper module calls an interface of the DDS Core module to perform deserialization, qoS management, security management and other processes on the data from the LowLayer; finally, the DDS Wrapper module routes the deserialized data to the LDCOM module through the PDUR UpLayer. The SWC module can read the received data through the RTE module interface.
The invention designs a memory pool in the DDS Wrapper module for storing data from the PDUR UpLayer, as shown in FIG. 4 which illustrates the structure of the memory pool in the DDS Wrapper module. The memory pool partitions data from multiple cores and different security levels, and meets the support of multiple cores and the support of ASIL automobile security integrity level. For example, if the DDS data is sent from Core0 and the security level is QM, then the DDS Wrapper will store the data to McQ Core0; if the DDS data to be transmitted is from Core5 and the security level is ASILD, then the DDS Wrapper will store the data to McQ Core5ASILD.
The present invention designs a DDS Core module as shown in fig. 5. The DDS layer realizes most of API standards, and is realized on the DDS standard; the RTPS layer is an implementation of the RTPS-DDSI specification; the run time layer is a low layer, dynamically creates items, builds the items through message transfer, builds a corresponding function structure body, and provides functions which cannot be realized on CPs in the DDS layer and the RTPS layer.
The system of the invention also designs a DDS code generator as a tool chain for generating dynamic codes of the DDS on CP, and the schematic diagram is shown in figure 6. Wherein, the description file Dds_bswmd.arxml contains all configuration items required by the CP DDS; the description file dds_ecuc.arxml is an arxml structured file generated from all configuration items in dds_bswmd.arxml. The generator 1 analyzes an arxml file to generate a Dds Wrapper C file which mainly comprises a data structure, a main function scheduling period, a memory pool size and the like which are used by the interaction of the DDS and an AUTOSAR CP; the generator 2 is mainly responsible for converting DDS data information stored in arxml into IDL format; the generator 3 plays an auxiliary role on the generator 2, renders the IDL file of the generator 2 and generates a C file of the DDS Core, and mainly comprises information such as Topic, publicher, writer, subcriber, reader, qos and the like.
According to the invention, one path of UDP unicast is designed in the SOAD module, and the DDS Core realizes application data interaction among all the particles (participants) in a UDP unicast mode. The SOAD module and the TCPIP module realize the addition and deletion of local and remote sockets (IP and Port ports) in a static configuration mode. For each remote particle, a corresponding unicast SocketConnection is designed to send Dds data, and each SocketConnection is associated with a routing group. One path of UDP multicast is designed for receiving the service discovery message; and one path is used for UDP multicast for sending the service discovery message. When receiving the service discovery message from the remote end locally, the DDS Core module can call the interface in the SOAD module for enabling the RoutingGroup, and then subscription and release of the DDS data can be performed.
The DDS communication system and the method for integrating the DDS in the AUTOSAR CP can be applied to service-based communication and data exchange among sensing, decision and control modules in an automatic driving system. The system can realize efficient real-time data transmission and synchronization, ensure the cooperative work among all modules and improve the safety and reliability of an automatic driving system.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (8)

1. A DDS communication system is constructed on an AUTOSAR CP, and sequentially comprises a SWC module, a RTE module, an LDCOM module, a PDUR module, an SOAD module and a TCPIP protocol stack which are connected in a bidirectional manner; the system is characterized by further comprising a DDS Wrapper module and a DDS Core module, wherein the DDS Wrapper module and the DDS Core module are used for integrating a DDS protocol into an AUTOSAR CP, and the DDS Wrapper module and the DDS Core module interact with the AUTOSAR CP through a PDUR module;
the SWC module is a software component module and is used for processing specific application program logic related to the DDS data of the data distribution service;
the RTE module is a runtime environment module and serves as an intermediary between the SWC module and the underlying base software layer;
the LDCOM module is a big data communication module and allows efficient and direct communication between software components in an AUTOSAR system;
the PDUR module is used for providing the routing service of the I-PDU for the protocol data unit routing;
the SOAD module is a socket adapter and is positioned at an interface layer between the communication service module using PDUR and the TCP/IP protocol stack based on the socket;
the TCPIP provides transmission and reception of Internet protocol data for a transmission control protocol/network protocol; the DDS Wrapper module is positioned at an interface layer between the PDUR module and the DDS Core module and used for storing and managing the input I-PDU data;
the DDS Core module provides support for multi-Core operation of the DDS Wrapper module, performs serialization/deserialization, quality service management and safety management on the DDS data, provides required DDS API standards, and realizes DDS standards.
2. The DDS communication system of claim 1 wherein the DDS Wrapper module includes a memory pool for storing data from the PDUR uppyer, the memory pool storing data from multiple cores and different security levels in a partitioned manner.
3. The DDS communication system of claim 1 or 2, wherein the DDS Core module sequentially comprises a DDS layer, an RTPS layer, and a run layer, wherein the DDS layer implements most of the API standards, which is implementation of the DDS specification; the RTPS layer is an implementation of the RTPS-DDSI specification; the run time layer is a low layer, dynamically creates projects, builds the projects through message transmission, builds a corresponding function structure body, and develops and creates functions which cannot be realized on the CP by the DDS layer and the RTPS layer.
4. A DDS communication system according to claim 3, characterized in that the system further comprises a DDS code generator as a tool chain for generating dynamic codes of the DDS on CP, said DDS code generator comprising two description files and 3 generators, wherein the first description file dds_bswmd.arxml contains all configuration items required by the CP DDS; the second description file dds_ecuc.arxml is an arxml structured file generated from all configuration items in the first description file dds_bswmd.arxml; the first generator analyzes the arxml file to generate a C file of the Dds Wrapper, wherein the C file comprises a data structure, a main function scheduling period and memory pool size content which are used by the interaction of the DDS and the AUTOSAR CP; the second generator is responsible for converting the DDS data information stored in the arxml into IDL format; the third generator plays an auxiliary role on the second generator, renders IDL files of the second generator and generates C files of DDS Core.
5. A method for integrating a DDS (digital subscriber line) in an AUTOSAR (autonomous system for SAR) CP is characterized in that a DDS Wrapper module and a DDS Core module are designed and used for integrating a DDS protocol into the AUTOSAR CP, and the DDS Wrapper module and the DDS Core module interact with the AUTOSAR CP through a protocol data unit route PDUR; the DDS data issuing method comprises the following steps: firstly, an SWC module calls an interface in an RTE module and sends a signal containing subject information to an LDCOM module; then, the LDCOM module routes the IPDU to the DDS Wrapper module through the PDUR module; the DDS Wrapper module stores PDUR from a high layer into a memory pool, checks data in the memory pool, and then sends the data in the memory pool to the DDS Core module in a set period; the DDS Core module performs serialization, quality service management and security management treatment on the received data, and then routes the treated data to the SOAD module through the PDUR-R LowLayer; finally, the DDS data is sent out through a TCPIP protocol stack, and the issue of the DDS data is completed;
subscription DDS data: firstly, the SOAD module routes received DDS data to a DDS Wrapper module through a PDUR module, and the DDS Wrapper module stores data from a LowLayer lower layer into a memory pool; then the DDS Wrapper module calls an interface of the DDS Core module to perform deserialization, quality service management and security management processing on the data from the LowLayer; finally, the DDS Wrapper module routes the deserialized data to the LDCOM module through the PDUR UpLayer, and the SWC module reads the received data through the RTE module interface.
6. The method for integrating DDS in AUTOSAR CP according to claim 5, wherein a path of UDP unicast is designed in the SOAD module, and the DDS Core module realizes application data interaction among the particles in a UDP unicast mode; the SOAD module and the TCPIP module realize the addition and deletion of local and remote sockets in a static configuration mode; for each remote particle, a corresponding unicast SocketConnection is designed to send DDS data, and each SocketConnection is associated with a RoutingGroup.
7. The method for integrating DDS in AUTOSAR CP according to claim 5, wherein a path of UDP multicast is designed in the SOAD module for receiving service discovery message; and one path is used for UDP multicast of the service discovery message; when receiving the service discovery message from the remote end locally, the DDS Core module may call the interface in the SOAD module to enable RoutingGroup, and then may subscribe and publish DDS data.
8. The application method of the DDS communication system is characterized in that in an automatic driving system, the DDS communication system is established by integrating a DDS method in an AUTOSAR CP and is used for service-based communication and data exchange among sensing, decision-making and control modules.
CN202311135653.6A 2023-09-04 2023-09-04 DDS communication system and method for integrating DDS in AUTOSAR CP Pending CN117278627A (en)

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