WO2023019853A1 - 智能车辆动态可重构网络系统及网络调度方法 - Google Patents
智能车辆动态可重构网络系统及网络调度方法 Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/70—Admission control; Resource allocation
- H04L47/78—Architectures of resource allocation
- H04L47/783—Distributed allocation of resources, e.g. bandwidth brokers
- H04L47/785—Distributed allocation of resources, e.g. bandwidth brokers among multiple network domains, e.g. multilateral agreements
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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
- H04L67/01—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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/41—Structure of client; Structure of client peripherals
- H04N21/414—Specialised client platforms, e.g. receiver in car or embedded in a mobile appliance
- H04N21/41422—Specialised client platforms, e.g. receiver in car or embedded in a mobile appliance located in transportation means, e.g. personal vehicle
Definitions
- the invention relates to the technical field of intelligent vehicles, in particular to an intelligent vehicle dynamic reconfigurable network system and a network scheduling method.
- Smart cars have become a research hotspot in academia and a new driving force for the growth of the automotive industry.
- Smart cars integrate many high-complexity technologies such as environmental perception, planning and decision-making, dynamic control and ergonomics, and also integrate operating systems.
- Smart cars have greatly improved the convenience of driving, and have greatly promoted the improvement of road traffic safety and traffic efficiency.
- the rapid development of automobile intelligence has further improved the degree of electrification of vehicles, and more and more electronic and electrical components (such as cameras, radars, controllers, and car machines, etc.) are integrated into the vehicle's network system to achieve diverse functions .
- electronic and electrical components such as cameras, radars, controllers, and car machines, etc.
- the increasing number of electronic and electrical components also greatly increases the amount of network information and further complicates the network information transmission path, which poses a huge challenge to the real-time and stability of information transmission in the vehicle network system.
- a static network scheduling method can be used at present, and the same control parameters are used for all network load scenarios.
- this method there will still be some invalid electronic and electrical components occupying network resources, resulting in low utilization of network resources, and this method cannot adapt to changes in network load in a timely manner, and it is difficult to take care of high load at the same time High utilization of network bandwidth and real-time network information at low load.
- Embodiments of the present invention provide a dynamic reconfigurable network system and a network scheduling method for intelligent vehicles, which are used to improve the utilization rate of network resources and network bandwidth and ensure the real-time performance of transmitted information.
- an embodiment provides a dynamic reconfigurable network system for intelligent vehicles, the system includes a central computing unit, a chassis domain controller, an entertainment domain controller, a smart driving domain controller, and a body domain controller , the central computing unit is connected to the chassis domain controller, the entertainment domain controller, the intelligent driving domain controller and the vehicle body domain controller respectively through a network, the chassis domain controller, the entertainment The domain controller, the intelligent driving domain controller and the vehicle body domain controller respectively include a plurality of electronic control units ECUs in the domain and are respectively connected to the plurality of ECUs in the domain through a network, and the chassis domain controller is used to control the vehicle Chassis system, the entertainment domain controller is used to control the multimedia entertainment system of the vehicle, the intelligent driving domain controller is used to control the automatic driving system of the vehicle, and the body domain controller is used to control the body electronic system of the vehicle;
- the central computing unit is configured to obtain driver operation instruction information and vehicle operating state information, determine central dispatch instruction information according to the driver operation instruction information and vehicle operating state information, and convert the central dispatch instruction information to Send to the chassis domain controller, the entertainment domain controller, the smart driving domain controller and the body domain controller, wherein the central dispatch instruction information includes: domain controller trigger information, node control information and domain controller cycle information, the node control information includes domain controllers that need to be activated or standby and/or ECUs that need to be activated or standby;
- the chassis domain controller, the entertainment domain controller, the intelligent driving domain controller and the vehicle body domain controller are used to receive and parse the central dispatching instruction information, and update themselves according to the node control information
- the working state of the domain controller and the working state of each connected ECU in the domain, the working state includes: active state and standby state; the chassis domain controller in the active state, the entertainment domain controller, the The smart driving domain controller or the vehicle body domain controller determines the comprehensive control command information in the domain according to the domain controller cycle information, the vehicle operating status information, and the status information of the electronic and electrical components connected to the ECUs in each domain, and sends
- the comprehensive control command information in the domain is sent to the connected ECUs in the domain, wherein the comprehensive control command information in the domain includes the central dispatching command information, the baud rate value for sending information to each ECU in the domain, and the value of the baud rate for each ECU in the domain.
- a control command of the ECU in the domain
- Each of the in-domain ECUs in an activated state is configured to receive the in-domain comprehensive control command information, and control the connected electronic and electrical components according to the in-domain comprehensive control command information.
- an embodiment provides a network scheduling method, which is applied to the intelligent vehicle dynamic reconfigurable network system provided in the first aspect, and the method includes:
- the central computing unit obtains the driver's operation instruction information and the vehicle running state information, determines the central dispatching instruction information according to the driver's operating instruction information and the vehicle operating state information, and sends the central dispatching instruction information to the chassis domain controller, the entertainment domain controller, the smart driving domain controller and the vehicle body domain controller, wherein the central dispatch instruction information includes: domain controller trigger information, node control information and domain controller period Information, the node control information includes domain controllers that need to be activated or standby and/or ECUs in the domain that need to be activated or standby;
- the chassis domain controller, the entertainment domain controller, the smart driving domain controller and the vehicle body domain controller receive and analyze the central dispatching instruction information, and update their own domain controllers according to the node control information
- the working status of the ECU in the connected domain and the working status of each connected ECU, the working status includes: activation status and standby status; the chassis domain controller, the entertainment domain controller, and the smart driving domain controller in the activation status
- the controller or the vehicle body domain controller determines the comprehensive control command information in the domain according to the domain controller cycle information, the vehicle running status information and the status information of the electronic and electrical components connected to the ECUs in each domain, and sends
- the comprehensive control instruction information is sent to each connected ECU in the domain, wherein the comprehensive control instruction information in the domain includes the central dispatching instruction information, the baud rate value for sending information to each ECU in the domain, and the baud rate value for each ECU in the domain.
- ECU control command
- Each of the in-domain ECUs in an activated state receives the in-domain comprehensive control command information, and controls the connected electronic and electrical components according to the in-domain comprehensive control command information.
- the trigger information of the domain controller includes: a basic cycle for planning smart car network scheduling, the basic cycle includes a trigger time period, a node control time period, an asynchronous time period, an idle time period and a synchronization time period, the The chassis domain controller, the entertainment domain controller, the intelligent driving domain controller and the body domain controller read the corresponding domain controller period information within the trigger time period, and in the asynchronous time period based on Random communication is triggered by an event, no communication is performed during the idle time period, and periodical communication is performed with the connected ECUs in each of the domains according to the corresponding periodic information of the domain controllers during the synchronous time period.
- the determining the central dispatching instruction information according to the driver's operation instruction information and the vehicle running state information includes:
- the network traffic and network capacity entering and leaving the central computing unit in the last basic period are compared with those from the chassis domain controller, the The entertainment domain controller, the intelligent driving domain controller and the vehicle body domain controller enter and exit the event trigger information and the number of periodic information, determine the chassis domain controller, the entertainment domain controller, the intelligent driving domain controller the domain controller period information corresponding to the domain controller and the vehicle body domain controller;
- the central scheduling instruction information is obtained by packaging the domain controller trigger information, the node control information, and domain controller cycle information of each of the domain controllers.
- the chassis domain controller, the entertainment domain controller, the intelligent driving domain controller or the body domain controller in the active state is information and the status information of the electronic and electrical components connected to the ECU in each domain, and determine the comprehensive control command information in the domain, including:
- the chassis domain controller, the entertainment domain controller, the smart driving domain controller, and the body domain controller respectively in the last sampling period and the The chassis domain controller, the entertainment domain controller, the intelligent driving domain controller and the vehicle body domain controller respectively correspond to the domain controller period information, and the chassis domain controller, the entertainment domain controller, The baud rate value of the information sent by the intelligent driving domain controller and the vehicle body domain controller to each connected ECU in the domain;
- the chassis domain controller, the entertainment domain controller, the smart driving domain controller, or the vehicle body domain controller in the activated state acquire information related to each of the The status information of the electronic and electrical components connected to the ECUs in the domain, and according to the status information of the electrical and electronic components connected to the ECUs in the domain and the vehicle running status information, determine the control instructions of the connected ECUs in the domain;
- the integrated control instruction information in the domain is obtained by packaging the central dispatching instruction information, the baud rate value for sending information to each connected ECU in the domain, and the control instruction to each connected ECU in the domain.
- the sending the central dispatch instruction information to the chassis domain controller, the entertainment domain controller, the smart driving domain controller and the body domain controller includes:
- the sending the integrated control instruction information in the domain to each connected ECU in the domain includes:
- the node control information includes a domain controller that needs to be on standby
- the updating of the working status of its own domain controller and the working status of each connected ECU in the domain according to the node control information includes:
- an embodiment provides an intelligent vehicle, including: the intelligent vehicle dynamic reconfigurable network system described in the first aspect; a memory for storing programs; a processor for executing the Stored programs to implement the network scheduling method described in any one of the above second aspects.
- an embodiment provides a computer-readable storage medium, on which a program is stored, and the program can be executed by a processor to implement the network scheduling described in any one of the above-mentioned second aspects method.
- An embodiment of the present invention provides a dynamic reconfigurable network system and a network scheduling method for an intelligent vehicle.
- the system includes a central computing unit, a chassis domain controller, an entertainment domain controller, an intelligent driving domain controller, and a vehicle body domain controller.
- the unit is connected to the chassis domain controller, entertainment domain controller, smart driving domain controller and body domain controller respectively through the network, and the chassis domain controller, entertainment domain controller, smart driving domain controller and body domain controller respectively include multiple
- the electronic control unit ECU in one domain is connected with multiple ECUs in the domain respectively through the network
- the chassis domain controller is used to control the chassis system of the vehicle
- the entertainment domain controller is used to control the multimedia entertainment system of the vehicle
- the intelligent driving domain controller is used to control the automatic control of the vehicle Driving system
- the body domain controller is used to control the body electronic system of the vehicle
- the central computing unit is used to obtain the driver's operation instruction information and vehicle operation status information, and determine the central dispatching instruction information according to the driver's operation instruction information and vehicle operation status information , and
- the control command information is sent to the connected ECUs in each domain, where the comprehensive control command information in the domain includes the central dispatching command information, the baud rate value for sending information to the ECU in each domain, and the control command to the ECU in each domain;
- the ECU is used to receive the comprehensive control command information in the domain, and control the connected electronic and electrical components according to the comprehensive control command information in the domain.
- the network scheduling method proposed by the present invention can be dynamically changed according to the vehicle running status and the transmission of network information in the network system.
- the basic period of network scheduling, the sampling period of domain controllers and the baud rate of information transmission in the domain can be reconfigured, so as to realize the real-time network information and high utilization rate of network bandwidth under all working conditions of intelligent vehicles.
- FIG. 1 is a schematic structural diagram of the first intelligent vehicle dynamic reconfigurable network system provided by an embodiment of the present invention
- FIG. 2 is a schematic flowchart of a network scheduling method provided by an embodiment of the present invention.
- FIG. 3 is a schematic structural diagram of a second intelligent vehicle dynamic reconfigurable network system provided by an embodiment of the present invention.
- FIG. 4 is a schematic structural diagram of a central dispatch command provided by an embodiment of the present invention.
- FIG. 5 is a schematic structural diagram of a basic cycle provided by an embodiment of the present invention.
- FIG. 6 is a schematic structural diagram of a third intelligent vehicle dynamic reconfigurable network system provided by an embodiment of the present invention.
- FIG. 7 is a schematic structural diagram of another central dispatch command provided by an embodiment of the present invention.
- FIG. 8 is a schematic structural diagram of a fourth intelligent vehicle dynamic reconfigurable network system provided by an embodiment of the present invention.
- connection and “connection” mentioned in this application include direct and indirect connection (connection) unless otherwise specified.
- an embodiment of the present invention provides a dynamic reconfigurable network system and a network scheduling method for intelligent vehicles, which will be described in detail below.
- FIG. 1 is a schematic structural diagram of a dynamic reconfigurable network system for intelligent vehicles provided by an embodiment of the present invention.
- the system may include a chassis domain controller 10, a smart driving domain controller 20, and an entertainment domain controller 30 .
- Body domain controller 40 and central computing unit 50 are connected to the chassis domain controller 10, the intelligent driving domain controller 20, the entertainment domain controller 30 and the vehicle body domain controller 40 respectively through the network, and the chassis domain controller 10, the intelligent driving domain controller 20, and the entertainment domain controller
- the controller 30 , the vehicle body domain controller 40 and the vehicle body domain controller 50 respectively include a plurality of electronic control units (Electronic Control Unit, ECU) in the domain and are respectively connected to the plurality of ECUs in the domain through a network.
- ECU Electronic Control Unit
- the chassis domain controller 10 is connected to the ECU101, the ECU102 and the ECU103 in the domain through a network;
- the intra-domain ECU 301 , intra-domain ECU 302 and intra-domain ECU 303 are connected via a network;
- the vehicle body domain controller 40 is connected to the intra-domain ECU 401 , intra-domain ECU 402 , and intra-domain ECU 403 via a network.
- the chassis domain controller 10 can be used to control the chassis system of the vehicle
- the intelligent driving domain controller 20 can be used to control the automatic driving system of the vehicle
- the entertainment domain controller 30 can be used to control the multimedia entertainment system of the vehicle
- the body domain controller 40 Can be used to control the vehicle's body electronic systems.
- the central computing unit 50 is used to obtain the driver's operation instruction information and the vehicle operation state information, determine the central dispatch instruction information according to the driver's operation instruction information and the vehicle operation state information, and send the central dispatch instruction information to the chassis domain controller 10 , entertainment domain controller 30, smart driving domain controller 20 and vehicle body domain controller 40, wherein the central dispatching instruction information includes: domain controller trigger information, node control information and domain controller cycle information, node control information includes activation or standby domain controllers and/or ECUs that need to be active or standby.
- Chassis domain controller 10, entertainment domain controller 30, smart driving domain controller 20, and body domain controller 40 are used to receive and analyze central dispatching instruction information, and update the working status and connection status of their own domain controllers according to the node control information.
- the working status of the ECU in each domain, the working status includes: activation status and standby status; chassis domain controller 10, entertainment domain controller 30, smart driving domain controller 20 or body domain controller 40 in the activation status according to domain controller Cycle information, vehicle running status information and status information of electronic and electrical components connected to ECUs in each domain, determine the comprehensive control command information in the domain, and send the comprehensive control command information in the domain to the connected ECUs in each domain, where the comprehensive control command information in the domain Including central scheduling instruction information, baud rate value for sending information to ECUs in each domain, and control instructions to ECUs in each domain.
- the ECUs in each domain in the active state are used to receive the comprehensive control command information in the domain, and control the connected electronic and electrical components according to the comprehensive control command information in the domain.
- the intelligent vehicle dynamic reconfigurable network system dynamically activates or stands by some network nodes in the network system according to the driver's wishes and the vehicle's running status, and changes the network topology of the vehicle in real time, avoiding The transmission of invalid information wastes network resources, thereby improving the utilization rate of network resources.
- the nodes in the active state in the network system change dynamically, so that the amount of data transmitted in the network system also changes dynamically.
- the network scheduling method proposed by the present invention can be dynamically changed according to the vehicle running status and the transmission of network information in the network system.
- the basic period of network scheduling, the sampling period of domain controllers and the baud rate of information transmission in the domain can be reconfigured, so as to realize the real-time network information and high utilization rate of network bandwidth under all working conditions of intelligent vehicles.
- Fig. 2 is a schematic flowchart of a network scheduling method provided by an embodiment of the present invention, which is applied to the intelligent vehicle dynamic reconfigurable network system provided by the above embodiment.
- the network scheduling method provided in this embodiment may include:
- the central computing unit acquires driver operation instruction information and vehicle operation state information, and determines central dispatch instruction information according to the driver operation instruction information and vehicle operation state information.
- the central computing unit can receive the vehicle running status information collected by various sensors and the driver’s operating instructions (such as turning on the automatic driving mode and turning off the entertainment equipment) in real time, and calculate The central dispatching instruction information suitable for the current operating state of the vehicle and the driver's wishes is produced.
- the central scheduling instruction information may be composed of domain controller trigger information, node control information and domain controller cycle information.
- the trigger information of the domain controller is used to realize the dynamic planning of the basic cycle T Basic of the intelligent vehicle reconfigurable network scheduling.
- the basic cycle can be composed of the time interval between the central computing unit sending two adjacent trigger messages.
- the basic cycle can be It is sequentially divided into trigger time period T Tri , node control time period T NT , asynchronous time period T AT , idle time period T FT and synchronous time period T ST .
- v, a, and ⁇ are the vehicle's velocity, acceleration, and yaw rate, respectively
- fc and cc are the network traffic and network capacity in and out of the central computing unit in the last basic cycle.
- the domain controller period information is used to implement dynamic planning of the sampling period T Sample of each domain controller.
- T Sample,i is the sampling period of the domain controller numbered i, v, a and ⁇ are the speed, acceleration and yaw rate of the vehicle respectively, f i and c i are respectively
- the size of network traffic and network capacity entering and leaving the domain controller of i, n A,i and n T,i are the number of event-triggered information and periodic information entering and leaving the domain controller numbered i in the last sampling period respectively .
- number 1 may be the chassis domain controller
- number 2 may be the smart driving domain controller
- number 3 may be the entertainment domain controller
- number 4 may be the body domain controller.
- Node control information is used to implement dynamic planning of network system topology.
- the node control information may be determined according to the driver's operation instruction information and preset node control rules.
- the node control information may include domain controllers that need to be activated or standby and/or ECUs in the domain that need to be activated or standby.
- the central computing unit packs the domain controller trigger information, node control information and domain controller cycle information of each domain controller obtained through the above calculation to obtain central scheduling instruction information.
- the central computing unit sends the central dispatching instruction information to the chassis domain controller, entertainment domain controller, intelligent driving domain controller and body domain controller.
- the central computing unit can broadcast the central dispatching instruction information to the chassis domain controller, entertainment domain controller, intelligent driving domain controller and body domain controller.
- the chassis domain controller, entertainment domain controller, intelligent driving domain controller and body domain controller receive and analyze the central dispatching instruction information, and update the working status of their own domain controllers and the status of ECUs in each connected domain according to the node control information working status.
- the aforementioned working states may include: an active state and a standby state.
- the active state here means that the domain controller or the ECU in the domain maintains information transmission and information calculation;
- the standby state means that the domain controller or the ECU in the domain maintains a low-power standby mode, and no longer performs information transmission and information calculation.
- 0 means that there is no node that needs to be on standby at this time
- a number other than 0 means the domain controller number, three digits The number represents the ECU number in each domain), and each domain controller compares the number with the node control time period TNT to complete the transition between the domain controller and the ECU in the domain in the active state or standby state, thereby realizing the dynamic change of the topology of the intelligent vehicle network system .
- Each domain controller can also conduct random communication based on event triggering in the asynchronous time period T AT , and not communicate during the idle time period T FT , and in the synchronous time period T ST according to the read domain controller that matches itself
- the controller cycle information performs periodic communication with T Sample as the sampling cycle.
- the domain controller when the node control information includes a domain controller that needs to be on standby, after receiving the node control information, the domain controller sends a standby command to each ECU in the domain connected to the domain controller to The ECU in each domain updates its own working state to the standby state, and the domain controller updates its own working state to the standby state.
- the comprehensive control command information in the domain may be composed of central dispatching command information, a baud rate value for sending information to the ECUs in each domain, and control commands to the ECUs in each domain.
- B i is the baud rate of the domain controller numbered i
- n A,i and n T,i are respectively the event trigger information and periodic information coming in and out from the domain controller numbered i in the last sampling cycle
- the number of T Sample, i is the sampling period of the domain controller numbered i.
- control instructions of the active chassis domain controller, entertainment domain controller, smart driving domain controller or body domain controller to the ECU in each domain can be obtained through the following methods: the active chassis domain controller, entertainment The domain controller, smart driving domain controller or vehicle body domain controller obtains the status information of the electronic and electrical components connected to the ECU in each domain within the corresponding sampling period of the domain controller, and according to the status information of the electronic and electrical components connected to the ECU in each domain The status information of the vehicle and the vehicle running status information determine the control commands of the ECUs in each connected domain.
- the chassis domain controller, entertainment domain controller, intelligent driving domain controller or body domain controller in the activated state will respectively send the central dispatching command information, the baud rate value of the information sent to the ECU in each connected domain, and the ECU in each connected domain. After the control commands of the ECU are packaged, the comprehensive control command information in the respective domains is obtained.
- the active chassis domain controller, entertainment domain controller, smart driving domain controller or body domain controller sends the integrated control command information in the domain to the connected ECUs in each domain.
- the activated chassis domain controller, entertainment domain controller, smart driving domain controller or body domain controller can broadcast the comprehensive control command information in the domain to the connected ECUs in each domain.
- the ECUs in each domain in the activated state receive the comprehensive control command information in the domain, and control the connected electronic and electrical components according to the comprehensive control command information in the domain.
- all the electronic and electrical components in its network system do not need to be in working condition all the time.
- the network nodes do not need front cameras, laser radars, and side cameras.
- reversing radar and rear camera and other components provide functions.
- the network scheduling method provided by the embodiment of the present invention dynamically activates or stands by some network nodes in the network system according to the driver's wishes and the running state of the vehicle, changes the network topology of the vehicle in real time, and avoids the transmission of invalid information from the source A waste of network resources, thus improving the utilization of network resources.
- the nodes in the active state in the network system change dynamically, so that the amount of data transmitted in the network system also changes dynamically.
- the network scheduling method proposed by the present invention can be dynamically changed according to the vehicle running status and the transmission of network information in the network system.
- the basic period of network scheduling, the sampling period of domain controllers and the baud rate of information transmission in the domain can be reconfigured, so as to realize the real-time network information and high utilization rate of network bandwidth under all working conditions of intelligent vehicles.
- the following two specific implementation methods are used as examples to illustrate the network scheduling method for adjusting the information transmission mode in real time according to the change of driving conditions provided by the embodiment of the present invention, so as to meet the real-time information and high network bandwidth under various working conditions. utilization rate.
- the first implementation is as follows:
- an intelligent vehicle When an intelligent vehicle is in the state of automatic driving, it needs to complete the complex process of perception, decision-making and control, which requires domain controllers in the intelligent driving domain, chassis domain and body domain and a large number of intra-domain ECUs connected to these domain controllers.
- the real-time participation of the vehicle can ensure the safety of the vehicle when it is running autonomously.
- the intelligent vehicle goes straight at an approximately constant speed, and all domain controllers and ECUs in the domain are activated.
- the vehicle network topology at this time is shown in Figure 3.
- the central computing unit is first introduced, which integrates the driver command processing module, information preprocessing module, dynamic period calculation module, dynamic response module and dynamic reconfigurable scheduling module.
- the information preprocessing module is connected with the driver instruction processing module, the dynamic cycle calculation module and the dynamic response module
- the dynamic reconfigurable scheduling module is connected with the dynamic cycle calculation module and the dynamic response module.
- the driver instruction processing module is used to directly receive one or more operation instructions from the driver (such as turning on the automatic driving mode, turning off the entertainment equipment), and it processes the operation instructions and sends them to the information preprocessing module.
- the information preprocessing module can convert the information from the driver instruction processing module and the vehicle state information from the information fusion module in the domain controller into the same data format, and then send it to the dynamic response module and the dynamic cycle calculation module.
- the information preprocessing module can also convert the information from the information fusion module of one or some domain controllers into the same data format, and then send it to the information fusion module of another or some other domain controllers to realize cross-domain communication.
- the dynamic response module is used to receive the information from the information preprocessing module, determine the node control information, that is, the number of the domain controller that needs to be activated or standby and the number of the ECU in the domain that needs to be activated or standby, and send the node control information to the dynamic response module.
- Reconfigurable scheduling module is used to receive the information from the information preprocessing module, determine the node control information, that is, the number of the domain controller that needs to be activated or standby and the number of the ECU in the domain that needs to be activated or standby
- the dynamic period calculation module is used to receive the information from the information preprocessing module, calculate the basic period T Basic of reconfigurable network scheduling and the sampling period T Sample,i of each domain controller in real time, and send the above period information to Dynamic reconfigurable scheduling module.
- the dynamic reconfigurable module is used to pack the information from the dynamic response module and the dynamic cycle calculation module into a central dispatch command (that is, the central dispatch instruction information mentioned above), and then broadcast the command to each domain controller.
- the domain controllers included in the intelligent vehicle dynamic reconfigurable network system in Fig. 3 are introduced.
- the intelligent vehicle dynamic reconfigurable network system includes chassis domain controller, entertainment domain controller, intelligent driving domain controller and body domain controller, and each domain controller integrates information fusion module, dynamic baud rate Calculation module, decision control calculation module, scheduling command receiving module and dynamic reconfigurable scheduling module.
- the information fusion module is connected with the dynamic baud rate calculation module and the decision control calculation module
- the dynamic reconfigurable scheduling module is connected with the dynamic baud rate calculation module, the decision control calculation module and the dispatch command receiving module.
- chassis domain controller is connected to ECU101, ECU102 and ECU103 through a network;
- smart driving domain controller is connected to ECU201, ECU202 and ECU203 through a network;
- entertainment domain controller is connected to ECU301, ECU302 and ECU303 through a network;
- body domain controller is connected to ECU401, ECU402 and ECU403 are connected through a network.
- the scheduling command receiving module is used to receive the central scheduling command from the central computing unit and forward it to the dynamic reconfigurable scheduling module;
- the information fusion module is used to receive information from each ECU in the domain and from The information of the information preprocessing module in the central computing unit, and integrate and calibrate the above information, and then send it to the decision-making control computing module, the dynamic baud rate computing module and the information pre-processing module of the central computing unit;
- the decision-making control computing module utilizes the information
- the information from the fusion module calculates the control commands for each ECU in the domain, and then sends the control commands to the dynamic reconfigurable scheduling module;
- the dynamic baud rate calculation module uses the information from the information fusion module to calculate the domain control in real time The size of the baud rate at which the device sends information to each ECU in the domain;
- the dynamic reconfigurable scheduling module is used to receive and package the control command from the decision-making control calculation module, the baud rate value from the dynamic baud rate calculation module and
- the driver After a period of time, the driver sends an instruction to turn off the entertainment system, and the driver instruction processing module of the central computing unit analyzes the instruction, and then sends it to the information preprocessing module.
- the information preprocessing module converts the information from the driver command processing module and the vehicle operating status information (such as longitudinal speed, longitudinal acceleration, lateral speed, lateral acceleration, steering wheel angle, etc.) from the information fusion module in the domain controller into the same data format for further processing by the dynamic cycle calculation module and the dynamic response module.
- the dynamic response module analyzes the driver instruction information and vehicle running status information sent by the information pre-processing module, and decides out the node control information, that is, the node that needs to be on standby at this time is the entertainment domain controller (number 4) and all the nodes under this domain.
- the ECU nodes in the domain and the nodes that need to be activated are empty, and then the node control information is sent to the reconfigurable scheduling module.
- the reconfigurable scheduling module packs the standby node number N A,3 , the active node number N S,0 and the sampling periods T Sample,1 , T Sample,2 , T Sample,3 and T Sample,4 of each domain controller into information frame, and use the trigger information Tri as the frame header to finally form a central dispatch command as shown in Figure 4, and then broadcast the formed central dispatch command to the smart driving domain controller, chassis domain controller, entertainment domain controller and vehicle body domain controller.
- the basic period T Basic of reconfigurable network scheduling is equal to the sending time interval of two adjacent central scheduling commands containing trigger information, and the basic period T Basic is further divided into trigger time period T Tri and node control time period T NT , an asynchronous time period T AT , an idle time period T FT and a synchronous time period T ST , as shown in FIG. 5 .
- the scheduling command receiving module in each domain controller receives the central scheduling command and reads the trigger information therein, and then reads the node control information, that is, the standby node number N A within the node control time period T NT ,3 and the activation node number N S,0 , and then sent to the dynamic reconfigurable scheduling module.
- the dynamic reconfigurable scheduling modules in the smart driving domain controller, chassis domain controller and body domain controller do not respond to the node control information.
- the dynamic reconfigurable scheduling module of the entertainment domain controller broadcasts the standby command to all ECU nodes in the domain to standby all nodes in the domain, and then the entertainment domain controller itself also enters the standby state, and since then the entire entertainment domain enters the standby state.
- the vehicle network topology is shown in Figure 6.
- event triggers such as battery warning messages, forward collision warning messages, acceleration or brake pedal position messages, steering wheel angle messages, etc.
- other domain controllers use the information fusion module in the asynchronous time period T AT and the synchronous time period T ST to receive information from the information preprocessing module in the ECU and central computing unit in their respective domains, and combine the above
- the information is integrated and calibrated, and then sent to the decision control calculation module, the dynamic baud rate calculation module and the information preprocessing module of the central calculation unit.
- the decision-making control calculation module uses the information from the information fusion module to calculate the control commands for each ECU in the domain (such as drive motor torque, steering motor torque, brake pressure, air conditioner motor torque, light voltage, etc.), and then converts the control commands to Sent to the dynamic reconfigurable scheduling module.
- the dynamic baud rate calculation module uses the information sent by the information fusion module to calculate in real time the baud rate at which the domain controller sends information to each ECU in the domain.
- the current working condition of the vehicle is relatively stable, and the requirements for the response speed of each actuator are not high, so the baud rate is maintained at a normal rate at this time.
- the dynamic reconfigurable scheduling module is used to receive and package the control command from the decision control calculation module, the baud rate value from the dynamic baud rate calculation module and the central scheduling command from the scheduling command receiving module to form an integrated control command in the domain, and then The broadcast is sent to each ECU in the domain, and the ECU in each domain responds according to the comprehensive control command in the domain.
- the second implementation is as follows:
- the information preprocessing module in the central computing unit receives and processes the vehicle operating status information from the information fusion module in the domain controller, and then sends it to the dynamic response module and the dynamic cycle calculation module. Since the vehicle is accelerating and changing lanes at this time, the vehicle state information changes rapidly. Therefore, the basic period T Basic of the reconfigurable network scheduling calculated by the dynamic period calculation module in real time and the sampling period T Sample,2 of the smart driving domain controller are both Correspondingly, the T Basic becomes 50ms, the sampling period T Sample,2 of the Smart Driving domain controller becomes 10ms, and the sampling period of other domain controllers remains at 20ms.
- the dynamic response module analyzes the information preprocessing module to send the driver's command to turn on the car and the temperature information in the car, and decides that the node that needs to be on standby at this time is the air-conditioning ECU node in the body domain (such as N A,403 ).
- the activated node is the vehicle ECU node (such as NS,301 ) in the entertainment domain, and then sends the node control information to the reconfigurable scheduling module.
- the reconfigurable scheduling module packs the sampling periods T Sample,1 , T Sample,2 , T Sample,3 and T Sample,4 from the standby node number N A,403 , the active node number N S,301 and each domain controller into information frame, and use the trigger information Tri as the frame header to finally form a central scheduling command, as shown in Figure 7. Then broadcast the formed central dispatch command to the smart driving domain controller, chassis domain controller, entertainment domain controller and body domain controller.
- the scheduling command receiving module of each domain controller reads the node control information, that is, the standby node number NA,403 and the active node number NS,301 , and then sends them to the dynamic reconfigurable scheduling module .
- the dynamic reconfigurable scheduling module in the smart driving domain controller and the chassis domain controller does not respond to the node control information.
- the dynamic reconfigurable scheduling module of the entertainment domain controller first converts its working state to the active state, and then broadcasts the activation command to all ECU nodes in its own domain . The state transitions to the active state, and other nodes in the domain remain in the standby state.
- the dynamic reconfigurable scheduling module in the body domain controller broadcasts the standby command to all ECU nodes in the domain. After receiving the standby command, the air-conditioning ECU node N A, 403 switches its working state from the active state to the standby state. Other nodes in the domain remains active.
- the vehicle network topology at this time is shown in Figure 8.
- Each domain controller uses the information fusion module in the asynchronous time period T AT and the synchronous time period T ST to receive the information from the information preprocessing module in the ECU and the central computing unit in their respective domains, integrate and calibrate the above information, and then send To the decision control calculation module, the dynamic baud rate calculation module and the information preprocessing module of the central calculation unit.
- the decision-making control calculation module uses the information from the information fusion module to calculate the control commands for each ECU in the domain, and then sends the control commands to the dynamic reconfigurable scheduling module.
- the dynamic baud rate calculation module uses the information sent by the information fusion module to calculate in real time the baud rate at which the domain controller sends information to each ECU in the domain.
- the working conditions are complex, and the response speed requirements of ECUs such as cameras, radars, drive motors, and steering motors are relatively high.
- the baud rate is increased to improve the real-time information in the domain, and the baud rate of the entertainment domain and the body domain is still maintained at the general rate.
- the dynamic reconfigurable scheduling module in each domain controller receives and packs the control commands from the decision-making control calculation module, the baud rate value from the dynamic baud rate calculation module, and the central scheduling command from the scheduling command receiving module to form an intra-domain comprehensive
- the control command is then broadcast to each ECU in the domain, and the ECU in each domain responds according to the comprehensive control command in the domain, and then completes the acceleration and lane change process of the intelligent vehicle.
- the intelligent vehicle dynamic reconfigurable network system and network scheduling method provided by the embodiments of the present invention dynamically activate or standby some network nodes in the network system according to the driver's will and the vehicle running status, and change the network topology of the vehicle in real time.
- the waste of network resources caused by the transmission of invalid information is avoided from the source, thereby improving the utilization rate of network resources.
- the nodes in the active state in the network system change dynamically, so that the amount of data transmitted in the network system also changes dynamically.
- the network scheduling method proposed by the present invention can be dynamically changed according to the vehicle running status and the transmission of network information in the network system.
- the basic period of network scheduling, the sampling period of domain controllers and the baud rate of information transmission in the domain can be reconfigured, so as to realize the real-time network information and high utilization rate of network bandwidth under all working conditions of intelligent vehicles.
- the embodiment of the present invention also provides an intelligent vehicle, which may include: the intelligent vehicle dynamic reconfigurable network system provided by the above embodiment; stored program; the processor is configured to implement all the steps of the network scheduling method provided by the embodiment of the present invention by executing the program stored in the memory.
- the embodiments of the present invention further provide a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and the computer-executable instructions are processed All the steps of the network scheduling method in the embodiment of the present invention are realized when the controller is executed.
- the program can also be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a mobile hard disk, and saved by downloading or copying.
- a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a mobile hard disk, and saved by downloading or copying.
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Abstract
一种智能车辆动态可重构网络系统及网络调度方法，该系统包括中央计算单元（50）、底盘域控制器（10）、娱乐域控制器（30）、智驾域控制器（20）和车身域控制器（40），中央计算单元（50）与底盘域控制器（10）、娱乐域控制器（30）、智驾域控制器（20）和车身域控制器（40）分别通过网络连接，底盘域控制器（10）、娱乐域控制器（30）、智驾域控制器（20）和车身域控制器（40）分别包括多个域内ECU（101, 102, 103, 201, 202, 203, 301, 302, 303, 401, 402, 403）并分别与多个域内ECU（101, 102, 103, 201, 202, 203, 301, 302, 303, 401, 402, 403）通过网络连接;通过动态激活或待机网络系统中的网络节点，实时改变车辆网络拓扑结构，从源头上避免无效信息传输对网络资源的浪费，从而提高了网络资源的利用率；动态变更可重构网络调度的基本周期、域控制器的采样周期和域内信息传输的波特率，进而实现智能车辆全工况下网络消息的实时性和网络带宽的高利用率
Description
本发明涉及智能汽车技术领域，具体涉及一种智能车辆动态可重构网络系统及网络调度方法。
近年来，智能汽车已然成为学术界的研究热点和汽车产业增长的新动力，智能汽车集成了环境感知、规划决策、动力学控制和人机工程等多项高复杂度技术，也融合了操作系统、现代传感、人工智能和信息通信等多领域的前沿科技。智能汽车大幅度改善了驾驶的便利性，对提升道路交通安全与交通效率有着很大的促进作用。汽车智能化的快速发展进一步提高了车辆的电气化程度，越来越多的电子电气部件（如相机、雷达、控制器和车机等等）被集成到车辆的网络系统上以实现多样化的功能。然而，愈发增多的电子电气部件也使得网络信息量大幅度增加和网络信息传输路径进一步复杂，这对车辆网络系统的信息传输的实时性和稳定性带来了巨大挑战。
为解决上述问题，目前可以采用静态的网络调度方法，对所有的网络负载情景采用相同的控制参数。但是，通过该方法得到的车辆网络系统中仍然会存在一些无效电子电气部件占用网络资源，导致网络资源的利用率较低，并且该方法不能及时地适应网络负载的高低变化，难以同时兼顾高负载和低负载时的网络带宽的高利用率与网络信息的实时性。
本发明实施例提供一种智能车辆动态可重构网络系统及网络调度方法，用以提高网络资源和网络带宽的利用率以及确保传输信息的实时性。
根据第一方面，一种实施例中提供一种智能车辆动态可重构网络系统，所述系统包括中央计算单元、底盘域控制器、娱乐域控制器、智驾域控制器和车身域控制器，所述中央计算单元与所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器分别通过网络连接，所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器分别包括多个域内电子控制单元ECU并且分别与多个所述域内ECU通过网络连接，所述底盘域控制器用于控制车辆的底盘系统，所述娱乐域控制器用于控制车辆的多媒体娱乐系统，所述智驾域控制器用于控制车辆的自动驾驶系统，所述车身域控制器用于控制车辆的车身电子系统；
所述中央计算单元，用于获取驾驶员操作指令信息和车辆运行状态信息，根据所述驾驶员操作指令信息和所述车辆运行状态信息，确定中央调度指令信息，并将所述中央调度指令信息发送至所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器，其中，所述中央调度指令信息包括：域控制器触发信息、节点控制信息和域控制器周期信息，所述节点控制信息包括需要激活或待机的域控制器和/或需要激活或待机的ECU；
所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器，用于接收并解析所述中央调度指令信息，根据所述节点控制信息，更新自身域控制器的工作状态和连接的各所述域内ECU的工作状态，所述工作状态包括：激活状态和待机状态；处于激活状态的所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器或者所述车身域控制器根据所述域控制器周期信息、车辆运行状态信息和与各所述域内ECU连接的电子电气部件的状态信息，确定域内综合控制指令信息，并将所述域内综合控制指令信息发送至连接的各所述域内ECU，其中，所述域内综合控制指令信息包括所述中央调度指令信息、向各所述域内ECU发送信息的波特率数值和对各所述域内ECU的控制指令；
处于激活状态的各所述域内ECU，用于接收所述域内综合控制指令信息，并根据所述域内综合控制指令信息，控制所连接的电子电气部件。
根据第二方面，一种实施例中提供一种网络调度方法，应用于第一方面提供的智能车辆动态可重构网络系统，所述方法包括：
中央计算单元获取驾驶员操作指令信息和车辆运行状态信息，根据所述驾驶员操作指令信息和所述车辆运行状态信息，确定中央调度指令信息，并将所述中央调度指令信息发送至所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器，其中，所述中央调度指令信息包括：域控制器触发信息、节点控制信息和域控制器周期信息，所述节点控制信息包括需要激活或待机的域控制器和/或需要激活或待机的域内ECU；
所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器接收并解析所述中央调度指令信息，根据所述节点控制信息，更新自身域控制器的工作状态和连接的各所述域内ECU的工作状态，所述工作状态包括：激活状态和待机状态；处于激活状态的所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器或所述车身域控制器根据所述域控制器周期信息、车辆运行状态信息和与各所述域内ECU连接的电子电气部件的状态信息，确定域内综合控制指令信息，并将所述域内综合控制指令信息发送至连接的各所述域内ECU，其中，所述域内综合控制指令信息包括所述中央调度指令信息、向各所述域内ECU发送信息的波特率数值和对各所述域内ECU的控制指令；
处于激活状态的各所述域内ECU接收所述域内综合控制指令信息，并根据所述域内综合控制指令信息，控制所连接的电子电气部件。
可选的，所述域控制器触发信息包括：规划智能汽车网络调度的基本周期，所述基本周期包括触发时间段、节点控制时间段、异步时间段、空闲时间段和同步时间段，所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器在触发时间段内读取各自对应的所述域控制器周期信息，在异步时间段内基于事件触发进行随机性通信，在空闲时间段内不进行通信，在同步时间段根据各自对应的所述域控制器周期信息与连接的各所述域内ECU进行周期性通信。
可选的，所述根据所述驾驶员操作指令信息和所述车辆运行状态信息，确定中央调度指令信息，包括：
根据所述车辆的速度、加速度和横摆角速度与在上一个所述基本周期从所述中央计算单元进出的网络流量和网络容量，确定所述域控制器触发信息；
根据所述驾驶员操作指令信息和预设节点控制规则，确定所述节点控制信息；
根据所述车辆的速度、加速度和横摆角速度、在上一个所述基本周期从所述中央计算单元进出的网络流量和网络容量与在上一个采样周期分别从所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器进出的事件触发信息和周期性信息的数量，确定所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器各自对应的域控制器周期信息；
将所述域控制器触发信息、所述节点控制信息和各所述域控制器的域控制器周期信息打包得到所述中央调度指令信息。
可选的，所述处于激活状态的所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器或所述车身域控制器根据所述域控制器周期信息、车辆运行状态信息和与各所述域内ECU连接的电子电气部件的状态信息，确定域内综合控制指令信息，包括：
根据在上一个采样周期分别从所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器进出的事件触发信息和周期性信息的数量与所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器各自对应的域控制器周期信息，得到所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器向连接的各所述域内ECU发送信息的波特率数值；
处于激活状态的所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器或所述车身域控制器在各自对应的所述域控制器采样周期内，获取与各所述域内ECU连接的电子电气部件的状态信息，并根据与各所述域内ECU连接的电子电气部件的状态信息和所述车辆运行状态信息，确定连接的各所述域内ECU的控制指令；
将所述中央调度指令信息、向连接的各所述域内ECU发送信息的波特率数值和对连接的各所述域内ECU的控制指令打包得到所述域内综合控制指令信息。
可选的，所述将所述中央调度指令信息发送至所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器，包括：
将所述中央调度指令信息广播至所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器。
可选的，所述将所述域内综合控制指令信息发送至连接的各所述域内ECU，包括：
将所述域内综合控制指令信息广播至连接的各所述域内ECU。
可选的，当所述节点控制信息包括需要待机的域控制器时，
所述根据所述节点控制信息，更新自身域控制器的工作状态和连接的各所述域内ECU的工作状态，包括：
将需要待机的域控制器和与所述需要待机的域控制器连接的各所述域内ECU的工作状态更新为待机状态。
根据第三方面，一种实施例中提供一种智能车辆，包括：第一方面所述的智能车辆动态可重构网络系统；存储器，用于存储程序；处理器，用于通过执行所述存储器存储的程序以实现上述第二方面中任一项所述的网络调度方法。
根据第四方面，一种实施例中提供一种计算机可读存储介质，所述介质上存储有程序，所述程序能够被处理器执行以实现上述第二方面中任一项所述的网络调度方法。
本发明实施例提供一种智能车辆动态可重构网络系统及网络调度方法，该系统包括中央计算单元、底盘域控制器、娱乐域控制器、智驾域控制器和车身域控制器，中央计算单元与底盘域控制器、娱乐域控制器、智驾域控制器和车身域控制器分别通过网络连接，底盘域控制器、娱乐域控制器、智驾域控制器和车身域控制器分别包括多个域内电子控制单元ECU并且分别与多个域内ECU通过网络连接，底盘域控制器用于控制车辆的底盘系统，娱乐域控制器用于控制车辆的多媒体娱乐系统，智驾域控制器用于控制车辆的自动驾驶系统，车身域控制器用于控制车辆的车身电子系统；中央计算单元，用于获取驾驶员操作指令信息和车辆运行状态信息，根据驾驶员操作指令信息和车辆运行状态信息，确定中央调度指令信息，并将中央调度指令信息发送至底盘域控制器、娱乐域控制器、智驾域控制器和车身域控制器，其中，中央调度指令信息包括：域控制器触发信息、节点控制信息和域控制器周期信息，节点控制信息包括需要激活或待机的域控制器和/或需要激活或待机的ECU；底盘域控制器、娱乐域控制器、智驾域控制器和车身域控制器，用于接收并解析中央调度指令信息，根据节点控制信息，更新自身域控制器的工作状态和连接的各域内ECU的工作状态，工作状态包括：激活状态和待机状态；处于激活状态的底盘域控制器、娱乐域控制器、智驾域控制器或者车身域控制器根据域控制器周期信息、车辆运行状态信息和与各域内ECU连接的电子电气部件的状态信息，确定域内综合控制指令信息，并将域内综合控制指令信息发送至连接的各域内ECU，其中，域内综合控制指令信息包括中央调度指令信息、向各域内ECU发送信息的波特率数值和对各域内ECU的控制指令；处于激活状态的各域内ECU，用于接收域内综合控制指令信息，并根据域内综合控制指令信息，控制所连接的电子电气部件。通过根据驾驶员意愿及车辆运行行驶状态，动态地激活或者待机网络系统中的一些网络节点，实时改变车辆的网络拓扑结构，从源头上避免无效信息的传输对网络资源的浪费，从而提高了网络资源的利用率。此外，网络系统中处于激活状态的节点动态变化，使得网络系统中传输的数据量也动态变化，本发明提出的网络调度方法可以根据车辆运行状态和网络系统中网络信息的传输情况，动态地变更可重构网络调度的基本周期、域控制器的采样周期和域内信息传输的波特率，进而实现智能车辆全工况下网络消息的实时性和网络带宽的高利用率。
图1为本发明实施例提供的第一种智能车辆动态可重构网络系统的结构示意图；
图2为本发明实施例提供的一种网络调度方法的流程示意图；
图3为本发明实施例提供的第二种智能车辆动态可重构网络系统的结构示意图；
图4为本发明实施例提供的一种中央调度命令的结构示意图；
图5为本发明实施例提供的一种基本周期的结构示意图；
图6为本发明实施例提供的第三种智能车辆动态可重构网络系统的结构示意图；
图7为本发明实施例提供的另一种中央调度命令的结构示意图；
图8为本发明实施例提供的第四种智能车辆动态可重构网络系统的结构示意图。
下面通过具体实施方式结合附图对本发明作进一步详细说明。其中不同实施方式中类似元件采用了相关联的类似的元件标号。在以下的实施方式中，很多细节描述是为了使得本申请能被更好的理解。然而，本领域技术人员可以毫不费力的认识到，其中部分特征在不同情况下是可以省略的，或者可以由其他元件、材料、方法所替代。在某些情况下，本申请相关的一些操作并没有在说明书中显示或者描述，这是为了避免本申请的核心部分被过多的描述所淹没，而对于本领域技术人员而言，详细描述这些相关操作并不是必要的，他们根据说明书中的描述以及本领域的一般技术知识即可完整了解相关操作。
另外，说明书中所描述的特点、操作或者特征可以以任意适当的方式结合形成各种实施方式。同时，方法描述中的各步骤或者动作也可以按照本领域技术人员所能显而易见的方式进行顺序调换或调整。因此，说明书和附图中的各种顺序只是为了清楚描述某一个实施例，并不意味着是必须的顺序，除非另有说明其中某个顺序是必须遵循的。
本文中为部件所编序号本身，例如“第一”、“第二”等，仅用于区分所描述的对象，不具有任何顺序或技术含义。而本申请所说“连接”、“联接”，如无特别说明，均包括直接和间接连接（联接）。
为了提高网络资源和网络带宽的利用率以及确保传输信息的实时性，本发明实施例提供了一种智能车辆动态可重构网络系统及网络调度方法，以下分别进行详细说明。
图1为本发明实施例提供的一种智能车辆动态可重构网络系统的结构示意图，如图1所示，该系统可以包括底盘域控制器10、智驾域控制器20、娱乐域控制器30、车身域控制器40和中央计算单元50。中央计算单元50与底盘域控制器10、智驾域控制器20、娱乐域控制器30和车身域控制器40分别通过网络连接，底盘域控制器10、智驾域控制器20、娱乐域控制器30、车身域控制器40和车身域控制器50分别包括多个域内电子控制单元（Electronic Control Unit，ECU）并且分别与多个域内ECU通过网络连接。例如，在图1中，底盘域控制器10与域内ECU101、域内ECU102和域内ECU103通过网络连接；智驾域控制器20与域内ECU201、域内ECU202和域内ECU203通过网络连接；娱乐域控制器30与域内ECU301、域内ECU302和域内ECU303通过网络连接；车身域控制器40与域内ECU401、域内ECU402和域内ECU403通过网络连接。底盘域控制器10可以用于控制车辆的底盘系统，智驾域控制器20可以用于控制车辆的自动驾驶系统，娱乐域控制器30可以用于控制车辆的多媒体娱乐系统，车身域控制器40可以用于控制车辆的车身电子系统。
中央计算单元50，用于获取驾驶员操作指令信息和车辆运行状态信息，根据驾驶员操作指令信息和车辆运行状态信息，确定中央调度指令信息，并将中央调度指令信息发送至底盘域控制器10、娱乐域控制器30、智驾域控制器20和车身域控制器40，其中，中央调度指令信息包括：域控制器触发信息、节点控制信息和域控制器周期信息，节点控制信息包括需要激活或待机的域控制器和/或需要激活或待机的ECU。
底盘域控制器10、娱乐域控制器30、智驾域控制器20和车身域控制器40，用于接收并解析中央调度指令信息，根据节点控制信息，更新自身域控制器的工作状态和连接的各域内ECU的工作状态，工作状态包括：激活状态和待机状态；处于激活状态的底盘域控制器10、娱乐域控制器30、智驾域控制器20或者车身域控制器40根据域控制器周期信息、车辆运行状态信息和与各域内ECU连接的电子电气部件的状态信息，确定域内综合控制指令信息，并将域内综合控制指令信息发送至连接的各域内ECU，其中，域内综合控制指令信息包括中央调度指令信息、向各域内ECU发送信息的波特率数值和对各域内ECU的控制指令。
处于激活状态的各域内ECU，用于接收域内综合控制指令信息，并根据域内综合控制指令信息，控制所连接的电子电气部件。
本发明实施例提供的智能车辆动态可重构网络系统，根据驾驶员意愿及车辆运行行驶状态，动态地激活或者待机网络系统中的一些网络节点，实时改变车辆的网络拓扑结构，从源头上避免无效信息的传输对网络资源的浪费，从而提高了网络资源的利用率。此外，网络系统中处于激活状态的节点动态变化，使得网络系统中传输的数据量也动态变化，本发明提出的网络调度方法可以根据车辆运行状态和网络系统中网络信息的传输情况，动态地变更可重构网络调度的基本周期、域控制器的采样周期和域内信息传输的波特率，进而实现智能车辆全工况下网络消息的实时性和网络带宽的高利用率。
图2为本发明实施例提供的一种网络调度方法的流程示意图，该方法应用于上述实施例提供的智能车辆动态可重构网络系统。如图2所示，本实施例提供的网络调度方法可以包括：
S201，中央计算单元获取驾驶员操作指令信息和车辆运行状态信息，根据驾驶员操作指令信息和车辆运行状态信息，确定中央调度指令信息。
中央计算单元可以实时接收各传感器收集的车辆运行状态信息和驾驶员发出的操作指令（如开启自动驾驶模式、关闭娱乐设备），并根据获取到的驾驶员操作指令信息和车辆运行状态信息，计算出适合车辆当前运行状态和驾驶员意愿的中央调度指令信息。
其中，中央调度指令信息可以由域控制器触发信息、节点控制信息和域控制器周期信息组成。具体的，域控制器触发信息用于实现智能汽车可重构网络调度的基本周期T
Basic的动态规划，基本周期可以由中央计算单元发送两次相邻的触发信息的时间间隔构成，基本周期可以被依次划分为触发时间段T
Tri、节点控制时间段T
NT、异步时间段T
AT、空闲时间段T
FT和同步时间段T
ST。
具体的，基本周期T
Basic可以根据公式T
Basic=F(v,a,ω,f
c,c
c)计算得到。其中，v、a和ω分别为车辆的速度、加速度和横摆角速度，f
c和c
c为在上一个基本周期从中央计算单元进出的网络流量和网络容量。
域控制器周期信息用于实现各域控制器采样周期T
Sample的动态规划。具体的，编号为i的域控制器的采样周期可以根据公式T
Sample,i=G(v,a,ω,f
i,c
i,n
A,i,n
T,i)计算得到。其中，T
Sample,i为编号为i的域控制器的采样周期，v、a和ω分别为车辆的速度、加速度和横摆角速度，f
i和c
i分别为在上一个采样周期从编号为i的域控制器进出的网络流量和网络容量的大小，n
A,i和n
T,i分别为在上一个采样周期从编号为i的域控制器进出的事件触发信息和周期性信息的数量。例如，编号1可以为底盘域控制器，编号2可以为智驾域控制器，编号3可以为娱乐域控制器和编号4可以为车身域控制器。
节点控制信息用于实现网络系统拓扑的动态规划。具体的，可以根据驾驶员操作指令信息和预设节点控制规则，确定节点控制信息。其中，节点控制信息可以包括需要激活或待机的域控制器和/或需要激活或待机的域内ECU。
中央计算单元将上述计算得到的域控制器触发信息、节点控制信息和各域控制器的域控制器周期信息打包后，得到中央调度指令信息。
S202，中央计算单元将中央调度指令信息发送至底盘域控制器、娱乐域控制器、智驾域控制器和车身域控制器。
具体实现时，中央计算单元可以将中央调度指令信息广播至底盘域控制器、娱乐域控制器、智驾域控制器和车身域控制器。
S203，底盘域控制器、娱乐域控制器、智驾域控制器和车身域控制器接收并解析中央调度指令信息，根据节点控制信息，更新自身域控制器的工作状态和连接的各域内ECU的工作状态。
上述工作状态可以包括：激活状态和待机状态。这里的激活状态是指域控制器或域内ECU维持信息的发送和信息的计算；待机状态是指域控制器或域内ECU维持低功耗的待机模式，不再进行信息的发送和信息的计算。
底盘域控制器、娱乐域控制器、智驾域控制器和车身域控制器可以在触发时间段T
Tri内接收中央调度指令信息之后，并读取其中的触发信息。接着各个域控制器在节点控制时间段T
NT读取节点控制信息，例如节点控制信息可以包含需要激活的域控制器和域内ECU的编号N
S,j（j=0，1，2，3，4；101，102，103…，201，202，203…，301，302，303…，401，402，403…，其中，0表示此时没有需要激活的节点，除0之外的一位数字表示域控制器编号，三位数字表示各域内ECU编号）和需要待机的域控制器和域内ECU的编号N
A,k（k=0，1，2，3，4；101，102，103…；201，202，203…；301，302，303…；401，402，403…，其中，0表示此时没有需要待机的节点，除0之外的一位数字表示域控制器编号，三位数字表示各域内ECU编号），各个域控制器在节点控制时间段T
NT与编号进行比对，完成域控制器和域内ECU激活状态或者待机状态的转换，进而实现智能车辆网络系统拓扑的动态变化。各个域控制器还可以在异步时间段T
AT内基于事件触发进行随机性通信，在空闲时间段T
FT内不进行通信，并且在同步时间段T
ST内根据已读取的与自身匹配的域控制器周期信息进行以T
Sample为采样周期的周期性通信。
作为一种可以实施的方式，当节点控制信息包括需要待机的域控制器时，该域控制器收到该节点控制信息后，则向与该域控制器连接的各域内ECU发送待机指令，以使各域内ECU更新自身的工作状态为待机状态，并且该域控制器更新自身的工作状态为待机状态。
S204，处于激活状态的底盘域控制器、娱乐域控制器、智驾域控制器或车身域控制器根据域控制器周期信息、车辆运行状态信息和与各域内ECU连接的电子电气部件的状态信息，确定域内综合控制指令信息。
其中，域内综合控制指令信息可以由中央调度指令信息、向各域内ECU发送信息的波特率数值和对各域内ECU的控制指令组成。
具体的，编号为i的域控制器的波特率可以根据公式B
i=H(n
A,i,n
T,i,T
Sample,i)计算得到。其中，B
i为编号为i的域控制器的波特率，n
A,i和n
T,i分别为在上一个采样周期从编号为i的域控制器进出的事件触发信息和周期性信息的数量，T
Sample,i为编号为i的域控制器的采样周期。
具体的，处于激活状态的底盘域控制器、娱乐域控制器、智驾域控制器或车身域控制器对各域内ECU的控制指令可以通过以下方式得到：处于激活状态的底盘域控制器、娱乐域控制器、智驾域控制器或车身域控制器在各自对应的域控制器采样周期内，获取与各域内ECU连接的电子电气部件的状态信息，并根据与各域内ECU连接的电子电气部件的状态信息和车辆运行状态信息，确定连接的各域内ECU的控制指令。
处于激活状态的底盘域控制器、娱乐域控制器、智驾域控制器或车身域控制器分别将中央调度指令信息、向连接的各域内ECU发送信息的波特率数值和对连接的各域内ECU的控制指令打包后，得到各自的域内综合控制指令信息。
S205，处于激活状态的底盘域控制器、娱乐域控制器、智驾域控制器或车身域控制器将域内综合控制指令信息发送至连接的各域内ECU。
具体实现时，处于激活状态的底盘域控制器、娱乐域控制器、智驾域控制器或车身域控制器可以将域内综合控制指令信息广播至连接的各域内ECU。
S206，处于激活状态的各域内ECU接收域内综合控制指令信息，并根据域内综合控制指令信息，控制所连接的电子电气部件。
智能车辆在运行过程中，其网络系统中的各电子电气部件即网络节点并不需要全部一直处于工作状态，如智能汽车处于驾驶员驾驶状态时，不需要前置相机、激光雷达、侧边相机、倒车雷达和后置相机等部件提供功能。如果这些部件一直处于工作状态，不断地向网络系统中传输大量的数据，网络资源将被占用，进而影响其他网络信息的传输；车辆在行驶过程中，可能会反复开启和关闭娱乐媒体设备、空调和通风装置等，这些部件的采样信息和控制信息若一直占用网络，也会造成网络的拥堵；此外，当车辆的行车工况不同，其对控制系统的实时性要求是不同的，如加速超车、转向和换道等工况，控制系统的快速反应更能保证行车的安全性，而低速直行等工况对控制系统的实时性要求相对更低。而本发明实施例提供的网络调度方法，根据驾驶员意愿及车辆运行行驶状态，动态地激活或者待机网络系统中的一些网络节点，实时改变车辆的网络拓扑结构，从源头上避免无效信息的传输对网络资源的浪费，从而提高了网络资源的利用率。此外，网络系统中处于激活状态的节点动态变化，使得网络系统中传输的数据量也动态变化，本发明提出的网络调度方法可以根据车辆运行状态和网络系统中网络信息的传输情况，动态地变更可重构网络调度的基本周期、域控制器的采样周期和域内信息传输的波特率，进而实现智能车辆全工况下网络消息的实时性和网络带宽的高利用率。
下面以两个具体的实现方式为例对本发明实施例提供的根据行车工况的变化实时调整信息传输方式的网络调度方法进行说明，以满足各种工况下信息的实时性和网络带宽的高利用率。
第一个实现方式如下：
智能车辆在自动驾驶状态时，需要自行完成感知、决策与控制这一套复杂的流程，这需要智驾域、底盘域和车身域内的域控制器和分别与这些域控制器连接的大量域内ECU的实时参与，才能保证车辆自主运行时的安全。
在起始时刻，智能车辆以近似恒定的速度自主直行，所有域控制器和域内ECU均处于激活状态，此时的车辆网络拓扑结构如图3所示。在图3中，首先介绍中央计算单元，中央计算单元集成了驾驶员指令处理模块、信息预处理模块、动态周期计算模块、动态响应模块和动态可重构调度模块。其中，信息预处理模块与驾驶员指令处理模块、动态周期计算模块和动态响应模块相连，动态可重构调度模块与动态周期计算模块和动态响应模块相连。驾驶员指令处理模块用以直接接收来自驾驶员的一条或者多条操作指令（如开启自动驾驶模式、关闭娱乐设备），其将操作指令处理后发送至信息预处理模块。信息预处理模块可将来自驾驶员指令处理模块的信息和来自域控制器中信息融合模块的车辆状态信息，转换成同样的数据格式，然后发送至动态响应模块和动态周期计算模块。信息预处理模块也可将来自某一或某些域控制器的信息融合模块的信息，转换为相同的数据格式，然后发送至另一或另一些域控制器的信息融合模块，以实现跨域通信。动态响应模块用以接收来自信息预处理模块的信息，决策出节点控制信息，即需要激活或待机的域控制器的编号和需要激活或待机的域内ECU的编号，并将节点控制信息发送至动态可重构调度模块。动态周期计算模块用以接收来自信息预处理模块的信息，实时计算出可重构网络调度的基本周期T
Basic和各个域控制器的采样周期T
Sample,i的大小，并将上述周期信息发送至动态可重构调度模块。动态可重构模块用以将来自动态响应模块和动态周期计算模块的信息打包形成中央调度命令（即上文所述的中央调度指令信息），然后将该命令广播发送至各域控制器。
其次，介绍图3中的智能车辆动态可重构网络系统所包括的各域控制器。此时的智能车辆动态可重构网络系统包括底盘域控制器、娱乐域控制器、智驾域控制器和车身域控制器，每个域控制器中都集成了信息融合模块、动态波特率计算模块、决策控制计算模块、调度命令接收模块和动态可重构调度模块。其中，信息融合模块与动态波特率计算模块和决策控制计算模块相连，动态可重构调度模块与动态波特率计算模块、决策控制计算模块和调度命令接收模块相连。并且，底盘域控制器与ECU101、ECU102和ECU103通过网络连接；智驾域控制器与ECU201、ECU202和ECU203通过网络连接；娱乐域控制器与ECU301、ECU302和ECU303通过网络连接；车身域控制器与ECU401、ECU402和ECU403通过网络连接。
在各域控制器中，调度命令接收模块用以接收来自中央计算单元的中央调度命令，并将其转发至动态可重构调度模块；信息融合模块用以接收来自本域内各ECU的信息和来自中央计算单元中信息预处理模块的信息，并将上述信息进行整合和校准，然后发送至决策控制计算模块、动态波特率计算模块和中央计算单元的信息预处理模块；决策控制计算模块利用信息融合模块传来的信息，运算出针对域内各ECU的控制命令，然后将控制命令发送至动态可重构调度模块；动态波特率计算模块利用信息融合模块传来的信息，实时运算出域控制器向域内各ECU发送信息的波特率的大小；动态可重构调度模块用以接收和打包来自决策控制计算模块的控制命令、来自动态波特率计算模块的波特率数值和来自调度命令接收模块的中央调度命令，形成域内综合控制命令（即上文所述的域内综合控制指令信息），然后广播发送至域内各ECU，域内ECU根据域内综合控制命令做出响应。
经过一段时间后，驾驶员发出关闭娱乐系统的指令，中央计算单元的驾驶员指令处理模块对该指令进行分析，然后发送至信息预处理模块。信息预处理模块将来自驾驶员指令处理模块的信息和来自域控制器中信息融合模块的车辆运行状态信息（如纵向速度、纵向加速度、横向速度、横向加速度、方向盘转角等）转换为相同的数据格式，以便动态周期计算模块和动态响应模块的进一步处理。由于此时车辆近似匀速直线前行，车辆状态信息较为稳定，因此动态周期计算模块根据公式T
Basic=F(v,a,ω,f
c,c
c)和公式T
Sample,i=G(v,a,ω,f
i,c
i,n
A,i,n
T,i)实时计算出中央计算单元的基本周期T
Basic和各域控制器采样周期T
Sample,i(i=1，2，3，4)的大小基本维持不变，分别为60ms和20ms。动态响应模块解析信息预处理模块发来的驾驶员指令信息和车辆运行状态信息，决策出节点控制信息，即此时需要待机的节点为娱乐域控制器（编号为4）及该域下所有的域内ECU节点、需要激活的节点为空，然后将节点控制信息发送至可重构调度模块。
可重构调度模块把待机节点编号N
A,3、激活节点编号N
S,0和各域控制器采样周期T
Sample,1、T
Sample,2、T
Sample,3和T
Sample,4打包成信息帧，并把触发信息Tri作为帧头，最终形成中央调度命令如图4所示，然后将该形成的中央调度命令广播发送至智驾域控制器、底盘域控制器、娱乐域控制器和车身域控制器。
可重构网络调度的基本周期T
Basic等于相邻的两条包含触发信息的中央调度命令的发送时间间隔，而且基本周期T
Basic进一步地被划分为触发时间段T
Tri、节点控制时间段T
NT、异步时间段T
AT、空闲时间段T
FT和同步时间段T
ST，如图5所示。在触发时间段T
Tri内，各个域控制器中的调度命令接收模块接收中央调度命令并读取其中的触发信息，接着在节点控制时间段T
NT内读取节点控制信息即待机节点编号N
A,3和激活节点编号N
S,0，然后发送至动态可重构调度模块。其中，智驾域控制器、底盘域控制器和车身域控制器中的动态可重构调度模块对此节点控制信息不做出反应。而娱乐域控制器的动态可重构调度模块则向域内所有ECU节点广播待机命令以待机域内所有节点，接着娱乐域控制器自身也进入待机状态，自此整个娱乐域进入待机状态，此时的车辆网络拓扑如图6所示。
在异步时间段T
AT内，各域控制器基于事件触发进行随机性通信（如电池警告消息、前方碰撞提醒消息、加速或制动踏板位置消息、方向盘转角消息等）；在空闲时间段T
FT内不进行通信；在同步时间段T
ST内，各域控制器读取中央调度命令中的与其匹配的域控制器周期信息，并分别进行以T
Sample,1=20ms、T
Sample,2=20ms、T
Sample,3=20ms和T
Sample,4=20ms为采样周期的周期性通信（如速度信息、加速度信息、电池温度信息、电机控制命令等）。除了娱乐域控制器之外的其他域控制器在异步时间段T
AT和同步时间段T
ST内利用信息融合模块，接收来自各自域内ECU和中央计算单元中信息预处理模块的信息，并将上述信息进行整合和校准，然后发送至决策控制计算模块、动态波特率计算模块和中央计算单元的信息预处理模块。决策控制计算模块利用信息融合模块传来的信息，运算出针对域内各ECU的控制命令（如驱动电机力矩、转向电机力矩、制动压力、空调电机力矩、灯光电压等等），然后将控制命令发送至动态可重构调度模块。动态波特率计算模块利用信息融合模块传来的信息，实时运算出域控制器向域内各ECU发送信息的波特率的大小。车辆现阶段工况较为平稳，对各个执行器的响应速度要求不高，因而此时波特率维持在一般速率大小。动态可重构调度模块用以接收和打包来自决策控制计算模块的控制命令、来自动态波特率计算模块的波特率数值和来自调度命令接收模块的中央调度命令，形成域内综合控制命令，然后广播发送至域内各ECU，各域内ECU根据域内综合控制命令做出响应。
第二个实现方式如下：
当智能车辆自主超车经历加速和变道时，中央计算单元中的信息预处理模块接收并处理来自域控制器中信息融合模块的车辆运行状态信息，然后发送至动态响应模块和动态周期计算模块。由于此时车辆加速和换道行驶，车辆状态信息变化较快，因此，动态周期计算模块实时计算出的可重构网络调度的基本周期T
Basic和智驾域控制器采样周期T
Sample,2都相应地变小，比如T
Basic变为50ms，智驾域控制器采样周期T
Sample,2变为10ms，其他域控制器采样周期维持在20ms。并且动态响应模块解析信息预处理模块发来驾驶员开启车机的命令和车内气温的信息，决策出此时需要待机的节点为车身域中的空调ECU节点（例如N
A,403）、需要激活的节点为娱乐域中的车机ECU节点（例如N
S,301），然后将节点控制信息发送至可重构调度模块。
可重构调度模块把来自待机节点编号N
A,403、激活节点编号N
S,301和各域控制器采样周期T
Sample,1、T
Sample,2、T
Sample,3和T
Sample,4打包成信息帧，并把触发信息Tri作为帧头，最终形成中央调度命令，如图7所示。然后将该形成的中央调度命令广播发送至智驾域控制器、底盘域控制器、娱乐域控制器和车身域控制器。在节点控制时间段T
NT内，各域控制器的调度命令接收模块读取节点控制信息，即待机节点编号N
A,403和激活节点编号N
S,301，然后发送至动态可重构调度模块。其中智驾域控制器和底盘域控制器中的动态可重构调度模块对此节点控制信息不做出反应。娱乐域控制器的动态可重构调度模块则先将自身的工作状态转换为激活状态，然后向自身域内所有ECU节点广播激活命令，车机节点N
S,301接收到激活命令后将自身的工作状态转换为激活状态，域内其他节点仍维持待机状态。车身域控制器中的动态可重构调度模块向域内所有ECU节点广播待机命令，空调ECU节点N
A,403接收到待机命令后，将自身的工作状态由激活状态转换为待机状态，域内其他节点仍维持激活状态。此时的车辆网络拓扑如图8所示。
在异步时间段T
AT内，各个域控制器基于事件触发进行随机性通信；在空闲时间段T
FT内不进行通信；在同步时间段T
ST内，各个域控制器读取中央控制命令中的与其匹配的域控制器周期信息，并分别进行以T
Sample,1=10ms、T
Sample,2=20ms、T
Sample,3=20ms和T
Sample,4=20ms为采样周期的周期性通信。各个域控制器在异步时间段T
AT和同步时间段T
ST内利用信息融合模块，接收来自各自域内ECU和中央计算单元中信息预处理模块的信息，并将上述信息进行整合和校准，然后发送至决策控制计算模块、动态波特率计算模块和中央计算单元的信息预处理模块。决策控制计算模块利用信息融合模块传来的信息，运算出针对域内各ECU的控制命令，然后将控制命令发送至动态可重构调度模块。动态波特率计算模块利用信息融合模块传来的信息，实时运算出域控制器向域内各ECU发送信息的波特率的大小。
车辆在加速换道时工况复杂，对相机、雷达、驱动电机、转向电机等ECU的响应速度要求较高，因而此时智驾域和底盘域中的动态波特率计算模块实时计算出的波特率增大，以提升域内信息的实时性，娱乐域和车身域的波特率仍维持在一般速率大小。各个域控制器中的动态可重构调度模块接收和打包来自决策控制计算模块的控制命令、来自动态波特率计算模块的波特率数值和来自调度命令接收模块的中央调度命令，形成域内综合控制命令，然后广播发送至域内各ECU，各域内ECU根据域内综合控制命令做出响应，进而完成智能车辆的加速和换道过程。
本发明实施例提供的智能车辆动态可重构网络系统及网络调度方法，根据驾驶员意愿及车辆运行行驶状态，动态地激活或者待机网络系统中的一些网络节点，实时改变车辆的网络拓扑结构，从源头上避免无效信息的传输对网络资源的浪费，从而提高了网络资源的利用率。此外，网络系统中处于激活状态的节点动态变化，使得网络系统中传输的数据量也动态变化，本发明提出的网络调度方法可以根据车辆运行状态和网络系统中网络信息的传输情况，动态地变更可重构网络调度的基本周期、域控制器的采样周期和域内信息传输的波特率，进而实现智能车辆全工况下网络消息的实时性和网络带宽的高利用率。
另外，相应于上述实施例所提供的网络调度方法，本发明实施例还提供了一种智能车辆，该智能车辆可以包括：上述实施例所提供的智能车辆动态可重构网络系统；存储器，用于存储程序；处理器，用于通过执行存储器存储的程序以实现本发明实施例提供的网络调度方法的所有步骤。
另外，相应于上述实施例所提供的网络调度方法，本发明实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时实现本发明实施例的网络调度方法的所有步骤。
本领域技术人员可以理解，上述实施方式中各种方法的全部或部分功能可以通过硬件的方式实现，也可以通过计算机程序的方式实现。当上述实施方式中全部或部分功能通过计算机程序的方式实现时，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：只读存储器、随机存储器、磁盘、光盘、硬盘等，通过计算机执行该程序以实现上述功能。例如，将程序存储在设备的存储器中，当通过处理器执行存储器中程序，即可实现上述全部或部分功能。另外，当上述实施方式中全部或部分功能通过计算机程序的方式实现时，该程序也可以存储在服务器、另一计算机、磁盘、光盘、闪存盘或移动硬盘等存储介质中，通过下载或复制保存到本地设备的存储器中，或对本地设备的系统进行版本更新，当通过处理器执行存储器中的程序时，即可实现上述实施方式中全部或部分功能。
以上应用了具体个例对本发明进行阐述，只是用于帮助理解本发明，并不用以限制本发明。对于本发明所属技术领域的技术人员，依据本发明的思想，还可以做出若干简单推演、变形或替换。
Claims (10)
- 一种智能车辆动态可重构网络系统，其特征在于，所述系统包括中央计算单元、底盘域控制器、娱乐域控制器、智驾域控制器和车身域控制器，所述中央计算单元与所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器分别通过网络连接，所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器分别包括多个域内电子控制单元ECU并且分别与多个所述域内ECU通过网络连接，所述底盘域控制器用于控制车辆的底盘系统，所述娱乐域控制器用于控制车辆的多媒体娱乐系统，所述智驾域控制器用于控制车辆的自动驾驶系统，所述车身域控制器用于控制车辆的车身电子系统；所述中央计算单元，用于获取驾驶员操作指令信息和车辆运行状态信息，根据所述驾驶员操作指令信息和所述车辆运行状态信息，确定中央调度指令信息，并将所述中央调度指令信息发送至所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器，其中，所述中央调度指令信息包括：域控制器触发信息、节点控制信息和域控制器周期信息，所述节点控制信息包括需要激活或待机的域控制器和/或需要激活或待机的ECU；所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器，用于接收并解析所述中央调度指令信息，根据所述节点控制信息，更新自身域控制器的工作状态和连接的各所述域内ECU的工作状态，所述工作状态包括：激活状态和待机状态；处于激活状态的所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器或者所述车身域控制器根据所述域控制器周期信息、车辆运行状态信息和与各所述域内ECU连接的电子电气部件的状态信息，确定域内综合控制指令信息，并将所述域内综合控制指令信息发送至连接的各所述域内ECU，其中，所述域内综合控制指令信息包括所述中央调度指令信息、向各所述域内ECU发送信息的波特率数值和对各所述域内ECU的控制指令；处于激活状态的各所述域内ECU，用于接收所述域内综合控制指令信息，并根据所述域内综合控制指令信息，控制所连接的电子电气部件。
- 一种网络调度方法，其特征在于，应用于权利要求1所述的智能车辆动态可重构网络系统，所述方法包括：中央计算单元获取驾驶员操作指令信息和车辆运行状态信息，根据所述驾驶员操作指令信息和所述车辆运行状态信息，确定中央调度指令信息，并将所述中央调度指令信息发送至所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器，其中，所述中央调度指令信息包括：域控制器触发信息、节点控制信息和域控制器周期信息，所述节点控制信息包括需要激活或待机的域控制器和/或需要激活或待机的域内ECU；所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器接收并解析所述中央调度指令信息，根据所述节点控制信息，更新自身域控制器的工作状态和连接的各所述域内ECU的工作状态，所述工作状态包括：激活状态和待机状态；处于激活状态的所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器或所述车身域控制器根据所述域控制器周期信息、车辆运行状态信息和与各所述域内ECU连接的电子电气部件的状态信息，确定域内综合控制指令信息，并将所述域内综合控制指令信息发送至连接的各所述域内ECU，其中，所述域内综合控制指令信息包括所述中央调度指令信息、向各所述域内ECU发送信息的波特率数值和对各所述域内ECU的控制指令；处于激活状态的各所述域内ECU接收所述域内综合控制指令信息，并根据所述域内综合控制指令信息，控制所连接的电子电气部件。
- 如权利要求2所述的方法，其特征在于，所述域控制器触发信息包括：规划智能汽车网络调度的基本周期，所述基本周期包括触发时间段、节点控制时间段、异步时间段、空闲时间段和同步时间段，所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器在触发时间段内读取各自对应的所述域控制器周期信息，在异步时间段内基于事件触发进行随机性通信，在空闲时间段内不进行通信，在同步时间段根据各自对应的所述域控制器周期信息与连接的各所述域内ECU进行周期性通信。
- 如权利要求3所述的方法，其特征在于，所述根据所述驾驶员操作指令信息和所述车辆运行状态信息，确定中央调度指令信息，包括：根据所述车辆的速度、加速度和横摆角速度与在上一个所述基本周期从所述中央计算单元进出的网络流量和网络容量，确定所述域控制器触发信息；根据所述驾驶员操作指令信息和预设节点控制规则，确定所述节点控制信息；根据所述车辆的速度、加速度和横摆角速度、在上一个所述基本周期从所述中央计算单元进出的网络流量和网络容量与在上一个采样周期分别从所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器进出的事件触发信息和周期性信息的数量，确定所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器各自对应的域控制器周期信息；将所述域控制器触发信息、所述节点控制信息和各所述域控制器的域控制器周期信息打包得到所述中央调度指令信息。
- 如权利要求2所述的方法，其特征在于，所述处于激活状态的所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器或所述车身域控制器根据所述域控制器周期信息、车辆运行状态信息和与各所述域内ECU连接的电子电气部件的状态信息，确定域内综合控制指令信息，包括：根据在上一个采样周期分别从所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器进出的事件触发信息和周期性信息的数量与所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器各自对应的域控制器周期信息，得到所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器向连接的各所述域内ECU发送信息的波特率数值；处于激活状态的所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器或所述车身域控制器在各自对应的所述域控制器采样周期内，获取与各所述域内ECU连接的电子电气部件的状态信息，并根据与各所述域内ECU连接的电子电气部件的状态信息和所述车辆运行状态信息，确定连接的各所述域内ECU的控制指令；将所述中央调度指令信息、向连接的各所述域内ECU发送信息的波特率数值和对连接的各所述域内ECU的控制指令打包得到所述域内综合控制指令信息。
- 如权利要求2所述的方法，其特征在于，所述将所述中央调度指令信息发送至所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器，包括：将所述中央调度指令信息广播至所述底盘域控制器、所述娱乐域控制器、所述智驾域控制器和所述车身域控制器。
- 如权利要求2所述的方法，其特征在于，所述将所述域内综合控制指令信息发送至连接的各所述域内ECU，包括：将所述域内综合控制指令信息广播至连接的各所述域内ECU。
- 如权利要求2所述的方法，其特征在于，当所述节点控制信息包括需要待机的域控制器时，所述根据所述节点控制信息，更新自身域控制器的工作状态和连接的各所述域内ECU的工作状态，包括：将需要待机的域控制器和与所述需要待机的域控制器连接的各所述域内ECU的工作状态更新为待机状态。
- 一种智能车辆，其特征在于，包括：权利要求1所述的智能车辆动态可重构网络系统；存储器，用于存储程序；处理器，用于通过执行所述存储器存储的程序以实现如权利要求2-8所述的方法。
- 一种计算机可读存储介质，其特征在于，所述介质上存储有程序，所述程序能够被处理器执行以实现如权利要求2-8中任一项所述的方法。
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