Method and system for splitting and selectively forwarding cross-bus signals of vehicle gateway

Abstract

The present invention discloses a method and system for splitting and selectively forwarding cross-bus signals of an in-vehicle gateway, which relates to the field of in-vehicle network communication technology. The method comprises: a gateway ECU receives a network signal message, parses the network signal message, and obtains a parsed network signal, wherein the network signal is obtained from a CAN network or a CAN-XL network; selects and splits the parsed network signal, selects the network signal to be forwarded, and filters and splits the network signal that does not need to be forwarded to obtain a processed network signal; sets multiple priority gradients based on the network signal message, generates multiple queues based on the multiple priority gradients, and inputs the processed network signal into the queue; sets a time-based trigger condition, and when the signal in the queue reaches the time-based trigger condition, packages the signal in the queue into a new CAN message or CAN-XL message, sends the new CAN message or CAN-XL message to the gateway ECU, and clears the queue, thereby achieving signal splitting and selective forwarding.

Description

Technical Field

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

[0002] With the advancement of intelligent and connected modern vehicles, the number of in-vehicle electronic control units (ECUs) is increasing, significantly increasing the volume and complexity of in-vehicle network communications. This places higher demands on the bandwidth and transmission efficiency of in-vehicle networks. Due to bandwidth limitations, the traditional CAN bus cannot meet the demand for high-speed transmission of large amounts of data. To address this challenge, new-generation CAN bus technologies such as CAN FD and CAN XL are being gradually introduced into in-vehicle networks to provide higher network bandwidth.

[0003] However, different bus networks differ in data formats, communication protocols, and transmission rates, complicating direct communication between them. Furthermore, to optimize bandwidth utilization and ensure real-time performance, specific signals must be selectively forwarded between different bus networks. For example, the powertrain ECU may need to transmit certain critical sensor data to the body control ECU, but not all data needs to be transmitted across the network. Summary of the Invention

[0004] In order to address 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 an in-vehicle 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 an on-board gateway, the method comprising the following steps:

[0006] The gateway ECU receives the network signal message, parses the network signal message, and obtains a 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 the 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, 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.

[0010] In conjunction with the first aspect, in certain 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, according to predefined rules, select specific signals that need to be forwarded to the CAN-XL network and filter the 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, splitting it into multiple CAN messages, ensuring that the length of each message does not exceed 8 bytes, the number of split messages is message length / 8+1, and placing the split messages smaller than 8 bytes into a queue.

[0014] In conjunction with the first aspect, in certain implementations of the first aspect, the method further includes: the time-based trigger condition is: setting a time threshold for each queue according to the period and priority of the message, and triggering the packaging and sending when the time threshold is reached;

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

[0016] In conjunction with the first aspect, in certain implementations of the first aspect, the method further includes: a 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 certain 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 message m in CAN network j Worst case 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 message m in CAN-XL network j Worst case 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 case transmission time;

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

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

[0038] in:

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

[0040] In combination with the first aspect, in certain 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 a CAN-XL network 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 messages in a CAN-XL network;

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

[0059] · w CAN-XL represents 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 Indicates the average transmission delay of all messages in the CAN network;

[0065] · Indicates 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] · Indicates 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 =The trigger time threshold of the priority queue.

[0073] in:

[0074] · Total_Delay Gateway Indicates the worst total transmission delay of a message processed by the 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 objectives, the present invention discloses a vehicle-mounted gateway cross-bus signal splitting and selective forwarding system, comprising:

[0076] An information parsing module is used for the gateway ECU to receive network signal messages, parse the network signal messages, 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 is 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 signals in the queue meet the time-based trigger conditions, the signals in the queue are packaged into new CAN messages or CAN-XL messages, and the new CAN messages or CAN-XL messages are 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, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The memory stores a computer program capable of running on the processor, and when the processor loads and executes the computer program, the above-described 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, which, when loaded and executed by a processor, implements 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.

[0083] Beneficial effects of the present invention:

[0084] This invention achieves efficient communication between different bus networks within a vehicle by splitting and selectively forwarding CAN messages, combined with queue management and priority scheduling strategies. This method significantly reduces bandwidth utilization and end-to-end transmission latency, meeting the real-time requirements of various signals. Furthermore, a flexible queue management mechanism enables the system to dynamically adjust transmission strategies based on actual needs, adapting to the complex and ever-changing 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, those skilled in the art can derive other drawings based on these drawings without inventive effort.

[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 this 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 Schematic diagram of the message queue-based gateway message forwarding mechanism of the present invention;

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

[0091] Figure 6 This 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0094] Example 1:

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

[0096] S101: The gateway ECU receives a network signal message, parses the network signal message, and obtains 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: 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;

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

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

[0110] 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;

[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 split messages is message length / 8+1, and the messages with a length less than 8 bytes after splitting 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 triggering: Set a specific time threshold for each queue. When the waiting time for messages in the queue reaches this threshold, the message is packaged and sent. Multiple priority queues are set based on the message cycle distribution, and each priority queue has a corresponding time threshold. The time threshold is set based on the minimum value of the queue's message cycle to ensure real-time performance.

[0118] The following principles are followed for queue prioritization: First, because messages with shorter cycles are transmitted more frequently, they are grouped into several high-priority queues. Second, messages with a large number of messages are grouped into a single priority level to avoid wasting bandwidth. Finally, messages with shorter cycles but fewer messages, and similar cycle lengths, are combined into a single priority level. The actual queue design will be adjusted based on these principles.

[0119] Specifically, the present invention will be further described below through examples:

[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, a small proportion, accounting for 5% of the 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 the signal enters the 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-case transmission time of the CAN network is:

[0153] WCTT CAN,j =(55+10×p j )×τ bit

[0154] in:

[0155] ·WCTT CAN,j Indicates message m in CAN network j Worst case 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 message m in CAN-XL network jWorst case 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 case transmission time;

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

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

[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 in-vehicle 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 a CAN-XL network 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 messages in a CAN-XL network;

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

[0193] · w CAN-XLrepresents 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 Indicates the average transmission delay of all messages in the CAN network;

[0199] · Indicates 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] · Indicates 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 =The trigger time threshold of the priority queue.

[0207] in:

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

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

[0210] An information parsing module 11 is configured for the gateway ECU to receive network signal messages, parse the network signal messages, and obtain a parsed network signal, wherein the network signal is obtained from a CAN network or a 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, configured 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 gate 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 should be further explained that, based on the same inventive concept, the present invention also provides a computer storage medium having a computer program stored thereon, which executes the above method when executed by a processor. The storage medium can be 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 component, or any combination thereof. More specific examples (a 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 thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component.

[0216] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[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 to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present disclosure. Various changes and improvements may be made to the present disclosure without departing from the spirit and scope of the present disclosure, and such changes and improvements shall fall within the scope of the present disclosure.

Claims

1. A method for splitting and selectively forwarding signals across bus lines 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 a 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 the processed network signals; The process of selecting and splitting the parsed network signal: For signals from CAN to CAN-XL, according to predefined rules, select specific signals that need to be forwarded to the CAN-XL network and filter the 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 network and filter the signals that do not need to be forwarded; After filtering, if the length of the split CAN-XL message 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 split messages is message length / 8 + 1. Messages smaller than 8 bytes after splitting are placed in the queue. The worst-case transmission time of the CAN network is: WCTT CAN，j =(55+10×p j )×τ bit in: ·WCTT CAN，j Indicates message m in CAN network j Worst case 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 message m in CAN-XL network j Worst case 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 all message bandwidth utilization: in: |M| represents the total number of messages in the message set M; 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; Worst-case end-to-end transmission delay: 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 messages in a CAN-XL network; ·J CAN-XL Indicates the queue jitter time in the CAN-XL network; w CAN-XL represents 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 queuing jitter, queuing delay, and blocking time: The average transmission delay of the CAN network is: in: AVG CAN Indicates the average transmission delay of all messages in the CAN network; · Represents the sum of CAN network response time in N sampling times; Average transmission delay of CAN-XL network: in: AVG CAN-XL Indicates the average transmission delay of all messages in the CAN-XL network; · Represents the sum of the CAN-XL network response time in N sampling times; The worst total transmission delay of the gateway: Total_Delay Gateway =Trigger time threshold of priority queue; in: Total_Delay Gateway Indicates the worst total transmission delay of a message processed by the gateway. The value is equal to the trigger time threshold of the priority queue in the gateway. 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.

2. The method for splitting and selectively forwarding signals across buses of an in-vehicle 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 time threshold is set to the minimum value of the queue message period.

3. 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.

4. A vehicle-mounted gateway cross-bus signal splitting and selective forwarding system, which adopts the vehicle-mounted gateway cross-bus signal splitting and selective forwarding method according to any one of claims 1 to 3, characterized in that: include: An information parsing module is used for the gateway ECU to receive network signal messages, parse the network signal messages, 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 is 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 signals in the queue meet the time-based trigger conditions, the signals in the queue are packaged into new CAN messages or CAN-XL messages, and the new CAN messages or CAN-XL messages are sent to the gateway ECU, and the queue is cleared, thereby realizing signal splitting and selective forwarding.

5. 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 vehicle gateway cross-bus signals according to any one of claims 1 to 3 is adopted.

6. A computer-readable storage medium storing a computer program, wherein: 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 3 is adopted.

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