Vehicle-mounted system and communication method thereof

Abstract

The invention provides a vehicle-mounted system and a communication method thereof, and the vehicle-mounted system comprises a vehicle-mounted communication unit which is used for obtaining vehicle data and transmitting the vehicle data to other function modules of the vehicle-mounted system; the automatic driving unit is in communication connection with the vehicle-mounted communication unit so as to control the vehicle according to the received vehicle data; wherein the vehicle-mounted communication unit comprises a data receiving and transmitting module and a shared memory module which are in communication connection with each other, and the data receiving and transmitting module and the automatic driving unit perform data access based on the shared memory module so as to realize communication between the vehicle-mounted communication unit and the automatic driving unit. The technical problems to be solved are that the requirement of an automatic driving module for the timeliness of vehicle data is high, an event-driven communication mode is complex, the timeliness of vehicle data transmission is difficult to guarantee, and packet loss illusion is easily caused.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle-mounted systems, and in particular to a vehicle-mounted system and a communication method thereof. Background Art

[0002] With the advancement of science and technology, the use of vehicle autonomous driving is becoming more and more widespread. The current communication scheme in the vehicle autonomous driving module adopts an event-driven approach, which obtains vehicle data through the positioning module, and then encapsulates the vehicle data into events through the communication method provided by the Fast Distributed Bus (FDbus), and then uses the method provided by FDbus to send the vehicle data to the Serial Peripheral Interface (SPI) module of the Network Access Device (NAD) through events. After receiving the vehicle data, the NAD SPI module encapsulates the vehicle data through the SPI protocol and sends it to the Microcontroller Unit (MCU) module. The autonomous driving module, such as the Advanced Driving Assistance System (ADAS) module, communicates with the MCU module to obtain vehicle data.

[0003] However, the problem with the above existing solutions is that the autonomous driving module has high requirements for the timeliness of vehicle data, while the event-driven communication method is relatively complex, making it difficult to ensure the timeliness of vehicle data transmission and easily causing the illusion of packet loss. Summary of the invention

[0004] The technical problem that this application intends to solve is that the autonomous driving module has high requirements for the timeliness of vehicle data, while the event-driven communication method is relatively complex, making it difficult to ensure the timeliness of vehicle data transmission and easily causing the illusion of packet loss.

[0005] To solve the above problems, the present application provides a vehicle-mounted system and a communication method thereof, wherein the vehicle-mounted system includes: a vehicle-mounted communication unit, used to acquire vehicle data and transmit the vehicle data to other functional modules of the vehicle-mounted system; an automatic driving unit, the automatic driving unit is communicatively connected with the vehicle-mounted communication unit to control the vehicle according to the received vehicle data; wherein the vehicle-mounted communication unit includes a data transceiver module and a shared memory module that are communicatively connected to each other, and the data transceiver module and the automatic driving unit access data based on the shared memory module to realize communication between the vehicle-mounted communication unit and the automatic driving unit.

[0006] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the shared memory module cooperates with the data transceiver module to form a shared memory communication mechanism between the vehicle communication unit and the automatic driving unit. This communication mechanism maps a section of memory to the user's process space, and multiple processes can access the space and perform data interaction, thereby completing the communication between each other. This process avoids frequent data encapsulation and frequent thread switching, reduces the number of data copies in the data communication process, and reduces the complexity of communication between the vehicle communication unit and the automatic driving unit compared to the event-driven communication method in the prior art, improves the communication efficiency between the vehicle communication unit and the automatic driving unit, ensures the timeliness of vehicle data, and avoids packet loss.

[0007] In one example of the present application, the data transceiver module includes a network function module, which is used to connect to an external network and interact with vehicle data; the network function module is communicatively connected to the shared memory module to enable the network function module to transmit and / or store vehicle data based on the shared memory module.

[0008] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the network function module forms a communication connection by cooperating with the shared memory module, the network function module stores the vehicle data collected from the outside into the shared memory module, and when the connected electronic control unit issues a data request, the network function module takes out the vehicle data from the shared memory module and passes it to the corresponding module that issues the request. Since the shared memory communication method can directly manipulate the data in the memory, it avoids the control strategy process that needs to be passed through the corresponding pin in the event-driven communication method, and there is no need to package the data. Compared with the event-driven communication method in the prior art, the network function module adopts a shared memory communication method, which reduces the complexity of communication within the network function module and improves the speed of data transmission, thereby ensuring that the vehicle data received by the automatic driving unit is timely and avoiding packet loss in the automatic driving unit.

[0009] In one example of the present application, the network function module includes a vehicle positioning module and a first communication interface module; the vehicle positioning module is communicatively connected to the shared memory module, and the vehicle positioning module is communicatively connected to the external network, so that the vehicle positioning module can acquire vehicle data and store the acquired vehicle data in the shared memory module; the first communication interface module is used to directly acquire the vehicle data in the shared memory module.

[0010] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: In the event-driven communication mode in the prior art, the vehicle positioning module sends data to the first communication interface module in the form of an event. When a specific event occurs, the vehicle positioning module triggers the event and packages the relevant data and sends it to the first communication interface module. In this solution, through the shared memory communication mode, the vehicle positioning module stores the data in the shared memory area, and enables the first communication interface module to access the shared memory area to obtain the data. The first communication interface module can directly read the data provided by the vehicle positioning module from the shared memory. The shared memory communication mode can provide higher efficiency and real-time performance during the communication process, because the first communication interface module can directly read data from the shared memory without waiting for the event triggering and data transmission time. Compared with the prior art, the shared memory communication mode reduces the complexity of the communication between the vehicle positioning module and the first communication interface module, thereby speeding up the communication speed between the vehicle positioning module and the first communication interface module, ensuring the timeliness of the vehicle data, and thus avoiding the packet loss phenomenon caused by the data delay in the automatic driving unit.

[0011] In one example of the present application, the data transceiver module also includes a data processing module, which is used to process vehicle data; wherein the data processing module is provided with a second communication interface module, and the second communication interface module is connected to the first communication interface module to realize the communication connection between the network function module and the data processing module.

[0012] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the data processing module processes the received vehicle data and interacts the processed vehicle data with other modules.

[0013] In one example of the present application, the first communication interface module and the second communication interface module are connected via a serial peripheral interface SPI bus.

[0014] Compared with the prior art, the technical effect achieved by adopting this technical solution is that the hardware connection through the serial peripheral interface SPI bus is relatively simple, which reduces the complexity of hardware design, can achieve fast data transmission, and meet real-time requirements.

[0015] In one example of the present application, the data processing module is also provided with a third communication interface module, and the third communication interface module is communicatively connected to the automatic driving unit via a controller area network CAN bus, wherein the data processing module puts the vehicle data into the CAN bus via the third communication interface module, and the automatic driving unit obtains the vehicle data on the CAN bus.

[0016] Compared with the existing technology, the technical effect achieved by adopting this technical solution is as follows: The controller area network CAN bus is a serial communication bus specially used in the automotive field, with a high data transmission rate. Connecting the data processing module and the automatic driving unit through the CAN bus can achieve fast data transmission and meet real-time requirements. The CAN bus supports communication between multiple nodes, that is, multiple devices can be connected on the same bus. This means that the data processing module can communicate with multiple automatic driving units or electronic control units to achieve simultaneous transmission and processing of vehicle data.

[0017] The present application provides a communication method for a vehicle-mounted system, wherein the vehicle-mounted communication unit includes a first communication interface module and a vehicle positioning module; the communication method is specifically as follows: controlling the first communication interface module to send a data collection notification to the vehicle positioning module; controlling the vehicle positioning module to receive the data collection notification, and controlling the vehicle positioning module to collect vehicle data according to the data collection notification; controlling the first communication interface module to perform a data acquisition action; and controlling the first communication interface module to send the acquired vehicle data to the automatic driving unit.

[0018] Compared with the prior art, the technical effect achieved by adopting this technical solution is: a communication method for an in-vehicle system, which can be applied to any of the above-mentioned in-vehicle systems. In the prior art, the data processing module, as the master controller of the data, needs to execute the control strategy through the pin, and this strategy relies on the scheduling of the Linux system. In many cases, it cannot respond to notifications in time, resulting in certain data delays. This solution uses the first communication interface module as the master controller, and directly sets a fixed frequency on the first communication interface module through a timer to control the sending and receiving of data. The pin control strategy during the interaction process is deleted, and the sending and receiving frequency is directly controlled by the first communication interface module, ensuring the timeliness of the data.

[0019] In one example of the present application, controlling the first communication interface module to send a data collection notification to the vehicle positioning module includes: controlling the first communication interface module to notify the vehicle positioning module to collect vehicle data at a first preset time interval.

[0020] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: by designing a timer on the first communication interface module, the first communication interface module is controlled to execute a notification to the NAD positioning module once every first preset time interval, and the NAD positioning module is notified to collect vehicle data, thereby ensuring the timeliness of the vehicle data.

[0021] In one example of the present application, controlling the first communication interface module to execute a data acquisition action includes: controlling the first communication interface module to acquire vehicle data in the shared memory module at a second preset time interval.

[0022] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: by designing a timer on the first communication interface module, the first communication interface module is controlled to obtain vehicle data in the shared memory module once every second preset time, thereby ensuring the timeliness of the vehicle data.

[0023] In one example of the present application, the data collection notification and the data acquisition action are executed in the same thread.

[0024] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: setting the data acquisition action and data collection notification in the same thread can simplify the creation and management of threads. There is no need to create and manage multiple threads, which reduces the number of threads and simplifies the complexity of the system. Executing data acquisition and notification actions in the same thread can reduce context switching between threads and improve system performance. Thread switching consumes additional time and resources, and placing data acquisition actions and data collection in the same thread can avoid this overhead.

[0025] After adopting the technical solution of this application, the following technical effects can be achieved: (1) The network function module adopts a shared memory communication method, which reduces the complexity of data communication and improves the transmission efficiency of vehicle data between the on-board communication unit and the autonomous driving unit; (2) The first communication interface module is used as the master controller for data transmission and reception and a fixed transmission and reception frequency is set on the first communication interface module to ensure the timeliness of the data; (3) Data collection notification and data acquisition actions are placed in the same thread, further improving the real-time performance of the data. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of the connection between modules in a vehicle-mounted system provided by the present application; Figure 2 A schematic diagram of a communication method for a vehicle-mounted system provided in this application; Figure 3 A schematic diagram of the interaction between various modules of a vehicle-mounted system provided in this application. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0028] like Figure 1As shown, the present application provides a vehicle-mounted system, including a vehicle-mounted communication unit, which is used to acquire vehicle data and transmit the vehicle data to other functional modules of the vehicle-mounted system; an automatic driving unit, which is communicatively connected with the vehicle-mounted communication unit to control the vehicle according to the received vehicle data; wherein the vehicle-mounted communication unit includes a data transceiver module and a shared memory module that are communicatively connected to each other, and the data transceiver module and the automatic driving unit access data based on the shared memory module to realize communication between the vehicle-mounted communication unit and the automatic driving unit.

[0029] Specifically, the vehicle communication unit is the Tbox module, and the autonomous driving unit is the ADAS module. The Tbox module is also called a telematics processor, and the ADAS module is also called an advanced driver assistance system. Among them, the Tbox module is connected to the ADAS module through the controller area network CAN bus. As a data transfer station, the Tbox module stores the collected various vehicle data, including positioning data, inertial measurement data, and navigation data, in the shared memory module by setting up a shared memory module. The ADAS module actively sends a data request to the Tbox module. After receiving the request, the Tbox module will take out the data collected in the shared memory module, and process it to meet the transmission protocol of the CAN bus, and send the data to the CAN bus. The ADAS module can receive and obtain the required data through the CAN bus to realize its own functions.

[0030] In one example of the present application, the data transceiver module includes a network function module, which is used to connect to an external network and interact with vehicle data; the network function module is communicatively connected to the shared memory module to enable the network function module to acquire and / or store vehicle data based on the shared memory module.

[0031] Specifically, the network function module is the NAD module, which refers to a device in the car used to connect the vehicle to the Internet or other communication networks. The NAD module uses a shared memory communication method, so that during the data interaction within the NAD module, the data can be directly read and written only through the shared memory module, and the shared memory module does not need to package the data when sending the data, and can directly read and send the data, which reduces the complexity of communication within the NAD module and improves the communication speed.

[0032] In one example of the present application, the network function module includes a vehicle positioning module and a first communication interface module; the vehicle positioning module is communicatively connected to the shared memory module, and the vehicle positioning module is communicatively connected to the external network, so that the vehicle positioning module can acquire vehicle data and store the acquired vehicle data in the shared memory module; the first communication interface module is used to directly acquire the vehicle data in the shared memory module.

[0033] Specifically, the vehicle positioning module is a NAD positioning module, and the first communication interface module is a NAD SPI module. The NAD positioning module is a device in the vehicle, which is used to obtain the location information of the vehicle and perform positioning. The vehicle-mounted NAD positioning module usually uses the global positioning system or other positioning technologies (such as the Beidou navigation system, the Galileo system, etc.) to determine the exact location of the vehicle. It calculates the vehicle's location parameters such as longitude, latitude and altitude by receiving positioning signals from satellites and combining information such as on-board sensors and map data. The NAD SPI module is a communication interface module in the vehicle-mounted NAD, which is used to exchange and communicate data with other external devices. The NAD positioning module is used to collect vehicle data and store the vehicle data in a shared memory module; the NAD SPI module is used to obtain vehicle data in the shared memory module and send the obtained vehicle data to the ADAS module. The NAD positioning module and the NAD SPI module cooperate with the shared memory module to enable the NAD positioning module and the NADSPI module to communicate in a shared memory manner.

[0034] In one example of the present application, the data transceiver module also includes a data processing module, which is used to process vehicle data; wherein the data processing module is provided with a second communication interface module, and the second communication interface module is connected to the first communication interface module to realize the communication connection between the network function module and the data processing module.

[0035] Specifically, the data processing module is an MCU module, which is the core device of vehicle control. The MCU module is mainly used for body control, driving control, infotainment and driving assistance systems. Among them, the MCU module processes the vehicle data and puts the processed vehicle data on the CAN bus, so that the ADAS module can obtain the required data on the CAN bus. The second communication interface module is an MCU SPI module, which is a communication interface of the SPI protocol.

[0036] In one example of the present application, the first communication interface module and the second communication interface module are connected via a serial peripheral interface SPI bus.

[0037] Specifically, the first communication interface module and the second communication interface module connected to the serial peripheral interface SPI bus are both SPI interfaces. SPI is a high-speed serial communication protocol suitable for short-distance communication between devices. The SPI interface uses a small number of pins for communication, usually including the main output pin, main input pin, clock pin and chip select pin of the master device. Compared with other communication interfaces, the hardware connection of the SPI interface is relatively simple, which reduces the complexity of hardware design. The SPI interface supports full-duplex communication and can send and receive data at the same time. This means that the NAD module and the MCU module can perform bidirectional data transmission at the same time to achieve flexible communication needs. The SPI interface supports the connection of multiple master devices, and the chip select pin can be used to select which device to communicate with. This means that the NAD module can be connected to the MCU module at the same time as other SPI devices, realizing system expansion and flexibility. Connecting the NAD module and the MCU module through the SPI interface can achieve fast data transmission and meet real-time requirements.

[0038] Furthermore, the NAD SPI module and the MCU SPI module are connected via the SPI bus, which can achieve fast data transmission and meet real-time requirements. The SPI interface only requires a few wires for communication, including the main output pin, main input pin, clock pin, and chip select pin mentioned above. Compared with other communication interfaces, the hardware connection of the SPI interface is relatively simple, reducing the complexity of hardware design. The SPI communication protocol is relatively simple and flexible and can be configured as needed. This allows the NAD SPI module and the MCU SPI module to flexibly adapt to different communication requirements.

[0039] In one example of the present application, the data processing module is further provided with a third communication interface module, and the third communication interface module is connected to the automatic driving unit through the CAN bus to realize the transmission of vehicle data. The third communication interface is the CAN protocol interface of the MCU module, and the MCU module is connected to the ADAS module through the CAN bus, wherein the data processing module puts the vehicle data into the CAN bus through the third communication interface module, and the automatic driving unit obtains the vehicle data on the CAN bus.

[0040] Specifically, the MCU module includes an MCU CAN module, and the MCU module forms a communication connection with the CAN bus through the MCU CAN module to realize the interaction of vehicle data between the MCU module and the ADAS module. The CAN bus is a serial communication bus specially used in the automotive field, with a high data transmission rate. By connecting the MCU module and the ADAS module through the CAN bus, fast data transmission can be achieved to meet real-time requirements. The CAN bus supports communication between multiple nodes, that is, multiple devices can be connected on the same bus. This means that the MCU module can communicate with multiple ADAS modules to achieve simultaneous transmission and processing of vehicle data. The CAN bus has high reliability and anti-interference, and adapts to electromagnetic interference and noise in the automotive environment. The physical layer and data link layer design of the CAN bus make it have high anti-interference ability and can maintain stable communication in harsh environments. The CAN bus adopts an identifier-based message transmission method, which can distinguish and process different types of data according to different identifiers. This allows the MCU module and the ADAS module to define and parse different data frames as needed to achieve flexible data transmission.

[0041] In one example of the present application, the NAD SPI module is provided with a timer, and the timer is used to control the NAD SPI module to perform data acquisition actions and notification actions.

[0042] Specifically, the NAD SPI module acts as the master controller for data transmission and reception. It sets a fixed frequency through a timer, and notifies the NAD positioning module to obtain vehicle data once through the fixed frequency. The NAD positioning module stores the obtained vehicle data in the shared memory module, and the NAD SPI module obtains vehicle data from the shared memory module once according to the fixed frequency of the timer, and sends the vehicle data to the MCU module. The MCU module processes the vehicle data and sends the processed vehicle data to the ADAS module.

[0043] The present application provides a communication method for an in-vehicle system, wherein the Tbox module includes a NAD SPI module and a NAD positioning module; the communication method is specifically as follows: controlling the NAD SPI module to send a data collection notification to the NAD positioning module; controlling the NAD positioning module to receive the data collection notification; controlling the NAD positioning module to perform vehicle data collection according to the data collection notification; controlling the NAD SPI module to obtain the vehicle data in the shared memory module; and controlling the NAD SPI module to send the vehicle data to the ADAS module.

[0044] In one example of the present application, controlling the NAD SPI module to issue a data collection notification to the NAD positioning module includes: controlling the NAD SPI module to notify the NAD positioning module to collect vehicle data at a first preset time interval.

[0045] Preferably, the first preset time is 20 ms.

[0046] In one example of the present application, the NAD SPI module acquires vehicle data in the shared memory module, including: controlling the NAD SPI module to send a data acquisition request to the shared memory module at a second preset time interval.

[0047] Preferably, the second preset time is 20 ms.

[0048] like Figure 2 and Figure 3 As shown, the specific communication method is as follows: Control the NAD SPI module to notify the NAD positioning module to collect vehicle data at a frequency of 20ms / time; The NAD positioning module receives the notification, collects the vehicle data and stores the collected vehicle data into the shared memory module; Control the NAD SPI module to obtain the vehicle data in the shared memory module at a frequency of 20ms / time; The NAD SPI module and the MCU module are connected via the SPI bus communication, so that the vehicle data can be exchanged between the NAD SPI module and the MCU module; The MCU module processes the vehicle data and processes it to meet the transmission protocol requirements of the CAN bus, and then puts the processed vehicle data on the CAN bus; The ADAS module obtains the required vehicle data on the CAN bus.

[0049] The communication method of the present application sets a timer with a frequency of 20ms in the NAD SPI module. The NAD SPI module notifies the NAD positioning module to collect vehicle data and obtain the vehicle data in the shared memory module according to the frequency of the timer.

[0050] In one example of the present application, the data acquisition action and the data collection notification are set in the same thread.

[0051] Specifically, a thread is created for executing data collection notification and data acquisition action. In the thread, data collection notification is first executed. The NAD SPI module notifies the NAD positioning module to collect vehicle data, and the NAD positioning module stores the collected vehicle data in the shared memory module. After the data collection notification is completed, the data acquisition action is executed. The NADSPI module sends a data request to the shared memory module. The shared memory module receives the request and provides the vehicle data to the NADSPI module. Among them, executing data acquisition and notification actions in the same thread can reduce context switching between threads and improve system performance. Thread switching consumes additional time and resources. Placing data acquisition actions and data collection in the same thread can avoid this overhead. Executing data acquisition actions and data collection in the same thread can maintain data consistency. Data acquisition actions and data collection are executed sequentially in the same thread, avoiding the problem of concurrent access to data and ensuring the correctness and consistency of data. Setting data acquisition actions and data collection in the same thread can simplify the design of synchronization mechanisms. No additional synchronization mechanism is required to protect data access and update, reducing the complexity of programming. Setting data acquisition actions and data collection in the same thread can simplify the logic of error handling. Executing in the same thread makes it easier to catch and handle exceptions and error conditions that may arise.

[0052] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application shall be subject to the scope defined by the claims.

Claims

1. A vehicle-mounted system, characterized in that: The vehicle-mounted system comprises: An on-vehicle communication unit, used to acquire vehicle data and transmit the vehicle data to other functional modules of the on-vehicle system; an automatic driving unit, the automatic driving unit being communicatively connected to the vehicle-mounted communication unit so as to control the vehicle according to the received vehicle data; Among them, the on-board communication unit includes a data transceiver module and a shared memory module that are communicatively connected to each other. The data transceiver module and the automatic driving unit access data based on the shared memory module to achieve communication between the on-board communication unit and the automatic driving unit.

2. The vehicle-mounted system according to claim 1, characterized in that: The data transceiver module includes a network function module, and the network function module is used to connect to an external network and interact with the vehicle data; The network function module is communicatively connected to the shared memory module so that the network function module can transmit and / or store the vehicle data based on the shared memory module.

3. The vehicle-mounted system according to claim 2, characterized in that: The network function module includes a vehicle positioning module and a first communication interface module; The vehicle positioning module is communicatively connected to the shared memory module, and the vehicle positioning module is communicatively connected to the external network, so that the vehicle positioning module can acquire the vehicle data and store the acquired vehicle data in the shared memory module; The first communication interface module is used to directly obtain the vehicle data in the shared memory module.

4. The vehicle-mounted system according to claim 3, characterized in that: The data transceiver module also includes a data processing module, and the data processing module is used to process the vehicle data; The data processing module is provided with a second communication interface module, and the second communication interface module is connected to the first communication interface module to realize the communication connection between the network function module and the data processing module.

5. The vehicle-mounted system according to claim 4, characterized in that: The first communication interface module and the second communication interface module are connected via a serial peripheral interface SPI bus.

6. The vehicle-mounted system according to claim 4, characterized in that: The data processing module is further provided with a third communication interface module, and the third communication interface module is communicatively connected with the automatic driving unit via a controller area network CAN bus; Among them, the data processing module transmits the vehicle data to the CAN bus through the third communication interface module, and the automatic driving unit obtains the vehicle data on the CAN bus.

7. A communication method for an in-vehicle system, used to control the in-vehicle system according to any one of claims 1 to 6, characterized in that: The vehicle-mounted communication unit includes a vehicle positioning module and a first communication interface module; the communication method includes: The first communication interface module sends a data collection notification to the vehicle positioning module; The vehicle positioning module receives the data collection notification; The vehicle positioning module collects the vehicle data according to the data collection notification; The vehicle positioning module stores the vehicle data in the shared memory module; The first communication interface module performs a data acquisition action in the shared memory module to acquire the vehicle data; The first communication interface module transmits the vehicle data to the automatic driving unit.

8. The communication method according to claim 7, characterized in that: The first communication interface module sends a data collection notification to the vehicle positioning module, including: The first communication interface module is controlled to notify the vehicle positioning module to collect the vehicle data at a first preset time interval.

9. The communication method according to claim 7, characterized in that: The first communication interface module performs a data acquisition operation in the shared memory module, including: The first communication interface module is controlled to obtain the vehicle data in the shared memory module at a second preset time interval.

10. The communication method according to claim 7, characterized in that: The data collection notification and the data acquisition action are executed in the same thread.

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