This disclosure provides a message transmission method, apparatus, and device, relating to the field of autonomous driving technology, specifically to the field of message
transmission technology. One specific embodiment of the method includes: upon receiving a request to transmit a periodic message, writing the periodic message into programmable logic memory, wherein the periodic message is a Variable
Baud Rate Controller
Area Network (CAN FD) message; configuring a programmable logic configuration table based on the information in the periodic message, and configuring the periodic parameters in the programmable logic configuration table into a
timer; starting the
timer, and when the
timer alarms, retrieving the periodic message from the programmable logic memory based on the storage index address in the programmable logic configuration table; writing the periodic message into a hardware layer cache first, and then sending it from the hardware layer cache to the
CAN bus of the Controller
Area Network. This embodiment improves the efficiency and accuracy of the CAN FD message transmission process.