A vehicle-mounted data transmission system, method, terminal and storage medium

Abstract

The application 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 a leaf node device, data of multiple leaf node devices is converged to the slave node device, and the converged data is transmitted to the master node device through a single optical cable by the slave node device in a time division and wavelength division multiplexing manner, so that 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 data transmission, in particular to a vehicle data transmission system and method, a terminal and a storage medium. BACKGROUND

[0002] With the development of intelligent driving and intelligent cockpit technology, the amount of data to be transmitted in the vehicle is increasing, and the types of data are also increasing. However, each type of data has different requirements for transmission rate, transmission delay and transmission reliability. For example, the data collected by cameras, lidar, millimeter wave radar, etc. has a fixed collection period and requires high transmission bandwidth, low latency and time synchronization. The data between MCUs / ECUs or between MCUs and central computing units does not require high transmission bandwidth, but requires low latency and high transmission reliability. Figure 2 As shown in the figure, in the traditional architecture, GMSL protocol, FPD LINK III or Ethernet protocol is usually used for transmission. Cameras, lidars, millimeter wave radars, etc. are directly connected to the central computing unit through coaxial cables. TSN, CAN, CAN-FD, etc. are used for transmission. MCUs and ECUs are connected to the nearest area controller. All MCU / ECU data is aggregated and protocol-converted by the area controller and sent to the central computing unit. With the increase of these devices, the number of wire harnesses increases, and the length of the wire harnesses increases, resulting in an increase in vehicle weight and wire harness cost.

[0003] Therefore, the prior art still needs to be improved and improved. SUMMARY

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

[0005] To achieve the above purpose, the following technical solutions are adopted in the present application:

[0006] A vehicle 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 slave node device;

[0007] Each leaf node device is configured to transmit reported data to the corresponding slave node device.

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

[0009] Each of the reported data is mapped to the corresponding wave band or wave band and time slot for transmission to the master node device.

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

[0011] According to the above technical means, the three-level architecture of the master node device, the slave node device and the leaf node device is used to converge the data of the plurality of leaf node devices to the slave node device, and then the slave node device transmits the converged data to the master node device through time division and wave division multiplexing, thereby effectively reducing the weight of the vehicle body and the cost of the wire harness.

[0012] Optionally, in an 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 the uplink data corresponding to the plurality of vehicle-mounted devices, and the gateway device comprises:

[0013] A leaf mapping module is configured to acquire the uplink data of each of the vehicle-mounted devices, and determine a time slot corresponding to each of the uplink data according to each of the vehicle-mounted devices.

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

[0015] According to the above technical means, the uplink data of each of the vehicle-mounted devices can be shared to the slave node device through time division multiplexing.

[0016] Optionally, in an embodiment of the present application, the slave node device comprises:

[0017] A wave band and time slot determination module is configured to determine a wave band corresponding to each of the reported data according to each of the leaf node devices, wherein the reported data corresponding to the gateway device corresponds to a wave band alone, and the time slot of each of the uplink data for transmission is the same as the time slot for reception in the wave band.

[0018] When the wave bands corresponding to two or more of the report data are the same, the time slots corresponding to the report data in the wave band are determined according to the leaf node devices from which the report data originates.

[0019] According to the technical means, the wave band is allocated to the report data of the gateway device, and the wave band is allocated to each report data except the report data of the gateway device according to the leaf node device from which the report data originates, so that the transmission requirements of different types of data are ensured.

[0020] Optionally, in an embodiment of the present application, the master node device comprises:

[0021] The master analysis module is configured to determine the data processing modules corresponding to the report data according to the wave bands or the wave bands and time slots from which the report data originates.

[0022] The master transmission module is configured to transmit the report data to the corresponding data processing modules.

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

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

[0025] The master mapping module is configured to obtain the processing data output by the data processing modules, determine the wave bands or the wave bands and time slots corresponding to the processing data according to the data processing modules from which the processing data originates.

[0026] The processing data is mapped to the corresponding wave bands or wave bands and time slots for transmission to the slave node devices, wherein the processing data and the report data correspond to the same wave bands or wave bands and time slots.

[0027] According to the technical means, the master node device in the embodiment of the present application can map the processing data to the corresponding wave bands or wave bands and time slots based on the data processing modules from which the processing data originates, and return the processing data to the slave node devices, so that the slave node devices can correctly analyze the processing data of the leaf node devices based on the wave bands or wave bands and time slots.

[0028] Optionally, in an embodiment of the present application, the slave node device comprises:

[0029] from the analysis module, configured to acquire a plurality of the processing data transmitted by the master node device, and determine the leaf node device corresponding to each of the processing data according to the wave band or wave band and time slot from which each of the processing data is sourced;

[0030] from the transmission module, configured to transmit each of the processing data to the leaf node device corresponding thereto.

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

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

[0033] map each of the downlink data to a different time slot for transmission to the gateway device according to the time slot from which each of the downlink data is sourced.

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

[0035] Optionally, in an embodiment of the present application, the gateway device further comprises:

[0036] a leaf analysis module, configured to acquire a plurality of the downlink data transmitted by the slave node device, and determine the vehicle-mounted device corresponding to each of the downlink data according to the time slot from which each of the downlink data is sourced, wherein the downlink data and the uplink data corresponding thereto correspond to the same time slot;

[0037] a leaf transmission module, configured to transmit each of the downlink data to the vehicle-mounted device corresponding thereto.

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

[0039] The second aspect embodiment of the present application provides a vehicle-mounted data transmission method, which comprises:

[0040] acquiring the reporting data of a plurality of leaf node devices corresponding to the slave node device;

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

[0042] map each of the reported data to the wave band or the wave band and the time slot corresponding to the reported data respectively to transmit to the master node device.

[0043] According to the above 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, aggregates data of a plurality of leaf node devices to the slave node device, and then transmits the aggregated data to the master node device through a single optical cable by time division and wave division multiplexing, thereby effectively reducing the weight of the vehicle body and the cost of the wire harness.

[0044] Optionally, in an 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 respectively, and each of the uplink data is received based on a different time slot. The method according to each of the leaf node devices to determine a wave band or a wave band and a time slot to which each of the reported data corresponds comprises:

[0045] determining, according to each of the leaf node devices, a wave band to which each of the reported data corresponds, wherein the reported data corresponding to the gateway device corresponds to a wave band alone, and the time slot of each of the uplink data transmission is the same as the time slot of each of the uplink data reception in the wave band;

[0046] when the wave bands corresponding to two or more of the reported data are the same, determining, according to the leaf node devices from which each of the reported data originates, a time slot to which each of the reported data corresponds in the wave band.

[0047] According to the above technical means, when allocating a wave band, the embodiment of the present application allocates a wave band to the reported data of the gateway device alone, and for each of the reported data other than the reported data of the gateway device, determines whether the reported data shares a wave band or not according to the leaf node device from which the reported data originates, to ensure the transmission requirements of different types of data.

[0048] Optionally, in an embodiment of the present application, the method further comprises:

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

[0050] Determining the leaf node devices corresponding to the respective 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 plurality of downlink data, and the transmitting each piece of processed data to the 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 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] The third aspect of the present application provides a terminal device, which includes a memory, a processor, and an in-vehicle data transmission program stored in the memory and runnable on the processor. When the processor executes the in-vehicle data transmission program, it implements the steps of the in-vehicle data transmission method as described in any one of the above items.

[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 application uses a three-level architecture of master node device, slave node device and leaf node device to converge the data of multiple leaf node devices to the slave node device, and then transmit the converged data to the master node device through a single optical cable by time division and wavelength division multiplexing. The time slot and wavelength band mapping rules of the uplink and downlink directions are consistent, effectively reducing the weight of the vehicle body and the cost of the wire harness.

[0060] (2) The application adopts time division multiplexing data transmission method between the slave node device and the gateway device. The time slot mapping rules of the uplink and downlink directions are consistent, and the data of each vehicle-mounted device can be shared for transmission.

[0061] (3) When allocating wave bands, the application allocates a wave band for the reported data of the gateway device; for each reported data except the gateway device, it determines whether it is a dedicated wave band or a shared wave band according to the source leaf node device, to ensure the transmission needs of different types of data.

[0062] Additional aspects and advantages of the application will be in part apparent and in part pointed out hereinafter in the description. BRIEF DESCRIPTION OF DRAWINGS

[0063] The above and / or additional aspects and advantages of the application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0064] Figure 1 The figure is the architecture diagram of the vehicle-mounted data transmission system of the embodiment of the application;

[0065] Figure 2 The figure is the traditional vehicle-mounted network architecture diagram of the embodiment of the application;

[0066] Figure 3 The figure is the data transmission method schematic diagram of the master node device and the slave node device of the embodiment of the application;

[0067] Figure 4 The figure is the data transmission schematic diagram of the gateway device of the embodiment of the application;

[0068] Figure 5 The figure is the data transmission schematic diagram of the non-gateway device of the embodiment of the application;

[0069] Figure 6 The figure is the internal module schematic diagram of the master node device, the slave node device and the gateway device of the embodiment of the application;

[0070] Figure 7 The figure is the flow schematic diagram of the vehicle-mounted data transmission method of the embodiment of the application;

[0071] Figure 8An internal structure principle block diagram of a terminal device provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0072] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar components are denoted by the same or similar reference numerals throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0073] A vehicle-mounted data transmission system, method, terminal, and storage medium are described below 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 art is directly connected to the central computing unit through a coaxial cable, resulting in high vehicle body weight and harness cost, the present application provides a vehicle-mounted data transmission system, which includes a master node device, a plurality of slave node devices, and a plurality of leaf node devices corresponding to each slave node device; each leaf node device is configured to transmit reported data to the corresponding slave node device; each slave node device is configured to obtain the reported data of each leaf node device, determine the wave band or wave band and time slot corresponding to each reported data according to each leaf node device, wherein the wave band corresponding to each reported data is determined based on the corresponding leaf node device, and when the wave bands corresponding to two or more reported data are the same, each reported data corresponds to a different time slot of the wave band; each reported data is respectively mapped to the corresponding wave band or wave band and time slot for transmission to the master node device; and the master node device is configured to obtain a plurality of reported data transmitted by each slave node device. The present application uses a three-level architecture of master node device, slave node device, and leaf node device to converge the data of a plurality of leaf node devices to the slave node device, and then transmit the converged data to the master node device through a single optical cable by time division and wave division multiplexing, thereby effectively reducing the vehicle body weight and harness cost.

[0074] Specifically, Figure 1 An architecture diagram of a vehicle-mounted data transmission system provided by an embodiment of the present application is shown.

[0075] As Figure 1 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 slave node device;

[0077] Each leaf node device 300 is configured to transmit reported data to the corresponding slave node device.

[0078] Each of the slave node devices 200 is configured to acquire the reported data of each leaf node device, and determine a wave band or a wave band and a time slot corresponding to each reported data according to each leaf node device, wherein the wave band corresponding to each reported data is determined based on the leaf node device corresponding to the reported data, and when the wave bands corresponding to two or more reported data are the same, each reported data corresponds to a different time slot of the same wave band.

[0079] Each reported data is mapped to the corresponding wave band or wave band and time slot for transmission to the master node device.

[0080] The master node device 100 is configured to acquire the reported data transmitted by each slave node device.

[0081] Specifically, the networking architecture of the vehicle-mounted transmission system is optimized to a three-level architecture, the highest level is the master node device deployed in the vehicle-mounted controller / central computing unit, the middle level is the slave node device deployed in the regional controller, and the last level is 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 each leaf node device corresponding thereto 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 each slave node device and each leaf node device are connected by a single optical fiber. The leaf node device transmits its reported data to the corresponding slave node device through the optical fiber, and the slave node device transmits the reported data of each leaf node device collected by time division multiplexing and wave division multiplexing to the master node device through an optical fiber. The three-level architecture of the master node device, the slave node device and the leaf node device is used to collect the data of multiple leaf node devices to the slave node device, and then the slave node device transmits the collected data to the master node device through a single optical cable by time division and wave division multiplexing, which can reduce the amount of cable used, thereby effectively reducing the weight of the vehicle body and the cost of the wire harness.

[0082] In one embodiment, 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 each vehicle-mounted device, and the gateway device comprises:

[0083] A leaf mapping module is configured to acquire the uplink data of each vehicle-mounted device, and determine a time slot corresponding to each uplink data according to each vehicle-mounted device.

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

[0085] Leaf node devices include two types, gateway devices and non-gateway devices. If the leaf node device is a gateway device, the gateway device can connect multiple vehicle-mounted devices, such as MCUs / ECUs, actuators, and the like, in a point-to-multipoint manner, wherein the MCUs / ECUs use CAN, CAN FD, and Ethernet protocols for transmission, and the physical layer is an electrical signal. The gateway device receives uplink data from multiple vehicle-mounted devices and uniformly transmits the uplink data to the corresponding slave node device. Specifically, as shown in Figure 6 for the uplink direction, the leaf mapping module in the gateway device receives uplink data transmitted from each vehicle-mounted device. Then, according to the mapping relationship between different vehicle-mounted devices and different time slots that is pre-set and stored, the uplink data corresponding to each time slot is determined according to the vehicle-mounted device from which each uplink data is respectively sourced, and each uplink data is respectively mapped to the corresponding time slot, so that each uplink data is shared to be transmitted to the slave node device through time division multiplexing via an optical fiber.

[0086] For example, as shown in Figure 1 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 MCUs / ECUs into different time slots for transmission.

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

[0088] A protocol conversion module is configured to convert the obtained data in a non-target protocol into data corresponding to a target protocol.

[0089] An optoelectronic conversion module is configured to convert an electrical signal into an optical signal.

[0090] Specifically, as shown in Figure 4 The gateway device includes a protocol conversion module responsible for uniform protocol types, which is only used for protocol conversion of input data that needs protocol conversion. For example, an MCU can be used to convert received CAN and CAN FD data into an Ethernet protocol. In addition, the gateway device includes an optoelectronic conversion module, which is responsible for mapping electrical signal data received from different vehicle-mounted devices into a specific time slot in a waveband for transmission, thereby simultaneously satisfying data transmission of optical signals and non-optical transmission devices.

[0091] In an 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 is irrelevant to the physical characteristics of the optical cable. It is fully compatible with existing TSN, CAN, CAN-FD, LIN, and the like protocols, without affecting the existing functions.

[0092] In an embodiment, as shown in 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 is used to determine the bands corresponding to the respective 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 slot of each uplink data transmission in the band is the same as the time slot of the reception;

[0095] When the bands corresponding to two or more of the 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 originate.

[0096] Specifically, if Figure 6 As shown, for the uplink direction, the band time slot determination module determines the processing data of the gateway device. Since each uplink data is transmitted between the slave node device and the gateway device in a time division multiplexing manner, 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 processed data other than the gateway device, the band time slot determination module first determines its corresponding band based on the leaf node device from which the processed data comes. If the band is occupied alone, only band mapping needs to be performed subsequently; if the band is shared with other processed data, it is also necessary to determine the specific time slot of the band occupied by it based on the leaf node device from which the processed data comes, for subsequent mapping of bands and time slots.

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

[0098] A main parsing module, configured to determine a data processing module 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 the corresponding data processing module. The main transmission module then 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, configured to obtain the processed data outputted by each of the data processing modules, and determine the wavelength band or wavelength band and time slot to which each of the processed data corresponds based on the data processing module from which the processed data originates;

[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, if 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 and downlink directions 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 configured to obtain the plurality of processed data transmitted by the master node device, the band or band and time slot from which each processed data originates, and determine the leaf node device corresponding to each 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, if Figure 6 As shown, for the downlink direction, the slave parsing module first obtains multiple processed data transmitted by the master node device. Then, based on the pre-set and stored mapping relationship between different bands or bands and time slots and different leaf node devices (the mapping relationship principle for the uplink and downlink directions 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, completing the distribution process of the processed data.

[0109] In an embodiment, when the leaf node device corresponding to the processing data is a gateway device, the processing data is determined based on a plurality of downlink data, and the data transmission module is further configured to:

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

[0111] Specifically, as shown in Figure 6 for the processing data of the gateway device, the processing data includes downlink data of a plurality of vehicle-mounted devices, and therefore the data transmission module needs to perform time slot mapping when transmitting the processing data to the gateway device. The time slot for each downlink data transmission is determined based on the time slot at which the downlink data is received from the node device. The mapping relationship between the downlink direction and the uplink direction is consistent, so that the gateway device can determine the vehicle-mounted devices to which each of the downlink data corresponds based on the time slot when receiving the downlink data.

[0112] In an embodiment, the gateway device further comprises:

[0113] a leaf analysis module configured to acquire a plurality of the downlink data transmitted by the slave node device, and determine the vehicle-mounted device to which each of the downlink data corresponds according to the time slot of each of the downlink data sources, wherein the downlink data and the uplink data corresponding to each other correspond to the same time slot;

[0114] a leaf transmission module configured to transmit each of the downlink data to the corresponding vehicle-mounted device.

[0115] Specifically, as shown in Figure 6 for the downlink direction, the leaf analysis module first acquires the processing data transmitted by the slave node device, which includes downlink data corresponding to each vehicle-mounted device. Then, based on the mapping relationship between different time slots and different vehicle-mounted devices (the principle of the mapping relationship between the downlink direction and the uplink direction is consistent) which is pre-set and stored, the leaf analysis module determines to which vehicle-mounted device each of the downlink data belongs based on the time slot. Finally, the leaf transmission module transmits each of the 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 needs to be protocol-converted, the downlink data can be distributed to the corresponding vehicle-mounted device after protocol conversion in the leaf node device.

[0116] In an embodiment, for the uplink direction, the master node device comprises an input port corresponding to each of the slave node devices and an output port connected to each of the data processing modules, wherein the wave band or the wave band and the time slot of the input port of each of the slave node devices have a pre-set mapping relationship with 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 respectively and an output port connected with the master node device, wherein the wave band or the wave band and the time slot of the input port and the output port of each of the leaf node devices have a preset mapping relationship;

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

[0119] Specifically, in the embodiment, the master node device, each of the slave node devices and each of the leaf node devices all adopt ports to receive and transmit optical signals, the port receiving the optical signals is an input port, and the port transmitting the optical signals is an output port. In the master node device, in order to accurately transmit each of the reported data to the corresponding data processing module, a mapping relationship between the wave band or the wave band and the time slot of the input port of each of the slave node devices and the output port of each of the data processing modules is preset. In the slave node device, in order to transmit the reported data of each of the leaf node devices to the master node device together in a time division multiplexing and wave division multiplexing manner, a mapping relationship between the wave band or the wave band and the time slot of the input port of each of the leaf node devices and the output port is preset. In the gateway device, in order to transmit the uplink data of each of the vehicle-mounted devices to the slave node device together in a time division multiplexing manner, a mapping relationship between the time slot of the input port of each of the vehicle-mounted devices and the output port is preset. Each of the mapping relationships can be configured and negotiated by using a static configuration or a dynamic negotiation method, and the specific configuration and negotiation method is not limited

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

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

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

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

[0124] The advantages of the application are:

[0125] 1) The three-level networking architecture of the application can converge the data of the leaf node devices such as cameras, laser radars and millimeter wave radars to a single optical fiber for transmission, compared with the traditional network architecture directly connected to the central computing unit, the cable length is greatly reduced, effectively reducing the vehicle body weight and wire harness cost.

[0126] 2) The CAN and CAN-FD data with high delay requirement in the application can be directly mapped to a certain optical wave or time slot of the optical cable for transmission, compared with the traditional architecture, the coaxial cable for transmitting CAN and CAN-FD between regional controllers and between regional controllers and the central computing unit is saved, further reducing the vehicle body weight and wire harness cost, while ensuring the transmission requirements of CAN and CAN-FD which require high transmission delay and determinacy.

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

[0128] 4) The three-level networking architecture of the application adopts a transparent transmission mode, is fully compatible with the TSN, CAN, CAN-FD, LIN and other protocols in the existing architecture, and does not affect the existing functions.

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

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

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

[0132] Step S100, obtaining the reported data of a plurality of leaf node devices corresponding to a slave node device.

[0133] Specifically, the slave node device can be deployed in the area controller to obtain the reported data of a plurality of leaf node devices corresponding thereto. The leaf node device can be a screen, a camera, a screen laser radar, a millimeter wave radar, and the like vehicle-mounted device, which transmits data by using LVDS and Ethernet protocols, and the physical layer is optical signal. When there are multiple leaf node devices, the relationship between the slave node device and the leaf node device is point-to-multipoint. Single optical fiber is used for data transmission between the slave node device and the leaf node device. Replacing electrical signal with optical signal for data transmission can reduce the amount of cables used, thereby reducing the weight of the vehicle body and the cost of wire harness.

[0134] Step S200, determining the wave band or wave band and time slot corresponding to each reported data according to each leaf node device, wherein the wave band corresponding to each reported data is determined based on the leaf node device corresponding thereto, and when the wave bands corresponding to two or more reported data are the same, each reported data corresponds to different time slots of the wave band.

[0135] Specifically, the reported data of a plurality of leaf node devices connected to a slave node device is converged at the slave node device, and is uniformly transmitted to a master node device by the slave node device. Single optical fiber is used for data transmission in the uplink direction between the slave node device and the master node device. Therefore, time division multiplexing + wave division multiplexing is used for physical layer transmission between the master node device and the slave node device to realize the transmission of the reported data of each leaf node device by sharing one optical fiber. In actual application scenarios, the slave node device determines the wave band used for transmitting each reported data to the master node device according to the leaf node device from which each reported data is sourced. The reported data of a part of leaf node devices is transmitted by using a wave band alone, and the reported data of another part of leaf node devices is transmitted by sharing the same wave band, and the multiple reported devices sharing the wave band use different time slots of the wave band for transmission.

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

[0137] In an 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 respectively, each of the uplink data is received based on a different time slot, and the wave band or the wave band and the time slot corresponding to each of the reported data are determined according to each of the leaf node devices, including:

[0138] determining the wave band corresponding to each of the reported data according to each of the leaf node devices, wherein the reported data corresponding to the gateway device corresponds to a separate wave band, and the time slot of each of the uplink data transmission is the same as the time slot of each of the uplink data reception in the wave band;

[0139] when the wave bands corresponding to two or more of the reported data are the same, determining the time slot corresponding to each of the reported data in the wave band according to the leaf node device from which each of the reported data originates.

[0140] Specifically, the gateway device can receive uplink data of a plurality of vehicle-mounted devices and uniformly transmit the uplink data to the corresponding slave node device. Since a single optical fiber is used for data transmission between the slave node device and each leaf node device, in order to realize sharing of one optical fiber by each uplink data, the embodiment uses time division multiplexing to transmit each uplink data between the slave node device and the gateway device. The gateway device maps each uplink data of a vehicle-mounted device to a different time slot and transmits the uplink data to the slave node device, and the slave node device receives each uplink data based on a different time slot. In the slave node device, the processing data of the gateway device is transmitted using a separate wave band, and the time slot mapping rule during transmission is consistent with the time slot mapping rule during reception. In other words, in the slave node device, time slot mapping is no longer performed on the data of the gateway node, and only wave band mapping is performed. For each processing data other than the gateway device, the wave band is first determined based on the leaf node device from which the processing data originates, and if the wave band is exclusively occupied, only wave band mapping is subsequently performed; if the wave band is shared with other processing data, the specific time slot needs to be determined based on the leaf node device from which the processing data originates, for subsequent wave band and time slot mapping.

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

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

[0143] determine a wave band corresponding to each of the leaf node devices according to the device category and / or the transmission bandwidth requirement data of each of the leaf node devices;

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

[0145] Specifically, when performing wave band allocation, the embodiment needs to determine, according to the device category and / or the transmission bandwidth requirement of each leaf node device, whether the reporting data of the leaf node device is to be transmitted by exclusively using one wave band or by sharing one wave band with the reporting data of other leaf node devices. Thus, the transmission requirements of different types of data are guaranteed while the vehicle body weight and the wiring harness cost are reduced.

[0146] In one embodiment, the reporting data of the gateway device corresponds to one wave band individually; the reporting data of the leaf node devices whose collected data are periodic data share one wave band; and the reporting data of the leaf node devices whose transmission bandwidth requirements are greater than a preset value correspond to one wave band individually.

[0147] Specifically, for the gateway device, since the gateway device and the slave node device use time division multiplexing to transmit data, the embodiment sets that the slave node device uses one wave band individually to transmit the data of the gateway device to the master node device. For the leaf node devices whose collected data are periodic data, in order to save transmission resources, the embodiment sets that the reporting data of these leaf node devices in the slave node device share one wave band to be transmitted to the master node device. For the leaf node devices with large transmission bandwidth requirements, in order to guarantee transmission quality, the embodiment sets that the reporting data of these leaf node devices in the slave node device also use one wave band individually to be transmitted. The embodiment can effectively utilize wave band resources while meeting the transmission requirements of camera, laser radar, millimeter wave radar, CAN, LIN and other types of data with different rates, time delays and periodic characteristics.

[0148] Step S300, map each of the reporting data to a wave band or a wave band and a time slot corresponding to the reporting data respectively to be transmitted to the master node device.

[0149] Specifically, each reporting data is mapped to a wave band or a specific time slot of a wave band corresponding to the reporting data respectively, and is transmitted to the master node device for data processing through an optical fiber, so that the use amount of cables is reduced through optical signal transmission, thereby reducing the vehicle body weight and the wiring harness cost.

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

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

[0152] determine the leaf node device corresponding to each of the processing data according to a wave band or a wave band and a time slot from which each of the processing data originates, wherein the processing data corresponding to each other correspond to the same wave band or wave band and time slot as the reported data;

[0153] transmit each of the processing data to the leaf node device corresponding thereto.

[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 the uplink direction and the downlink direction correspond to different optical fibers. After the master node device acquires each of the reported data, the master node device transmits each of the reported data to a central computing unit for processing, and then returns the processing data of each of the reported data to the slave node device. After the slave node device receives the data returned by the master node device, each of the processing data is parsed based on the same wave band or wave band and time slot as each of the reported data, and the leaf node device corresponding to each of the processing data is determined. Finally, each of the processing data is transmitted to the leaf node device corresponding thereto, thereby completing the distribution process of the processing data.

[0155] In an embodiment, when the leaf node device corresponding to the processing data is a gateway device, the processing data is determined based on a plurality of downlink data, and the transmission of each of the processing data to the leaf node device corresponding thereto comprises:

[0156] For the processing data of the gateway device, each of the downlink data is mapped to a different time slot to be transmitted to the gateway device according to the time slot from which each of the downlink data originates, wherein the downlink data corresponding to each other correspond to the same time slot as the uplink data.

[0157] Specifically, the gateway device and the slave node device use a time division multiplexing manner for data transmission in the uplink direction and the downlink direction, 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 processing data issued by the slave node device, the gateway device can parse the downlink data corresponding to each of the uplink data based on the time slot of each of the uplink data, and transmit the downlink data to the corresponding vehicle-mounted device.

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

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

[0160] The processor 802 implements the vehicle-mounted data transmission method provided in the above embodiments when executing a program.

[0161] Further, the terminal device further comprises:

[0162] The communication interface 803 is configured to communicate between the memory 801 and the processor 802.

[0163] The memory 801 is configured to store a computer program capable of being executed on the processor 802.

[0164] The memory 801 can include a high-speed RAM memory, and can also include a non-volatile memory, for example, at least one disk memory.

[0165] If the memory 801, the processor 802 and the communication interface 803 are independently implemented, the communication interface 803, the memory 801 and the processor 802 can be connected to each other through a bus and complete communication between 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, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 8 In the figure, only one thick line is used to represent the bus, but it 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 complete communication between each other through an internal interface.

[0167] The processor 802 can 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] The embodiments also provide a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the vehicle-mounted data transmission method as above.

[0169] In the description of the application, reference to "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment or example. Furthermore, the described specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. In addition, the usage of "N" means at least two, for example, two, three or the like, unless explicitly stated otherwise.

[0170] Furthermore, the terms "first", "second", or the like, are used merely as a designation of certain elements or features of the application, and do not imply or connote relative importance or a specific order of precedence. Thus, features defined with "first", "second", etc. can include at least one of the features, either explicitly or implicitly.

[0171] Any process or method descriptions or blocks in flow charts or otherwise described herein represent embodiments of modules, segments, or portions of code which include one or more executable instructions for implementing specific logic functions or steps, and alternate implementations are possible. In some embodiments, the processes or methods described in flow charts or otherwise described herein are not necessarily performed in the order shown or discussed, including, for example, performing or depending from other operations or stages, in parallel, in reverse order, or in a variety of orders.

[0172] The logic and / or steps represented in the flowcharts and / or described herein, for example, can be considered as a list of instructions to implement a logical function, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor- containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or a combination thereof. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a product of the manufacturing and / or processing. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electronic connection having one or N wires (electronic devices), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or another suitable medium upon which the program can be printed, because the program can be electronically captured, via the optical scan of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in the computer memory.

[0173] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware and in another embodiment, any of the following technologies, known in the art, or their combinations can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

[0174] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiments can be completed by programs instructing related hardware, and the programs can be stored in a computer-readable storage medium. When the program is executed, it includes one of the steps of the method embodiments or a combination thereof.

[0175] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing module, or each of the units can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0176] The storage medium mentioned above can 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 should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to 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 configured to transmit reported data to the corresponding slave node device; The slave node device parses and distributes the processing data of each leaf node device based on the band or the band and time slot, including: pre-setting and storing mapping relationships between different bands or bands and time slots and different leaf node devices, the mapping relationship principle of the uplink direction and the downlink direction is consistent; parsing the processing data of each leaf node device based on the band or the band and time slot; Each of the slave node devices is configured to obtain the reported data from 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 to which it corresponds. When two or more of the reported data correspond to the same band, 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 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, wherein: 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: a leaf mapping module, configured to obtain the uplink data of each of the on-board devices, and determine a time slot corresponding to each of the uplink data according to each of the on-board devices; 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 vehicle-mounted device corresponding to it, and each of the uplink data corresponds to a different time slot.

3. The vehicle-mounted data transmission system according to claim 2, wherein: The slave node device includes: A band time slot determination module is used to determine the bands corresponding to the respective 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 slot of each uplink data transmission in the band is the same as the time slot of the reception; When the bands corresponding to two or more of the 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 originate.

4. The vehicle-mounted data transmission system according to claim 3, wherein: The master node device includes: A main parsing module, configured to determine a data processing module 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 reported data to the corresponding data processing module respectively.

5. The vehicle-mounted data transmission system according to claim 4, wherein: The master node device also includes: a main mapping module, configured to obtain the processed data outputted by each of the data processing modules, and determine the wavelength band or wavelength band and time slot to which each of the processed data corresponds based on the data processing module from which the processed data originates; 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 includes: A slave parsing module is configured to obtain the plurality of processed data transmitted by the master node device, and determine the leaf node device corresponding to each of the processed data according to the band or band and time slot of the source of each of the 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, wherein: 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 slave transmission module is further configured to: According to the time slot of each source of the downlink data, each 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, wherein: The gateway device further includes: a leaf parsing module, configured to obtain the plurality of downlink data transmitted from the slave node device, and determine the vehicle-mounted devices corresponding to the respective downlink data according to the time slots from which the respective downlink data originate, 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: Obtaining reported data from a plurality of leaf node devices corresponding to a slave node device; the slave node device parses and distributes the processed data of each leaf node device based on the band or the band and time slot, including: pre-set and stored mapping relationships between different bands or bands and time slots and different leaf node devices, the mapping relationships in the uplink direction and the downlink direction being consistent in principle; parsing the processed data of each leaf node device based on the band or the band and time slot; Determining, according to each leaf node device, a band or a band and a time slot corresponding to each reported data, wherein the band corresponding to each reported data is determined based on the leaf node device corresponding to itself, and when two or more reported data correspond to the same band, each 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, wherein: 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: Determining, according to each leaf node device, a band corresponding to each of the reported data, wherein the reported data corresponding to the gateway device corresponds to a single band, and a time slot for transmitting each of the uplink data in the band is the same as a time slot for receiving the data; When the bands corresponding to two or more of the 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 originate.

11. The vehicle-mounted data transmission method according to claim 10, wherein: The method further comprises: Obtaining processing data corresponding to each of the reported data transmitted by the master node device; Determining the leaf node devices corresponding to the respective 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, wherein: 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 transmitting each processed data to the corresponding leaf node device includes: 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 according to 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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