CN117336113A - Communication method of vehicle control system and related device - Google Patents
Communication method of vehicle control system and related device Download PDFInfo
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- CN117336113A CN117336113A CN202311279040.XA CN202311279040A CN117336113A CN 117336113 A CN117336113 A CN 117336113A CN 202311279040 A CN202311279040 A CN 202311279040A CN 117336113 A CN117336113 A CN 117336113A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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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
- 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
- H04L69/22—Parsing or analysis of headers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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Abstract
The application provides a communication method of a vehicle control system and a related device. The method comprises the following steps: when a first CAN message on a CAN bus is monitored, acquiring and analyzing first information in the first CAN message, and sending the first information to an Ethernet; the first CAN message comprises a CAN message uploaded to a CAN bus by a second domain controller in a vehicle control system; when the second information is monitored to exist on the Ethernet, the second information is acquired, translated into a second CAN message, and the second CAN message is sent to a CAN bus; the second information includes information uploaded to the ethernet network by the first domain controller. The method enables the first domain controller to communicate with the CAN bus and the Ethernet, thereby reducing the load rate of the CAN bus.
Description
Technical Field
The present disclosure relates to the field of vehicle communication technologies, and in particular, to a communication method and a related device for a vehicle control system.
Background
With the improvement of the degree of electronics of vehicles, especially the increase of functions such as automatic driving, network, safety, entertainment and the like, the number of ECUs (Electronic Control Unit, electronic control units) of vehicles is continuously increasing, and the development of the vehicle from just a few ECUs in the past to the current hundreds of scales becomes more and more difficult.
The existing automobile control system architecture mostly adopts a mode of a domain controller (Domain Control Unit, DCU) or a multi-domain controller (Multi Domain Controller, MDC), intra-domain communication and cross-domain communication are usually carried out by a CAN bus or a CAN-FD bus, and each ECU uses signal data. With more and more applications of the upper layer, the data to be transmitted on the CAN bus is more and more, the corresponding ECU is gradually increased, and the communication load rate is very high.
Disclosure of Invention
The application provides a communication method and a related device of a vehicle control system, which are used for solving the problem that the CAN bus communication load rate of the vehicle control system is too high along with the increase of upper-layer application.
In a first aspect, the present application provides a communication method of a vehicle control system, applied to a first domain controller in the vehicle control system, including:
when a first CAN message on a CAN bus is monitored, acquiring and analyzing first information in the first CAN message, and sending the first information to an Ethernet; the first CAN message comprises a CAN message uploaded to the CAN bus by a second domain controller in the vehicle control system;
when the second information is monitored to exist on the Ethernet, the second information is acquired, the second information is translated into a second CAN message, and the second CAN message is sent to the CAN bus; the second information includes information uploaded to the ethernet network by the first domain controller.
In one possible implementation, the first domain controller includes a first communication interface; the first communication interface is packaged with a CAN device driver;
the obtaining and analyzing the first information in the first CAN packet includes:
and acquiring a first CAN message on the CAN bus through the first communication interface, and analyzing first information in the first CAN message.
In one possible implementation manner, the parsing the first information in the first CAN packet and sending the first information to the ethernet includes:
acquiring a CAN message translation file;
analyzing the CAN message translation file and determining the mapping relation between the CAN message and the information;
analyzing first information corresponding to the first CAN message based on the mapping relation between the CAN message and the information;
and packaging the first information into a data frame structure and uploading the data frame structure to the Ethernet.
In one possible implementation, the first domain controller includes a first virtual network interface;
and when the second information is monitored to exist on the Ethernet, acquiring the second information comprises the following steps:
and when the first virtual network interface monitors that the destination address of the data frame transmitted on the Ethernet is the same as the address of the first virtual network interface, downloading and analyzing the data frame to obtain the second information.
In one possible implementation, the first information includes a service, and the parsing the first information in the first CAN packet and sending the first information to the ethernet includes:
and converting the first CAN message into service through a signal conversion service program, and linking the service to the Ethernet.
In one possible embodiment, the second information is a seat heating request; the first domain controller is a cabin domain controller, and the second domain controller is a vehicle body domain controller;
when the second information is monitored to exist on the Ethernet, the second information is acquired, the second information is translated into a second CAN message, and the second CAN message is sent to the CAN bus, which comprises the following steps:
when the seat heating request is monitored to exist on the Ethernet, the seat heating request is acquired, the seat heating request is translated into a second CAN message, and the second CAN message is sent to the CAN bus, so that a seat heating executing mechanism connected with the CAN bus acquires the second CAN message.
In one possible embodiment, the first information includes vehicle lamp status information; the first domain controller is a cabin domain controller;
When a first CAN message on a CAN bus is monitored, acquiring and analyzing first information in the first CAN message, and sending the first information to an Ethernet, wherein the method comprises the following steps:
when a first CAN message on the CAN bus is monitored, acquiring and analyzing the car lamp state information in the first CAN message, and sending the car lamp state information to an Ethernet so as to enable a car lamp interaction program in the cabin area controller to acquire the car lamp state information.
In a second aspect, the present application provides a communication device of a vehicle control system, applied to a first domain controller in the vehicle control system, including:
the first communication module is used for acquiring and analyzing first information in a first CAN message when the first CAN message on the CAN bus is monitored, and sending the first information to the Ethernet; the first CAN message comprises a CAN message uploaded to the CAN bus by a second domain controller in the vehicle control system;
the second communication module is used for acquiring second information when the second information exists on the Ethernet, translating the second information into a second CAN message and sending the second CAN message to the CAN bus; the second information includes information uploaded to the ethernet network by the first domain controller.
In one possible implementation, the first domain controller includes a first communication interface; the first communication interface is packaged with a CAN device driver;
the first communication module includes:
and acquiring a first CAN message on the CAN bus through the first communication interface, and analyzing first information in the first CAN message.
In one possible embodiment, the first communication module further comprises:
acquiring a CAN message translation file;
analyzing the CAN message translation file and determining the mapping relation between the CAN message and the information;
analyzing first information corresponding to the first CAN message based on the mapping relation between the CAN message and the information;
and packaging the first information into a data frame structure and uploading the data frame structure to the Ethernet.
In one possible implementation, the first domain controller includes a first virtual network interface; the second communication module includes:
and when the first virtual network interface monitors that the destination address of the data frame transmitted on the Ethernet is the same as the address of the first virtual network interface, downloading and analyzing the data frame to obtain the second information.
In one possible implementation, the first information includes a service, and the first communication module includes:
And converting the first CAN message into service through a signal conversion service program, and linking the service to the Ethernet.
In one possible embodiment, the second information is a seat heating request; the first domain controller is a cabin domain controller, and the second domain controller is a vehicle body domain controller;
the second communication module includes:
when the seat heating request is monitored to exist on the Ethernet, the seat heating request is acquired, the seat heating request is translated into a second CAN message, and the second CAN message is sent to the CAN bus, so that a seat heating executing mechanism connected with the CAN bus acquires the second CAN message.
In one possible embodiment, the first information includes vehicle lamp status information; the first domain controller is a cabin domain controller; the first communication module includes:
when a first CAN message on the CAN bus is monitored, acquiring and analyzing the car lamp state information in the first CAN message, and sending the car lamp state information to an Ethernet so as to enable a car lamp interaction program in the cabin area controller to acquire the car lamp state information.
In a third aspect, the present application provides a domain controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the communication method of the vehicle control system as described in the possible implementation manner of the first aspect above when the computer program is executed.
In a fourth aspect, the present application provides a vehicle control system comprising a first domain controller and a second domain controller; the first domain controller is the domain controller described in the third aspect;
the first domain controller is connected with the CAN bus and the Ethernet respectively, and the second domain controller is connected with the CAN bus.
The embodiment of the application provides a communication method of a vehicle control system and a related device, wherein when a first CAN message on a CAN bus is monitored, first information in the first CAN message is acquired and analyzed, and the first information is sent to an Ethernet; the first CAN message is a CAN message uploaded to the CAN bus by a second domain controller in the vehicle control system; when the second information is monitored to exist on the Ethernet, the second information is acquired, the second information is translated into a second CAN message, and the second CAN message is sent to the CAN bus; the second information is information uploaded to the Ethernet by the first domain controller. The method enables the first domain controller to communicate with the CAN bus and communicate with the Ethernet, so that the newly added application program CAN be arranged on the first domain controller on the basis of not affecting the original CAN communication architecture, and the problem of overhigh load rate on the CAN bus caused by the continuous increase of upper-layer applications is solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a conventional vehicle control system provided in an embodiment of the present application;
fig. 2 is an application scenario diagram of a communication method of a vehicle control system provided in an embodiment of the present application;
FIG. 3 is a flowchart of an implementation of a communication method of a vehicle control system provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a communication device of a vehicle control system provided in an embodiment of the present application;
fig. 5 is a schematic diagram of a domain controller provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following description will be made with reference to the accompanying drawings by way of specific embodiments.
Fig. 1 is a schematic structural diagram of an existing vehicle control system provided in an embodiment of the present application, as shown in fig. 1, each domain controller is connected through a cross-domain CAN bus, and communication of each functional program in the domain controller is implemented through the functional domain CAN bus.
Fig. 2 shows a schematic structural diagram of a vehicle control system provided in an embodiment of the present application, and as shown in fig. 2, the vehicle control system provided in an embodiment of the present application includes a first domain controller and a second domain controller. The first domain controller is connected with the Ethernet and the CAN bus respectively, and the second domain controller is connected with the CAN bus.
In this embodiment, the first domain controller may be a controller with a relatively rich computing power and storage space, or may be a newly added domain controller.
The embodiment does not change the current domain control architecture, discriminates the attribute and the state of the functional program running on the MCU (Microcontroller Unit, micro control unit) in the domain controller, and identifies the real-time performance, the safety, the basic function and other characteristics of the functional program based on the attribute and the state of the functional program. Functional programs with higher requirements on real-time performance or safety are still deployed on the original MCU; programs with lower requirements on real-time performance or safety are deployed in other MCUs with more abundant computing power and storage space.
Specifically, the domain controller in the vehicle control system comprises an A-core domain controller and an R-core domain controller and an M-core domain controller, wherein the processor architecture of the A-core is a Cortex-A or hardware platform with the same processing capacity, the memory resource is more than 512KB, the file system is perfect, a large amount of data can be stored, and the POSS interface specification is followed. The R core domain controller is mainly used for a deep embedded real-time system with strict real-time response limitation. The processor architecture of the M core is a Cortex-M or hardware platform with equivalent processing capacity, the system memory is generally lower than 512KB, no file system or only a light-weight file system which can be used in a limited way is provided, and the CMSS interface specification is followed.
The first domain controller provided in this embodiment may be an a-core domain controller or an R-core domain controller, and preferably, the first domain controller is an a-core domain controller.
Referring to fig. 3, a flowchart of an implementation of a communication method of a vehicle control system provided in an embodiment of the present application is shown, where a communication program corresponding to the communication method is applied to a first domain controller in the vehicle control system, and is described in detail as follows:
s101: when a first CAN message on a CAN bus is monitored, acquiring and analyzing first information in the first CAN message, and sending the first information to an Ethernet; the first CAN message comprises a CAN message uploaded to the CAN bus by a second domain controller in the vehicle control system.
In the prior art, as the application of the upper layer is continuously increased, the problem that the load rate on the CAN bus is higher and higher is caused by adopting the traditional CAN bus communication, in order to solve the problem that the load rate on the CAN bus is continuously increased due to the increase of application programs, the embodiment provides a communication method of a vehicle control system, and the method is used for increasing Ethernet communication on the basis of unchanged original CAN communication architecture of a vehicle.
Specifically, the second domain controller is an original controller adopting CAN communication of the vehicle control system, and the first domain controller CAN be a newly added controller adopting Ethernet communication, or CAN be an A core or R core controller capable of building an Ethernet communication network in the original domain controller. In order to realize interaction of CAN bus data and Ethernet data, a communication program is arranged on a first domain controller, the communication program CAN monitor messages on a CAN bus, when the CAN bus is monitored to have the CAN messages, whether the CAN messages are needed messages or not is determined through local filtering, if yes, the CAN messages are downloaded, the CAN messages are used as first CAN messages, the first CAN messages are analyzed to obtain first information, then the first information is sent to the Ethernet, so that the functional program on the first domain controller connected with the Ethernet downloads the first information, and the effect of expanding the Ethernet communication architecture on the basis of the original CAN bus communication architecture is realized.
S102: when the second information is monitored to exist on the Ethernet, the second information is acquired, the second information is translated into a second CAN message, and the second CAN message is sent to the CAN bus; the second information includes information uploaded to the ethernet network by the first domain controller.
In this embodiment, the first domain controller is further connected to the ethernet, and the functional program on the first domain controller may send the generated information to the ethernet, and when the communication program of the first domain controller monitors that the information is the information needed by the user, the communication program of the first domain controller takes the information as second information and downloads the second information, and then translates the second information into a CAN message and sends the CAN message to the CAN bus, so that only the second domain controller connected to the CAN bus CAN obtain the information generated by the first domain controller, thereby implementing that the relevant functional program is deployed on MCUs in different domains to reduce the calculation force of a part of the MCUs.
It will be appreciated that when a new function program and corresponding actuator are to be added to the vehicle, the function program may be located within the first domain controller and communicatively coupled to the corresponding actuator using ethernet. When the calculation force in the original domain controller is insufficient, a functional program with low real-time requirement in the original domain controller CAN be transferred into the first domain controller, and the functional program is in communication connection with an executing mechanism originally hung on the CAN bus through a communication program of the first domain controller.
According to the embodiment, the first domain controller CAN communicate with the CAN bus and the Ethernet, so that the newly added application program CAN be arranged on the first domain controller on the basis of not affecting the original CAN communication architecture, and the problem of overhigh load rate on the CAN bus caused by the continuous increase of upper-layer applications is solved.
In one possible implementation, the first domain controller includes a first communication interface; the first communication interface is packaged with a CAN device driver; the specific implementation flow for acquiring and analyzing the first information in the first CAN packet in S101 includes:
and acquiring a first CAN message on the CAN bus through the first communication interface, and analyzing first information in the first CAN message.
In this embodiment, the first communication interface is a communication interface obtained by encapsulating a CAN device driver on the Linux system with a Socket CAN Socket technology. The communication program provided by the embodiment is connected with the CAN bus by utilizing the technology, and CAN directly acquire data from the CAN bus or upload the data to the CAN bus, so that the data interaction between the Ethernet and the CAN bus is realized, namely, a data path is established between the CAN bus and the Ethernet by using an encoding means.
In one possible implementation manner, the specific implementation procedure of resolving the first information in the first CAN packet in S101 includes:
acquiring a CAN message translation file;
analyzing the CAN message translation file and determining the mapping relation between the CAN message and the information;
analyzing first information corresponding to the first CAN message based on the mapping relation between the CAN message and the information;
and packaging the first information into a data frame structure and uploading the data frame structure to the Ethernet.
In this embodiment, the CAN message translation file is a CAN bus diagnostic file format. Specifically, the CAN message translation file may be a DBC (Database CAN) file; it is an XML format file used to define the CAN bus communication protocol in a Controller Area Network (CAN) bus diagnostic tool. The DBC file contains information such as CAN communication signal, message ID, data length, period, etc. The first domain controller CAN translate the information and the CAN message through the CAN message translation file.
In one possible implementation, the first domain controller includes a first virtual network interface; in S102, when it is monitored that the second information exists on the ethernet, a specific implementation procedure for obtaining the second information includes:
And when the first virtual network interface monitors that the destination address of the data frame transmitted on the Ethernet is the same as the address of the first virtual network interface, downloading and analyzing the data frame to obtain the second information.
In this embodiment, the destination address includes a MAC address and an IP address.
Specifically, each function program on the first domain controller corresponds to a virtual network interface, after generating the second information, any function program a on the first domain controller determines whether the function program B is a function program on the first domain controller or a function program on the second domain controller if the function program B is to be sent to the related function program B, if the function program B is a function program on the first domain controller, the MAC of the first domain controller where the function program is located and the IP address of the virtual network interface corresponding to the function program B are used as destination addresses, the virtual network interface corresponding to the function program a is used to package the generated data into a data frame and upload the data frame to the ethernet, and the virtual network interface corresponding to the function program B receives and analyzes the second information in the data frame.
If the function program B is the function program of the second domain controller, the function program A takes the IP address of the first virtual network interface and the MAC address of the first domain controller as destination addresses, adopts the corresponding virtual network interface to package the generated data and destination addresses into data frames, sends the data frames to the Ethernet, monitors the destination addresses of the data frames by the first virtual network interface, and downloads the data frames and analyzes the data frames to obtain second information if the first virtual network interface monitors that the MAC address and the IP address of the data frames are consistent with the local MAC address and the local IP address of the first virtual network interface. And then translating the second information into a second CAN message, and broadcasting the second CAN message by a CAN bus so as to enable the functional program B to obtain the second information.
In this embodiment, after generating the first information, the function program X on the second domain controller determines an address of the function program Y that needs the first information, and takes the address of the function program Y as a destination address, packages the first information and the destination address into a first CAN packet, uploads the first CAN packet to the CAN bus, and if the function program Y is the function program of the first domain controller, the first domain controller performs local filtering on the CAN packet on the CAN bus through the first communication interface, and if the function program Y is the function program of the first domain controller, the filtering obtains the first CAN packet, analyzes the first CAN packet to obtain the first information, packages the first information into a data frame structure, sends the data frame to the ethernet, and downloads the data frame by a virtual network interface corresponding to the function program Y connected to the ethernet based on the destination address in the data frame structure, so as to obtain the first information.
In one possible implementation manner, the first information includes a service, and the specific implementation process of analyzing the first information in the first CAN packet and sending the first information to the ethernet in S101 includes:
the first CAN message is converted to a service by a signal to service scheme (Signal to Service, S2S) service program and the service is linked to the ethernet.
Specifically, the signal conversion service program is used for performing a signal to service conversion function.
In one possible embodiment, the second information includes seat heating request information; the first domain controller is a cabin domain controller, and the second domain controller is a vehicle body domain controller;
the specific implementation flow of S102 includes:
when the seat heating request information uploaded by the seat function interaction program of the cabin domain controller exists on the Ethernet is monitored, the seat heating request information is acquired, the seat heating request information is translated into a second CAN message, the second CAN message is sent to the CAN bus, so that the seat function control program on the second domain controller connected with the CAN bus downloads the second CAN message, the seat heating request information of the second CAN message is analyzed, seat heating processing information is generated based on the seat heating request information, the seat heating processing information is translated into the CAN message and is uploaded to the CAN bus, and a seat heating executing mechanism acquires the CAN message from the CAN bus and executes seat heating operation.
In one possible embodiment, the first information includes vehicle lamp status information; the first domain controller is a cabin domain controller;
The specific implementation flow of S101 includes:
when a first CAN message on the CAN bus is monitored, acquiring and analyzing the car lamp state information in the first CAN message, and sending the car lamp state information to an Ethernet so as to enable a car lamp interaction program in the cabin area controller to acquire the car lamp state information.
In this embodiment, the second information further includes an operation request of the vehicle lamp. Specifically, the car light interaction program is located in the cabin controller and is used for acquiring an operation request of a user on the car light, when the car light interaction program acquires the operation request input by the user, the operation request is sent to the ethernet, when the communication program monitors a data packet on the ethernet, the data packet is acquired and analyzed to acquire the operation request of the car light, the operation request of the car light is translated into a second CAN message and uploaded to the CAN bus, the car light control program of the car body controller acquires and analyzes the operation request of the car light in the second CAN message, and determines a corresponding car light control instruction, translates the car light control instruction into the CAN message and uploads the CAN message to the CAN bus, the car light acquires the car light control instruction from the CAN bus and executes corresponding operation, then translates the current car light state information into a first CAN message and uploads the CAN bus, and when the communication program monitors the first CAN message on the CAN bus, acquires and analyzes the car light state information in the first CAN message and sends the car light state information to the ethernet, so that the car light interaction in the cabin controller acquires the car light state information of the car light or changes the car light state information in the car light interaction screen or changes the display screen.
The method CAN realize the cross-domain communication of the two domain controllers under different communication modes, so that the newly added application program CAN be arranged on the first domain controller to avoid the problem of overhigh load rate on the CAN bus.
In one possible embodiment, the second information includes seat heat treatment information; the first domain controller is a cabin domain controller, and the second domain controller is a vehicle body domain controller;
the specific implementation flow of S102 includes:
when the seat heating information uploaded by the seat function program exists on the Ethernet, acquiring the seat heating information, translating the seat heating information into a second CAN message, and sending the second CAN message to the CAN bus, so that a seat heating executing mechanism connected with the CAN bus acquires the second CAN message.
The cabin domain controller is generally rich in storage space, the vehicle body domain controller is insufficient in calculation power and storage space, the seat function program in the vehicle body domain controller is looser than the feedback time required by the vehicle body domain controller relative to the programs related to anti-theft authentication and the like and safety, therefore, the seat function program (comprising the seat function interaction program and the seat function control program) in the vehicle body domain controller CAN be integrally arranged on the cabin domain controller of the core A, after a seat heating request is generated by the cabin domain controller, the request is firstly sent to the seat function program on the core A through the Ethernet, after the seat function program executes certain operation, the generated data is sent to the Ethernet, the communication program of the cabin domain controller downloads the data, translates the data into a CAN message through a CAN message translation file, finally, the CAN message is issued on a CAN bus, and a heating executing mechanism corresponding to the seat function program receives the data generated by the seat function program through the CAN bus, so that subsequent processing operation is performed based on the data generated by the seat function program.
The method can support the transfer of partial functions and programs from the current domain controller to other functional domain controllers, and can ensure corresponding reaction speed; the complex calculation operation CAN be transferred to the idle domain controller, so that the load pressure of the CAN bus CAN be reduced, the calculation force pressure of part of domain controllers CAN be reduced, and the whole vehicle control system CAN realize more complex functional programs without being influenced by the calculation force of the MCU with minimum change force.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
The following are device embodiments of the present application, for details not described in detail therein, reference may be made to the corresponding method embodiments described above.
Fig. 4 shows a schematic structural diagram of a communication device of a vehicle control system according to an embodiment of the present application, where the communication device is applied to a first domain controller in the vehicle control system, and for convenience of explanation, only a portion related to the embodiment of the present application is shown, and the following details are described:
as shown in fig. 4, the communication device 100 of the vehicle control system includes:
The first communication module 110 is configured to, when a first CAN packet on a CAN bus is monitored, acquire and parse first information in the first CAN packet, and send the first information to the ethernet; the first CAN message comprises a CAN message uploaded to the CAN bus by a second domain controller in the vehicle control system;
the second communication module 120 is configured to obtain second information when it is monitored that the second information exists on the ethernet, translate the second information into a second CAN packet, and send the second CAN packet to the CAN bus; the second information includes information uploaded to the ethernet network by the first domain controller.
In one possible implementation, the first domain controller includes a first communication interface; the first communication interface is packaged with a CAN device driver;
the first communication module 110 includes:
and acquiring a first CAN message on the CAN bus through the first communication interface, and analyzing first information in the first CAN message.
In one possible implementation, the first communication module 110 further includes:
acquiring a CAN message translation file;
analyzing the CAN message translation file and determining the mapping relation between the CAN message and the information;
Analyzing first information corresponding to the first CAN message based on the mapping relation between the CAN message and the information;
and packaging the first information into a data frame structure and uploading the data frame structure to the Ethernet.
In one possible implementation, the first domain controller includes a first virtual network interface; the second communication module 120 includes:
and when the first virtual network interface monitors that the destination address of the data frame transmitted on the Ethernet is the same as the address of the first virtual network interface, downloading and analyzing the data frame to obtain the second information.
In one possible implementation, the first information includes a service, and the first communication module 110 includes:
and converting the first CAN message into service through a signal conversion service program, and linking the service to the Ethernet.
In one possible embodiment, the second information includes seat heat treatment information; the first domain controller is a cabin domain controller, and the second domain controller is a vehicle body domain controller;
the second communication module 120 includes:
when the seat heating information uploaded by the seat function program exists on the Ethernet, acquiring the seat heating information, translating the seat heating information into a second CAN message, and sending the second CAN message to the CAN bus, so that a seat heating executing mechanism connected with the CAN bus acquires the second CAN message.
In one possible embodiment, the first information includes vehicle lamp status information; the first domain controller is a cabin domain controller; the first communication module 110 includes:
when a first CAN message on the CAN bus is monitored, acquiring and analyzing the car lamp state information in the first CAN message, and sending the car lamp state information to an Ethernet so as to enable a car lamp interaction program in the cabin area controller to acquire the car lamp state information.
As CAN be seen from the above embodiments, the above device enables the first domain controller to communicate with both the CAN bus and the ethernet, thereby reducing the load rate of the CAN bus; the method can transfer the program with low real-time requirement in the vehicle control system to the first domain controller and communicate through the Ethernet on the basis of not affecting the original communication architecture, thereby solving the problems of insufficient calculation power and storage space of the domain controller.
In one possible implementation, the present embodiment provides a vehicle control system that includes a first domain controller and a second domain controller as described above.
The first domain controller is respectively communicated with the CAN bus and the Ethernet, and the second domain controller is communicated with the CAN bus.
The first domain controller is the domain controller with the largest storage space.
The present application also provides a computer program product having a program code which, when run in a corresponding processor, controller, computing device or terminal, performs steps in a communication method embodiment of any of the vehicle control systems described above, such as steps 101 to 102 shown in fig. 3. Those skilled in the art will appreciate that the methods and apparatus presented in the embodiments of the present application may be implemented in various forms of hardware, software, firmware, special purpose processors, or a combination thereof. The special purpose processor may include an Application Specific Integrated Circuit (ASIC), a Reduced Instruction Set Computer (RISC), and/or a Field Programmable Gate Array (FPGA). The proposed method and device are preferably implemented as a combination of hardware and software. The software is preferably installed as an application program on a program storage device. Which is typically a machine based on a computer platform having hardware, such as one or more Central Processing Units (CPUs), random Access Memory (RAM), and one or more input/output (I/O) interfaces. An operating system is also typically installed on the computer platform. The various processes and functions described herein may either be part of the application program or part of the application program which is executed by the operating system.
Fig. 5 is a schematic diagram of a domain controller provided in an embodiment of the present application. As shown in fig. 5, the domain controller 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in said memory 51 and executable on said processor 50. The processor 50, when executing the computer program 52, implements the steps of the communication method embodiment of each of the vehicle control systems described above, such as steps 101 through 102 shown in fig. 3. Alternatively, the processor 50, when executing the computer program 52, performs the functions of the modules/units of the apparatus embodiments described above, such as the functions of the modules 110 to 120 shown in fig. 4.
The computer program 52 may be, for example, split into one or more modules/units that are stored in the memory 51 and executed by the processor 50 to perform/implement the schemes provided herein. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions describing the execution of the computer program 52 in the domain controller 5.
The domain controller 5 may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the domain controller 5 and does not constitute a limitation of the domain controller 5, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the domain controller may further include input-output devices, network access devices, buses, etc.
The processor 50 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the domain controller 5, such as a hard disk or a memory of the domain controller 5. The memory 51 may be an external storage device of the domain controller 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the domain controller 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the domain controller 5. The memory 51 is used for storing the computer program and other programs and data required by the domain controller. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/domain controller and method may be implemented in other manners. For example, the apparatus/domain controller embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above-described embodiments, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of the communication method embodiments of the above-described respective vehicle control systems when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium may include content that is subject to appropriate increases and decreases as required by jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is not included as electrical carrier signals and telecommunication signals.
Furthermore, the features of the embodiments shown in the drawings or mentioned in the description of the present application are not necessarily to be construed as separate embodiments from each other. Rather, each feature described in one example of one embodiment may be combined with one or more other desired features from other embodiments, resulting in other embodiments not described in text or with reference to the drawings.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A communication method of a vehicle control system, characterized by being applied to a first domain controller in the vehicle control system, the method comprising:
when a first CAN message on a CAN bus is monitored, acquiring and analyzing first information in the first CAN message, and sending the first information to an Ethernet; the first CAN message comprises a CAN message uploaded to the CAN bus by a second domain controller in the vehicle control system;
When the second information is monitored to exist on the Ethernet, the second information is acquired, the second information is translated into a second CAN message, and the second CAN message is sent to the CAN bus; the second information includes information uploaded to the ethernet network by the first domain controller.
2. The communication method of a vehicle control system according to claim 1, wherein the first domain controller includes a first communication interface; the first communication interface is packaged with a CAN device driver;
the obtaining and analyzing the first information in the first CAN packet includes:
and acquiring a first CAN message on the CAN bus through the first communication interface, and analyzing first information in the first CAN message.
3. The communication method of the vehicle control system according to claim 1, wherein the parsing the first information in the first CAN message and transmitting the first information to the ethernet includes:
acquiring a CAN message translation file;
analyzing the CAN message translation file and determining the mapping relation between the CAN message and the information;
analyzing first information corresponding to the first CAN message based on the mapping relation between the CAN message and the information;
And packaging the first information into a data frame structure and uploading the data frame structure to the Ethernet.
4. The communication method of a vehicle control system according to claim 1, wherein the first domain controller includes a first virtual network interface;
and when the second information is monitored to exist on the Ethernet, acquiring the second information comprises the following steps:
and when the first virtual network interface monitors that the destination address of the data frame transmitted on the Ethernet is the same as the address of the first virtual network interface, downloading and analyzing the data frame to obtain the second information.
5. The communication method of the vehicle control system according to claim 1, wherein the first information includes a service, and wherein the parsing the first information in the first CAN message and transmitting the first information to the ethernet includes:
and converting the first CAN message into service through a signal conversion service program, and linking the service to the Ethernet.
6. The communication method of the vehicle control system according to claim 1, characterized in that the second information includes seat heating process information; the first domain controller is a cabin domain controller;
When the second information is monitored to exist on the Ethernet, the second information is acquired, the second information is translated into a second CAN message, and the second CAN message is sent to the CAN bus, which comprises the following steps:
when the seat heating processing information uploaded by the seat function program exists on the Ethernet is monitored, the seat heating processing information is acquired, the seat heating processing information is translated into a second CAN message, and the second CAN message is sent to the CAN bus, so that a seat heating executing mechanism connected with the CAN bus acquires the second CAN message.
7. The communication method of a vehicle control system according to claim 1, wherein the first information includes lamp state information; the first domain controller is a cabin domain controller;
when a first CAN message on a CAN bus is monitored, acquiring and analyzing first information in the first CAN message, and sending the first information to an Ethernet, wherein the method comprises the following steps:
when a first CAN message on the CAN bus is monitored, acquiring and analyzing the car lamp state information in the first CAN message, and sending the car lamp state information to an Ethernet so as to enable a car lamp interaction program in the cabin area controller to acquire the car lamp state information.
8. A communication device of a vehicle control system, characterized by being applied to a first domain controller in the vehicle control system, the device comprising:
the first communication module is used for acquiring and analyzing first information in a first CAN message when the first CAN message on the CAN bus is monitored, and sending the first information to the Ethernet; the first CAN message comprises a CAN message uploaded to the CAN bus by a second domain controller in the vehicle control system;
the second communication module is used for acquiring second information when the second information exists on the Ethernet, translating the second information into a second CAN message and sending the second CAN message to the CAN bus; the second information includes information uploaded to the ethernet network by the first domain controller.
9. A domain controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, realizes the steps of the communication method of the vehicle control system according to any one of the preceding claims 1 to 6.
10. A vehicle control system comprising a first domain controller and a second domain controller; the first domain controller is the domain controller of claim 8;
The first domain controller is connected with the CAN bus and the Ethernet respectively, and the second domain controller is connected with the CAN bus.
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| CN202311279040.XA CN117336113A (en) | 2023-09-28 | 2023-09-28 | Communication method of vehicle control system and related device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116016024A (en) * | 2023-01-03 | 2023-04-25 | 重庆长安汽车股份有限公司 | Can message packaging system |
| CN118625040A (en) * | 2024-08-14 | 2024-09-10 | 中汽研汽车零部件检验中心(宁波)有限公司 | Durability testing device for glass lifter system |
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2023
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116016024A (en) * | 2023-01-03 | 2023-04-25 | 重庆长安汽车股份有限公司 | Can message packaging system |
| CN118625040A (en) * | 2024-08-14 | 2024-09-10 | 中汽研汽车零部件检验中心(宁波)有限公司 | Durability testing device for glass lifter system |
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