A transmission processing method and system for automotive bus multiplexed messages

Abstract

The present invention provides a method for transmitting and processing multiplexed messages of an automotive bus, which includes: Step S10, a sending end node encapsulates data according to a predetermined message encapsulation format to form a plurality of encapsulated multiplexed messages, and periodically sends them out on the automotive bus in sequence; Step S11, a receiving end node performs filtering processing on the multiplexed messages; Step S12, the receiving end node performs message verification processing on the filtered multiplexed messages; Step S13, the receiving end node performs parsing processing on the multiplexed messages that pass the verification to obtain the data content encapsulated therein. The present invention also discloses a corresponding system. Implementing the present invention can improve the transmission efficiency between the sending end node and the receiving end node, reduce the transmission delay of the multiplexed messages, increase the effective payload and utilization rate of the messages.

Description

Technical Field

[0001] The present invention relates to the technical field of bus communication, and particularly to a method and system for transmitting and processing multiplexed messages of an automotive bus. Background Art

[0002] With the increasing number of electrical functions in automobiles, the number of electrical controllers has also increased, and the number of signals exchanged between electrical controllers has become larger. Currently, CAN buses are often used in automobiles to achieve communication between electrical controllers. To achieve large-capacity data transmission on an automotive CAN bus, specifically, it can be implemented according to the method of multi-packet data transmission defined in the data link layer of the SAE J1939 protocol.

[0003] However, there are also some deficiencies in the existing method: when performing multi-packet data transmission, it is necessary to manage the establishment of the connection between the sending end node and the receiving end node, the data transmission process, and the closing of the connection. These additional message transmissions reduce the transmission load of valid messages; at the same time, it will also increase the operating resources of the sending end node and the receiving end node; in addition, the SAE J1939 protocol stipulates that the maximum message communication rate is 250 Kbps, which is much smaller than the commonly used rates of CAN buses (such as 500 Kbps or 2 Mbps), and its utilization rate is low. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and system for transmitting and processing multiplexed messages of an automotive bus, which can improve the transmission efficiency between the sending end node and the receiving end node, reduce the transmission delay of multiplexed messages, increase the effective payload and utilization rate of messages.

[0005] To solve the above technical problem, as one aspect of the present invention, there is provided a method for transmitting and processing multiplexed messages of an automotive bus, which includes the following steps:

[0006] Step S10, the sending end node encapsulates the data to be sent according to a predetermined message encapsulation format to form a plurality of encapsulated multiplexed messages, and periodically sends the plurality of multiplexed messages on the automotive bus in sequence;

[0007] Step S11, after the receiving end node monitors each multiplexed message on the automotive bus, it filters the multiplexed message and retains the multiplexed messages registered at the receiving end node;

[0008] Step S12, the receiving end node performs message verification processing on the retained multiplexed messages according to the field content in the message encapsulation format, in combination with the sending period and other multiplexed message information received;

[0009] Step S13, the receiving end node parses and processes the verified multiplexed message to obtain the data content encapsulated therein.

[0010] Among them, the step S10 further includes:

[0011] Step S100, obtain the data content to be sent;

[0012] Step S101, select at least part of the data content to be sent, and perform encapsulation processing according to the following field content:

[0013] Message identifier, sending period, message length, maximum value of the sending round number, current sending round number, transmission content;

[0014] Among them, the transmission content includes at least one content block, and each content block includes: data content, data length, and coordinates. Each coordinate includes two sub-items, one of which represents the sequence number of the data content transmitted in the sending round of the multiplexed message, and the other represents the starting bit of the data content transmitted in the multiplexed message.

[0015] Step S102, fill the encapsulated data content into the multiplexed message;

[0016] Step S103, within the current sending period, sequentially send multiple multiplexed messages on the vehicle bus in the order of the sending round numbers in the multiplexed message, and continuously and repeatedly send the multiple multiplexed messages sequentially in subsequent sending periods.

[0017] Among them, the step S11 further includes:

[0018] After the receiving end node monitors each multiplexed message on the vehicle bus, it judges the type of the multiplexed message according to the message identifier in the multiplexed message. If the judgment result is that the multiplexed message carries a registered multiplexed message identifier, the multiplexed message is retained; otherwise, the multiplexed message is discarded.

[0019] Among them, the step S12 further includes:

[0020] Perform sending period verification, message length verification, sending round number correctness verification, and sending round number continuity verification on the retained multiplexed message. After all verifications pass, it is determined that the multiplexed message is a verified multiplexed message; otherwise, the corresponding verification error code is recorded for the multiplexed message.

[0021] Among them, the content of the sending period verification is: calculate whether the deviation between the time difference between the multiplexed message and the previous received multiplexed message with the same identifier and the sending period is within a predetermined threshold range;

[0022] The content of the message length verification is: read the actual length of the multiplexed message and determine whether it is the same as the message length recorded in the multiplexed message;

[0023] The content of the verification of the correctness of the transmission round number is: determine whether the current transmission round number in the multiplexed message is greater than or equal to 0 and less than or equal to the maximum value of the transmission round number;

[0024] The content of the verification of the continuity of the transmission round number is: determine the current transmission round number in the multiplexed message and compare it with the transmission round number of the previous received multiplexed message to check whether there is continuity.

[0025] Correspondingly, as another aspect of the present invention, there is also provided a transmission processing system for automotive bus multiplexed messages, which at least includes a sending end node and a receiving end node that communicate through an automotive bus, where:

[0026] The sending end node is used to encapsulate the data to be sent according to a predetermined message encapsulation format to form a plurality of encapsulated multiplexed messages, and sequentially send the plurality of multiplexed messages periodically on the automotive bus;

[0027] The receiving end node is used to, after detecting a multiplexed message on the automotive bus, perform filtering processing on the multiplexed message to retain the multiplexed messages registered at the receiving end node; and perform message verification processing on the retained multiplexed messages according to the field content in its message encapsulation format, in combination with the sending period and other received multiplexed message information; and perform parsing processing on the multiplexed messages that pass the verification to obtain the data content encapsulated therein.

[0028] Among them, the sending end node further includes:

[0029] An acquisition unit, which is used to obtain the data content to be sent;

[0030] An encapsulation unit, which is used to select at least part of the data content to be sent and perform encapsulation processing according to the following field content:

[0031] Message identifier, sending period, message length, maximum value of the transmission round number, current transmission round number, transmission content;

[0032] Among them, the transmission content includes at least one content block, and each content block includes: data content, data length, and coordinates. Each coordinate includes two sub-items, one of which represents the sequence number of the transmission data content in the transmission round of the multiplexed message, and the other represents the starting bit of the transmission data content in the multiplexed message.

[0033] A multiplexed message filling unit, which is used to fill at least one encapsulated data content into the corresponding multiplexed messages respectively;

[0034] A sending unit, configured to sequentially send a plurality of multiplexed messages on an in-vehicle bus in the order of the sending round numbers in the multiplexed message within the current sending cycle, and continuously and repeatedly send the plurality of multiplexed messages in subsequent sending cycles.

[0035] Wherein, the receiving end node includes:

[0036] A monitoring unit, configured to monitor whether a multiplexed message appears on the in-vehicle bus;

[0037] A filtering and processing unit, configured to, after the monitoring unit monitors that a multiplexed message appears on the in-vehicle bus, determine the type of the multiplexed message according to the message identifier in the multiplexed message. If the determination result is that the multiplexed message carries a registered multiplexed message identifier, the multiplexed message is retained; otherwise, the multiplexed message is discarded;

[0038] A verification and processing unit, configured to perform a sending cycle verification, a message length verification, a sending round number correctness verification, and a sending round number continuity verification on the retained multiplexed message. After all verifications pass, it is determined that the multiplexed message is a verified multiplexed message; otherwise, a corresponding verification error code is recorded for the multiplexed message;

[0039] A parsing and processing unit, configured to perform parsing processing on the multiplexed message that passes the verification, obtain the data content encapsulated therein, and combine them according to the order of the sending round numbers.

[0040] Wherein, in the verification and processing unit:

[0041] The content of the sending cycle verification is: calculating whether the deviation between the time difference between the multiplexed message and the previous received multiplexed message with the same identifier and the sending cycle is within a predetermined threshold range;

[0042] The content of the message length verification is: reading the actual length of the multiplexed message and determining whether it is the same as the message length recorded in the multiplexed message;

[0043] The content of the sending round number correctness verification is: determining whether the current sending round number in the multiplexed message is greater than or equal to 0 and less than or equal to the maximum value of the sending round number;

[0044] The content of the sending round number continuity verification is: determining whether there is continuity by comparing the current sending round number in the multiplexed message with the sending round number of the previous received multiplexed message.

[0045] Implementing the embodiments of the present invention has the following beneficial effects:

[0046] The present invention provides a method and system for transmitting and processing multiplexed messages of an automotive bus. By encapsulating the data to be transmitted in a predetermined encapsulation format at the receiving end node to form a multiplexed message, the message identifier, transmission period, message length, maximum value of the transmission round number, current transmission round number, etc. are recorded in the message, and repeated continuous transmission is performed; at the receiving end node, after receiving the multiplexed message, filtering, verification, parsing processing, etc. can be performed according to its content to obtain the required data content. The method adopted by the present invention does not require a pre-established connection between the sending end node and the receiving end node, and can improve the transmission efficiency between the sending end node and the receiving end node;

[0047] In the present invention, by using the transmission and processing of multiplexed messages, the message transmission delay is reduced, the operating resources of the sending and receiving end nodes are reduced, and the effective utilization rate of messages is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, obtaining other drawings based on these drawings still belongs to the scope of the present invention.

[0049] Figure 1 It is a schematic diagram of the main process of an embodiment of a method for transmitting and processing multiplexed messages of an automotive bus provided by the present invention;

[0050] Figure 2 It is a schematic diagram of the structure of a predetermined message encapsulation format related to the present invention;

[0051] Figure 3 It is a more detailed schematic diagram of the process of the receiving end node related to the present invention;

[0052] Figure 4 It is a schematic diagram of the structure of an embodiment of a system for transmitting and processing multiplexed messages of an automotive bus provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0053] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0054] As Figure 1 shown, it shows a schematic diagram of the main process of an embodiment of a method for transmitting and processing multiplexed messages of an automotive bus provided by the present invention; in combination with Figures 2 to 3 shown, in this embodiment, the method includes the following steps:

[0055] Step S10: The sending end node encapsulates the data to be sent according to a predetermined message encapsulation format to form multiple encapsulated multiplexed messages, and sequentially sends the multiple multiplexed messages periodically on the vehicle bus; wherein, the vehicle bus can be a vehicle bus such as a CAN bus, etc.

[0056] In a specific example, step S10 further includes:

[0057] Step S100: Obtain and collect the data content to be sent;

[0058] Step S101: Select at least part of the data content to be sent and perform encapsulation processing according to the following field content:

[0059] Message identifier, sending period, message length, maximum value of the sending round number, current sending round number, transmission content;

[0060] Among them, the transmission content includes at least one content block (for example, it can be multiple independent contents). Each content block includes: data content, data length, and coordinates. Each coordinate includes two sub-items. One represents the sequence number of the transmission data content in the multiplexed message sending round, and the other represents the starting bit of the transmission data content in the multiplexed message. In an example, the coordinates can be represented in the form of (X, Y), where the X coordinate represents the sequence number of the transmission content in the multiplexed message sending round, and the Y coordinate represents the starting bit of the transmission content in the multiplexed message.

[0061] The predetermined message encapsulation format involved in this step can refer to Figure 2 as shown.

[0062] Step S102: Fill the encapsulated data content into the multiplexed message;

[0063] Step S103: In the current sending period, sequentially send multiple multiplexed messages on the vehicle bus in the order of the sending round numbers in the multiplexed message, and continuously and repeatedly send the multiple multiplexed messages in the subsequent sending periods.

[0064] Specifically, the multiplexed message sent by the sending end node starts from the multiplexed message with the sending round number 0, and then sequentially sends the multiplexed messages corresponding to the round numbers in ascending order. After the multiplexed message with the maximum sending round number is sent, the multiplexed message sent by the sending end node in the next round starts from the multiplexed message with the sending round number 0, and then continues to sequentially send the multiplexed messages corresponding to the round numbers in ascending order, and so on.

[0065] Step S11: After the receiving end node monitors each multiplexed message on the vehicle bus, it filters the multiplexed message and retains the multiplexed messages registered at the receiving end node.

[0066] In a specific example, step S11 further includes:

[0067] After the receiving end node monitors each multiplexed message on the vehicle bus, it determines the type of the multiplexed message according to the message identifier in the multiplexed message. If the determination result is that the multiplexed message carries a registered multiplexed message identifier, the multiplexed message is retained; otherwise, the multiplexed message is discarded.

[0068] In the embodiments of the present invention, multiplexed messages can be divided into four categories: 1. Messages not registered by the protocol; 2. Non-multiplexed messages registered by the protocol; 3. Multiplexed messages registered by the protocol; 4. Messages in other situations. For the third category, the determination result is a registered multiplexed message. For the first, second, and fourth categories, the determination result is a non-registered multiplexed message.

[0069] Step S12: The receiving end node performs message verification processing on the retained multiplexed message according to the field content in its message encapsulation format, in combination with the sending period and other multiplexed message information received.

[0070] In a specific example, step S12 further includes:

[0071] Perform sending period verification, message length verification, sending round number correctness verification, and sending round number continuity verification on the retained multiplexed message. After all verifications pass, it is determined that the multiplexed message passes the verification; otherwise, it is determined that the multiplexed message fails the verification, and a corresponding verification error code is recorded for the multiplexed message.

[0072] Among them, the content of the sending period verification is: Calculate whether the deviation between the time difference between the multiplexed message and the previously received multiplexed message with the same identifier and the sending period is within a predetermined threshold range; in an example, the time difference between this message and the previously received multiplexed message with the same identifier can be calculated. If the time difference is greater than or equal to the sending period * (1 - 20%) and less than or equal to the sending period * (1 + 20%), the verification passes; if the time difference is greater than the sending period * (1 + 20%) or the time difference is less than the sending period * (1 - 20%), the verification fails, and the receiving end node records the error code indicating that the multiplexed message period is incorrect. It can be understood that the above 20% is only an example, and other values are also applicable to this method.

[0073] The content of the message length verification is as follows: read the actual length of the multiplexed message and determine whether it is the same as the message length recorded in the multiplexed message; if the actual message length is equal to the message length in the protocol, the verification passes. If the actual message length is not equal to the message length in the protocol, the verification fails, and the receiving end node records the error code indicating that the multiplexed message length is incorrect.

[0074] The content of the verification of the correctness of the sending round number is as follows: determine whether the current sending round number in the multiplexed message is greater than or equal to 0 and less than or equal to the maximum value of the sending round number; if the current sending round number is greater than or equal to 0 and less than or equal to the maximum value of the sending round number in the protocol, the verification passes; if the current sending round number is greater than the maximum value of the sending round number in the protocol, the verification fails, and the receiving end node records the error code indicating that the current sending round number of the multiplexed message is incorrect.

[0075] The content of the verification of the continuity of the sending round number is as follows: determine the current sending round number in the multiplexed message and compare it with the sending round number of the previously received multiplexed message to check for continuity. Specifically, after the receiving end node receives the multiplexed message, it reads the current sending round number and compares it with the sending round number of the previously received multiplexed message. If the current sending round number is 0 and the sending round number of the previously received multiplexed message is the maximum value, the verification passes; if the current sending round number is not 0 and this value is 1 greater than the sending round number of the previously received multiplexed message, the verification passes. If the current sending round number is 0 and the sending round number of the previously received multiplexed message is not the maximum value, the verification fails; if the current sending round number is not 0 and is not 1 greater than the sending round number of the previously received multiplexed message, the verification fails; the receiving end node records the error code indicating that the sending round numbers of the multiplexed message are not continuous.

[0076] In step S13, the receiving end node parses and processes the multiplexed message that has passed the verification, obtains the encapsulated data content therein, and combines them according to the order of the sending round numbers.

[0077] For more detailed process details of the above steps S11 to S13, reference can be made to Figure 3 as shown.

[0078] As Figure 4 shown, a schematic structural diagram of an embodiment of a transmission processing system for automotive bus multiplexed messages provided by the present invention is shown. In this embodiment, the transmission processing system for automotive bus multiplexed messages at least includes a sending end node 1 and a receiving end node 2 that communicate via an automotive bus, where:

[0079] The sending end node 1 is used to encapsulate the data to be sent according to a predetermined message encapsulation format to form a plurality of encapsulated multiplexed messages, and sequentially send the plurality of multiplexed messages periodically on the vehicle bus;

[0080] The receiving end node 2 is used to, after detecting a multiplexed message on the vehicle bus, perform filtering processing on the multiplexed message to retain the multiplexed messages registered at the receiving end node; and perform message verification processing on the retained multiplexed messages according to the field content in the message encapsulation format, in combination with the sending period and other multiplexed message information received; and perform parsing processing on the multiplexed messages that pass the verification to obtain the data content encapsulated therein.

[0081] More specifically, the sending end node 1 further includes:

[0082] The acquisition unit 10 is used to obtain the data content to be sent;

[0083] The encapsulation unit 11 is used to select at least part of the data content to be sent and perform encapsulation processing according to the following field content:

[0084] Message identifier, sending period, message length, maximum value of the sending round number, current sending round number, transmission content;

[0085] Among them, the transmission content includes at least one content block, and each content block includes: data content, data length, and coordinates. Each coordinate includes two sub-items, one of which represents the sequence number of the transmission data content in the multiplexed message sending round, and the other represents the starting bit of the transmission data content in the multiplexed message.

[0086] The multiplexed message filling unit 12 is used to fill at least one encapsulated data content into the corresponding multiplexed messages respectively;

[0087] The sending unit 133 is used to, within the current sending period, sequentially send a plurality of multiplexed messages on the vehicle bus in the order of the sending round numbers in the multiplexed messages, and continuously and repeatedly send the plurality of multiplexed messages sequentially in subsequent sending periods.

[0088] More specifically, the receiving end node 2 includes:

[0089] The monitoring unit 20 is used to monitor whether a multiplexed message appears on the vehicle bus;

[0090] The filtering processing unit 21 is used to, after the monitoring unit detects a multiplexed message on the vehicle bus, judge the type of the multiplexed message according to the message identifier in the multiplexed message. If the judgment result is that the multiplexed message carries a registered message identifier, retain the multiplexed message; otherwise, discard the multiplexed message;

[0091] A verification processing unit 22 is configured to perform verification on the reserved multiplexed message in terms of transmission period, message length, correctness of the transmission round number, and continuity of the transmission round number. After all verifications pass, it is determined that the multiplexed message is a verified multiplexed message; otherwise, a corresponding verification error code is recorded for the multiplexed message.

[0092] A parsing processing unit 23 is configured to perform parsing processing on the verified multiplexed message to obtain the encapsulated data content therein and combine them according to the order of the transmission round numbers.

[0093] Among them, in the verification processing unit 22:

[0094] The content of the transmission period verification is: calculating whether the deviation between the time difference between the multiplexed message and the previous received multiplexed message with the same identifier and the transmission period is within a predetermined threshold range;

[0095] The content of the message length verification is: reading the actual length of the multiplexed message and determining whether it is the same as the message length recorded in the multiplexed message;

[0096] The content of the correctness verification of the transmission round number is: determining whether the current transmission round number in the multiplexed message is greater than or equal to 0 and less than or equal to the maximum value of the transmission round number;

[0097] The content of the continuity verification of the transmission round number is: determining whether there is continuity by comparing the current transmission round number in the multiplexed message with the transmission round number of the previous received multiplexed message.

[0098] For more details, reference can be made to and combined with the description of Figures 1 to 3 which will not be elaborated here.

[0099] Implementing the embodiments of the present invention has the following beneficial effects:

[0100] The present invention provides a method and system for transmitting and processing automotive bus multiplexed messages. By encapsulating the data to be transmitted in a predetermined encapsulation format at the receiving end node to form a multiplexed message, and recording the message identifier, transmission period, message length, maximum value of the transmission round number, current transmission round number, etc. in the message, and performing repeated and continuous transmission; at the receiving end node, after receiving the multiplexed message, filtering, verification, parsing processing, etc. can be performed according to its content to obtain the required data content. The method adopted by the present invention does not require a pre-established connection between the sending end node and the receiving end node, and can improve the transmission efficiency between the sending end node and the receiving end node;

[0101] In the present invention, by using multiplexed message transmission processing, the message transmission delay is reduced, the operating resources of the transceiver nodes are decreased, and the effective utilization rate of messages is improved.

[0102] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, an apparatus, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0103] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the specified functions in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0104] The above-disclosed is only a preferred embodiment of the present invention, and of course, it cannot be used to limit the scope of the rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A method for transmitting and processing automotive bus multiplexed messages, characterized in that, The method includes the following steps: Step S10: The sending end node encapsulates the data to be sent according to a predetermined message encapsulation format to form a plurality of encapsulated multiplexing messages, and sequentially sends the plurality of multiplexing messages periodically on the vehicle bus; wherein, each multiplexing message includes the maximum value of the transmission round number in the current transmission cycle and the current transmission round number; within the current transmission cycle, the plurality of multiplexing messages are sequentially sent on the vehicle bus in the order of the transmission round numbers in the multiplexing messages, and the plurality of multiplexing messages are continuously and repeatedly sent sequentially in subsequent transmission cycles; Step S11: After the receiving end node monitors each multiplexing message on the vehicle bus, it filters the multiplexing message and retains the multiplexing messages registered at the receiving end node; Step S12: The receiving end node performs message verification processing on the retained multiplexing message according to the field content in its message encapsulation format, in combination with the transmission cycle and other multiplexing message information received; Step S13: The receiving end node parses the multiplexing message that passes the verification to obtain the data content encapsulated therein.

2. The method according to claim 1, wherein The step S10 further includes: Step S100: Obtain the data content to be sent; Step S101: Select at least part of the data content to be sent and perform encapsulation processing according to the following field content: Message identifier, transmission cycle, message length, maximum value of transmission round number, current transmission round number, transmission content; Wherein, the transmission content includes at least one content block, and each content block includes: data content, data length, and coordinates. Each coordinate includes two sub-items, one of which represents the serial number of the transmission data content in the transmission round of the multiplexing message, and the other represents the starting bit of the transmission data content in the multiplexing message; Step S102: Fill the encapsulated data content into the multiplexing message.

3. The method according to claim 2, characterized in that, The step S11 further includes: After the receiving end node monitors each multiplexing message on the vehicle bus, it judges the type of the multiplexing message according to the message identifier in the multiplexing message. If the judgment result is that the multiplexing message carries the registered multiplexing message identifier, the multiplexing message is retained; otherwise, the multiplexing message is discarded.

4. The method according to claim 3, characterized in that, The step S12 further includes: Perform transmission cycle verification, message length verification, transmission round number correctness verification, and transmission round number continuity verification on the retained multiplexing message. If all verifications pass, it is determined that the multiplexing message is a multiplexing message that passes the verification; otherwise, a corresponding verification error code is recorded for the multiplexing message.

5. The method according to claim 4, characterized in that, Wherein: The content of the transmission cycle verification is: Calculate whether the deviation between the time difference between the multiplexing message and the previously received multiplexing message with the same identifier and the transmission cycle is within a predetermined threshold range; The content of the message length verification is: Read the actual length of the multiplexing message and judge whether it is the same as the message length recorded in the multiplexing message; The content of the transmission round number correctness verification is: Judge whether the current transmission round number in the multiplexing message is greater than or equal to 0 and less than or equal to the maximum value of the transmission round number; The content of the verification of the continuity of the transmission round number is: determine the current transmission round number in the multiplexed message and compare it with the transmission round number of the previously received multiplexed message to check for continuity.

6. A transmission processing system for automotive bus multiplexed messages, characterized in that, It includes at least a sending end node and a receiving end node that communicate via an automotive bus, where: The sending end node is used to encapsulate the data to be sent according to a predetermined message encapsulation format to form multiple encapsulated multiplexed messages, and periodically send the multiple multiplexed messages in sequence on the automotive bus; among them, each multiplexed message contains the maximum value of the transmission round number and the current transmission round number of the current transmission cycle; the sending end node includes a sending unit, which is used to sequentially send multiple multiplexed messages on the automotive bus in the order of the transmission round numbers in the multiplexed messages within the current transmission cycle, and continuously and repeatedly send the multiple multiplexed messages in sequence in subsequent transmission cycles; The receiving end node is used to filter the multiplexed message after detecting that a multiplexed message appears on the automotive bus, and retain the multiplexed messages registered at the receiving end node; and perform message verification processing on the retained multiplexed messages according to the field content in its message encapsulation format, in combination with the transmission cycle and other multiplexed message information received; and perform parsing processing on the multiplexed messages that pass the verification to obtain the data content encapsulated therein.

7. The system according to claim 6, wherein The sending end node further includes: An acquisition unit, which is used to obtain the data content to be sent; An encapsulation unit, which is used to select at least part of the data content to be sent and perform encapsulation processing according to the following field content: Message identifier, transmission cycle, message length, maximum value of transmission round number, current transmission round number, transmission content; Among them, the transmission content includes at least one content block, and each content block includes: data content, data length, and coordinates. Each coordinate includes two sub-items, one of which represents the sequence number of the data content transmitted in the transmission round of the multiplexed message, and the other represents the starting bit of the data content transmitted in the multiplexed message; A multiplexed message filling unit, which is used to fill at least one encapsulated data content into the corresponding multiplexed messages respectively.

8. The system according to claim 7, wherein The receiving end node includes: A monitoring unit, which is used to monitor whether a multiplexed message appears on the automotive bus; A filtering processing unit, which is used to determine the type of the multiplexed message according to the message identifier in the multiplexed message after the monitoring unit detects that a multiplexed message appears on the automotive bus. If the judgment result is that the multiplexed message carries a registered message identifier, the multiplexed message is retained; otherwise, the multiplexed message is discarded; A verification processing unit, which is used to perform transmission cycle verification, message length verification, transmission round number correctness verification, and transmission round number continuity verification on the retained multiplexed messages. After all verifications pass, it is determined that the multiplexed message is a verified multiplexed message; otherwise, the corresponding verification error code is recorded for the multiplexed message; A parsing processing unit, which is used to perform parsing processing on the multiplexed messages that pass the verification to obtain the data content encapsulated therein and combine them in the order of the transmission round numbers.

9. The system according to claim 8, wherein In the verification processing unit: The content of the transmission cycle verification is: calculating whether the deviation between the time difference between the multiplexed packet and the previous multiplexed packet with the same identifier received and the transmission cycle is within a predetermined threshold range; The content of the packet length verification is: reading the actual length of the multiplexed packet and determining whether it is the same as the packet length recorded in the multiplexed packet; The content of the verification of the correctness of the transmission round number is: determining whether the current transmission round number in the multiplexed packet is greater than or equal to 0 and less than or equal to the maximum value of the transmission round number; The content of the verification of the continuity of the transmission round number is: determining the current transmission round number in the multiplexed packet and comparing it with the transmission round number of the previous multiplexed packet received to check whether there is continuity.

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