CN118694627B - Redundant controller primary and secondary redundant communication system and method - Google Patents
Redundant controller primary and secondary redundant communication system and method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/18—Multiprotocol handlers, e.g. single devices capable of handling multiple protocols
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/28—Timers or timing mechanisms used in protocols
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The embodiment of the invention discloses a main and auxiliary redundant communication system and a method of a redundant controller, which relate to the technical field of communication, wherein the method comprises the steps that a target arbitration mechanism receives a private CAN message sent by a target private CAN transceiver, judges whether the private CAN message is overtime, and if the private CAN message is not overtime, the target arbitration mechanism sends the private CAN message sent by the target private CAN transceiver to a target Autosar-COM; if the private CAN message times out, the target arbitration mechanism sends target UART transceiver receive UART data to target Autosar-COM. According to the embodiment of the invention, whether the private CAN message overturns or not is monitored through an arbitration mechanism, and the UART data is started to simulate the private CAN message when the private CAN message overtime, so that the stability and timeliness of data communication between the main MCU and the auxiliary MCU are realized, and the safety performance of the automobile in the running process is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of communication, in particular to a redundant controller primary and secondary redundant communication system and a method.
Background
With the continuous development of automobiles, the chassis controller based on double MCUs is more and more widely applied, and the stability requirement on data communication between the main MCU and the auxiliary MCU is higher and higher. The existing data communication between the main MCU and the auxiliary MCU is generally realized through a CAN communication network (a cooperation structure of a CAN transceiver and a CAN bus), if the CAN message is overtime, the data communication between the main MCU and the auxiliary MCU is unstable, the real-time performance of the data transmission CAN be influenced, and the safety performance of an automobile is further influenced.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention aims to provide a main and auxiliary redundant communication system and method for a redundant controller, which can realize the stability of data communication between main and auxiliary MCUs.
To solve the above problems, a first aspect of the present invention discloses a primary and secondary redundancy communication system of a redundancy controller, which includes a primary controller and a secondary controller, the primary controller includes a first Autosar-COM, a first arbitration mechanism, and a first microcontroller, the secondary controller includes a second Autosar-COM, a second arbitration mechanism, and a second microcontroller, the first microcontroller is provided with a first private CAN transceiver and a first UART transceiver, the second microcontroller is provided with a second private CAN transceiver and a second UART transceiver, the first private CAN transceiver and the second private CAN transceiver are connected through a CAN bus, the first private CAN transceiver is further connected to the first arbitration mechanism through a first protocol data unit route, the second private CAN transceiver is further connected to the second arbitration mechanism through a second protocol data unit route, the first UART transceiver and the second UART transceiver are further connected through a first arbitration mechanism, and the first UART transceiver is further connected to the first Autosar-UART transceiver through a second UART mechanism, and the second UART transceiver is further connected to the second UART Autosar through a second UART mechanism.
In a first aspect of the present invention, the first private CAN transceiver and the first protocol data unit route, the first protocol data unit route and the first arbitration mechanism, the second private CAN transceiver and the second protocol data unit route, the second protocol data unit route and the second arbitration mechanism, the first UART transceiver and the first arbitration mechanism, the first arbitration mechanism and the first Autosar-COM, the second UART transceiver and the second arbitration mechanism, and the second Autosar-COM communicate via I-PDUs.
In a preferred embodiment, in the first aspect of the embodiment of the present invention, a UART-to-CAN module is further disposed between the first UART transceiver and the first arbitration mechanism, and between the second UART transceiver and the second arbitration mechanism, for converting UART data into a private CAN message.
The second aspect of the embodiment of the invention discloses a main and auxiliary redundant communication method of a redundant controller, which is realized based on the main and auxiliary redundant communication system of the redundant controller in the first aspect of the embodiment of the invention, and comprises the following steps:
The target arbitration mechanism receives a private CAN message sent by a target private CAN transceiver, judges whether the private CAN message overtime, and if the private CAN message does not overtime, the target arbitration mechanism sends the private CAN message sent by the target private CAN transceiver to a target Autosar-COM;
If the private CAN message is overtime, the target arbitration mechanism sends UART data received by the target UART transceiver to the target Autosar-COM;
When the target arbitration mechanism is a first arbitration mechanism, the target private CAN transceiver, the target UART transceiver and the target Autosar-COM are respectively corresponding to the first private CAN transceiver, the first UART transceiver and the first Autosar-COM;
When the target arbitration mechanism is a second arbitration mechanism, the target private CAN transceiver, the target UART transceiver and the target Autosar-COM are respectively corresponding to the second private CAN transceiver, the second UART transceiver and the second Autosar-COM.
In a second aspect of the embodiment of the present invention, if the private CAN message is time-out, the target arbitration mechanism sends UART data received by the target UART transceiver to the target Autosar-COM, and then further includes:
The target arbitration mechanism continues to judge whether the private CAN message overtime, if the private CAN message does not overtime, the target arbitration mechanism sends the private CAN message sent by the target private CAN transceiver to the target Autosar-COM, and does not send the UART data received by the target UART transceiver to the target Autosar-COM.
In a second aspect of the present invention, the target arbitration mechanism sends target UART transceiver received UART data to target Autosar-COM, comprising:
The target arbitration mechanism directly transmits the UART data received by the target UART transceiver to the target Autosar-COM, or the target arbitration mechanism converts the UART data received by the target UART transceiver into a private CAN message and then transmits the private CAN message to the target Autosar-COM.
In a second aspect of the embodiment of the present invention, determining whether the private CAN packet is overtime includes:
Recording the receiving time of the message ID of each private CAN message, periodically polling the message IDs of all the private CAN messages, comparing the time difference between the receiving time and the current time, and judging that the private CAN messages are overtime when the time difference is larger than a preset time threshold.
A third aspect of the embodiment of the present invention discloses a computer-readable storage medium storing a computer program, where the computer program causes a computer to execute a primary-secondary redundancy communication method of a redundancy controller disclosed in the second aspect of the embodiment of the present invention.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
According to the embodiment of the invention, whether the private CAN message overturns or not is monitored through an arbitration mechanism, and the UART data is started to simulate the private CAN message when the private CAN message overtime, so that Autosar-COM CAN directly process the data received by the UART without paying attention to the hardware through which the data is communicated, thereby realizing the stability and timeliness of data communication between the main MCU and the auxiliary MCU and improving the safety performance of the automobile in the running process.
Drawings
Fig. 1 is a schematic structural diagram of a primary and secondary redundant communication system of a redundant controller according to an embodiment of the present invention;
fig. 2 is a flow chart of a primary-secondary redundancy communication method of a redundancy controller according to an embodiment of the present invention.
Detailed Description
This detailed description is merely illustrative of the embodiments of the invention and is not intended to limit the embodiments of the invention, since modifications of the embodiments can be made by those skilled in the art without creative contribution as required after reading the specification, but are protected by the patent laws within the scope of the claims of the embodiments of the invention.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the embodiments of the present invention.
The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
In embodiments of the invention, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g." in an embodiment should not be taken as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
According to the embodiment of the invention, whether the private CAN message overturns or not is monitored through an arbitration mechanism, and the UART data is started to simulate the private CAN message when the private CAN message overtime, so that Autosar-COM CAN directly process the data received by the UART without paying attention to the hardware through which the data is communicated, thereby realizing the stability and timeliness of data communication between the main MCU and the auxiliary MCU and improving the safety performance of the automobile driving process.
Example 1
Referring to fig. 1, fig. 1 is a schematic diagram of a redundant controller primary-secondary redundant communication system according to an embodiment of the present invention, which mainly includes a primary controller (i.e., a primary MCU) and a secondary controller (i.e., a secondary MCU), wherein data communication is implemented between the primary controller and the secondary controller through a data transmission assembly.
Both the primary and secondary controllers employ Autosar architecture, which may include Autosar-COM, a microcontroller, and an Arbitration mechanism (Arbitration), where Autosar-COM provides basic communication services with explicit upper layer module RTE (Runtime Environment runtime environment) and lower layer module PDU Router (i.e., PDUR protocol data unit routing). The microcontroller is the core hardware of the main and auxiliary controllers.
The arbitration mechanism is implemented in Software, which is provided in BswM, namely the BSW Mode Manager, bswM is a module that implements part of the vehicle Mode management (Vehicle Mode Management) and application Mode management concept (Application Mode Management) that resides in the BSW (Basic Software layer).
In the preferred embodiment of the present invention, the arbitration mechanism mainly aims at two, one is to determine whether the private CAN message is overtime, and the other is used for switching the communication mode between the main controller and the auxiliary controller, of course, in other embodiments, the other modules CAN also be used for determining whether the private CAN message is overtime, i.e. the arbitration mechanism CAN be split into two parts, both parts CAN use one arbitration mechanism, or a microcontroller is used for determining whether the private CAN message is overtime, and the arbitration mechanism determines which communication mode is adopted.
The data transmission assembly mainly comprises a private CAN transceiver and a UART transceiver which are integrated in a microprocessor, wherein the private CAN transceivers between the main controller and the auxiliary controller are connected through a CAN bus, and the UART transceivers are connected through a UART serial bus.
For illustration, in the embodiment of the present invention, autosar-COM, arbitration mechanism, microcontroller, private CAN transceiver, and UART transceiver in the master controller are respectively denoted as first Autosar-COM, first arbitration mechanism, first microcontroller, first private CAN transceiver, and first UART transceiver, autosar-COM, arbitration mechanism, microcontroller, private CAN transceiver, and UART transceiver in the slave controller are respectively denoted as second Autosar-COM, second arbitration mechanism, second microcontroller, second private CAN transceiver, and second UART transceiver, and in addition, protocol Data Unit Routes (PDUR) in the master and slave controllers are respectively denoted as first protocol data unit routes and second protocol data unit routes.
Based on the principle, the arbitration mechanism is connected between the microprocessor and Autosar-COM, so that whether the private CAN message is overtime is judged on one hand, and the communication mode between Autosar-COM and the microprocessor is determined on the other hand. Specifically, the first private CAN transceiver is further connected to a first arbitration mechanism through a first protocol data unit route, the second private CAN transceiver is further connected to a second arbitration mechanism through a second protocol data unit route, the first UART transceiver and the second UART transceiver are connected through a UART bus, the first UART transceiver is further connected to a first Autosar-COM through the first arbitration mechanism, and the second UART transceiver is further connected to a second Autosar-COM through the second arbitration mechanism.
In addition, the communication between the other related modules is realized by adopting multiplexed protocol data units (I-PDUs) except the communication between the first microprocessor and the second microprocessor through a UART bus or a CAN bus. I.e., between the first private CAN transceiver and the first protocol data unit route, between the first protocol data unit route and the first arbitration mechanism, between the second private CAN transceiver and the second protocol data unit route, between the second protocol data unit route and the second arbitration mechanism, between the first UART transceiver and the first arbitration mechanism, between the first arbitration mechanism and the first Autosar-COM, between the second UART transceiver and the second arbitration mechanism, and between the second arbitration mechanism and the second Autosar-COM, all communicate via I-PDUs.
Generally, autosar-COM CAN directly process UART data, but in some scenarios, if Autosar-COM cannot directly process UART data, UART-CAN modules CAN be additionally arranged between the first UART transceiver and the first arbitration mechanism and between the second UART transceiver and the second arbitration mechanism, and are used for converting UART data into private CAN messages, so that timeliness of data processing is ensured. Of course, in other embodiments, UART data may be converted to other data types in other formats that Autosar-COM may handle.
The specific working principle can be expressed as follows:
The target arbitration mechanism receives the private CAN message sent by the target private CAN transceiver, judges whether the private CAN message overtime, if the private CAN message does not overtime, the target arbitration mechanism sends the private CAN message sent by the target private CAN transceiver to the target Autosar-COM, and if the private CAN message overtime, the target arbitration mechanism sends the UART data received by the target UART transceiver to the target Autosar-COM.
Because of the interaction of the primary and secondary controllers involved, the target arbitration mechanism may be a first arbitration mechanism or a second arbitration mechanism. The target private CAN transceiver, the target UART transceiver, and the target Autosar-COM correspond to the first private CAN transceiver, the first UART transceiver, and the first Autosar-COM, respectively, if the target arbitration mechanism is a first arbitration mechanism, and the target private CAN transceiver, the target UART transceiver, and the target Autosar-COM correspond to the second private CAN transceiver, the second UART transceiver, and the second Autosar-COM, respectively, if the target arbitration mechanism is a second arbitration mechanism.
In other embodiments, if the private CAN message is restored (i.e., the private CAN message does not timeout), the data sent to the target Autosar-COM is switched to the private CAN message.
Example two
Referring to fig. 2, fig. 2 is a flow chart of a primary-secondary redundancy communication method of a redundancy controller according to an embodiment of the invention.
Referring to fig. 2, a method for primary and secondary redundant communication of a redundant controller may include the following steps:
S210, the target arbitration mechanism receives the private CAN message sent by the target private CAN transceiver, judges whether the private CAN message is overtime, and if the private CAN message is not overtime, the target arbitration mechanism sends the private CAN message sent by the target private CAN transceiver to the target Autosar-COM.
Because of the interaction of the primary and secondary controllers involved, the target arbitration mechanism may be a first arbitration mechanism or a second arbitration mechanism. The target private CAN transceiver, the target UART transceiver, and the target Autosar-COM correspond to the first private CAN transceiver, the first UART transceiver, and the first Autosar-COM, respectively, if the target arbitration mechanism is a first arbitration mechanism, and the target private CAN transceiver, the target UART transceiver, and the target Autosar-COM correspond to the second private CAN transceiver, the second UART transceiver, and the second Autosar-COM, respectively, if the target arbitration mechanism is a second arbitration mechanism.
The method for calculating whether the private CAN message overtime or not CAN be realized by adopting the prior art.
For example, a periodic polling method or a timer method may be used to determine whether the private CAN message has timed out. The periodic polling method records the receiving time of each private CAN message ID (Identity document identity identification number) when receiving messages, periodically polls all the private CAN message IDs, acquires the receiving time of all the messages, compares the time difference between the current time and the receiving time, and considers overtime when the time difference is larger than a set overtime value.
The timer method is to set a timer for each private CAN message ID, and update the triggering time of the corresponding timer every time when receiving the message, so that if the private CAN message is normally received, the triggering time of the timer is continuously updated backwards, but the timer is not actually triggered, and once the timer is triggered, the private CAN message corresponding to the private CAN message ID is indicated to be overtime.
If the private CAN message is not overtime, the data of the private CAN message CAN ensure the stability and timeliness of data communication between the main controller and the auxiliary controller, so that the driving safety of the automobile CAN be ensured, and therefore, under the condition, the target arbitration mechanism CAN directly send the data of the private CAN message to the target Autosar-COM.
S220, if the private CAN message is overtime, the target arbitration mechanism transmits UART data received by the target UART transceiver to the target Autosar-COM.
If the private CAN message is overtime, the fact that the private CAN message data are continuously adopted for communication between the main controller and the auxiliary controller is indicated, the data delay and even the data loss are possibly caused, the stability and the timeliness of the communication between the main controller and the auxiliary controller are affected, and at the moment, the interaction between the main controller and the auxiliary controller CAN be realized through a redundant data communication mode due to the existence of communication redundancy.
In the preferred embodiment of the invention, the target arbitration mechanism CAN be used for indicating UART data received by the target UART transceiver to the target Autosar-COM as private CAN data, and for the target Autosar-COM, UART data simulate private CAN message data, and the target Autosar-COM layer CAN directly process the data received by the target UART transceiver without paying attention to the hardware through which the data is communicated, so that the stability and timeliness of data communication between the main controller and the auxiliary controller CAN be ensured.
S230, the target arbitration mechanism continues to judge whether the private CAN message is recovered.
In the process of realizing communication between the main controller and the auxiliary controller through the UART, the target arbitration mechanism continues to monitor whether the private CAN message is overtime. The method for calculating whether the private CAN message is overtime is the same as that in step S210, in addition, in order to ensure the stability of the private CAN message data, a certain threshold may be set for the time and/or the number of messages which are not overtime, for example, the private CAN message recovery may be determined when the duration of the time without overtime is continuous with the first preset time threshold and the number of the private CAN messages which are not overtime is not less than the first preset number threshold.
S240, if the recovery is performed, executing the step S210, otherwise, continuing to execute the step S220.
If the private CAN message is recovered (not overtime), the target arbitration mechanism transmits the private CAN message transmitted by the target private CAN transceiver to the target Autosar-COM, and does not transmit the UART data received by the target UART transceiver to the target Autosar-COM.
If the private CAN message is not recovered (still times out), the target UART transceiver continues to receive UART data and send it to the target Autosar-COM.
According to the embodiment of the invention, the data received by the private CAN transceiver is routed to an arbitration mechanism through PDUR, the arbitration mechanism CAN judge whether the private CAN message overturns or not, if the private CAN message overtime does not exist, the arbitration mechanism CAN indicate the data to Autosar-COM, and if the private CAN message overtime is judged, the arbitration mechanism CAN indicate the data received by the UART to Autosar-COM. If the private CAN message is recovered, the arbitration mechanism is switched to the private CAN message data for indicating to Autosar-COM again, so that the redundancy of communication between the redundant controllers (main and auxiliary controllers) is realized, the stability and timeliness of data communication between the main and auxiliary controllers are ensured, and the safety in the running process of the automobile is improved.
The foregoing describes the principles and embodiments of the present invention in detail using specific examples to help understand the method and core ideas of the present invention, and meanwhile, the present disclosure should not be construed as limiting the invention to those skilled in the art who follow the ideas of the present invention.
Claims (8)
1. A redundancy controller primary and secondary redundancy communication system comprises a main controller and a secondary controller, and is characterized in that the main controller comprises a first Autosar-COM, a first arbitration mechanism and a first microcontroller, the secondary controller comprises a second Autosar-COM, a second arbitration mechanism and a second microcontroller, the first microcontroller is provided with a first private CAN transceiver and a first UART transceiver, the second microcontroller is provided with a second private CAN transceiver and a second UART transceiver, the first private CAN transceiver and the second private CAN transceiver are connected through a CAN bus, the first private CAN transceiver is further connected to the first arbitration mechanism through a first protocol data unit route, the second private CAN transceiver is further connected to the second arbitration mechanism through a second protocol data unit route, the first UART transceiver and the second UART transceiver are connected through a UART bus, the first UART transceiver is further connected to the first Autosar-COM through the first arbitration mechanism, and the second UART transceiver is further connected to the second UART Autosar through a second UART bus.
2. The redundant controller primary and secondary redundant communication system of claim 1 wherein the first private CAN transceiver and first protocol data unit routing, the first protocol data unit routing and first arbitration mechanism, the second private CAN transceiver and second protocol data unit routing, the second protocol data unit routing and second arbitration mechanism, the first UART transceiver and first arbitration mechanism, the first arbitration mechanism and the first Autosar-COM, the second UART transceiver and second arbitration mechanism, and the second arbitration mechanism and the second Autosar-COM are all in communication via I-PDUs.
3. The redundant controller primary and secondary redundant communication system of claim 1 wherein UART-to-CAN modules are further provided between the first UART transceiver and the first arbitration mechanism and between the second UART transceiver and the second arbitration mechanism for converting UART data into a private CAN message.
4. A method for primary and secondary redundant communication of a redundant controller based on the primary and secondary redundant communication system of any one of claims 1-3, comprising the steps of:
The target arbitration mechanism receives a private CAN message sent by a target private CAN transceiver, judges whether the private CAN message overtime, and if the private CAN message does not overtime, the target arbitration mechanism sends the private CAN message sent by the target private CAN transceiver to a target Autosar-COM;
If the private CAN message is overtime, the target arbitration mechanism sends UART data received by the target UART transceiver to the target Autosar-COM;
When the target arbitration mechanism is a first arbitration mechanism, the target private CAN transceiver, the target UART transceiver and the target Autosar-COM are respectively corresponding to the first private CAN transceiver, the first UART transceiver and the first Autosar-COM;
When the target arbitration mechanism is a second arbitration mechanism, the target private CAN transceiver, the target UART transceiver and the target Autosar-COM are respectively corresponding to the second private CAN transceiver, the second UART transceiver and the second Autosar-COM.
5. The method of claim 4, wherein if the private CAN message is overtime, the target arbitration mechanism sends the target UART transceiver received UART data to the target Autosar-COM, and further comprising:
The target arbitration mechanism continues to judge whether the private CAN message overtime, if the private CAN message does not overtime, the target arbitration mechanism sends the private CAN message sent by the target private CAN transceiver to the target Autosar-COM, and does not send the UART data received by the target UART transceiver to the target Autosar-COM.
6. The method of claim 4, wherein the target arbitration mechanism sends target UART transceiver-received UART data to target Autosar-COM, comprising:
The target arbitration mechanism directly transmits the UART data received by the target UART transceiver to the target Autosar-COM, or the target arbitration mechanism converts the UART data received by the target UART transceiver into a private CAN message and then transmits the private CAN message to the target Autosar-COM.
7. The method for primary and secondary redundant communication of a redundant controller of claim 4 wherein determining if a private CAN message has timed out comprises:
Recording the receiving time of the message ID of each private CAN message, periodically polling the message IDs of all the private CAN messages, comparing the time difference between the receiving time and the current time, and judging that the private CAN messages are overtime when the time difference is larger than a preset time threshold.
8. A computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute the redundancy controller primary and secondary redundancy communication method according to any one of claims 4 to 7.
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| CN115022159A (en) * | 2022-06-27 | 2022-09-06 | 汉中一零一航空电子设备有限公司 | Control equipment main controller redundancy backup system and method |
| CN116996340A (en) * | 2023-09-25 | 2023-11-03 | 湖南宇诺辰电子科技有限公司 | CAN (controller area network) receiving and transmitting method and CAN receiving and transmitting system |
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