CN118200128A - Vehicle DDS and TSN fusion deployment method and system, storage medium and electronic equipment - Google Patents
Vehicle DDS and TSN fusion deployment method and system, storage medium and electronic equipment Download PDFInfo
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- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
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Abstract
The invention provides a vehicle DDS and TSN fusion deployment method, a system, a storage medium and electronic equipment, wherein the method comprises the following steps: the DDS discovery server collects discovery information of the DDS application programs, so that the DDS application programs meeting the conditions discover the discovery information of the opposite side; based on the collected discovery information, sequentially generating a mapping table and a TSN stream service quality requirement table; periodically sending a network topology discovery message to the TSN controller by the network node, and constructing a network topology by analyzing network topology information in the network topology discovery message; carrying out route solving on the switch, acquiring a flow scheduling result of the TSN flow by adopting a TSN flow scheduling algorithm, and generating a YANG model file; the method and the device for updating the network parameters in the Ethernet network comprise the steps of packaging information in a file into an Ethernet message, sending a network parameter configuration message to a network node, analyzing effective configuration information in the network parameter configuration message, realizing dynamic updating of the network parameters, and obtaining dynamic changes of network topology.
Description
Technical Field
The invention relates to the technical field of vehicle communication, in particular to a vehicle DDS and TSN fusion deployment method, a system, a storage medium and electronic equipment.
Background
The DDS is a communication middleware between an application layer and a transmission layer under an SOA architecture, can provide data publishing and subscribing service based on Topic for an application program, has rich QoS strategies to ensure communication quality, has particularly outstanding performance under the scene of a large number of data distribution interactions, and the TSN is a group of protocols of a data link layer and provides powerful guarantee for real-time performance, reliability and safety of Ethernet communication through mechanisms such as time sharing scheduling, frame copying and elimination, flow-by-flow monitoring and management and control.
In the prior art, TSN and DDS are network communication protocols for realizing high real-time performance and reliability, but the following problems still exist when the TSN and DDS are deployed together in a network:
1) The TSN is positioned on the Ethernet data link layer, provides functions of time synchronization, flow scheduling and the like, realizes real-time performance and reliability of vehicle communication, but cannot provide service-oriented communication;
2) The DDS can provide service-oriented communication, but has complex protocol mechanism and large code quantity, is not suitable for being directly deployed in some scenes with limited resources, and needs to perform cutting and light-weight processing of a protocol stack;
3) The TSN and the DDS are two independent protocol standards respectively, the problem of protocol fusion is not considered when the TSN and the DDS are initially proposed, and specific researches related to fusion deployment of the TSN and the DDS are not currently carried out;
4) The TSN and the DDS are perfect in two sets of communication standards, have a plurality of complex communication mechanisms, have redundancy in a plurality of mechanisms in terms of guaranteeing communication service quality, and if the TSN and the DDS are directly deployed in different network model levels, the code quantity is too huge, meanwhile, the burden on a processor is increased, and the service quality cannot reach the original effect;
5) The solutions related to the error detection feedback mechanism are not available in the TSN and the DDS protocols, and when a network node fails, the network node cannot respond quickly, so that the dynamic configuration of network parameters cannot be realized, and therefore, the communication quality cannot be ensured under the scene of dynamic change of network topology.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a vehicle DDS and TSN fusion deployment method, which aims to solve the technical problems in the background art.
In order to achieve the above object, the present invention is achieved by the following technical scheme:
A vehicle DDS and TSN fusion deployment method comprises the following steps:
s1, a DDS discovery server collects discovery information of each DDS application program, and enables the DDS application programs which mutually meet matching conditions to discover the discovery information of the other party based on a matching algorithm;
S2, the DDS discovery server sequentially generates a mapping table and a TSN stream service quality requirement table based on the collected discovery information and according to a preset mapping rule algorithm;
S3, each network node periodically sends a network topology discovery message to a TSN controller, and the TSN controller builds network topology by analyzing network topology information in the network topology discovery message;
s4, the TSN controller carries out route solving on the exchanger, and according to the TSN flow service quality requirement table and the network topology information, a corresponding TSN flow scheduling algorithm is adopted to obtain a flow scheduling result of the TSN flow, and a YANG model file is generated;
S5, the TSN controller packages the information in the YANG model file into an Ethernet message, and sends a network parameter configuration message to the corresponding network node, and the network node analyzes the effective configuration information in the network parameter configuration message to achieve dynamic update of network parameters and further obtain dynamic change of network topology.
Further, the specific steps of the step S1 include:
address information of a DDS discovery server is preconfigured for each DDS application program;
The DDS application program sends discovery information to the DDS discovery server in a first period;
the content of the discovery information comprises the type of the DDS application program, topic information, qoS strategy information and address information;
After the DDS discovery server receives the discovery information which is not received before, newly creating a discovery information item, and for the received discovery information, updating the activity state in the corresponding discovery information item by the DDS discovery server;
The DDS discovery server runs a rule-based DDS application program matching algorithm, and if the types, the Topic information and the QoS policy information of the application programs among a plurality of the DDS application programs all meet matching conditions, the DDS discovery server exchanges discovery information among the corresponding DDS application programs so as to complete discovery of the DDS application programs.
The DDS application program sends the discovery information to the DDS discovery server in a second period to declare the activity of the DDS application program;
and when the DDS application program sends the discovery information to the DDS discovery server in the second period, the DDS application program stops sending the discovery information to the DDS discovery server in the first period.
Further, the specific steps of the step S2 include:
Determining a mapping rule between the discovery information and TSN stream service quality;
The DDS discovery server is arranged into a DDS discovery information table according to the collected discovery information;
Operating a mapping rule algorithm based on the mapping rule according to the DDS discovery information table, and sequentially generating a mapping table and a TSN stream service quality requirement table;
When the network node changes, the DDS discovery information table is automatically updated, and the addition, deletion and modification of the TSN stream service quality requirement table are tracked and completed according to the mapping table.
Further, the specific steps of the step S3 include:
pre-configuring address information of a TSN controller for each network node, and sending a network topology discovery message to the TSN controller by each network node in a third period;
Two fields, namely Address Info and Length, are recorded in a Payload of the network topology discovery message, the Address Info field records a MAC Address of each network node on the whole link from the network node to the TSN controller which is sent for the first time, and a timestamp of each network node when forwarding the network topology discovery message, and the Length field describes the Length of the Address Info field;
The TSN controller analyzes the information in the Address Info field and the Length field in the network topology discovery message, and further obtains a transmission link of the network topology discovery message in a network;
Setting an external level for each network node according to the hop count from each network node to the TSN controller, and recording network node information and link information in a network topology information table so that the TSN controller constructs a network topology according to the external level of all the network nodes and the connectivity between different network nodes;
The network node sends the network topology discovery message in a fourth period to declare the activity of all the network nodes on the transmission link;
And after receiving the network topology discovery message, the TSN controller updates T1 values of all the network nodes and links on the transmission link, and if a certain network node or the link fails to cause the T1 value to decrease to 0, the TSN controller re-identifies and builds a network topology after removing the network node or the link from the failure, wherein the third period is less than the fourth period, and when the network node sends the network topology discovery message in the fourth period, the network node stops sending the network topology discovery message in the third period.
Further, the specific steps of the step S4 include:
carrying out route solving on the switch, and obtaining the TSN stream service quality requirement table and the network topology information based on global information;
adopting a dynamic route planning algorithm with reliability sensing to solve a route path meeting the quantity requirement and the quality requirement for each TSN flow;
combining a planning result of the routing path with the TSN stream service quality requirement table to generate a flow characteristic file;
And designing a corresponding flow scheduling scheme by combining the flow characteristic file and the network topology information, solving a flow scheduling result by adopting a corresponding TSN flow scheduling algorithm, and generating a YANG model file.
Further, the specific steps of the step S5 include:
the CNC in the TSN controller encapsulates the information in the YANG model file into the Payload of the Ethernet message, and sends a network parameter configuration message to the corresponding network node in a MAC addressing mode;
The Payload of the network parameter configuration message includes TSN Config Header fields and a TSN Config Data field, a Protocol ID in the TSN Config Header fields is used for specifying a Protocol of the network parameter configuration, PARAMETER ID is used for specifying a specific parameter of the Protocol, a Target is used for specifying a specific object of the network parameter configuration, a Length field in the TSN Config Data field is used for specifying an effective Length of a Config Info field, and the Config Info field contains specific contents of the network parameter configuration;
After receiving the network parameter configuration message, the network node analyzes the effective configuration information therein and updates the TSN parameter corresponding to the network node;
Monitoring the joining and exiting of the DDS application program by analyzing the effective configuration information, simultaneously monitoring the fault condition of the network node or the link in the network topology process, and updating corresponding information;
And re-executing the processes of the steps S1 to S5 based on the updated DDS discovery information table and the network topology information table so as to adapt to the dynamic change of the network topology.
The invention also provides a vehicle DDS and TSN fusion deployment system, which comprises:
And a discovery module: the DDS discovery server is used for collecting discovery information of each DDS application program and enabling the DDS application programs which mutually meet the matching conditions to discover the discovery information of each other based on a matching algorithm;
the discovery module is specifically configured to:
address information of a DDS discovery server is preconfigured for each DDS application program;
The DDS application program sends discovery information to the DDS discovery server in a first period;
the content of the discovery information comprises the type of the DDS application program, topic information, qoS strategy information and address information;
After the DDS discovery server receives the discovery information which is not received before, newly creating a discovery information item, and for the received discovery information, updating the activity state in the corresponding discovery information item by the DDS discovery server;
The DDS discovery server runs a rule-based DDS application program matching algorithm, and if the types, the Topic information and the QoS policy information of the application programs among a plurality of the DDS application programs all meet matching conditions, the DDS discovery server exchanges discovery information among the corresponding DDS application programs so as to complete discovery of the DDS application programs.
The DDS application program sends the discovery information to the DDS discovery server in a second period to declare the activity of the DDS application program;
The first period is smaller than the second period, and when the DDS application program sends the discovery information to the DDS discovery server in the second period, the DDS application program stops sending the discovery information to the DDS discovery server in the first period;
and a mapping module: the method is used for sequentially generating a mapping table and a TSN stream service quality requirement table based on discovery information collected by the DDS discovery server and according to a preset mapping rule algorithm;
the mapping module is specifically configured to:
Determining a mapping rule between the discovery information and TSN stream service quality;
The DDS discovery server is arranged into a DDS discovery information table according to the collected discovery information;
Operating a mapping rule algorithm based on the mapping rule according to the DDS discovery information table, and sequentially generating a mapping table and a TSN stream service quality requirement table;
when the network node changes, the DDS discovery information table is automatically updated, and the addition, deletion and modification of the TSN stream service quality requirement table are tracked and completed according to the mapping table;
The construction module comprises: the method comprises the steps that each network node is used for periodically sending a network topology discovery message to a TSN controller, and the TSN controller is used for constructing a network topology by analyzing network topology information in the network topology discovery message;
the construction module is specifically used for:
pre-configuring address information of a TSN controller for each network node, and sending a network topology discovery message to the TSN controller by each network node in a third period;
Two fields, namely Address Info and Length, are recorded in a Payload of the network topology discovery message, the Address Info field records a MAC Address of each network node on the whole link from the network node to the TSN controller which is sent for the first time, and a timestamp of each network node when forwarding the network topology discovery message, and the Length field describes the Length of the Address Info field;
The TSN controller analyzes the information in the Address Info field and the Length field in the network topology discovery message, and further obtains a transmission link of the network topology discovery message in a network;
Setting an external level for each network node according to the hop count from each network node to the TSN controller, and recording network node information and link information in a network topology information table so that the TSN controller constructs a network topology according to the external level of all the network nodes and the connectivity between different network nodes;
The network node sends the network topology discovery message in a fourth period to declare the activity of all the network nodes on the transmission link;
After receiving the network topology discovery message, the TSN controller updates T1 values of all the network nodes and links on the transmission link, and if a certain network node or the link fails to cause the T1 value to decrease to 0, the TSN controller re-identifies and builds a network topology after removing the network node or the link from the failure, where the third period is less than a fourth period, and when the network node sends the network topology discovery message in the fourth period, the network node stops sending the network topology discovery message in the third period;
And a scheduling module: the method comprises the steps of carrying out route solving on a switch, obtaining a flow scheduling result of a TSN flow by adopting a corresponding TSN flow scheduling algorithm according to the TSN flow service quality demand table and the network topology information, and generating a YANG model file;
the scheduling module is specifically configured to:
carrying out route solving on the switch, and obtaining the TSN stream service quality requirement table and the network topology information based on global information;
adopting a dynamic route planning algorithm with reliability sensing to solve a route path meeting the quantity requirement and the quality requirement for each TSN flow;
combining a planning result of the routing path with the TSN stream service quality requirement table to generate a flow characteristic file;
Designing a corresponding flow scheduling scheme by combining the flow characteristic file and the network topology information, solving a flow scheduling result by adopting a corresponding TSN flow scheduling algorithm, and generating a YANG model file;
and an updating module: the TSN controller is used for packaging information in the YANG model file into an Ethernet message and sending a network parameter configuration message to the corresponding network node, and the network node analyzes the effective configuration information in the network parameter configuration message to realize dynamic update of network parameters so as to acquire dynamic change of network topology;
The updating module is specifically configured to:
the CNC in the TSN controller encapsulates the information in the YANG model file into the Payload of the Ethernet message, and sends a network parameter configuration message to the corresponding network node in a MAC addressing mode;
The Payload of the network parameter configuration message includes TSN Config Header fields and a TSN Config Data field, a Protocol ID in the TSN Config Header fields is used for specifying a Protocol of the network parameter configuration, PARAMETER ID is used for specifying a specific parameter of the Protocol, a Target is used for specifying a specific object of the network parameter configuration, a Length field in the TSN Config Data field is used for specifying an effective Length of a Config Info field, and the Config Info field contains specific contents of the network parameter configuration;
After receiving the network parameter configuration message, the network node analyzes the effective configuration information therein and updates the TSN parameter corresponding to the network node;
Monitoring the joining and exiting of the DDS application program by analyzing the effective configuration information, simultaneously monitoring the fault condition of the network node or the link in the network topology process, and updating corresponding information;
and re-executing the processes of the modules based on the updated DDS discovery information table and the network topology information table so as to adapt to the dynamic change of the network topology.
A storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle DDS and TSN fusion deployment method as described above.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the vehicle DDS and TSN fusion deployment method is realized when the processor executes the computer program.
Compared with the prior art, the invention has the beneficial effects that:
based on the centralized discovery method, the discovery information of all DDS application programs is summarized through the DDS discovery server, the mutual discovery of the DDS application programs is realized, the information interaction process between the network node and the CUC can be replaced, and the flow of the complete centralized network configuration is simplified;
The communication quality requirement of the DDS layer can be mapped to the TSN layer through the proposed mapping rule algorithm, the communication quality is ensured by a related mechanism of the TSN, and the problem of mechanism redundancy caused by direct fusion of the DDS and the TSN is avoided, so that a similar mechanism in the DDS can be cut, and the lightweight realization of a DDS protocol stack is realized;
Sending a network topology discovery message to the TSN controller through a network node, and constructing a network topology through network topology information in the message, so that the defects of DDS and TSN on a network fault detection and feedback mechanism are overcome;
The method supports the dynamic configuration of network parameters in the network operation process, can adapt to the dynamic change of network topology or application program deployment, monitors the joining and exiting of the DDS application program by analyzing the network parameter configuration, and simultaneously monitors the fault condition of network nodes or links in the network topology process.
Drawings
The described and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
Fig. 1 is a flowchart of a vehicle DDS and TSN fusion deployment method according to a first embodiment of the present invention;
fig. 2 is a structural network diagram of a vehicle DDS and TSN fusion deployment method according to a first embodiment of the present invention;
fig. 3 is a network diagram showing a structure when a DDS discovery server collects discovery information according to a first embodiment of the present invention;
fig. 4 is a schematic diagram of a mapping table and a TSN stream qos requirement table in the first embodiment of the present invention;
FIG. 5 is a network diagram illustrating a network topology constructed in accordance with a first embodiment of the present invention;
fig. 6 is a network diagram of a structure when a traffic scheduling result of a TSN stream is obtained in the first embodiment of the present invention;
Fig. 7 is a schematic diagram of an encapsulation format of a network parameter configuration message according to a first embodiment of the present invention;
Fig. 8 is a flowchart illustrating an actual operation of the vehicle DDS and TSN fusion deployment method according to the first embodiment of the present invention;
fig. 9 is a block diagram of a vehicle DDS and TSN fusion deployment system in a second embodiment of the present invention;
FIG. 10 is a block diagram showing a computer apparatus according to a third embodiment of the present invention;
the invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Various embodiments of the invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 1 to 8, a vehicle DDS and TSN fusion deployment method in a first embodiment of the present invention includes the following steps S1 to S5:
s1, a DDS discovery server collects discovery information of each DDS application program, and enables the DDS application programs which mutually meet matching conditions to discover the discovery information of the other party based on a matching algorithm;
S2, the DDS discovery server sequentially generates a mapping table and a TSN stream service quality requirement table based on the collected discovery information according to a preset mapping rule algorithm;
S3, each network node periodically sends a network topology discovery message to a TSN controller, and the TSN controller builds network topology by analyzing network topology information in the network topology discovery message;
s4, the TSN controller carries out route solving on the exchanger, and according to the TSN flow service quality requirement table and the network topology information, a corresponding TSN flow scheduling algorithm is adopted to obtain a flow scheduling result of the TSN flow, and a YANG model file is generated;
S5, the TSN controller packages the information in the YANG model file into an Ethernet message, and sends a network parameter configuration message to the corresponding network node, and the network node analyzes the effective configuration information in the network parameter configuration message to achieve dynamic update of network parameters and further obtain dynamic change of network topology.
It can be understood that the invention is based on a centralized discovery method, the discovery information of all DDS application programs is summarized through the DDS discovery server, the mutual discovery of the DDS application programs is realized, the information interaction process between the network node and the CUC can be replaced, and the flow of the complete centralized network configuration is simplified;
The communication quality requirement of the DDS layer can be mapped to the TSN layer through the proposed mapping rule algorithm, the communication quality is ensured by a related mechanism of the TSN, and the problem of mechanism redundancy caused by direct fusion of the DDS and the TSN is avoided, so that a similar mechanism in the DDS can be cut, and the lightweight realization of a DDS protocol stack is realized;
Sending a network topology discovery message to the TSN controller through a network node, and constructing a network topology through network topology information in the message, so that the defects of DDS and TSN on a network fault detection and feedback mechanism are overcome;
The method supports the dynamic configuration of network parameters in the network operation process, can adapt to the dynamic change of network topology or application program deployment, monitors the joining and exiting of the DDS application program by analyzing the network parameter configuration, and simultaneously monitors the fault condition of network nodes or links in the network topology process.
Further, the specific steps of the step S1 include:
s11, pre-configuring address information of a DDS discovery server for each DDS application program;
It should be noted that the DDS discovery server should be started before other network nodes, or keep an operation state all the time;
s12, the DDS application program sends discovery information to the DDS discovery server in a first period;
The first periodicity may be a smaller periodicity, so that the DDS discovery server can receive the discovery information as soon as possible, where the content of the discovery information includes a type (publish/subscribe) of the DDS application, topic information, qoS policy information, and address information;
S13, after the DDS discovery server receives the discovery information which is not received before, newly creating a discovery information item, and for the received discovery information, updating the activity state in the corresponding discovery information item by the DDS discovery server;
if the activity state of a certain discovery information item is Not updated within a predetermined time, the activity state is set to Not active.
S14, the DDS discovery server runs a rule-based DDS application program matching algorithm, and if the types, the Topic information and the QoS strategy information of the application programs among a plurality of the DDS application programs all meet matching conditions, the DDS discovery server exchanges discovery information among the corresponding DDS application programs so as to complete discovery of the DDS application programs;
s15, the DDS application program sends the discovery information to the DDS discovery server in a second period to declare the activity of the DDS application program;
The first period is smaller than the second period, and the second period may be a larger period, and is only used for declaring the activity of the DDS application program, when the DDS application program sends the discovery information to the DDS discovery server in the second period, the DDS application program stops sending the discovery information to the DDS discovery server in the first period.
Further, the specific steps of the step S2 include:
s21, determining a mapping rule between the discovery information and TSN stream service quality;
Generally, two DDS discovery information table entries map one TSN stream service quality requirement table entry, and the other mappings mainly are QoS mappings, including requirements of priority, reliability, period, delay, jitter, and the like, and the mapping rules guide the lightweight processing of QoS in DDS;
s22, the DDS discovery server is arranged into a DDS discovery information table according to the collected discovery information;
S23, a mapping rule algorithm based on the mapping rule is operated according to the DDS discovery information table, and a mapping table and a TSN stream service quality requirement table are sequentially generated;
and S24, when the network node changes, the DDS discovery information table is automatically updated, and the addition and deletion of the TSN stream service quality requirement table are tracked and completed according to the mapping table.
Further, the specific steps of the step S3 include:
s31, pre-configuring address information of a TSN controller for each network node, and sending a network topology discovery message to the TSN controller by each network node in a third period;
It should be noted that, the third period may be a smaller period, and in the start-up stage, all network nodes first complete time synchronization, and then send a network topology discovery message to the TSN controller in the smaller period, so that the TSN controller can quickly and accurately identify and construct the network topology;
Two fields, namely Address Info and Length, are recorded in a Payload of the network topology discovery message, the Address Info field records a MAC Address of each network node on the whole link from the network node to the TSN controller which is sent for the first time, and a timestamp of each network node when forwarding the network topology discovery message, and the Length field describes the Length of the Address Info field;
S32, the TSN controller analyzes information in the Address Info field and the Length field in the network topology discovery message, and further obtains a transmission link of the network topology discovery message in a network;
Wherein the transmission link is represented as: SA- > mac_1- > mac_2 … mac_n- > DA, the transmission link represents: the existing set of network nodes { SA, MAC_1, MAC_2 … MAC_N, DA }; the set of link pairs present in the network { { { SA, MAC_1}, { MAC_1, MAC_2} … { MAC_N, DA };
S33, setting an external grade for each network node according to the hop count from each network node to the TSN controller, and recording network node information and link information in a network topology information table so that the TSN controller constructs a network topology according to the external grade of all the network nodes and the connectivity between different network nodes;
The network node sends the network topology discovery message in a fourth period to declare the activity of all the network nodes on the transmission link;
It should be noted that, the third period is smaller than the fourth period, and the fourth period may be a larger period, which is only used to declare the activity of all network nodes on the transmission link, and when the network node sends the network topology discovery message in the fourth period, the network node stops sending the network topology discovery message in the third period;
After receiving the network topology discovery message, the TSN controller updates T1 values (survival time) of all the network nodes and links on the transmission link, and if a certain network node or the link reduces the T1 value to 0 due to a fault, the TSN controller re-identifies and builds a network topology after removing the network node or the link with the fault.
Further, the specific steps of the step S4 include:
S41, carrying out route solving on the switch, and obtaining the TSN stream service quality requirement table and the network topology information based on global information;
S42, solving a routing path meeting the quantity requirement and the quality requirement for each TSN flow by adopting a dynamic routing planning algorithm with reliability sensing;
S43, combining the planning result of the routing path with the TSN stream service quality requirement table to generate a flow characteristic file;
S44, designing a corresponding flow scheduling scheme by combining the flow characteristic file and the network topology information, solving a flow scheduling result by adopting a corresponding TSN flow scheduling algorithm, and generating a YANG model file.
It should be noted that, the network topology and the flow information in the vehicle-mounted environment are relatively fixed, and the solution information in step S43 and step S44 is stored in the nonvolatile memory of the TSN controller, so that the time of the start-up phase can be shortened.
Further, the specific steps of the step S5 include:
S51, the CNC in the TSN controller packages the information in the YANG model file into the Payload of the Ethernet message, and sends a network parameter configuration message to the corresponding network node in a MAC addressing mode;
The information in the YANG model file specifically includes information such as a routing forwarding table, a sequence generation configuration, a sequence recovery configuration, a traffic preemption function configuration, a traffic transmission priority, a traffic transmission time offset and the like;
The Payload of the network parameter configuration message includes TSN Config Header fields and TSN Config Data fields, the Protocol ID in the TSN Config Header fields is used for specifying a Protocol of the network parameter configuration, PARAMETER ID is used for specifying a specific parameter of the Protocol, the Target is used for specifying a specific object of the network parameter configuration, the Length field in the TSN Config Data fields is used for specifying an effective Length of a Config Info field, the Config Info field contains specific content of the network parameter configuration, and a specific encapsulation format of the network parameter configuration message is shown in fig. 7;
S52, after receiving the network parameter configuration message, the network node analyzes the effective configuration information therein and updates the TSN parameter corresponding to the network node;
S53, monitoring the joining and exiting of the DDS application program by analyzing the effective configuration information, simultaneously monitoring the fault condition of the network node or the link in the network topology process, and updating corresponding information;
s54, re-executing the processes of the steps S1 to S5 based on the updated DDS discovery information table and the network topology information table so as to adapt to the dynamic change of the network topology.
Referring to fig. 2 again, a block diagram of a vehicle DDS and TSN fusion deployment method is shown, depicting interaction between a DDS layer and a TSN layer during actual operation.
Referring to fig. 8 again, a flow chart of the actual operation of the vehicle DDS and TSN fusion deployment method is shown, depicting a specific flow of dynamically updating network parameters in the event of a change in network topology during operation.
In summary, the vehicle DDS and TSN fusion deployment method in the above embodiment of the present invention is based on a centralized discovery method, and the DDS discovery server gathers discovery information of all DDS applications, and realizes discovery of DDS applications each other, so that an information interaction process between a network node and a CUC can be replaced, and a flow of complete centralized network configuration is simplified.
The communication quality requirement of the DDS layer can be mapped to the TSN layer through the proposed mapping rule algorithm, the communication quality is ensured by a related mechanism of the TSN, and the problem of mechanism redundancy caused by direct fusion of the DDS and the TSN is avoided, so that a similar mechanism in the DDS can be cut, and the lightweight realization of a DDS protocol stack is realized;
Sending a network topology discovery message to the TSN controller through a network node, and constructing a network topology through network topology information in the message, so that the defects of DDS and TSN on a network fault detection and feedback mechanism are overcome;
The method supports the dynamic configuration of network parameters in the network operation process, can adapt to the dynamic change of network topology or application program deployment, monitors the joining and exiting of the DDS application program by analyzing the network parameter configuration, and simultaneously monitors the fault condition of network nodes or links in the network topology process.
Example two
Referring to fig. 9, a vehicle DDS and TSN fusion deployment system 40 according to a second embodiment of the present invention is shown, comprising:
Discovery module 11: the DDS discovery server is used for collecting discovery information of each DDS application program and enabling the DDS application programs which mutually meet the matching conditions to discover the discovery information of each other based on a matching algorithm;
the discovery module 11 is specifically configured to:
address information of a DDS discovery server is preconfigured for each DDS application program;
The DDS application program sends discovery information to the DDS discovery server in a first period;
the content of the discovery information comprises the type of the DDS application program, topic information, qoS strategy information and address information;
After the DDS discovery server receives the discovery information which is not received before, newly creating a discovery information item, and for the received discovery information, updating the activity state in the corresponding discovery information item by the DDS discovery server;
The DDS discovery server runs a rule-based DDS application program matching algorithm, and if the types, the Topic information and the QoS policy information of the application programs among a plurality of the DDS application programs all meet matching conditions, the DDS discovery server exchanges discovery information among the corresponding DDS application programs so as to complete discovery of the DDS application programs.
The DDS application program sends the discovery information to the DDS discovery server in a second period to declare the activity of the DDS application program;
The first period is smaller than the second period, and when the DDS application program sends the discovery information to the DDS discovery server in the second period, the DDS application program stops sending the discovery information to the DDS discovery server in the first period;
Mapping module 12: the method is used for sequentially generating a mapping table and a TSN stream service quality requirement table based on discovery information collected by the DDS discovery server and according to a preset mapping rule algorithm;
the mapping module 12 is specifically configured to:
Determining a mapping rule between the discovery information and TSN stream service quality;
The DDS discovery server is arranged into a DDS discovery information table according to the collected discovery information;
Operating a mapping rule algorithm based on the mapping rule according to the DDS discovery information table, and sequentially generating a mapping table and a TSN stream service quality requirement table;
when the network node changes, the DDS discovery information table is automatically updated, and the addition, deletion and modification of the TSN stream service quality requirement table are tracked and completed according to the mapping table;
Building module 13: the method comprises the steps that each network node is used for periodically sending a network topology discovery message to a TSN controller, and the TSN controller is used for constructing a network topology by analyzing network topology information in the network topology discovery message;
the construction module 13 is specifically configured to:
pre-configuring address information of a TSN controller for each network node, and sending a network topology discovery message to the TSN controller by each network node in a third period;
Two fields, namely Address Info and Length, are recorded in a Payload of the network topology discovery message, the Address Info field records a MAC Address of each network node on the whole link from the network node to the TSN controller which is sent for the first time, and a timestamp of each network node when forwarding the network topology discovery message, and the Length field describes the Length of the Address Info field;
The TSN controller analyzes the information in the Address Info field and the Length field in the network topology discovery message, and further obtains a transmission link of the network topology discovery message in a network;
Setting an external level for each network node according to the hop count from each network node to the TSN controller, and recording network node information and link information in a network topology information table so that the TSN controller constructs a network topology according to the external level of all the network nodes and the connectivity between different network nodes;
The network node sends the network topology discovery message in a fourth period to declare the activity of all the network nodes on the transmission link;
After receiving the network topology discovery message, the TSN controller updates T1 values of all the network nodes and links on the transmission link, and if a certain network node or the link fails to cause the T1 value to decrease to 0, the TSN controller re-identifies and builds a network topology after removing the network node or the link from the failure, where the third period is less than a fourth period, and when the network node sends the network topology discovery message in the fourth period, the network node stops sending the network topology discovery message in the third period;
Scheduling module 14: the method comprises the steps of carrying out route solving on a switch, obtaining a flow scheduling result of a TSN flow by adopting a corresponding TSN flow scheduling algorithm according to the TSN flow service quality demand table and the network topology information, and generating a YANG model file;
the scheduling module 14 is specifically configured to:
carrying out route solving on the switch, and obtaining the TSN stream service quality requirement table and the network topology information based on global information;
adopting a dynamic route planning algorithm with reliability sensing to solve a route path meeting the quantity requirement and the quality requirement for each TSN flow;
combining a planning result of the routing path with the TSN stream service quality requirement table to generate a flow characteristic file;
Designing a corresponding flow scheduling scheme by combining the flow characteristic file and the network topology information, solving a flow scheduling result by adopting a corresponding TSN flow scheduling algorithm, and generating a YANG model file;
Update module 15: the TSN controller is used for packaging information in the YANG model file into an Ethernet message and sending a network parameter configuration message to the corresponding network node, and the network node analyzes the effective configuration information in the network parameter configuration message to realize dynamic update of network parameters so as to acquire dynamic change of network topology;
the update module 15 is specifically configured to:
the CNC in the TSN controller encapsulates the information in the YANG model file into the Payload of the Ethernet message, and sends a network parameter configuration message to the corresponding network node in a MAC addressing mode;
The Payload of the network parameter configuration message includes TSN Config Header fields and a TSN Config Data field, a Protocol ID in the TSN Config Header fields is used for specifying a Protocol of the network parameter configuration, PARAMETER ID is used for specifying a specific parameter of the Protocol, a Target is used for specifying a specific object of the network parameter configuration, a Length field in the TSN Config Data field is used for specifying an effective Length of a Config Info field, and the Config Info field contains specific contents of the network parameter configuration;
After receiving the network parameter configuration message, the network node analyzes the effective configuration information therein and updates the TSN parameter corresponding to the network node;
Monitoring the joining and exiting of the DDS application program by analyzing the effective configuration information, simultaneously monitoring the fault condition of the network node or the link in the network topology process, and updating corresponding information;
and re-executing the processes of the modules based on the updated DDS discovery information table and the network topology information table so as to adapt to the dynamic change of the network topology.
Example III
The present invention also proposes a computer device, please refer to fig. 10, which shows a computer device in a fourth embodiment of the present invention, including a memory 10, a processor 20, and a computer program 30 stored in the memory 10 and capable of running on the processor 20, where the above-mentioned vehicle DDS and TSN fusion deployment method is implemented when the processor 20 executes the computer program 30.
The memory 10 includes at least one type of storage medium including flash memory, a hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. Memory 10 may in some embodiments be an internal storage unit of a computer device, such as a hard disk of the computer device. The memory 10 may also be an external storage device such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like in other embodiments. Further, the memory 10 may also include both internal storage units and external storage devices of the computer apparatus. The memory 10 may be used not only for storing application software installed in a computer device and various types of data, but also for temporarily storing data that has been output or is to be output.
The processor 20 may be, in some embodiments, an electronic control unit (Electronic Control Unit, ECU for short, also called a car computer), a central processing unit (Central Processing Unit, CPU), a controller, a microcontroller, a microprocessor or other data processing chip for running program codes or processing data stored in the memory 10, for example, executing an access restriction program or the like.
It should be noted that the structure shown in fig. 10 does not constitute a limitation of the computer device, and in other embodiments, the computer device may include fewer or more components than shown, or may combine certain components, or may have a different arrangement of components.
The embodiment of the invention also provides a readable storage medium, on which a computer program is stored, which when executed by a processor, implements the vehicle DDS and TSN fusion deployment method as described above.
Those of skill in the art will appreciate that the logic and/or steps represented in the flow diagrams or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (9)
1. The vehicle DDS and TSN fusion deployment method is characterized by comprising the following steps of:
s1, a DDS discovery server collects discovery information of each DDS application program, and enables the DDS application programs which mutually meet matching conditions to discover the discovery information of the other party based on a matching algorithm;
S2, the DDS discovery server sequentially generates a mapping table and a TSN stream service quality requirement table based on the collected discovery information and according to a preset mapping rule algorithm;
S3, each network node periodically sends a network topology discovery message to a TSN controller, and the TSN controller builds network topology by analyzing network topology information in the network topology discovery message;
s4, the TSN controller carries out route solving on the exchanger, and according to the TSN flow service quality requirement table and the network topology information, a corresponding TSN flow scheduling algorithm is adopted to obtain a flow scheduling result of the TSN flow, and a YANG model file is generated;
S5, the TSN controller packages the information in the YANG model file into an Ethernet message, and sends a network parameter configuration message to the corresponding network node, and the network node analyzes the effective configuration information in the network parameter configuration message to achieve dynamic update of network parameters and further obtain dynamic change of network topology.
2. The vehicle DDS and TSN fusion deployment method of claim 1, wherein the specific steps of step S1 include:
address information of a DDS discovery server is preconfigured for each DDS application program;
The DDS application program sends discovery information to the DDS discovery server in a first period;
the content of the discovery information comprises the type of the DDS application program, topic information, qoS strategy information and address information;
After the DDS discovery server receives the discovery information which is not received before, newly creating a discovery information item, and for the received discovery information, updating the activity state in the corresponding discovery information item by the DDS discovery server;
The DDS discovery server runs a rule-based DDS application program matching algorithm, and if the types, the Topic information and the QoS policy information of the application programs among a plurality of the DDS application programs all meet matching conditions, the DDS discovery server exchanges discovery information among the corresponding DDS application programs so as to complete discovery of the DDS application programs.
The DDS application program sends the discovery information to the DDS discovery server in a second period to declare the activity of the DDS application program;
and when the DDS application program sends the discovery information to the DDS discovery server in the second period, the DDS application program stops sending the discovery information to the DDS discovery server in the first period.
3. The vehicle DDS and TSN fusion deployment method of claim 1, wherein the specific steps of step S2 include:
Determining a mapping rule between the discovery information and TSN stream service quality;
the DDS discovery server is arranged into a DDS discovery information table according to the collected discovery information;
Operating a mapping rule algorithm based on the mapping rule according to the DDS discovery information table, and sequentially generating a mapping table and a TSN stream service quality requirement table;
When the network node changes, the DDS discovery information table is automatically updated, and the addition, deletion and modification of the TSN stream service quality requirement table are tracked and completed according to the mapping table.
4. The vehicle DDS and TSN fusion deployment method of claim 1, wherein the specific step of step S3 includes:
pre-configuring address information of a TSN controller for each network node, and sending a network topology discovery message to the TSN controller by each network node in a third period;
Two fields, namely Address Info and Length, are recorded in a Payload of the network topology discovery message, the Address Info field records a MAC Address of each network node on the whole link from the network node to the TSN controller which is sent for the first time, and a timestamp of each network node when forwarding the network topology discovery message, and the Length field describes the Length of the Address Info field;
The TSN controller analyzes the information in the Address Info field and the Length field in the network topology discovery message, and further obtains a transmission link of the network topology discovery message in a network;
Setting an external level for each network node according to the hop count from each network node to the TSN controller, and recording network node information and link information in a network topology information table so that the TSN controller constructs a network topology according to the external level of all the network nodes and the connectivity between different network nodes;
The network node sends the network topology discovery message in a fourth period to declare the activity of all the network nodes on the transmission link;
And after receiving the network topology discovery message, the TSN controller updates T1 values of all the network nodes and links on the transmission link, and if a certain network node or the link fails to cause the T1 value to decrease to 0, the TSN controller re-identifies and builds a network topology after removing the network node or the link from the failure, wherein the third period is less than the fourth period, and when the network node sends the network topology discovery message in the fourth period, the network node stops sending the network topology discovery message in the third period.
5. The vehicle DDS and TSN fusion deployment method of claim 1, wherein the specific step of step S4 includes:
carrying out route solving on the switch, and obtaining the TSN stream service quality requirement table and the network topology information based on global information;
adopting a dynamic route planning algorithm with reliability sensing to solve a route path meeting the quantity requirement and the quality requirement for each TSN flow;
combining a planning result of the routing path with the TSN stream service quality requirement table to generate a flow characteristic file;
And designing a corresponding flow scheduling scheme by combining the flow characteristic file and the network topology information, solving a flow scheduling result by adopting a corresponding TSN flow scheduling algorithm, and generating a YANG model file.
6. The vehicle DDS and TSN fusion deployment method of claim 1, wherein the specific step of step S5 includes:
the CNC in the TSN controller encapsulates the information in the YANG model file into the Payload of the Ethernet message, and sends a network parameter configuration message to the corresponding network node in a MAC addressing mode;
The Payload of the network parameter configuration message includes TSN Config Header fields and a TSN Config Data field, a Protocol ID in the TSN Config Header fields is used for specifying a Protocol of the network parameter configuration, PARAMETER ID is used for specifying a specific parameter of the Protocol, a Target is used for specifying a specific object of the network parameter configuration, a Length field in the TSN Config Data field is used for specifying an effective Length of a Config Info field, and the Config Info field contains specific contents of the network parameter configuration;
After receiving the network parameter configuration message, the network node analyzes the effective configuration information therein and updates the TSN parameter corresponding to the network node;
monitoring the joining and exiting of the DDS application program by analyzing the effective configuration information, simultaneously monitoring the fault condition of the network node or the link in the network topology process, and updating corresponding information;
And re-executing the processes of the steps S1 to S5 based on the updated DDS discovery information table and the network topology information table so as to adapt to the dynamic change of the network topology.
7. A vehicle DDS and TSN fusion deployment system, comprising:
And a discovery module: the DDS discovery server is used for collecting discovery information of each DDS application program and enabling the DDS application programs which mutually meet the matching conditions to discover the discovery information of each other based on a matching algorithm;
and a mapping module: the method is used for sequentially generating a mapping table and a TSN stream service quality requirement table based on discovery information collected by the DDS discovery server and according to a preset mapping rule algorithm;
The construction module comprises: the method comprises the steps that each network node is used for periodically sending a network topology discovery message to a TSN controller, and the TSN controller is used for constructing a network topology by analyzing network topology information in the network topology discovery message;
And a scheduling module: the method comprises the steps of carrying out route solving on a switch, obtaining a flow scheduling result of a TSN flow by adopting a corresponding TSN flow scheduling algorithm according to the TSN flow service quality demand table and the network topology information, and generating a YANG model file;
and an updating module: the TSN controller is used for packaging information in the YANG model file into an Ethernet message and sending a network parameter configuration message to the corresponding network node, and the network node analyzes the effective configuration information in the network parameter configuration message to realize dynamic update of network parameters and further acquire dynamic change of network topology.
8. A storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle DDS and TSN fusion deployment method according to any of claims 1-6.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the vehicle DDS and TSN fusion deployment method of any of claims 1-6.
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| CN120034457B (en) * | 2025-04-22 | 2025-07-22 | 中国人民解放军国防科技大学 | Active monitoring method and device for TSN network topology state |
| CN120455572A (en) * | 2025-07-14 | 2025-08-08 | 西安微电子技术研究所 | Service layer mapping method and related device for DDS and TSN |
| CN120455572B (en) * | 2025-07-14 | 2025-10-17 | 西安微电子技术研究所 | Service interlayer mapping method and related device for DDS and TSN |
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