Whole vehicle architecture and communication method for can communication between upper and lower bodies

Abstract

The application applies to the field of automobile technology, and particularly relates to a whole vehicle architecture and a communication method for CAN communication of separated upper and lower vehicle bodies, wherein the architecture comprises a plurality of upper vehicle body ECUs, a plurality of lower vehicle body ECUs and a gateway; the plurality of upper vehicle body ECUs are interconnected with an upper vehicle body CAN bus, and the plurality of lower vehicle body ECUs are interconnected with a lower vehicle body CAN bus; the gateway comprises a hardware abstraction layer, a PDU routing and an application layer; the hardware abstraction layer comprises a first hardware abstraction layer and a second hardware abstraction layer; the upper vehicle body CAN bus is connected with the first hardware abstraction layer, and the lower vehicle body CAN bus is connected with the second hardware abstraction layer, so that the data transmitted by the upper vehicle body CAN bus and the lower vehicle body CAN bus is isolated in the hardware abstraction layer; the whole vehicle CAN communication is split into the CAN network segments of the upper and lower vehicle bodies, and the CAN network communication between the upper and lower vehicle bodies is cut off.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a vehicle architecture and communication method for CAN communication with separate upper and lower body sections. Background Technology

[0002] In today's automotive applications, there can be as many as 70 in-vehicle electronic control units (ECUs). Besides the engine control unit (ECU), there are modules for transmission control, airbags, ABS, cruise control, EPS, audio systems, door and window controls, and battery management. Although some modules are single subsystems, the interconnection between them remains crucial. For example, some subsystems require controlling actuators and receiving sensor feedback; the CAN bus can meet the data transmission needs of these subsystems. The bus interconnection architecture of in-vehicle submodules makes it easier for software to implement new features such as safety, economy, and convenience, which is more economical than the direct connection of module units in traditional automotive network architectures. The CAN bus enables the evolution of in-vehicle interconnection systems from traditional point-to-point interconnection to a bus-based system, significantly reducing the complexity of wiring in automotive electronic systems.

[0003] Currently, vehicle electrical architectures are designed for integrated vehicle systems, with gateways supporting communication between key vehicle components. Previous gateway designs focused solely on integrated network communication and routing. However, the emergence of intelligent chassis allows for the creation of different vehicle models by integrating various upper body structures. This enables different OEMs to combine upper and lower body structures into a single vehicle. Therefore, a significant challenge arises: how to separate the vehicle's CAN communication into CAN network segments for the upper and lower body structures, and how to isolate and facilitate CAN network communication between them. Summary of the Invention

[0004] This invention provides a vehicle architecture and communication method for CAN communication that separates the upper and lower vehicle bodies, in order to split the vehicle's CAN communication into CAN network segments of the upper and lower vehicle bodies, and to realize the isolation of CAN network communication between the upper and lower vehicle bodies and the interaction of CAN communication between the upper and lower vehicle bodies.

[0005] According to a first aspect of the present invention, a vehicle architecture with CAN communication separated from the upper and lower vehicle bodies is provided, comprising:

[0006] The system includes several upper vehicle body ECUs, several lower vehicle body ECUs, and a gateway; wherein the several upper vehicle body ECUs are interconnected with the upper vehicle body CAN bus, and the several lower vehicle body ECUs are interconnected with the lower vehicle body CAN bus.

[0007] The gateway includes: a hardware abstraction layer, a PDU routing layer, and an application layer; wherein the hardware abstraction layer includes a first hardware abstraction layer and a second hardware abstraction layer;

[0008] The upper vehicle body CAN bus is connected to the first hardware abstraction layer, and the lower vehicle body CAN bus is connected to the second hardware abstraction layer, so that the data transmitted by the upper vehicle body CAN bus and the lower vehicle body CAN bus are isolated in the hardware abstraction layer;

[0009] The PDU router is connected to the hardware abstraction layer, and the application layer is connected to the PDU router;

[0010] The PDU routing and the application layer are configured as follows:

[0011] If the data of the upper vehicle body transmitted to the PDU route via the upper vehicle body CAN bus has the same format as the data of the lower vehicle body transmitted to the PDU route via the lower vehicle body CAN bus, then the data of the upper vehicle body and the data of the lower vehicle body are transmitted to the lower vehicle body CAN bus and the upper vehicle body CAN bus respectively.

[0012] If the data from the upper vehicle body transmitted to the PDU router via the upper vehicle body CAN bus has a different format than the data from the lower vehicle body transmitted to the PDU router via the lower vehicle body CAN bus, then the data from the upper vehicle body and the data from the lower vehicle body are transmitted to the application layer via the PDU router. The application layer is used to adapt the format of the data from the upper vehicle body and the data from the lower vehicle body and then transmit them to the lower vehicle body CAN bus and the upper vehicle body CAN bus respectively.

[0013] Optionally, the hardware abstraction layer may further include: a transport layer;

[0014] The transport layer connects the first hardware abstraction layer and the second hardware abstraction layer, and is used to segment and reassemble the data transmitted by the upper vehicle CAN bus and the lower vehicle CAN bus, and transmit the reassembled data transmitted by the upper vehicle CAN bus and the lower vehicle CAN bus to the PDU router.

[0015] Optionally, the first hardware abstraction layer includes: a first CAN interface and a first CAN driver module; the first CAN driver module is used to transmit data from the upper vehicle CAN bus upwards or downwards.

[0016] Optionally, the second hardware abstraction layer includes: a second CAN interface and a second CAN driver module; the second CAN driver module is used to transmit data transmitted by the CAN bus of the lower vehicle body upwards or downwards.

[0017] Optionally, it also includes: COM modules;

[0018] The COM module is connected to the PDU router, and the COM module is configured to package and unpack the data of the upper vehicle body and the data of the lower vehicle body transmitted to the COM module through the PDU router.

[0019] Optionally, it also includes: the RTE module;

[0020] The RTE module connects the COM module and the application layer, and the RTE module is configured to provide a communication environment between or within the upper vehicle body ECU and the lower vehicle body ECU.

[0021] According to a second aspect of the present invention, a vehicle communication method is provided, which communicates through a vehicle architecture with CAN communication separated from the upper and lower vehicle bodies as described in the first aspect of the present invention, comprising:

[0022] Acquire first data and second data; the first data represents the data transmitted through the upper vehicle body CAN bus, and the second data represents the data transmitted through the lower vehicle body CAN bus;

[0023] The first data and the second data are transmitted to the first hardware abstraction layer and the second hardware abstraction layer in the hardware abstraction layer via the upper vehicle body CAN bus and the lower vehicle body CAN bus, respectively, for data isolation.

[0024] After data isolation processing, the first data and the second data are transmitted to the PDU router, and the PDU router determines whether the formats of the first data and the second data are the same;

[0025] If so, the first data and the second data are transmitted to the lower vehicle body CAN bus and the upper vehicle body CAN bus, respectively.

[0026] If not, the PDU router transmits the first data and the second data to the application layer for format adaptation before transmitting them to the lower vehicle CAN bus and the upper vehicle CAN bus respectively.

[0027] Optionally, transmitting the first data and the second data to the application layer for format adaptation specifically includes:

[0028] Modify the format of the first data to the format of the second data, or modify the format of the second data to the format of the first data.

[0029] According to a third aspect of the present invention, an electronic device is provided, including a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that the processor executes the program to implement the steps of the method described in the second aspect of the present invention.

[0030] According to a fourth aspect of the present invention, a storage medium is provided having a program stored thereon, the program being executed by a processor as steps of the method described in the second aspect of the present invention.

[0031] The vehicle architecture for CAN communication with separate upper and lower vehicle bodies provided by this invention interconnects the upper vehicle body ECU and the lower vehicle body ECU with the upper vehicle body CAN bus and the lower vehicle body CAN bus respectively, and transmits the data transmitted through the upper vehicle body CAN bus and the lower vehicle body CAN bus to a gateway. The gateway includes: a hardware abstraction layer, a PDU routing layer, and an application layer; wherein, the hardware abstraction layer includes a first hardware abstraction layer and a second hardware abstraction layer; that is, the data transmitted through the upper vehicle body CAN bus is transmitted to the first hardware abstraction layer, and the data transmitted through the lower vehicle body CAN bus is transmitted to the second hardware abstraction layer, thereby isolating the CAN network communication of the upper and lower vehicle bodies.

[0032] Furthermore, the data transmitted by the upper and lower vehicle CAN buses is processed within the PDU router. If the data formats transmitted by the upper and lower vehicle CAN buses are the same, the upper vehicle data and the lower vehicle data are transmitted to the lower vehicle CAN bus and the upper vehicle CAN bus respectively within the PDU router. If the data formats transmitted by the upper and lower vehicle CAN buses are different, the upper vehicle data and the lower vehicle data are transmitted to the application layer within the PDU router. The application layer is used to adapt the formats of the upper vehicle data and the lower vehicle data and then transmit them to the lower vehicle CAN bus and the upper vehicle CAN bus respectively, thereby realizing the isolation of CAN network communication between the upper and lower vehicle bodies and the interaction of CAN communication between the upper and lower vehicle bodies. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a block diagram of the vehicle architecture with CAN communication separated between the upper and lower vehicle bodies in one embodiment of the present invention.

[0035] Figure 2This is a schematic diagram of the hardware abstraction layer in one embodiment of the present invention;

[0036] Figure 3 This is a flowchart illustrating a vehicle communication method according to an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 10- Upper vehicle body ECU;

[0040] 20-Lower body ECU;

[0041] 30-Gateway;

[0042] 31-Hardware Abstraction Layer;

[0043] 311 - First Hardware Abstraction Layer;

[0044] 3111 - First CAN interface;

[0045] 3112 - First CAN driver module;

[0046] 312 - Second Hardware Abstraction Layer;

[0047] 3121 - Second CAN interface;

[0048] 3122 - Second CAN driver module;

[0049] 313 - Transport Layer;

[0050] 32-PDU Router;

[0051] 33-Application Layer;

[0052] 40 - Upper vehicle body CAN bus;

[0053] 50-Lower body CAN bus;

[0054] 60-COM module;

[0055] 70-RTE module;

[0056] 1-Electronic devices;

[0057] 11-Processor;

[0058] 12-Memory;

[0059] 13-bus. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0062] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0063] Please refer to Figure 1 This invention provides a vehicle architecture with CAN communication for separate upper and lower vehicle bodies, including:

[0064] The vehicle includes several upper body ECUs 10, several lower body ECUs 20, and a gateway 30; wherein the several upper body ECUs 10 are interconnected with the upper body CAN bus 40, and the several lower body ECUs 20 are interconnected with the lower body CAN bus 50.

[0065] The upper and lower vehicle body ECUs are distributed within the upper and lower vehicle bodies, respectively. Each ECU consists of a microprocessor, memory, input / output interface, analog-to-digital converter, and integrated circuits for shaping and driving. The ECU's function is to calculate the vehicle's driving status using various sensors and transmit and exchange the corresponding data via the CAN bus, thereby controlling multiple parameters of the vehicle's engine, such as ignition, idling speed, and exhaust gas recirculation. Furthermore, the ECU has self-diagnostic and protection functions. When a system fault occurs, it can automatically record fault codes in its memory and employ protective measures to read alternative programs from the aforementioned built-in programs to maintain engine operation, allowing the vehicle to be driven to a repair shop.

[0066] The gateway 30 includes a hardware abstraction layer 31, a PDU router 32, and an application layer 33; wherein the hardware abstraction layer 31 includes a first hardware abstraction layer 311 and a second hardware abstraction layer 312.

[0067] The upper vehicle body CAN bus 40 is connected to the first hardware abstraction layer 311, and the lower vehicle body CAN bus 50 is connected to the second hardware abstraction layer 312, so that the data transmitted by the upper vehicle body CAN bus 40 and the lower vehicle body CAN bus 50 are isolated in the hardware abstraction layer 31.

[0068] The hardware abstraction layer 31 also includes a transport layer 313.

[0069] The transmission layer 313 connects the first hardware abstraction layer 311 and the second hardware abstraction layer 312, and is used to segment and reassemble the data transmitted by the upper vehicle CAN bus 40 and the lower vehicle CAN bus 50, and transmit the reassembled data transmitted by the upper vehicle CAN bus 40 and the lower vehicle CAN bus 50 to the PDU router 32.

[0070] The data transmitted via the upper vehicle CAN bus 40 and the lower vehicle CAN bus 50 is segmented and reassembled because the primary purpose of the transport layer 313 is to send and receive messages that may or may not fit into a single CAN frame. Messages that are not suitable for a single CAN frame are segmented into multiple parts so that each part can be transmitted within a single CAN frame. Specifically, for example, to fit into a single CAN frame, the data transmitted via the upper vehicle CAN bus 40 and the lower vehicle CAN bus 50 must be less than 8 bytes in length. If the data length is greater than 8 bytes, the data exceeding 8 bytes is segmented, and the segmented data is reassembled so that the reassembled data is less than 8 bytes and can be transmitted to the PDU route via the transport layer 313.

[0071] If the data transmitted via the vehicle's CAN bus includes gear position, instantaneous power consumption, and remaining battery power information, and the data format representing gear position is 3 bytes, the data format representing instantaneous power consumption is 4 bytes, and the data format representing remaining battery power information is 2 bytes, then the data transmitted via the vehicle's CAN bus will be segmented. For example, it can be segmented into data 1 representing gear position, data 2 representing instantaneous power consumption, and data 3 representing remaining battery power information. Then, the segmented data 1, data 2, and data 3 will be recombined. For example, data 1 and data 2 can be recombined into a new data set of less than 8 bytes; or data 1 and data 3 can be recombined into a new data set of less than 8 bytes.

[0072] Please refer to Figure 2 Specifically, the first hardware abstraction layer 311 includes: a first CAN interface 3111 and a first CAN driver module 3112; the first CAN driver module 3112 is used to transmit data of the upper vehicle CAN bus 40 upwards or downwards.

[0073] The second hardware abstraction layer 312 includes: a second CAN interface 3121 and a second CAN driver module 3122; the second CAN driver module 3122 is used to transmit data transmitted by the lower vehicle body CAN bus 50 upwards or downwards.

[0074] Specifically, the data transmitted by the upper vehicle body CAN bus and the lower vehicle body CAN bus are transmitted to the first CAN interface and the second CAN interface via the first CAN driver module and the second CAN driver module, respectively; and the first CAN interface and the second CAN interface each provide a unique interface to manage the data transmitted via different CAN buses.

[0075] The PDU router 32 is connected to the hardware abstraction layer 31, and the application layer 33 is connected to the PDU router 32.

[0076] The PDU route 32 and the application layer 33 are configured as follows:

[0077] If the data transmitted from the upper vehicle body to the PDU router 32 via the upper vehicle body CAN bus 40 has the same format as the data transmitted from the lower vehicle body to the PDU router 32 via the lower vehicle body CAN bus 50, then the data from the upper vehicle body and the data from the lower vehicle body will be transmitted to the lower vehicle body CAN bus 50 and the upper vehicle body CAN bus 40 respectively.

[0078] The data transmitted from the upper vehicle body to the PDU router 32 via the upper vehicle body CAN bus 40 has a different format than the data transmitted from the lower vehicle body to the PDU router 32 via the lower vehicle body CAN bus 50. Therefore, the data from the upper vehicle body and the data from the lower vehicle body are transmitted to the application layer 33 by the PDU router 32. The application layer 33 is used to adapt the format of the data from the upper vehicle body and the data from the lower vehicle body and then transmit them to the lower vehicle body CAN bus 50 and the upper vehicle body CAN bus 40 respectively.

[0079] In one specific embodiment, if the data transmitted via the upper vehicle body CAN bus contains gear position information and the data format representing the gear position information is 3 bytes, while the data format representing the gear position information in the data transmitted via the lower vehicle body CAN bus is 4 bytes, then the PDU router will transmit the data transmitted via the upper vehicle body CAN bus and the data transmitted via the lower vehicle body CAN bus to the application layer. The application layer will modify the data format representing the gear position information in the data transmitted via the upper vehicle body CAN bus to 4 bytes or modify the data format representing the gear position information in the data transmitted via the lower vehicle body CAN bus to 3 bytes.

[0080] Please continue to refer to this. Figure 1 The vehicle architecture for CAN communication with separate upper and lower vehicle bodies provided in this embodiment of the invention also includes: a COM module 60;

[0081] The COM module 60 is connected to the PDU router 32, and the COM module 60 is configured to package and unpack the data of the upper vehicle body and the data of the lower vehicle body transmitted to the COM module 60 through the PDU router 32.

[0082] Please continue to refer to this. Figure 1 The vehicle architecture with CAN communication for separate upper and lower vehicle bodies provided in this embodiment of the invention also includes: RTE module 70;

[0083] The RTE module 70 connects the COM module 60 and the application layer 33. The RTE module 70 is configured to provide a communication environment between or within the upper vehicle body ECU 10 and the lower vehicle body ECU 20. Providing this communication environment means that the RTE module encapsulates basic communication and services, and it is an implementation of the AUTOSAR virtual function bus interface. The AUTOSAR virtual function bus is a collection of all communication mechanisms provided by AUTOSAR. Therefore, it can provide communication between or within the upper and lower vehicle body ECUs, and also provide basic services for application layer communication, enabling data via the upper and lower vehicle body CAN buses to interact within the application layer and transmit data to the corresponding upper or lower vehicle body ECU.

[0084] The vehicle architecture for CAN communication with separate upper and lower body provided by this invention realizes the separation of CAN communication between the upper and lower body of the vehicle while ensuring effective interaction of CAN communication between the upper and lower body. Without changing the intelligent chassis of the lower body, different upper bodies can be quickly derived. Based on the derived different upper bodies, the vehicle gateway is used to isolate and adapt the communication between the upper bodies, achieving minimal changes to the network signal. This isolates the CAN network communication between the upper and lower body while achieving interaction of CAN communication between the upper and lower body, saving the design time of the vehicle network communication and enabling rapid matching of the upper body.

[0085] Please refer to Figure 3 This invention also provides a vehicle communication method, which communicates through the vehicle architecture described above, where the upper and lower vehicle bodies are separated by CAN communication, including:

[0086] S1: Acquire first data and second data; the first data represents the data transmitted through the upper vehicle body CAN bus, and the second data represents the data transmitted through the lower vehicle body CAN bus.

[0087] S2: The first data and the second data are transmitted to the first hardware abstraction layer and the second hardware abstraction layer in the hardware abstraction layer via the upper vehicle body CAN bus and the lower vehicle body CAN bus, respectively, for data isolation.

[0088] S3: The first data and the second data, after data isolation processing, are transmitted to the PDU router, and the PDU router determines whether the formats of the first data and the second data are the same.

[0089] S4: If so, the first data and the second data are transmitted to the lower vehicle body CAN bus and the upper vehicle body CAN bus respectively.

[0090] S5: If not, the PDU router transmits the first data and the second data to the application layer for format adaptation before transmitting them to the lower vehicle CAN bus and the upper vehicle CAN bus respectively.

[0091] The step of transmitting the first data and the second data to the application layer for format adaptation specifically includes:

[0092] Modify the format of the first data to the format of the second data, or modify the format of the second data to the format of the first data.

[0093] In one specific embodiment, the first data includes gear position, instantaneous power consumption, and remaining battery power information. The second data only contains gear position and instantaneous power consumption information, and the format and numerical meaning of the Signal representing the gear position are the same. Therefore, the PDU router transmits the first data and the second data to the lower vehicle body CAN bus and the upper vehicle body CAN bus, respectively.

[0094] In another specific embodiment, the first data includes gear position, instantaneous power consumption, and remaining battery power information. The second data only includes gear position and instantaneous power consumption information. The signal representing the gear position has different formats: one is 3 bits and the other is 4 bits. The PDU router transmits the first and second data to the application layer. The application layer modifies the format of the first data to the format of the second data (e.g., changing the 3-bit format of the gear position signal to 4 bits) or modifies the format of the second data to the format of the first data (e.g., changing the 4-bit format of the gear position signal to 3 bits) before transmitting them to the lower vehicle CAN bus and the upper vehicle CAN bus respectively.

[0095] Please refer to Figure 4 An electronic device 1 is provided, comprising:

[0096] Processor 11; and

[0097] Memory 12 is used to store the executable instructions of the processor;

[0098] The processor 11 is configured to execute the methods described above by executing the executable instructions.

[0099] The processor 11 can communicate with the memory 12 via the bus 13.

[0100] This invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the methods described above.

[0101] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle architecture with separate upper and lower body CAN communication, characterized in that, include: The system includes several upper vehicle body ECUs, several lower vehicle body ECUs, and a gateway; wherein the several upper vehicle body ECUs are all interconnected with the upper vehicle body CAN bus, and the several lower vehicle body ECUs are all interconnected with the lower vehicle body CAN bus. The gateway includes: a hardware abstraction layer, a PDU routing layer, and an application layer; wherein the hardware abstraction layer includes a first hardware abstraction layer and a second hardware abstraction layer; The upper vehicle body CAN bus is connected to the first hardware abstraction layer, and the lower vehicle body CAN bus is connected to the second hardware abstraction layer, so that the data transmitted by the upper vehicle body CAN bus and the lower vehicle body CAN bus are isolated in the hardware abstraction layer; The PDU router is connected to the hardware abstraction layer, and the application layer is connected to the PDU router; The PDU routing and the application layer are configured as follows: If the data of the upper vehicle body transmitted to the PDU route via the upper vehicle body CAN bus has the same format as the data of the lower vehicle body transmitted to the PDU route via the lower vehicle body CAN bus, then the data of the upper vehicle body and the data of the lower vehicle body are transmitted to the lower vehicle body CAN bus and the upper vehicle body CAN bus respectively. If the data from the upper vehicle body transmitted to the PDU router via the upper vehicle body CAN bus has a different format than the data from the lower vehicle body transmitted to the PDU router via the lower vehicle body CAN bus, then the data from the upper vehicle body and the data from the lower vehicle body are transmitted to the application layer via the PDU router. The application layer is used to adapt the format of the data from the upper vehicle body and the data from the lower vehicle body and then transmit them to the lower vehicle body CAN bus and the upper vehicle body CAN bus respectively.

2. The vehicle architecture with CAN communication for separate upper and lower body sections as described in claim 1, characterized in that, The hardware abstraction layer also includes: a transport layer; The transport layer connects the first hardware abstraction layer and the second hardware abstraction layer, and is used to segment and reassemble the data transmitted by the upper vehicle CAN bus and the lower vehicle CAN bus, and transmit the reassembled data transmitted by the upper vehicle CAN bus and the lower vehicle CAN bus to the PDU router.

3. The vehicle architecture with CAN communication for separate upper and lower body as described in claim 2, characterized in that, The first hardware abstraction layer includes: a first CAN interface and a first CAN driver module; the first CAN driver module is used to transmit data of the upper vehicle body CAN bus upwards or downwards.

4. The vehicle architecture with CAN communication for separate upper and lower body as described in claim 2, characterized in that, The second hardware abstraction layer includes: a second CAN interface and a second CAN driver module; the second CAN driver module is used to transmit data transmitted by the CAN bus of the lower vehicle body upwards or downwards.

5. The vehicle architecture with CAN communication for separate upper and lower body sections as described in claim 1, characterized in that, Also includes: COM module; The COM module is connected to the PDU router, and the COM module is configured to package and unpack the data of the upper vehicle body and the data of the lower vehicle body transmitted to the COM module through the PDU router.

6. The vehicle architecture with CAN communication for separate upper and lower body sections as described in claim 5, characterized in that, Also includes: RTE module; The RTE module connects the COM module and the application layer, and the RTE module is configured to provide a communication environment between or within the upper vehicle body ECU and the lower vehicle body ECU.

7. A vehicle-mounted communication method, characterized in that, Communication is achieved through the vehicle architecture with separate upper and lower body CAN communication as described in claim 1, including: Acquire first data and second data; the first data represents the data transmitted through the upper vehicle body CAN bus, and the second data represents the data transmitted through the lower vehicle body CAN bus; The first data and the second data are transmitted to the first hardware abstraction layer and the second hardware abstraction layer in the hardware abstraction layer via the upper vehicle body CAN bus and the lower vehicle body CAN bus, respectively, for data isolation. After data isolation processing, the first data and the second data are transmitted to the PDU router, and the PDU router determines whether the first data and the second data have the same format; If so, the first data and the second data are transmitted to the lower vehicle body CAN bus and the upper vehicle body CAN bus, respectively. If not, the PDU router transmits the first data and the second data to the application layer for format adaptation before transmitting them to the lower vehicle CAN bus and the upper vehicle CAN bus respectively.

8. The vehicle-mounted communication method according to claim 7, characterized in that, The step of transmitting the first data and the second data to the application layer for format adaptation specifically includes: Modify the format of the first data to the format of the second data, or modify the format of the second data to the format of the first data.

9. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 7-8.

10. A storage medium having a program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the method according to any one of claims 7-8.

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