Message transmission method and vehicle-mounted gateway

Abstract

The embodiment of the invention discloses a message transmission method and a vehicle-mounted gateway. In the application, a vehicle-mounted gateway firstly receives a first message and obtains a first message type of the first message; then, the vehicle-mounted gateway obtains a first operation state of the vehicle, and determines a corresponding first priority division based on the first operation state, and the first priority division comprises one or more message types corresponding to each priority; the vehicle gateway then determines a first priority of the first message based on the first message type and the first priority partition, the first priority being a high priority or a non-high priority. If yes, if the first priority is a high priority, the vehicle-mounted gateway forwards the first message in a first transmission mode, and the first transmission mode is used for guaranteeing high reliability; if the first priority is not the high priority, the vehicle-mounted gateway forwards the first message in a second transmission mode, and the second transmission mode is used for ensuring high timeliness.

Description

Technical Field

[0001] The present application relates to the field of communications, and in particular to a message transmission method and a vehicle-mounted gateway. Background Art

[0002] In-vehicle Ethernet is an extension of traditional Ethernet and a key supporting technology for today’s in-vehicle communications. Traditional Ethernet solves the problem of shared network infrastructure and data connections for terminal devices, but it cannot achieve real-time and reliable data transmission between terminal devices.

[0003] Currently, the 802.1CB protocol in the Time-Sensitive Networking (TSN) protocol cluster widely used in automotive Ethernet proposes to use redundant transmission methods for high-priority data, while the real-time Ethernet (Time-Triggered Ethernet, TTEthernet) as a candidate uses time triggering to achieve high-priority data transmission, thereby achieving more reliable in-vehicle communication services.

[0004] However, neither TSN nor TTEthernet considers the differences in service priority and reliability of vehicles in different states, and ignores the transmission requirements of low-priority services, resulting in the inability to guarantee the latency and reliability of in-vehicle communication services. Summary of the invention

[0005] The embodiments of the present application provide a message transmission method and a vehicle-mounted gateway, which are used to forward messages in different transmission modes according to different operating states of the vehicle.

[0006] The first aspect of the present application provides a message transmission method for a vehicle gateway in a vehicle. In the present application, the vehicle gateway first receives a first message and obtains a first message type of the first message. Next, the vehicle gateway obtains a first operating state of the vehicle, and determines a corresponding first priority division based on the first operating state, and the first priority division includes one or more message types corresponding to each priority. Then, the vehicle gateway determines a first priority of the first message based on the first message type and the first priority division, and the first priority is a high priority or a non-high priority. Then, if the first priority is a high priority, the vehicle gateway forwards the first message using a first transmission mode, and the first transmission mode is used to ensure high reliability, thereby ensuring the transmission reliability of high-priority messages; if the first priority is a non-high priority, the vehicle gateway forwards the first message using a second transmission mode, and the second transmission mode is used to ensure high timeliness, thereby ensuring the transmission timeliness of low-priority messages.

[0007] In some possible implementations, the first message type is warning information, control data, environmental data in all directions, general precision time protocol gPTP messages, link layer link discovery protocol LLDP messages, vehicle-to-external information exchange V2X data, status data, body domain control data, audio and video entertainment domain control data, audio and video entertainment system data, over-the-air download technology OTA update, offline map download, log download or Internet data. By determining the data flow to which the different message types belong, the corresponding priority can be determined.

[0008] In some possible implementations, the first operating state is forward, reverse, left turn, right turn or stationary, so different priority levels can be determined for vehicles in different operating states.

[0009] In some possible implementations, in the first priority division, the priority of messages of a message type related to the first operating state is higher than the priority of messages of a message type not related to the first operating state, so that messages of a message type related to the first operating state are processed first, thereby ensuring the reliability of important services.

[0010] In some possible implementations, the first transmission mode is a redundant backup transmission mode, thereby ensuring high reliability of high-priority services.

[0011] In some possible implementations, the second transmission mode is a multi-mechanism bundled frame mode, thereby ensuring high timeliness of non-high priority services.

[0012] A second aspect of the present application provides a vehicle-mounted gateway for use in a vehicle, comprising:

[0013] A transceiver module receives a first message and obtains a first message type of the first message;

[0014] A processing module, configured to obtain a first operating state of the vehicle;

[0015] The processing module is further used to determine a corresponding first priority classification based on the first operating state, where the first priority classification includes one or more message types corresponding to each priority;

[0016] The processing module is further configured to determine a first priority of the first message based on the first message type and the first priority classification, wherein the first priority is a high priority or a non-high priority;

[0017] The transceiver module is further configured to, if the first priority is the high priority, forward the first message using a first transmission mode, wherein the first transmission mode is used to ensure high reliability;

[0018] The transceiver module is further configured to, if the first priority is the non-high priority, adopt a second transmission mode to forward the first message, and the second transmission mode is configured to ensure high timeliness.

[0019] In some possible implementations, the first message type is warning information, control data, environmental data in all directions, general precision time protocol gPTP messages, link layer link discovery protocol LLDP messages, vehicle-to-external information exchange V2X data, status data, body domain control data, audio and video entertainment domain control data, audio and video entertainment system data, over-the-air download technology OTA update, offline map download, log download or Internet data.

[0020] In some possible implementations, the first operating state is forward, reverse, left turn, right turn or stationary.

[0021] In some possible implementations, in the first priority classification, a priority of a message of a message type related to the first operating state is higher than a priority of a message of a message type unrelated to the first operating state.

[0022] In some possible implementations, the first transmission mode is a redundant backup transmission mode.

[0023] In some possible implementations, the second transmission mode is a multi-mechanism bundled frame mode.

[0024] A third aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute any one of the methods described in the first aspect.

[0025] A fourth aspect of the present application provides a computer program product, which includes computer execution instructions, which are stored in a computer-readable storage medium; at least one processor of a device can read the computer execution instructions from the computer-readable storage medium, and at least one processor executes the computer execution instructions so that the device implements the method provided by the above-mentioned first aspect or any possible implementation of the first aspect.

[0026] In a fifth aspect, the present application provides a communication device, which may include at least one processor, a memory, and a communication interface. At least one processor is coupled to the memory and the communication interface. The memory is used to store instructions, at least one processor is used to execute the instructions, and the communication interface is used to communicate with other communication devices under the control of at least one processor. When the instructions are executed by at least one processor, the at least one processor executes the method in the first aspect or any possible implementation of the first aspect.

[0027] A sixth aspect of the present application provides a chip system, which includes a processor for supporting the implementation of the functions involved in the above-mentioned first aspect or any possible implementation method of the first aspect.

[0028] In a possible design, the chip system may also include a memory, which is used to store necessary program instructions and data. The chip system may be composed of a chip, or may include a chip and other discrete devices.

[0029] Among them, the technical effects brought about by the second to sixth aspects or any possible implementation methods thereof can refer to the technical effects brought about by the first aspect or different possible implementation methods of the first aspect, and will not be repeated here.

[0030] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1-1 A schematic diagram of the structure of an in-vehicle Ethernet provided in an embodiment of the present application;

[0032] Figure 1-2 A schematic diagram of another structure of an in-vehicle Ethernet provided in an embodiment of the present application;

[0033] Figure 1-3 A schematic diagram of another structure of an in-vehicle Ethernet provided in an embodiment of the present application;

[0034] Figure 1-4 A schematic diagram of message transmission between two vehicle-mounted gateways provided in an embodiment of the present application;

[0035] Figure 2-1 A schematic diagram of a flow chart of a message transmission method provided in an embodiment of the present application;

[0036] Figure 2-2 This is an example diagram of redundant backup transmission in this application;

[0037] Figure 2-3 This is a schematic diagram of transmission based on EtherCAT cluster frames in this application;

[0038] Figure 3 A schematic diagram of the structure of a vehicle gateway provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of the structure of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The embodiments of the present application provide a message transmission method and a vehicle-mounted gateway, which are used to forward messages in different transmission modes according to different operating states of the vehicle.

[0041] The embodiments of the present application are described below in conjunction with the accompanying drawings.

[0042] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0043] The embodiments of the present application can be applied to vehicle-mounted Ethernet. Figure 1-1 , which is a schematic diagram of the structure of the vehicle Ethernet 100, the vehicle Ethernet 100 includes a plurality of vehicle gateways 110 and a plurality of terminal devices 120. Each vehicle gateway 110 can be connected to at least one terminal device 120.

[0044] The terminal device 120 in the embodiment of the present application may also be referred to as: user equipment (UE), mobile station (MS), mobile terminal (MT), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent or user device, etc.

[0045] The terminal device 120 may be a device that provides voice / data connectivity to a user, such as a handheld device or a vehicle-mounted device with a wireless connection function. At present, some examples of terminal devices 120 are: mobile phones, tablet computers, laptop computers, PDAs, mobile internet devices (MID), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication functions, computing devices or other processing devices connected to wireless modems, vehicle-mounted devices, wearable devices, terminal devices in 5G networks or future evolved public land mobile communication networks (public land mobile The embodiments of the present application do not limit this.

[0046] As an example but not limitation, in the embodiment of the present application, the terminal device 120 can also be a wearable device. Wearable devices can also be called wearable smart devices, which are a general term for wearable devices that use wearable technology to intelligently design and develop wearable devices for daily wear, such as glasses, gloves, watches, clothing and shoes. A wearable device is a portable device that is worn directly on the body or integrated into the user's clothes or accessories. Wearable devices are not only hardware devices, but also realize powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include full-featured, large-sized, and independent of smartphones to achieve complete or partial functions, such as smart watches or smart glasses, as well as those that only focus on a certain type of application function and need to be used in conjunction with other devices such as smartphones, such as various types of smart bracelets and smart jewelry for vital sign monitoring.

[0047] In addition, in the embodiment of the present application, the terminal device 120 can also be a terminal device in the Internet of Things (IoT) system. IoT is an important part of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing human-machine interconnection and intelligent network of things-to-things interconnection. The terminal device 120 in the embodiment of the present application can also be a terminal device in machine type communication (MTC). The terminal device 120 of the present application can also be a vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit built into the vehicle as one or more components or units. The vehicle can implement the method of the present application through the built-in vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit. Therefore, the embodiment of the present application can be applied to the Internet of Vehicles, such as vehicle to everything (V2X), long-term evolution-vehicle (LTE-V), vehicle-to-vehicle (V2V), etc.

[0048] The vehicle gateway 110 in the embodiment of the present application is a core component in the automotive electronic and electrical architecture. As the data interaction hub of the vehicle Ethernet system, it can route signals according to actual needs. In addition to being able to transmit signals to the terminal device 120, the vehicle Ethernet 100 can also forward signals between various network segments through the vehicle gateway 110. Therefore, the terminal device 120 in the above-mentioned vehicle Ethernet system 100 can also be replaced with another vehicle gateway 110, which is not limited in the embodiment of the present application. However, for ease of description, the embodiment of the present application only takes the vehicle Ethernet system 100 shown in Figure 1 as an example for explanation. In some possible implementations, the vehicle gateway 110 can also be a terminal device. As long as a terminal device has the function of a gateway, it can be used as a vehicle gateway 110, which is not limited here.

[0049] Figure 1-2 Two vehicle-mounted gateways and four terminal devices are shown as an example, wherein each of the multiple vehicle-mounted gateways 110 can be connected to multiple different terminal devices 120, which is not limited in the embodiment of the present application. Optionally, the vehicle-mounted Ethernet 100 may also include other network entities such as a network controller and a connector, which is not limited in the embodiment of the present application.

[0050] In the present application, multiple vehicle gateways 110 are used as the network backbone network, and various data services in the vehicle Ethernet 100 pass through multiple vehicle gateways 110. In the embodiment of the present application, there is no strict requirement for the network topology of the multiple vehicle gateways 110, which can be a ring, a star, etc. The following is an example of a network topology in which multiple vehicle gateways 110 are ring-shaped.

[0051] Please refer to Figure 1-3 , there are 4 vehicle-mounted gateways, namely vehicle-mounted gateway 1, vehicle-mounted gateway 2, vehicle-mounted gateway 3 and vehicle-mounted gateway 4. These 4 vehicle-mounted gateways form a ring network Ethernet (Ethernet, ETH). The 4 vehicle-mounted gateways can be connected to multiple terminal devices in the vehicle, such as sensors, actuators, domain controllers and other electronic control units. The connection method can be various in-vehicle bus methods, which are not limited here. Exemplarily, the transmission rate between any two adjacent vehicle-mounted gateways in the Ethernet can be 100 megabits (M) / 1000M, which is not limited here. Exemplarily, it should be noted that the vehicle-mounted gateway is mainly used to realize communication forwarding, transmitting the signal of the upstream controller to multiple downstream terminal devices, or transmitting the signal of multiple downstream terminal devices to the upstream controller, which is not limited here.

[0052] In-vehicle Ethernet is an extension of traditional Ethernet and a key supporting technology for today’s in-vehicle communications. Traditional Ethernet solves the problem of shared network infrastructure and data connections for terminal devices, but it cannot achieve real-time and reliable data transmission between terminal devices.

[0053] Currently, the 802.1CB protocol in the Time-Sensitive Networking (TSN) protocol cluster widely used in automotive Ethernet proposes to use redundant transmission methods for high-priority data, while the real-time Ethernet (Time-Triggered Ethernet, TTEthernet) as a candidate uses time triggering to achieve high-priority data transmission, thereby achieving more reliable in-vehicle communication services.

[0054] However, neither TSN nor TTEthernet considers the differences in service priority and reliability of vehicles in different states, and ignores the transmission requirements of low-priority services, resulting in the inability to guarantee the latency and reliability of in-vehicle communication services.

[0055] To this end, the present application proposes a message transmission method and a vehicle-mounted gateway and a vehicle-mounted gateway, which are used to forward messages in different transmission modes according to different operating states of the vehicle.

[0056] In the present application, the vehicle gateway first receives the first message and obtains the first message type of the first message. Next, the vehicle gateway obtains the first operating state of the vehicle, and determines the corresponding first priority division based on the first operating state, and the first priority division includes one or more message types corresponding to each priority. Then, the vehicle gateway determines the first priority of the first message based on the first message type and the first priority division, and the first priority is a high priority or a non-high priority. Then, if the first priority is a high priority, the vehicle gateway forwards the first message using the first transmission method, and the first transmission method is used to ensure high reliability, thereby ensuring the transmission reliability of high-priority messages; if the first priority is a non-high priority, the vehicle gateway forwards the first message using the second transmission method, and the second transmission method is used to ensure high timeliness, thereby ensuring the transmission timeliness of low-priority messages.

[0057] For example, Figure 1-4 As shown, for a network topology with multiple vehicle gateways as a ring, high-priority messages can be transmitted using FRER, while non-high-priority messages can be transmitted using EtherCAT cluster frames.

[0058] The following takes the transmission of the first message between the vehicle gateway 1 and the vehicle gateway 2 as an example. When the first message is of high priority, FRER can be used for transmission. The higher the priority, the more redundant backup data there are, and the lower the priority, the less redundant backup data there are, thereby ensuring reliability; when the first message is not of high priority, EtherCAT cluster frames can be used for transmission, thereby ensuring its real-time performance.

[0059] See also Figure 2-1 As shown, the embodiment of the present application provides a message transmission method which mainly includes the following steps:

[0060] 201. The vehicle gateway receives a first message and obtains a first message type of the first message.

[0061] In some possible implementations, the first message may come from a terminal device in the vehicle or from other transmission devices outside the vehicle, which is not limited here.

[0062] In some possible implementations, the first message type may be warning information, control data, environmental data in all directions, general precise time protocol (gPTP) messages, link layer link discovery protocol (LLDP) messages, vehicle to everything (V2X) data, status data, vehicle body domain control data (such as vehicle window lifting, door locks), audio and video entertainment domain control data, audio and video entertainment system data, over-the-air technology (OTA) updates, offline map downloads, log downloads, Internet access data, etc., without limitation here.

[0063] 202. The vehicle gateway obtains a first operating state of the vehicle.

[0064] In the embodiment of the present application, the vehicle is the vehicle where the vehicle-mounted gateway is located, and the first operating state is the current operating state of the vehicle. In some possible implementations, the first operating state can be forward, reverse, turn left, turn right, or stationary, which is not limited here.

[0065] Exemplarily, when the vehicle is moving forward, the first operating state is forward; when the vehicle is moving backward, the first operating state is reverse; when the vehicle is moving to the left, the first operating state is turning left; when the vehicle is moving to the right, the first operating state is turning right; when the vehicle is not moving, the first operating state is stationary.

[0066] In some possible implementations, the vehicle gateway may obtain the first operating state of the vehicle based on a gyroscope or other device built into the vehicle, which is not limited here.

[0067] 203. The vehicle gateway determines a corresponding first priority classification based on the first operating state, where the first priority classification includes one or more message types corresponding to each priority.

[0068] In some possible implementations, in the first priority division, the priority of messages of a message type related to the first operating state is higher than the priority of messages of a message type unrelated to the first operating state.

[0069] In some possible implementations, the priority division is used to indicate the priority of various message types in multiple message classes. One or more operating states correspond to a priority division. Among them, the first operating state corresponds to the first priority division, then the vehicle gateway can determine the corresponding first priority division based on the first operating state.

[0070] In some possible implementations, the priority can be divided into high priority and low priority (non-high priority), or can be divided into high priority, medium priority and low priority (medium priority and low priority are collectively referred to as non-high priority), which is not limited here. Then, a message type can only have one priority. For example, the first message type belongs to high priority, but not to non-high priority.

[0071] In some possible implementations, the priority can be mapped by a priority code point (PCP) or other numerical mappings, which are not limited here. Taking PCP as an example, PCP is represented by 3 bits and can be used to represent 8 priorities from 0 to 7, where the higher the numerical value, the higher the priority, which is not limited here. In some possible implementations, a PCP value of 0 can be mapped to a low priority, a PCP value of 1 to 3 can be mapped to a medium priority, and a PCP value of 4 to 7 can be mapped to a high priority. In some possible implementations, a PCP value of 0 to 3 can be mapped to a low priority, and a PCP value of 4 to 7 can be mapped to a high priority, which is not limited here.

[0072] In some possible implementations, according to the characteristics of the in-vehicle Ethernet, in a priority division, different message types can be classified into different data flows, and different data flows have different PCP values. These data flows can include best effort flows (BE) (PCP=0), non-safety-related media flows (NSM) (PCP=1), non-safety-related control flows (NSC) (PCP=2), event information flows (EM) (PCP=3), network control flows (NC) (PCP=4), non-state-related secure media flows (NSSM) (PCP=5), state-related secure media flows (SSM) (PCP=6), and safety-related control flows (SC) (PCP=7).

[0073] It should be noted that some message types are related to the operating status of the vehicle, and some message types are not related to the operating status of the vehicle. Exemplarily, when the vehicle is in unmanned driving mode, the vehicle needs to perceive environmental data, among which the environmental data in the driving direction of the vehicle is particularly important. Therefore, among the environmental data perceived by the vehicle, the environmental data in the driving direction of the vehicle should be set to a higher priority. Therefore, in an embodiment of the present application, different operating states of the vehicle correspond to different priority divisions as described below.

[0074] Exemplarily, when the first operating state of the vehicle is moving forward, the corresponding first priority division is as shown in Table 1.

[0075] Table 1

[0076] Message Type PCP Priority Example SC 7 high Warning information, control data SSM 6 high Forward environment data NSSM 5 high Backward, left, and right environmental data NC 4 high gPTP messages, LLDP messages EM 3 middle V2X data, status data NSC 2 middle Vehicle domain control data, audio and video entertainment domain control data, etc. NSM 1 middle Audio and video entertainment system data BE 0 Low OTA update, offline map download, log download, Internet data, etc.

[0077] As shown in Table 1, the photos or images taken or photographed by the vehicle's camera and the millimeter-wave radar data are related to the first operating state of the vehicle. If the current first operating state of the vehicle is forward, the forward environmental data should have a higher priority, and the environmental data in other directions should have a lower priority. Then, the forward environmental data perceived by the vehicle can be defined as SSM, with a PCP value of 6, which is a high priority; and the environmental data in other directions perceived by the vehicle can be defined as NSSM, with a PCP value of 5, which is also a high priority, but its priority is slightly lower than that of SSM.

[0078] In this example, in the first priority division, other message types except SSM and NSSM are irrelevant to the operating status of the vehicle, and their PCP values ​​and priorities can be determined in a preset manner.

[0079] For example, for warning information (such as alarm information from the vehicle control unit (VCU)), control data (such as power, braking, and steering data), etc., the message type is SC, and its PCP value is 7, which is a high priority; for messages such as gPTP messages or LLDP messages, the message type is NC, and its PCP value is 4, which is a high priority; for V2X messages, status data (such as the engine temperature, speed, torque, etc. of the target vehicle), etc., the message type is EM, and its PCP value is 3, which is a medium priority; for messages such as body domain control data (such as car window lifting and door locks), audio and video entertainment domain control data, etc., the message type is NSC, and its PCP value is 2, which is a medium priority; for messages of audio and video entertainment system data, the message type is NSM, and its PCP value is 1, which is a medium priority; for messages such as OTA updates, offline map downloads, log downloads, and Internet data, the PCP value is 0, which is a low priority.

[0080] Exemplarily, when the first operating state of the vehicle is reversing, the corresponding first priority division is as shown in Table 2.

[0081] Table 2

[0082] Message Type PCP Priority Example SC 7 high Warning information, control data SSM 6 high Backward environmental data NSSM 5 high Forward, left, and right environmental data NC 4 high gPTP messages, LLDP messages EM 3 middle V2X data, status data NSC 2 middle Vehicle domain control data, audio and video entertainment domain control data, etc. NSM 1 middle Audio and video entertainment system data BE 0 Low OTA update, offline map download, log download, Internet data, etc.

[0083] As shown in Table 2, the photos or images taken or photographed by the vehicle's camera and the millimeter-wave radar data are related to the first operating state of the vehicle. If the current first operating state of the vehicle is reversing, the rearward environmental data should have a higher priority, and the environmental data in other directions should have a lower priority. Then, the rearward environmental data perceived by the vehicle can be defined as SSM, with a PCP value of 6, which is a high priority; and the environmental data in other directions perceived by the vehicle can be defined as NSSM, with a PCP value of 5, which is also a high priority, but its priority is slightly lower than that of SSM.

[0084] In this example, in the priority division, other message types except SSM and NSSM are irrelevant to the first operating state of the vehicle, and their PCP values ​​and priorities can be determined in a preset manner, which will not be elaborated here.

[0085] Exemplarily, when the first operating state of the vehicle is turning left, the corresponding first priority division is shown in Table 3.

[0086] Table 3

[0087] Message Type PCP Priority Example SC 7 high Warning information, control data SSM 6 high Left-facing environmental data NSSM 5 high Forward, backward, and rightward environmental data NC 4 high gPTP messages, LLDP messages EM 3 middle V2X data, status data NSC 2 middle Vehicle domain control data, audio and video entertainment domain control data, etc. NSM 1 middle Audio and video entertainment system data BE 0 Low OTA update, offline map download, log download, Internet data, etc.

[0088] As shown in Table 3, the photos or images taken or photographed by the vehicle's camera and the millimeter-wave radar data are related to the first operating state of the vehicle. If the current first operating state of the vehicle is to turn left, the left-direction environmental data should have a higher priority, and the environmental data in other directions should have a lower priority. Then, the left-direction environmental data perceived by the vehicle can be defined as SSM, with a PCP value of 6, which is a high priority; and the environmental data in other directions perceived by the vehicle can be defined as NSSM, with a PCP value of 5, which is also a high priority, but its priority is slightly lower than that of SSM.

[0089] In this example, in the first priority division, other message types except SSM and NSSM are irrelevant to the first operating state of the vehicle, and their PCP values ​​and priorities can be determined in a preset manner, which will not be elaborated here.

[0090] Exemplarily, when the first operating state of the vehicle is turning right, the corresponding first priority division is shown in Table 4.

[0091] Table 4

[0092] Message Type PCP Priority Example SC 7 high Warning information, control data SSM 6 high Rightward environmental data NSSM 5 high Forward, backward, and left environmental data NC 4 high gPTP messages, LLDP messages EM 3 middle V2X data, status data NSC 2 middle Vehicle domain control data, audio and video entertainment domain control data, etc. NSM 1 middle Audio and video entertainment system data BE 0 Low OTA update, offline map download, log download, Internet data, etc.

[0093] As shown in Table 4, the photos or images taken or photographed by the vehicle's camera and the millimeter-wave radar data are related to the first operating state of the vehicle. If the first operating state of the current vehicle is to turn right, the right-direction environmental data should have a higher priority, and the environmental data in other directions should have a lower priority. Then, the right-direction environmental data perceived by the vehicle can be defined as SSM, with a PCP value of 6, which is a high priority; and the environmental data in other directions perceived by the vehicle can be defined as NSSM, with a PCP value of 5, which is also a high priority, but its priority is slightly lower than that of SSM.

[0094] In this example, in the first priority division, other message types except SSM and NSSM are irrelevant to the first operating state of the vehicle, and their PCP values ​​and priorities can be determined in a preset manner, which will not be elaborated here.

[0095] Exemplarily, when the first operating state of the vehicle is stationary, the corresponding first priority division is as shown in Table 5.

[0096] Table 5

[0097] Message Type PCP Priority Example SC 7 high Warning information, control data SSM 6 high Environmental data NC 4 high gPTP messages, LLDP messages EM 3 middle V2X data, status data NSC 2 middle Vehicle domain control data, audio and video entertainment domain control data, etc. NSM 1 middle Audio and video entertainment system data BE 0 Low OTA update, offline map download, log download, Internet data, etc.

[0098] As shown in Table 5, the photos or images taken or photographed by the vehicle's camera and the millimeter-wave radar data are related to the first operating state of the vehicle. If the current operating state of the vehicle is stationary, the environmental data in any direction should have the same priority. Then, the environmental data perceived by the vehicle can be defined as SSM, and the PCP value is 6, which is a high priority.

[0099] In this example, in the priority division, other message types except SSM and NSSM are irrelevant to the first operating state of the vehicle, and their PCP values ​​and priorities can be determined in a preset manner, which will not be elaborated here.

[0100] 204. The vehicle gateway determines a first priority of the first message based on the first message type and the first priority classification, where the first priority is a high priority or a non-high priority.

[0101] Exemplarily, if the current first operating state of the vehicle is forward, the corresponding first priority is divided as shown in Table 1. If the first message type of the first message is warning information or control data, then the data stream to which the first message belongs is SC, and the corresponding PCP value is 7, which is a high priority, so the first priority is a high priority; if the current first operating state of the vehicle is reverse, the corresponding first priority is divided as shown in Table 2. If the first message type of the first message is OTA update, offline map download, log download or Internet data, then the data stream to which the first message belongs is BE, and the corresponding PCP value is 0, which is a low priority, so the first priority is a non-high priority; if the current first operating state of the vehicle is left turn, the corresponding first priority is divided as shown in Table 3 As shown in Table 4, if the first message is left-bound environmental data, then the data stream to which the first message belongs is SSM, and the corresponding PCP value is 6, which is a high priority, so the first priority is a high priority; if the vehicle's current first operating state is a right turn, the corresponding first priority division is as shown in Table 4. If the first message is right-bound environmental data, then the data stream to which the first message belongs is SSM, and the corresponding PCP value is 6, which is a high priority, so the first priority is a high priority; if the vehicle's current first operating state is stationary, the corresponding first priority division is as shown in Table 5. If the first message is audio and video entertainment system data, then the data stream to which the first message belongs is NSM, and the corresponding PCP value is 1, which is a medium priority, so the first priority is a non-high priority.

[0102] 205. If the first priority is the high priority, the vehicle gateway forwards the first message using a first transmission method, where the first transmission method is used to ensure high reliability.

[0103] In some possible implementations, the first transmission mode is a redundant backup transmission mode, which is used to ensure high reliability of the first message.

[0104] In some possible implementations, the redundant backup transmission may be based on an optimized Institute of Electrical and Electronics Engineers (IEEE) 802.1CB protocol.

[0105] It should be noted that packet loss of high-priority messages is intolerable, and the use of optimized IEEE 802.1CB can achieve reliable transmission of high-priority messages. Among them, IEEE 802.1CB defines a solution for implementing redundant backup transmission in automotive Ethernet, such as frame replication and elimination for reliability (FRER).

[0106] Through FRER, for the first message with high priority, the vehicle gateway can implement multi-path redundant backup transmission, where the path selection comprehensively considers factors such as network topology, available resources, link intersection and node intersection. Exemplarily, when the vehicle gateway transmits the first message, it will send several messages carrying backup data. Among them, the higher the priority of the data, the more the number of backup data, and the lower the priority of the data, the less the number of backup data, and these data and backup data will be transmitted along different paths.

[0107] For example, the data with the highest priority will send 3 backup copies, and the data with a slightly lower priority will send 2 backup copies. If the receiving end receives multiple messages with the same data, the receiving end will eliminate the redundant messages and only obtain the data or backup data in the first correct message that arrives. Then, through redundant backup transmission, it can ensure that the vehicle gateway can achieve high-reliability message forwarding in the event of link failure, cable breakage, and other errors.

[0108] Exemplarily, to implement redundant backup transmission based on FRER, the vehicle gateway may specifically perform the following steps:

[0109] S1. After receiving the first message, the vehicle gateway copies the first message to obtain multiple data packets, and assigns the same number to the multiple data packets, and encodes the number into the multiple data packets. For the multiple data packets with the same number, the media access control address (MAC), virtual local area network (VLAN) and other information of each data packet in the multiple data packets are changed;

[0110] S2. The vehicle gateway forwards multiple data packets with the same number through different links, so that the multiple data packets are transmitted along different paths respectively, forming link redundancy;

[0111] S3, the receiving end identifies the multiple data packets received, and determines whether the data packet is a duplicate packet of the correct data packet received before by checking whether the data packet numbers are the same. If yes, the data packet is deleted; if not, the data packet is retained to check whether the data packet is correct. If not, the data packet is deleted; if correct, the data packet is retained, and the data is restored according to the correct data packet;

[0112] S4. If the receiving end has not received the correct data packet within the maximum waiting time, it requests retransmission.

[0113] Repeat S1-S4 until the receiving end receives the correct data packet.

[0114] For example, let the maximum time be Tmax, the time required for the first data packet to arrive be T1, if the first data packet is incorrect, continue to wait for the second data packet to arrive, and the remaining maximum waiting time is Tmax-T1. Let the time required for the kth data packet to arrive be Tk, if the kth data packet is incorrect, continue to wait for the k+1th data packet to arrive, and the remaining maximum waiting time is Tmax-Tk. Once the maximum waiting time Tmax has expired and the correct data packet has not been received, a retransmission is requested.

[0115] For example, Figure 2-2 As shown, it is an example diagram of redundant backup transmission. Among them, terminal A is the sending end, terminal G is the receiving end, and there are multiple switches (i.e., vehicle-mounted gateways) between the two. Assuming that terminal A does not have the FRER function, it needs to be represented by switch B with FRER function (i.e., the vehicle-mounted gateway referred to in the embodiment of the present application); if terminal G has the FRER function, no proxy is required (i.e., terminal G serves as the vehicle-mounted gateway referred to in the embodiment of the present application). The dotted line indicates the flow direction of the data packet. There may be several transmission paths from terminal A to terminal G, such as transmission paths such as ABCDG, ABEFG, and ABCEG. When the sending end sends a data packet, the data packet is copied through the FRER function and redundant backup transmission is performed along different paths; when the receiving end receives the data packet, the copied data packet is deleted through the FRER function, and only the first correct data packet received is retained.

[0116] 206. If the first priority is the non-high priority, the vehicle gateway adopts a second transmission mode to forward the first message, and the second transmission mode is used to ensure high timeliness.

[0117] In some possible implementations, the second transmission mode is a multi-mechanism bundled frame mode, which is used to ensure the high timeliness of the first message.

[0118] In some possible implementations, the multi-mechanism cluster frame may be based on an Ethernet control automation technology (EtherCAT) cluster frame, where the EtherCAT cluster frame is a protocol standard for implementing transmission of multi-mechanism cluster frames.

[0119] It should be noted that timeliness is very important for vehicle safety during driving. Therefore, for messages corresponding to services that are strongly related to safety, high timeliness must be guaranteed; for messages corresponding to services that are weakly related to safety or irrelevant to safety, low timeliness can be guaranteed. Alternatively, for messages corresponding to services that are strongly related to safety, high timeliness must be guaranteed; for messages corresponding to services that are weakly related to safety, medium timeliness can be guaranteed; for messages corresponding to services that are irrelevant to safety, low timeliness can be guaranteed.

[0120] In some possible implementations, the eight cases where the PCP value is 0 to 7 can be mapped to different TSN priorities, respectively. The TSN priority can include high TSN priority and low TSN priority, or high TSN priority, medium TSN priority and low TSN priority.

[0121] Exemplarily, the TSN priority is divided into high TSN priority and low TSN priority as follows: the PCP value is 4 to 7 -> high TSN priority (messages of services that are strongly related to security); the PCP value is 0 to 3 -> low TSN priority (messages of services that are weakly related to security or have nothing to do with security).

[0122] As another example, the TSN priority is divided into high TSN priority, medium TSN priority and low TSN priority as follows: PCP value is 4 to 7 -> high TSN priority (messages for services with strong security relevance); PCP value is 1 to 3 -> medium TSN priority (messages for services with weak security relevance); PCP value is 0 -> low TSN priority (best effort messages).

[0123] The following takes the EtherCAT cluster frame as an example to describe the implementation process of the vehicle gateway forwarding the first message using the second transmission mode.

[0124] like Figure 2-3As shown, it is a schematic diagram of a transmission path, which includes a master node and n slave nodes, and the n slave nodes are slave node 1, slave node 2, ..., slave node (n-1), and slave node n. Among them, the vehicle gateway can be a node among the master node and the n slave nodes. In some possible implementations, the master node and the n slave nodes can form a ring, that is, the next hop of the slave node n is the master node, which is not limited here. Among them, the EtherCAT cluster frame sent by the master node includes an EtherCAT frame header, a data segment, and a frame check. The master node inserts at least one data packet to be sent in the data segment of the cluster frame (for example, the master node is the vehicle gateway, and at least one data packet is the first message), and then the cluster frame starts from the master node, passes through slave node 1, slave node 2, ..., slave node (n-1), slave node n, and finally arrives at slave node n. If the master node and the n slave nodes form a ring, then the slave node n continues to send the cluster frame to the master node. If the master node and the n slave nodes do not form a ring, then the slave node n can return the cluster frame to the master node by the original route.

[0125] Among them, a cluster frame can carry multiple data packets, such as Figure 2-3 As shown, each data block can carry a data packet. When the bundled frame arrives at a slave node, the slave node can obtain the data packet targeted at the terminal device connected to itself from the bundled frame, or insert the data packet to be sent into the data segment of the bundled frame.

[0126] The position order of the data packets inserted by each slave node in the bundle frame has nothing to do with the physical connection order, and the address of the data packet can be matched by logical addressing. For example, data block 1 corresponding to slave node 1 can be in data segment 1 or in the following data segment 2, which is not limited here.

[0127] In the present application, the vehicle gateway first receives the first message and obtains the first message type of the first message. Next, the vehicle gateway obtains the first operating state of the vehicle, and determines the corresponding first priority division based on the first operating state, and the first priority division includes one or more message types corresponding to each priority. Then, the vehicle gateway determines the first priority of the first message based on the first message type and the first priority division, and the first priority is a high priority or a non-high priority. Then, if the first priority is a high priority, the vehicle gateway forwards the first message using the first transmission method, and the first transmission method is used to ensure high reliability, thereby ensuring the transmission reliability of high-priority messages; if the first priority is a non-high priority, the vehicle gateway forwards the first message using the second transmission method, and the second transmission method is used to ensure high timeliness, thereby ensuring the transmission timeliness of low-priority messages.

[0128] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0129] In order to better implement the above-mentioned solution of the embodiment of the present application, relevant devices for implementing the above-mentioned solution are also provided below.

[0130] See also Figure 3 As shown, an in-vehicle gateway 300 provided in an embodiment of the present application is used in a vehicle and may include:

[0131] The transceiver module 301 receives a first message and obtains a first message type of the first message;

[0132] The processing module 302 is used to obtain a first operating state of the vehicle;

[0133] The processing module 302 is further configured to determine a corresponding first priority level based on the first operating state, wherein the first priority level includes one or more message types corresponding to each priority level;

[0134] The processing module 302 is further configured to determine a first priority of the first message based on the first message type and the first priority classification, wherein the first priority is a high priority or a non-high priority;

[0135] The transceiver module 301 is further configured to, if the first priority is the high priority, forward the first message using a first transmission mode, wherein the first transmission mode is configured to ensure high reliability;

[0136] The transceiver module 301 is further configured to, if the first priority is the non-high priority, use a second transmission method to forward the first message, and the second transmission method is configured to ensure high timeliness.

[0137] In some possible implementations, the first message type is warning information, control data, environmental data in all directions, general precision time protocol gPTP messages, link layer link discovery protocol LLDP messages, vehicle-to-external information exchange V2X data, status data, body domain control data, audio and video entertainment domain control data, audio and video entertainment system data, over-the-air download technology OTA update, offline map download, log download or Internet data.

[0138] In some possible implementations, the first operating state is forward, reverse, left turn, right turn or stationary.

[0139] In some possible implementations, in the first priority classification, a priority of a message of a message type related to the first operating state is higher than a priority of a message of a message type unrelated to the first operating state.

[0140] In some possible implementations, the first transmission mode is a redundant backup transmission mode.

[0141] In some possible implementations, the second transmission mode is a multi-mechanism bundled frame mode.

[0142] It should be noted that the information interaction, execution process, etc. between the modules / units of the above-mentioned device are based on the same concept as the method embodiment of the present application, and the technical effects they bring are the same as those of the method embodiment of the present application. For specific contents, please refer to the description in the method embodiment shown above in the present application, and will not be repeated here.

[0143] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a program, and the program executes some or all of the steps recorded in the above method embodiment.

[0144] Next, another communication device provided by the embodiment of the present application is introduced. Figure 4 As shown, the communication device 400 includes:

[0145] Receiver 401, transmitter 402, processor 403 and memory 404. In some embodiments of the present application, receiver 401, transmitter 402, processor 403 and memory 404 may be connected via a bus or other means, wherein: Figure 4 The example of connecting through bus is taken in the following.

[0146] The memory 404 may include a read-only memory and a random access memory, and provides instructions and data to the processor 403. A portion of the memory 404 may also include a non-volatile random access memory (NVRAM). The memory 404 stores an operating system and operating instructions, executable modules or data structures, or a subset thereof, or an extended set thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic services and processing hardware-based tasks.

[0147] The processor 403 controls the operation of the communication device 400, and the processor 403 may also be referred to as a central processing unit (CPU). In a specific application, the various components of the communication device 400 are coupled together through a bus system, wherein the bus system may include a power bus, a control bus, and a status signal bus in addition to a data bus. However, for the sake of clarity, various buses are referred to as bus systems in the figure.

[0148] The method disclosed in the above embodiment of the present application can be applied to the processor 403, or implemented by the processor 403. The processor 403 can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 403. The above processor 403 can be a general processor, a digital signal processor (digital signal processing, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), a field programmable gate array (field-programmable gate array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to execute, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 404, and the processor 403 reads the information in the memory 404 and completes the steps of the above method in combination with its hardware.

[0149] The receiver 401 may be used to receive input digital or character information and generate signal input related to relevant settings and function control. The transmitter 402 may include a display device such as a display screen. The transmitter 402 may be used to output digital or character information through an external interface.

[0150] In the embodiment of the present application, the processor 403 is used to execute the aforementioned message transmission method.

[0151] In another possible design, when the vehicle gateway 300 or the communication device 400 is a chip, it includes: a processing unit and a communication unit, the processing unit may be, for example, a processor, and the communication unit may be, for example, an input / output interface, a pin or a circuit, etc. The processing unit may execute computer-executable instructions stored in the storage unit so that the chip in the terminal executes the method for sending wireless report information of any one of the first aspects above. Optionally, the storage unit is a storage unit in the chip, such as a register, a cache, etc., and the storage unit may also be a storage unit in the terminal located outside the chip, such as a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM), etc.

[0152] The processor mentioned in any of the above places may be a general-purpose central processing unit, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the program of the above method.

[0153] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0154] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including application-specific integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented with corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0155] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0156] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A message transmission method, characterized in that: For a vehicle gateway in a vehicle, the method comprises: The in-vehicle gateway receives a first message and obtains a first message type of the first message; The vehicle gateway obtains a first operating state of the vehicle; The vehicle gateway determines a corresponding first priority classification based on the first operating state, where the first priority classification includes one or more message types corresponding to each priority; The in-vehicle gateway determines a first priority of the first message based on the first message type and the first priority classification, where the first priority is a high priority or a non-high priority; If the first priority is the high priority, the vehicle gateway forwards the first message using a first transmission mode, where the first transmission mode is used to ensure high reliability; If the first priority is the non-high priority, the vehicle gateway forwards the first message using a second transmission mode, where the second transmission mode is used to ensure high timeliness.

2. The method according to claim 1, characterized in that: The first message type is warning information, control data, environmental data in all directions, general precision time protocol gPTP message, link layer link discovery protocol LLDP message, vehicle-to-external information exchange V2X data, status data, body domain control data, audio and video entertainment domain control data, audio and video entertainment system data, over-the-air download technology OTA update, offline map download, log download or Internet data.

3. The method according to claim 1 or 2, characterized in that: The first operating state is forward, reverse, turn left, turn right or stationary.

4. The method according to claim 3, characterized in that: In the first priority classification, a priority of a message of a message type related to the first operating state is higher than a priority of a message of a message type not related to the first operating state.

5. The method according to any one of claims 1 to 4, characterized in that: The first transmission mode is a redundant backup transmission mode.

6. The method according to any one of claims 1 to 5, characterized in that: The second transmission mode is a multi-mechanism bundled frame mode.

7. A vehicle-mounted gateway, characterized in that: For use in vehicles, including: A transceiver module receives a first message and obtains a first message type of the first message; A processing module, configured to obtain a first operating state of the vehicle; The processing module is further used to determine a corresponding first priority classification based on the first operating state, where the first priority classification includes one or more message types corresponding to each priority; The processing module is further configured to determine a first priority of the first message based on the first message type and the first priority classification, wherein the first priority is a high priority or a non-high priority; The transceiver module is further configured to, if the first priority is the high priority, forward the first message using a first transmission mode, wherein the first transmission mode is used to ensure high reliability; The transceiver module is further configured to, if the first priority is the non-high priority, adopt a second transmission mode to forward the first message, and the second transmission mode is configured to ensure high timeliness.

8. The vehicle gateway according to claim 7, characterized in that: The first message type is warning information, control data, environmental data in all directions, general precision time protocol gPTP message, link layer link discovery protocol LLDP message, vehicle-to-external information exchange V2X data, status data, body domain control data, audio and video entertainment domain control data, audio and video entertainment system data, over-the-air download technology OTA update, offline map download, log download or Internet data.

9. The vehicle gateway according to claim 7 or 8, characterized in that: The first operating state is forward, reverse, turn left, turn right or stationary.

10. The vehicle gateway according to claim 9, characterized in that: In the first priority classification, a priority of a message of a message type related to the first operating state is higher than a priority of a message of a message type not related to the first operating state.

11. The vehicle gateway according to any one of claims 7 to 10, characterized in that: The first transmission mode is a redundant backup transmission mode.

12. The vehicle gateway according to any one of claims 7 to 11, characterized in that: The second transmission mode is a multi-mechanism bundled frame mode.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, and the program causes a computer device to execute the method according to any one of claims 1 to 6.

14. A computer program product, characterized in that The computer program product includes computer-executable instructions, which are stored in a computer-readable storage medium; at least one processor of a device reads the computer-executable instructions from the computer-readable storage medium, and the at least one processor executes the computer-executable instructions so that the device performs the method as described in any one of claims 1-6.

15. A communication device, characterized in that: The communication device includes at least one processor, a memory and a communication interface; The at least one processor is coupled to the memory and the communication interface; The memory is used to store instructions, the processor is used to execute the instructions, and the communication interface is used to communicate with other communication devices under the control of the at least one processor; When the instructions are executed by the at least one processor, the at least one processor is caused to perform the method according to any one of claims 1 to 6.

16. A chip system, characterized in that: The chip system includes a processor and a memory, the memory and the processor are interconnected via a line, instructions are stored in the memory, and the processor is used to execute the method as described in any one of claims 1-6.

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