Message transmission method and device and related equipment
By introducing message transmission methods and devices in the on-vehicle communication system, the problem that the prior art cannot effectively convert and forward Ethernet messages is solved, and accurate message forwarding to specific target modules is achieved without modifying the AUTOSAR architecture.
Patent Information
- Application Number
- CN202411933792.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-25
- Publication Date
- 2025-04-18
AI Technical Summary
The prior art cannot effectively convert Ethernet packets into CAN packets, resulting in the inability to send messages to specific target modules. Configuring the PDUR module to achieve forwarding requires modification of the AUTOSAR architecture, which is very difficult.
By introducing message transmission methods and devices in the on-board communication system, Ethernet packets are obtained and formatted into CAN packets are converted, and the exit and inlet channels are determined using the protocol data unit to route the PDUR module to ensure that the packets can be accurately forwarded to the target module.
It realizes accurate conversion and forwarding of Ethernet packets to specific CAN protocol target modules, avoids modifications to traditional architectures, and improves the flexibility and efficiency of on-board communication systems.
Smart Images
Figure CN119854386A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle technology, and in particular to a message transmission method, device and related equipment. Background Art
[0002] As vehicles become more intelligent, in-vehicle communication systems are becoming more and more important. Through the in-vehicle communication system, various modules in the vehicle can communicate with each other. For example, various modules in the vehicle can communicate with each other through the Controller Area Network (CAN) bus. Or, in order to improve communication efficiency, they can communicate with each other through the Ethernet bus.
[0003] In some vehicles, the communication protocols of different devices may be different. For example, in order to provide more functions, the vehicle's head unit and domain controller modules can use the Ethernet communication protocol. In consideration of cost control, the low-voltage battery management system (BMS) and body control module (BCM) modules can use the CAN protocol for communication.
[0004] Since there are different communication protocols in the vehicle, there may be messages with different formats in the vehicle communication system. To this end, the message format can be converted to adapt to different communication protocols. However, the traditional method of converting the message format has defects and cannot send some messages to specific devices. Summary of the invention
[0005] In view of this, the present application provides a message transmission method, apparatus and related equipment, aiming to accurately achieve message delivery.
[0006] In a first aspect, the present application provides a message transmission method, the method being applied to an on-board communication system of a vehicle, the method comprising:
[0007] Obtaining a first message, where the first message is an Ethernet message sent to a target module, and the target module communicates based on a CAN message;
[0008] Performing format conversion on the first message to obtain a second message, where the second message is a controller area network (CAN) message;
[0009] According to the first association relationship, determine a first egress channel from a plurality of egress channels of the protocol data unit routing PDUR module, through which the message sent can reach the target module;
[0010] According to the second association relationship, a first inlet channel is determined from a plurality of inlet channels of the PDUR module, and the message sent through the first inlet channel will be sent through the first outlet channel;
[0011] Send the second message to the first inlet channel of the PDUR module.
[0012] In some possible implementations, before performing format conversion on the first message, the method further includes:
[0013] Verifying the first message to determine whether the data in the first message is legal;
[0014] In response to the first message passing the verification, the first message is stored in an idle data buffer, and the message stored in the data buffer is used to be sent to a next-hop device after format conversion.
[0015] In some possible implementations, the method further includes:
[0016] Acquire a third message, where the third message is a CAN message returned by the target module of the first message through the PDUR module;
[0017] Determining a target module of the third message according to a channel for receiving the third message;
[0018] The third message is converted into a fourth message, and the fourth message is sent to a target module of the third message, wherein the fourth message is an Ethernet message.
[0019] In some possible implementations, the method is executed by a complex driver CDD module in the AUTOSAR architecture, and the CDD includes a configuration file, which records the association relationship between the module and the entry channel of the PDUR module, and the association relationship includes the association relationship between the target module of the first message and the first entry channel.
[0020] In a second aspect, the present application provides a message transmission device, which is applied to an on-board communication system of a vehicle, and the device includes:
[0021] An acquisition unit, configured to acquire a first message, wherein the first message is an Ethernet message sent to a target module, and the target module communicates based on a CAN message;
[0022] A format conversion unit, configured to perform format conversion on the first message to obtain a second message, wherein the second message is a controller area network (CAN) message;
[0023] A determination unit, configured to determine, according to the first association relationship, a first egress channel from a plurality of egress channels of a protocol data unit routing (PDUR) module, through which a message sent can reach the target module;
[0024] The determining unit is further configured to determine, according to the second association relationship, a first inlet channel from a plurality of inlet channels of the PDUR module, and the message sent through the first inlet channel will be sent through the first outlet channel;
[0025] A sending unit is used to send the second message to the first inlet channel of the PDUR module.
[0026] In some possible implementations, the device further includes a verification unit;
[0027] The verification unit is used to verify the first message to determine whether the data in the first message is legal; in response to the first message passing the verification, the first message is stored in an idle data buffer, and the message stored in the data buffer is used to be sent to the next-hop device after format conversion.
[0028] In some possible implementations, the acquisition unit is further used to acquire a third message, where the third message is a CAN message returned by the target module of the first message through the PDUR module;
[0029] The determining unit is further configured to determine a target module of the third message according to a channel for receiving the third message;
[0030] The format conversion unit is further used to convert the third message into a fourth message;
[0031] The sending unit is further configured to send the fourth message to the target module of the third message, where the fourth message is an Ethernet message.
[0032] In some possible implementations, the device belongs to a complex driver CDD module in the AUTOSAR architecture. The CDD includes a configuration file, the configuration file records an association relationship between a module and an entry channel of the PDUR module, and the association relationship includes an association relationship between a target module of the first message and the first entry channel.
[0033] In a third aspect, the present application provides a communication system, the communication system comprising a first device, a second device, a complex device driver CDD module and a protocol data unit routing PDUR module;
[0034] The first device is used to generate a first message, and the target module of the first message is the second device;
[0035] The CDD module is used to execute the method as described in any one of the first aspects above, so as to send the second message to the second device through the PDUR module.
[0036] In a fourth aspect, the present application provides a vehicle, which includes the communication system as described in the third aspect.
[0037] In a fifth aspect, the present application provides a device, comprising a memory and a processor, the memory being used to store instructions or codes, and the processor being used to execute the instructions or codes so that the device executes the message transmission method described in any one of the first aspects above.
[0038] In a sixth aspect, the present application provides a computer storage medium, wherein the computer storage medium stores a code, and when the code is executed, a device executing the code implements the method described in any one of the first aspects above.
[0039] In a seventh aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute any of the methods described in the first aspect.
[0040] The present application provides a message transmission method, device and related equipment, which is applied to the vehicle-mounted communication system of a vehicle. Specifically, if it is necessary to send a first message in Ethernet message format to a target module using CAN protocol, then the first message can be first obtained and the first message can be format-converted to obtain a second message in CAN message format. Then, the first message can be analyzed, and the first outlet channel corresponding to the target module can be determined from the multiple outlet channels of the protocol data unit routing PDUR module based on the first association relationship. In order to ensure that the second message is sent through the first outlet channel, the first inlet channel corresponding to the first outlet channel can be determined from the multiple inlet channels of the PDUR module based on the second association relationship. Therefore, the second message is sent to the PDUR module through the first inlet channel, and the second message can reach the target module of the first message through the forwarding of the PDUR module. In this way, it is guaranteed that the first message can be sent to a specific target module, and there is no need to modify the PDUR module in the traditional architecture. In this way, the conversion and forwarding of the message format are realized under the premise of making as few adjustments to the existing vehicle-mounted communication system as possible. BRIEF DESCRIPTION OF THE DRAWINGS
[0041] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0042] Figure 1 A schematic diagram of a flow chart of a message transmission method provided in an embodiment of the present application;
[0043] Figure 2 A schematic diagram of the structure of a message transmission device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0044] In traditional vehicles, most modules use CAN bus for communication. With the development of technology, more and more data needs to be transmitted between modules, but the carrying capacity of CAN bus is limited. Therefore, in some scenarios, the communication protocol between modules can be upgraded from CAN protocol to Ethernet protocol, thereby improving the efficiency of communication between modules.
[0045] However, the cost of the transceiver module based on the Ethernet protocol is relatively high. For some controllers with relatively simple functions, they do not need to transmit data frequently, and there is no need to upgrade the communication protocol to the Ethernet protocol. In this way, traditional modules based on CAN bus for data transmission can be used to reduce the cost of the whole vehicle.
[0046] Since there are modules with different communication protocols in the vehicle, in order to achieve mutual communication between modules, a module for implementing message format conversion can be deployed. For example, in a vehicle based on the AUTOSAR architecture, the forwarding of messages is achieved through the PDUR module. Accordingly, a format conversion module can be added to the AUTOSAR architecture, and the format conversion of messages can be achieved through the format conversion module. Specifically, the module based on Ethernet communication can send Ethernet messages to the format conversion module, and the format conversion module converts the Ethernet messages into CAN messages. Then, the format conversion module can send the CAN message to the PDUR module, and the PDUR module can achieve the forwarding of the message.
[0047] In the traditional AUTOSAR architecture, the PDUR module records the association between the message's inlet channel and outlet channel, and sends the message from a certain inlet channel through the outlet channel corresponding to the inlet channel.
[0048] However, in the above-mentioned application scenario where message format conversion is required, the format conversion module and the PDUR module are connected through a single entry channel. In this way, the messages converted by the format conversion module are transmitted to the PDUR module through an entry channel. Therefore, the messages from the format conversion module can only be sent to other devices through a specific exit channel. In this way, a message cannot be transmitted to a specific target module. In this way, for messages such as diagnostic messages that need to be sent to a specific module, normal forwarding of messages cannot be achieved.
[0049] In order to solve the above problems, it is often achieved by configuring the PDUR module. By configuring the PDUR module, the function of identifying the destination address of the message can be added to the PDUR module, so that the message can be forwarded to a specific target module. However, configuring the PDUR module requires modifying the AUTOSAR architecture, which is difficult.
[0050] In order to solve the above problem, an embodiment of the present application provides a message transmission method. The message transmission method can be applied to a vehicle-mounted communication system of a vehicle to achieve message format conversion.
[0051] Specifically, the message transmission method can be applied to a message transmission device in a vehicle-mounted communication system. If the vehicle-mounted communication system is implemented based on the AUTOSAR architecture, the message transmission device can be a CDD module. Furthermore, the message transmission device is also connected to a PDUR module.
[0052] The message transmission method provided by the embodiment of the present application is described below from the perspective of the message transmission device. Obviously, the described embodiment is only a part of the embodiment of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.
[0053] See also Figure 1 , Figure 1 A method flow chart of a message transmission method provided in an embodiment of the present application includes:
[0054] S101: Obtain a first message.
[0055] In an embodiment of the present application, the message transmission device can be used to convert the format of the Ethernet message sent from the module that needs to communicate using the Ethernet protocol (hereinafter referred to as the Ethernet module) to the module that uses the CAN protocol for communication (hereinafter referred to as the CAN module). In other words, if module A needs to send a message to module B, and module A communicates using the Ethernet protocol, and module B communicates using the CAN protocol, then module A can first send the message to the message transmission device, which will convert the format before sending it to module B. In the vehicle diagnostic communication scenario, the above-mentioned module A can be, for example, a host computer, such as a tester, and the above-mentioned module B can be a module to be tested, such as an ECU or other equipment.
[0056] For ease of introduction, in the embodiment of the present application, the Ethernet message to be sent to the module using the CAN protocol for communication is referred to as the first message. Accordingly, the above-mentioned "module using the CAN protocol for communication" can be referred to as the target module of the first message.
[0057] S102: Perform format conversion on the first message to obtain a second message.
[0058] In order to enable the target module to parse the first message, the message transmission device can convert the format of the first message, converting the first message in Ethernet message format into a second message in CAN message format. The data carried by the second message is the same as that of the first message. In this way, the message transmission device sends the second message to the target module, which is equivalent to sending the first message to the target module.
[0059] Optionally, before performing the format conversion, the message transmission device may also verify the first message. Specifically, the message transmission device may first verify whether the data in the first message is legal. If the first message passes the verification, the first message may be stored in a data buffer in an idle state.
[0060] Specifically, multiple data buffers can be pre-divided. The data buffer is used to store messages to be processed. After the message passes the verification, the message can be stored in the data buffer in the idle state. The message processing device can extract the message to be processed from the data buffer in the non-idle state and perform format conversion. In this way, dividing multiple data buffers can avoid the problem of waiting for conversion due to the busyness of a single data buffer in the multi-channel diagnosis scenario.
[0061] S103: Determine a first outlet channel from multiple outlet channels of the PDUR module according to the first association relationship.
[0062] S104: Determine a first inlet channel from multiple inlet channels of the PDUR module according to the second association relationship.
[0063] According to the above description, the current method of transmitting messages based on PDUR cannot send a specific message to a specific target module. Therefore, in the embodiment of the present application, the message transmission device can not only convert the format of the first message, but also determine the forwarding path of the message after format conversion.
[0064] Specifically, under the AUTOSAR architecture, CAN messages are sent through the PDUR module, and the PDUR module will send messages from a certain entry channel through the corresponding exit channel. Therefore, in order to send the second message to the target device of the first message without changing the PDUR module, the message transmission device can determine the entry channel (hereinafter referred to as the first entry channel) for the second message to enter the PDUR module according to the target module of the first message, and then send the first message to the PDUR module through the first entry channel.
[0065] The first inlet channel corresponds to the target module of the first message, that is, the message sent to the PDUR module through the first inlet channel will be sent by the PDUR module through the outlet channel corresponding to the target module.
[0066] In actual application scenarios, based on the characteristics of the vehicle-mounted communication network system, the exit channel of the PDUR module can be determined according to the target message, and then the first entry channel can be determined based on the exit channel.
[0067] Specifically, after determining the target module, the exit channel corresponding to the target module can be determined from the multiple exit channels of the PDUR module based on the first association relationship of the vehicle-mounted communication network. The exit channel can be referred to as the first exit channel. The first exit channel corresponds to the target module, which means that the message sent from the first exit channel can be obtained by the target module. Therefore, it is only necessary to ensure that the second message is sent from the first exit channel to ensure that the second message reaches the target module.
[0068] After the first outlet channel is determined, the inlet channel corresponding to the first outlet channel, i.e., the first inlet channel, can be determined based on the second association relationship. The second association relationship is the association relationship between the inlet channel and the outlet channel inside the PDUR module. The second association relationship includes the association relationship between the first inlet channel and the first outlet channel, indicating that the message sent to the PDUR module through the first inlet channel will be sent through the first outlet channel. In this way, the second message can be sent to the PDUR module through the first inlet channel, thereby ensuring that the second message is sent to the target module through the first outlet channel.
[0069] In an embodiment of the present application, the message transmission device may include a configuration file. The configuration file may record the aforementioned first association relationship and the second association relationship. Since the first message is an Ethernet message, the first message records the identifier of the target module. After obtaining the first message, the message transmission device may search the configuration file for the first association relationship according to the identifier of the target module to determine the first exit channel, and then search the configuration file for the second association relationship to determine the first entry channel.
[0070] S105: Send a second message to the first inlet channel of the PDUR module.
[0071] After determining the first inlet channel, the message transmission device may send a second message to the first inlet channel of the PDUR module.
[0072] After receiving the second message through the first inlet channel, the PDUR can determine the first outlet channel corresponding to the first inlet channel according to the internally configured inlet channel and outlet channel, and send the second message through the first outlet channel. Since the first inlet channel is determined according to the target module of the first message, the first outlet channel corresponding to the first inlet channel corresponds to the target module, so the second message sent through the first outlet channel can be received by the target module of the first message. And, since the second message is a CAN message converted by the message transmission device, the target module of the first message can parse the second message. In this way, the conversion and transmission of Ethernet messages to CAN messages are completed.
[0073] The present application provides a message transmission method.
[0074] The method is applied to the vehicle-mounted communication system of the vehicle. Specifically, if it is necessary to send a first message in Ethernet message format to a target module using CAN protocol, then the first message can be obtained and the format of the first message can be converted to obtain a second message in CAN message format. Then, the first message can be analyzed, and the first outlet channel corresponding to the target module can be determined from the multiple outlet channels of the protocol data unit routing PDUR module based on the first association relationship. In order to ensure that the second message is sent through the first outlet channel, the first inlet channel corresponding to the first outlet channel can be determined from the multiple inlet channels of the PDUR module based on the second association relationship. Therefore, the second message is sent to the PDUR module through the first inlet channel, and the second message can reach the target module of the first message through the forwarding of the PDUR module. In this way, it is guaranteed that the first message can be sent to a specific target module, and there is no need to modify the PDUR module in the traditional architecture. In this way, the conversion and forwarding of the message format are realized under the premise of making as few adjustments to the existing vehicle-mounted communication system as possible.
[0076] The above describes some implementation methods of the Ethernet module sending Ethernet messages to the CAN module through the message transmission device and the PDUR module. In actual application scenarios, the CAN module may also need to send messages to the Ethernet module. For example, in a diagnostic scenario, the test machine can send a diagnostic message to the low-voltage BMS. The low-voltage BMS can return the diagnostic result message through the CAN bus.
[0077] In this application scenario, the message transmission device can forward the message according to the message entry channel. Specifically, a third message can be sent in a certain CAN module. The third message can be sent to the message transmission device through the PDUR module.
[0078] Combined with the previous introduction, it can be known that the PDUR module can determine the exit channel of the message based on the entry channel. In other words, the exit channel through which the PDUR module sends the third message to the message transmission device corresponds to the module that generates the third message. The message transmission device can determine the module that sends the third message based on the channel that receives the third message, and then determine the target module of the third message based on the module that sends the third message. Accordingly, the third message can be converted into a fourth message in the Ethernet message format, and the fourth message can be sent to the target module of the third message. In this way, the normal transmission of messages from the CAN module to the Ethernet module is guaranteed.
[0079] The above are some specific implementations of the message transmission method provided in the embodiment of the present application. Based on this, the present application also provides a corresponding message transmission device. The message transmission device provided in the embodiment of the present application will be introduced below from the perspective of functional modularization.
[0080] See also Figure 2 , Figure 2 A schematic diagram of a structure of a message transmission device provided in an embodiment of the present application. Specifically, Figure 2 The message transmission device 200 shown includes:
[0081] The acquisition unit 210 is used to acquire a first message, where the first message is an Ethernet message sent to a target module, and the target module communicates based on a CAN message;
[0082] A format conversion unit 220, configured to perform format conversion on the first message to obtain a second message, wherein the second message is a controller area network (CAN) message;
[0083] A determining unit 230, configured to determine, according to the first association relationship, a first egress channel from a plurality of egress channels of the protocol data unit routing PDUR module, through which a message sent can reach the target module;
[0084] The determining unit 230 is further configured to determine, according to the second association relationship, a first inlet channel from the plurality of inlet channels of the PDUR module, and the message sent through the first inlet channel will be sent through the first outlet channel;
[0085] The sending unit 240 is used to send the second message to the first inlet channel of the PDUR module.
[0086] In some possible implementations, the device further includes a verification unit;
[0087] The verification unit is used to verify the first message to determine whether the data in the first message is legal; in response to the first message passing the verification, the first message is stored in an idle data buffer, and the message stored in the data buffer is used to be sent to the next-hop device after format conversion.
[0088] In some possible implementations, the acquisition unit 210 is further configured to acquire a third message, where the third message is a CAN message returned by the target module of the first message through the PDUR module;
[0089] The determining unit 230 is further configured to determine a target module of the third message according to a channel for receiving the third message;
[0090] The format conversion unit 220 is further configured to convert the third message into a fourth message;
[0091] The sending unit 240 is further configured to send the fourth message to the target module of the third message, where the fourth message is an Ethernet message.
[0092] In some possible implementations, the device belongs to a complex driver CDD module in the AUTOSAR architecture. The CDD includes a configuration file, the configuration file records an association relationship between a module and an entry channel of the PDUR module, and the association relationship includes an association relationship between a target module of the first message and the first entry channel.
[0093] The embodiments of the present application also provide corresponding communication systems, vehicles, devices, computer storage media and computer program products for implementing the technical solutions provided in the embodiments of the present application.
[0094] The communication system includes a first device, a second device, a complex device driver CDD module and a protocol data unit routing PDUR module; the first device is used to generate a first message, and the target module of the first message is the second device; the CDD module is used to execute the method described in any one of the first aspects above, so as to send the second message to the second device through the PDUR module.
[0095] The vehicle includes a communication system as described in any of the aforementioned embodiments of the present application.
[0096] The device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the message transmission method described in any embodiment of the present application.
[0097] The computer storage medium stores codes, and when the codes are executed, the device executing the codes implements the message transmission method described in any embodiment of the present application.
[0098] The computer program product includes instructions. When the instructions are executed on a computer, the computer is enabled to execute the message transmission method described in any embodiment of the present application.
[0099] The "first" and "second" in the names such as "first" and "second" (if any) mentioned in the embodiments of the present application are only used as name identifiers and do not represent the first or second in order.
[0100] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM) / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.
[0101] Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative work.
[0102] The above description is merely an exemplary embodiment of the present application and is not intended to limit the protection scope of the present application.
Claims
1. A message transmission method, characterized in that: The method is applied to an on-board communication system of a vehicle, and the method comprises: Obtaining a first message, where the first message is an Ethernet message sent to a target module, and the target module communicates based on a CAN message; Performing format conversion on the first message to obtain a second message, where the second message is a controller area network (CAN) message; According to the first association relationship, determine a first egress channel from a plurality of egress channels of the protocol data unit routing PDUR module, through which the message sent can reach the target module; According to the second association relationship, a first inlet channel is determined from a plurality of inlet channels of the PDUR module, and the message sent through the first inlet channel will be sent through the first outlet channel; Send the second message to the first inlet channel of the PDUR module.
2. The method according to claim 1, characterized in that Before performing format conversion on the first message, the method further includes: Verifying the first message to determine whether the data in the first message is legal; In response to the first message passing the verification, the first message is stored in an idle data buffer, and the message stored in the data buffer is used to be sent to a next-hop device after format conversion.
3. The method according to claim 1 or 2, characterized in that: The method further comprises: Acquire a third message, where the third message is a CAN message returned by the target module of the first message through the PDUR module; Determining a target module of the third message according to a channel for receiving the third message; The third message is converted into a fourth message, and the fourth message is sent to a target module of the third message, wherein the fourth message is an Ethernet message.
4. The method according to claim 1, characterized in that The method is executed by a complex driver CDD module in the AUTOSAR architecture, and the CDD includes a configuration file, in which the association relationship between the module and the entry channel of the PDUR module is recorded, and the association relationship includes the association relationship between the target module of the first message and the first entry channel.
5. A message transmission device, characterized in that: The device is applied to an on-board communication system of a vehicle, and the device comprises: An acquisition unit, configured to acquire a first message, wherein the first message is an Ethernet message sent to a target module, and the target module communicates based on a CAN message; A format conversion unit, configured to perform format conversion on the first message to obtain a second message, wherein the second message is a controller area network (CAN) message; A determining unit, configured to determine, according to the first association relationship, a first egress channel from a plurality of egress channels of a protocol data unit routing (PDUR) module, through which a message sent can reach the target module; The determining unit is further configured to determine, according to the second association relationship, a first inlet channel from a plurality of inlet channels of the PDUR module, wherein the message sent through the first inlet channel will be sent through the first outlet channel; A sending unit is used to send the second message to the first inlet channel of the PDUR module.
6. The device according to claim 5, characterized in that The device also includes a verification unit; The verification unit is used to verify the first message to determine whether the data in the first message is legal; in response to the first message passing the verification, the first message is stored in an idle data buffer, and the message stored in the data buffer is used to be sent to the next-hop device after format conversion.
7. The device according to claim 5 or 6, characterized in that The acquisition unit is further used to acquire a third message, where the third message is a CAN message returned by the target module of the first message through the PDUR module; The determining unit is further configured to determine a target module of the third message according to a channel for receiving the third message; The format conversion unit is further used to convert the third message into a fourth message; The sending unit is further configured to send the fourth message to the target module of the third message, where the fourth message is an Ethernet message.
8. A communication system, characterized in that: The communication system comprises a first device, a second device, a complex driver CDD module and a protocol data unit routing PDUR module; The first device is used to generate a first message, and the target module of the first message is the second device; The CDD module is used to execute the method according to any one of claims 1 to 4, so as to send the second message to the second device through the PDUR module.
9. A vehicle, characterized in that: The vehicle comprises the communication system of claim 8.
10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the processor performs the method according to any one of claims 1 to 4.