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Message processing method, device, electronic control unit and readable storage medium

An electronic control unit and message processing technology, applied in the field of communications, can solve problems such as hidden safety hazards, serious accidents of unmanned vehicles, and not being executed by vehicles, and achieve the effect of improving safety.

Active Publication Date: 2021-03-23
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a message processing method, device, electronic control unit, and readable storage medium to solve the situation in the prior art that multiple electronic control units simultaneously send messages of the same instruction to the CAN bus, Multiple messages with the same message ID are sent to the CAN bus at the same time, and the message IDs of multiple messages conflict, causing these messages to be discarded, resulting in the control of braking commands, parking commands, etc. sent by these electronic control units. None of the instructions are executed by the vehicle, which can easily cause serious accidents of unmanned vehicles, and there is a huge potential safety hazard

Method used

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  • Message processing method, device, electronic control unit and readable storage medium
  • Message processing method, device, electronic control unit and readable storage medium
  • Message processing method, device, electronic control unit and readable storage medium

Examples

Experimental program
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Embodiment 1

[0030] figure 1 It is a flow chart of the message processing method provided by Embodiment 1 of the present invention. The embodiment of the present invention aims at the situation that multiple electronic control units simultaneously send messages of the same instruction to the CAN bus in the prior art, and multiple messages with the same message ID are sent to the CAN bus at the same time, and the Message ID conflicts lead to these messages being discarded, resulting in the control commands such as braking commands and parking commands sent by these electronic control units not being executed by the vehicle, which can easily cause serious accidents of unmanned vehicles, and there is a huge risk. In view of potential safety hazards, a packet processing method is provided.

[0031] The method in this embodiment is applied to an electronic control unit for sending messages to the CAN bus in an unmanned driving system. For example, the electronic control unit corresponding to ...

Embodiment 2

[0046] figure 2 It is a flow chart of the packet processing method provided by Embodiment 2 of the present invention. On the basis of the first embodiment above, in this embodiment, before sending the message to the CAN bus, before the electronic control unit obtains the time configuration information, it also includes: the electronic control unit receives the time calibration information sent by the central control device; The electronic control unit calibrates the local time according to the time calibration information. Such as figure 2 As shown, the specific steps of the method are as follows:

[0047] Step S201, the electronic control unit receives the time calibration information sent by the clock calibration device.

[0048] In this embodiment, when the unmanned driving system is initialized, the local time of the multiple electronic control units corresponding to the same message ID is calibrated, so that the time of the multiple electronic control units correspon...

Embodiment 3

[0075] image 3 It is a schematic structural diagram of a message processing device provided in Embodiment 3 of the present invention. The packet processing apparatus provided in the embodiment of the present invention can execute the processing flow provided in the packet processing method embodiment. Such as image 3 As shown, the device 30 includes: a configuration information acquisition module 301 and a message sending module 302 .

[0076] Specifically, the configuration information acquisition module 301 is used to obtain the corresponding sending time configuration information by the electronic control unit when sending a message to the CAN bus, and the sending time configuration information is used to determine that the electronic control unit can send a message to the CAN bus. The time available for sending messages corresponding to any two different electronic control units with the same message ID is different when sending messages to the CAN bus.

[0077] The mes...

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PUM

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Abstract

Embodiments of the present invention provide a message processing method, device, electronic control unit, and readable storage medium. In the method of the embodiment of the present invention, by configuring different sending times for any two different electronic control units corresponding to the same message ID in the sending time configuration information of the electronic control unit, when sending a message to the CAN bus, According to the corresponding sending time configuration information, the electronic control unit sends messages to the CAN bus at the available sending time, so that any two different electronic control units with the same message IDs send messages to the CAN bus with a time interval of , to prevent different electronic control units from sending messages with the same message ID to the CAN bus at the same time, and to prevent the control commands such as braking commands and parking commands sent by the electronic control unit from being not executed by the vehicle due to message ID conflicts on the CAN bus Serious accidents with driverless vehicles have increased the safety of driverless systems.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of communications, and in particular, to a message processing method, device, electronic control unit, and readable storage medium. Background technique [0002] The traditional Controller Area Network (CAN bus) is a network used for local real-time control. It has many applications in vehicles, intelligent buildings and industrial sites, and is the most widely used site in the world. One of the buses, especially in the automotive field is currently one of the industry standards. [0003] In the unmanned driving system, multiple electronic control units (Electronic Control Unit, ECU for short) of the unmanned driving system communicate through the CAN bus. The message sent by the electronic control unit to the CAN bus mainly includes these information: message ID, data length field and data field. When the CAN bus is idle, any electronic control unit can send messages to the CAN b...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04L12/40H04L29/08
CPCH04L12/40078H04L67/12H04L2012/40273H04L2012/40215H04L12/4015H04L12/4135H04L12/08
Inventor 杨凯张宏达殷其娟张伍召王柏生陈卓
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD