Data Synchronization Method Based on Multiple Vehicle Terminals and Computer Device

Abstract

The present application relates to a data synchronization method, apparatus, computer device, storage medium, and computer program product based on multiple vehicle-mounted terminals, which is applied to the first vehicle-mounted terminal of a distributed vehicle system. The method includes: in response to an operation on the first vehicle-mounted terminal, obtaining operation data; converting the operation data according to a preset instruction data format to obtain instruction data; encapsulating the instruction data to obtain a synchronization message; distributing the synchronization message to a second vehicle-mounted terminal in the distributed vehicle system, and the second vehicle-mounted terminal receives the synchronization message, parses to obtain updated operation data, and synchronizes it to the local of the second vehicle-mounted terminal; wherein, the first vehicle-mounted terminal is any vehicle-mounted terminal in the distributed vehicle system; the second vehicle-mounted terminal is other vehicle-mounted terminals in the distributed vehicle system except the first vehicle-mounted terminal. This method can achieve data synchronization of multiple vehicle terminals for autonomous driving.

Description

Technical Field

[0001] The present application relates to the technical fields of automobiles and autonomous driving technologies, and in particular, to a data synchronization method, apparatus, computer device, storage medium, and computer program product based on multiple vehicle-mounted terminals. Background Art

[0002] With the development of autonomous driving technologies, autonomous driving technologies are becoming more and more mature, and the operations on vehicle-mounted terminals are also becoming more and more diverse. Almost every vehicle will have multiple vehicle-mounted terminals for users and relevant personnel to use.

[0003] Due to the increase in the number of vehicle-mounted terminals, the operation methods of operators on vehicle-mounted terminals will also change. In the traditional way, there is usually only one vehicle-mounted terminal, while with the setting of multiple vehicle-mounted terminals, passengers in different seats can all operate. This has created new problems: how to synchronize the data of multiple vehicle-mounted terminals. For example, if a passenger on one vehicle-mounted terminal operates the login interface and adjusts the in-vehicle air-conditioning temperature, these operations need to be synchronized on other vehicle-mounted terminals.

[0004] Currently, most of the methods related to multi-terminal synchronization are based on the client-server method, using the server as a data transfer medium and then distributing the data. This method has several problems: First, it has high requirements for the performance of the server, and the relative development and maintenance costs are relatively high. Second, it has a high dependence on the network, and the network topology is single, which is not suitable for the vehicle-mounted network topology of autonomous driving. Summary of the Invention

[0005] Based on this, it is necessary to provide a data synchronization method, apparatus, computer device, computer-readable storage medium, and computer program product for multiple vehicle-mounted terminals that can be applied to autonomous driving in view of the above technical problems.

[0006] In a first aspect, the present application provides a data synchronization method based on multiple vehicle-mounted terminals. The method includes:

[0007] In response to an operation on the first vehicle-mounted terminal, obtain operation data;

[0008] Convert the operation data into instruction data according to a preset instruction data format, and obtain instruction data;

[0009] Encapsulate the instruction data to obtain a synchronization message;

[0010] Distribute the synchronization message to a second vehicle terminal in the distributed vehicle system. The second vehicle terminal receives the synchronization message, parses it to obtain updated operation data, and synchronizes it to the local of the second vehicle terminal. Wherein, the first vehicle terminal is any vehicle terminal in the distributed vehicle system; the second vehicle terminal is other vehicle terminals in the distributed vehicle system except the first vehicle terminal.

[0011] In one embodiment, the distributed vehicle network includes a ROS distributed vehicle subsystem and a non-ROS distributed vehicle subsystem. The ROS distributed vehicle subsystem includes a ROS terminal and a ROS management terminal connected to the ROS terminal. The non-ROS distributed vehicle subsystem includes a non-ROS terminal and a ROS bridge terminal connected to the non-ROS terminal. The ROS bridge terminal is communicatively connected to the ROS management terminal.

[0012] In one embodiment, distributing the synchronization message to a second vehicle terminal in the distributed vehicle system includes:

[0013] If the first vehicle terminal is a ROS terminal, send the synchronization message to the ROS management terminal based on ROS. The ROS management terminal distributes it to the ROS terminal and the ROS bridge terminal, and the ROS bridge terminal distributes the synchronization message to the non-ROS terminal.

[0014] If the first vehicle terminal is a non-ROS terminal, send the synchronization message to the ROS bridge terminal based on WebSocket. The ROS bridge terminal distributes the synchronization message to the non-ROS terminal and the ROS management terminal, and the ROS management terminal distributes the synchronization message to the ROS terminal.

[0015] In a second aspect, the present application also provides a data synchronization method based on multiple vehicle terminals, which is applied to a second vehicle terminal of a distributed vehicle system. The method includes:

[0016] Receive a synchronization message from a first vehicle terminal in the same distributed vehicle network. The synchronization message is generated by operating the first vehicle terminal.

[0017] Unpackage the synchronization message to obtain instruction data.

[0018] Parse the instruction data according to a preset instruction data format to obtain updated operation data.

[0019] Synchronize the updated operation data locally. Wherein, the first vehicle terminal is any vehicle terminal in the distributed vehicle system; the second vehicle terminal is other vehicle terminals in the distributed vehicle system except the first vehicle terminal.

[0020] In one embodiment, the method further includes:

[0021] Obtain the operation corresponding to the updated operation data;

[0022] Execute the corresponding operation on the display device of the second vehicle-mounted terminal according to the updated operation data.

[0023] In one embodiment, the method further includes: parsing the instruction data to obtain a synchronization operation level;

[0024] If the synchronization operation level of the synchronization message is greater than a preset level, execute the corresponding operation on the display device of the second vehicle-mounted terminal according to the updated operation data.

[0025] In one embodiment, the method further includes obtaining the set display operation type and message display parameters of the second vehicle-mounted terminal;

[0026] The step of executing the corresponding operation on the display device of the second vehicle-mounted terminal according to the updated operation data includes: if the operation type of the operation is the display operation type, execute the corresponding operation on the display device of the second vehicle-mounted terminal according to the message display parameters and the updated operation data.

[0027] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the following steps are implemented:

[0028] In response to an operation on the first vehicle-mounted terminal, obtain operation data;

[0029] Convert the operation data into a preset instruction data format to obtain instruction data;

[0030] Encapsulate the instruction data to obtain a synchronization message;

[0031] Distribute the synchronization message to a second vehicle-mounted terminal in a distributed vehicle-mounted system. The second vehicle-mounted terminal receives the synchronization message, parses it to obtain updated operation data, and synchronizes it to the local of the second vehicle-mounted terminal; wherein, the first vehicle-mounted terminal is any vehicle-mounted terminal in the distributed vehicle-mounted system; the second vehicle-mounted terminal is other vehicle-mounted terminals in the distributed vehicle-mounted system except the first vehicle-mounted terminal.

[0032] In a fourth aspect, the present application further provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the following steps are implemented:

[0033] Receive the synchronization message of the first vehicle-mounted terminal in the same distributed vehicle-mounted network, where the synchronization message is generated by operating the first vehicle-mounted terminal;

[0034] Unseal the synchronization message to obtain instruction data;

[0035] Parse the instruction data according to a preset instruction data format to obtain updated operation data;

[0036] Synchronize the updated operation data locally, where the first vehicle-mounted terminal is any vehicle-mounted terminal in the distributed vehicle-mounted system; the second vehicle-mounted terminal is other vehicle-mounted terminals in the distributed vehicle-mounted system except the first vehicle-mounted terminal.

[0037] In a fifth aspect, the present application also provides a computer-readable storage medium. On the computer-readable storage medium, there is a computer program stored, and when the computer program is executed by a processor, the following steps are implemented:

[0038] In response to an operation on the first vehicle-mounted terminal, obtain operation data;

[0039] Convert the operation data according to a preset instruction data format to obtain instruction data;

[0040] Seal the instruction data to obtain a synchronization message;

[0041] Distribute the synchronization message to the second vehicle-mounted terminal in the distributed vehicle-mounted system. The second vehicle-mounted terminal receives the synchronization message, parses it to obtain updated operation data, and synchronizes it to the local of the second vehicle-mounted terminal; where the first vehicle-mounted terminal is any vehicle-mounted terminal in the distributed vehicle-mounted system; the second vehicle-mounted terminal is other vehicle-mounted terminals in the distributed vehicle-mounted system except the first vehicle-mounted terminal.

[0042] In a sixth aspect, the present application also provides a computer-readable storage medium. On the computer-readable storage medium, there is a computer program stored, and when the computer program is executed by a processor, the following steps are implemented:

[0043] Receive the synchronization message of the first vehicle-mounted terminal in the same distributed vehicle-mounted network, where the synchronization message is generated by operating the first vehicle-mounted terminal;

[0044] Unseal the synchronization message to obtain instruction data;

[0045] Parse the instruction data according to a preset instruction data format to obtain updated operation data;

[0046] Locally synchronize the updated operation data, where the first vehicle-mounted terminal is any vehicle-mounted terminal in the distributed vehicle-mounted system; the second vehicle-mounted terminal is any other vehicle-mounted terminal in the distributed vehicle-mounted system except the first vehicle-mounted terminal.

[0047] In a seventh aspect, the present application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0048] In response to an operation on the first vehicle-mounted terminal, obtain operation data;

[0049] Convert the operation data according to a preset instruction data format to obtain instruction data;

[0050] Encapsulate the instruction data to obtain a synchronization message;

[0051] Distribute the synchronization message to a second vehicle-mounted terminal in the distributed vehicle-mounted system. The second vehicle-mounted terminal receives the synchronization message, parses it to obtain updated operation data, and synchronizes it to the local of the second vehicle-mounted terminal; where the first vehicle-mounted terminal is any vehicle-mounted terminal in the distributed vehicle-mounted system; the second vehicle-mounted terminal is any other vehicle-mounted terminal in the distributed vehicle-mounted system except the first vehicle-mounted terminal.

[0052] In an eighth aspect, the present application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0053] Receive a synchronization message from a first vehicle-mounted terminal in the same distributed vehicle-mounted network, where the synchronization message is generated by an operation on the first vehicle-mounted terminal;

[0054] De-encapsulate the synchronization message to obtain instruction data;

[0055] Parse the instruction data according to a preset instruction data format to obtain updated operation data;

[0056] Locally synchronize the updated operation data, where the first vehicle-mounted terminal is any vehicle-mounted terminal in the distributed vehicle-mounted system; the second vehicle-mounted terminal is any other vehicle-mounted terminal in the distributed vehicle-mounted system except the first vehicle-mounted terminal.

[0057] The above data synchronization method, computer device, storage medium, and computer program product based on multiple vehicle-mounted terminals construct a distributed vehicle-mounted system. For the operation of the first vehicle-mounted terminal, a synchronization message is obtained through format conversion and encapsulation and distributed to the second vehicle-mounted terminal of the distributed vehicle-mounted system. This method uses the distributed vehicle-mounted system to achieve data synchronization of multiple vehicle-mounted terminals, without paying attention to the transfer method of the server and not relying on the network, and can achieve data synchronization of multiple vehicle terminals for autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 FIG. is a schematic flowchart of a data synchronization method based on multiple vehicle-mounted terminals in an embodiment;

[0059] Figure 2 FIG. is an application environment diagram of a data synchronization method based on multiple vehicle-mounted terminals in an embodiment;

[0060] Figure 3 FIG. is a schematic flowchart of a data synchronization method based on multiple vehicle-mounted terminals in another embodiment;

[0061] Figure 4 FIG. is a structural block diagram of a data synchronization device based on multiple vehicle-mounted terminals in an embodiment;

[0062] Figure 5 FIG. is a structural block diagram of a data synchronization device based on multiple vehicle-mounted terminals in an embodiment;

[0063] Figure 6 FIG. is an internal structural diagram of a computer device in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0064] In order to make the objectives, technical solutions, and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0065] The data synchronization method based on multiple vehicle-mounted terminals provided in the embodiments of the present application is applied to a distributed vehicle-mounted system, where multiple vehicle-mounted terminals of an automobile form a distributed vehicle-mounted system.

[0066] In one embodiment, as Figure 1 shown, a data synchronization method based on multiple vehicle-mounted terminals is provided. Taking this method applied to the first vehicle-mounted terminal of the distributed vehicle-mounted system as an example, the method includes the following steps:

[0067] S202. In response to an operation on the first vehicle-mounted terminal, obtain operation data.

[0068] Among them, the in-vehicle terminal is the front-end device of the vehicle monitoring and management system, and can also be called the vehicle dispatching and monitoring terminal (TCU terminal). The first in-vehicle terminal is one of the in-vehicle terminals of the distributed in-vehicle system. The distributed in-vehicle system includes multiple in-vehicle terminals. Among them, according to the seats, an in-vehicle terminal can be set beside each seat, so that the passengers in each seat can control the vehicle based on the in-vehicle terminal. For example, in a self-driving vehicle, in addition to the in-vehicle terminal set on the operator console of the safety officer, in-vehicle terminals are also set beside other seats, and the passengers in other seats can operate the in-vehicle terminals. Each in-vehicle terminal forms a distributed in-vehicle system. The first in-vehicle terminal is any one of the in-vehicle terminals in the distributed in-vehicle system. When the vehicle starts, the in-vehicle terminals of the distributed in-vehicle system establish a network connection.

[0069] When a passenger or a safety officer operates one of the in-vehicle terminals, the operated in-vehicle terminal will be regarded as the first in-vehicle terminal. In response to the operation on the first in-vehicle terminal, operation data is obtained. The operation data specifically includes control instructions, control parameters, and synchronous operation levels.

[0070] Among them, the control instruction corresponds to the operation. For example, the control instruction corresponding to the login operation is the login instruction, and the operation instruction corresponding to the operation of adjusting the air conditioner is the air conditioner adjustment instruction. The control parameter is the operation content parameter.

[0071] Specifically, the operation data includes the data generated by controlling the input of the operation object of the in-vehicle terminal, including the control of each stage of the in-vehicle terminal from startup, driving, to vehicle internal equipment, etc. For example, during the startup process, it involves login control, and during the driving process, it involves the control of devices such as playback devices and air conditioner devices.

[0072] Specifically, the control input of the in-vehicle device is the touch screen display, and the operation data is obtained through the input operation on the touch screen display. In one embodiment, the operation mode message standard mapping table is shown in Table 1, including control instructions, control parameters, and synchronous operation levels, and one operation data corresponds to one operation. The operation data of the login operation shown in Table 1. Before self-driving, the user performs a login operation. For example, after clicking the login button, login parameters are obtained for login verification, and the generated login data will be used as operation data, including data such as user ID, username, and user password. Different synchronous operation levels are different. For example, the operation synchronous operation level of the login operation is level one. The login data generated by a user's login operation on one in-vehicle terminal will be synchronized to other in-vehicle terminals. Another example is that when each in-vehicle terminal receives a relevant task, if one user triggers the consent button for the task based on the in-vehicle terminal, the operation data generated by the consent operation will also be synchronized to other in-vehicle terminals.

[0073] Table 1 Operation Mode Message Standard Mapping Table

[0074] command data level operation login login_data{"id”:”015”,"user”:"ros”,”pass 1 Login button agree agree_data{"id”:”016”} 5 Agree button

[0075] S204. Convert the operation data according to a preset instruction data format to obtain instruction data.

[0076] Specifically, the preset message structure is a message format preset for communication in a distributed vehicle system. Taking the distributed vehicle system including a ROS distributed vehicle subsystem and a non-ROS distributed vehicle subsystem as an example, it is a message format for realizing communication between the ROS distributed vehicle subsystem and the non-ROS distributed vehicle subsystem. Specifically, for the preset instruction data format, a preset instruction data format is pre-configured, and the data structure of the message is set in this preset instruction data format.

[0077] According to the control instruction in the operation data, obtain the corresponding data instruction format. According to the data format of this instruction, fill the data content in the operation data into the corresponding format to obtain complete instruction data. The instruction data includes the control instruction, control parameters, and synchronization operation level in the operation data.

[0078] S206. Package the instruction data to obtain a synchronization message.

[0079] The preset instruction data format defines the format content of the synchronization message, including the message identifier corresponding to the instruction data and the data format corresponding to the instruction data. In one embodiment, the preset instruction data format is shown in Table 2.

[0080] Table 2 Preset Instruction Data Format

[0081]

[0082] As shown in Table 2, package the instruction data according to the preset instruction data format shown in Table 2 to obtain a synchronization message. Among them, the preset instruction data format includes the message identifier topic and the message content. The topic is the message identifier for operation synchronization, and the three fields under the message content msg correspond to the control instruction, control parameters, and synchronization operation level respectively. After packaging, the synchronization message is obtained. The topic therein represents that the current message data is operation synchronization message data. Among them, for the synchronization message of other terminals, if the terminal wants to participate in operation synchronization, it can subscribe to this message.

[0083] S208. Distribute the synchronization message to the second vehicle terminal in the distributed vehicle system. The second vehicle terminal receives the synchronization message, parses it to obtain updated operation data, and synchronizes it to the local of the second vehicle terminal.

[0084] Specifically, the first vehicle-mounted terminal is any one of the vehicle-mounted terminals in the distributed vehicle-mounted system; the second vehicle-mounted terminal is other vehicle-mounted terminals in the distributed vehicle-mounted system except the first vehicle-mounted terminal. The second vehicle-mounted terminal receives the synchronization message, parses and obtains the updated operation data, and synchronizes it to the local, so as to realize the synchronization of relevant data in the second vehicle-mounted terminal after the operation of the first vehicle-mounted terminal.

[0085] The above data synchronization method based on multiple vehicle-mounted terminals constructs a distributed vehicle-mounted system. For the operation of the first vehicle-mounted terminal, a synchronization message is obtained through format conversion and encapsulation and distributed to the second vehicle-mounted terminal of the distributed vehicle-mounted system. This method uses the distributed vehicle-mounted system to realize the data synchronization of multiple vehicle-mounted terminals, without paying attention to the transfer method of the server and not relying on the network, and can realize the data synchronization of multiple vehicle terminals for autonomous driving.

[0086] In another embodiment, a distributed vehicle-mounted system is as Figure 2 shown. The vehicle is equipped with a distributed vehicle-mounted system, which is composed of multiple vehicle-mounted terminals. Among them, the distributed vehicle-mounted system includes: a ROS distributed vehicle-mounted subsystem 10 and a non-ROS distributed vehicle-mounted subsystem 20. The ROS distributed vehicle-mounted subsystem 10 and the non-ROS distributed vehicle-mounted subsystem 20 achieve cross-platform communication based on ROSBridge. Among them, the ROS distributed vehicle-mounted subsystem includes multiple ROS terminals 101 and a ROS management terminal 102 connected to the ROS terminals 101. The non-ROS distributed subsystem 20 includes a ROS bridge terminal and a non-ROS terminal 201 connected to the ROS bridge terminal 202. The ROS management terminal and the ROS bridge terminal achieve cross-platform communication based on ROSBridge.

[0087] Among them, the ROS terminal is a terminal that needs to install the ROS environment. ROS (Robot Operating System, a robot software platform) is the most popular distributed software framework at present, and can be flexibly applied to industries such as driverless, artificial intelligence, and intelligent robots. The non-ROS terminal is a terminal that does not need to install the ROS environment. The ROS bridge terminal is a special terminal installed with the ROS environment. It is a terminal in the ROS cluster and also acts as the server of the non-ROS terminal. It is the bridge for data interaction between the ROS terminal and the non-ROS terminal. Specifically, the ROS bridge terminal is installed with the ROSBridge service. The ROS terminal and the non-ROS terminal are connected to the ROSBridgeServer based on WebSocket to realize the indirect connection between the non-ROS platform and the ROS platform, so as to realize the cross-platform communication between the ROS terminal and the non-ROS terminal.

[0088] Among them, the first terminal can be a ROS terminal or a non-ROS terminal. When the vehicle starts, the ROS terminal connects to the network through ROS, and the non-ROS terminal connects to the ROS bridge terminal through WebSocket to connect to the entire network, forming a distributed vehicle-mounted system.

[0089] Based on this distributed vehicle-mounted system, using ROS or ROSBridge as the basic network, a distributed vehicle-mounted network based on ROS is built using ROS (Robot Operating System, a robot software platform). On the basis of ROS, ROSBridge is used to build a cross-platform multi-terminal distributed vehicle-mounted network, thereby weakening the environmental requirements and platform requirements for the terminal. A mapping table of operation mode message standards is maintained in the program; when a corresponding operation occurs on the UI interface, the control instructions, control parameters, and synchronization operation levels are packaged into data in a preset format. Then the packaged data is sent through ROSBridge or ROS. When the terminal receives the data packet, it parses the data packet in a preset format and performs corresponding synchronization operations according to the parsed data and level judgment. ROS itself focuses on fields such as robotics and autonomous driving. Using ROS as the basic network for synchronization can better integrate the entire autonomous driving system.

[0090] In another embodiment, if the first vehicle-mounted terminal is a ROS terminal, the synchronization message is sent to the ROS management terminal based on ROS, and the ROS management terminal distributes it to the ROS terminal and the ROS bridge terminal, and the ROS bridge terminal distributes the synchronization message to the non-ROS terminal; if the first vehicle-mounted terminal is a non-ROS terminal, the synchronization message is sent to the ROS bridge terminal based on WebSocket, and the ROS bridge terminal distributes the synchronization message to the non-ROS terminal and the ROS management terminal, and the ROS management terminal distributes the synchronization message to the ROS terminal.

[0091] That is to say, when sending the synchronization message, since it is based on the ROS network composed of ROS terminals or non-ROS terminals, the data sending methods are different for different terminal types. Specifically, if the first vehicle-mounted terminal is a ROS terminal, the synchronization message can be directly sent using the ROS method. Specifically, the first vehicle-mounted terminal sends the synchronization message to the ROS management terminal, and the ROS management terminal distributes it to the ROS terminal and the ROS bridge terminal, and the ROS bridge terminal distributes the synchronization message to the non-ROS terminal. If the first vehicle-mounted terminal is a ROSBridge terminal, it is sent to the ROS bridge terminal using the WebSocket method, and the ROS bridge terminal acts as an agent node to forward it to the ROS management terminal, and it is distributed to the ROS terminal through the ROS management terminal.

[0092] By adopting this method, according to different types of the first terminal, corresponding data sending methods are used for distribution, taking into account the processing methods of different terminal types in the distributed vehicle-mounted system. Since the distributed vehicle-mounted system is based on a ROS network composed of ROS terminals or ROS bridge terminals, when synchronizing multi-terminal data, developers do not need to specifically focus on the transfer method of the server (ROSMaster), and the terminals do not need to make special adjustments to adapt to the transfer method of the server. If terminals need to be added or reduced, the server does not need to be modified, greatly improving convenience.

[0093] Among them, each vehicle-mounted terminal can also be set to subscribe to the message types to be synchronized. When the ROS management terminal and the ROS bridge terminal perform data distribution, only the synchronization messages are distributed to the second vehicle-mounted terminals that have subscribed to the message types.

[0094] In another embodiment, as Figure 3 shown, a data synchronization method based on multi-vehicle-mounted terminals is applied to the second vehicle-mounted terminal of a distributed vehicle-mounted system. The method includes:

[0095] S302, receiving a synchronization message of a first vehicle-mounted terminal in the same distributed vehicle-mounted network, where the synchronization message is generated by operating the first vehicle-mounted terminal.

[0096] When a passenger or a safety officer operates one of the vehicle-mounted terminals, the currently operated vehicle-mounted terminal is used as the first vehicle-mounted terminal. In response to the operation of the first vehicle-mounted terminal, operation data is obtained. The operation data specifically includes control instructions, control parameters, and synchronization operation levels. The operation processing of the first terminal is distributed to the second vehicle-mounted terminal through the distributed vehicle-mounted network. The first vehicle-mounted terminal is any vehicle-mounted terminal in the distributed vehicle-mounted system; the second vehicle-mounted terminal is other vehicle-mounted terminals in the distributed vehicle-mounted system except the first vehicle-mounted terminal.

[0097] Specifically, the operation data includes the data generated by controlling the input of the operation object of the vehicle-mounted terminal, including the control of each stage of the vehicle-mounted terminal from startup, driving, to vehicle internal equipment, etc. For example, during the startup process, it involves login control, and during the driving process, it involves the control of devices such as the playback device and the air-conditioning device.

[0098] S304, decompose and package the synchronization message to obtain instruction data.

[0099] Specifically, the synchronization message is packaged based on a preset instruction data format, and the preset instruction data format defines the format content of the synchronization message, including the message identifier corresponding to the instruction data and the data format corresponding to the instruction data. In one embodiment, the preset instruction data format is shown in Table 2.

[0100] Unpackage based on the preset instruction data format shown in Table 2 to obtain the message identifier and the message content.

[0101] S306, Parse the instruction data according to the preset instruction data format to obtain updated operation data.

[0102] For the preset instruction data format, a message standard mapping table is pre-configured, and the data structure of the message is set therein. Using this preset instruction data format to convert operation data into instruction data, correspondingly, parsing the instruction data based on the preset instruction data format can obtain updated operation data. The operation data includes control instructions, control parameters, and synchronization operation levels.

[0103] S308, Synchronize the updated operation data locally.

[0104] Synchronize the updated operation data locally to update the operation data of the local vehicle-mounted terminal, so that after the first vehicle-mounted terminal operates, the data of each second vehicle-mounted terminal is synchronized.

[0105] For the above data synchronization method based on multiple vehicle-mounted terminals, after receiving a synchronization message based on a distributed vehicle-mounted system, unpack and parse the synchronization message to obtain updated operation data, and can synchronize the operation data of the first vehicle-mounted terminal on the second vehicle-mounted terminal. This method uses a distributed vehicle-mounted system to achieve data synchronization of multiple vehicle-mounted terminals, without paying attention to the transfer method of the server and not relying on the network, and can achieve data synchronization of multiple vehicle terminals for autonomous driving.

[0106] In another embodiment, after receiving a synchronization message, in addition to the underlying data synchronization, in order to have a more direct display prompt effect, operations are also synchronously executed on the second terminal to achieve operation synchronization.

[0107] This method further includes: obtaining the operation corresponding to the updated operation data; executing the corresponding operation on the display device of the second vehicle-mounted terminal according to the updated operation data.

[0108] Specifically, parse the instruction data based on the preset instruction data format to obtain updated operation data. The updated operation data includes control instructions, control parameters, and synchronization operation levels. Then use the operation mode message standard mapping table shown in Table 2 to obtain the operation corresponding to the operation instruction.

[0109] According to the updated operation data, the corresponding operation is performed on the display device of the second vehicle terminal. Specifically, according to the control parameters in the updated operation data, the corresponding operation is performed on the display device of the second vehicle terminal. Since the updated operation data is obtained by parsing the synchronization data, the operation on the first vehicle terminal can be synchronized with the operation on the second vehicle terminal, thereby achieving not only data synchronization but also operation synchronization. Thus, an operation is performed on one vehicle terminal, synchronization data is sent, and multiple vehicle terminals receive it, and on the basis of data synchronization, the synchronization of the operation interface is achieved.

[0110] In one embodiment, during the analysis of the instruction data, the synchronization operation level is also analyzed and obtained. If the synchronization operation level of the synchronization message is greater than a preset level, a corresponding operation is performed on the display device of the second vehicle terminal according to the updated operation data.

[0111] Among them, the synchronous operation level refers to the level of synchronous operation displayed on the display device of the vehicle terminal. For the operation, the synchronous operation level corresponding to the operation is set in advance in the operation mode message standard mapping table, that is, different operations have different synchronous operation levels. The role of setting the synchronous operation level is to remind passengers in each seat to see the synchronous operation of the first vehicle terminal on their own vehicle terminals for operations with higher synchronous operation levels. As shown in Table 2, the login operation is set to the synchronous operation level 1, and the consent operation is set to the synchronous operation level 5. Among them, the synchronous display operation is only performed for operations with a synchronous operation level greater than the set level, such as level 3.

[0112] Specifically, the operation is obtained according to the operation instruction in the operation mode message standard mapping table shown in Table 2. The operation instruction is triggered based on the operation. After the operation data is obtained through reverse parsing, the corresponding operation is obtained according to the operation instruction in the operation data. If the synchronization operation level is greater than the set level, the corresponding operation is performed on the display device of the second vehicle-mounted terminal according to the updated operation data. For example, the same login operation of the first terminal is synchronously displayed on the second terminal.

[0113] That is, the second terminal can selectively synchronize the operation of the first terminal according to the synchronization operation level.

[0114] In another embodiment, the method further includes: acquiring a set display operation type and a message display parameter of the second vehicle-mounted terminal.

[0115] The performing a corresponding operation on the display device of the second vehicle terminal according to the updated operation data includes: if the operation type of the operation is a display operation type, performing a corresponding operation on the display device of the second vehicle terminal according to the message display parameters and the updated operation data.

[0116] Specifically, each vehicle-mounted terminal has a display terminal. Since the vehicle-mounted terminals can have different functional orientations, the corresponding display terminals can have display interfaces corresponding to the functions, so that the ways of displaying updated operation data are different, that is, personalized display of the display devices of each vehicle-mounted terminal can be realized.

[0117] Specifically, different display operation types can be set for each vehicle-mounted terminal, and the display operation types are related to operations. Different message display parameters can be set for each vehicle-mounted terminal. The message display parameters can include font, font size, page style, etc.

[0118] In this embodiment, after the second vehicle-mounted terminal receives the synchronization message, according to the set type of the display message, if the synchronization message is of the display message type, corresponding operations are performed on the display device of the second vehicle-mounted terminal according to the corresponding message display parameters and the updated operation data, so that each vehicle-mounted terminal selectively displays the synchronization operation. For example, if a vehicle-mounted terminal is positioned for entertainment and the display message type of its display device is entertainment message, only the operation data related to entertainment, such as music devices, music switching, etc., will be displayed.

[0119] By adopting this synchronization method, personalized operation synchronization display can be performed according to the functions and displays of each vehicle-mounted terminal.

[0120] In other embodiments, the second vehicle-mounted terminal determines the synchronization operation according to the synchronization operation level of the synchronization message and the operation type of the operation. Specifically, the priority of the synchronization operation level of the synchronization message is higher than the priority of the operation type of the operation, that is, first judge the synchronization operation level of the synchronization message. If the synchronization operation level of the synchronization message is higher than the preset level, the synchronization operation is performed. If not, further judge the operation type of the operation. If the operation type is the display operation type, the synchronization operation is performed. By combining the two, both the synchronization operation level and the personalized requirements of the terminal can be taken into account.

[0121] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps in other steps.

[0122] Based on the same inventive concept, an embodiment of the present application further provides a multi-vehicle-terminal-based data synchronization device for implementing the above-mentioned multi-vehicle-terminal-based data synchronization method. The solution provided by this device for solving problems is similar to the solution described in the above method. Therefore, the specific limitations in one or more of the following embodiments of the multi-vehicle-terminal-based data synchronization device can refer to the limitations on the multi-vehicle-terminal-based data synchronization method in the foregoing text, and will not be repeated here.

[0123] In one embodiment, as Figure 4 shown, a multi-vehicle-terminal-based data synchronization device is provided, which is applied to the first vehicle terminal of a distributed vehicle system and includes:

[0124] An operation acquisition module 402, configured to acquire operation data in response to an operation on the first vehicle terminal;

[0125] A conversion module 404, configured to convert the operation data according to a preset instruction data format to obtain instruction data;

[0126] An encapsulation module 406, configured to encapsulate the instruction data to obtain a synchronization message;

[0127] A synchronization sending module 408, configured to distribute the synchronization message to a second vehicle terminal in the distributed vehicle system. The second vehicle terminal receives the synchronization message, parses it to obtain updated operation data, and synchronizes it to the local of the second vehicle terminal; wherein, the first vehicle terminal is any vehicle terminal in the distributed vehicle system; the second vehicle terminal is other vehicle terminals in the distributed vehicle system except the first vehicle terminal.

[0128] In another embodiment, the distributed vehicle network includes a ROS distributed vehicle subsystem and a non-ROS distributed vehicle subsystem. The ROS distributed vehicle subsystem includes a ROS terminal and a ROS management terminal connected to the ROS terminal. The non-ROS distributed vehicle subsystem includes a non-ROS terminal and a ROS bridge terminal connected to the non-ROS terminal. The ROS bridge terminal is communicatively connected to the ROS management terminal.

[0129] In another embodiment, the synchronization sending module is configured to, if the first vehicle-mounted terminal is a ROS terminal, send the synchronization message to the ROS management terminal based on ROS, and the ROS management terminal distributes it to the ROS terminal and the ROS bridge terminal, and the ROS bridge terminal distributes the synchronization message to non-ROS terminals; if the first vehicle-mounted terminal is a non-ROS terminal, send the synchronization message to the ROS bridge terminal based on WebSocket, and the ROS bridge terminal distributes the synchronization message to non-ROS terminals and the ROS management terminal, and the ROS management terminal distributes the synchronization message to the ROS terminal.

[0130] Each module in the above data synchronization device based on multiple vehicle-mounted terminals can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0131] In another embodiment, as Figure 5 shown, there is provided a data synchronization device based on multiple vehicle-mounted terminals, which is applied to the second vehicle-mounted terminal of a distributed vehicle system, and includes:

[0132] The receiving module 502 is configured to receive the synchronization message of the first vehicle-mounted terminal in the same distributed vehicle network, where the synchronization message is generated by the operation of the first vehicle-mounted terminal;

[0133] The de-encapsulation module 504 is configured to de-encapsulate the synchronization message to obtain instruction data;

[0134] The parsing module 506 is configured to parse the instruction data according to a preset instruction data format to obtain updated operation data;

[0135] The synchronization module 508 is configured to synchronize the updated operation data locally, where the first vehicle-mounted terminal is any vehicle-mounted terminal in the distributed vehicle system; the second vehicle-mounted terminal is other vehicle-mounted terminals in the distributed vehicle system except the first vehicle-mounted terminal.

[0136] In another embodiment, it further includes a synchronization operation module, which is configured to obtain the operation corresponding to the updated operation data; and execute the corresponding operation on the display device of the second vehicle-mounted terminal according to the updated operation data.

[0137] In another embodiment, the parsing module is further configured to parse the instruction data to obtain a synchronization operation level;

[0138] The synchronization operation module is configured to, if the synchronization operation level of the synchronization message is greater than a preset level, perform corresponding operations on the display device of the second vehicle-mounted terminal according to the updated operation data.

[0139] In another embodiment, it further includes a display parameter acquisition module, configured to acquire the set display operation type and message display parameters of the second vehicle-mounted terminal;

[0140] The parsing module is further configured to, if the operation type of the operation is a display operation type, perform corresponding operations on the display device of the second vehicle-mounted terminal according to the message display parameters and the updated operation data.

[0141] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structural diagram may be as Figure 6 shown. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a data synchronization method based on multiple vehicle-mounted terminals. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0142] Those skilled in the art can understand that Figure 6 the structure shown in

[0143] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0144] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0145] In one embodiment, a computer program product is provided, including a computer program which, when executed by a processor, implements the steps in the above method embodiments.

[0146] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties.

[0147] Those of ordinary skill in the art can understand that all or part of the processes of implementing the above method embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above method embodiments. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include Read-Only Memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0148] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0149] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A data synchronization method based on multiple vehicle terminals, characterized in that, applied to the first vehicle terminal of a distributed vehicle system, the method includes: responding to an operation on the first vehicle terminal to obtain operation data; the operation data includes a control instruction, a control parameter, and a synchronization operation level, the control instruction corresponds to the operation, the control parameter represents an operation content parameter, and the synchronization operation level represents the level of displaying a synchronization operation on a display device of the vehicle terminal; converting the operation data according to a preset instruction data format to obtain instruction data; the preset instruction data format includes a message identifier and a message content, the message identifier represents a message identifier for operation synchronization, and the message content includes fields corresponding to the control instruction, the control parameter, and the synchronization operation level respectively; encapsulating the instruction data to obtain a synchronization message; distributing the synchronization message to a second vehicle terminal in the distributed vehicle system, the second vehicle terminal receiving the synchronization message, parsing to obtain updated operation data, and synchronizing it to the local of the second vehicle terminal; wherein, the first vehicle terminal is any vehicle terminal in the distributed vehicle system; the second vehicle terminal is other vehicle terminals in the distributed vehicle system except the first vehicle terminal; wherein, the distributed vehicle system includes a ROS distributed vehicle subsystem and a non-ROS distributed vehicle subsystem, the ROS distributed vehicle subsystem and the non-ROS distributed vehicle subsystem implement cross-platform communication based on ROSBridge, the ROS distributed vehicle subsystem includes a ROS terminal and a ROS management terminal connected to the ROS terminal, the non-ROS distributed vehicle subsystem includes a non-ROS terminal and a ROS bridge terminal connected to the non-ROS terminal, and the ROS bridge terminal is communicatively connected to the ROS management terminal; wherein, the ROS bridge terminal is a special terminal installed with a ROS environment, belongs to the terminals in the ROS cluster, and acts as the server of the non-ROS terminal, and serves as the bridge for data interaction between the ROS terminal and the non-ROS terminal; the distributing the synchronization message to a second vehicle terminal in the distributed vehicle system includes: if the first vehicle terminal is a ROS terminal, sending the synchronization message to the ROS management terminal based on the ROS method, and the ROS management terminal distributes it to the ROS terminal and the ROS bridge terminal, and the ROS bridge terminal distributes the synchronization message to the non-ROS terminal; if the first vehicle terminal is a non-ROS terminal, sending the synchronization message to the ROS bridge terminal based on the WebSocket method, and the ROS bridge terminal distributes the synchronization message to the non-ROS terminal and the ROS management terminal, and the ROS management terminal distributes the synchronization message to the ROS terminal.

2. A data synchronization method based on multiple vehicle terminals, characterized in that, applied to the second vehicle terminal of a distributed vehicle system, the method includes: Receive a synchronization message from a first vehicle-mounted terminal in the same distributed vehicle-mounted network, where the synchronization message is generated by operating the first vehicle-mounted terminal; Unpackage the synchronization message to obtain instruction data; Parse the instruction data according to a preset instruction data format to obtain updated operation data; the operation data includes a control instruction, control parameters, and a synchronization operation level. The control instruction corresponds to an operation, the control parameters represent operation content parameters, and the synchronization operation level represents the level of displaying a synchronization operation on a display device of the vehicle-mounted terminal; the preset instruction data format includes a message identifier and a message content. The message identifier represents the message identifier for operation synchronization, and the message content includes fields corresponding to the control instruction, control parameters, and synchronization operation level respectively; Synchronize the updated operation data locally, where the first vehicle-mounted terminal is any vehicle-mounted terminal in the distributed vehicle-mounted system; the second vehicle-mounted terminal is other vehicle-mounted terminals in the distributed vehicle-mounted system except the first vehicle-mounted terminal; Wherein, the distributed vehicle-mounted system includes a ROS distributed vehicle-mounted subsystem and a non-ROS distributed vehicle-mounted subsystem. The ROS distributed vehicle-mounted subsystem and the non-ROS distributed vehicle-mounted subsystem implement cross-platform communication based on ROSBridge. The ROS distributed vehicle-mounted subsystem includes a ROS terminal and a ROS management terminal connected to the ROS terminal. The non-ROS distributed vehicle-mounted subsystem includes a non-ROS terminal and a ROS bridge terminal connected to the non-ROS terminal. The ROS bridge terminal is communicatively connected to the ROS management terminal; wherein, the ROS bridge terminal is a special terminal installed with a ROS environment, belongs to the terminals in the ROS cluster, and acts as the server of the non-ROS terminal, serving as the bridge for data interaction between the ROS terminal and the non-ROS terminal; wherein, if the first vehicle-mounted terminal is a ROS terminal, the synchronization message is sent to the ROS management terminal based on the ROS method, and the ROS management terminal distributes it to the ROS terminal and the ROS bridge terminal, and the ROS bridge terminal distributes the synchronization message to the non-ROS terminal; if the first vehicle-mounted terminal is a non-ROS terminal, the synchronization message is sent to the ROS bridge terminal based on the WebSocket method, and the ROS bridge terminal distributes the synchronization message to the non-ROS terminal and the ROS management terminal, and the ROS management terminal distributes the synchronization message to the ROS terminal.

3. The method according to claim 2, wherein, the method further includes: Obtain the operation corresponding to the updated operation data; Execute the corresponding operation on the display device of the second vehicle-mounted terminal according to the updated operation data.

4. The method according to claim 3, wherein, the method further includes: Parse the instruction data to obtain the synchronization operation level; If the synchronization operation level of the synchronization message is greater than the preset level, corresponding operations are performed on the display device of the second vehicle-mounted terminal according to the updated operation data.

5. The method according to claim 3, wherein, the method further includes obtaining the set display operation type and message display parameters of the second vehicle-mounted terminal; The performing corresponding operations on the display device of the second vehicle-mounted terminal according to the updated operation data includes: if the operation type of the operation is the display operation type, performing corresponding operations on the display device of the second vehicle-mounted terminal according to the message display parameters and the updated operation data.

6. A data synchronization device based on multiple vehicle-mounted terminals, wherein, applied to the first vehicle-mounted terminal of a distributed vehicle-mounted system, including: an operation acquisition module, configured to acquire operation data in response to an operation on the first vehicle-mounted terminal; the operation data includes a control instruction, a control parameter, and a synchronization operation level, the control instruction corresponds to the operation, the control parameter represents an operation content parameter, and the synchronization operation level represents the level of displaying a synchronization operation on the display device of the vehicle-mounted terminal; a conversion module, configured to convert the operation data into a preset instruction data format to obtain instruction data; the preset instruction data format includes a message identifier and a message content, the message identifier represents the message identifier for operation synchronization, and the message content includes fields corresponding to the control instruction, the control parameter, and the synchronization operation level respectively; an encapsulation module, configured to encapsulate the instruction data to obtain a synchronization message; a synchronization sending module, configured to distribute the synchronization message to the second vehicle-mounted terminal in the distributed vehicle-mounted system, the second vehicle-mounted terminal receives the synchronization message, parses to obtain updated operation data, and synchronizes it to the local of the second vehicle-mounted terminal; wherein, the first vehicle-mounted terminal is any vehicle-mounted terminal in the distributed vehicle-mounted system; the second vehicle-mounted terminal is other vehicle-mounted terminals in the distributed vehicle-mounted system except the first vehicle-mounted terminal; wherein, the distributed vehicle-mounted system includes a ROS distributed vehicle-mounted subsystem and a non-ROS distributed vehicle-mounted subsystem, the ROS distributed vehicle-mounted subsystem and the non-ROS distributed vehicle-mounted subsystem implement cross-platform communication based on ROSBridge, the ROS distributed vehicle-mounted subsystem includes a ROS terminal and a ROS management terminal connected to the ROS terminal, the non-ROS distributed vehicle-mounted subsystem includes a non-ROS terminal and a ROS bridge terminal connected to the non-ROS terminal, and the ROS bridge terminal is communicatively connected to the ROS management terminal; wherein, the ROS bridge terminal is a special terminal installed with a ROS environment, belongs to the terminals in the ROS cluster, and acts as the server of the non-ROS terminal, and serves as the bridge for data interaction between the ROS terminal and the non-ROS terminal; The synchronous sending module is further configured to: if the first vehicle-mounted terminal is a ROS terminal, send the synchronous message to the ROS management terminal in a ROS-based manner, and the ROS management terminal distributes it to the ROS terminal and the ROS bridge terminal, and the ROS bridge terminal distributes the synchronous message to the non-ROS terminal; if the first vehicle-mounted terminal is a non-ROS terminal, send the synchronous message to the ROS bridge terminal in a WebSocket-based manner, and the ROS bridge terminal distributes the synchronous message to the non-ROS terminal and the ROS management terminal, and the ROS management terminal distributes the synchronous message to the ROS terminal.

7. A data synchronization device based on multiple vehicle-mounted terminals, characterized in that, it is applied to the second vehicle-mounted terminal of a distributed vehicle system and includes: a receiving module, configured to receive a synchronous message of a first vehicle-mounted terminal in the same distributed vehicle network, where the synchronous message is generated by an operation on the first vehicle-mounted terminal; a de-encapsulation module, configured to de-encapsulate the synchronous message to obtain instruction data; a parsing module, configured to parse the instruction data according to a preset instruction data format to obtain updated operation data; the operation data includes a control instruction, a control parameter, and a synchronous operation level, the control instruction corresponds to an operation, the control parameter represents an operation content parameter, and the synchronous operation level represents the level of displaying a synchronous operation on a display device of the vehicle-mounted terminal; the preset instruction data format includes a message identifier and a message content, the message identifier represents a message identifier for performing operation synchronization, and the message content includes fields corresponding to the control instruction, the control parameter, and the synchronous operation level respectively; A synchronization module is used to synchronize the updated operation data locally, where the first vehicle-mounted terminal is any vehicle-mounted terminal in the distributed vehicle-mounted system; the second vehicle-mounted terminal is other vehicle-mounted terminals in the distributed vehicle-mounted system except the first vehicle-mounted terminal; wherein, the distributed vehicle-mounted system includes a ROS distributed vehicle-mounted subsystem and a non-ROS distributed vehicle-mounted subsystem, and the ROS distributed vehicle-mounted subsystem and the non-ROS distributed vehicle-mounted subsystem achieve cross-platform communication based on ROSBridge. The ROS distributed vehicle-mounted subsystem includes a ROS terminal and a ROS management terminal connected to the ROS terminal, and the non-ROS distributed vehicle-mounted subsystem includes a non-ROS terminal and a ROS bridge terminal connected to the non-ROS terminal. The ROS bridge terminal is communicatively connected to the ROS management terminal; wherein, the ROS bridge terminal is a special terminal installed with a ROS environment, belongs to the terminals in the ROS cluster, and acts as the server of the non-ROS terminal, and serves as the bridge for data interaction between the ROS terminal and the non-ROS terminal; wherein, if the first vehicle-mounted terminal is a ROS terminal, the synchronization message is sent to the ROS management terminal based on the ROS method, and the ROS management terminal distributes it to the ROS terminal and the ROS bridge terminal, and the ROS bridge terminal distributes the synchronization message to the non-ROS terminal; and if the first vehicle-mounted terminal is a non-ROS terminal, the synchronization message is sent to the ROS bridge terminal based on the WebSocket method, and the ROS bridge terminal distributes the synchronization message to the non-ROS terminal and the ROS management terminal, and the ROS management terminal distributes the synchronization message to the ROS terminal.

8. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, when the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium, having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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