CN114301946A - Vehicle-mounted heterogeneous network system taking TSN (traffic service network) as backbone network and automobile - Google Patents

Abstract

The invention discloses a vehicle-mounted heterogeneous network system and a vehicle with a TSN (traffic service network) as a backbone network, which comprise a TSN-based backbone network, a CAN-based first vehicle-mounted network sub-domain, a TSN-based second vehicle-mounted network sub-domain and a MOST-based third network sub-domain; the first vehicle-mounted network sub-domain, the second vehicle-mounted network sub-domain and the third network sub-domain are in communication connection with a backbone network through a backbone network TSN switch, and the backbone network TSN switch is further 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 a new generation of intelligent networked automobiles.

Description

A vehicle-mounted heterogeneous network system with TSN as the backbone network and the vehicle

technical field

The invention relates to the field of automotive electronic control, in particular to a vehicle-mounted heterogeneous network system and a vehicle with TSN as the backbone network.

Background technique

The existing non-intelligent connected vehicle network architecture adopts a centralized network architecture divided according to functional domains. A typical centralized network architecture is that each functional sub-domain uses traditional vehicle networks such as CAN and Most. As shown in Figure 1, it is a centralized network architecture diagram divided according to functional domains. In this architecture, multiple Electronic Control Units (ECUs) are mounted on the same CAN bus, and different CAN buses are connected through the central control unit. This architecture balances the power consumption in the vehicle's on-board network. , cost, and other issues, until now, this network architecture is still used in some vehicles.

With the development of automotive electronics, the emergence of automatic driving (advanced driving assistance) systems and intelligent cockpit systems have highlighted the bottlenecks of traditional in-vehicle networks in terms of bandwidth and wiring harnesses. -Sensitive Networking, TSN) is advocated for in-vehicle networking.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide a vehicle-mounted heterogeneous network system and vehicle with TSN as the backbone network, which can ensure the reliability of the network and lower delay of key traffic, and at the same time, its related characteristics can ensure the synchronization of multi-sensor nodes.

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

Further, the SJA1105TEL switch chip is used in the backbone network TSN switch and the TJA1100 Ethernet PHY chip is onboard, and the backbone network TSN switch is connected to a plurality of nodes using the TJA1101PHY chip in the backbone network; the SJA1105TEL chip works In the MAC layer of the ISO/OSI network model, data is input and output through the Ethernet link layer MII/RMII interface.

Further, the second in-vehicle network subdomain includes an intra-domain TSN switch and a plurality of TSN-based nodes communicatively connected through the intra-domain TSN switch, and the nodes include sensor nodes and actuator nodes; the intra-domain TSN switch passes through the domain TSN switch. The control unit is connected in communication with the backbone network TSN switch.

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

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

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

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

The present invention also provides an automobile, including the automobile body and the in-vehicle heterogeneous network system with TSN as the backbone network according to any one of the above.

In the technical solution of the present invention, a centralized network architecture divided according to functional domains includes a TSN-based backbone network, a CAN network-based first in-vehicle network sub-domain, a TSN-based second in-vehicle network sub-domain, and a MOST-based network sub-domain. The third network subdomain of the network; the first vehicle network subdomain, the second vehicle network subdomain, and the third network subdomain communicate with the backbone network through the backbone network TSN switch, and the backbone network TSN switch is also connected to the central control unit. It not only maintains the functional sub-domain division characteristics of the existing integrated network architecture, but also improves the network bandwidth and computing power to meet the development needs of the new generation of intelligent connected vehicles. For example, it can use TSN Ethernet clock synchronization, traffic scheduling and shaping, communication Features such as path selection and redundancy provide a network channel with high bandwidth, low latency, real-time and reliability guarantees for the new generation of intelligent networked vehicle network branches to meet the requirements of high bandwidth and low latency. The vehicle heterogeneous network system with TSN as the backbone network of the new generation of intelligent network is flexible, and the traditional CAN network can still be used in the traditional vehicle network sub-domains such as the chassis domain and the body domain, and the powertrain domain can use the high-speed CAN network ( CAN-FD), while MOST networks can still be used in the infotainment domain, where these subdomains can be connected via gateways and backbone networks.

Description of drawings

Fig. 1 is the traditional in-vehicle network architecture diagram in the background technology;

FIG. 2 is an architecture diagram of a vehicle-mounted heterogeneous network system with TSN as the backbone network according to an embodiment of the present invention;

3 is a heterogeneous CAN-TSN network architecture of a vehicle-mounted heterogeneous network system with TSN as the backbone network in an embodiment of the present invention;

FIG. 4 is a software hierarchical architecture diagram of a TSN terminal node in an embodiment of the present invention;

FIG. 5 is a software hierarchy diagram of a CAN-TSN gateway node in an embodiment of the present invention.

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

Detailed ways

It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

In the following description, suffixes such as 'module', 'component' or 'unit' used to represent elements are used only to facilitate the description of the present invention and have no specific meaning per se. Thus, "module", "component" or "unit" may be used interchangeably.

Because intelligent networked vehicles need perception, decision-making and execution, related systems need to process huge amounts of data, including advanced driver assistance systems, automatic driving systems and other artificial intelligence (AI) systems will generate more than GB/hour of data. The huge data communication makes the automobile network architecture need to have the characteristics of high bandwidth and strong real-time. With the gradual application of Ethernet in intelligent networked vehicles, the automobile network architecture has gradually developed from an integrated network architecture based on a central gateway to a TSN-based network architecture. Ethernet is the backbone network, a hierarchical network architecture that integrates domain-level networks such as powertrain, chassis, body, and entertainment—backbone Ethernet architecture based on domain control units.

The next-generation intelligent network-connected vehicle network architecture of the vehicle heterogeneous network system with TSN as the backbone network provided in this application is shown in Figure 2. It uses TSN as the backbone network and sets up its own domain control unit in each sub-domain to control communication within the domain. Therefore, the new generation of intelligent networked vehicle network architecture is based on the backbone Ethernet architecture of the domain control unit.

2, the in-vehicle heterogeneous network system 100 with TSN as the backbone network includes a TSN-based backbone network, a CAN network-based first in-vehicle network subdomain, and a TSN-based second in-vehicle network subdomain. domain and the third network subdomain 30 based on the MOST network; the first vehicle network subdomain 10, the second vehicle network subdomain 20 and the third network subdomain 30 are communicated and connected to the backbone network through the backbone network TSN switch 40, The backbone network TSN switch 40 is also connected to the central control unit 50; wherein, the first in-vehicle network sub-domain 10 includes one or more of the powertrain domain, the chassis domain and the body domain, and the second in-vehicle network sub-domain 10 includes one or more of the powertrain domain, chassis domain and body domain. The domain 20 includes the intelligent assisted driving system domain, and the third network sub-domain 30 includes the infotainment domain.

The advantages of using the new-generation ICV network architecture are: it not only maintains the functional sub-domain division characteristics of the existing integrated network architecture, but also improves the network bandwidth and computing power to meet the development needs of the new generation of ICVs. Utilizing the characteristics of TSN Ethernet clock synchronization, traffic scheduling and shaping, communication path selection and redundancy, etc., it provides a network channel with high bandwidth, low latency, real-time and reliability guarantee for the new generation of intelligent networked vehicle network branches, meeting the needs of High bandwidth and low latency requirements.

The new generation of intelligent and connected vehicle network architecture is flexible. The traditional CAN network can still be used in the traditional vehicle network sub-domains such as the chassis domain and the body domain, and the high-speed CAN network (CAN-FD) can be used in the powertrain domain. Entertainment domains can still use the MOST network, and these subdomains can be connected through gateways and backbone networks.

In the field of advanced assisted driving systems, we also need to use the TSN network. At present, there may be a large number of cameras, lidars, millimeter-wave radars and other sensors in assisted driving (autonomous driving) solutions (Xpeng P7 is equipped with up to 13 cameras) , which causes huge traffic in this domain, and also needs to synchronize multiple sensor nodes. In addition, this domain also has high requirements for communication delay.

Further, the SJA1105TEL switch chip is used in the backbone network TSN switch and the TJA1100 Ethernet PHY chip is onboard, and the backbone network TSN switch is connected to a plurality of nodes using the TJA1101PHY chip in the backbone network; the SJA1105TEL chip works In the MAC layer of the ISO/OSI network model, data is input and output through the Ethernet link layer MII/RMII interface.

Further, the second in-vehicle network subdomain includes an intra-domain TSN switch 21 and a plurality of TSN-based nodes communicatively connected through the intra-domain TSN switch 21, and the nodes include sensor nodes and actuator nodes; the intra-domain TSN switch The domain control unit 22 is communicatively connected to the backbone network TSN switch 40 .

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

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

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

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

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

At present, there are many SoC chips with CAN controllers on the market, and there are few Ethernet switching chips that support the TSN feature. This solution uses NXP's switching chip to implement TSN Ethernet. The main chips used in the solution and their functions are as follows:

1 NXP Automotive Ethernet Switch Evaluation Board: The main related chips are SJA1105TEL and TJA1100. The SJA1105TEL chip is a TSN switch chip. The LPC1788FET208 can configure the SJA1105TEL chip through the SPI interface. It works in the MAC layer of the ISO/OSI network model, and inputs and outputs data through the Ethernet link layer MII/RMII interface. Configured TSN features. TJA1100 is a physical layer chip (ie PHY) that supports TSN Ethernet. The LPC1788FET208 configures the TJA1101 through the SMI interface. This evaluation version is the core component for TSN backbone Ethernet networking.

NXP Automotive Ethernet PHY Evaluation Board 4: The main related chip is TJA1101, TJA1101 is a physical layer chip (ie PHY) that supports TSN Ethernet. The TJA1101 can be configured through the SMI interface. This evaluation version is mainly used for TSN backbone network networking.

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

STM32 minimum system board 6: The main related chip is STM32F407ZGT. The STM32F407ZGT chip is an SoC based on the ARM Cortex-M4 core. The peripherals include the USART serial port controller, CAN controller, and standard Ethernet controller (MAC layer) that this solution needs to use. Among them, the CAN controller adopts the TJA1050 chip, and some development boards drive the TJA1101 through the RMII interface to realize the Ethernet-related functions.

Please refer to FIG. 3 together, which is the heterogeneous CAN-TSN network architecture of the in-vehicle heterogeneous network system 100 with TSN as the backbone network in an example of this application. Wherein, D, E, and F are nodes on the TSN Ethernet network, and nodes B and C are nodes on the CAN network. Node A is a CAN-TSN gateway, which belongs to both the TSN Ethernet network and the CAN network. All nodes have receive and transmit functions.

Please refer to FIGS. 4-5 together to describe the software implementation solution of the in-vehicle heterogeneous network system 100 with TSN as the backbone network described in this application. Wherein, as shown in FIG. 4 , it is a software hierarchical structure of a TSN terminal node (nodes D, E, F) in an example. The software hierarchy diagram of the TSN terminal node is shown in Figure 5. STM32 drives the TJA1101 Ethernet PHY through the RMII interface. On the STM32 development board, we use the FreeRTOS operating system to facilitate the realization of the target function, and use the Ethernet TCP/IP protocol stack Lwip Ease of memory management. By opening a task to specifically process 1588 protocol control frames, the Ethernet nodes can achieve clock synchronization.

Among them, as shown in Figure 5, it is an example of the CAN-TSN gateway node software hierarchy (node A). The software hierarchy diagram of the CAN-TSN gateway node is shown in Figure 5. The STM32 drives the TJA1101 Ethernet PHY through the RMII interface. At the same time, the gateway node also needs to drive the CAN controller. On the STM32 development board, we use the FreeRTOS operating system to facilitate the realization of the target function, and use the Ethernet TCP/IP protocol stack Lwip to facilitate memory management. By opening a task to specifically process 1588 protocol control frames, the Ethernet nodes can achieve clock synchronization. In addition to the first time, an APP for CAN-TSN protocol conversion has also been completed, which is used to realize bidirectional communication between CAN bus and TSN network. Multiple gateway scheduling algorithms are implemented on it, and related configuration of protocol conversion can also be performed.

The configuration of the TSN switch in an example includes basic configuration, path planning configuration (routing configuration, priority mapping configuration, etc.), onboard PHY configuration, and TSN-related feature configuration (such as TAS reference always configuration, CBS configuration, etc.). Through the actual application scenario, complete the traffic planning and select the required characteristics, complete the above configuration and generate the configuration flow, and then send it to the onboard controller through the UART serial port. The onboard controller LPC1788FET208 realizes the SJA1105TEL through the SPI interface. Final configuration.

The present invention also provides an automobile, including an automobile body (not shown in the figure) and the in-vehicle heterogeneous network system with TSN as the backbone network according to any one of the above.

It can be understood that, since the present embodiment includes all technical solutions of the embodiment of the vehicle heterogeneous network system with TSN as the backbone network, and at least has all the technical effects of the above embodiments, it will not be repeated here.

In the description of this specification, referring to the description of the terms "an embodiment", "another embodiment", "other embodiment", or "first embodiment to Xth embodiment", etc., means combining the embodiment or The particular features, structures, materials, or characteristics described by way of example are 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 embodiment or example. 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 above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages or disadvantages of the embodiments.

The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields , are similarly included in the scope of patent protection of the present invention.

Claims (8)

1. A vehicle-mounted heterogeneous network system taking a TSN as a backbone network is characterized by comprising a TSN-based backbone network, a first vehicle-mounted network sub-domain based on a CAN network, a second vehicle-mounted network sub-domain based on the TSN network and a third network sub-domain based on an MOST network; the first vehicle-mounted network sub-domain, the second vehicle-mounted network sub-domain and the third network sub-domain 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 a smart assisted driving system domain, and the third network sub-domain comprises an infotainment domain.

2. The vehicle-mounted heterogeneous network system according to claim 1, wherein a SJA1105TEL switching chip is used in the backbone TSN switch and a TJA1100 ethernet PHY chip is onboard, and the backbone TSN switch is connected with a plurality of nodes using TJA1101PHY chip in the backbone network; the SJA1105TEL chip works in the MAC layer of the ISO/OSI network model, and inputs and outputs data through an Ethernet link layer MII/RMII interface.

3. The in-vehicle heterogeneous network system of claim 2, wherein the second in-vehicle network sub-domain comprises an intra-domain TSN switch and a plurality of TSN-based nodes communicatively connected through the intra-domain TSN switch, the nodes comprising sensor nodes and actuator nodes; and the intra-domain TSN switch is in communication connection with the backbone network TSN switch through a domain control unit.

4. The vehicle-mounted heterogeneous network system according to claim 3, wherein each node of the second vehicle-mounted network sub-domain is further 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 chip of a TSN Ethernet and is configured through an SMI interface.

5. The vehicle-mounted heterogeneous network system according to claim 1, wherein the CAN-TSN gateway of the first vehicle-mounted network sub-domain is connected with the backbone network TSN switch through a TJA1101 chip; the CAN-TSN gateway comprises a CAN controller and an Ethernet controller which are arranged in an STM32F407ZGT chip.

6. The on-vehicle heterogeneous network system of claim 5, wherein the CAN-TSN gateway is connected to each CAN network node of the first on-vehicle network sub-domain via a TJA1050 transceiver chip; the TJA1050 transceiver chip is an interface between a CAN protocol controller and a physical bus, and provides differential transmission capability for the bus and differential receiving capability for the CAN controller.

7. The powertrain domain of claim 6, wherein the powertrain domain uses a high-speed CAN network.

8. An automobile, characterized by comprising an automobile body and the vehicular heterogeneous network system with the TSN as the backbone network according to any one of claims 1 to 7.

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