Vehicle-mounted data transmission system and method, terminal and storage medium

Abstract

The invention relates to the technical field of vehicle-mounted data transmission, in particular to a vehicle-mounted data transmission system and method, a terminal and a storage medium. Through a three-level architecture of a master node device, a slave node device and leaf node devices, data of a plurality of leaf node devices are converged to the slave node device, and then the slave node device transmits the converged data to the master node device through a single optical cable in a time division and wavelength division multiplexing mode. Therefore, the weight of the vehicle body and the wire harness cost are effectively reduced.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle-mounted data transmission, and in particular to a vehicle-mounted data transmission system, method, terminal and storage medium. Background Art

[0002] With the development of intelligent driving and intelligent cockpit technology, the amount of data that needs to be transmitted in the car is increasing, and the types of data are also increasing. However, the requirements for transmission rate, transmission delay and transmission reliability of each type of data vary greatly. For example, the acquisition cycle of camera, lidar, millimeter wave radar and other data is fixed, and the requirements for transmission bandwidth, delay and time synchronization are high; the data between MCU / ECU or between MCU and central computing unit do not require high transmission bandwidth, but have high requirements for delay and transmission reliability. Figure 2 As shown in the figure, the traditional architecture usually adopts GMSL protocol, FPD LINKⅢ or Ethernet protocol transmission, and directly connects the camera, lidar, millimeter wave radar and other devices to the central computing unit through coaxial cable; and adopts TSN, CAN, CAN-FD and other protocols for transmission, and connects the MCU and ECU to the nearest regional controller. All MCU / ECU data is sent to the central computing unit after aggregation and protocol conversion by the regional controller. With the increase of these devices, the number of wiring harnesses increases, and the length of wiring harnesses increases, resulting in an increase in vehicle weight and wiring harness costs.

[0003] Therefore, the prior art still needs to be improved and enhanced. Summary of the invention

[0004] The present application provides a vehicle-mounted data transmission system, method, terminal and storage medium to solve the problem that in the existing vehicle-mounted transmission architecture, each vehicle-mounted device is directly connected to a central computing unit via a coaxial cable, resulting in high vehicle body weight and wiring harness cost.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] A vehicle-mounted data transmission system, the system comprising a master node device, a plurality of slave node devices and a plurality of leaf node devices corresponding to each of the slave node devices;

[0007] Each of the leaf node devices is used to transmit the reported data to the corresponding slave node device;

[0008] Each of the slave node devices is used to obtain the reported data of each of the leaf node devices, and determine the band or band and time slot corresponding to each of the reported data according to each of the leaf node devices, wherein the band corresponding to each of the reported data is determined based on the leaf node device corresponding to itself, and when the bands corresponding to more than two of the reported data are the same, each of the reported data corresponds to a different time slot of the band;

[0009] Mapping each of the reported data to a corresponding band or band and time slot respectively for transmission to the master node device;

[0010] The master node device is used to obtain the reported data transmitted by each of the slave node devices.

[0011] According to the above-mentioned technical means, the embodiment of the present application uses a three-level architecture of a master node device, a slave node device and a leaf node device to aggregate the data of multiple leaf node devices to the slave node device, and then the slave node device transmits the aggregated data to the master node device through a single optical cable through time division and wavelength division multiplexing, thereby effectively reducing the vehicle body weight and wiring harness cost.

[0012] Optionally, in one embodiment of the present application, when the leaf node device is a gateway device, the reported data of the gateway device is determined based on uplink data corresponding to a plurality of vehicle-mounted devices, and the gateway device includes:

[0013] A leaf mapping module, used to obtain the uplink data of each of the vehicle-mounted devices, and determine the time slots corresponding to each of the uplink data according to each of the vehicle-mounted devices;

[0014] Each of the uplink data is mapped to its corresponding time slot for transmission to the slave node device, wherein the time slot of each uplink data is determined based on the corresponding vehicle-mounted device, and each of the uplink data corresponds to a different time slot.

[0015] According to the above technical means, the embodiment of the present application can realize that the uplink data of each vehicle-mounted device shares one optical fiber and is transmitted to the slave node device through time division multiplexing.

[0016] Optionally, in one embodiment of the present application, the slave node device includes:

[0017] A band time slot determination module, used to determine the bands corresponding to the reported data according to the leaf node devices, wherein the reported data corresponding to the gateway device corresponds to a single band, and the time slots of the uplink data transmission and the reception in the band are the same;

[0018] When the bands corresponding to more than two reported data are the same, the time slots corresponding to the respective reported data in the band are determined according to the leaf node devices from which the respective reported data come.

[0019] According to the above-mentioned technical means, when allocating bands, the embodiment of the present application allocates a separate band for the reported data of the gateway device; for each reported data except the gateway device, it is determined whether it is an exclusive band or a shared band based on the leaf node device from which it comes, so as to ensure the transmission requirements of different categories of data.

[0020] Optionally, in one embodiment of the present application, the master node device includes:

[0021] A main parsing module, used to determine the data processing modules corresponding to each of the reported data according to the band or band and time slot of the source of each of the reported data;

[0022] The main transmission module is used to transmit each of the reported data to the corresponding data processing modules respectively.

[0023] According to the above technical means, the master node device in the embodiment of the present application can quickly distribute each reported data to the correct data processing module for processing by presetting the mapping relationship between different bands or bands and time slots and different data processing modules.

[0024] Optionally, in one embodiment of the present application, the master node device further includes:

[0025] A main mapping module, used for acquiring the processed data outputted by each of the data processing modules, and determining the band or band and time slot to which each of the processed data corresponds according to the data processing module from which each of the processed data comes;

[0026] Each of the processed data is mapped to a corresponding band or band and time slot respectively to be transmitted to the corresponding slave node device, wherein the corresponding processed data and the reported data correspond to the same band or band and time slot.

[0027] According to the above-mentioned technical means, the master node device in the embodiment of the present application can map each processed data to the corresponding band or band and time slot based on the data processing module of each processed data source and return it to the slave node device, so that the slave node device can correctly parse the processed data of each leaf node device based on the band or band and time slot.

[0028] Optionally, in one embodiment of the present application, the slave node device includes:

[0029] A slave parsing module is used to obtain the plurality of processed data transmitted by the master node device, and determine the leaf node devices corresponding to the respective processed data according to the band or band and time slot from which the respective processed data originate;

[0030] The slave transmission module is used to transmit each of the processed data to the corresponding leaf node devices respectively.

[0031] According to the above-mentioned technical means, the slave node device in the embodiment of the present application can accurately parse and distribute the processing data of each leaf node device based on the band or the band and time slot.

[0032] Optionally, in an embodiment of the present application, when the leaf node device corresponding to the processed data is a gateway device, the processed data is determined based on a number of downlink data, and the slave transmission module is further used to:

[0033] According to the time slot of each source of the downlink data, each of the downlink data is mapped to a different time slot for transmission to the gateway device.

[0034] According to the above-mentioned technical means, when the slave node device in the embodiment of the present application transmits the processed data of the gateway device, it is necessary to transmit the parsed downlink data to the gateway device through time slot mapping, so that the gateway device can correctly parse and distribute each downlink data to the corresponding vehicle-mounted device based on the receiving time slot.

[0035] Optionally, in one embodiment of the present application, the gateway device further includes:

[0036] A leaf parsing module, used for acquiring the plurality of downlink data transmitted from the slave node device, and determining the vehicle-mounted devices corresponding to the respective downlink data according to the time slots from which the respective downlink data are derived, wherein the corresponding downlink data and the uplink data correspond to the same time slot;

[0037] The leaf transmission module is used to transmit each of the downlink data to the corresponding vehicle-mounted device respectively.

[0038] According to the above technical means, the gateway device in the embodiment of the present application can correctly parse and distribute each downlink data to the corresponding vehicle-mounted device based on the receiving time slot.

[0039] A second aspect of the present application provides a vehicle-mounted data transmission method, the method comprising:

[0040] Obtain the reported data of several leaf node devices corresponding to the slave node device;

[0041] Determine the band or band and time slot to which each of the reported data corresponds according to each of the leaf node devices, wherein the band to which each of the reported data corresponds is determined based on the leaf node device to which it corresponds, and when the bands corresponding to more than two of the reported data are the same, each of the reported data corresponds to a different time slot of the band;

[0042] Each of the reported data is mapped to its corresponding band or band and time slot for transmission to the master node device.

[0043] According to the above-mentioned technical means, the embodiment of the present application uses a three-level architecture of a master node device, a slave node device and a leaf node device to aggregate the data of multiple leaf node devices to the slave node device, and then the slave node device transmits the aggregated data to the master node device through a single optical cable through time division and wavelength division multiplexing, thereby effectively reducing the vehicle body weight and wiring harness cost.

[0044] Optionally, in one embodiment of the present application, when the leaf node device is a gateway device, the reported data of the gateway device is determined based on uplink data corresponding to a plurality of vehicle-mounted devices, each of the uplink data is received based on a different time slot, and the determining of the band or band and time slot corresponding to each of the reported data according to each of the leaf node devices includes:

[0045] Determine the bands corresponding to the reported data according to the leaf node devices, wherein the reported data corresponding to the gateway device corresponds to a single band, and the time slots of the uplink data transmission and the receiving time slots in the band are the same;

[0046] When the bands corresponding to more than two reported data are the same, the time slots corresponding to the respective reported data in the band are determined according to the leaf node devices from which the respective reported data come.

[0047] According to the above-mentioned technical means, when allocating bands, the embodiment of the present application allocates a separate band for the reported data of the gateway device; for each reported data except the gateway device, it is determined whether it is an exclusive band or a shared band based on the leaf node device from which it comes, so as to ensure the transmission requirements of different categories of data.

[0048] Optionally, in one embodiment of the present application, the method further includes:

[0049] Obtaining processing data corresponding to each of the reported data transmitted by the master node device;

[0050] Determine the leaf node devices corresponding to the processed data, according to the band or band and time slot of the source of each processed data, wherein the corresponding processed data and the reported data correspond to the same band or band and time slot;

[0051] Each of the processed data is transmitted to the corresponding leaf node device respectively.

[0052] According to the above-mentioned technical means, in the embodiment of the present application, the slave node device obtains each processing data through time division and wavelength division multiplexing, and the time slot and band mapping rules in the upstream and downstream directions are consistent. Therefore, the slave node device can accurately parse and distribute the processing data of each leaf node device based on the band or the band and time slot.

[0053] Optionally, in one embodiment of the present application, when the leaf node device corresponding to the processed data is a gateway device, the processed data is determined based on a number of downlink data, and the respectively transmitting each processed data to the respectively corresponding leaf node device includes:

[0054] For the processed data of the gateway device, each downlink data is mapped to a different time slot according to the time slot of the source of each downlink data for transmission to the gateway device, wherein the corresponding downlink data and the uplink data correspond to the same time slot.

[0055] According to the above-mentioned technical means, in the embodiment of the present application, the processing data of the gateway device is transmitted from the node device through time division multiplexing, and the time slot mapping rules in the upstream and downstream directions are consistent, so that the leaf node device can accurately parse and distribute the downlink data of different vehicle-mounted devices based on the receiving time slot.

[0056] In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a vehicle-mounted data transmission program stored in the memory and executable on the processor. When the processor executes the vehicle-mounted data transmission program, the steps of the vehicle-mounted data transmission method as described in any one of the above items are implemented.

[0057] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a vehicle-mounted data transmission program is stored. When the vehicle-mounted data transmission program is executed by a processor, the steps of the vehicle-mounted data transmission method as described in any one of the above items are implemented.

[0058] Beneficial effects of this application:

[0059] (1) The present application uses a three-level architecture of a master node device, a slave node device, and a leaf node device to aggregate the data of multiple leaf node devices to the slave node device, and then the slave node device transmits the aggregated data to the master node device through a single optical cable by time division and wavelength division multiplexing. The time slot and band mapping rules in the upstream and downstream directions are consistent, which effectively reduces the vehicle body weight and wiring harness cost.

[0060] (2) The present application adopts a time-division multiplexing data transmission method between the slave node device and the gateway device. The time slot mapping rules in the upstream and downstream directions are consistent, so that the data of each vehicle-mounted device can share one optical fiber for transmission.

[0061] (3) When allocating bands, the present application allocates a separate band for the reported data of the gateway device; for each reported data other than the gateway device, it determines whether it is an exclusive band or a shared band based on the leaf node device from which it comes, so as to ensure the transmission requirements of different types of data.

[0062] 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

[0063] 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:

[0064] Figure 1 This is an architecture diagram of the vehicle-mounted data transmission system according to an embodiment of the present application;

[0065] Figure 2 This is a diagram of a traditional vehicle network architecture according to an embodiment of the present application;

[0066] Figure 3 A schematic diagram of a data transmission method between a master node device and a slave node device according to an embodiment of the present application;

[0067] Figure 4 This is a schematic diagram of data transmission of a gateway device according to an embodiment of the present application;

[0068] Figure 5 This is a schematic diagram of data transmission of a non-gateway device according to an embodiment of the present application;

[0069] Figure 6 A schematic diagram of the internal modules of a master node device, a slave node device, and a gateway device according to an embodiment of the present application;

[0070] Figure 7 A schematic diagram of a flow chart of a vehicle-mounted data transmission method according to an embodiment of the present application;

[0071] Figure 8This is a block diagram of the internal structure of the terminal device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0072] The 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.

[0073] The following describes a vehicle-mounted data transmission system, method, terminal and storage medium of an embodiment of the present application with reference to the accompanying drawings. In view of the problem that each vehicle-mounted device in the vehicle-mounted transmission architecture mentioned in the background technology center is directly connected to the central computing unit through a coaxial cable, resulting in a high vehicle weight and wiring harness cost, the present application provides a vehicle-mounted data transmission system, the system includes a master node device, a plurality of slave node devices and a plurality of leaf node devices corresponding to each of the slave node devices; each of the leaf node devices is used to transmit the reported data to the corresponding slave node device; each of the slave node devices is used to obtain the reported data of each of the leaf node devices, and determine the band or band and time slot corresponding to each of the reported data according to each of the leaf node devices, wherein the band corresponding to each of the reported data is determined based on the leaf node device corresponding to itself, and when the bands corresponding to more than two of the reported data are the same, each of the reported data corresponds to different time slots of the band; each of the reported data is mapped to the corresponding band or band and time slot to be transmitted to the master node device; the master node device is used to obtain the reported data transmitted by each of the slave node devices. The present invention uses a three-level architecture of a master node device, a slave node device, and a leaf node device to aggregate data from multiple leaf node devices to a slave node device, which then transmits the aggregated data to the master node device through a single optical cable using time division and wavelength division multiplexing, thereby effectively reducing the vehicle body weight and wiring harness cost.

[0074] Specifically, Figure 1 An architectural diagram of an in-vehicle data transmission system provided in an embodiment of the present application.

[0075] like Figure 1 As shown, the vehicle-mounted data transmission system 10 includes:

[0076] A master node device 100, a plurality of slave node devices 200, and a plurality of leaf node devices 300 corresponding to each of the slave node devices;

[0077] Each of the leaf node devices 300 is used to transmit the reported data to the corresponding slave node device;

[0078] Each slave node device 200 is used to obtain the reported data of each leaf node device, and determine the band or band and time slot corresponding to each reported data according to each leaf node device, wherein the band corresponding to each reported data is determined based on the leaf node device corresponding to itself, and when the bands corresponding to more than two reported data are the same, each reported data corresponds to a different time slot of the band;

[0079] Mapping each of the reported data to a corresponding band or band and time slot respectively for transmission to the master node device;

[0080] The master node device 100 is used to obtain the reported data transmitted by each of the slave node devices.

[0081] Specifically, this embodiment optimizes the networking architecture of the vehicle-mounted transmission system into a three-level architecture, with the highest level being the master node device deployed in the vehicle-mounted controller / central computing unit, the middle level being the slave node device deployed in the regional controller, and the last level being the leaf node device deployed in the vehicle-mounted device. The master node device and each slave node device are in a point-to-multipoint relationship, and each slave node device and its corresponding leaf node devices are in a point-to-multipoint relationship. For the uplink direction, the master node device and each slave node device are connected by a single optical fiber, and the slave node device and each leaf node device are connected by a single optical fiber. The leaf node device transmits its own reported data to the corresponding slave node device via optical fiber, and the slave node device transmits the aggregated reported data of each leaf node device to the master node device via time division multiplexing and wavelength division multiplexing through one optical fiber. The present invention uses a three-level architecture of a master node device, a slave node device, and a leaf node device to aggregate data from multiple leaf node devices to a slave node device, which then transmits the aggregated data to the master node device through a single optical cable using time division and wavelength division multiplexing. This can reduce the amount of cables used, thereby effectively reducing the weight of the vehicle body and the cost of wiring harnesses.

[0082] In one embodiment, when the leaf node device is a gateway device, the reported data of the gateway device is determined based on uplink data corresponding to a plurality of vehicle-mounted devices, and the gateway device includes:

[0083] A leaf mapping module, used to obtain the uplink data of each of the vehicle-mounted devices, and determine the time slots corresponding to each of the uplink data according to each of the vehicle-mounted devices;

[0084] Each of the uplink data is mapped to its corresponding time slot for transmission to the slave node device, wherein the time slot of each uplink data is determined based on the corresponding vehicle-mounted device, and each of the uplink data corresponds to a different time slot.

[0085] There are two types of leaf node devices: gateway devices and non-gateway devices. If the leaf node device is a gateway device, the gateway device can use a point-to-multipoint method to connect multiple vehicle-mounted devices, such as MCU / ECU, actuators and other devices. Among them, MCU / ECU uses CAN, CAN FD and Ethernet protocols for transmission, and the physical layer is all electrical signals. The gateway device will receive the uplink data of multiple vehicle-mounted devices and transmit it to the corresponding slave node devices. Specifically, Figure 6 As shown, for the uplink direction, the leaf mapping module in the gateway device receives the uplink data transmitted by each vehicle-mounted device. Then, through the pre-set and stored mapping relationship between different vehicle-mounted devices and different time slots, the time slots corresponding to each uplink data are determined according to the vehicle-mounted devices from which each uplink data comes, and each uplink data is mapped to its corresponding time slot, and each uplink data is transmitted to the slave node device through sharing one optical fiber through time division multiplexing.

[0086] For example, Figure 1 As shown, leaf node devices 1, 5, and 8 are gateway devices, which are responsible for mapping Ethernet signals and CAN and CAN FD signals of multiple MCU / ECUs into different time slots for transmission.

[0087] In one embodiment, the gateway device further includes:

[0088] A protocol conversion module, used to convert the acquired data of the non-target protocol into data corresponding to the target protocol;

[0089] The photoelectric conversion module is used to convert electrical signals into optical signals.

[0090] Specifically, Figure 4 As shown, the gateway device includes a protocol conversion module responsible for unifying the protocol type, which is only used to perform protocol conversion on the input data that needs protocol conversion. For example, an MCU can be used to convert the received CAN and CANFD data into Ethernet protocol. In addition, the gateway device also includes an optoelectronic conversion module, which is responsible for mapping the received electrical signal data of different on-board devices to a specific time slot in a band for transmission, thereby satisfying the data transmission of optical signals and non-optical transmission devices at the same time.

[0091] In one embodiment, the physical layer between the slave node device and the leaf node device is transparent to the upper layer, and no matter what protocol data is transmitted in each optical cable, it has nothing to do with the physical characteristics of the optical cable. It is fully compatible with TSN, CAN, CAN-FD, LIN and other protocols in the existing architecture without affecting existing functions.

[0092] In one embodiment, if Figure 5As shown, the non-gateway leaf node device also includes an optoelectronic conversion module for converting electrical signals into optical signals. The reported data of the non-gateway leaf node device occupies all time slots in a band.

[0093] In one embodiment, the slave node device includes:

[0094] A band time slot determination module, used to determine the bands corresponding to the reported data according to the leaf node devices, wherein the reported data corresponding to the gateway device corresponds to a single band, and the time slots of the uplink data transmission and the reception in the band are the same;

[0095] When the bands corresponding to more than two reported data are the same, the time slots corresponding to the respective reported data in the band are determined according to the leaf node devices from which the respective reported data come.

[0096] Specifically, Figure 6 As shown, for the uplink direction, the band time slot determination module determines the processing data of the gateway device for the processing data of the gateway device. Since each uplink data is transmitted in a time division multiplexing manner between the slave node device and the gateway device, a separate band will be allocated for the processing data of the gateway device for transmission. The time slot mapping rule during transmission is consistent with the time slot mapping relationship between the gateway device and the slave node device. In other words, time slot mapping is no longer performed on the data of the gateway node in the slave node device, only band mapping is performed. For each processing data except the gateway device, the band time slot determination module first determines the corresponding band based on the leaf node device from which the processing data comes. If the band is occupied alone, only band mapping is required in the future; if the band is shared with other processing data, it is also necessary to determine the specific time slot of the band occupied by the leaf node device from which the processing data comes, for subsequent mapping of bands and time slots.

[0097] In one embodiment, the master node device includes:

[0098] A main parsing module, used to determine the data processing modules corresponding to each of the reported data according to the band or band and time slot of the source of each of the reported data;

[0099] The main transmission module is used to transmit each of the reported data to the corresponding data processing modules respectively.

[0100] Specifically, the master node device is connected to different data processing modules in the vehicle controller / central computing unit. The mapping relationship between different bands or bands and time slots and different data processing modules is pre-set and stored in the master parsing module. Figure 6As shown, after the main parsing module obtains the reported data sent by the slave node device, it parses the reported data based on the band or band and time slot and determines its corresponding data processing module. Then the main transmission module transmits the reported data to the corresponding data processing module for processing.

[0101] In one embodiment, the master node device further includes:

[0102] A main mapping module, used for acquiring the processed data outputted by each of the data processing modules, and determining the band or band and time slot to which each of the processed data corresponds according to the data processing module from which each of the processed data comes;

[0103] Each of the processed data is mapped to a corresponding band or band and time slot respectively to be transmitted to the corresponding slave node device, wherein the corresponding processed data and the reported data correspond to the same band or band and time slot.

[0104] Specifically, Figure 6 As shown, for the downlink direction, the main mapping module first obtains the processed data output by different data processing modules. Then, through the pre-set and stored mapping relationship between different bands or bands and time slots and different data processing modules (the mapping principle of the uplink direction and the downlink direction is the same), the data processing module based on each processed data source maps each processed data to the corresponding band or band and time slot and returns it to the slave node device, so that the slave node device can parse the processed data of each leaf node device based on the band or band and time slot.

[0105] In one embodiment, the slave node device includes:

[0106] A slave parsing module is used to obtain the plurality of processed data transmitted by the master node device, the band or band and time slot from which each of the processed data comes, and determine the leaf node device corresponding to each of the processed data;

[0107] The slave transmission module is used to transmit each of the processed data to the corresponding leaf node devices respectively.

[0108] Specifically, Figure 6 As shown, for the downlink direction, the slave parsing module first obtains multiple processed data transmitted by the master node device. Then, through the mapping relationship between different bands or bands and time slots and different leaf node devices that are pre-set and stored (the principle of the mapping relationship between the uplink direction and the downlink direction is the same), the processed data of each leaf node device is parsed based on the band or band and time slot. Finally, the slave transmission module transmits each processed data to the corresponding leaf node device to complete the distribution process of the processed data.

[0109] In one embodiment, when the leaf node device corresponding to the processed data is a gateway device, the processed data is determined based on a number of downlink data, and the slave transmission module is further used to:

[0110] According to the time slot of each source of the downlink data, each of the downlink data is mapped to a different time slot for transmission to the gateway device.

[0111] Specifically, Figure 6 As shown, for the processing data of the gateway device, the processing data includes downlink data of multiple vehicle-mounted devices. Therefore, time slot mapping is required when the transmission module transmits the processed data to the gateway device. The time slot of each downlink data transmission is determined based on the time slot when the downlink data is received from the node device. The mapping relationship between the downlink direction and the uplink direction is based on the same principle, so that the gateway device can determine the corresponding vehicle-mounted devices based on the time slot when receiving each downlink data.

[0112] In one embodiment, the gateway device further includes:

[0113] A leaf parsing module, used for acquiring the plurality of downlink data transmitted from the slave node device, and determining the vehicle-mounted devices corresponding to the respective downlink data according to the time slots from which the respective downlink data are derived, wherein the corresponding downlink data and the uplink data correspond to the same time slot;

[0114] The leaf transmission module is used to transmit each of the downlink data to the corresponding vehicle-mounted device respectively.

[0115] Specifically, Figure 6 As shown, for the downlink direction, the leaf parsing module first obtains the processed data transmitted from the node device, and the processed data includes the downlink data corresponding to each vehicle-mounted device. Then, through the pre-set and stored mapping relationship between different time slots and different vehicle-mounted devices (the principle of the mapping relationship in the downlink direction and the uplink direction is the same), it is determined based on the time slot to which vehicle-mounted device each downlink data belongs. Finally, the leaf transmission module transmits each downlink data to the corresponding vehicle-mounted device to complete the distribution process of the downlink data. It can be understood that for downlink data that requires protocol conversion, the protocol conversion can be performed in the leaf node device before being distributed to the corresponding vehicle-mounted device.

[0116] In one embodiment, for the uplink direction, the master node device includes an input port corresponding to each of the slave node devices and an output port respectively connected to each of the data processing modules, wherein a preset mapping relationship exists between the band or band and time slot of the input port of each of the slave node devices and the output port of each of the data processing modules;

[0117] Each of the slave node devices comprises an input port corresponding to each of the leaf node devices and an output port connected to the master node device, wherein a preset mapping relationship exists between the band of the input port and the output port or between the band and the time slot of each of the leaf node devices;

[0118] Each of the gateway devices includes an input port corresponding to each of the vehicle-mounted devices and an output port connected to the corresponding slave node device, wherein the output port is a fiber optic interface, and there is a preset mapping relationship between the input port of each of the vehicle-mounted devices and the time slot of the output port.

[0119] Specifically, in this embodiment, the master node device, each slave node device and each leaf node device all use ports to receive and send optical signals. The port that receives the optical signal is the input port, and the port that sends the optical signal is the output port. In the master node device, in order to accurately send each reported data to the corresponding data processing module, the mapping relationship between the band or band and time slot of the input port of each slave node device and the output port of each data processing module is preset. In the slave node device, in order to transmit the reported data of each leaf node device to the master node device together by time division multiplexing and wavelength division multiplexing, the mapping relationship between the input port of each leaf node device and the band of the output port or the band and time slot is preset. In the gateway device, in order to transmit the uplink data of each vehicle-mounted device to the slave node device together by time division multiplexing, the mapping relationship between the input port of each vehicle-mounted device and the time slot of the output port is preset. Each mapping relationship can be configured and negotiated by static configuration or dynamic negotiation, and the specific configuration and negotiation methods are not limited.

[0120] In one embodiment, for the downlink direction, the master node device includes an input port corresponding to each of the data processing modules and an output port connected to each of the slave node devices, wherein there is a preset mapping relationship between the input port and the band of the output port or the band and the time slot of each of the data processing modules;

[0121] Each of the slave node devices comprises an input port connected to the master node device and output ports corresponding to each of the leaf node devices, wherein a preset mapping relationship exists between the band or band and time slot of the input port and the output port of each of the leaf node devices;

[0122] Each of the gateway devices includes an input port connected to the corresponding slave node device and an output port corresponding to each of the vehicle-mounted devices, wherein the input port is a fiber optic interface, and there is a preset mapping relationship between the time slot of the input port and the output port of each of the vehicle-mounted devices.

[0123] Specifically, in the master node device, the processing data of each reported data is obtained through the input port connected to each data processing module. In order to transmit each processing data to the slave node device through a single optical fiber, the mapping relationship between the input port of each data processing module and the band or the band and time slot of the output port corresponding to the slave node device is pre-set. In the slave node device, the processing data of each leaf node device is obtained through the input port connected to the master node device. In order to parse and forward the processing data of each leaf node device, the mapping relationship between the band or the band and time slot of the input port and the output port of each leaf node device is pre-set. In the gateway device, the downlink data of each vehicle-mounted device is obtained through the input port connected to the slave node device. In order to parse and forward the downlink data of each vehicle-mounted device, the mapping relationship between the time slot of the input port and the output port of each vehicle-mounted device is pre-set. Each mapping relationship can be configured and negotiated by static configuration or dynamic negotiation, and the specific configuration and negotiation methods are not limited.

[0124] The advantages of the present invention are:

[0125] 1) The three-level networking architecture of the present invention can transmit the data of leaf node devices such as cameras, lidars, and millimeter-wave radars by converging the data from the node devices into an optical fiber. Compared with the traditional network architecture that directly connects to the central computing unit, the cable length is greatly reduced, effectively reducing the vehicle body weight and wiring harness cost.

[0126] 2) The present invention can directly map CAN and CAN-FD data with higher latency requirements to a certain light wave or time slot of the optical cable for transmission. Compared with the traditional architecture, the coaxial cable used to transmit CAN and CAN-FD between regional controllers and between the regional controller and the central computing unit is eliminated, further reducing the vehicle body weight and wiring harness cost, while ensuring the data transmission requirements of CAN and CAN-FD that have higher requirements on transmission latency and determinism.

[0127] 3) In the present invention, each type of data can exclusively use a wavelength division or time division channel during the transmission process, without the need for software scheduling. The transmission delay of each type of data is determined, and there is no delay or packet loss caused by preemption, thereby enhancing the reliability of data transmission.

[0128] 4) The three-level networking architecture of the present invention adopts a transparent transmission method and is fully compatible with TSN, CAN, CAN-FD, LIN and other protocols in the existing architecture without affecting the existing functions.

[0129] 5) The three-level networking architecture of the present invention adopts an all-optical fiber transmission architecture, which can effectively reduce electromagnetic interference in the car.

[0130] Next, the vehicle-mounted data transmission method proposed according to the embodiment of the present application is described with reference to the accompanying drawings.

[0131] like Figure 7 As shown, the vehicle-mounted data transmission method includes the following steps:

[0132] Step S100: Obtain reported data from several leaf node devices corresponding to the slave node device.

[0133] Specifically, the slave node device can be deployed in the regional controller to obtain the reported data of several corresponding leaf node devices. The leaf node device can be a screen, camera, screen lidar, millimeter wave radar and other vehicle-mounted devices, which use LVDS and Ethernet protocols for transmission, and the physical layer is optical signals. When there are multiple leaf node devices, the relationship between the slave node device and the leaf node device is point-to-multipoint. A single optical fiber is used for data transmission between the slave node device and the leaf node device. Transmitting data by optical signals instead of electrical signals can reduce the use of cables, thereby reducing the weight of the vehicle body and the cost of wiring harnesses.

[0134] Step S200: determine the band or band and time slot corresponding to each reported data according to each leaf node device, wherein the band corresponding to each reported data is determined based on the leaf node device corresponding to itself. When the bands corresponding to more than two reported data are the same, each reported data corresponds to a different time slot of the band.

[0135] Specifically, the reported data of multiple leaf node devices connected to a slave node device are gathered at the slave node device, and are uniformly transmitted to the master node device by the slave node device. The slave node device and the master node device use a single optical fiber to transmit data in the uplink direction. Therefore, in this embodiment, the physical layer transmission between the master node device and the slave node device adopts time division multiplexing + wavelength division multiplexing to achieve the sharing of one optical fiber transmission for the reported data of each leaf node device. In the actual application scenario, the slave node device determines the band used when each reported data is transmitted to the master node device according to the leaf node device from which each reported data comes. Among them, the reported data of some leaf node devices are transmitted using a single band, and the reported data of other leaf node devices share the same band for transmission. Multiple reporting devices that share the band use different time slots of the band for transmission.

[0136] For example, Figure 3As shown, four bands are used for transmission between slave node devices and master node devices. The slave node device is responsible for mapping the data of each leaf node device to a specific band between the master node and the slave node device or a specific time slot of a specific band. Since the central control screen and the co-pilot screen have high requirements for transmission bandwidth, they use a separate band for transmission respectively; the data of sensors such as cameras, lidar, and millimeter-wave radar are all periodic data, so they share a band for transmission, and the data of each sensor is mapped to a specific time slot.

[0137] In one embodiment, when the leaf node device is a gateway device, the reported data of the gateway device is determined based on uplink data corresponding to a plurality of vehicle-mounted devices, each of the uplink data is received based on a different time slot, and the determining of the band or band and time slot corresponding to each of the reported data according to each of the leaf node devices includes:

[0138] Determine the bands corresponding to the reported data according to the leaf node devices, wherein the reported data corresponding to the gateway device corresponds to a single band, and the time slots of the uplink data transmission and the receiving time slots in the band are the same;

[0139] When the bands corresponding to more than two reported data are the same, the time slots corresponding to the respective reported data in the band are determined according to the leaf node devices from which the respective reported data come.

[0140] Specifically, the gateway device can receive the uplink data of multiple vehicle-mounted devices and transmit them uniformly to the corresponding slave node devices. Since a single optical fiber is used for data transmission between the slave node device and each leaf node device, in order to realize that each uplink data shares one optical fiber, this embodiment uses time division multiplexing to transmit each uplink data between the slave node device and the gateway device. The gateway device maps the uplink data of each vehicle-mounted device to different time slots and transmits them to the slave node device, and the slave node device receives each uplink data based on different time slots. In the slave node device, the processing data of the gateway device is transmitted using a separate band, and the time slot mapping rule during transmission is consistent with the time slot mapping rule during reception. In other words, the data of the gateway node is no longer time-slot mapped in the slave node device, only band mapping is performed. For each processed data except the gateway device, the band is first determined based on the source leaf node device. If the band is occupied alone, only band mapping is required in the future; if the band is shared with other processed data, it is also necessary to determine the specific time slot based on the source leaf node device for subsequent mapping of bands and time slots.

[0141] In one embodiment, the band allocation method in the slave node device includes:

[0142] Obtaining the device category and transmission bandwidth requirement corresponding to each of the leaf node devices;

[0143] Determine the bands corresponding to the leaf node devices according to the device category and / or the transmission bandwidth requirement data of the leaf node devices;

[0144] According to each of the leaf node devices and the band corresponding to each of the leaf node devices.

[0145] Specifically, when allocating bands, this embodiment needs to determine, based on the device category and / or transmission bandwidth requirements of each leaf node device, whether the reported data of the leaf node device uses a single band for data transmission or shares a band with the reported data of other leaf node devices for data transmission. This ensures the transmission requirements of different types of data while achieving vehicle body weight and wiring harness costs.

[0146] In one embodiment, the reported data of the gateway device corresponds to a band alone; the reported data of several leaf node devices that collect periodic data share a band; and the reported data of the leaf node device whose transmission bandwidth requirement is greater than a preset value corresponds to a band alone.

[0147] Specifically, for the gateway device, since the gateway device and the slave node device use time division multiplexing to transmit data, the present embodiment sets the slave node device to use a single band for transmission when transmitting the data of the gateway device to the master node device. For the leaf node devices whose collected data are all periodic data, in order to save transmission resources, the present embodiment sets the reported data of such leaf node devices in the slave node devices to share a band for transmission to the master node device. For the leaf node devices with large transmission bandwidth requirements, in order to ensure the transmission quality, the present embodiment sets the reported data of such leaf node devices in the slave node devices to also use a single band for transmission. The present embodiment can meet the transmission requirements of multiple data with different rates, delays and periodic characteristics such as cameras, lidars, millimeter-wave radars, CAN, LIN, etc. while effectively utilizing band resources.

[0148] Step S300: Map each of the reported data to its corresponding band or band and time slot for transmission to the master node device.

[0149] Specifically, each reported data is mapped to its corresponding band or specific time slot of the band, and transmitted to the main node device via optical fiber for data processing. The use of cables is reduced by optical signal transmission, thereby reducing the weight of the vehicle body and reducing the cost of wiring harnesses.

[0150] In one embodiment, the method further comprises:

[0151] Obtaining processing data corresponding to each of the reported data transmitted by the master node device;

[0152] Determine the leaf node devices corresponding to the processed data, according to the band or band and time slot of the source of each processed data, wherein the corresponding processed data and the reported data correspond to the same band or band and time slot;

[0153] Each of the processed data is transmitted to the corresponding leaf node device respectively.

[0154] Specifically, for the downlink direction, a single optical fiber is also used for data transmission between the master node device and the slave node device, and different optical fibers correspond to the uplink and downlink directions respectively. After the master node device obtains each reported data, it will transmit each reported data to the central computing unit for processing, and then return the processed data of each reported data to the slave node device. After the slave node device receives the data returned by the master node device, it parses each processed data based on the same band or band and time slot as each reported data, and determines the leaf node device corresponding to each processed data. Finally, each processed data is transmitted to its corresponding leaf node device, thereby completing the distribution process of the processed data.

[0155] In one embodiment, when the leaf node device corresponding to the processed data is a gateway device, the processed data is determined based on a number of downlink data, and the processing data is transmitted to the leaf node device corresponding to each of the processed data, respectively, including:

[0156] For the processed data of the gateway device, each downlink data is mapped to a different time slot according to the time slot of the source of each downlink data for transmission to the gateway device, wherein the corresponding downlink data and the uplink data correspond to the same time slot.

[0157] Specifically, the gateway device and the slave node device use time division multiplexing to transmit data in both the uplink and downlink directions, and the time slot mapping rule in the downlink direction is consistent with that in the uplink direction, so that after the gateway device receives the processed data sent by the slave node device, it can parse out the downlink data corresponding to each uplink data based on the time slot of each uplink data, and transmit it to the corresponding vehicle-mounted device.

[0158] Figure 8 A schematic diagram of the structure of a terminal device provided in an embodiment of the present application. The terminal device may include:

[0159] A memory 801 , a processor 802 , and a computer program stored in the memory 801 and executable on the processor 802 .

[0160] When the processor 802 executes the program, the vehicle-mounted data transmission method provided in the above embodiment is implemented.

[0161] Furthermore, the terminal device also includes:

[0162] The communication interface 803 is used for communication between the memory 801 and the processor 802 .

[0163] The memory 801 is used to store computer programs that can be executed on the processor 802 .

[0164] The memory 801 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.

[0165] If the memory 801, the processor 802 and the communication interface 803 are implemented independently, the communication interface 803, the memory 801 and the processor 802 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 (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 8 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.

[0166] Optionally, in a specific implementation, if the memory 801, the processor 802 and the communication interface 803 are integrated on a chip, the memory 801, the processor 802 and the communication interface 803 can communicate with each other through an internal interface.

[0167] The processor 802 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.

[0168] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned vehicle-mounted data transmission method is implemented.

[0169] 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.

[0170] 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.

[0171] 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 additional implementations, in which the order shown or discussed may not be followed, 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.

[0172] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can read instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary and then storing it in a computer memory.

[0173] 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. If implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: 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.

[0174] A person skilled in the art may understand that all or part of the steps in the above-mentioned embodiment method 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.

[0175] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0176] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle-mounted data transmission system, characterized in that: The system includes a master node device, a plurality of slave node devices, and a plurality of leaf node devices corresponding to each of the slave node devices; Each of the leaf node devices is used to transmit the reported data to the corresponding slave node device; Each of the slave node devices is used to obtain the reported data of each of the leaf node devices, and determine the band or band and time slot corresponding to each of the reported data according to each of the leaf node devices, wherein the band corresponding to each of the reported data is determined based on the leaf node device corresponding to itself, and when the bands corresponding to more than two of the reported data are the same, each of the reported data corresponds to a different time slot of the band; Mapping each of the reported data to a corresponding band or band and time slot respectively for transmission to the master node device; The master node device is used to obtain the reported data transmitted by each of the slave node devices.

2. The vehicle-mounted data transmission system according to claim 1, characterized in that: When the leaf node device is a gateway device, the reported data of the gateway device is determined based on the uplink data corresponding to a plurality of vehicle-mounted devices, and the gateway device comprises: a leaf mapping module, which is used to obtain the uplink data of each vehicle-mounted device, and determine the time slot corresponding to each uplink data according to each vehicle-mounted device; Each of the uplink data is mapped to its corresponding time slot for transmission to the slave node device, wherein the time slot of each uplink data is determined based on the corresponding vehicle-mounted device, and each of the uplink data corresponds to a different time slot.

3. The vehicle-mounted data transmission system according to claim 2, characterized in that: The slave node device comprises: A band time slot determination module, used to determine the bands corresponding to the reported data according to the leaf node devices, wherein the reported data corresponding to the gateway device corresponds to a single band, and the time slots of the uplink data transmission and the reception in the band are the same; When the bands corresponding to more than two reported data are the same, the time slots corresponding to the respective reported data in the band are determined according to the leaf node devices from which the respective reported data come.

4. The vehicle-mounted data transmission system according to claim 3, characterized in that: The master node device comprises: A main parsing module, used to determine the data processing modules corresponding to each of the reported data according to the band or band and time slot of the source of each of the reported data; The main transmission module is used to transmit each of the reported data to the corresponding data processing modules respectively.

5. The vehicle-mounted data transmission system according to claim 4, characterized in that: The master node device also includes: A main mapping module, used for acquiring the processed data outputted by each of the data processing modules, and determining the band or band and time slot to which each of the processed data corresponds according to the data processing module from which each of the processed data comes; Each of the processed data is mapped to a corresponding band or band and time slot respectively to be transmitted to the corresponding slave node device, wherein the corresponding processed data and the reported data correspond to the same band or band and time slot.

6. The vehicle-mounted data transmission system according to claim 5, characterized in that: The slave node device comprises: a slave parsing module, which is used to obtain the plurality of processed data transmitted by the master node device, and determine the leaf node device corresponding to each processed data according to the band or band and time slot of the source of each processed data; The slave transmission module is used to transmit each of the processed data to the corresponding leaf node devices respectively.

7. The vehicle-mounted data transmission system according to claim 6, characterized in that: When the leaf node device corresponding to the processing data is a gateway device, the processing data is determined based on a number of downlink data, and the slave transmission module is further used for: According to the time slot of each source of the downlink data, each of the downlink data is mapped to a different time slot for transmission to the gateway device.

8. The vehicle-mounted data transmission system according to claim 7, characterized in that: The gateway device also includes: A leaf parsing module, used for acquiring the plurality of downlink data transmitted from the slave node device, and determining the vehicle-mounted devices corresponding to the respective downlink data according to the time slots from which the respective downlink data are derived, wherein the corresponding downlink data and the uplink data correspond to the same time slot; The leaf transmission module is used to transmit each of the downlink data to the corresponding vehicle-mounted device respectively.

9. A vehicle-mounted data transmission method, characterized in that: The method comprises: Obtain the reported data of several leaf node devices corresponding to the slave node device; Determine the band or band and time slot to which each of the reported data corresponds according to each of the leaf node devices, wherein the band to which each of the reported data corresponds is determined based on the leaf node device to which it corresponds, and when the bands corresponding to more than two of the reported data are the same, each of the reported data corresponds to a different time slot of the band; Each of the reported data is mapped to its corresponding band or band and time slot for transmission to the master node device.

10. The vehicle-mounted data transmission method according to claim 9, characterized in that: When the leaf node device is a gateway device, the reported data of the gateway device is determined based on uplink data corresponding to a plurality of vehicle-mounted devices, each uplink data is received based on a different time slot, and the determining of the band or band and time slot corresponding to each reported data according to each leaf node device includes: The bands to which each of the reported data corresponds are determined according to each of the leaf node devices, wherein the reported data corresponding to the gateway device corresponds to a single band, and the time slots for transmission of each of the uplink data in the band are the same as the time slots for reception; when the bands corresponding to more than two of the reported data are the same, the time slots to which each of the reported data corresponds in the band are determined according to the leaf node devices from which each of the reported data comes.

11. The vehicle-mounted data transmission method according to claim 10, characterized in that: The method further comprises: Obtaining processing data corresponding to each of the reported data transmitted by the master node device; Determine the leaf node devices corresponding to the processed data, according to the band or band and time slot of the source of each processed data, wherein the corresponding processed data and the reported data correspond to the same band or band and time slot; Each of the processed data is transmitted to the corresponding leaf node device respectively.

12. The vehicle-mounted data transmission method according to claim 11, characterized in that: When the leaf node device corresponding to the processed data is a gateway device, the processed data is determined based on a plurality of downlink data, and the processing data is transmitted to the leaf node devices corresponding to the respective ones, including: For the processed data of the gateway device, each downlink data is mapped to a different time slot according to the time slot of the source of each downlink data for transmission to the gateway device, wherein the corresponding downlink data and the uplink data correspond to the same time slot.

13. A terminal device, characterized in that: The terminal device includes a memory, a processor, and an in-vehicle data transmission program stored in the memory and executable on the processor. When the processor executes the in-vehicle data transmission program, the steps of the in-vehicle data transmission method as described in any one of claims 9 to 12 are implemented.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an in-vehicle data transmission program, and when the in-vehicle data transmission program is executed by the processor, the steps of the in-vehicle data transmission method according to any one of claims 9 to 12 are implemented.

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