Message transmission method of heterogeneous network, gateway equipment, system, automobile and medium

Abstract

The invention discloses a message transmission method of a heterogeneous network, gateway equipment, a system, an automobile and a medium. The method comprises the following steps: receiving a first message from a first network, wherein the first message carries a plurality of original signals; according to the first message, a second message is sent to a second network, the second message carries a plurality of target signals, and the plurality of target signals are at least part of original signals with signal priorities meeting a first set requirement in a plurality of original signals of a message to be transmitted; the to-be-transmitted message is a first message needing to be forwarded to a second network. According to the method, the transmission efficiency and the transmission success rate of the target signal with relatively high priority can be guaranteed, and the message data segment utilization rate and the bandwidth utilization rate of the second message are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of message transmission, and in particular to a message transmission method, gateway equipment, system, automobile and medium for heterogeneous networks. Background Art

[0002] With the development of IoT technology, more and more devices are connected to the Internet, forming a huge network. However, IoT faces many challenges in practical applications, one of which is the problem of heterogeneous networks and protocols. Heterogeneous networks refer to networks that include different network types. In a network environment, there are many different types of gateway devices and communication technologies. The development levels and application scenarios of these devices and technologies are different, which leads to the complexity and diversity of the network.

[0003] Since heterogeneous networks contain multiple networks with different architectures, and different networks do not work independently, gateway devices are needed to transmit messages between different networks in real time, that is, gateway devices are needed to convert messages sent by any network and send the converted messages to another network. In this case, if the message scheduling strategy executed by the gateway device is not well designed, it will affect the real-time transmission of messages, cause signal conflicts in the communication between heterogeneous networks, reduce network bandwidth utilization, and even cause failures or even safety hazards in the devices where the heterogeneous networks are located.

[0004] For example, there are usually multiple ECUs in a car. In traditional distributed architecture cars, the Controller Area Network (CAN) is generally used to achieve communication between multiple ECUs. Its network architecture is relatively simple, but it has problems such as high cost, complex wiring harness management, and difficulty in expansion. In order to meet the growing functional requirements, the vehicle communication network has gradually developed into a heterogeneous network composed of a variety of communication methods such as CAN network, Flexray network, Ethernet network, etc. There is a problem of poor schedulability in the process of message transmission in heterogeneous networks, which easily causes signal conflicts between heterogeneous networks, thereby reducing network bandwidth utilization and even causing major safety hazards during vehicle operation. Summary of the invention

[0005] The embodiments of the present invention provide a message transmission method, gateway device, system, automobile and medium for heterogeneous networks to solve the problem of poor schedulability in the process of message transmission for heterogeneous networks.

[0006] A message transmission method for a heterogeneous network, comprising:

[0007] receiving a first message from a first network, wherein the first message carries a plurality of original signals;

[0008] According to the first message, a second message is sent to the second network, where the second message carries multiple target signals, where the multiple target signals are at least some of the original signals of the message to be transmitted, whose signal priority meets the first setting requirements; the message to be transmitted is the first message that needs to be forwarded to the second network.

[0009] Preferably, the first message that needs to be forwarded to the second network refers to a first message whose message transmission direction is from the first network to the second network and whose message target address is the address of the second network.

[0010] Preferably, the message to be transmitted is a first message that meets the second setting requirement among multiple first messages that need to be forwarded to the second network.

[0011] Preferably, the second setting requirement includes a timeliness requirement.

[0012] Preferably, the timeliness requirement is the earliest arrival time of the message.

[0013] Preferably, the second setting requirement also includes that the message type is the first type.

[0014] Preferably, the first type is a time-triggered type.

[0015] Preferably, the second setting requirement also includes: the message period of the first message is less than the sum of message validity periods of messages before the first message.

[0016] Preferably, the signal priority is a priority determined based on at least one of a signal validity period, a signal period, a signal security level and a signal identification.

[0017] Preferably, the at least part of the original signal refers to at least part of the original signal whose sum of signal lengths is determined in sequence based on signal priorities to be less than the maximum message length of the second message.

[0018] Preferably, the number of the plurality of target signals is less than or equal to the maximum number of signals of the second message.

[0019] Preferably, the second message is a message for repackaging a plurality of the target signals.

[0020] Preferably, the message of the second message is attribute-based, and is determined based on basic signal attributes of a plurality of the target signals.

[0021] Preferably, the message validity period corresponding to the second message is the minimum value of the signal validity periods of multiple target signals.

[0022] Preferably, the message priority corresponding to the second message is determined based on the message validity period corresponding to the second message and a preset evaluation time.

[0023] Preferably, after sending the second message to the second network according to the first message, the message transmission method further includes:

[0024] The second message forwarded within a preset time period is analyzed to determine the message transmission performance corresponding to the heterogeneous network, where the message transmission performance is used to trigger a reminder action when the transmission performance is poor.

[0025] Preferably, analyzing the second message forwarded within a preset time period to determine the message transmission performance corresponding to the heterogeneous network includes:

[0026] Obtain a first number corresponding to the second message forwarded within a preset time period, and obtain a second number corresponding to the second message whose message priority is an existing priority;

[0027] Based on the first quantity and the second quantity corresponding to the second message, the message transmission performance of the heterogeneous network is determined.

[0028] A gateway device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the message transmission method of the heterogeneous network when executing the computer program.

[0029] A message transmission system for heterogeneous networks comprises the above-mentioned gateway device, and a first network and a second network connected to the gateway device.

[0030] A car comprises the above-mentioned heterogeneous network message transmission system.

[0031] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the message transmission method of the heterogeneous network is implemented.

[0032] In the above-mentioned heterogeneous network message transmission method, gateway device, system, automobile and medium, the gateway device only processes the first message that needs to be forwarded to the second network, and does not perform subsequent processing on the first message that does not need to be forwarded to the second network, so as to improve the scheduling processing efficiency and transmission efficiency of the gateway device for the messages that need to be forwarded, and enhance the real-time processing of the gateway device. The target signal carried in the second message is at least part of the original signal in the first message that needs to be forwarded to the second network, and the signal priority meets the first setting requirement, so as to ensure that the second network can give priority to at least part of the original signal with a higher priority, so as to ensure the transmission efficiency and transmission success rate of at least part of the original signal with a higher priority, and improve the message data segment utilization rate and bandwidth utilization rate of the second message. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0034] Figure 1 It is a schematic diagram of a message transmission system of a heterogeneous network in one embodiment of the present invention;

[0035] Figure 2 is a flow chart of a message transmission method for a heterogeneous network in one embodiment of the present invention;

[0036] Figure 3 is another flow chart of a message transmission method for a heterogeneous network according to an embodiment of the present invention;

[0037] Figure 4 It is a schematic diagram of a heterogeneous network gateway device in one embodiment of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] An embodiment of the present invention provides a message transmission method for heterogeneous networks. The message transmission method is applicable to a gateway device that can communicate with heterogeneous networks. The message scheduling strategy built into the gateway device is used to convert messages transmitted by any network, and the converted messages are forwarded to another network, so as to reduce the processing time of the gateway device for the message and improve the network bandwidth utilization rate on the basis of ensuring the real-time performance of key signals with higher priority in the message.

[0040] As an example, Figure 1 As shown, the message transmission method of the heterogeneous network can be applied to the gateway device of the automobile. The gateway device is used in the CAN-Ethernet heterogeneous network in the automobile. The CAN-Ethernet heterogeneous network includes a CAN network and an Ethernet network. The gateway device is connected to ECU1 / ECU2 in the CAN network through the CAN network bus, and is connected to ECU3 and ECU4 in the Ethernet network through the Ethernet bus.

[0041] Among them, "message" is a data frame that needs to be transmitted in a heterogeneous network, specifically a data frame that encapsulates at least one "signal" in the form of a frame. The "message" and "data frame" mentioned below are the same concept. "Signal" is the basic component unit of "message" and is used to control devices connected through heterogeneous networks, such as ECU (Electronic Control Unit) used to perform different functions in a car.

[0042] As an example, assume that there are a certain number of signals periodically generated by each node in the network. The signal set S = {s1, s2, ... s n}, each signal reflects the basic characteristics of the signal by defining attributes. The basic attributes of the signal are allocated in the signal overhead and data segment. In this example, the 7 basic attributes of the signal are s i ={ID,station,period,deadline,size,direction,safety relevancy}. ID is the signal identifier, specifically the signal identification identifier, which is unique. Station is the signal node, specifically the node that generates the signal, which is related to the node address. Period is the signal period. Deadline is the signal validity period, that is, the maximum period between the signal generation time and the signal reception time. Size is the signal size, specifically the signal data volume, which is related to the encapsulation frame size. Direction is the signal transmission direction, for example, in Figure 1 In the CAN-Ethernet heterogeneous network shown, the signal transmission direction can be CAN-to-CAN (such as Figure 1 The signal m1 sent by ECU1 to ECU2 in the CAN-to-Eth (such as Figure 1The signal m2 sent by ECU2 to the gateway device), Eth-to-CAN (such as Figure 1 The signal m3 sent by ECU3 to the gateway device and Eth-to-Eth (such as Figure 1 Safety relevancy is the signal safety level, which is used to characterize the relevance between the signal and the safety function. It is divided into three categories: strong, medium and weak. In this example, after each network receives multiple signals sent by at least one ECU, it encapsulates the signal set S composed of multiple signals into a frame.

[0043] As an example, different networks encapsulate the signal set S in different formats to form a "message" or "data frame". For example, in a CAN-Ethernet heterogeneous network, different formats of data frames are encapsulated for different networks to obtain different frame sets F. CAN and F ETH For the frame set F in the CAN network CAN ={f CAN 1,f CAN 2,……f CAN n}, for the frame set F in the Ethernet network ETH ={f ETH 1,f ETH 2,……

[0044] f ETH n}, each frame reflects the basic characteristics of the frame by defining basic attributes, and the basic characteristics of the message are allocated in the message overhead and data segment. The 7 basic message attributes of the message in the CAN network are

[0045] f CAN ={ID,station,period,deadline,size,direction,priority}, the eight basic attributes of messages in Ethernet are

[0046] f ETH ={ID,station,period,deadline,size,direction,type,priority}.

[0047] Among them, ID is the message identifier, specifically the identity identification identifier of the message that encapsulates at least one signal, which is unique. Station is the message node, specifically the node that generates the data frame, which is related to the node address. Period is the message period, that is, the processing time for signal forwarding. Deadline is the message validity period, specifically the minimum signal validity period of all signals encapsulated in the message. Size is the message size, specifically the data volume of the message, which is the size of the encapsulated signal and the size of the additional bit. Direction is the message transmission direction, for example, in Figure 1 In the CAN-Ethernet heterogeneous network shown, the message transmission direction can be CAN-to-CAN (such as Figure 1 The signal m1 sent by ECU1 to ECU2 in the CAN-to-Eth (such as Figure 1 The signal m2 sent by ECU2 to the gateway device), Eth-to-CAN (such as Figure 1 The signal m3 sent by ECU3 to the gateway device and Eth-to-Eth (such as Figure 1 The signal m4 sent by ECU3 to ECU4 in the example is as follows. priority is the message priority. In this example, messages with assigned priorities can be transmitted to another network within the deadline, while messages without assigned priorities cannot be successfully transmitted. type is the message type, such as TT type messages (i.e. time-triggered), RC type messages (i.e. rate-constrained), and BE type messages (i.e. best effort).

[0048] In this example, after receiving a message sent by any network, the gateway device needs to perform signal extraction and re-encapsulation processing on the message according to the basic attributes of each message in order to forward the converted message to another network.

[0049] In one embodiment, if Figure 2 As shown, a message transmission method for a heterogeneous network is provided, and the method is applied in Figure 1 The gateway device is used as an example to illustrate the process, including the following steps:

[0050] S201: receiving a first message from a first network, where the first message carries a plurality of original signals;

[0051] S202: According to the first message, a second message is sent to the second network, where the second message carries multiple target signals, where the multiple target signals are at least some of the original signals of the message to be transmitted, whose signal priority meets the first setting requirement; the message to be transmitted is the first message that needs to be forwarded to the second network.

[0052] In this embodiment, the first network and the second network can be any two of a CAN network, a Flexray network, and an Ethernet network. For example, either one of the first network and the second network is a CAN network, and the other is an Ethernet network. Either one of the first network and the second network is a CAN network, and the other is a Flexray network. Either one of the first network and the second network is an Ethernet network, and the other is a Flexray network.

[0053] The gateway device is used to perform message scheduling during the message transmission process of the heterogeneous network. The first network and the second network both refer to one type of network in the heterogeneous network. The first network is used to send a message to the second network, and the second network receives the message sent by the first network, so as to realize the message transmission in the heterogeneous network. The first message refers to the message sent by the first network to the gateway device. The original signal refers to the signal constituting the first message.

[0054] As an example, in step S201, the gateway device may receive a first message from the first network, where the first message carries multiple original signals. For example, if the first network sends u first messages to the gateway device, the set F = {f1, f2, ..., f i ,…f u}, for the i-th first message f i , including v original signals {f i1 ,f i2 ,……f iv It is understandable that the first message of the first network received by the gateway device may be a message that needs to be transmitted in a heterogeneous network or a message that needs to be transmitted in the same network. Therefore, it is necessary to further screen and determine the message that needs to be transmitted in a heterogeneous network.

[0055] The second message refers to a message sent by the gateway device to the second network. The signal priority is the priority between different signals. The first setting requirement is a pre-set requirement for evaluating whether the signal priority meets the requirement of priority transmission.

[0056] As an example, in step S202, after receiving at least one first message sent by the first network, the gateway device identifies and screens each first message to determine whether the first message needs to be transmitted to the second network, and determines the first message that needs to be transmitted to the second network as a message to be transmitted. For example, the gateway device can identify the basic message attribute of the message transmission direction carried by each first message to determine whether the first message needs to be transmitted to the second network. After determining the message to be transmitted, it is necessary to prioritize the multiple original signals in the first message to determine the signal priority of all the original signals, and then use at least part of the original signals whose signal priority meets the first setting requirements as the target signal that needs to be forwarded to the second network, form a second message based on all the target signals, and forward the second message to the second network.

[0057] In this example, after determining the first message that needs to be forwarded to the second network, the gateway device prioritizes all the original signals in the first message based on the basic signal attributes corresponding to all the original signals, and obtains the signal priorities corresponding to all the original signals. For example, the gateway device can prioritize multiple original signals in the first message that needs to be forwarded to the second network based on the signal identifiers of all the original signals to obtain the signal priorities corresponding to the original signals; it can also prioritize based on other attributes related to real-time and security other than signal identifiers to obtain the signal priorities corresponding to all the original signals, thereby reducing the confusion of the original signals. After determining the signal priorities corresponding to multiple original signals, according to the capacity of a single second message to accommodate the original signals, at least some of the original signals whose signal priorities meet the first set requirements are determined from the multiple original signals, and are determined as target signals. Based on all the target signals, a second message is formed, and the second message is sent to the second network.

[0058] In this embodiment, the gateway device only processes the first message that needs to be forwarded to the second network, and does not perform subsequent processing on the first message that does not need to be forwarded to the second network, so as to improve the scheduling and processing efficiency and transmission efficiency of the gateway device for the message that needs to be forwarded, and enhance the real-time processing of the gateway device. The target signal carried in the second message is at least part of the original signal in the first message that needs to be forwarded to the second network, and the signal priority meets the first setting requirement, so as to ensure that the second network can give priority to at least part of the original signal with a higher priority, so as to ensure the transmission efficiency and transmission success rate of at least part of the original signal with a higher priority, and improve the message data segment utilization rate and bandwidth utilization rate of the second message.

[0059] In one embodiment, the first message that needs to be forwarded to the second network refers to a first message whose message transmission direction is from the first network to the second network and whose message target address is the address of the second network.

[0060] Among them, the message transmission direction refers to the message transmission direction determined according to the sending network of the first message and the receiving network of the first message. For example, the sending network of the transmission message is the first network, and the receiving network is the second network, then the message transmission direction corresponding to the first message is from the first network to the second network. As an example, the message transmission direction can be the direction recorded in the message basic attributes in the first message. The message target address is the address to which the first message needs to be transmitted. As an example, the message target address can be encapsulated in other parts of the first message except the basic attributes of the message, for example, recorded in the frame header. In this example, the message target address corresponding to each network is named using a specific format corresponding to the network, so that the gateway device can determine whether it is the address of the network according to the specific format.

[0061] As an example, after receiving the first message, the gateway device needs to identify the basic attributes of the message carried by the first message, specifically identify the message transmission direction direction in the basic attributes of the message, and determine the message transmission direction corresponding to the first message; and can identify the part of the frame header in the first message used to record the address of the recipient, and determine the message target address corresponding to the first message. When the gateway device determines that the message transmission direction is from the first network to the second network, and the message target address is an address in the second network, the first message can be determined as the first message that needs to be forwarded to the second network. On the contrary, when it is determined that the message transmission direction is not from the first network to the second network, or the message target address is not an address in the second network, it is determined that the first message is not the first message that needs to be forwarded to the second network. At this time, further processing of the first message can be abandoned.

[0062] For example, when the first network is a CAN network, the first message received by the gateway device includes 7 basic message attributes. The basic message attributes are identified, specifically the message transmission direction direction in the basic message attributes is identified, and the message transmission direction corresponding to each first message is determined to evaluate whether the message transmission direction is from the first network to the second network; and the gateway device can identify the frame header other than the basic message attributes in the first message, for example, using a character recognition algorithm or other methods to determine whether a specific format identifier corresponding to the second network is identified, so as to determine, based on the recognition result, that the message target address is an address in the second network.

[0063] For another example, when the first network is an Ethernet network, the first message received by the gateway device includes 8 basic message attributes. The basic message attributes are identified, specifically the message transmission direction direction in the basic message attributes is identified, and the message transmission direction corresponding to each first message in the Ethernet network is determined to evaluate whether the message transmission direction is from the first network to the second network; and the gateway device can identify the frame header other than the basic message attributes in the first message, for example, using a character recognition algorithm or other methods to determine whether a specific format identifier corresponding to the second network is identified, so as to determine, based on the identification result, that the message target address is an address in the second network, that is, if a specific format identifier corresponding to the second network is identified in the first message, it can be determined that the message target address is an address in the second network.

[0064] In this embodiment, the first message is screened and filtered according to the message transmission direction and the message target address corresponding to the first message sent by the first network. When it is more accurately determined that the message transmission direction is from the first network to the second network and the message target address is an address in the second network, the first message is identified as the first message that needs to be forwarded to the second network, so that the first message that needs to be forwarded to the second network can be subsequently processed, which helps to improve the scheduling and processing efficiency and transmission efficiency of the gateway device for the first message and enhance the real-time performance of the gateway device in processing the first message.

[0065] In one embodiment, the message to be transmitted is a first message that meets the second setting requirement among a plurality of first messages that need to be forwarded to the second network.

[0066] The second set requirement is a preset requirement set in advance for evaluating whether to send, specifically, a preset requirement for evaluating whether to send with priority.

[0067] As an example, when the gateway device determines that there are multiple first messages that need to be forwarded to the second network, it performs priority analysis on the multiple first messages that need to be forwarded to the second network to determine the message priorities corresponding to the multiple first messages, and then compares the message priorities of the multiple first messages with the second setting requirements, and determines the first messages that need to be forwarded to the second network and whose message priorities meet the second setting requirements as messages to be transmitted. For example, the gateway device can cache the multiple first messages that need to be forwarded to the second network into a message waiting queue, and then screen the first messages with higher timeliness requirements in the message waiting queue, and give priority to determining the first messages with higher timeliness requirements as messages to be transmitted; or, according to the first-in-first-out order of the message waiting queue, determine the first first message in the message waiting queue as the message to be transmitted that needs to be processed at the current moment.

[0068] For example, when the gateway device is used in a car, due to the complexity of the vehicle-mounted functions, the gateway device needs to schedule the transmission of multiple messages within a shorter period of time. Among them, the messages that have a greater impact on driving safety have too high a timeliness requirement and require immediate processing. They are time-triggered, that is, TT-type messages. If there are time-triggered messages among multiple first messages, it is necessary to give priority to the time-triggered messages to be determined as the messages to be transmitted, so as to facilitate more timely scheduling and transmission processing of special types of first messages, thereby improving the scheduling and transmission efficiency of the first messages while improving safety.

[0069] In one embodiment, the second setting requirement of the message type attribute includes a timeliness requirement.

[0070] As an example, the gateway device determines multiple first messages that need to be forwarded to the second network, caches the multiple first messages in a message waiting queue, and performs timeliness analysis on the multiple first messages to determine the message timeliness of the multiple first messages, and then compares the determined message timeliness with the preset timeliness requirement. If the message timeliness meets the timeliness requirement, it is determined that the message priority of the first message meets the second set requirement, and it can be determined as a message to be transmitted to be forwarded to the second network. For example, from multiple first messages, a first message with a higher timeliness requirement is determined as a message to be transmitted, so that the second message can be determined based on the message to be transmitted later, thereby ensuring that the first message with a higher timeliness requirement is forwarded to the second network first. In this example, the message priority of the first message is determined based on the result of the timeliness analysis.

[0071] In one embodiment, the message type attribute timeliness requirement is the earliest arrival time of the message.

[0072] As an example, the gateway device determines that multiple first messages need to be forwarded to the second network, and caches the multiple first messages in the message waiting queue, specifically according to the order of message arrival time. When the gateway device does not have high real-time requirements for the multiple first messages that need to be forwarded to the second network, the first message with the earliest message arrival time can be determined as the message to be transmitted. For example, in the heterogeneous network in the automotive field, since the number of first messages sent by the CAN network is small and the tasks processed at a single time are relatively simple, the timeliness requirements of the first message are relatively low. Based on the fact that there is no need to carry the message type attribute, the first message can be transmitted more efficiently. At this time, when the gateway device determines that there is no first message carrying the message type attribute in the message waiting queue, the first first message in the message waiting queue is determined as the message to be transmitted, that is, the first message is transmitted and processed in the order of the queue, which is more convenient and quick. In this example, the message priority of the first message is determined based on the arrival time of multiple messages.

[0073] In one embodiment, the second setting requirement also includes that the message type is the first type.

[0074] Among them, the message type refers to the type determined according to the message type attribute of the first message. The message type attribute refers to the attribute used to record the message type in the basic attributes of the message in the message. The first type is a pre-set message type used to identify messages with higher timeliness requirements. For example, messages sent by Ethernet networks carry message type attributes, while messages sent by CAN networks do not carry message type attributes. Message type attributes include TT-type messages (time-triggered), RC-type messages (rate-constrained), and BE-type messages (best effort). TT-type messages have higher requirements for timeliness and require gateway devices to transmit and process within a shorter period of time; RC-type messages and BE-type messages do not have high requirements for timeliness. In this example, one or more of TT-type messages (time-triggered), RC-type messages (rate-constrained), and BE-type messages (best effort) can be determined as the first type.

[0075] As an example, when the gateway device determines that multiple first messages need to be forwarded to the second network and caches the multiple first messages in the message waiting queue, it can identify whether each first message in the message waiting queue carries a message type attribute, and determine whether each first message carries the message type attribute. When the gateway device determines that there is a first message carrying a message type attribute in the message waiting queue, it can further analyze the message type attribute to determine whether it is a pre-set first type; if the message type of any first message is a first message, it can be determined that it meets the second set condition and the first message is determined as a message to be transmitted. It can be understood that when the first message does not carry a message type attribute, no further analysis is required, and it can be directly evaluated based on whether the message arrival time is the earliest or other conditions to determine whether it meets the second setting requirements.

[0076] In one embodiment, the first type of the message type attribute is a time-triggered type.

[0077] As an example, when the gateway device analyzes whether each first message in the message waiting queue carries a message type attribute, and determines that there is a first message carrying a message type attribute, it is necessary to further evaluate whether the message type corresponding to the message type attribute is the first type, that is, analyze whether the corresponding message type is time-triggered. If the message type of the first message is time-triggered, it is determined that it has a high requirement for timeliness and meets the timeliness requirement. It can be determined that the first message with a time-triggered message type attribute (that is, a time-triggered message) meets the second setting requirement. At this time, the time-triggered first message can be determined as a message to be transmitted to ensure the priority transmission of the first message with a time-triggered message type attribute.

[0078] In one embodiment, the second setting requirement of the message type attribute further includes: the message period of the first message of the message type attribute is less than the sum of the message validity periods of the messages before the first message of the message type attribute.

[0079] As an example, the gateway device identifies the message type attribute carried by all the first messages in the message waiting queue, obtains multiple first messages whose message type attribute is time-triggered, and sequentially determines any time-triggered first message as the third message. For example, the first time-triggered first message with the earliest message arrival time can be first determined as the third message; all the first messages in the message waiting queue whose message arrival time is before the third message are determined as their predecessor messages. In this example, the message type attribute predecessor message can be understood as the message before the first message whose message type to be analyzed is time-triggered. For heterogeneous networks, the basic message attributes corresponding to the first message all include the message validity deadline, that is, for any first message, it is necessary to transmit the first message to the second network before the message validity deadline. Therefore, it is necessary to further analyze the third message and its predecessor message.

[0080] In this example, the gateway device identifies the basic message attributes of the third message and the basic message attributes of all preceding messages, obtains the message period of the third message and the sum of the message validity periods of all preceding messages, and compares the message period corresponding to the third message with the sum of the message validity periods of all preceding messages; when the message period corresponding to the third message is less than the sum of the message validity periods of all preceding messages, the third message is determined as a message to be transmitted. It can be understood that, in principle, each preceding message must be transmitted to the second network before the end of the message validity period, but the transmission priority of the third message is higher. If the message period corresponding to the third message is less than the sum of the message validity periods of all its preceding messages, if the preceding messages are transmitted first, the third message will exceed its message period. Therefore, it is necessary to transmit the third message first, and the third message can be determined as a message to be transmitted, that is, a time-triggered type message whose message period is less than the sum of the message validity periods of all previous messages is determined as a message to be transmitted.

[0081] In one embodiment, the signal priority is a priority determined based on at least one of a signal validity time, a signal period, a signal security level, and a signal identification.

[0082] As an example, when the gateway device determines the message to be transmitted (i.e., the first message that needs to be forwarded to the second network), it needs to identify all the original signals in the message to be transmitted to identify the basic signal properties that affect the signal priority, such as the signal validity time, signal period, signal security level and signal identification, and based on the pre-set priority determination rules, process at least one of the signal validity time, signal period, signal security level and signal identification to determine the signal priority of multiple original signals in the first message that needs to be forwarded to the second network, so as to perform signal screening based on the signal priority and determine the target message in the second message.

[0083] In one embodiment, the signal priority is determined according to a preset order, and at least one of the following priorities is determined: sorting based on signal validity time, sorting in ascending order based on signal period, sorting in descending order based on signal safety level, and sorting based on signal identification.

[0084] The preset sequence is a pre-set sequence for comparing multiple basic attributes of signals. For example, the preset sequence may be signal validity time, signal cycle, signal security level, and signal identification.

[0085] In this example, when the preset order is signal validity time, signal cycle, signal safety level and signal identification, the order of determining the signal priority is as follows:

[0086] (1) The gateway device sorts the signal validity times corresponding to all original signals in ascending order to obtain the ascending sorting result of the signal validity time, and sorts all original signals accordingly according to the ascending sorting result of the signal validity time to form a first sequence corresponding to all original signals. It can be understood that since the second message has a high timeliness requirement, the original signals in the second message need to be sorted in ascending order according to the signal validity time from small to large, so as to ensure that the original signals with smaller signal validity time are transmitted preferentially during the subsequent transmission of the second message.

[0087] (2) When the gateway device determines that there are at least two original signals with the same signal validity period in the first sequence, the original signals with the same signal validity period are sorted in the first sequence in ascending order according to the corresponding signal periods to obtain a second sequence. This method determines the signal period as the sorting basis second only to the signal validity period, which can solve the problem of the same signal validity period causing sorting confusion.

[0088] (3) When the gateway device determines that there are at least two original signals with the same signal period in the second sequence, the original signals with the same signal period are sorted in the second sequence in descending order of the corresponding signal security level to obtain a third sequence. This method determines the signal security level as the sorting basis second only to the signal period, which can solve the problem of the same signal period causing sorting confusion. It can be understood that since the higher the signal security level, the higher the priority of signal transmission, the original signals with the same signal period are sorted in descending order of signal security level, so as to facilitate the priority transmission of the original signals with higher signal security level and improve the security performance of the heterogeneous network.

[0089] (4) When the gateway device determines that there are at least two original signals with the same signal security level in the third sequence, the original signals with the same signal security level are sorted in the third sequence in ascending order according to the corresponding signal identifiers to obtain the signal priorities corresponding to all the original signals. This method determines the signal identifier as the sorting basis second only to the signal security level, which can solve the problem of confusion in sorting due to the same signal security level. It can be understood that the signal identifier is the ID in the basic attributes of the signal, which is unique. According to the ascending order generated by the ID, the original signals with the same signal security level are sorted to obtain a priority sequence with a perfect priority sequence, so as to facilitate the transmission of the second message according to the priority sequence and improve the message transmission rate.

[0090] In this example, basic signal attributes including signal validity time, signal period, signal security level and signal identification are used to sort all original signals in the second message to obtain a priority sequence with a complete priority sequence, so that the second message can be transmitted according to the priority sequence and the message transmission rate can be improved.

[0091] In one embodiment, the message type attribute of at least part of the original signal refers to at least part of the original signal whose sum of signal lengths is less than the maximum message length of the second message of the message type attribute, determined in sequence based on signal priority.

[0092] The maximum message length of the second message of the message type attribute refers to a preset message length. The maximum message length of the second message of the message type attribute reflects the signal accommodation capability of the message template of the second network.

[0093] As an example, the gateway device prioritizes all original signals of the message to be transmitted, determines the signal priorities of all original signals and sorts them, and then encapsulates the original signals into the message template in order of signal priority, obtains the sum of the signal lengths of all original signals in the message template, and then compares the sum of the signal lengths with the maximum message length of the second message of the preset message type attribute. Only when the sum of the signal lengths is less than the maximum message length of the second message of the message type attribute, can the multiple original signals in the message template be determined as the target signals in the second message for subsequent encapsulation.

[0094] For example, the gateway device forms a priority queue based on the signal priorities corresponding to multiple original signals, and can encapsulate the first original signal in the priority queue into a message template, and determine the current message length corresponding to the message template, which is the sum of the signal lengths of all original signals encapsulated into the message template. When the gateway device determines that the current message length is less than the maximum message length of the second message of the message type attribute corresponding to the message template, and the original signal is not the last original signal in the priority sequence, it indicates that the original signal can continue to be encapsulated into the message template. Therefore, the above steps can be repeated so that when there are many original signals, a single message template is fully encapsulated according to the maximum message length of the second message of the message type attribute to obtain a second message with a higher message data segment utilization rate. When the gateway device determines that the current message length is less than the maximum message length of the second message of the message type attribute corresponding to the message template, and the original signal is the last original signal in the priority sequence, it indicates that the message template still has the capacity to accommodate, but there is no original signal that needs to be re-encapsulated. Therefore, all original signals that have been encapsulated into the message template can be determined as at least part of the original signals, and these at least part of the original signals are encapsulated to obtain a second message carrying at least part of the original signal.

[0095] In this example, when the gateway device determines that the current message length of the message template is not less than the maximum message length of the second message of the message type attribute, it means that the message template can no longer accommodate the original signal encapsulated this time, and the original signal cannot be encapsulated. The original signal needs to be returned to the priority sequence, and the original signal already in the message template must be encapsulated, and at least part of the existing original signal must be determined as the target signal of the second message.

[0096] In one embodiment, the number of the multiple target signals is less than or equal to the maximum number of signals of the second message of the message type attribute.

[0097] The maximum signal quantity of the second message of the message type attribute here is the quantity in the message template of the second network that matches the maximum message length of the second message of the message type attribute.

[0098] As an example, the number of multiple target signals in each second message may be less than the maximum number of signals of the second message of the message type attribute in the message template corresponding to the second network, or may be equal to the maximum number of signals of the second message of the message type attribute in the message template corresponding to the second network. As shown in the above embodiment, when the current message length of the gateway device is less than the maximum message length of the second message of the message type attribute corresponding to the message template, and the original signal is the last original signal in the priority sequence, it indicates that the message template still has the capacity to accommodate, but there are no original signals that need to be repackaged. At this time, the number of target signals in the second message is less than the maximum number of signals of the second message of the message type attribute.

[0099] In one embodiment, the second message is a message that repackages multiple target signals.

[0100] Repackaging refers to the process of repackaging the signal.

[0101] As an example, after the gateway device filters out at least part of the original signal (i.e., the target signal) whose signal priority meets the first setting requirements from the first message that needs to be forwarded to the second network, it needs to use the encapsulation format corresponding to the second network to re-encapsulate at least part of the original signal in the first message to obtain a second message that meets the encapsulation format corresponding to the second network, so as to improve the transmission efficiency and transmission success rate of the second message to the second network, and improve the message data segment utilization and bandwidth utilization of the second message.

[0102] In one embodiment, the message of the second message is attribute-based and is determined based on basic signal attributes of a plurality of target signals.

[0103] As an example, the gateway device needs to process the basic signal attributes corresponding to the multiple target signals encapsulated in the second message to determine the basic message attributes corresponding to the second message. In this example, the gateway device can obtain 7 basic signal attributes corresponding to the multiple target signals, and process the above 7 basic signal attributes of the multiple target signals to obtain the basic message attributes of the second message.

[0104] For example, the gateway device determines the signal identifier set composed of signal identifiers corresponding to multiple target signals as the message identifier in the basic attributes of the message; determines the signal nodes corresponding to multiple target signals as the signal node set as the message nodes in the basic attributes of the message; performs numerical processing on the signal validity time corresponding to the multiple target signals to obtain the message validity time in the basic attributes of the message; performs numerical processing on the data volume corresponding to the multiple target signals to obtain the message data volume in the basic attributes of the message; and determines the signal transmission direction corresponding to the target signal as the message transmission direction in the basic attributes of the message.

[0105] In this embodiment, by determining the basic signal attributes corresponding to multiple target signals and the message basic attributes corresponding to the second message, the message basic attributes can more comprehensively reflect the basic signal attributes of the target signal, thereby facilitating more reasonable repackaging and transmission of the target signal.

[0106] In one embodiment, the message validity period corresponding to the second message is the minimum value of the signal validity periods of the plurality of target signals.

[0107] As an example, the gateway device can obtain the signal validity time of multiple target signals that need to be encapsulated into the second message, and then determine the minimum value of the multiple signal validity times as the message validity time corresponding to the second message. In this example, after encapsulating the multiple target signals into a second message, if the second message can be transmitted within the minimum signal validity time, all target signals in the second message can be successfully transmitted within their corresponding signal validity time, that is, all target signals in the second message are time-sensitive. Therefore, in order to ensure the timeliness of forwarding the second message, the minimum signal validity time among the signal validity times corresponding to all target signals can be determined as the message validity time corresponding to the second message, which can ensure the transmission timeliness of all target signals in the second message.

[0108] In one embodiment, the message priority corresponding to the second message is determined based on the message validity time corresponding to the second message and a preset evaluation time.

[0109] Among them, the preset evaluation time refers to the preset evaluation condition for evaluating whether the second message can be successfully transmitted. The message priority is used to identify whether the second message is successfully transmitted within the effective time of the message. It is understandable that since the second message is usually composed of multiple target signals, the signal periods of different target signals may not be the same. At the same time, there may be a certain offset between the signal periods of different target signals, and between the signal period of the target signal and the message period of the second message encapsulated by the target signal. The offset will affect the timeliness of the transmission of the second message. Therefore, according to the signal period corresponding to each target signal in the second message, the message period corresponding to the second message and the above-mentioned offset, the preset evaluation time is determined to more accurately determine whether the second message has a message priority. It is understandable that for the second message, the second message with a message priority assigned can be transmitted to the second network within the deadline, and the second message without a message priority assigned cannot be successfully transmitted to the second network within the deadline.

[0110] As an example, when the gateway device determines that the message validity time corresponding to the second message is within the preset evaluation time, it determines that the message priority of the second message is that there is a priority; when it determines that the message validity time corresponding to the second message is not within the preset evaluation time, it determines that the message priority of the second message is that there is no priority. In this example, whether the second message needs to be forwarded preferentially can be evaluated based on the message priority of each second message; generally speaking, if the second message has a priority, it needs to be forwarded preferentially; if the second message does not have a priority, it does not need to be forwarded preferentially. In this example, second messages with a priority and second messages without a priority are determined, so as to facilitate the priority forwarding of second messages with a priority, ensure the forwarding timeliness of second messages with a priority, and improve network bandwidth utilization. It is also possible to collect statistics on second messages with a priority within a certain time period, so as to monitor the network transmission status of heterogeneous networks and the device performance of gateway devices according to the statistical results.

[0111] In one embodiment, after sending the second message to the second network according to the first message, the message transmission method further includes:

[0112] The second message forwarded within the preset time period is analyzed to determine the message transmission performance corresponding to the heterogeneous network. The message type attribute message transmission performance is used to trigger a reminder action when the transmission performance is poor.

[0113] The preset time period refers to a preset time period for evaluating the message transmission performance of the heterogeneous network.

[0114] As an example, when the network device forwards the second message to the second network, it can count the number of second messages forwarded within a preset time period and their basic message attributes in real time, and perform statistical analysis on the number of second messages forwarded and their basic message attributes through a preset message transmission performance analysis strategy to evaluate and determine the message transmission performance of the heterogeneous network. Furthermore, when it is determined that the message transmission performance of the heterogeneous network is poor, a reminder action is triggered, and a corresponding alarm or other prompt operation can be performed to enable the user to intuitively understand the message transmission performance of the heterogeneous network.

[0115] In one embodiment, if Figure 3 As shown, analyzing the second message forwarded within the preset time period to determine the message transmission performance corresponding to the heterogeneous network includes:

[0116] S301: Obtain a first number corresponding to second messages forwarded within a preset time period, and obtain a second number corresponding to second messages whose message priority is an existing priority;

[0117] S302: Determine message transmission performance of the heterogeneous network based on the first number and the second number corresponding to the second message.

[0118] The first number refers to the number of all second messages forwarded by the gateway device within a preset time period. The second number refers to the number of second messages with a message priority of existing priority forwarded by the gateway device within a preset time period. The message transmission performance refers to the timeliness performance of the heterogeneous network for message transmission.

[0119] As an example, in step S301, the gateway device counts the first number of all second messages transmitted in the heterogeneous network and the second number of second messages with priority within a preset time period, so as to evaluate the message transmission performance of the heterogeneous network based on the first number and the second number. Understandably, for messages with higher timeliness requirements, there is generally an overwater priority. If the heterogeneous network can identify messages with message priority and transmit them within the effective time of the message, it indicates that the heterogeneous network has relatively good message transmission performance. Therefore, obtaining the first number and the second number corresponding to the second message within the preset time period facilitates monitoring of the message transmission performance of the heterogeneous network.

[0120] As an example, in step S302, the gateway device processes the first quantity and the second quantity corresponding to the second message to determine the network evaluation index value within a preset time period; then compares the network evaluation index value with the preset threshold, and determines the message transmission performance of the heterogeneous network based on the comparison result. In this example, the quantity processing method can be to obtain the proportion of the second quantity to the first quantity, and determine the proportion of the second quantity to the first quantity as the network evaluation index value corresponding to the heterogeneous network within the preset time period. The network evaluation index value can be understood as the forwarding success rate of the gateway device within the preset time period, so as to evaluate the network performance of the heterogeneous network based on the forwarding success rate. Among them, the preset threshold refers to a preset value for comparison with the network evaluation index value.

[0121] For example, if the ratio of the second number to the first number is determined as the network evaluation index value corresponding to the heterogeneous network within a preset time period, if the network evaluation index value is greater than the preset threshold, it is determined that the message transmission performance of the heterogeneous network is better; if the network evaluation index value is not greater than the preset threshold, it is determined that the message transmission performance of the heterogeneous network is poor. Understandably, if the ratio of the first number to the second number is greater than the preset threshold, it indicates that the heterogeneous network can identify and preferentially forward the second message with priority, and the message transmission performance of the heterogeneous network within the preset time period is better, and it can be determined that the message transmission performance of the heterogeneous network is better; if the ratio of the first number to the second number is not greater than the preset threshold, it indicates that the heterogeneous network has poor ability to identify and preferentially forward the second message with priority, and the message transmission performance of the heterogeneous network within the preset time period is poor, and it can be determined that the message transmission performance of the heterogeneous network is poor.

[0122] In this embodiment, a network indicator evaluation value within a preset time period is determined based on the first quantity and the second quantity corresponding to the second message, and the message transmission performance of the heterogeneous network is determined based on the network indicator evaluation value. The message transmission performance of the heterogeneous network can be monitored within the preset time period to facilitate real-time optimization and adjustment of the heterogeneous network, thereby ensuring the transmission success rate and transmission timeliness of the second message in the heterogeneous network and improving the network bandwidth utilization of the heterogeneous network.

[0123] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0124] In one embodiment, a gateway device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the message transmission method for the heterogeneous network in the above embodiment is implemented, for example Figure 2 Steps S201-S202 shown, or Figure 3 To avoid repetition, steps S301-S302 are not described again here.

[0125] As an example, the gateway device includes at least two network signal interfaces, a communication protocol stack message distribution module, a communication protocol stack interface module and a signal sorting and judgment module, which are used to implement the message transmission method of the heterogeneous network in the above embodiment.

[0126] like Figure 4 As shown, the network signal interface can be a CAN signal interface (ie CANIf) and an Ethernet signal interface (ie EthIf). The communication protocol stack interface module includes a communication protocol stack rte interface module (ie COM). The gateway device of the heterogeneous network also includes a communication protocol stack message distribution module (PDUR) and a signal sorting and judgment module (SDM). The gateway device of the heterogeneous network has the functions of CAN-CAN network forwarding, CAN-Eth network mutual transmission, and Eth-Eth network forwarding. Among them, CANIf is the interface of this gateway to control the CAN network, which is used to realize communication between different ECUs on the CAN network through the CAN bus, for example, Figure 4 ECU1, ECU2, ECU5 and ECU6 in the figure. EthIf is the interface of the lower Ethernet network controlled by this gateway, which is used to realize the communication between different ECUs on different Ethernet networks, for example, Figure 4ECU3, ECU4, ECU7 and ECU8 in it. The communication protocol stack message distribution module (PDUR) is used to realize the forwarding of messages in different networks; the communication protocol stack rte interface module COM provides a standard interface for upper-layer applications to realize interactive communication with the signal sorting and judgment module SDM; the signal sorting and judgment module SDM is responsible for distinguishing the basic attributes of signals and messages according to certain rules to provide a basis for the disassembly and assembly of messages, and controls the signal to be sorted in the SDM module according to the differences in the basic attributes of the signals. In this example, the gateway device is used to implement the message transmission method of the heterogeneous network in the above-mentioned embodiment, for example Figure 2 Steps S201-S202 shown, or Figure 3 To avoid repetition, steps S301-S302 shown are not described again here.

[0127] In one embodiment, a message transmission system for a heterogeneous network is provided, including a gateway device, and a first network and a second network connected to the gateway device.

[0128] As an example, Figure 1 As shown, it is a message transmission system of a heterogeneous network in the automotive field. The gateway device is used in the CAN-Ethernet heterogeneous network in the automobile. The CAN-Ethernet heterogeneous network includes a CAN network bus and an Ethernet bus. The gateway device is connected to ECU1 and ECU2 through the CAN network bus, and is connected to ECU3 and ECU4 through the Ethernet bus. It is used to transmit the first message sent by ECU1 and / or ECU2 on the CAN network bus and the first message sent by ECU3 and / or ECU4 on the Ethernet bus through the above-mentioned heterogeneous network message transmission method.

[0129] In this embodiment, a message transmission system of a heterogeneous network including a gateway device, a first network connected to the gateway device, and a second network is constructed, so that the gateway device can adopt a message transmission method of a heterogeneous network to transmit a first message sent by the first network connected to the gateway device to the second network, thereby realizing the schedulability of messages, improving the transmission timeliness and transmission success rate of the second message to the second network, and improving the bandwidth utilization of the second message.

[0130] In one embodiment, a car is provided, comprising the heterogeneous network message transmission system in the above embodiment.

[0131] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the message transmission method of the heterogeneous network in the above embodiment is implemented, for example Figure 2 Steps S201-S202 shown, or Figure 3Steps S301-S302 shown are not described again here to avoid repetition.

[0132] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, message library or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double message rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0133] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0134] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A message transmission method for a heterogeneous network, characterized in that: include: receiving a first message from a first network, wherein the first message carries a plurality of original signals; According to the first message, a second message is sent to the second network, where the second message carries multiple target signals, where the multiple target signals are at least some of the original signals of the message to be transmitted, whose signal priority meets the first setting requirements; the message to be transmitted is the first message that needs to be forwarded to the second network.

2. The message transmission method of heterogeneous network according to claim 1, characterized in that: The first message that needs to be forwarded to the second network refers to a first message whose message transmission direction is from the first network to the second network and whose message target address is the address of the second network.

3. The message transmission method of heterogeneous network according to claim 1, characterized in that: The message to be transmitted is a first message that meets the second setting requirement among multiple first messages that need to be forwarded to the second network.

4. The message transmission method of heterogeneous network according to claim 3, characterized in that: The second setting requirement includes a timeliness requirement.

5. The message transmission method of heterogeneous network according to claim 4, characterized in that: The timeliness requirement is the earliest time the message arrives.

6. The message transmission method of heterogeneous network according to claim 4, characterized in that: The second setting requirement also includes that the message type is a first type.

7. The message transmission method of heterogeneous network according to claim 6, characterized in that: The first type is a time-triggered type.

8. The message transmission method of heterogeneous network according to claim 7, characterized in that: The second setting requirement also includes: the message period of the first message is less than the sum of the message validity periods of messages before the first message.

9. The message transmission method of heterogeneous network according to claim 1, characterized in that: The signal priority is a priority determined based on at least one of a signal validity period, a signal cycle, a signal security level, and a signal identification.

10. The message transmission method of heterogeneous network according to claim 1, characterized in that: The at least part of the original signal refers to at least part of the original signal whose sum of signal lengths is less than the maximum message length of the second message, determined in sequence based on signal priorities.

11. The message transmission method of heterogeneous network according to claim 1, characterized in that: The number of the plurality of target signals is less than or equal to the maximum number of signals of the second message.

12. The message transmission method of heterogeneous network according to claim 1, characterized in that: The second message is a message obtained by repackaging a plurality of the target signals.

13. The message transmission method of heterogeneous network according to claim 1, characterized in that: The message-based attribute of the second message is determined based on a plurality of basic signal attributes of the target signals.

14. The message transmission method of heterogeneous network according to claim 13, characterized in that: The message validity period corresponding to the second message is the minimum value of the signal validity periods of the multiple target signals.

15. The message transmission method of heterogeneous network according to claim 14, characterized in that: The message priority corresponding to the second message is determined based on the message validity period corresponding to the second message and a preset evaluation time.

16. The message transmission method of heterogeneous network according to claim 1, characterized in that: After sending the second message to the second network according to the first message, the message transmission method further includes: The second message forwarded within a preset time period is analyzed to determine the message transmission performance corresponding to the heterogeneous network, where the message transmission performance is used to trigger a reminder action when the transmission performance is poor.

17. The message transmission method of heterogeneous network according to claim 16, characterized in that: Analyzing the second message forwarded within a preset time period to determine the message transmission performance corresponding to the heterogeneous network includes: Obtain a first number corresponding to the second message forwarded within a preset time period, and obtain a second number corresponding to the second message whose message priority is an existing priority; Based on the first quantity and the second quantity corresponding to the second message, the message transmission performance of the heterogeneous network is determined.

18. A gateway device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the message transmission method for a heterogeneous network described in any one of claims 1 to 17 is implemented.

19. A message transmission system for a heterogeneous network, characterized in that: It comprises the gateway device as claimed in claim 20, and a first network and a second network connected to the gateway device.

20. An automobile, characterized in that: A message transmission system for a heterogeneous network including the one described in claim 19.

21. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the message transmission method for a heterogeneous network described in any one of claims 1 to 17 is implemented.

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