A message transmission method and a vehicle gateway

Abstract

Embodiments of the present application disclose a message transmission method and a vehicle gateway. In the present application, the vehicle gateway first receives a first message and obtains a first message type of the first message. Then, the vehicle gateway obtains a first running state of a vehicle and determines a corresponding first priority division based on the first running state, the first priority division including 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, the first priority being a high priority or a non-high priority. Then, if the first priority is the high priority, the vehicle gateway forwards the first message by using a first transmission mode, the first transmission mode being used to guarantee high reliability; if the first priority is the non-high priority, the vehicle gateway forwards the first message by using a second transmission mode, the second transmission mode being used to guarantee high timeliness.

Description

Technical Field

[0001] This application relates to the field of communications, and more particularly to a message transmission method and an in-vehicle gateway. Background Technology

[0002] Automotive Ethernet is an extension of traditional Ethernet and a key supporting technology for in-vehicle communication today. Traditional Ethernet solves the problem of sharing network infrastructure and data connectivity among 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 family, which is widely used in automotive Ethernet, proposes to use redundant transmission methods for high-priority data. Meanwhile, Time-Triggered Ethernet (TTEthernet), as a candidate, uses time-triggered transmission to achieve high-priority data transmission, thereby realizing a more reliable automotive communication service.

[0004] However, neither TSN nor TTEthernet considered the differences in service priority and reliability of vehicles under different states, and ignored the transmission needs of low-priority services, resulting in the latency and reliability of in-vehicle communication services not being guaranteed. Summary of the Invention

[0005] This application provides a message transmission method and an in-vehicle gateway for forwarding messages in different transmission modes according to different operating states of the vehicle.

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

[0007] In some possible implementations, the first message type can be a warning message, control data, environmental data in various directions, General Precision Time Protocol (gPTP) message, Link Discovery Protocol (LLDP) message, V2X data for vehicle-to-the-world communication, status data, vehicle body domain control data, audio-visual entertainment domain control data, audio-visual entertainment system data, Over-the-Air (OTA) updates, offline map downloads, log downloads, or internet data. By identifying different message types, the data stream to which they belong can be determined, and their corresponding priorities can be established.

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

[0009] In some possible implementations, in the first priority division, messages of message type related to the first running state have a higher priority than messages of message type unrelated to the first running state, thereby giving priority to messages of message type related to the first running state and ensuring the reliability of important services.

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

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

[0012] A second aspect of this application provides an in-vehicle gateway for use in a vehicle, comprising:

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

[0014] The processing module is used to obtain the first operating state of the vehicle;

[0015] The processing module is further configured to determine a corresponding first priority division based on the first running state, wherein the first priority division 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 division, wherein the first priority is high priority or non-high priority;

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

[0018] The transceiver module is further configured to forward the first message using a second transmission method if the first priority is not a high priority, wherein the second transmission method is used to ensure high timeliness.

[0019] In some possible implementations, the first message type is a warning message, control data, environmental data in various directions, General Precision Time Protocol (gPTP) message, Link Layer Discovery Protocol (LLDP) message, vehicle-to-the-world (V2X) data, status data, vehicle body domain control data, audio-visual entertainment domain control data, audio-visual entertainment system data, over-the-air (OTA) updates, offline map downloads, log downloads, 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 division, messages of message types related to the first running state have a higher priority than messages of message types unrelated to the first running state.

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

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

[0024] A third aspect of this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described in any one of the first aspects.

[0025] A fourth aspect of this application provides a computer program product including computer-executable instructions stored in a computer-readable storage medium; at least one processor of the device can read the computer-executable instructions from the computer-readable storage medium, and the at least one processor executes the computer-executable instructions to cause the device to implement the method provided by the first aspect or any possible implementation thereof.

[0026] A fifth aspect of this application provides a communication device that may include 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 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 the at least one processor. When executed by the at least one processor, the instructions cause the at least one processor to perform a method of the first aspect or any possible implementation thereof.

[0027] The sixth aspect of this application provides a chip system including a processor for supporting the implementation of the functions involved in the first aspect or any possible implementation thereof.

[0028] In one possible design, the chip system may also include a memory for storing necessary program instructions and data. The chip system can be composed of chips or may include chips and other discrete components.

[0029] The technical effects of the second to sixth aspects or any of their possible implementations can be found in the first aspect or the technical effects of different possible implementations of the first aspect, and will not be repeated here.

[0030] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: Attached Figure Description

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

[0032] Figure 1-2 This is a schematic diagram of another component structure of an in-vehicle Ethernet provided in an embodiment of this application;

[0033] Figure 1-3 This is a schematic diagram of another component structure of an in-vehicle Ethernet provided in an embodiment of this application;

[0034] Figure 1-4 This is a schematic diagram illustrating message transmission between two vehicle gateways provided in an embodiment of this application.

[0035] Figure 2-1 A flowchart illustrating a message transmission method provided in an embodiment of this application;

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

[0037] Figure 2-2 This is an example diagram of redundant backup transmission in this application;

[0038] Figure 2-3 This is a schematic diagram of transmission based on EtherCAT bundled frames in this application;

[0039] Figure 3 This is a schematic diagram of the structure of a vehicle gateway provided in an embodiment of this application;

[0040] Figure 4 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application. Detailed Implementation

[0041] This application provides a message transmission method and an in-vehicle gateway for forwarding messages in different transmission modes according to different operating states of the vehicle.

[0042] The embodiments of this application will now be described with reference to the accompanying drawings.

[0043] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0044] The embodiments of this application can be applied to automotive Ethernet. Please refer to [link / reference]. Figure 1-1 The diagram shows the structural composition of an in-vehicle Ethernet 100, which includes multiple in-vehicle gateways 110 and multiple terminal devices 120. Each in-vehicle gateway 110 can connect to at least one terminal device 120.

[0045] The terminal device 120 in this application embodiment can 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.

[0046] Terminal device 120 can be a device that provides voice / data connectivity to a user, such as a handheld device or vehicle-mounted device with wireless connectivity. Currently, some examples of terminal devices include: mobile phones, tablets, laptops, PDAs, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving vehicles, 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 capabilities, computing devices or other processing devices connected to a wireless modem, in-vehicle devices, wearable devices, terminal devices in 5G networks, or future public land mobile communication networks. Terminal devices in a network (PLMN), etc., are not limited to this in the embodiments of this application.

[0047] By way of example and not limitation, in this embodiment, the terminal device 120 can also be a wearable device. Wearable devices, also known as wearable smart devices, are a general term for devices that utilize wearable technology to intelligently design and develop everyday wearables, such as glasses, gloves, watches, clothing, and shoes. Wearable devices are portable devices worn directly on the body or integrated into a user's clothing or accessories. Wearable devices are not merely hardware devices; they achieve powerful functions through software support, data interaction, and cloud interaction. Broadly defined, wearable smart devices include those with comprehensive functions, large size, and the ability to perform complete or partial functions without relying on a smartphone, such as smartwatches or smart glasses, as well as those focused on a specific application function that require interaction with other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0048] Furthermore, in this embodiment, the terminal device 120 can also be a terminal device in an Internet of Things (IoT) system. IoT is an important component of future information technology development, and its main technical feature is connecting objects to networks through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-to-object interconnection. The terminal device 120 in this embodiment can also be a terminal device in machine-type communication (MTC). The terminal device 120 in this application can also be an on-board module, on-board component, on-board chip, or on-board unit built into a vehicle as one or more components or units. The vehicle can implement the methods of this application through the built-in on-board module, on-board component, on-board chip, or on-board unit. Therefore, this embodiment can be applied to vehicle networking, such as vehicle-to-everything (V2X), long-term evolution-vehicle (LTE-V) communication, and vehicle-to-vehicle (V2V).

[0049] The vehicle gateway 110 in this embodiment is a core component of the automotive electronic and electrical architecture. As the data interaction hub of the vehicle Ethernet system, it can route signals according to actual needs. Besides transmitting signals to the terminal device 120, the vehicle Ethernet 100 can also forward signals between different network segments through the vehicle gateway 110. Therefore, the terminal device 120 in the aforementioned vehicle Ethernet system 100 can also be replaced by another vehicle gateway 110; this embodiment does not limit this. However, for ease of description, this embodiment only uses... Figure 1-1 The in-vehicle Ethernet system 100 shown is used as an example for illustration. In some possible implementations, the in-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 an in-vehicle gateway 110. There is no limitation here.

[0050] Figure 1-2 Two vehicle gateways and four terminal devices are illustrated exemplarily. Each of the multiple vehicle gateways 110 can be connected to multiple different terminal devices 120, but this embodiment does not limit this. Optionally, the vehicle Ethernet 100 may also include other network entities such as network controllers and connectors, but this embodiment is not limited thereto.

[0051] In this application, multiple vehicle-mounted gateways 110 are used as the network backbone, and various data services in the vehicle Ethernet 100 pass through the multiple vehicle-mounted gateways 110. In this embodiment, there are no strict requirements on the network topology of the multiple vehicle-mounted gateways 110; it can be a ring, star, etc. The following description uses a ring network topology of multiple vehicle-mounted gateways 110 as an example.

[0052] Please refer to Figure 1-3 There are four vehicle gateways: Vehicle Gateway 1, Vehicle Gateway 2, Vehicle Gateway 3, and Vehicle Gateway 4. These four vehicle gateways form a ring Ethernet (ETH) network. Multiple terminal devices within the vehicle, such as sensors, actuators, domain controllers, and other electronic control units, can be connected to these four gateways. The connection method can be any in-vehicle bus method, which is not limited here. For example, the transmission rate between any two adjacent vehicle gateways in this Ethernet network can be 100 Mbps / 1000 Mbps, which is not limited here. It should be noted that the vehicle gateways are mainly used for communication forwarding, transmitting signals from the upstream controller to multiple downstream terminal devices, or transmitting signals from multiple downstream terminal devices to the upstream controller, which is not limited here.

[0053] Automotive Ethernet is an extension of traditional Ethernet and a key supporting technology for in-vehicle communication today. Traditional Ethernet solves the problem of sharing network infrastructure and data connectivity among terminal devices, but it cannot achieve real-time and reliable data transmission between terminal devices.

[0054] Currently, the 802.1CB protocol in the Time-Sensitive Networking (TSN) protocol family, which is widely used in automotive Ethernet, proposes to use redundant transmission methods for high-priority data. Meanwhile, Time-Triggered Ethernet (TTEthernet), as a candidate, uses time-triggered transmission to achieve high-priority data transmission, thereby realizing a more reliable automotive communication service.

[0055] However, neither TSN nor TTEthernet considered the differences in service priority and reliability of vehicles under different states, and ignored the transmission needs of low-priority services, resulting in the latency and reliability of in-vehicle communication services not being guaranteed.

[0056] To this end, this application proposes a message transmission method and an in-vehicle gateway, which are used to forward messages in different transmission modes according to different operating states of the vehicle.

[0057] In this application, the vehicle gateway first receives a 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 a corresponding first priority division based on the first operating state. 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, whereby the first priority is either high priority or low priority. If the first priority is high priority, the vehicle gateway forwards the first message using a first transmission method, which ensures high reliability, thereby guaranteeing the transmission reliability of high-priority messages. If the first priority is low priority, the vehicle gateway forwards the first message using a second transmission method, which ensures high timeliness, thereby guaranteeing the transmission timeliness of low-priority messages.

[0058] For example, such as Figure 1-4 As shown, for a network topology with multiple vehicle gateways forming a ring, high-priority messages can be transmitted using FRER, while non-high-priority messages can be transmitted using EtherCAT bundled frames.

[0059] The following example illustrates the transmission of the first message between vehicle gateway 1 and vehicle gateway 2. When the first message has a high priority, it can be transmitted using FRER. The higher the priority, the more redundant backup data there is, and the lower the priority, the fewer redundant backup data there is, thus ensuring reliability. When the first message has a low priority, it can be transmitted using EtherCAT bundled frames, thus ensuring its real-time performance.

[0060] Please see Figure 2-1 As shown in the figure, this application provides a message transmission method, which mainly includes the following steps:

[0061] 201. The vehicle gateway receives the first message and obtains the first message type of the first message.

[0062] In some possible implementations, the first message can come from a terminal device inside the vehicle or from other transmission devices outside the vehicle; this is not limited here.

[0063] In some possible implementations, the first message type can be warning messages, control data, environmental data in various directions, general precise time protocol (gPTP) messages, link layer discovery protocol (LLDP) messages, vehicle-to-everything (V2X) data, status data, vehicle domain control data (such as window lifting and door locking), audio-visual entertainment domain control data, audio-visual entertainment system data, over-the-air (OTA) technology updates, offline map downloads, log downloads, internet data, etc., without limitation here.

[0064] 202. The vehicle gateway obtains the first operating status of the vehicle.

[0065] In this embodiment, the vehicle is the vehicle where the vehicle 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, left turn, right turn, or stationary, and is not limited here.

[0066] For example, 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 left, the first operating state is left turn; when the vehicle is moving right, the first operating state is right turn; when the vehicle is not moving, the first operating state is stationary.

[0067] In some possible implementations, the vehicle gateway can obtain the vehicle's initial operating state based on the vehicle's built-in gyroscope or other devices; this is not limited here.

[0068] 203. The vehicle gateway 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.

[0069] In some possible implementations, in this first priority division, messages of message types related to the first running state have a higher priority than messages of message types unrelated to the first running state.

[0070] In some possible implementations, priority division is used to indicate the priority of various message types within multiple message classes. One or more operating states correspond to one priority division. Wherein, the first operating state corresponds to the first priority division; therefore, the vehicle gateway can determine the corresponding first priority division based on the first operating state.

[0071] In some possible implementations, priority can be divided into high priority and low priority (non-high priority), or it can be divided into high priority, medium priority, and low priority (medium priority and low priority are collectively referred to as non-high priority). This is not a limitation here. Therefore, a message type can only have one priority level. For example, the first message type belongs to high priority, and therefore does not belong to non-high priority.

[0072] In some possible implementations, priority can be mapped from priority code points (PCPs) or other numerical values; this is not limited here. Taking PCP as an example, a PCP is represented by 3 bits and can be used to represent 8 priorities from 0 to 7, where a higher value indicates a higher priority; this is not limited here. In some possible implementations, a PCP value of 0 can be mapped to low priority, PCP values ​​of 1-3 can be mapped to medium priority, and PCP values ​​of 4-7 can be mapped to high priority; this is not limited here.

[0073] In some possible implementations, based on the characteristics of vehicular Ethernet, different message types can be categorized into different data streams within a priority partitioning framework. These data streams can include: best effort (BE) streams (PCP=0), non-safety-related media (NSM) streams (PCP=1), non-safety-related control (NSC) streams (PCP=2), event message (EM) streams (PCP=3), network control (NC) streams (PCP=4), non-state-related secure media (NSSM) streams (PCP=5), state-related secure media (SSM) streams (PCP=6), and safety-related control (SC) streams (PCP=7).

[0074] It should be noted that some message types are related to the vehicle's operating state, while others are not. For example, when the vehicle is in autonomous driving mode, it needs to perceive environmental data, among which environmental data in the vehicle's direction of travel is particularly important. Therefore, among the environmental data perceived by the vehicle, environmental data in the vehicle's direction of travel should be given higher priority. Thus, in this embodiment, different priority levels correspond to different vehicle operating states, as described below.

[0075] For example, when the vehicle's first operating state is forward, the corresponding first priority division is shown in Table 1.

[0076] Table 1

[0077]

[0078] As shown in Table 1, the photos or images captured by the vehicle's cameras and the millimeter-wave radar data are related to the vehicle's first operating state. If the vehicle's first operating state is forward movement, the forward-facing environmental data should have a higher priority, while environmental data from other directions should have a lower priority. Therefore, the forward-facing environmental data perceived by the vehicle can be defined as SSM (Surrounded Surface Mode) with a PCP value of 6, which is considered high priority. The environmental data perceived by the vehicle from other directions can be defined as NSSM (Non-Standardized Surface Mode) with a PCP value of 5, which is also considered high priority, but its priority is slightly lower than that of SSM.

[0079] In this example, in the first priority division, message types other than SSM and NSSM are independent of the vehicle's operating status and their PCP values ​​and priorities can be determined in a preset manner.

[0080] For example, warning messages (such as alarm messages from the Vehicle Control Unit (VCU)) and control data (such as power, braking, and steering data) belong to the SC message type with a PCP value of 7, indicating high priority. gPTP or LLDP messages belong to the NC message type with a PCP value of 4, indicating high priority. V2X messages and status data (such as engine temperature, speed, and torque data of the target vehicle) belong to the EM message type with a PCP value of 3, indicating medium priority. Body domain control data (such as window lift and door lock) and infotainment domain control data belong to the NSC message type with a PCP value of 2, indicating medium priority. Infotainment system data messages belong to the NSM message type with a PCP value of 1, indicating medium priority. OTA updates, offline map downloads, log downloads, and internet data messages have a PCP value of 0, indicating low priority.

[0081] For example, when the vehicle's first operating state is reversing, the corresponding first priority division is shown in Table 2.

[0082] Table 2

[0083]

[0084] As shown in Table 2, the photos or images captured by the vehicle's cameras and the millimeter-wave radar data are related to the vehicle's first operating state. If the vehicle's first operating state is reversing, the rearward environmental data should have a higher priority, while the environmental data from other directions should have a lower priority. Therefore, the rearward environmental data perceived by the vehicle can be defined as SSM, with a PCP value of 6, which is considered high priority. The environmental data from other directions perceived by the vehicle can be defined as NSSM, with a PCP value of 5, which is also considered high priority, but its priority is slightly lower than that of SSM.

[0085] In this example, in this priority division, message types other than SSM and NSSM are irrelevant to the vehicle's first operating state, and their PCP values ​​and priorities can be determined according to a preset method. Further details are omitted here.

[0086] For example, when the vehicle's first operating state is a left turn, the corresponding first priority division is shown in Table 3.

[0087] Table 3

[0088]

[0089] As shown in Table 3, the photos or images captured by the vehicle's cameras and the millimeter-wave radar data are related to the vehicle's first operating state. If the vehicle's first operating state is a left turn, the left-facing environmental data should have a higher priority, while environmental data from other directions should have a lower priority. Therefore, the left-facing environmental data perceived by the vehicle can be defined as SSM, with a PCP value of 6, which is considered high priority. The environmental data from other directions perceived by the vehicle can be defined as NSSM, with a PCP value of 5, which is also considered high priority, but its priority is slightly lower than that of SSM.

[0090] In this example, in this first priority division, message types other than SSM and NSSM are irrelevant to the vehicle's first operating state, and their PCP values ​​and priorities can be determined according to a preset method. Further details are omitted here.

[0091] For example, when the vehicle's first operating state is turning right, the corresponding first priority division is shown in Table 4.

[0092] Table 4

[0093]

[0094] As shown in Table 4, the photos or images captured by the vehicle's cameras and the millimeter-wave radar data are related to the vehicle's first operating state. If the vehicle's first operating state is turning right, the right-facing environmental data should have a higher priority, while environmental data from other directions should have a lower priority. Therefore, the right-facing environmental data perceived by the vehicle can be defined as SSM, with a PCP value of 6, which is considered high priority. The environmental data from other directions perceived by the vehicle can be defined as NSSM, with a PCP value of 5, which is also considered high priority, but its priority is slightly lower than that of SSM.

[0095] In this example, in this first priority division, message types other than SSM and NSSM are irrelevant to the vehicle's first operating state, and their PCP values ​​and priorities can be determined according to a preset method. Further details are omitted here.

[0096] For example, when the vehicle's first operating state is stationary, the corresponding first priority division is shown in Table 5.

[0097] Table 5

[0098]

[0099] As shown in Table 5, the photos or images captured by the vehicle's cameras and the millimeter-wave radar data are related to the vehicle's first operating state. If the vehicle is currently stationary, environmental data from any direction should have the same priority. Therefore, the environmental data perceived by the vehicle can be defined as SSM, with a PCP value of 6, indicating high priority.

[0100] In this example, in this priority division, message types other than SSM and NSSM are irrelevant to the vehicle's first operating state, and their PCP values ​​and priorities can be determined according to a preset method. Further details are omitted here.

[0101] 204. The vehicle gateway determines the first priority of the first message based on the first message type and the first priority division, wherein the first priority is high priority or non-high priority.

[0102] For example, if the vehicle's current first operating state is forward, the corresponding first priority division is shown in Table 1. If the first message type of the first message is a warning message or control data, then the data stream to which the first message belongs is SC, and the corresponding PCP value is 7, which is high priority, so the first priority is high priority. If the vehicle's current first operating state is reverse, the corresponding first priority division is 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 low priority, so the first priority is not high priority. If the vehicle's current first operating state is left turn, the corresponding first priority division is shown in Table 3. As shown in Table 4, if the first message is left-turning environment data, then the data stream to which the first message belongs is SSM, and the corresponding PCP value is 6, which is high priority, so the first priority is high priority; if the vehicle's current first operating state is right turn, then the corresponding first priority division is as shown in Table 5. If the first message is audio-visual entertainment system data, then the data stream to which the first message belongs is NSM, and the corresponding PCP value is 1, which is medium priority, so the first priority is not high priority.

[0103] 205. If the first priority is the higher priority, then the vehicle gateway uses the first transmission method to forward the first message, and the first transmission method is used to ensure high reliability.

[0104] In some possible implementations, the first transmission method is a redundant backup transmission method to ensure the high reliability of the first message.

[0105] In some possible implementations, redundant backup transmissions can be based on the optimized Institute of Electrical and Electronics Engineers (IEEE) 802.1CB protocol.

[0106] It should be noted that packet loss of high-priority messages is unacceptable. Optimized IEEE 802.1CB can be used to achieve reliable transmission of high-priority messages. Specifically, IEEE 802.1CB defines schemes for implementing redundant backup transmission in vehicular Ethernet, such as frame replication and elimination for reliability (FRER).

[0107] Through FRER (Functional Response Evidence), for the first message with high priority, the vehicular gateway can implement redundant backup transmission via multiple paths. The path selection comprehensively considers factors such as network topology, available resources, link intersection, and node intersection. For example, when transmitting the first message, the vehicular gateway sends several messages carrying backup data. The higher the priority of the data, the more backup data is sent, and the lower the priority of the data, the fewer backup data is sent. These backup data and the backup data are transmitted along different paths.

[0108] For example, the highest priority data will be sent as three backups, and the slightly lower priority data will be sent as two backups. If the receiver receives multiple messages with the same data, it will eliminate the redundant messages and only retrieve the data from the first correct message that arrives, or the backup data. Thus, through redundant backup transmission, the vehicle gateway can ensure highly reliable message forwarding even in the event of link failure, cable breakage, or other errors.

[0109] For example, to implement FRER-based redundant backup transmission, the vehicular gateway can specifically perform the following steps:

[0110] S1. After receiving the first message, the vehicle gateway copies the first message, obtains multiple data packets, assigns the same number to the multiple data packets, and encodes the number into the multiple data packets. For multiple data packets with the same number, it changes the media access control address (MAC), virtual local area network (VLAN) and other information of each data packet in the multiple data packets.

[0111] 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, forming link redundancy.

[0112] S3. The receiving end identifies multiple received data packets and determines whether a data packet is a copy of a previously received correct data packet by checking if the data packet numbers are the same. If so, the data packet is deleted; otherwise, the data packet is retained. The receiving end then checks whether the data packet is correct. If it is incorrect, it is deleted; if it is correct, it is retained. The data is then restored based on the correct data packet.

[0113] S4. If the receiving end has not received the correct data packet within the maximum waiting time, it requests a retransmission.

[0114] Repeat steps S1-S4 until the receiving end receives the correct data packet.

[0115] For example, let the maximum waiting time be Tmax, and the time required for the first data packet to arrive be T1. If the first data packet is incorrect, continue waiting for the second data packet to arrive, with the remaining maximum waiting time being Tmax-T1. Let the time required for the k-th data packet to arrive be Tk. If the k-th data packet is incorrect, continue waiting for the (k+1)-th data packet to arrive, with the remaining maximum waiting time being Tmax-Tk. If a correct data packet has not been received within the maximum waiting time Tmax, a retransmission is requested.

[0116] For example, such as Figure 2-2 The diagram illustrates an example of redundant backup transmission. Terminal A is the sender, and terminal G is the receiver, with multiple switches (i.e., vehicle gateways) between them. If terminal A lacks FRER functionality, it needs to be proxied by switch B (the vehicle gateway in this embodiment) which has FRER functionality. Terminal G, possessing FRER functionality, does not require proximate proxying (i.e., terminal G acts as the vehicle gateway in this embodiment). The dashed lines indicate the direction of data packet flow; there are several transmission paths from terminal A to terminal G, such as ABCDG, ABEFG, ABCEG, etc. When the sender transmits a data packet, it uses the FRER function to copy the data packet and perform redundant backup transmission along different paths. When the receiver receives a data packet, it uses the FRER function to delete the copied data packet, retaining only the first correct data packet received.

[0117] 206. If the first priority is not a high priority, the vehicle gateway shall use the second transmission method to forward the first message, and the second transmission method shall be used to ensure high timeliness.

[0118] In some possible implementations, the second transmission method is a multi-mechanism bundled frame method, which is used to ensure the high timeliness of the first message.

[0119] In some possible implementations, multi-mechanism bundled frames can be based on EtherCAT bundled frames, which is a protocol standard for implementing the transmission of multi-mechanism bundled frames.

[0120] It's important to note that timeliness is crucial for vehicle safety during operation. Therefore, messages related to security-critical services require a high level of timeliness; messages related to security-weakly or unrelated services can have a lower level of timeliness. Alternatively, messages related to security-critical services require a high level of timeliness; messages related to security-weakly related services can have a medium level of timeliness; and messages related to security-irrelevant services can have a low level of timeliness.

[0121] In some possible implementations, the eight possible values ​​of PCP from 0 to 7 can be mapped to different TSN priorities. TSN priorities can include high TSN priority and low TSN priority, or high TSN priority, medium TSN priority and low TSN priority.

[0122] For example, TSN priority is divided into high TSN priority and low TSN priority as follows: PCP value of 4~7 -> high TSN priority (messages of security-related services); PCP value of 0~3 -> low TSN priority (messages of security-weakly related or irrelevant services).

[0123] For example, TSN priority is divided into high TSN priority, medium TSN priority and low TSN priority as follows: PCP value of 4~7 -> high TSN priority (messages of services with strong security relevance); PCP value of 1~3 -> medium TSN priority (messages of services with weak security relevance); PCP value of 0 -> low TSN priority (best-effort messages).

[0124] The following describes the process of the vehicle gateway forwarding the first message using the second transmission method, taking the EtherCAT cluster frame as an example.

[0125] like Figure 2-3The diagram illustrates the transmission path, which includes one master node and n slave nodes, designated as slave node 1, slave node 2, ..., slave node (n-1), and slave node n. The vehicle gateway can be one of the master node or any of the n slave nodes. In some possible implementations, the master node and the n slave nodes can form a loop, meaning the next hop for slave node n is the master node; this is not a limitation here. The EtherCAT bundle frame sent by the master node includes an EtherCAT frame header, data segments, and a frame checksum. The master node inserts at least one data packet (e.g., if the master node is the vehicle gateway, at least one data packet is the first message) into the data segment of the bundle frame. The bundle frame then originates from the master node, passes through slave node 1, slave node 2, ..., slave node (n-1), and slave node n, finally reaching slave node n. If the master node and the n slave nodes form a loop, slave node n continues to send the bundle frame to the master node. If the master node and the n slave nodes do not form a loop, slave node n can return the bundle frame to the master node along the same path.

[0126] A single bundle frame can carry multiple data packets, such as... Figure 2-3 As shown, each data block can carry a data packet. When a bundle frame arrives at a slave node, the slave node can either retrieve data packets destined for the terminal device connected to it from the bundle frame, or insert data packets to be sent into the data segments of the bundle frame.

[0127] In this context, the order in which data packets are inserted by each slave node into the bundle frame is independent of the physical connection order; the addresses of the data packets can be matched using logical addressing. For example, data block 1 corresponding to slave node 1 can be in data segment 1 or in the subsequent data segment 2; there is no limitation here.

[0128] In this application, the vehicle gateway first receives a 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 a corresponding first priority division based on the first operating state. 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, whereby the first priority is either high priority or low priority. If the first priority is high priority, the vehicle gateway forwards the first message using a first transmission method, which ensures high reliability, thereby guaranteeing the transmission reliability of high-priority messages. If the first priority is low priority, the vehicle gateway forwards the first message using a second transmission method, which ensures high timeliness, thereby guaranteeing the transmission timeliness of low-priority messages.

[0129] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0130] To facilitate better implementation of the above-described solutions in the embodiments of this application, related apparatus for implementing the above-described solutions is also provided below.

[0131] Please see Figure 3 As shown in the embodiment of this application, an in-vehicle gateway 300 is provided for use in a vehicle and may include:

[0132] The transceiver module 301 receives the first message and obtains the first message type of the first message;

[0133] Processing module 302 is used to obtain the first operating state of the vehicle;

[0134] The processing module 302 is further configured to determine a corresponding first priority division based on the first running state, wherein the first priority division includes one or more message types corresponding to each priority.

[0135] 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 division, wherein the first priority is a high priority or a non-high priority.

[0136] The transceiver module 301 is further configured to forward the first message using a first transmission method if the first priority is the high priority, wherein the first transmission method is used to ensure high reliability.

[0137] The transceiver module 301 is further configured to forward the first message using a second transmission method if the first priority is not a high priority, wherein the second transmission method is used to ensure high timeliness.

[0138] In some possible implementations, the first message type is a warning message, control data, environmental data in various directions, General Precision Time Protocol (gPTP) message, Link Layer Discovery Protocol (LLDP) message, vehicle-to-the-world (V2X) data, status data, vehicle body domain control data, audio-visual entertainment domain control data, audio-visual entertainment system data, over-the-air (OTA) updates, offline map downloads, log downloads, or internet data.

[0139] In some possible implementations, the first operating state is forward, reverse, left turn, right turn, or stationary.

[0140] In some possible implementations, in the first priority division, messages of message types related to the first running state have a higher priority than messages of message types unrelated to the first running state.

[0141] In some possible implementations, the first transmission method is a redundant backup transmission method.

[0142] In some possible implementations, the second transmission method is a multi-mechanism bundled frame method.

[0143] It should be noted that the information interaction and execution process between the modules / units of the above-mentioned device are based on the same concept as the method embodiments of this application, and the resulting technical effects are the same as those of the method embodiments of this application. For details, please refer to the description in the method embodiments shown above in this application, and will not be repeated here.

[0144] This application also provides a computer storage medium, wherein the computer storage medium stores a program that performs some or all of the steps described in the above method embodiments.

[0145] The following describes another communication device provided in the embodiments of this application. Please refer to [link / reference]. Figure 4 As shown, the communication device 400 includes:

[0146] The system includes a receiver 401, a transmitter 402, a processor 403, and a memory 404. In some embodiments of this application, the receiver 401, transmitter 402, processor 403, and memory 404 may be connected via a bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0147] Memory 404 may include read-only memory and random access memory, and provides instructions and data to processor 403. A portion of memory 404 may also include non-volatile random access memory (NVRAM). Memory 404 stores operating systems and operating instructions, executable modules or data structures, or subsets thereof, or extended sets thereof. The operating instructions may include various operation instructions for implementing various operations. The operating system may include various system programs for implementing various basic business functions and handling hardware-based tasks.

[0148] Processor 403 controls the operation of communication device 400. Processor 403 can also be called a central processing unit (CPU). In specific applications, the various components of communication device 400 are coupled together through a bus system. This bus system includes not only a data bus but also a power bus, control bus, and status signal bus. However, for clarity, all buses are referred to as the bus system in the figure.

[0149] The methods disclosed in the embodiments of this application can be applied to processor 403, or implemented by processor 403. 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 integrated logic circuit of the hardware in processor 403 or by instructions in the form of software. The processor 403 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 404. Processor 403 reads the information in memory 404 and, in conjunction with its hardware, completes the steps of the above method.

[0150] The receiver 401 can be used to receive input digital or character information and generate signal inputs related to relevant settings and function control. The transmitter 402 may include display devices such as a display screen and can be used to output digital or character information through an external interface.

[0151] In this embodiment of the application, processor 403 is used to execute the aforementioned message transmission method.

[0152] In another possible design, when the vehicle gateway 300 or 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, pins, or circuits. The processing unit can execute computer-executed instructions stored in the storage unit to cause the chip within the terminal to execute the wireless reporting information transmission method described in any of the first aspects above. Optionally, the storage unit can be a storage unit within the chip, such as a register or cache. Alternatively, the storage unit can be a storage unit located outside the chip within the terminal, such as read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, such as random access memory (RAM).

[0153] The processor mentioned above can be a general-purpose central processing unit, a microprocessor, an ASIC, or one or more integrated circuits used to control the execution of programs described above.

[0154] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0155] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0156] In the above embodiments, the implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, in the form of a computer program product.

[0157] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. 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 data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

Claims

1. A message transmission method, characterized in that, For an in-vehicle gateway in a vehicle, the method includes: The vehicle gateway receives the first message and obtains the first message type of the first message; The vehicle gateway obtains the first operating status of the vehicle; The vehicle gateway 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. The vehicle gateway determines the first priority of the first message based on the first message type and the first priority, wherein the first priority is either high priority or non-high priority, and one message type has only one priority. If the first priority is the high priority, then the vehicle gateway uses the first transmission method to forward the first message, and the first transmission method is used to ensure high reliability. If the first priority is not a high priority, the vehicle gateway uses a second transmission method to forward the first message, and the second transmission method is used to ensure high timeliness.

2. The method according to claim 1, characterized in that, The first message type includes warning messages, control data, environmental data in various directions, General Precision Time Protocol (gPTP) messages, Link Layer Discovery Protocol (LLDP) messages, V2X data for vehicle-to-the-world communication, status data, vehicle body domain control data, audio-visual entertainment domain control data, audio-visual entertainment system data, Over-the-Air (OTA) updates, offline map downloads, log downloads, or internet data.

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

4. The method according to claim 3, characterized in that, In the first priority division, messages of message types related to the first running state have a higher priority than messages of message types unrelated to the first running state.

5. The method according to any one of claims 1-2, characterized in that, The first transmission method is a redundant backup transmission method.

6. The method according to any one of claims 1-2, characterized in that, The second transmission method is a multi-mechanism bundled frame method.

7. A vehicle-mounted gateway, characterized in that, Used in vehicles, including: The transceiver module receives the first message and obtains the first message type of the first message; The processing module is used to obtain the first operating state of the vehicle; The processing module is further configured to determine a corresponding first priority division based on the first running state, wherein the first priority division 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 division, wherein the first priority is a high priority or a non-high priority, and a message type has only one priority. The transceiver module is further configured to forward the first message using a first transmission method if the first priority is the high priority, wherein the first transmission method is used to ensure high reliability. The transceiver module is further configured to forward the first message using a second transmission method if the first priority is not a high priority, and the second transmission method is used to ensure high timeliness.

8. The vehicle gateway according to claim 7, characterized in that, The first message type includes warning messages, control data, environmental data in various directions, General Precision Time Protocol (gPTP) messages, Link Layer Discovery Protocol (LLDP) messages, V2X data for vehicle-to-the-world communication, status data, vehicle body domain control data, audio-visual entertainment domain control data, audio-visual entertainment system data, Over-the-Air (OTA) updates, offline map downloads, log downloads, or internet data.

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

10. The vehicle gateway according to claim 9, characterized in that, In the first priority division, messages of message types related to the first running state have a higher priority than messages of message types unrelated to the first running state.

11. The vehicle gateway according to any one of claims 7-8, characterized in that, The first transmission method is a redundant backup transmission method.

12. The vehicle gateway according to any one of claims 7-8, characterized in that, The second transmission method is a multi-mechanism bundled frame method.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program that causes a computer device to perform the method as described in any one of claims 1-6.

14. A computer program product, characterized in that, The computer program product includes computer-executable instructions stored in a computer-readable storage medium; at least one processor of the device reads the computer-executable instructions from the computer-readable storage medium, and the at least one processor executes the computer-executable instructions to cause the device to perform 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, memory, and 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 instruction is executed by the at least one processor, it causes the at least one processor to perform the method as described in any one of claims 1-6.

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

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