Vehicle-mounted network event message processing method and vehicle-mounted CAN bus network

Abstract

According to the vehicle-mounted network event message processing method provided by the invention, when the multi-frame event message signal corresponding to the event message is obtained, whether the event message is effective or not can be judged according to the accumulation speed of the number of effective signals in the multi-frame event message signal. The accumulation speed of the number of effective signals in the event message signals is considered, so that a more accurate and reliable event message validity judgment result can be obtained. When the judgment structure is that the event message is valid, the logic corresponding to the event message is executed, and when the event message is invalid, the logic corresponding to the event message is not executed, thereby ensuring that the electronic control unit does not execute invalid event messages, does not perform wrong logic judgment and does not execute actions which are not to be executed. The running robustness of the electronic control unit is greatly improved, and the safety and the reliability of a vehicle intelligent system are also improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of control technology, and in particular to a method for processing vehicle network event messages and a vehicle CAN bus network. Background Art

[0002] At present, the level of intelligence of new energy vehicles is getting higher and higher, and the realization of intelligence requires electronic control units (ECUs). There are at least dozens of ECUs on new energy vehicles now, and the close coordination between ECUs determines the degree of intelligence of a vehicle.

[0003] Currently, the various electronic control units on the vehicle basically communicate with each other through the CAN bus. For example, electronic control units can transmit messages through the CAN bus. When an electronic control unit receives an event message, it will directly execute the logic corresponding to the event message. However, in fact, the event message may be invalid and should not be executed. The execution of these messages sometimes creates a high security risk. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle network event message processing method, device and vehicle CAN bus network to address the above technical problems.

[0005] A first aspect of the present application provides a method for processing an in-vehicle network event message, the method comprising:

[0006] Obtain a multi-frame event message signal corresponding to the event message;

[0007] Determining whether the event message is valid according to the accumulated speed of the number of valid signals in the multi-frame event message signal;

[0008] If the event message is valid, execute the logic corresponding to the event message.

[0009] Optionally, determining whether the event message is valid according to the accumulated speed of the number of valid signals in the multi-frame event message signals includes:

[0010] If the number of the valid signals accumulates to a preset threshold within a preset time period, it is determined that the event message is valid.

[0011] Optionally, determining whether the event message is valid according to the accumulated speed of the number of valid signals in the multi-frame event message signals includes:

[0012] When the first frame event message signal is obtained, the counting and timing of the valid signal are started;

[0013] If the acquired event message signal is a valid signal, the count value of the valid signal is increased by 1;

[0014] If the count value of the valid signal is greater than or equal to the preset threshold and the accumulated duration is less than or equal to the preset duration, it is determined that the event message is valid.

[0015] Optionally, determining whether the acquired event message signal is a valid signal includes:

[0016] When the event message signal of the current frame is obtained, the event message signal of the current frame is compared with the event message signal of the historical frame. If the comparison result is consistent, the event message signal of the current frame is determined to be a valid signal, wherein the historical frame is the event message signal before the current frame.

[0017] Optionally, the method further includes:

[0018] If the comparison result of the event message signal of the current frame is inconsistent with the event message signal of the historical frame, the count and timing of the valid signal are cleared.

[0019] Optionally, the event message signal of the historical frame is the first frame event message signal.

[0020] Optionally, the method further includes:

[0021] If the comparison result of the event message signal of the current frame is inconsistent with the event message signal of the historical frame, it is determined that the event message is an invalid message generated by interference.

[0022] Optionally, the method further includes:

[0023] If the count value of the valid signal is less than the preset threshold value when the accumulated time is greater than or equal to the preset time, it is determined that the event message is a message sent by another electronic control unit ECU in error.

[0024] Optionally, the method further includes:

[0025] If the count value of the valid signal is less than or equal to the preset threshold value when the accumulated duration is greater than or equal to the preset duration, the count and timing of the valid signal are reset.

[0026] A second aspect of the present application provides a vehicle network event message processing device, which is arranged in an electronic control unit ECU, and the device comprises:

[0027] An acquisition module, used for acquiring a multi-frame event message signal corresponding to the event message;

[0028] A determination module, configured to determine whether the event message is valid according to the accumulated speed of the number of valid signals in the multi-frame event message signal;

[0029] An execution module is used to execute the logic corresponding to the event message when the event message is valid.

[0030] The third aspect of the present application provides a vehicle-mounted CAN bus network, comprising: multiple electronic control units ECU, the multiple ECUs communicate with each other, any of the ECUs stores a computer program, and the ECU implements any of the vehicle-mounted network event message processing methods provided in the first aspect when executing the computer program.

[0031] The technical solution provided by this application may have the following beneficial effects:

[0032] The vehicle network event message processing method provided by the present application can determine whether the event message is valid based on the cumulative speed of the number of valid signals in the multi-frame event message signal when the multi-frame event message signal corresponding to the event message is obtained. Since the cumulative speed of the number of valid signals in the event message signal is taken into account, a more accurate and reliable event message validity judgment result can be obtained. When the judgment structure is that the event message is valid, the logic corresponding to the event message is executed, and when the event message is invalid, the logic corresponding to the event message will not be executed, thereby ensuring that the electronic control unit does not execute invalid event messages, does not make erroneous logical judgments, and does not execute actions that should not be executed, greatly improving the robustness of the operation of the electronic control unit, and the safety and reliability of the vehicle intelligent system are also improved.

[0033] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and do not limit the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings herein are incorporated into the specification and constitute a part of the embodiments of the present application, illustrate embodiments consistent with the embodiments of the present application, and together with the description are used to explain the principles of the embodiments of the present application.

[0035] Figure 1 is a flow chart of a method for processing an in-vehicle network event message provided by an embodiment of the present application;

[0036] Figure 2 is a flow chart of a method for processing an in-vehicle network event message provided by an embodiment of the present application;

[0037] Figure 3 It is a structural block diagram of a vehicle network event message processing device provided by an embodiment of the present application;

[0038] Figure 4 It is a structural block diagram of a vehicle-mounted CAN bus network provided in one embodiment of the present application. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0040] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present application. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0041] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in the embodiments of the present application, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the embodiments of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at..." or "when..." or "in response to determination".

[0042] At present, the level of intelligence of new energy vehicles is getting higher and higher, and the realization of intelligence requires electronic control units (ECUs). There are at least dozens of ECUs on new energy vehicles now, and the close coordination between ECUs determines the degree of intelligence of a vehicle.

[0043] Due to the large number of electronic control units in the vehicle, one electronic control unit does not directly exchange data with all the electronic control units in the vehicle, and the information that one electronic control unit needs to obtain from other electronic control units is limited. However, each electronic control unit will send all its own status to the CAN bus. If each electronic control unit is connected to one CAN, the bus load rate will be very high, and a high bus load rate will easily lead to message loss. In this regard, one solution is to set up different CAN buses, distribute the various electronic control units of the vehicle on different CAN buses, and communicate between different CAN buses through gateways. In this way, when the electronic control units on different CAN buses need to exchange information, the corresponding signals can be forwarded to the corresponding electronic control units through the gateway.

[0044] Currently, when an electronic control unit receives an event message, it will directly execute the logic corresponding to the event message. However, in some cases, the received event message may be invalid and should not be executed. For example, the event message may be sent by another electronic control unit by mistake, or external interference may cause the electronic control unit to mistakenly believe that it has received an event message. This defect of possibly executing invalid messages is a serious vulnerability in the safety and reliability of the in-vehicle intelligent system.

[0045] The present application first provides a method for processing vehicle network event messages, which can improve the accuracy of event message validity judgment.

[0046] You can refer to Figure 1 , Figure 1 It is a flow chart of a vehicle network event message processing method provided by an embodiment of the present application. In one embodiment, the vehicle network event message processing method can be applied to an electronic control unit, that is, the steps included in the method can be executed by the electronic control unit. In another embodiment, the method can also be jointly executed by the aforementioned gateway and electronic control unit, for example, the gateway determines whether the event message is valid. If the gateway determines that the event message is valid, it forwards it to the corresponding electronic control unit, and the electronic control unit executes the logic corresponding to the event message. If the gateway determines that the event message is invalid, it does not forward it to the corresponding electronic control unit.

[0047] The following mainly uses the electronic control unit as the execution subject to explain the scheme. The vehicle network event message processing method provided by this application includes at least the following steps:

[0048] Step 101: Acquire a multi-frame event message signal corresponding to the event message.

[0049] There are many types of messages, such as periodic messages or event messages. Periodic messages can be messages sent at certain time intervals, which can effectively realize data exchange between electronic control units so that the data between electronic control units remain synchronized. Event messages can be messages that are sent only when a specific event occurs. For example, the electronic control unit of the engine can send a message when the engine speed changes so that the current state of the engine can be received by other electronic control units. In addition, event messages can also be used to send important control information, such as control information related to the safety system of the car.

[0050] For CAN messages, CAN messages are composed of multiple parts, including at least two parts, a frame ID and data. In one embodiment, when the electronic control unit receives the CAN message, it can parse the CAN message to determine whether the message is an event message.

[0051] An event message may include a multi-frame event message signal. Multi-frame may refer to two frames or more. When a specific event occurs, the electronic control unit that detects the occurrence of the event may send a multi-frame event message signal to other related electronic control units. Here, the multi-frame event message signal sent by the electronic control unit may be a completely identical signal or a non-completely identical signal. For example, the multi-frame event message signal sent may have the same frame ID but different data parts, or may have different frame IDs but the same data parts. When other electronic control units judge whether the event message is valid, they may make a judgment based on the received multi-frame event message signal. In this way, the accuracy of the judgment on the validity of the event message may be improved.

[0052] Step 102: Determine whether the event message is valid according to the accumulated speed of the number of valid signals in the multi-frame event message signal.

[0053] The multi-frame event message signal may include valid signals and invalid signals, and the number of valid signals may be accumulated and counted. When determining whether the event message is valid, the present application considers the accumulation speed of the number of valid signals, thereby ensuring the accuracy and reliability of the determination result.

[0054] It is understandable that when the electronic control unit obtains multiple frames of event message signals, even if the number of valid signals can be accumulated, if the accumulation speed is slow, the event message may still be an invalid message, because the number of valid signals of a valid event message can be accumulated stably at a faster speed.

[0055] According to the cumulative speed of the number of valid signals in the multi-frame event message signal, the validity of the acquired event message can be judged. If the judgment result is that the event message is valid, the process goes to step 103. If the judgment result is that the event message is invalid, the logic corresponding to the event message is not executed.

[0056] Step 103: If the event message is valid, execute the logic corresponding to the event message.

[0057] For event messages that are determined to be valid, the electronic control unit can execute the logic corresponding to the event message. In one embodiment, the logic corresponding to the event message can be executed by including the corresponding logic in the event message (the logic can include one or more executable actions), and the electronic control unit executes the logic indicated in the event message. In one embodiment, the electronic control unit can store processing logic corresponding to different events, and the logic corresponding to the event message can be executed by determining the logic corresponding to the event based on the corresponding relationship between the stored event and the logic according to the event indicated by the event message, and then executing the logic.

[0058] For an event message that is determined to be invalid, the electronic control unit does not execute the logic corresponding to the event message. It can be understood that the electronic control unit will not take any action in response to the event message.

[0059] The vehicle network event message processing method provided by the present application can determine whether the event message is valid based on the cumulative speed of the number of valid signals in the multi-frame event message signal when the multi-frame event message signal corresponding to the event message is obtained. Since the cumulative speed of the number of valid signals in the event message signal is taken into account, a more accurate and reliable event message validity judgment result can be obtained. When the judgment structure is that the event message is valid, the logic corresponding to the event message is executed, and when the event message is invalid, the logic corresponding to the event message will not be executed, thereby ensuring that the electronic control unit does not execute invalid event messages, does not make erroneous logical judgments, and does not execute actions that should not be executed, greatly improving the robustness of the operation of the electronic control unit, and the safety and reliability of the vehicle intelligent system are also improved.

[0060] It is understandable that there are many ways to measure the cumulative speed of the number of valid signals. In one embodiment, the cumulative speed of the number of valid signals can be measured by whether the number of valid signals can be accumulated to a preset threshold within a preset time length, that is, if the number of valid signals can be accumulated to the preset threshold within the preset time length, then its cumulative speed can be evaluated as fast, and the event message can be judged to be valid. If the number of valid signals cannot be accumulated to the preset threshold within the preset time length, then its cumulative speed is slow, and the event message is judged to be invalid. In other embodiments, the cumulative speed of the number of valid signals can also be measured by the increase in the number of valid signals within the preset time length. For example, if the number of valid signals increases by 5 within 1 second, it can be determined that the cumulative speed is fast, thereby determining that the event message is valid. If the number of valid signals increases by 2 within 1 second, it can be determined that the cumulative speed is slow, and the event message is determined to be invalid.

[0061] In one embodiment, the electronic control unit receives the event message signal frame by frame, and when the first frame of the event message signal is received, the counting and timing of the valid signal can be started. The counting of the valid signal is to accumulate the number of valid signals, and the starting of the timing is to accumulate the time.

[0062] For a valid signal, the electronic control unit can make a validity judgment on the event message signal of the current frame. If the judgment result is valid, the event message signal of the frame is determined to be a valid signal. If the judgment result is invalid, the event message signal of the frame is determined to be an invalid signal. When the event message signal of the current frame is determined to be a valid signal, the electronic control unit can increase the count value of the valid signal by 1. As the validity detection of the received event message signal frame is continuously performed, the count value of the valid signal continues to increase. If the count value of the valid signal is greater than or equal to the preset threshold, the cumulative duration is still less than or equal to the preset duration, then the event message can be determined to be valid. In other words, after starting the timing, two judgments can be made at the same time. The first judgment is whether the count value of the valid signal is greater than or equal to the preset threshold, and the second judgment is whether the current cumulative duration reaches the preset duration. Only when the count value of the valid signal is greater than or equal to the preset threshold and the current cumulative duration is less than the preset duration, the event message is determined to be valid. Conversely, if the cumulative duration has reached the preset duration, and the count value of the valid signal is still less than or equal to the preset threshold, then the event message is determined to be invalid. By adding timing on the basis of counting, the validity of the event message is judged from two aspects, thereby improving the reliability of the result of judging the validity of the event message.

[0063] In the aforementioned embodiment, it is possible to determine whether each received frame event message signal is a valid signal, and there are multiple ways to determine whether it is a valid signal. In one embodiment, when the event message signal of the current frame is obtained, the event message signal of the current frame can be compared with the event message signal of the historical frame. If the comparison result is consistent, the event message signal of the current frame is determined to be a valid signal. Conversely, if the comparison result is inconsistent, the event message signal of the current frame is determined to be an invalid signal. Here, the historical frame can be an event message signal obtained before the current frame.

[0064] As mentioned above, a frame message signal may include multiple parts, such as a frame ID part and a data part. When comparing the event message signal of the current frame with the event message signal of the historical frame, in one embodiment, the frame ID of the event message signal of the current frame may be compared with the frame ID of the event message signal of the historical frame. If the frame IDs are the same, the event message signal of the current frame is determined to be a valid signal. Otherwise, the event message signal of the current frame is determined to be an invalid signal. In one embodiment, the data part of the event message signal of the current frame may be compared with the data part of the event message signal of the historical frame. If the data parts are the same, the event message signal of the current frame is determined to be a valid signal. Otherwise, the event message signal of the current frame is determined to be an invalid signal. In one embodiment, the entirety of the event message signal of the current frame may also be compared with the entirety of the event message signal of the historical frame. If all parts of the two are the same, the event message signal of the current frame is determined to be a valid signal. Otherwise, the event message signal of the current frame is determined to be an invalid signal.

[0065] It is understandable that the event message signal is received frame by frame. In one embodiment, if the comparison result of the event message signal of the current frame is inconsistent with the event message signal of the historical frame, that is, the event message signal of the current frame is an invalid signal, then the count and timing of the valid signal can be cleared at the same time. When the event message signal of the current frame is judged to be an invalid signal, it means that the valid signal is interrupted in the current frame, and the continuity of the valid signal is insufficient. In order to ensure the accuracy of the validity judgment of the event message, in this embodiment, all valid signals before the current frame are denied, all valid signal counts and timings are cleared, and the event message is determined to be an invalid message. As mentioned above, if the cumulative duration has reached the preset duration (greater than or equal to the preset duration), and the count value of the valid signal is still less than or equal to the preset threshold, it is determined that the event message is invalid, and the count and timing of the valid signal are also cleared.

[0066] When determining whether the event message signal of the current frame is a valid signal, it is necessary to compare the event message signal of the current frame with the event message signal of the historical frame. In one embodiment, the historical frame may be the first frame received, that is, the event message signal of the current frame may be compared with the event message signal of the first frame to determine the validity of the event message signal of the current frame. In one embodiment, the historical frame may be the previous frame of the current frame, that is, the event message signal of the current frame may be compared with the event message signal of the previous frame of the current frame to determine the validity of the event message signal of the current frame.

[0067] There are two situations that cause the event message to be invalid. The first is that the event message is mistakenly sent by other electronic control units, and the second is that the external interference causes the electronic control unit to mistakenly believe that the event message has been received. Signal interference may come from other electronic devices, electromagnetic noise, and wireless communication networks. In one embodiment, the cause of the invalid event message can be determined according to the reason why the event message is judged to be invalid. For the first case, considering that the mis-sending of other electronic control units often lasts for a small number of frames, the mis-sending usually stops in a short time. Therefore, if the event message is invalid because the count value of the valid signal is less than the preset threshold within the preset time length, that is, when the cumulative time length is greater than or equal to the preset time length, the count value of the valid signal is less than the preset threshold, then it can be determined that the event message is a message mistakenly sent by other ECUs. For the second case, since interference is usually random and uncertain, the signal caused by interference is difficult to remain consistent between the previous and next frames. Therefore, if the event message is invalid because the comparison result of the event message signal of the current frame and the event message signal of the historical frame is inconsistent, then it can be determined that the event message is an invalid message generated by interference.

[0068] You can refer to Figure 2 , Figure 2 It is a flow chart of a vehicle network event message processing method provided by an embodiment of the present application. In this embodiment, the counting and timing of the valid signal is started when the first frame event message signal is received, and each frame event message signal is compared with the event message signal of the historical frame to determine whether it is a valid signal. Only when the cumulative duration does not reach the preset duration and the count value of the valid signal is greater than or equal to the preset threshold, the event message is determined to be valid. In this embodiment, the validity of the event message is comprehensively judged from three aspects: the number of event messages sent, the sending time of the event message, and the content of the event message, which reduces the risk of misidentification of the event message, reduces the erroneous logical judgment of the electronic control unit (ECU) due to misidentification of the signal, and improves the robustness of the operation of the electronic control unit (ECU).

[0069] The vehicle network event message processing method provided by the present application can determine whether the event message is valid based on the cumulative speed of the number of valid signals in the multi-frame event message signal when the multi-frame event message signal corresponding to the event message is obtained. Since the cumulative speed of the number of valid signals in the event message signal is taken into account, a more accurate and reliable event message validity judgment result can be obtained. When the judgment structure is that the event message is valid, the logic corresponding to the event message is executed, and when the event message is invalid, the logic corresponding to the event message will not be executed, thereby ensuring that the electronic control unit does not execute invalid event messages, does not make erroneous logical judgments, and does not execute actions that should not be executed, greatly improving the robustness of the operation of the electronic control unit, and the safety and reliability of the vehicle intelligent system are also improved.

[0070] The present application also provides a vehicle network event message processing device, which can be set in an electronic control unit. Figure 3 , Figure 3 : is a structural block diagram of a vehicle network event message processing device provided in an embodiment of the present application. The vehicle network event message processing device includes:

[0071] The acquisition module 301 is used to acquire a multi-frame event message signal corresponding to the event message;

[0072] A determination module 302, configured to determine whether the event message is valid according to the accumulated speed of the number of valid signals in the multi-frame event message signal;

[0073] The execution module 303 is used to execute the logic corresponding to the event message when the event message is valid.

[0074] Optionally, the determination module 302 is further configured to determine that the event message is valid if the number of the valid signals accumulates to a preset threshold within a preset time period.

[0075] Optionally, the determination module 302 is also used to start counting and timing the valid signal when the first frame event message signal is obtained; if the obtained event message signal is a valid signal, the count value of the valid signal is increased by 1; if the count value of the valid signal is greater than or equal to the preset threshold, the accumulated duration is less than or equal to the preset duration, and the event message is determined to be valid.

[0076] Optionally, the determination module 302 is also used to, when obtaining the event message signal of the current frame, compare the event message signal of the current frame with the event message signal of the historical frame. If the comparison result is consistent, determine that the event message signal of the current frame is a valid signal, wherein the historical frame is the event message signal before the current frame.

[0077] Optionally, the determination module 302 is further configured to clear the count and timing of the valid signal if the comparison result between the event message signal of the current frame and the event message signal of the historical frame is inconsistent.

[0078] Optionally, the event message signal of the historical frame is the first frame event message signal.

[0079] Optionally, the determination module 302 is further configured to determine that the event message is an invalid message generated by interference if a comparison result between the event message signal of the current frame and the event message signal of the historical frame is inconsistent.

[0080] Optionally, the determination module 302 is further used to determine that the event message is a message mistakenly sent by other electronic control unit ECU if the count value of the valid signal is less than the preset threshold when the accumulated time is greater than or equal to the preset time.

[0081] Optionally, the determination module 302 is further configured to clear the count and timing of the valid signal if the count value of the valid signal is less than or equal to the preset threshold when the accumulated duration is greater than or equal to the preset duration.

[0082] Through the vehicle network event message processing device provided by the present application, when the electronic control unit obtains the multi-frame event message signal corresponding to the event message, it can judge whether the event message is valid according to the cumulative speed of the number of valid signals in the multi-frame event message signal. Since the cumulative speed of the number of valid signals in the event message signal is taken into account, a more accurate and reliable event message validity judgment result can be obtained. When the judgment structure is that the event message is valid, the logic corresponding to the event message is executed, and when the event message is invalid, the logic corresponding to the event message will not be executed, thereby ensuring that the electronic control unit does not execute invalid event messages, does not make erroneous logical judgments, and does not execute actions that should not be executed, greatly improving the robustness of the operation of the electronic control unit, and the safety and reliability of the vehicle intelligent system are also improved. .

[0083] The present application also provides a vehicle-mounted CAN bus network, which includes multiple electronic control units ECU, and multiple ECUs can communicate with each other. Here, as mentioned above, multiple ECUs can be mounted on the same bus for communication, and multiple ECUs can also be mounted on different buses, and the gateway forwards information between different buses for communication. Figure 4 , Figure 4 It is a structural block diagram of a vehicle-mounted CAN bus network provided in one embodiment of the present application.

[0084] For any ECU among multiple ECUs, it may include a memory and a processor, the memory can store a computer program, and the processor can execute the computer program stored in the memory, thereby realizing the vehicle network event message processing method provided in the present application.

[0085] Through the vehicle-mounted CAN bus network provided by the present application, when the electronic control unit obtains the multi-frame event message signal corresponding to the event message, it can judge whether the event message is valid according to the cumulative speed of the number of valid signals in the multi-frame event message signal. Since the cumulative speed of the number of valid signals in the event message signal is taken into account, a more accurate and reliable event message validity judgment result can be obtained. When the judgment structure is that the event message is valid, the logic corresponding to the event message is executed, and when the event message is invalid, the logic corresponding to the event message will not be executed, thereby ensuring that the electronic control unit does not execute invalid event messages, does not make erroneous logical judgments, and does not execute actions that should not be executed, greatly improving the robustness of the operation of the electronic control unit, and the safety and reliability of the vehicle intelligent system are also improved. .

[0086] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment scheme of the present application. Those of ordinary skill in the art can understand and implement it without paying creative work.

[0087] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0088] As long as there is no conflict or contradiction in the technical features provided in the above embodiments, those skilled in the art can combine the various technical features according to actual conditions to form various different embodiments. However, due to the limited length of this application document, various different embodiments are not described in detail, but it can be understood that various different embodiments also fall within the scope disclosed in the embodiments of this application.

[0089] Those skilled in the art will readily come to other embodiments of the present application after considering the specification and practicing the inventions applied for herein. The present application embodiments are intended to cover any variations, uses or adaptations of the present application embodiments, which follow the general principles of the present application embodiments and include common knowledge or customary technical means in the art that are not applied for by the present application embodiments. The specification and embodiments are to be regarded as exemplary only, and the true scope and spirit of the present application embodiments are indicated by the following claims.

[0090] It should be understood that the embodiments of the present application are not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the appended claims.

[0091] The above description is only a preferred embodiment of the embodiments of the present application and is not intended to limit the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the embodiments of the present application.

Claims

1. A method for processing vehicle network event messages, characterized in that: The method comprises: Obtain a multi-frame event message signal corresponding to the event message; Determining whether the event message is valid according to the accumulated speed of the number of valid signals in the multi-frame event message signal; If the event message is valid, execute the logic corresponding to the event message.

2. The vehicle network event message processing method according to claim 1, characterized in that: The step of determining whether the event message is valid according to the accumulated speed of the number of valid signals in the multi-frame event message signals comprises: If the number of the valid signals accumulates to a preset threshold within a preset time period, it is determined that the event message is valid.

3. The vehicle network event message processing method according to claim 2 is characterized in that: The step of determining whether the event message is valid according to the accumulated speed of the number of valid signals in the multi-frame event message signals comprises: When the first frame event message signal is obtained, the counting and timing of the valid signal are started; If the acquired event message signal is a valid signal, the count value of the valid signal is increased by 1; If the count value of the valid signal is greater than or equal to the preset threshold and the accumulated duration is less than or equal to the preset duration, it is determined that the event message is valid.

4. The vehicle network event message processing method according to claim 3 is characterized in that: Determine whether the obtained event message signal is a valid signal, including: When the event message signal of the current frame is obtained, the event message signal of the current frame is compared with the event message signal of the historical frame. If the comparison result is consistent, the event message signal of the current frame is determined to be a valid signal, wherein the historical frame is the event message signal before the current frame.

5. The vehicle network event message processing method according to claim 4, characterized in that: The method further comprises: If the comparison result of the event message signal of the current frame is inconsistent with the event message signal of the historical frame, the count and timing of the valid signal are cleared.

6. The vehicle network event message processing method according to claim 4 is characterized in that: The event message signal of the historical frame is the first frame event message signal.

7. The vehicle network event message processing method according to claim 4, characterized in that: The method further comprises: If the comparison result of the event message signal of the current frame is inconsistent with the event message signal of the historical frame, it is determined that the event message is an invalid message generated by interference.

8. The vehicle network event message processing method according to claim 3 is characterized in that: The method further comprises: If the count value of the valid signal is less than the preset threshold value when the accumulated time is greater than or equal to the preset time, it is determined that the event message is a message sent by another electronic control unit ECU in error.

9. The vehicle network event message processing method according to claim 3, characterized in that: The method further comprises: If the count value of the valid signal is less than or equal to the preset threshold value when the accumulated duration is greater than or equal to the preset duration, the count and timing of the valid signal are reset.

10. A vehicle-mounted CAN bus network, characterized in that: include: Multiple electronic control units ECU, the multiple ECUs communicate with each other, any of the ECUs stores a computer program, and the ECU implements the vehicle network event message processing method as described in any one of claims 1-9 when executing the computer program.

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