Vehicle-mounted gateway cross-bus signal splitting and selective forwarding method and system

Abstract

The invention discloses a vehicle-mounted gateway cross-bus signal splitting and selective forwarding method and system, and relates to the technical field of vehicle-mounted network communication, and the method comprises the steps that a gateway ECU receives a network signal message and analyzes the network signal message to obtain an analyzed network signal, and the network signal is obtained from a CAN network or a CAN-XL network; selecting and splitting the analyzed network signal, selecting a network signal needing to be forwarded, and filtering and splitting the network signal not needing to be forwarded to obtain a processed network signal; setting a plurality of priority gradients based on the network signal message, generating a plurality of queues based on the plurality of priority gradients, and inputting the processed network signal into the queues; and setting a time-based trigger condition, packaging the signals in the queue into a new CAN message or a CAN-XL message after the signals in the queue reach the time-based trigger condition, sending the new CAN message or the CAN-XL message to the gateway ECU, and emptying the queue, thereby realizing signal splitting and selective forwarding.

Description

Technical Field

[0001] The present invention relates to the field of vehicle network communication technology, and in particular to a method and system for splitting and selectively forwarding cross-bus signals of a vehicle gateway. Background Art

[0002] With the development of modern automobiles' intelligence and networking, the number of in-vehicle electronic control units (ECUs) is increasing, and the amount and complexity of in-vehicle network communications have increased significantly. This places higher demands on the bandwidth and transmission efficiency of in-vehicle networks. Due to bandwidth limitations, the traditional CAN bus is difficult to meet the high-speed transmission requirements of large amounts of data. In order to meet this challenge, a new generation of CAN bus technologies such as CAN FD and CAN XL are gradually being introduced into in-vehicle networks to provide higher network bandwidth.

[0003] However, different types of bus networks differ in data formats, communication protocols, and transmission rates, which complicates direct communication between different bus networks. In addition, in order to optimize bandwidth utilization and ensure real-time performance, specific signals need to be selectively forwarded between different bus networks. For example, the powertrain ECU may need to pass certain key sensor data to the body control system ECU, but not all data needs to be transmitted across the network. Summary of the invention

[0004] In order to solve the deficiencies mentioned in the above background technology, the purpose of the present invention is to provide a method and system for cross-bus signal splitting and selective forwarding of a vehicle-mounted gateway, which can efficiently split and selectively forward signals between different bus networks in the vehicle.

[0005] In a first aspect, the purpose of the present invention can be achieved by the following technical solution: a method for splitting and selectively forwarding signals across buses of a vehicle gateway, the method comprising the following steps:

[0006] The gateway ECU receives the network signal message, parses the network signal message, and obtains the parsed network signal, wherein the network signal is obtained from the CAN network or the CAN-XL network;

[0007] Select and split the parsed network signals, select the network signals that need to be forwarded, and filter and split the network signals that do not need to be forwarded to obtain processed network signals;

[0008] Setting multiple priority gradients based on network signal messages, generating multiple queues based on the multiple priority gradients, and inputting processed network signals into the queues;

[0009] Set a time-based trigger condition. When the signal in the queue reaches the time-based trigger condition, package the signal in the queue into a new CAN message or CAN-XL message, send the new CAN message or CAN-XL message to the gateway ECU, and clear the queue, thereby realizing signal splitting and selective forwarding.

[0010] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the process of selecting and splitting the parsed network signal:

[0011] For signals from CAN to CAN-XL, select specific signals that need to be forwarded to the CAN-XL network according to predefined rules, and filter signals that do not need to be forwarded;

[0012] For signals from CAN-XL to CAN, select the specific signals that need to be forwarded to the CAN-XL network and filter the signals that do not need to be forwarded.

[0013] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: after the filtering, for the split CAN-XL message, if the length is greater than 8 bytes, split it into multiple CAN messages, ensuring that the length of each message does not exceed 8 bytes, the number of messages after splitting is message length / 8+1, and the messages that are less than 8 bytes after splitting are placed in a queue.

[0014] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the time-based trigger condition is: according to the period and priority of the message, a time threshold is set for each queue, and when the time threshold is reached, the package sending is triggered;

[0015] According to the periodic distribution of messages, multiple priority queues are set. Each priority queue has a corresponding time threshold. The setting of the time threshold is the minimum value of the queue message cycle.

[0016] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the process of dividing the queues according to the priority gradient is as follows:

[0017] Messages with short cycles have high transmission frequency and are divided into high-priority queues separately; messages with a large proportion are divided into one priority; messages with long cycles and small numbers and similar cycle sizes are merged into one priority.

[0018] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the worst transmission time of the CAN network is:

[0019] WCTT CAN,j =(55+10×p j )×τbit

[0020] in:

[0021] ·WCTT CAN,j Indicates the message m in the CAN network j Worst transmission time;

[0022] ·p j Indicates message m j The actual load, in bytes, ranges from 1 to 8;

[0023] ·τ_bit represents the transmission time of each bit. When the CAN bandwidth is 500kbps, τ bit =2μs.

[0024] The worst-case transmission time of the CAN-XL network is:

[0025]

[0026] in:

[0027] ·WCTT CAN,j Indicates the message m in the CAN-XL network j Worst transmission time;

[0028] ·τ arb Indicates the bit time of the arbitration phase;

[0029] ·τ data Indicates the bit time of the data phase;

[0030] ·s j Indicates message m j The payload size in bytes in CAN-XL.

[0031] From the above, the bandwidth utilization is:

[0032]

[0033] in:

[0034] ·U j Indicates the bandwidth utilization of message mj;

[0035] ·WCTT j Indicates message m j Worst transmission time;

[0036] ·MT j Indicates message m j The minimum transmission period.

[0037] That is, the sum of bandwidth utilization of all messages:

[0038] in:

[0039] · |M| represents the total number of messages in the message set M.

[0040] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the worst case end-to-end transmission delay:

[0041] T e2e =Total_Delay CAN +Total_Delay Gateway +Total_Delay CAN-XL

[0042] in:

[0043] · T e2e It represents the worst end-to-end transmission delay of a message from the source node to the destination node;

[0044] · Total_Delay CAN Represents the total transmission delay in the CAN network;

[0045] · Total_Delay Gateway Indicates the total latency of gateway processing;

[0046] · Total_Delay CAN-XL Represents the total transmission delay in the CAN-XL network.

[0047] Worst case response time R in CAN networks CAN :

[0048] R CAN =J CAN +w CAN +C CAN

[0049] in:

[0050] · R CAN Represents the worst-case response time for messages in a CAN network;

[0051] · J CAN Indicates the queue jitter time in the CAN network;

[0052] · w CAN Indicates the queuing delay time in the CAN network;

[0053] · C CAN Indicates the blocking time in the CAN network.

[0054] Worst case response time R in CAN-XL networks CAN-XL :

[0055] R CAN-XL =J CAN-XL +w CAN-XL +C CAN-XL

[0056] in:

[0057] · R CAN-XL Represents the worst case response time for a message in a CAN-XL network;

[0058] · J CAN-XL Indicates the queue jitter time in the CAN-XL network;

[0059] · w CAN-XL Indicates the queuing delay time in the CAN-XL network;

[0060] · C CAN-XL Indicates the blocking time in the CAN-XL network.

[0061] The worst case response time is equal to the sum of queue jitter, queue delay and blocking time: The average transmission delay of the CAN network is:

[0062]

[0063] in:

[0064] · AVG CAN Represents the average transmission delay of all messages in the CAN network;

[0065] · Represents the sum of the CAN network response time in N samples.

[0066] Average transmission delay of CAN-XL network:

[0067]

[0068] in:

[0069] · AVG CAN-XL Indicates the average transmission delay of all messages in the CAN-XL network;

[0070] · Represents the sum of the CAN-XL network response time in N samples.

[0071] The worst total transmission delay of the gateway:

[0072] Total_Delay Gateway =Trigger time threshold of the priority queue.

[0073] in:

[0074] · Total_Delay Gateway Indicates the worst total transmission delay of a message processed by a gateway. Its value is equal to the trigger time threshold of the priority queue in the gateway.

[0075] In a second aspect, in order to achieve the above-mentioned purpose, the present invention discloses a vehicle gateway cross-bus signal splitting and selective forwarding system, comprising:

[0076] An information parsing module, used for the gateway ECU to receive a network signal message, parse the network signal message, and obtain a parsed network signal, wherein the network signal is obtained from a CAN network or a CAN-XL network;

[0077] The signal processing module is used to select and split the parsed network signals, select the network signals that need to be forwarded, and filter and split the network signals that do not need to be forwarded to obtain the processed network signals;

[0078] A queue setting module, used to set multiple priority gradients based on network signal messages, generate multiple queues based on the multiple priority gradients, and input the processed network signals into the queues;

[0079] The signal packaging module is used to set time-based trigger conditions. When the signal in the queue reaches the time-based trigger conditions, the signal in the queue is packaged into a new CAN message or CAN-XL message, the new CAN message or CAN-XL message is sent to the gateway ECU, and the queue is cleared, thereby realizing signal splitting and selective forwarding.

[0080] In another aspect of the present invention, a terminal device is disclosed, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the memory stores a computer program capable of running on the processor, and when the processor loads and executes the computer program, the above-mentioned vehicle gateway cross-bus signal splitting and selective forwarding method is adopted.

[0081] In another aspect of the present invention, a computer-readable storage medium is disclosed, characterized in that:

[0082] The computer-readable storage medium stores a computer program, and when the computer program is loaded and executed by the processor, the steps of the method for splitting and selectively forwarding cross-bus signals of a vehicle gateway according to any one of claims 1 to 7 are implemented.

[0083] Beneficial effects of the present invention:

[0084] The present invention realizes efficient communication between different bus networks in the vehicle by signal splitting and selectively forwarding CAN messages, combined with queue management and priority scheduling strategies. The method significantly reduces bandwidth utilization, reduces end-to-end transmission delay, and meets the real-time requirements of different signals. At the same time, the flexible queue management mechanism enables the system to dynamically adjust the transmission strategy according to actual needs and adapt to the complex and changeable in-vehicle communication environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0086] Figure 1 It is a schematic flow chart of the method of the present invention;

[0087] Figure 2 It is the data set period and size distribution diagram provided by Bosch in the present invention;

[0088] Figure 3 It is a schematic diagram of the topological structure of cross-network communication between CAN and CAN-XL of the present invention;

[0089] Figure 4 It is a schematic diagram of a gateway message forwarding mechanism based on a message queue of the present invention;

[0090] Figure 5 It is a schematic diagram of the packaging and sending process based on queue time triggering of the present invention;

[0091] Figure 6 It is a flow chart of the gateway-based cross-bus signal splitting and selective forwarding method of the present invention.

[0092] Figure 7 It is a schematic diagram of the system structure of the present invention. DETAILED DESCRIPTION

[0093] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0094] Embodiment 1:

[0095] like Figure 1 As shown, the method for splitting and selectively forwarding signals across buses of a vehicle gateway comprises the following steps:

[0096] S101: The gateway ECU receives a network signal message, and parses the network signal message to obtain a parsed network signal, wherein the network signal is obtained from a CAN network or a CAN-XL network;

[0097] Specifically, the functions of each structure are as follows:

[0098] CAN network:

[0099] Responsible for collecting and processing relevant data.

[0100] Communicates with other ECUs via the CAN bus.

[0101] CAN-XL Network:

[0102] Responsible for collecting and processing relevant data.

[0103] Communicates with other ECUs via the CAN-XL bus.

[0104] Gateway ECU:

[0105] Connects the CAN network and the CAN-XL network and is responsible for message forwarding and signal processing across network segments.

[0106] It has functions such as message reception, parsing, signal splitting, queue management and message repackaging.

[0107] S102: selecting and splitting the parsed network signals, selecting the network signals to be forwarded, filtering and splitting the network signals not to be forwarded, and obtaining processed network signals;

[0108] The process of selecting and splitting the parsed network signal:

[0109] For signals from CAN to CAN-XL, select specific signals that need to be forwarded to the CAN-XL network according to predefined rules, and filter signals that do not need to be forwarded;

[0110] For signals from CAN-XL to CAN, select specific signals that need to be forwarded to the CAN-XL network and filter the signals that do not need to be forwarded;

[0111] like Figure 3 As shown, after the filtering, for the split CAN-XL message, if the length is greater than 8 bytes, it is split into multiple CAN messages to ensure that the length of each message does not exceed 8 bytes. The number of messages after the split is the message length / 8+1, and the messages less than 8 bytes after the split are placed in the queue.

[0112] S103: setting multiple priority gradients based on the network signal message, generating multiple queues based on the multiple priority gradients, and inputting the processed network signal into the queues;

[0113] The process of dividing the queues according to the priority gradient is as follows:

[0114] Messages with short cycles have high transmission frequency and are divided into high-priority queues separately; messages with a large proportion are divided into one priority; messages with long cycles and small numbers and similar cycle sizes are merged into one priority.

[0115] S104: Set a time-based trigger condition. When the signal in the queue reaches the time-based trigger condition, package the signal in the queue into a new CAN message or CAN-XL message, send the new CAN message or CAN-XL message to the gateway ECU, and clear the queue, thereby realizing signal splitting and selective forwarding.

[0116] The queue packaging trigger conditions are as follows:

[0117] Time trigger: Set a specific time threshold for each queue. When the waiting time of the message in the queue reaches the time threshold, it triggers packaging and sending. According to the periodic distribution of messages, set multiple priority queues, and each priority queue has a corresponding time threshold. The setting logic of the time threshold is the minimum value of the queue message cycle to ensure the real-time performance of the system.

[0118] The following principles are followed for the division of queue priorities: First, because messages with shorter cycles are transmitted more frequently, they are divided into several high-priority queues; second, messages with a larger number are divided into one priority, otherwise a lot of bandwidth will be wasted; finally, messages with longer cycles and fewer numbers and similar cycle sizes are combined into one priority. The actual design of the queue will be adjusted according to these principles.

[0119] Specifically, the present invention is further described below by way of embodiments:

[0120] according to Figure 2Taking the real data provided by Bosch as an example, following the above principles, the following queues can be designed:

[0121] High priority queue 1 (messages with a period of 1ms, accounting for 4%):

[0122] Message cycle: 1ms

[0123] Time threshold: 1ms (minimum period in the queue)

[0124] High priority queue 2 (messages with a period of 2ms, accounting for 3%):

[0125] Message cycle: 2ms

[0126] Time threshold: 2ms (minimum period in the queue)

[0127] High priority queue 3 (messages with a period of 5ms, accounting for 3%):

[0128] Message cycle: 5ms

[0129] Time threshold: 5ms (minimum period in the queue)

[0130] Medium priority queue 1 (messages with a period of 10ms, accounting for a large proportion, 31%):

[0131] Message cycle: 10ms

[0132] Time threshold: 10ms (minimum period in the queue)

[0133] Medium priority queue 2 (messages with a period of 20ms, accounting for a large proportion, 31%):

[0134] Message cycle: 20ms

[0135] Time threshold: 20ms (minimum period in the queue)

[0136] Medium priority queue 3 (messages with a period of 50ms, accounting for 3%):

[0137] Message cycle: 50ms

[0138] Time threshold: 50ms (minimum period in the queue)

[0139] Medium priority queue 4 (messages with a period of 100ms, accounting for a large proportion, 20%):

[0140] Message cycle: 100ms

[0141] Time threshold: 100ms (minimum period in the queue)

[0142] Low priority queue (long-period messages, accounting for a small proportion, accounting for 5% in total):

[0143] Contains messages with a longer period and a smaller proportion.

[0144] Message cycle: 200ms, 1000ms

[0145] Time threshold: 200ms (minimum period in the queue)

[0146] In actual operation, the packaging time of the queue is set as follows:

[0147] The first message enters the queue:

[0148] When a signal enters an empty queue, the remaining packaging time (T remain ) starts the countdown.

[0149] Triggering package sending:

[0150] When the packaging time reaches the time threshold T remain When it is equal to 0, it triggers the package sending.

[0151] During the packaging process, high priority messages are given priority to ensure their timely transmission.

[0152] The worst transmission time of the CAN network is:

[0153] WCTT CAN,j =(55+10×p j )×τ bit

[0154] in:

[0155] ·WCTT CAN,j Indicates the message m in the CAN network j Worst transmission time;

[0156] ·p j Indicates message m j The actual load, in bytes, ranges from 1 to 8;

[0157] ·τ_bit represents the transmission time of each bit. When the CAN bandwidth is 500kbps, τ bit =2μs.

[0158] The worst-case transmission time of the CAN-XL network is:

[0159]

[0160] in:

[0161] ·WCTT CAN,j Indicates the message m in the CAN-XL network jWorst transmission time;

[0162] ·τ arb Indicates the bit time of the arbitration phase;

[0163] ·τ data Indicates the bit time of the data phase;

[0164] ·s j Indicates message m j The payload size in bytes in CAN-XL.

[0165] From the above, the bandwidth utilization is:

[0166]

[0167] in:

[0168] ·U j Indicates the bandwidth utilization of message mj;

[0169] ·WCTT j Indicates message m j Worst transmission time;

[0170] ·MT j Indicates message m j The minimum transmission period.

[0171] That is, the sum of bandwidth utilization of all messages:

[0172] in:

[0173] · |M| represents the total number of messages in the message set M.

[0174] 7. The method for splitting and selectively forwarding signals across buses of an on-board gateway according to claim 6, wherein the worst-case end-to-end transmission delay is:

[0175] T e2e =Total_Delay CAN +Total_Delay Gateway +Total_Delay CAN-XL

[0176] in:

[0177] · T e2e It represents the worst end-to-end transmission delay of a message from the source node to the destination node;

[0178] · Total_Delay CANRepresents the total transmission delay in the CAN network;

[0179] · Total_Delay Gateway Indicates the total latency of gateway processing;

[0180] · Total_Delay CAN-XL Represents the total transmission delay in the CAN-XL network.

[0181] Worst case response time R in CAN networks CAN :

[0182] R CAN =J CAN +w CAN +C CAN

[0183] in:

[0184] · R CAN Represents the worst-case response time for messages in a CAN network;

[0185] · J CAN Indicates the queue jitter time in the CAN network;

[0186] · w CAN Indicates the queuing delay time in the CAN network;

[0187] · C CAN Indicates the blocking time in the CAN network.

[0188] Worst case response time R in CAN-XL networks CAN-XL :

[0189] R CAN-XL =J CAN-XL +w CAN-XL +C CAN-XL

[0190] in:

[0191] · R CAN-XL Represents the worst case response time for a message in a CAN-XL network;

[0192] · J CAN-XL Indicates the queue jitter time in the CAN-XL network;

[0193] · w CAN-XLIndicates the queuing delay time in the CAN-XL network;

[0194] · C CAN-XL Indicates the blocking time in the CAN-XL network.

[0195] The worst case response time is equal to the sum of queue jitter, queue delay and blocking time: The average transmission delay of the CAN network is:

[0196]

[0197] in:

[0198] · AVG CAN Represents the average transmission delay of all messages in the CAN network;

[0199] · Represents the sum of the CAN network response time in N samples.

[0200] Average transmission delay of CAN-XL network:

[0201]

[0202] in:

[0203] · AVG CAN-XL Indicates the average transmission delay of all messages in the CAN-XL network;

[0204] · Represents the sum of the CAN-XL network response time in N samples.

[0205] The worst total transmission delay of the gateway:

[0206] Total_Delay Gateway =Trigger time threshold of the priority queue.

[0207] in:

[0208] · Total_Delay Gateway Indicates the worst total transmission delay of a message processed by a gateway. Its value is equal to the trigger time threshold of the priority queue in the gateway.

[0209] Embodiment 2: In the second aspect, as Figure 7 As shown, in order to achieve the above-mentioned purpose, the present invention discloses a vehicle gateway cross-bus signal splitting and selective forwarding system, comprising:

[0210] The information parsing module 11 is used for the gateway ECU to receive the network signal message, parse the network signal message, and obtain the parsed network signal, wherein the network signal is obtained from the CAN network or the CAN-XL network;

[0211] The signal processing module 12 is used to select and split the parsed network signals, select the network signals that need to be forwarded, and filter and split the network signals that do not need to be forwarded to obtain processed network signals;

[0212] A queue setting module 13, used to set multiple priority gradients based on network signal messages, generate multiple queues based on the multiple priority gradients, and input the processed network signals into the queues;

[0213] The signal packaging module 14 is used to set a time-based trigger condition. When the signal in the queue reaches the time-based trigger condition, the signal in the queue is packaged into a new CAN message or CAN-XL message, the new CAN message or CAN-XL message is sent to the gateway ECU, and the queue is cleared, thereby realizing signal splitting and selective forwarding.

[0214] Based on the same inventive concept, the present invention also provides a computer device, which includes: one or more processors, and a memory for storing one or more computer programs; the program includes program instructions, and the processor is used to execute the program instructions stored in the memory. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is used to implement one or more instructions, specifically for loading and executing one or more instructions in a computer storage medium to implement the above method.

[0215] It needs to be further explained that, based on the same inventive concept, the present invention also provides a computer storage medium, on which a computer program is stored, and the computer program is executed by a processor to execute the above method. The storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electrical, magnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0216] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0217] The above shows and describes the basic principles, main features and advantages of the present disclosure. Those skilled in the art should understand that the present disclosure is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present disclosure. Without departing from the spirit and scope of the present disclosure, the present disclosure may have various changes and improvements, and these changes and improvements fall within the scope of the present disclosure to be protected.

Claims

1. A method for splitting and selectively forwarding signals across buses of an onboard gateway, characterized in that: The method comprises the following steps: The gateway ECU receives the network signal message, parses the network signal message, and obtains the parsed network signal, wherein the network signal is obtained from the CAN network or the CAN-XL network; Select and split the parsed network signals, select the network signals that need to be forwarded, and filter and split the network signals that do not need to be forwarded to obtain processed network signals; Setting multiple priority gradients based on network signal messages, generating multiple queues based on the multiple priority gradients, and inputting processed network signals into the queues; Set a time-based trigger condition. When the signal in the queue reaches the time-based trigger condition, package the signal in the queue into a new CAN message or CAN-XL message, send the new CAN message or CAN-XL message to the gateway ECU, and clear the queue, thereby realizing signal splitting and selective forwarding.

2. The method for splitting and selectively forwarding signals across buses of an on-board gateway according to claim 1, characterized in that: The process of selecting and splitting the parsed network signal: For signals from CAN to CAN-XL, select specific signals that need to be forwarded to the CAN-XL network according to predefined rules, and filter signals that do not need to be forwarded; For signals from CAN-XL to CAN, select the specific signals that need to be forwarded to the CAN-XL network and filter the signals that do not need to be forwarded.

3. The method for splitting and selectively forwarding signals across buses of an on-board gateway according to claim 2, characterized in that: After the filtering, for the split CAN-XL message, if the length is greater than 8 bytes, it is split into multiple CAN messages to ensure that the length of each message does not exceed 8 bytes. The number of messages after the split is message length / 8+1, and the messages less than 8 bytes after the split are placed in the queue.

4. The method for splitting and selectively forwarding signals across buses of an on-board gateway according to claim 1, characterized in that: The time-based trigger condition is: according to the period and priority of the message, a time threshold is set for each queue, and when the time threshold is reached, the package sending is triggered; According to the periodic distribution of messages, multiple priority queues are set. Each priority queue has a corresponding time threshold. The setting of the time threshold is the minimum value of the queue message period.

5. The method for splitting and selectively forwarding signals across buses of an on-board gateway according to claim 1, characterized in that: The process of dividing the queues according to the priority gradient is as follows: Messages with short cycles have high transmission frequency and are divided into high-priority queues separately; messages with a large proportion are divided into one priority; messages with long cycles and small numbers and similar cycle sizes are merged into one priority.

6. The method for splitting and selectively forwarding signals across buses of an on-board gateway according to claim 1, characterized in that: The worst transmission time of the CAN network is: WCTT CAN,j =(55+10×p j )×τ bit in: ·WCTT CAN,j Indicates the message m in the CAN network j Worst transmission time; ·p j Indicates message m j The actual load; ·τ_bit represents the transmission time of each bit; The worst-case transmission time of the CAN-XL network is: in: ·WCTT CAN,j Indicates the message m in the CAN-XL network j Worst transmission time; ·τ arb Indicates the bit time of the arbitration phase; ·τ data Indicates the bit time of the data phase; ·s j Indicates message m j Payload size in CAN-XL; From the above, the bandwidth utilization is: in: ·U j Indicates the bandwidth utilization of message mj; ·WCTT j Indicates message m j Worst transmission time; ·MT j Indicates message m j The minimum transmission period; The sum of bandwidth utilization of all messages: in: |M| represents the total number of messages in the message set M.

7. The method for splitting and selectively forwarding signals across buses of an on-board gateway according to claim 6, characterized in that: The worst case end-to-end transmission delay is: T e2e =Total_Delay CAN +Total_Delay Gateway +Total_Delay CAN-XL in: ·T e2e It represents the worst end-to-end transmission delay of a message from the source node to the destination node; Total_Delay CAN Represents the total transmission delay in the CAN network; Total_Delay Gateway Indicates the total latency of gateway processing; Total_Delay CAN-XL Represents the total transmission delay in the CAN-XL network; Worst case response time R in CAN networks CAN : R CAN =J CAN +w CAN +C CAN in: ·R CAN Represents the worst-case response time for messages in a CAN network; ·J CAN Indicates the queue jitter time in the CAN network; ·w CAN Indicates the queuing delay time in the CAN network; ·C CAN Indicates the blocking time in the CAN network; Worst case response time R in a CAN-XL network CAN-XL : R CAN-XL =J CAN-XL +w CAN-XL +C CAN-XL in: ·R CAN-XL Represents the worst case response time for a message in a CAN-XL network; ·J CAN-XL Indicates the queue jitter time in the CAN-XL network; ·w CAN-XL Indicates the queuing delay time in the CAN-XL network; ·C CAN-XL Indicates the blocking time in the CAN-XL network; The worst case response time is equal to the sum of queue jitter, queue delay and blocking time: The average transmission delay of the CAN network is: in: AVG CAN Represents the average transmission delay of all messages in the CAN network; · Represents the sum of CAN network response time in N samplings; Average transmission delay of CAN-XL network: in: AVG CAN-XL Indicates the average transmission delay of all messages in the CAN-XL network; · It represents the sum of CAN-XL network response time in N sampling times; The worst total transmission delay of the gateway: Total_Delay Gateway =Trigger time threshold of the priority queue; in: Total_Delay Gateway Indicates the worst total transmission delay of a message processed by a gateway. The value is equal to the trigger time threshold of the priority queue in the gateway.

8. The vehicle gateway cross-bus signal splitting and selective forwarding system is characterized by: include: An information parsing module, used for the gateway ECU to receive a network signal message, parse the network signal message, and obtain a parsed network signal, wherein the network signal is obtained from a CAN network or a CAN-XL network; The signal processing module is used to select and split the parsed network signals, select the network signals that need to be forwarded, and filter and split the network signals that do not need to be forwarded to obtain the processed network signals; A queue setting module, used to set multiple priority gradients based on network signal messages, generate multiple queues based on the multiple priority gradients, and input the processed network signals into the queues; The signal packaging module is used to set time-based trigger conditions. When the signal in the queue reaches the time-based trigger conditions, the signal in the queue is packaged into a new CAN message or CAN-XL message, the new CAN message or CAN-XL message is sent to the gateway ECU, and the queue is cleared, thereby realizing signal splitting and selective forwarding.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: The memory stores a computer program that can be run on the processor. When the processor loads and executes the computer program, the method for splitting and selectively forwarding signals across buses of the vehicle gateway according to any one of claims 1 to 7 is adopted.

10. A computer-readable storage medium having a computer program stored therein, characterized in that: When the computer program is loaded and executed by the processor, the gateway-based cross-bus signal splitting and selective forwarding method in a vehicle according to any one of claims 1 to 7 is adopted.

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