CN114301946B

CN114301946B - Vehicle-mounted heterogeneous network system taking TSN as backbone network and vehicle

Info

Publication number: CN114301946B
Application number: CN202111653777.4A
Authority: CN
Inventors: 谢国琪; 张耀; 李仁发
Original assignee: Hunan University
Current assignee: Hunan University
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2023-06-16
Anticipated expiration: 2041-12-30
Also published as: CN114301946A

Abstract

The invention discloses a vehicle-mounted heterogeneous network system taking TSN as a main network and an automobile, comprising the main network based on TSN, a first vehicle-mounted network subdomain based on CAN network, a second vehicle-mounted network subdomain based on TSN network and a third network subdomain based on MOST network; the first vehicle-mounted network subdomain, the second vehicle-mounted network subdomain and the third network subdomain are in communication connection with a backbone network through a backbone network TSN switch, and the backbone network TSN switch is also connected with a central control unit. The method not only maintains the function subdomain division characteristic of the existing integrated network architecture, but also improves the network bandwidth and the computing capacity to meet the development requirement of the new generation intelligent network-connected automobile.

Description

Vehicle-mounted heterogeneous network system taking TSN as backbone network and vehicle

Technical Field

The invention relates to the field of automobile electronic control, in particular to a vehicle-mounted heterogeneous network system taking TSN as a main network and an automobile.

Background

The existing non-intelligent network vehicle-mounted network architecture adopts a centralized network architecture divided according to functional domains, and a typical centralized network architecture is a traditional vehicle-mounted network such as CAN, most and the like used by each functional domain. As shown in fig. 1, a centralized network architecture diagram divided by functional domains is provided. In this architecture, a plurality of electronic control units (Electronic Control Unit, ECU) are mounted on the same CAN bus, and different CAN buses are connected through a central control unit, which balances the problems of power consumption, cost, etc. in the on-board network of the automobile, until now, this network architecture has been used in some vehicles.

With the development of automotive electronics, the bottleneck of the bandwidth, the wire harness and the like of the traditional vehicle-mounted network is highlighted by the appearance of an automatic driving (advanced assisted driving) system and an intelligent cabin system, and meanwhile, the vehicle-mounted Ethernet is continuously developed, so that a Time-sensitive network (Time-Sensitive Networking, TSN) is claimed to be applied to the vehicle-mounted network.

Disclosure of Invention

The invention mainly aims to provide a vehicle-mounted heterogeneous network system and a vehicle which take TSN as a main network, so that the reliability of the network and lower time delay of key flow are ensured, and meanwhile, the synchronization of multiple sensor nodes can be ensured by the related characteristics.

In order to achieve the above objective, the present invention provides a vehicle heterogeneous network system using TSN as a backbone network, which includes a TSN-based backbone network, a CAN-based first vehicle network sub-domain, a TSN-based second vehicle network sub-domain, and a MOST network-based third network sub-domain; the first vehicle-mounted network subdomain, the second vehicle-mounted network subdomain and the third network subdomain are in communication connection with a backbone network through a backbone network TSN switch, and the backbone network TSN switch is also connected with a central control unit; wherein the first on-board network sub-domain comprises one or more of a powertrain domain, a chassis domain, and a body domain, the second on-board network sub-domain comprises an intelligent assisted driving system domain, and the third network sub-domain comprises an infotainment domain.

Further, an SJA1105TEL switching chip and an on-board TJA1100 Ethernet PHY chip are used in the backbone network TSN switch, and the backbone network TSN switch is connected with a plurality of nodes using the TJA1101PHY chip in the backbone network; the SJA1105TEL chip works at the MAC layer of the ISO/OSI network model and inputs and outputs data through an Ethernet link layer MII/RMII interface.

Further, the second on-board network sub-domain includes an intra-domain TSN switch and a plurality of TSN-based nodes communicatively coupled through the intra-domain TSN switch, the nodes including sensor nodes and actuator nodes; the intra-domain TSN switch is in communication connection with the backbone TSN switch through a domain control unit.

Further, each node of the second on-vehicle network subdomain is correspondingly provided with a TJA1101 chip connected with the TJA1100 chip and an ethernet controller built in the STM32F407ZGT chip, and the TJA1100 or the TJA1101 chip supports a physical layer-by-layer chip of TSN ethernet and is configured through an SMI interface.

Further, the CAN-TSN gateway of the first vehicle-mounted network subdomain is connected with the backbone TSN switch through a TJA1101 chip; the CAN-TSN gateway comprises a CAN controller and an Ethernet controller which are built in an STM32F407ZGT chip.

Further, the CAN-TSN gateway is connected with each CAN network node of the first vehicle network subdomain through a TJA1050 transceiver chip; the TJA1050 transceiver chip is an interface between the CAN protocol controller and the physical bus, providing differential transmission capability to the bus and differential reception capability to the CAN controller.

Further, the powertrain domain uses a high speed CAN network.

The invention also provides an automobile, which comprises an automobile body and the vehicle-mounted heterogeneous network system taking the TSN as a main network.

In the technical scheme of the invention, the distributed network architecture comprises a trunk network based on TSN, a first vehicle network subdomain based on CAN network, a second vehicle network subdomain based on TSN network and a third network subdomain based on MOST network; the first vehicle-mounted network subdomain, the second vehicle-mounted network subdomain and the third network subdomain are in communication connection with a backbone network through a backbone network TSN switch, and the backbone network TSN switch is also connected with a central control unit. The method not only maintains the function subdomain division characteristics of the existing integrated network architecture, but also improves the network bandwidth and the computing capacity to meet the development requirements of the new generation intelligent network-connected automobile, for example, the characteristics of TSN Ethernet clock synchronization, flow scheduling and shaping, communication path selection and redundancy and the like can be utilized to provide a network channel with high bandwidth, low time delay, real-time performance and reliability guarantee for the new generation intelligent network-connected automobile-connected network branch, and the requirements of high bandwidth and low time delay are met. The new generation intelligent network is connected with a vehicle-mounted heterogeneous network system taking TSN as a backbone network, the vehicle-mounted heterogeneous network system has flexibility, a traditional CAN network CAN still be used in traditional vehicle-mounted network subdomains such as a chassis domain and a vehicle body domain, a high-speed CAN network (CAN-FD) CAN be used in a power assembly domain, a MOST network CAN still be used in an information entertainment domain, and the subdomains CAN be connected with the backbone network through a gateway.

Drawings

Fig. 1 is a diagram of a conventional vehicle-mounted network architecture in the background art;

fig. 2 is a schematic diagram of a vehicle heterogeneous network system using TSN as a backbone network according to an embodiment of the present invention;

fig. 3 is a heterogeneous CAN-TSN network architecture of a vehicle heterogeneous network system using TSN as a backbone network according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a TSN end node software hierarchy in accordance with an embodiment of the present invention;

fig. 5 is a software-level architecture diagram of a CAN-TSN gateway node in an embodiment of the present invention.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.

Because intelligent network-connected automobiles need to sense, make decisions and execute, related systems need to process huge data, and Artificial Intelligence (AI) systems such as advanced driving assistance systems, automatic driving systems and the like can generate data exceeding GB/hour. The huge data communication makes the automobile network architecture have the characteristics of high bandwidth and strong real-time, and as the ethernet is gradually applied in the intelligent network-connected automobile, the automobile network architecture has gradually been developed from an integrated network architecture based on a central gateway into a hierarchical network architecture based on a domain-level network such as a TSN ethernet as a backbone network, an integrated power assembly, a chassis, a car body, entertainment and the like, namely a backbone ethernet architecture based on a domain control unit.

The new generation intelligent network-connected vehicle-mounted network architecture of the vehicle-mounted heterogeneous network system using the TSN as the backbone network is shown in fig. 2, wherein the TSN is used as the backbone network, and each sub-domain is provided with a respective domain control unit to control the communication in the domain. Therefore, the new generation of intelligent network on-board network architecture is a backbone ethernet architecture based on the domain control unit.

Referring to fig. 2, the vehicle heterogeneous network system 100 using TSN as a backbone network includes a TSN-based backbone network, a first vehicle network sub-domain based on CAN network, a second vehicle network sub-domain based on TSN network, and a third network sub-domain 30 based on MOST network; the first vehicle-mounted network sub-domain 10, the second vehicle-mounted network sub-domain 20 and the third network sub-domain 30 are in communication connection with a backbone network through a backbone network TSN switch 40, and the backbone network TSN switch 40 is further connected with a central control unit 50; wherein the first on-board network sub-domain 10 comprises one or more of a powertrain domain, a chassis domain, and a body domain, the second on-board network sub-domain 20 comprises an intelligent assisted driving system domain, and the third network sub-domain 30 comprises an infotainment domain.

The benefits of using the new generation intelligent networking vehicle-mounted network architecture are: the method not only maintains the function subdomain division characteristics of the existing integrated network architecture, but also improves the network bandwidth and the computing capacity to meet the development requirements of the new generation intelligent network-connected automobile, for example, the characteristics of TSN Ethernet clock synchronization, flow scheduling and shaping, communication path selection and redundancy and the like can be utilized to provide a network channel with high bandwidth, low time delay, real-time performance and reliability guarantee for the new generation intelligent network-connected automobile-connected network branch, and the requirements of high bandwidth and low time delay are met.

The new generation intelligent network-connected vehicle network architecture has flexibility, a traditional CAN network CAN still be used in traditional vehicle network subdomains such as a chassis domain and a vehicle body domain, a high-speed CAN network (CAN-FD) CAN be used in a power assembly domain, a MOST network CAN still be used in an infotainment domain, and the subdomains CAN be connected through a gateway and a backbone network.

While we also need to use TSN networks in advanced driving assistance systems, the current driving assistance (autopilot) solutions may have a large number of cameras, lidars, millimeter wave radar etc. sensors (the hillside P7 is loaded with up to 13 cameras), which makes the domain have huge traffic, and at the same time, needs to synchronize multiple sensor nodes, and the domain has high requirements for communication delay.

Further, the second on-board network sub-domain includes an intra-domain TSN switch 21 and a plurality of TSN-based nodes communicatively connected by the intra-domain TSN switch 21, the nodes including sensor nodes and actuator nodes; the intra-domain TSN switch is communicatively connected to the backbone TSN switch 40 through a domain control unit 22.

Further, the powertrain domain uses a high speed CAN network.

The specific implementation in this example is described in more detail below:

there are many SoC chips with CAN controllers on the market, and few ethernet switch chips supporting TSN characteristics. The scheme adopts the exchange chip of the Enzhi pump to realize the TSN Ethernet. The main chip used in the scheme and the chip function are as follows:

enzhi car Ethernet switch evaluation board 1: the main relevant chips are SJA1105TEL and TJA1100. The SJA1105TEL chip is a TSN switch chip, and the LPC1788FET208 may configure the SJA1105TEL chip through an SPI interface, which operates at the MAC layer of the ISO/OSI network model, and inputs and outputs data through an ethernet link layer MII/RMII interface, supporting rich, configurable TSN characteristics thereon. TJA1100 is a physical layer-by-layer chip (i.e., PHY) supporting TSN Ethernet. The LPC1788FET208 configures TJA1101 through the SMI interface. The evaluation board is a core component for TSN backbone ethernet networking.

Enzhi car Ethernet PHY evaluation boards 4: the main relevant chip is TJA1101, and TJA1101 is a physical layer-by-layer chip (namely PHY) supporting TSN Ethernet. TJA1101 may be configured through an SMI interface. The evaluation board is mainly used for TSN backbone network networking.

TJA1050CAN transceiver 3: TJA1050 is the interface between the CAN protocol controller and the physical bus. The device provides differential transmission capability to the bus and differential reception capability to the CAN controller. And the pins of PA11, PA12, GND, 5V and the like of the STM32 minimum system board are connected, so that the STM32 minimum system board is connected to the CAN bus.

STM32 minimum system board 6: the main relevant chip is STM32F407ZGT. The STM32F407ZGT chip is an SoC based on an ARM Cortex-M4 core, and the peripheral side is provided with a USART serial port controller, a CAN controller and a standard Ethernet controller (MAC layer) which are needed by the scheme. The CAN controller adopts a TJA1050 chip, and meanwhile, part of development boards drive the TJA1101 through the RMII interface to realize the Ethernet related functions.

Please also refer to fig. 3, which is a heterogeneous CAN-TSN network architecture of the vehicle heterogeneous network system 100 using TSN as a backbone network in an example of the present application. Wherein D, E, F is a node on the TSN Ethernet network, and B, C is a node on the CAN network. The A node is a CAN-TSN gateway, which belongs to both the TSN Ethernet network and the CAN network. All nodes have receiving and transmitting functions.

Please also refer to fig. 4-5, which illustrate a software implementation of the vehicle heterogeneous network system 100 using TSN as a backbone network. Therein, as in fig. 4, there is a TSN terminal node software hierarchy (node D, E, F) in one example. The software-level architecture of the TSN terminal node is shown in fig. 5, the STM32 drives the TJA1101 ethernet PHY through the RMII interface, and on the STM32 development board, we use the FreeRTOS operating system to facilitate the implementation of the target function, and use the ethernet TCP/IP protocol stack Lwip to facilitate the memory management. The 1588 protocol control frame is specially processed by opening a task, so that the Ethernet node can realize clock synchronization.

In this example, as shown in fig. 5, the software hierarchy of the CAN-TSN gateway node (node a) is shown in fig. 5, and the STM32 drives the TJA1101 ethernet PHY through the rmi interface, and the gateway node also needs to drive the CAN controller. On the STM32 development board, the FreeRTOS operating system is used for conveniently realizing target functions, and the Ethernet TCP/IP protocol stack Lwip is used for conveniently managing the memory. The 1588 protocol control frame is specially processed by opening a task, so that the Ethernet node can realize clock synchronization. Besides the first time, the APP of CAN-TSN protocol conversion is also completed and is used for realizing the two-way communication of a CAN bus and a TSN network, a plurality of gateway scheduling algorithms are realized on the APP, and the relevant configuration of the protocol conversion CAN be carried out.

The configuration of the TSN switch in an example has a base configuration, a path planning configuration (routing configuration, priority mapping configuration, etc.), an on-board PHY configuration, and a TSN-related characteristics configuration (e.g., TAS reference always configuration, CBS configuration, etc.). Through the actual application scene, the flow planning and the selection of the required characteristics are completed, the configuration is completed, the configuration flow is generated, then the configuration flow is sent to the on-board controller through the UART serial port, and the on-board controller LPC1788FET208 realizes the final configuration of the SJA1105TEL through the SPI interface.

The invention also provides an automobile, which comprises an automobile body (not shown in the figure) and the vehicle-mounted heterogeneous network system taking the TSN as a main network.

It can be understood that, because the present embodiment includes all technical solutions of the vehicle-mounted heterogeneous network system embodiment using TSN as the backbone network, at least all technical effects of the above embodiments are provided, and will not be described in detail herein.

In the description of the present specification, the descriptions of the terms "one embodiment," "another embodiment," "other embodiments," or "first through X-th embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, method steps or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims

1. The vehicle-mounted heterogeneous network system taking the TSN as the backbone network is characterized by comprising a first vehicle-mounted network subdomain based on a CAN network, a second vehicle-mounted network subdomain based on the TSN network and a third network subdomain based on an MOST network; the first vehicle network subdomain, the second vehicle network subdomain and the third network subdomain are in communication connection with a trunk TSN network through a trunk TSN switch, and the trunk TSN switch is also connected with a central control unit; the first vehicle-mounted network sub-domain comprises a power assembly domain, a chassis domain and a vehicle body domain, the second vehicle-mounted network sub-domain comprises an intelligent auxiliary driving system domain, the third network sub-domain comprises an infotainment domain, and the backbone network TSN switch comprises an SJA1105TEL chip and a plurality of TJA1100 chips corresponding to a plurality of nodes of the second vehicle-mounted network sub-domain; the SJA1105TEL chip works on the MAC layer of the ISO/OSI network model and inputs and outputs data through an Ethernet link layer MII/RMII interface; the second on-board network sub-domain includes a slave TSN switch and a plurality of TSN-based nodes communicatively connected by the slave TSN switch, the nodes including sensor nodes and actuator nodes; the slave TSN switch is in communication connection with the backbone TSN switch through a domain control unit; each node of the second vehicle-mounted network subdomain is correspondingly provided with a TJA1101 chip connected with the TJA1100 chip and an Ethernet controller based on an STM32F407ZGT chip, the TJA1101 chip supports a physical layer-by-layer chip of TSN Ethernet and is configured through an SMI interface, and a plurality of sensor nodes are synchronized in an intelligent auxiliary driving system domain, and all the nodes have receiving and transmitting functions; the method has the advantages that the fault tolerance characteristics are reserved by utilizing the time synchronization, the flow scheduling and the shaping of the TSN Ethernet and the selection of communication paths, so that a network channel with high bandwidth, low time delay, real-time performance and reliability guarantee is provided for the network branch of the new generation intelligent network vehicle-mounted network, and the requirements of high bandwidth and low time delay are met;

the backbone network TSN switch is connected with the CAN-TSN gateway of the first vehicle network subdomain through a TJA1100 chip and a TJA1101 chip; the CAN-TSN gateway comprises an Ethernet-CAN controller based on an STM32F407ZGT chip;

the CAN-TSN gateway is connected with each CAN network node of the first vehicle network subdomain through a TJA1050 chip; the TJA1050 chip is an interface between the CAN protocol controller and the physical bus, provides differential transmission capability to the bus, and provides differential reception capability to the CAN controller.

2. The vehicle heterogeneous network system according to claim 1, wherein the powertrain domain uses a high-speed CAN network.

3. An automobile, comprising an automobile body and the vehicle-mounted heterogeneous network system using the TSN as a backbone network according to any one of claims 1 to 2.