CAN signal data processing system and method and vehicle
By designing a CAN signal data processing system, and using MCU module and SOC module to convert and serialize CAN data, cross-platform CAN signal processing is realized, solving the problem of difficult porting existing systems on different platforms.
Patent Information
- Application Number
- CN202411615693.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-13
- Publication Date
- 2025-02-25
AI Technical Summary
Existing CAN signal processing systems are difficult to achieve cross-platform compatibility, resulting in difficulty in porting on different operating systems and hardware architectures.
A CAN signal data processing system is designed, including the signal source access terminal, MCU module and SOC module. By converting the original CAN data into the target format and serializing it with protobuf, cross-platform data transmission is realized.
The cross-platform acquisition, analysis and data forwarding functions of CAN signals are realized, and the problem of transplanting traditional systems on different platforms is solved.
Smart Images
Figure CN119511857A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle technology, and in particular to a CAN signal data processing system, method and vehicle. Background Art
[0002] CAN (Controller Area Network) bus is a serial communication protocol for real-time communication, widely used in automotive, industrial automation and aviation. The main features of CAN bus include high reliability, multi-master structure, priority arbitration and flexible data transmission. However, in order to give full play to the advantages of CAN bus, CAN signals need to be effectively collected, analyzed and forwarded.
[0003] The traditional CAN signal processing method is to collect data through the CAN bus. Traditional CAN signal processing systems often use specific operating systems and drivers and lack cross-platform software support. However, different operating systems and hardware architectures may require different drivers and library files, which makes it difficult to port the system on different platforms. In addition, traditional CAN signal processing systems usually use specific communication protocols, such as UART, SPI, etc., which may not support cross-platform communication. Summary of the invention
[0004] The present application provides a CAN signal data processing system, method and vehicle to solve the problem that CAN signal processing in related technologies cannot be implemented across platforms.
[0005] The first aspect of the present application provides a CAN signal data processing system, including: a signal source access terminal, used to connect the original CAN data of various signal sources on a vehicle to a CAN bus; an MCU module that communicates with the CAN bus, used to convert the original CAN data of various signal sources transmitted by the CAN bus into CAN data in a target format; a SOC module that communicates with the MCU module or the CAN bus, used to parse the CAN data in a target format or the original CAN data, and serialize the parsed CAN data into protobuf before sending it to the target module.
[0006] Optionally, in one embodiment of the present application, the MCU module includes: a CAN interface connected to the CAN bus, for receiving original CAN data from multiple signal sources; a conversion module, wherein the conversion module includes multiple packaging protocols, for converting the original CAN data into CAN data in a target format based on a target packaging protocol.
[0007] Optionally, in one embodiment of the present application, the SOC module includes: a server module for parsing CAN data or original CAN data in a target format; and a client module for serializing the parsed CAN data into protobuf and sending the serialized data to the target module.
[0008] Optionally, in one embodiment of the present application, the communication mode between the SOC module and the MCU module is IPCF or ETH communication.
[0009] Optionally, in one embodiment of the present application, the multiple signal sources include at least one of a vehicle controller, a positioning system, and a radar sensor.
[0010] Optionally, in one embodiment of the present application, the server module includes: a HAL layer, a data processing layer and a sending layer, wherein the HAL layer is used to receive CAN data in a target format or original CAN data; the data processing layer is used to parse the CAN data in a target format or original CAN data to obtain structured CAN data; and the sending layer is used to send structured CAN data to the client module.
[0011] Optionally, in one embodiment of the present application, the client module includes: a first parsing module, used to receive the vehicle signal data in the parsed CAN data and send it to the target module; a second parsing module, used to receive the positioning signal data in the parsed CAN data and send it to the target module; a third parsing module, used to receive the radar sensor signal data in the parsed CAN data and send it to the target module.
[0012] Optionally, in one embodiment of the present application, the target module subscribes to the client module based on the target protocol to receive CAN data serialized by protobuf.
[0013] The second aspect of the present application provides a CAN signal data processing method, which is processed using a CAN signal data processing system such as the above embodiment, and includes the following steps: acquiring original CAN data from multiple signal sources on a vehicle; packaging the original CAN data from multiple signal sources into CAN data in a target format; parsing the CAN data in the target format or the original CAN data, and serializing the parsed CAN data into protobuf before sending it to a target module.
[0014] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform a CAN signal data processing method as described in the above embodiment.
[0015] Therefore, this application has at least the following beneficial effects:
[0016] The embodiment of the present application constructs a CAN signal data processing system, including a signal source access terminal, an MCU module and a SOC module, wherein the signal source access terminal is used to access the CAN data of various signal sources on the vehicle to the CAN bus, and the MCU module is used to convert the original CAN data of various signal sources transmitted on the CAN bus into CAN data in a target format to transmit to the SOC module. The SOC module can communicate with the MCU module or directly communicate with the CAN bus, and can use multiple links to realize CAN data acquisition, so that the system can flexibly adapt to different application scenarios and platform requirements, ensuring efficient data acquisition and transmission, and then the SOC module parses the CAN data or the original CAN data in the target format, and after the parsed CAN data is serialized by protobuf, it is sent to the target module, and data serialization is performed using protobuf, which can realize cross-platform data sending, thereby realizing the collection, analysis and data forwarding functions of CAN signals. Thus, the technical problems that CAN signal processing in the related art cannot be realized across platforms are solved.
[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:
[0019] Figure 1 A schematic diagram of a CAN signal data processing system provided according to an embodiment of the present application;
[0020] Figure 2 A system structure diagram of a CAN signal data processing system provided according to an embodiment of the present application;
[0021] Figure 3 A schematic diagram of a flow chart of an SOC module implemented according to an embodiment of the present application;
[0022] Figure 4 A flowchart of a CAN signal data processing method provided according to an embodiment of the present application;
[0023] Figure 5 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION
[0024] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.
[0025] The CAN signal data processing system, method and vehicle of the embodiment of the present application are described below with reference to the accompanying drawings. The traditional CAN signal processing method mentioned in the above background technology is to collect data through the CAN bus. The traditional CAN signal processing system often uses a specific operating system and driver, lacks cross-platform software support, but different operating systems and hardware architectures may require different drivers and library files, which makes it difficult to transplant the system on different platforms. In addition, the traditional CAN signal processing system usually uses a specific communication protocol, such as UART, SPI, etc. These protocols may not support cross-platform communication. The present application provides a CAN signal data processing system, in which the signal source access end is used to access the CAN data of various signal sources on the vehicle to the CAN bus, and the MCU module is used to connect the CAN data of various signal sources on the vehicle to the CAN bus. The original CAN data of various signal sources transmitted on the AN bus are converted into CAN data in the target format to be transmitted to the SOC module. The SOC module can communicate with the MCU module or directly with the CAN bus. Multi-link can be used to realize CAN data acquisition, so that the system can flexibly adapt to different application scenarios and platform requirements to ensure efficient data acquisition and transmission. Then the SOC module parses the CAN data in the target format or the original CAN data, and serializes the parsed CAN data into protobuf before sending it to the target module. Using protobuf for data serialization can realize cross-platform data transmission, thereby realizing the collection, analysis and data forwarding functions of CAN signals. Thus, the problem that CAN signal processing in related technologies cannot be realized across platforms is solved.
[0026] Specifically, Figure 1 A schematic diagram of a CAN signal data processing system provided in an embodiment of the present application.
[0027] like Figure 1 As shown, the CAN signal data processing system 10 includes: a signal source access terminal 11, an MCU module 12 and a SOC module 13.
[0028] Among them, the signal source access terminal 10 is used to connect the original CAN data of various signal sources on the vehicle to the CAN bus; the MCU module 12 communicates with the CAN bus, and is used to convert the original CAN data of various signal sources transmitted by the CAN bus into CAN data in a target format; the SOC module 13 communicating with the MCU module 12 or the CAN bus is used to parse the CAN data in the target format or the original CAN data, and serialize the parsed CAN data into protobuf and send it to the target module.
[0029] It can be understood that the embodiment of the present application constructs a CAN signal data processing system 10, including a signal source access terminal 11, an MCU module 12 and a SOC module 13, wherein the signal source access terminal 11 is used to connect the CAN data of various signal sources on the vehicle to the CAN bus, and the MCU module 12 is used to convert the original CAN data of various signal sources transmitted on the CAN bus into CAN data in a target format for transmission to the SOC module 13. The SOC module 13 can communicate with the MCU module 12 or directly with the CAN bus, and can use multiple links to realize CAN data acquisition, so that the system can flexibly adapt to different application scenarios and platform requirements to ensure efficient data acquisition and transmission, and then the SOC module 13 parses the CAN data in the target format or the original CAN data, and serializes the parsed CAN data into protobuf, and sends it to the target module. Using protobuf for data serialization can realize cross-platform data sending, thereby realizing the collection, analysis and data forwarding functions of CAN signals.
[0030] In the embodiment of the present application, the communication mode between the SOC module 13 and the MCU module 12 is IPCF (Inter-Process Communication Framework) or ETH (Ethernet) communication.
[0031] In an embodiment of the present application, the MCU module 12 includes: a CAN interface connected to the CAN bus, for receiving original CAN data from multiple signal sources; a conversion module, wherein the conversion module includes multiple packaging protocols, for converting the original CAN data into CAN data in a target format based on a target packaging protocol.
[0032] It can be understood that the MCU module 12 of the embodiment of the present application includes a CAN interface and a conversion module, wherein the CAN interface is used to receive raw CAN data from multiple signal sources, and the conversion module includes multiple packaging protocols. The MCU module 12 can perform preliminary processing and format conversion on the raw CAN data, and convert the raw CAN data into CAN data in a target format based on the selected target packaging protocol (such as binary format).
[0033] In the embodiment of the present application, the SOC module 13 includes: a server module for parsing CAN data in a target format or raw CAN data; and a client module for serializing the parsed CAN data into protobuf and sending the serialized data to the target module.
[0034] Among them, when the embodiment of the present application performs protobuf serialization on the parsed CAN data, the proto file is the key file for defining the message structure. Each proto file contains some important elements, such as topic name, message port number, structure definition, parameter name, etc., to ensure that other subsequent modules subscribe to the CAN data.
[0035] It can be understood that the SOC module 13 of the embodiment of the present application includes a server module and a client module. The server module receives data from the MCU module or the CAN bus and parses it into raw CAN data. The client module is used to serialize the parsed CAN data into protobuf and send it to the target module.
[0036] In an embodiment of the present application, the multiple signal sources include at least one of a vehicle controller, a positioning system, and a radar sensor.
[0037] In an embodiment of the present application, the server module includes: a HAL layer, a data processing layer and a sending layer, wherein the HAL layer is used to receive CAN data in a target format or original CAN data; the data processing layer is used to parse the CAN data in a target format or original CAN data to obtain structured CAN data; and the sending layer is used to send structured CAN data to the client module.
[0038] The data parsing layer can parse the target format CAN data or the original CAN data through the DBC file, for example, parse the original binary format CAN data into the CAN id, signal id, signal parameter name, etc. corresponding to the CAN data.
[0039] It can be understood that the server module of the present application includes a HAL layer, a data processing layer and a sending layer, wherein the HAL layer is used to receive CAN data in a target format or original CAN data, and the HAL layer is responsible for interacting with the MCU module or the CAN bus to ensure that the data can be smoothly transmitted from the MCU module or the CAN bus to the SOC module; the data processing layer is used to parse the CAN data in the target format or the original CAN data to obtain structured CAN data, and the data parsing layer parses the received data into a usable structured format for subsequent processing; the sending layer is used to send the structured CAN data to the client module, that is, the sending layer is responsible for passing the parsed data to the client module for further processing and forwarding.
[0040] In an embodiment of the present application, the client module includes: a first parsing module, used to receive the vehicle signal data in the parsed CAN data and send it to the target module; a second parsing module, used to receive the positioning signal data in the parsed CAN data and send it to the target module; a third parsing module, used to receive the radar sensor signal data in the parsed CAN data and send it to the target module.
[0041] It can be understood that the client module of the embodiment of the present application includes three parsing modules, which correspond to data from three different signal sources in the CAN data. The first parsing module is used to receive the vehicle signal data in the parsed CAN data and send it to the target module; the second parsing module is used to receive the positioning signal data in the parsed CAN data and send it to the target module; the third parsing module is used to receive the radar sensor signal data in the parsed CAN data and send it to the target module.
[0042] In an embodiment of the present application, the target module subscribes to the client module based on the target protocol to receive CAN data serialized by protobuf.
[0043] The target protocol may be MQTT protocol, AMQP protocol, etc.
[0044] It can be understood that the target module of the embodiment of the present application subscribes to the client module based on the target protocol to receive the CAN data serialized by protobuf.
[0045] Specifically, the system architecture of the CAN signal data processing system of the embodiment of the present application is as follows: Figure 2 As shown, the equipment implementing the embodiment of the present application includes: vehicle side: vehicle (whole vehicle), lcm (positioning), radar (radar sensor) and other access; chip: MCU and SOC; PC: Ubuntu 20.04, and the compilation environment with a compilation tool that supports s32g / j6 compilation, the CAN signal data processing system is specifically:
[0046] 1. The vehicle end first connects the vehicle, positioning, and sensor signals, and the CANBus bus has all the CAN data;
[0047] 2. Light up a development board with an MCU, which has a built-in black box that can parse vehicle data, positioning data, and sensor data packaging protocol, and send out CAN data;
[0048] 3. Light up a development board with SOC, which has a built-in dynamic library that supports IPCF, ETH, and SOCKETCAN multi-link receiving CAN data;
[0049] 4. In the SOC board, deploy the zdrive_can Service (server module) to parse CAN data and convert the pack package into CAN raw data (raw CAN data);
[0050] 5. Deploy the zdrive_can Client module in the SOC board, serialize the CAN raw data through protobuf, and send it out in the form of a message.
[0051] 6. In the SOC board, other modules can receive CAN data by subscribing to protobuf messages.
[0052] Among them, the SOC module implementation process is as follows Figure 3 As shown, the SOC module includes: Service (server module), Common (common module) and Client (client module).
[0053] 1. Service includes:
[0054] Hal layer: The Hal layer receives CAN signal links with peripherals (MCU module, CANBus);
[0055] Data_process layer (data processing layer): unpack CAN data in target format or raw CAN data;
[0056] can_data_service (sending layer): sends the received CAN structure data to the Client.
[0057] 2. Client includes:
[0058] Vehicle_receiver (first parsing module): parses vehicle signals and forwards messages;
[0059] lcm_receiver (second analysis module): analyzes positioning signals and forwards messages
[0060] radar_receiver (third parsing module): parses radar sensor signals and forwards messages.
[0061] In order to collect CAN signals and support cross-platform operation, the CAN signal data processing system of the embodiment of the present application adopts a variety of communication link methods to collect CAN signals from the vehicle, positioning system and sensor. The specific implementation link methods include the following:
[0062] 1. IPCF+MCU: This method combines IPCF with MCU. This method allows efficient communication between different processes and is suitable for scenarios where data exchange is required on different operating systems or different hardware platforms.
[0063] 2. ETH+MCU: Using the combination of ETH and MCU. Through the Ethernet interface, the MCU can send the collected CAN signals to other devices in the network to achieve remote data transmission and control.
[0064] 3. CAN: Use CAN bus directly for signal acquisition. CAN bus is a serial communication protocol widely used in the fields of automobile and industrial automation, suitable for scenarios with high real-time and reliability requirements.
[0065] Embodiment 1: Taking the SOC module directly receiving data from the CAN bus as an example, the following steps need to be performed:
[0066] 1. The SOC module receives frame data on the CAN bus through the CAN controller;
[0067] 2. Extract the data field from the received CAN frame;
[0068] 3. Use the definition in the DBC file to parse the signal in the data field;
[0069] 4. Convert the parsed signal into a data format that can be used by the application;
[0070] 5. Serialize the parsed data through protobuf to facilitate cross-platform transmission;
[0071] 6. Send the serialized data to the target module, such as radar receiver, positioning receiver, vehicle receiver, etc.
[0072] Embodiment 2: Taking the SOC module directly receiving data from the MCU module as an example, the following steps need to be performed:
[0073] The premise is that the MCU module receives raw CAN data from the CAN bus and converts it into CAN data in a target format. This target format may be some intermediate format for easy transmission and subsequent processing. It is assumed that the MCU converts the data into some structured format, such as JSON or a custom binary format.
[0074] 1. The SOC module receives data sent by the MCU module through IPCF or Ethernet;
[0075] 2. According to the data format transmitted by MCU, the SOC module needs to unpack the data;
[0076] 3. Use the DBC file to parse the signal in the CAN frame. The DBC file defines the start bit, length, data type, scale factor, offset and other information of each signal;
[0077] 4. Convert the parsed signal into a data format that can be used by the application;
[0078] 5. Use protobuf to serialize the parsed data for cross-platform transmission;
[0079] 6. Send the serialized data to the target module, such as radar receiver, positioning receiver, vehicle receiver, etc.
[0080] According to the CAN signal data processing system proposed in the embodiment of the present application, the signal source access end is used to connect the CAN data of various signal sources on the vehicle to the CAN bus, and the MCU module is used to convert the original CAN data of various signal sources transmitted on the CAN bus into CAN data in a target format for transmission to the SOC module. The SOC module can communicate with the MCU module or directly with the CAN bus. Multi-link can be used to realize CAN data acquisition, so that the system can flexibly adapt to different application scenarios and platform requirements to ensure efficient data acquisition and transmission. Then the SOC module parses the CAN data in the target format or the original CAN data, and serializes the parsed CAN data into protobuf before sending it to the target module. Using protobuf for data serialization can realize cross-platform data sending, thereby realizing the collection, analysis and data forwarding functions of CAN signals.
[0081] Next, the CAN signal data processing method proposed in the embodiment of the present application is described with reference to the accompanying drawings.
[0082] Figure 4 It is a flow chart of the CAN signal data processing method of an embodiment of the present application.
[0083] like Figure 4 As shown, the CAN signal data processing method, using the above CAN signal data processing system for processing, includes the following steps:
[0084] In step S101 , original CAN data of various signal sources on the vehicle are acquired.
[0085] Among them, the various signal sources include vehicle controllers, radar sensors, positioning systems, etc.
[0086] In step S102, original CAN data from various signal sources are packaged into CAN data in a target format.
[0087] It is understandable that the embodiments of the present application can package the original CAN data from multiple signal sources into CAN data in a target format to facilitate subsequent data transmission.
[0088] In step S103, the CAN data in the target format or the original CAN data is parsed, and the parsed CAN data is serialized into protobuf and sent to the target module.
[0089] It can be understood that the embodiments of the present application can support multi-link reception of CAN data, so that the system can flexibly adapt to different application scenarios and platform requirements, ensure efficient data collection and transmission, and serialize the parsed CAN data into protobuf and send it to the target module. Using protobuf for data serialization can realize cross-platform data sending, thereby realizing the collection, parsing and data forwarding functions of CAN signals.
[0090] It should be noted that the aforementioned explanation of the CAN signal data processing system embodiment is also applicable to the CAN signal data processing method of this embodiment, which will not be repeated here.
[0091] According to the CAN signal data processing method proposed in the embodiment of the present application, it can support multi-link reception of CAN data, so that the system can flexibly adapt to different application scenarios and platform requirements, ensure efficient data collection and transmission, and serialize the parsed CAN data into protobuf and send it to the target module. Using protobuf for data serialization can realize cross-platform data sending, thereby realizing the collection, parsing and data forwarding functions of CAN signals.
[0092] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:
[0093] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .
[0094] When the processor 502 executes the program, the CAN signal data processing method provided in the above embodiment is implemented.
[0095] Furthermore, the vehicle also includes:
[0096] The communication interface 503 is used for communication between the memory 501 and the processor 502 .
[0097] The memory 501 is used to store computer programs that can be executed on the processor 502 .
[0098] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
[0099] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.
[0100] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.
[0101] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.
[0102] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
[0103] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0104] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.
[0105] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.
[0106] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.
Claims
1. A CAN signal data processing system, characterized in that: include: The signal source access terminal is used to connect the original CAN data of various signal sources on the vehicle to the CAN bus; An MCU module communicating with the CAN bus, used for converting original CAN data of various signal sources transmitted by the CAN bus into CAN data of a target format; The SOC module communicating with the MCU module or the CAN bus is used to parse the CAN data in the target format or the original CAN data, and send the parsed CAN data to the target module after protobuf serialization.
2. The CAN signal data processing system according to claim 1, characterized in that: The MCU module includes: A CAN interface connected to the CAN bus, used to receive original CAN data from the multiple signal sources; A conversion module, wherein the conversion module includes multiple packaging protocols and is used to convert the original CAN data into CAN data in a target format based on a target packaging protocol.
3. The CAN signal data processing system according to claim 1, characterized in that: The SOC module includes: A server module, used for parsing the CAN data in the target format or the original CAN data; The client module is used to serialize the parsed CAN data into protobuf and send it to the target module.
4. The CAN signal data processing system according to claim 3, characterized in that: The communication mode between the SOC module and the MCU module is IPCF or ETH communication.
5. The CAN signal data processing system according to claim 1, characterized in that: The multiple signal sources include at least one of a vehicle controller, a positioning system, and a radar sensor.
6. The CAN signal data processing system according to claim 3, characterized in that: The server module includes: HAL layer, data processing layer and sending layer. Wherein, the HAL layer is used to receive the CAN data in the target format or the original CAN data; A data processing layer, used for parsing the CAN data in the target format or the original CAN data to obtain structured CAN data; The sending layer is used to send the structured CAN data to the client module.
7. The CAN signal data processing system according to claim 3, characterized in that: The client module includes: A first parsing module, used for receiving the vehicle signal data in the parsed CAN data and sending it to the target module; A second parsing module, used for receiving the positioning signal data in the parsed CAN data and sending it to the target module; The third parsing module is used to receive the radar sensor signal data in the parsed CAN data and send it to the target module.
8. The CAN signal data processing system according to claim 3, characterized in that: The target module subscribes to the client module based on the target protocol to receive the CAN data serialized by protobuf.
9. A CAN signal data processing method, characterized in that: The CAN signal data processing system according to any one of claims 1 to 8 is used for processing, comprising the following steps: Get raw CAN data from various signal sources on the vehicle; Packing the original CAN data of the multiple signal sources into CAN data of a target format; Parse the CAN data in the target format or the original CAN data, serialize the parsed CAN data into protobuf, and send it to the target module.
10. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the CAN signal data processing method as claimed in claim 9.