CN114785474B

CN114785474B - In-vehicle SOME/IP transmission method and device based on TSN time-sensitive network

Info

Publication number: CN114785474B
Application number: CN202210336726.7A
Authority: CN
Inventors: 肖文平; 黄飞
Original assignee: Shanghai Hinge Electronic Technologies Co Ltd
Current assignee: Shanghai Hinge Electronic Technologies Co Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2024-02-20
Anticipated expiration: 2042-03-31
Also published as: CN114785474A

Abstract

The invention provides an in-vehicle SOME/IP transmission method and device based on a TSN time-sensitive network, which specifically at least comprise the following steps: starting a core process in the SOMEIPTTTd module, and initializing a bottom socket channel; monitoring a data packet from an application layer, packaging the data packet based on SOME/IP protocol through a SOMEIPTTd module, transmitting the data packet to a byte-sleeved channel at a lower layer, and transmitting the data packet to a target client; or data exchange is realized among a plurality of application programs based on SOME/IP protocol among application layers through a SOMEIPTTTd module. In-vehicle SOME/IP transmission method of time-sensitive network, further optionally, SOMEIPTTd module is provided with time timing trigger mechanism, and time information is obtained by sharing memory and gPTP core time synchronization process, and is recovered to real-time clock. Through the technical scheme, the transmitted or received data can be packaged or unpacked, so that the time synchronization of the data with different priorities is realized.

Description

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

Technical Field

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

Background

With the development progress of technology in recent years, the automobile industry is advanced by the pusher, and the automobile industry is advanced continuously towards the direction of auxiliary driving, automatic driving and unmanned driving, so that the traditional low-custom and high-reliability transmission CAN bus cannot meet the development requirements of high bandwidth and low delay required by image or video and laser radar sensors, while the on-board Ethernet bus technology has higher bandwidth, instantaneity and low cost and becomes a necessary choice, and the communication protocol of the on-board Ethernet time-sensitive network (TSN) is used for data communication, but the current time-sensitive network (TSN) mainly works in an OSI-2 data link layer, and the native TSN is evolved by AVB, so that the current time sensitivity mainly exists in an AVB data stream, namely a data packet AVBTP of an OSI-2 layer. With the gradual evolution of E/E architecture, the area architecture has become the mainstream, however, the area architectures are all connected through a high-bandwidth vehicle-mounted ethernet, so that the real-time performance of transmission cannot be guaranteed by the best effort transmission of the conventional ethernet at present, the real-time performance of network data is guaranteed by TSN time sensitivity, but in-car control commands, key command transmission is transmitted through SOME/IP, but the real-time performance of the control commands and key data transmitted through SOME/IP is not specified and indicated by AUTOSAR, so that development of the existing automobile technology is urgently needed to provide a real-time transmission technology capable of realizing the real-time performance based on the TSN network.

Disclosure of Invention

Based on the drawbacks of the prior art, the present invention provides a solution based on one of them to solve one of the technical drawbacks occurring in the prior art.

Specifically, the invention provides an in-vehicle SOME/IP transmission method of a TSN time-sensitive network, which specifically at least comprises the following steps: starting a core process in the SOMEIPTTTd module, and initializing a bottom socket channel;

monitoring a data packet from an application layer, packaging the data packet based on SOME/IP protocol through a SOMEIPTTd module, transmitting the data packet to a byte-sleeved channel at a lower layer, and transmitting the data packet to a target client;

or data exchange is realized among a plurality of application programs based on SOME/IP protocol among application layers through a SOMEIPTTTd module.

In-vehicle SOME/IP transmission method of TSN time sensitive network, further optionally, SOMEIPTTd module is provided with time timing trigger mechanism, and time information is obtained through shared memory and gPTP core time synchronization process, and is recovered to real-time clock.

Further optionally, an application program of the processing application layer transmits data to be transmitted to a SOMEIPTTTd module.

Further optionally, the method for transmitting SOME/IP in the vehicle of the TSN time-sensitive network acquires transmission priority, creates a corresponding VLANtag at a transmitting port of the vehicle-mounted Ethernet according to the priority, and is used for transmitting a data packet with the corresponding priority.

In-vehicle SOME/IP transmission method of TSN time-sensitive network, further optionally, SOMEIPTTd module configures transmission information according to priority, and selects channels according to the time-sensitive information.

Further optionally, the SOMEIPTTd module sends SOME/IP protocol communication data according to a priority channel according to a real-time clock.

In-vehicle SOME/IP transmission method of TSN time-sensitive network, further optionally, when the data packet needs to be transferred to the target client through the gateway, the gateway analyzes the received data packet to obtain VLANtag information of the data packet, and the gateway forwards the time-sensitive data in real time according to the VLANtag information.

Further optionally, when the time sensitive data arrives at the data port of the target client, the SOMEIPTTd module receives the data according to the priority channel.

Further optionally, the SOMEIPTTd module triggers a time recovery mechanism according to the time sensitive priority;

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

An in-vehicle SOME/IP transmission apparatus based on a TSN time-sensitive network, comprising: the system comprises a target client, a service client and a gateway, wherein the service client and the target client communicate based on SOME/IP protocol;

the gateway is used as an information exchange device of the target client and the service client, and receives and forwards data to the target client based on the SOME/IP protocol.

The target client or service client includes a SOMEIPTTTd module for enabling real-time communication of data based on SOME/IP protocol.

In-vehicle SOME/IP transmission device based on time-sensitive network, further optionally, SOMEIPTTd module at least comprises:

the gPTP time synchronization process submodule is used for time synchronization of sending or receiving data;

the SOME/IP core protocol processing submodule is used for packaging or unpacking the data according to the SOME/IP protocol;

the TSN priority and time sensitive sub-module is used for judging the priority of sending or receiving data;

and the priority channel and VLANtag sub-module is used for creating a transmission channel and adding a VLANtag according to the priority of the data.

An apparatus based on a TSN time sensitive network, comprising at least a processor and a memory, characterized in that the memory is adapted to store a computer program of the above method,

the processor is coupled with the memory and is used for executing the computer program for realizing data communication between the target client and the server based on SOME/IP protocol.

The beneficial effects are that:

according to the technical scheme provided by the invention, the SOMEIPTTd module is arranged in the middleware by arranging the middleware based on the SOME/IP protocol, and the plurality of sub-modules are arranged in the SOMEIPTd module, so that the transmitted or received data are packaged or unpacked, and the time synchronization of the data with different priorities is realized.

Drawings

The following drawings are only illustrative of the invention and do not limit the scope of the invention.

FIG. 1 is a schematic diagram of a SOMEIPTTTd module including sub-modules according to an embodiment of the invention.

Fig. 2 is a schematic diagram of a SOMEIPTTTd module according to an embodiment of the invention.

Fig. 3 is a schematic diagram of communication among various applications APP based on SOME/IP according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a service client and a target client according to an embodiment of the present invention, which are based on the SOME/IP protocol, communicating through a network.

Detailed Description

For a clearer understanding of the technical features, objects and effects herein, a detailed description of the present invention will now be made with reference to the accompanying drawings in which like reference numerals refer to like parts throughout the various views. For simplicity of the drawing, the figures schematically show portions relevant to the present invention and do not represent the actual structure thereof as a product. In addition, for simplicity and ease of understanding, components having the same structure or function in some of the figures are shown schematically only one of them, or only one of them is labeled.

With respect to control systems, functional blocks, applications (APP), etc. are well known to those skilled in the art and may take any suitable form, either hardware or software, as well as a plurality of functional blocks disposed discretely, or as a plurality of functional units integrated into one piece of hardware. In its simplest form, the control system may be a controller, such as a combinational logic controller, a micro-programmed controller, or the like, so long as the operations described herein are enabled. Of course, the control system may also be integrated as a different module into one physical device, without departing from the basic principle and scope of the invention.

"connected" in the present invention may include a direct connection, or may include an indirect connection, a communication connection, or an electrical connection, unless specifically indicated otherwise.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, values, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, values, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items

It should be understood that the term "vehicle" or "vehicular" or other similar terms as used herein generally include motor vehicles, such as passenger automobiles including Sport Utility Vehicles (SUVs), buses, trucks, various commercial vehicles, watercraft including various boats, ships, aircraft, etc., and include hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from non-petroleum sources of energy). As referred to herein, a hybrid vehicle is a vehicle having two or more power sources, such as a vehicle that is both gasoline powered and electric powered.

Furthermore, the controller of the present disclosure may be embodied as a non-transitory computer readable medium on a computer readable medium containing executable program instructions for execution by a processor, controller, or the like. Examples of computer readable media include, but are not limited to, ROM, RAM, compact Disk (CD) -ROM, magnetic tape, floppy disk, flash memory drives, smart cards, and optical data storage devices. The computer readable recording medium CAN also be distributed over network coupled computer systems so that the computer readable recording medium is stored and executed in a distributed fashion, for example, by a telematics server or Controller Area Network (CAN).

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

the SOME/IP transmission device at least comprises one or more of a micro-processing controller, a SoC controller, a PC and a mobile terminal,

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

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

the SOMEIPTTTd module encapsulates and transmits data generated by an application program at an application layer through the submodule based on SOME/IP protocol;

specifically, the message format of the SOME/IP protocol is as follows:

consists of a message Header (Header) and a message body (Payload), the Header mainly comprising the following fields:

the Message ID is used for uniquely identifying the Message, and consists of a Service ID and a Method ID when the Message is of a Method type and consists of a Service ID and an Event ID when the Message is of an Event type;

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

the Request ID, the service provider and the caller can be used for distinguishing different calls of the same message, and the call ID consists of a Client ID and a Session ID;

the Service provider is Service, the Service caller is Client, the Service ID and the Client ID are used for distinguishing, and the values of the IDs are uniformly configured in an SOA architecture.

And the gPTP time synchronization sub-module is used for time synchronization of sending or receiving data. Specifically, the gPTP protocol calculates a time offset and a time delay of a master clock and a slave clock in a communication network, so as to correct and synchronize each clock;

synchronizing the master clock and the slave clock according to gPTP, so that the TSN priority and the time sensitive processing submodule can accurately add a time stamp in time when data is transmitted, and process a data packet with high priority;

Specifically, the SOME/IP layer is arranged on a protocol stack above the transmission layer and is used for a data middleware program to transmit based on TCP and UDP, when a data packet reaches below the transmission layer, the data packet is encapsulated into an IP report, and then the TSN is a real-time transmission mechanism of the data link layer.

Specifically, firstly, data flow arrangement planning is performed, and the attribute of transmitted data is defined.

Such as: which data streams belong to time sensitive data and which data streams are common data, for example, there are currently 3 control instruction streams that need to be transmitted over SOME/IP.

1) Chassis control instruction, priority P7, eventID 9007

2) Control instructions for windows and lights, priority P5 eventID 9005

3) General instructions. Priority P0 eventID 9001

Referring to fig. 2, step one, VLAN is divided by priority for the port of the ECU, and a VLAN table is created using a tool:

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

step two:

generation of 3 VLAN ports Eth0.1, eth0.5, eth0.7 on ETH Port of ECU

Step three:

the data packet sent by Eth0.1 contains VLAN1 information, the data packet sent by Eth0.5 contains VLAN5, VLANtag information with priority 5, and the data sent by Eth0.7 port contains VLAN7, VLANtag information with priority 7.

Specifically, this embodiment further provides a data transmission device, specifically referring to fig. 4, specifically including: the system comprises a target client, a service client and a gateway, wherein the service client and the target client communicate based on SOME/IP protocol;

Specifically, the service client and the target client can be in-vehicle ECU, and according to hardware configuration, the service client and the target client can be SoC chip, or chip implementation based on FPGA or special ASIC chip implementation;

the service client is called as a service client when providing a service, and called as a target client when calling the service, the target client needs to call the service in the service client to execute a preset task, and a specific communication method is as follows:

after a service client and a target client establish SOME/IP communication connection, a data packet generated by APP1 or APP2 is encapsulated at an application layer and then sent to SOME/IP middleware for SOME/IP protocol-based message encapsulation, and then sent to a bottom protocol stack;

the bottom protocol stack receives and encapsulates again and transmits to the network transmission bus;

the network transmission bus transmits to the gateway, the gateway obtains the received data packet and selects the corresponding transmission channel according to the priority to transmit to the network transmission bus connected with the target client, then transmits to the bottom protocol stack of the target client, the bottom protocol stack of the target client unpacks the packet and then sends to the SOME/IP middleware to analyze according to the message format based on SOME/IP, and then sends to APP3 or APP4 of the required data.

The embodiment also provides an in-vehicle SOME/IP transmission method based on the TSN time-sensitive network, which specifically comprises the following steps:

starting a core process in the SOMEIPTTTd module, and initializing a bottom socket channel;

and monitoring the data packet from the application layer, packaging the data packet based on SOME/IP protocol by a SOMEIPTTd module, and transmitting the data packet to a lower layer byte-sleeved channel to send the data packet to the target client.

Specifically, in general, data communication between different ECUs is forwarded through a gateway, or directly communicated without the gateway.

The SOMEIPTTd module is provided with a time timing trigger mechanism, and time information is acquired through a shared memory and gPTP core time synchronization process and is recovered to be a real-time clock.

Specifically, the SOMEIPTTd module obtains the time offset and time delay between the own node and the master clock in the in-vehicle network from the gPTP core time synchronization process through a time timing trigger mechanism, corrects the local clock according to the time offset and the time delay, and adds an accurate synchronization time stamp to the data packet.

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

Referring to fig. 3, in the application layer, all application programs such as the SOME/IP APP1, the SOME/IP APP2, the SOME/IP APP3, the SOME/IP APP4 and the like may generate service data or call service request data, and the data may be generated by a process or may be generated by itself. If the SOME/IP APP1 triggers a request for calling the service, or the SOME/IP APP1 calls the SOME/IP APP2 through the SOME/IPTT module to realize the preset function, a data packet of the preset service is generated.

Or SOME/IP APP1 transmits data to SOME/IP APP2 through SOME/IPTT module, and process communication is realized in the system based on SOME/IPTT module.

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

Acquiring a transmission priority, and creating a corresponding VLANtag at a vehicle-mounted Ethernet transmission port according to the priority, wherein the VLANtag is used for transmitting a data packet with the corresponding priority;

the SOMEIPTTd module transmits information according to the priority configuration, and performs channel selection according to the time sensitive information.

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

When the data packet is required to be transferred to the target client through the gateway, the gateway analyzes the received data packet, obtains VLANtag information of the data packet, and forwards the time-sensitive data in real time according to the VLANtag information.

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

The SOMEIPTTTd module triggers a time recovery mechanism according to the time sensitive priority;

The above is only a preferred embodiment of the present invention, and the present invention is not limited to the above examples. It will be clear to a person skilled in the art that the form in this embodiment is not limited thereto, nor is the manner of adjustment. It will be appreciated that other modifications and variations, which may be directly derived or contemplated by those skilled in the art, are deemed to be within the scope of the present invention without departing from the essential concept thereof.

Claims

1. An in-vehicle SOME/IP transmission method based on a TSN time sensitive network is characterized in that a core process in a SOMEIPTTTd module is started, and a bottom socket channel is initialized;

or the data exchange is realized among a plurality of application programs based on SOME/IP protocol among application layers through SOMEIPTTTd modules;

the SOMEIPTTTd module is provided with a time timing trigger mechanism, and time information is acquired through a shared memory and a gPTP core time synchronization process and is recovered to be a real-time clock;

acquiring time offset and time delay between a node of the slave node and a master clock in an in-vehicle network from a gPTP core time synchronization process, correcting a local clock according to the time offset and the time delay, adding an accurate synchronization time stamp to a data packet, synchronizing the master clock and the slave clock according to gPTP, accurately adding the time stamp in time during data transmission, and processing the data packet with high priority;

the SOMEIPTTTd module is used for configuring transmission information according to the priority, and selecting a channel according to the time sensitive information;

2. An in-vehicle SOME/IP transmission method based on a TSN time sensitive network according to claim 1, wherein the application program processing the application layer transmits the data to be transmitted to the sometittd module.

3. The method for transmitting SOME/IP in vehicle based on TSN time sensitive network as claimed in claim 1, wherein when the data packet needs to be transferred to the target client through the gateway, the gateway analyzes the received data packet to obtain VLANtag information of the data packet, and the gateway forwards the time sensitive data in real time according to the VLANtag information.

4. The method of claim 1, wherein the SOME/IP transmission in the vehicle is based on a TSN time-sensitive network, the SOMEIPTTd module receives data according to a priority channel when the time-sensitive data arrives at the data port of the target client.

5. The method for in-vehicle SOME/IP transmission based on TSN time-sensitive network as recited in claim 4, wherein SOMEIPTTd module triggers time recovery mechanism according to time-sensitive priority;

6. An in-vehicle SOME/IP transmission apparatus based on a TSN time-sensitive network, comprising: the system comprises a target client, a service client and a gateway, wherein the service client and the target client communicate based on SOME/IP protocol;

the gateway is used as an information exchange device of the target client and the service client, and receives and forwards data to the target client based on the SOME/IP protocol;

the target client or the service client comprises a SOMEIPTTTd module which is used for enabling data to realize real-time communication based on SOME/IP protocol;

an in-vehicle SOME/IP transmission method based on a TSN time sensitive network as claimed in any one of claims 1 to 5 is adopted by a target client or a service client.

7. An in-vehicle SOME/IP transmission apparatus based on a TSN time sensitive network as claimed in claim 6, wherein the sometipttd module comprises at least:

8. An in-vehicle SOME/IP transmission device based on a TSN time-sensitive network, comprising at least a processor and a memory, characterized in that the memory is adapted to store a computer program for the method according to any one of claims 1 to 5,