无人车AVB通信及降低通信时延方法研究  

Research on AVB Communication for Unmanned Vehicles and Method for Reducing Communication Time Delay

作　　者：徐晓林 秦宗光 赵毅栋 XU Xiaolin;QIN Zongguang;ZHAO Yidong(School of Big Data and Artificial Intelligence,Zhengzhou University of Science and Technology,Zhengzhou 450064,China;Yutong Bus Co.,Ltd.,Zhengzhou 450000,China)

机构地区：[1]郑州科技学院大数据与人工智能学院,河南郑州450064 [2]宇通客车股份有限公司,河南郑州450000

出　　处：《自动化仪表》2022年第12期38-43,共6页Process Automation Instrumentation

基　　金：河南省高等学校重点科研计划基金资助项目(23B510009)。

摘　　要：无人车域间各系统进行音视频桥接(AVB)以太网通信时,不同域间的底层电子控制单元(ECU)通信会涉及大量AVB原始数据,且各域间控制器在转发通信的不同节点过程中也存在通信时延。时延会影响上层决策控制的时效性,导致执行机构的控制响应延迟大,无法满足无人驾驶控制的鲁棒性要求。设计一种基于改进的滑动窗口算法来提取AVB有效载荷数据,利用过滤、提取、更新后的有效载荷数据来计算整体域间系统通信过程各节点的时延,以此确定关键延时节点。通过对时间合理修正以降低整体链路通信时延,提高了无人车各域间控制器的AVB通信效率,使上层决策获取到精简的有效数据,改善了决策控制的时效性。该方法满足无人车超低时延控制的鲁棒性、稳定性需求。When audio video bridging(AVB) Ethernet communication between systems in the unmanned vehicle domain, the bottom electronic control unit(ECU) communication between different olomains involves a large amount of raw AVB data, and there are also communication time delays in the process of forwarding communication between different nodes of each inter-domain controller.The time delay affects the timeliness of the upper layer decision control, resulting in large control response delays of the actuators, which can’t meet the robustness requirements of unmanned control.An improved sliding window algorithm is designed to extract AVB payload data, and the filtered, extracted, and updated payload data is used to calculate the time delay of each node in the overall inter-domain system communication process, thereby identifying key delay nodes.By making reasonable time corrections to reduce the overall link communication latency, the AVB communication efficiency of each inter-domain controller of the unmanned vehicle is improved, enabling the upper-level decision to obtain the streamlined and effective data and improving the timeliness of decision control.The method meets the robustness and stability requirements for ultra-low time delay control of unmanned vehicles.

关 键 词：音视频桥接通信 无人车 以太网通信 滑动窗口 时延控制 

分 类 号：TH7[机械工程—仪器科学与技术]