Data message processing method and system, electronic equipment and storage medium

Abstract

The invention provides a data message processing method and system, electronic equipment and a storage medium. The method comprises the following steps: acquiring an initial data message; whether priority mapping is carried out on the initial data message is judged, and a judgment result is obtained; in response to the determination based on the judgment result, performing priority mapping on the initial data message, and mapping an original priority identifier of the initial data message to a target priority identifier of an intermediate data message, and moving the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier, filling the intermediate data message into a target data message; and forwarding the target data message through a differential signal line. According to the invention, the technical problems of low efficiency and poor real-time performance of a data message processing method provided in the related technology are solved.

Description

Technical Field

[0001] The present disclosure relates to the field of automotive electronic communications, and in particular to a data message processing method, system, electronic device and storage medium. Background Art

[0002] With the rapid development of the automobile industry, the vehicle development cycle has been significantly shortened, which has put forward higher requirements on the iterative update speed of the communication matrix. The data message processing method provided in the related art usually adopts a statically defined communication matrix, that is, the orderly communication between the electronic control units of the vehicle is realized by statically assigning priorities to the messages. However, the data message processing method in the related art has technical problems such as wide range of changes, difficult version matching, poor real-time performance, and low efficiency, which makes it difficult to meet the efficient, flexible and real-time communication requirements in modern automobile development.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present disclosure provide a data message processing method, system, electronic device and storage medium to at least solve the technical problems of low efficiency and poor real-time performance of the data message processing method provided in the related art.

[0005] According to one aspect of an embodiment of the present disclosure, a data message processing method is provided, comprising: obtaining an initial data message, wherein the initial data message is obtained by performing signal assembly on application data to be sent by each electronic control system of a target vehicle in an interactive layer data format; judging whether to perform priority mapping on the initial data message, and obtaining a judgment result; in response to determining to perform priority mapping on the initial data message based on the judgment result, mapping the original priority identifier of the initial data message to the target priority identifier of an intermediate data message, and moving the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier, wherein the intermediate data message is obtained by performing signal assembly on the interactive layer data format, and the priority of the intermediate data message is higher than the priority of the initial data message; filling the intermediate data message into the target data message, wherein the target data message carries a target priority identifier, and the target data message is obtained by performing signal assembly on application data in a data link layer data format; and forwarding the target data message via a differential signal line.

[0006] Optionally, determining whether to perform priority mapping on the initial data message and obtaining a determination result includes: determining whether to perform priority mapping on the initial data message based on an internal vehicle notification event and / or an external vehicle request event of the target vehicle, and obtaining a determination result.

[0007] Optionally, the above-mentioned data packet processing method also includes: in response to determining priority mapping of the initial data packet based on the judgment result, constructing a dynamic priority mapping request, wherein the information fields carried in the dynamic priority mapping request include at least: a first field, a second field, a third field and a fourth field, the first field is used to record the original priority identifier, the second field is used to record the target priority identifier, the third field is used to record the request identifier of the dynamic priority mapping request, and the fourth field is used to record the dynamic priority switch adjustment signal, and the request identifier is determined according to the number of requests; forwarding the dynamic priority mapping request via the differential signal line.

[0008] Optionally, the information field carried in the dynamic priority mapping request also includes: a fifth field, the fifth field is used to record a first end-to-end protection content, wherein the first end-to-end protection content is used to perform data verification on the dynamic priority mapping request at the receiving end of the dynamic priority mapping request.

[0009] Optionally, the response determines to perform priority mapping on the initial data message based on the judgment result, maps the original priority identifier of the initial data message to the target priority identifier of the intermediate data message, and moves the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier, including: receiving a dynamic priority mapping response from the receiving end, wherein the dynamic priority mapping response is used to determine whether the receiving end has successfully established the priority mapping; responds to determining to perform priority mapping on the initial data message based on the judgment result and determining that the receiving end has successfully established the priority mapping based on the dynamic priority mapping response, mapping the original priority identifier of the initial data message to the target priority identifier of the intermediate data message, and moving the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier.

[0010] Optionally, the information fields carried in the dynamic priority mapping response include at least: a first field, a second field, a third field and a sixth field, wherein the sixth field is used to record a mapping configuration status signal, and the mapping configuration status signal is used to determine one of the following: the receiving end has successfully established a priority mapping, the receiving end has not successfully established a priority mapping, and the receiving end has refused to establish a priority mapping.

[0011] Optionally, the information field carried in the dynamic priority mapping request also includes: a seventh field, the seventh field is used to record a second end-to-end protection content, wherein the second end-to-end protection content is used to perform data verification on the dynamic priority mapping response at the sending end of the dynamic priority mapping request.

[0012] Optionally, filling the target data message with the intermediate data message includes: in response to determining that the receiving end has successfully established the priority mapping based on the dynamic priority mapping response, filling the target data message with the intermediate data message.

[0013] Optionally, the data message processing method further includes: in response to determining that no priority mapping is required for the initial data message based on the judgment result or determining that the receiving end has not successfully established priority mapping based on the dynamic priority mapping response, filling the initial data message into the target data message.

[0014] According to another aspect of an embodiment of the present disclosure, a data message processing method is provided, comprising: acquiring a target data message via a differential signal line, wherein the target data message is obtained by signal assembling application data to be sent by each electronic control system of a target vehicle in a data link layer data format; extracting an intermediate data message from the target data message, wherein the intermediate data message is obtained by signal assembling application data to be sent by each electronic control system of a target vehicle in an interactive layer data format; judging whether priority mapping is enabled for the intermediate data message, and obtaining a judgment result; in response to determining that priority mapping is enabled for the intermediate data message based on the judgment result, mapping the target priority identifier of the intermediate data message back to the original priority identifier of the initial data message, and moving the message content of the intermediate data message to the message content of the initial data message according to the original priority identifier, wherein the priority of the intermediate data message is higher than the priority of the initial data message, and the initial data message is obtained by signal assembling application data in an interactive layer data format; parsing application data from the message content of the initial data message, and distributing the application data to an upper-layer application.

[0015] Optionally, the above-mentioned data message processing method also includes: obtaining a dynamic priority mapping request, wherein the information fields carried in the dynamic priority mapping request include at least: a first field, a second field, a third field and a fourth field, the first field is used to record the original priority identifier, the second field is used to record the target priority identifier, the third field is used to record the request identifier of the dynamic priority mapping request, and the fourth field is used to record the dynamic priority switch adjustment signal, and the request identifier is determined based on the number of requests; in response to the dynamic priority mapping request, a priority mapping is established between the original priority identifier and the target priority identifier, and the dynamic priority switch adjustment signal is set to an on state.

[0016] Optionally, the above-mentioned data message processing method also includes: in response to determining that priority mapping has been enabled for the intermediate data message based on the judgment result, constructing a dynamic priority mapping response, wherein the dynamic priority mapping response is used to determine whether the receiving end has successfully established the priority mapping; and forwarding the dynamic priority mapping response via the differential signal line.

[0017] According to another aspect of an embodiment of the present disclosure, a data message processing system is also provided, including: a transmitting end and a receiving end; the transmitting end is used to obtain an initial data message, and in response to determining to perform priority mapping on the initial data message, maps the original priority identifier of the initial data message to the target priority identifier of the intermediate data message, and moves the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier, fills the intermediate data message into the target data message, and forwards the target data message via a differential signal line; the receiving end is used to obtain the target data message via the differential signal line, extract the intermediate data message from the target data message, and in response to determining that priority mapping has been enabled for the intermediate data message. , mapping the target priority identifier back to the original priority identifier, and moving the message content of the intermediate data message to the message content of the initial data message according to the original priority identifier, parsing the application data from the message content of the initial data message, and distributing the application data to the upper-layer application; wherein, the initial data message is obtained by signal assembly of the application data to be sent by each electronic control system of the target vehicle using the interactive layer data format, the intermediate data message is obtained by signal assembly using the interactive layer data format, and the priority of the intermediate data message is higher than the priority of the initial data message, the target data message carries the target priority identifier, and the target data message is obtained by signal assembly of the application data using the data link layer data format.

[0018] According to another aspect of the embodiment of the present disclosure, a data message processing device is also provided, including: an acquisition module, used to acquire an initial data message, wherein the initial data message is obtained by signal assembly of application data to be sent by each electronic control system of the target vehicle in an interactive layer data format; a judgment module, used to judge whether to perform priority mapping on the initial data message and obtain a judgment result; a mapping module, used to respond to a determination based on the judgment result to perform priority mapping on the initial data message, map the original priority identifier of the initial data message to the target priority identifier of the intermediate data message, and move the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier, wherein the intermediate data message is obtained by signal assembly in an interactive layer data format, and the priority of the intermediate data message is higher than the priority of the initial data message; a filling module, used to fill the intermediate data message into the target data message, wherein the target data message carries a target priority identifier, and the target data message is obtained by signal assembly of application data in a data link layer data format; a forwarding module, used to forward the target data message via a differential signal line.

[0019] Optionally, the judgment module is further used to: judge whether to perform priority mapping on the initial data message based on the internal vehicle notification event and / or the external vehicle request event of the target vehicle to obtain a judgment result.

[0020] Optionally, the mapping module is also used to: respond to the priority mapping of the initial data message determined based on the judgment result, and construct a dynamic priority mapping request, wherein the information fields carried in the dynamic priority mapping request include at least: a first field, a second field, a third field and a fourth field, the first field is used to record the original priority identifier, the second field is used to record the target priority identifier, the third field is used to record the request identifier of the dynamic priority mapping request, and the fourth field is used to record the dynamic priority switch adjustment signal, and the request identifier is determined according to the number of requests; and forward the dynamic priority mapping request via the differential signal line.

[0021] Optionally, the mapping module is also used to: receive a dynamic priority mapping response from the receiving end, wherein the dynamic priority mapping response is used to determine whether the receiving end has successfully established the priority mapping; respond to determine to perform priority mapping on the initial data message based on the judgment result and determine that the receiving end has successfully established the priority mapping based on the dynamic priority mapping response, map the original priority identifier of the initial data message to the target priority identifier of the intermediate data message, and move the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier.

[0022] Optionally, the filling module is further used to: in response to determining that the receiving end has successfully established the priority mapping based on the dynamic priority mapping response, fill the intermediate data message into the target data message.

[0023] Optionally, the filling module is further used to: in response to determining that no priority mapping is required for the initial data packet based on the judgment result or determining that the receiving end has not successfully established priority mapping based on the dynamic priority mapping response, fill the initial data packet into the target data packet.

[0024] According to another aspect of the embodiments of the present disclosure, an electronic device is further provided, including: a memory storing an executable program; and a processor for running the program, wherein the data message processing method in each embodiment of the present disclosure is executed when the program is running.

[0025] According to another aspect of an embodiment of the present disclosure, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the data message processing method in each embodiment of the present disclosure.

[0026] According to another aspect of the embodiments of the present disclosure, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the data message processing method in each embodiment of the present disclosure is implemented.

[0027] In the embodiments of the present disclosure, by introducing a dynamic priority adjustment mechanism, the adjustment of the message priority is allowed to be implemented only within the code of the sending electronic control system, without modifying the software configuration of the receiving electronic control system, thereby achieving the purpose of simplifying the communication matrix change process and reducing the scope of software updates, thereby achieving the technical effect of improving the efficiency and real-time performance of data message processing, and further solving the technical problems of low efficiency and poor real-time performance of the data message processing method provided in the relevant technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0029] Figure 1 is a hardware structure diagram of a data message processing method according to one embodiment of the present disclosure;

[0030] Figure 2 is a flow chart of a data message processing method according to one embodiment of the present disclosure;

[0031] Figure 3 is a schematic diagram of a data message processing method according to one embodiment of the present disclosure;

[0032] Figure 4 is a schematic diagram of a data message processing method according to one embodiment of the present disclosure;

[0033] Figure 5 is a schematic diagram of a data message processing method according to one embodiment of the present disclosure;

[0034] Figure 6 is a schematic diagram of a data message processing method according to one embodiment of the present disclosure;

[0035] Figure 7 is a schematic diagram of a data message processing method according to one embodiment of the present disclosure;

[0036] Figure 8 is a schematic diagram of a data message processing method according to one embodiment of the present disclosure;

[0037] Fig. 9 is a schematic diagram of a dynamic priority mapping request / response message format according to one embodiment of the present disclosure;

[0038] Fig.10 is a schematic diagram of a dynamic priority mapping establishment process according to one embodiment of the present disclosure;

[0039] Fig.11is a schematic diagram of a dynamic priority mapping establishment process according to one embodiment of the present disclosure;

[0040] Fig.12 It is a structural block diagram of a data message processing device according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the scheme of the present disclosure, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present disclosure.

[0042] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0043] The data message processing methods provided in the related art usually adopt a statically defined communication matrix, that is, by statically assigning priorities to messages, to achieve orderly communication between the electronic control units of the vehicle. However, the data message processing methods in the related art have technical problems such as wide range of changes, difficult version matching, poor real-time performance, and low efficiency, which makes it difficult to meet the efficient, flexible and real-time communication requirements in modern automobile development.

[0044] Specifically, when the message priority needs to be adjusted during vehicle development to adapt to the introduction of new functions or optimize signal transmission, the traditional method requires the entire communication matrix to be modified, resulting in the software configuration of all related electronic control systems to be updated synchronously. When implementing communication matrix changes and electronic control system software updates, since each electronic control system in the vehicle electronic system may be provided by different suppliers, their software versions, update cycles, and compatibility standards are different, which makes version matching difficult. The development team needs to spend extra time and resources to ensure the consistency of the software versions of all electronic control systems to avoid communication failures and system instability caused by version differences. The process is complicated and time-consuming. In addition, the traditional static priority allocation mechanism lacks flexibility and cannot dynamically adjust the priority of the message according to the real-time operating status of the vehicle or the immediate needs of the user. It not only increases the development cost, but also prolongs the product launch cycle, making it difficult to adapt to the urgent needs of the modern automotive industry for rapid iteration and efficient development.

[0045] According to an embodiment of the present disclosure, a method embodiment of a data message processing method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0046] The method embodiment can be executed in an electronic device or a similar computing device including a memory and a processor. Taking running on a computer terminal as an example, the computer terminal may include one or more processors (processors may include but are not limited to central processing units (CPU), graphics processing units (GPU), digital signal processing (DSP) chips, microprocessors (MCU), programmable logic devices (Field Programmable Gate Array, FPGA), neural network processors (Neural-network Processor Unit, NPU), tensor processors (TensorProcessing Unit, TPU), artificial intelligence (Artificial Intelligence, AI) type processors and other processing devices) and a memory for storing data. Optionally, the above-mentioned computer terminal may also include a transmission device, an input and output device, and a display device for communication functions. It can be understood by those of ordinary skill in the art that the above-mentioned structural description is only for illustration, and it does not limit the structure of the above-mentioned computer terminal. For example, the computer terminal may also include more or fewer components than the above-mentioned structural description, or have a configuration different from the above-mentioned structural description.

[0047] The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the data message processing method in the embodiment of the present disclosure. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, the above-mentioned data message processing method is realized. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0048] The transmission device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0049] The display device may be, for example, a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of a mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), and a user may interact with the GUI by finger contacts and / or gestures on a touch-sensitive surface, wherein the human-computer interaction functions here may optionally include the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music and / or web browsing, etc. The executable instructions for executing the above human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0050] Figure 1 is a hardware structure diagram of a data processing method according to one embodiment of the present disclosure, such as Figure 1 As shown, the hardware structure includes: terminal equipment, vehicles and roadside equipment.

[0051] Exemplarily, terminal devices generally refer to intelligent devices involved in communication, including but not limited to the target vehicle itself, mobile positioning terminals (such as smart phones, smart wearable devices, and vehicle-mounted communication systems of other vehicles), etc. The above-mentioned devices collect environmental data through built-in sensors, or collect information through user interaction, and then transmit the collected data to the cloud server or the vehicle-mounted control unit of the target vehicle through the network for analysis and processing. The network includes but is not limited to cellular networks (such as 4G, 5G), Wi-Fi, Bluetooth, Vehicle-to-Everything (V2X) and other technologies, which are responsible for real-time data transmission to ensure that the vehicle can receive the location information and status data shared by other vehicles, pedestrians, roadside equipment, etc. in a timely manner. Roadside equipment refers to equipment installed on the side of the road for monitoring and sensing the road environment, including but not limited to radars, cameras, infrared sensors, meteorological sensors, traffic light controllers, etc. The data collected by the roadside equipment is transmitted to the vehicle or cloud server through the network for vehicle control and traffic management.

[0052] Furthermore, a driving scene switching instruction can be issued by the terminal device, and the driving scene switching instruction can be sent to the vehicle through the network. The vehicle receives the driving scene switching instruction issued by the terminal device and sends an information subscription request to the roadside device. The roadside device receives the information subscription request from the vehicle and sends the continuously collected roadside perception information back to the vehicle.

[0053] Figure 2 is a flow chart of a data message processing method according to one embodiment of the present disclosure, such as Figure 2 As shown, the method comprises the following steps:

[0054] Step S11, obtaining an initial data message, wherein the initial data message is obtained by assembling the application data to be sent by each electronic control system of the target vehicle in an interactive layer data format;

[0055] Step S12, determining whether to perform priority mapping on the initial data message, and obtaining a determination result;

[0056] Step S13, in response to determining to perform priority mapping on the initial data message based on the judgment result, the original priority identifier of the initial data message is mapped to the target priority identifier of the intermediate data message, and the message content of the initial data message is moved to the message content of the intermediate data message according to the target priority identifier, wherein the intermediate data message is obtained by signal assembly in the interactive layer data format, and the priority of the intermediate data message is higher than the priority of the initial data message;

[0057] Step S14, filling the intermediate data message into the target data message, wherein the target data message carries a target priority identifier, and the target data message is obtained by signal assembling the application data in a data link layer data format;

[0058] Step S15, forwarding the target data message via the differential signal line.

[0059] The above-mentioned initial data message refers to the application data generated by various electronic control systems in the target vehicle, such as the engine control unit, the body control module, etc., including but not limited to vehicle status information, sensor readings, control instructions and other types.

[0060] The above-mentioned interactive layer data format (Inter-Process Data Unit, IPDU) refers to the data unit format processed by the Run-Time Environment (RTE) layer between the application software and the basic software in the Automotive Open System Architecture (AUTOSAR). In the AUTOSAR architecture, IPDU can be divided into I-PDU (Intermediate Protocol Data Unit) and R-PDU (Receiver Protocol Data Unit). I-PDU is processed at the sending end to convert the data of the application layer into a data unit suitable for transmission; while R-PDU is processed at the receiving end to convert the received data unit back to signals and data that the application layer can understand.

[0061] The above-mentioned Electronic Control Unit (ECU) refers to the hardware module used to perform specific functions in the target vehicle, including but not limited to Engine Control Unit (ECU), Body Control Module (BCM), Advanced Driver Assistance Systems Control Unit (ADAS), Battery Management System (BMS), Powertrain Control Module (PCM), Gateway Module (GW), Air Conditioning Control Unit (ACU), etc. These systems are responsible for processing and monitoring various information of the vehicle, such as engine operating status, vehicle body safety and comfort, driving assistance functions, battery health status, power system control, network information routing, air conditioning system adjustment, etc.

[0062] The above data link layer data format refers to the data format below the network layer, which is responsible for transmitting data from one network node to another network node. In automotive electronic communications, the protocol of the data link layer usually refers to the CAN (Controller Area Network) protocol. The data link layer data format (Lower-layer Protocol Data Unit, L-PDU) contains additional information of the data link layer, such as the message (entifier), data length code (Data Length Code, DLC), cyclic redundancy check (Cyclic Redundancy Check, CRC), etc.

[0063] The above-mentioned differential signal line refers to the signal transmission line used in the Controller Area Network (CAN) communication. Specifically, it refers to the two signal lines of the CAN bus: the high-level signal line (CAN High) and the low-level signal line (CAN Low), which can be referred to as the high-bit line and the low-bit line. In the physical layer of the CAN bus, data is transmitted in a differential manner, that is, signals with opposite phases are sent on two signal lines at the same time, which can effectively suppress external electromagnetic interference and improve the transmission quality and noise resistance of the signal.

[0064] For example, assuming that the BMS needs to send battery status data to the BCM, the signal assembly module collects the latest application data of the BMS, including battery temperature, voltage, state of charge and other information, and assembles the above data according to the data format of the interaction layer, forming an initial data message (I-PDU_2_original), whose original priority identifier is 0x555. When the vehicle is in an emergency, the battery status data of the BMS needs to be sent with a shorter delay time to ensure that the BCM can respond and adjust the charging strategy in time. For example, when the battery temperature exceeds the threshold, the I-PDU_2_original needs to be prioritized. Based on the priority mapping judgment result, the original priority identifier 0x555 of the I-PDU_2_original is mapped to the target priority identifier 0x123 of the intermediate data message (I-PDU_HighPriority), and the sending priority of I-PDU_HighPriority on the CAN bus is higher than that of I-PDU_2_original. At the same time, the message content of I-PDU_2_original is moved to the message content of I-PDU_HighPriority. Subsequently, the I-PDU_HighPriority after priority mapping is filled into the target data message (L-PDU_2_hp), where L-PDU_2_hp adopts the data format of the data link layer and carries the target priority identifier 0x123, and is forwarded through the differential signal line of the CAN bus to ensure that the data can be accurately transmitted from the BMS to the BCM with the new priority and format.

[0065] Based on the above optional steps S11 to S15, by introducing a dynamic priority adjustment mechanism, the adjustment of the message priority is allowed to be implemented only within the code of the sending electronic control system, without modifying the software configuration of the receiving electronic control system, thereby achieving the purpose of simplifying the communication matrix change process and reducing the scope of software updates, thereby achieving the technical effect of improving the efficiency and real-time performance of data message processing, and further solving the technical problems of low efficiency and poor real-time performance of the data message processing method provided in the relevant technology.

[0066] Figure 3 is a schematic diagram of a data message processing method according to one embodiment of the present disclosure, such as Figure 3 As shown, the priority processing process when multiple messages are to be sent by a single node is shown. Figure 3The electronic control unit includes 6 transmission buffers, among which the identifier of transmission buffer 1 is 0x223, the identifier of transmission buffer 2 is 0x123, the identifier of transmission buffer 3 is 0x1FF, the identifier of transmission buffer 4 is 0x345, the identifier of transmission buffer 5 is 0x365, and the identifier of transmission buffer 6 is 0x512. The identifier represents the order of multiple transmission buffers in the message sending stage, that is, the priority. According to the rules of the CAN bus, the smaller the identifier, the higher the priority. In the message sending stage, the scanning mechanism inside the node is used to determine and select the priority from multiple buffers. Figure 3 In the example, since the identifier of transmission buffer 2 is the smallest, the sending module selects the message of transmission buffer 2 for sending.

[0067] Figure 4 is a schematic diagram of a data message processing method according to one embodiment of the present disclosure, such as Figure 4 As shown, priority arbitration of multiple nodes on the CAN bus is demonstrated. Figure 4 It contains a frame start bit, an identifier, a remote transmission request bit, a control segment, a data segment, and three nodes with specific identifiers. Among them, the frame start bit is used to mark the beginning of the data frame; the remote transmission request bit is used to distinguish between data frames and remote frames. When the remote transmission request bit is 0, it means that the sending node is transmitting data. When the remote transmission request bit is 1, it does not contain any data, but only requests the receiving node to send a data frame with the same ID; the control segment is used to manage the format and characteristics of the data frame.

[0068] For example, when multiple nodes on the bus try to send data at the same time, the bus will arbitrate according to the identifier, send the message with higher priority, and suppress other nodes from sending until the bus is idle. Assume that there are three different nodes on the CAN bus, namely node 1, node 2 and node 3, where the identifier of node 1 is 0x65F, the identifier of node 2 is 0x67F, and the identifier of node 3 is 0x659. Among the above three nodes, 0x659 is the smallest, that is, node 3 has the highest priority and is used for message transmission at the bus level.

[0069] Optionally, in step S12, it is determined whether to perform priority mapping on the initial data message, and the determination result includes: determining whether to perform priority mapping on the initial data message based on an internal vehicle notification event and / or an external vehicle request event of the target vehicle, and obtaining a determination result.

[0070] The above-mentioned vehicle internal notification events refer to events generated by vehicle internal sensors, actuators, controllers or other system components, reflecting changes in vehicle operating status or activation of specific system functions. Vehicle internal notification events include but are not limited to sensor threshold trigger events, driver operation events, and system status change events.

[0071] The above-mentioned vehicle external request events refer to requests from external devices or systems of the vehicle, which are usually generated during vehicle maintenance, diagnosis, remote control or communication with the outside world. Vehicle external request events include but are not limited to serial port debugging or calibration requests, remote service requests and user service request events, among which remote service requests mainly include remote diagnosis requests, software update requests, etc.

[0072] For example, when the vehicle detects an emergency state or a change in critical system status, such as the battery temperature exceeds a safety threshold, the vehicle enters emergency braking mode, the airbag system is activated, the vehicle enters low power mode to optimize energy usage, or when an external request event requires an immediate response, such as an emergency calibration request issued by a calibration tool, or a remote diagnostic service detects a potential fault, the relevant initial data messages need to be prioritized.

[0073] For example, under normal driving conditions, for routine vehicle status updates, non-urgent user service requests (such as querying vehicle information, navigation settings, etc.), or planned software calibration and diagnostic requests, the original priority of the initial data message is sufficient and no additional priority change is required.

[0074] Based on the above optional embodiments, judging whether to perform priority mapping on the initial data message is based on the internal vehicle notification event and / or the external vehicle request event of the target vehicle, unnecessary priority adjustment can be avoided, reducing the impact on bus load and communication efficiency, so that the vehicle communication system can remain stable and efficient.

[0075] Optionally, the data message processing method further includes:

[0076] Step S21, in response to determining to perform priority mapping on the initial data message based on the judgment result, a dynamic priority mapping request is constructed, wherein the information fields carried in the dynamic priority mapping request include at least: a first field, a second field, a third field and a fourth field, the first field is used to record the original priority identifier, the second field is used to record the target priority identifier, the third field is used to record the request identifier of the dynamic priority mapping request, and the fourth field is used to record the dynamic priority switch adjustment signal, and the request identifier is determined according to the number of requests;

[0077] Step S22: forwarding the dynamic priority mapping request via the differential signal line.

[0078] The request identifier is the request, which refers to the field in the dynamic priority mapping request message that is used to uniquely identify the priority mapping request. The request identifier is incremented with each request, ensuring a clear association between the request and the response between the sender and the receiver, making it easier to track and manage the request sequence of the dynamic priority mapping, and avoiding possible confusion and errors.

[0079] The above-mentioned switch adjustment signal refers to a control instruction in the dynamic priority mapping request message, which is used to indicate whether the ECU should start or stop the priority mapping processing of a specific message. Specifically, the switch adjustment signal can be a binary bit or a group of bits, which are used to convey the following information: on state, off state. When the switch adjustment signal is set to the on state, it indicates that the ECU should start the priority mapping processing; on the contrary, when the switch adjustment signal is set to the off state, it indicates that the ECU should stop the priority mapping processing, that is, the ECU should receive and process the message according to the original and priority, and no longer perform additional priority mapping steps.

[0080] Exemplarily, in response to the judgment result, it is confirmed that priority mapping needs to be performed on the initial data message, and a dynamic priority request message with the following structure is constructed:

[0081] The first field (original priority identifier): 0x555;

[0082] The second field (target priority identifier): 0x123;

[0083] The third field (request identifier): 0x0001;

[0084] The fourth field (switch adjustment signal): on state.

[0085] Furthermore, after the dynamic priority request message is constructed, the dynamic priority request message is forwarded through the differential signal line.

[0086] Based on the above optional embodiments, when internal or external services of the vehicle require an emergency response, priority mapping is turned on to ensure priority transmission of critical data; and when the situation returns to normal or no priority adjustment is required, priority mapping is turned off to avoid unnecessary bus resource occupation, thereby maintaining the stability and efficiency of the communication system, thereby enabling the vehicle communication system to adapt to various operating conditions and service requests more intelligently and dynamically, thereby improving vehicle performance and user experience.

[0087] Optionally, the information field carried in the dynamic priority mapping request also includes: a fifth field, the fifth field is used to record a first end-to-end protection content, wherein the first end-to-end protection content is used to perform data verification on the dynamic priority mapping request at the receiving end of the dynamic priority mapping request.

[0088] The first end-to-end protection content mentioned above refers to a security mechanism added to the dynamic priority mapping request message, which is mainly used to protect the message from tampering and ensure the integrity of data transmission, usually based on the end-to-end (E2E) protection protocol. The E2E protection protocol allows the sender and receiver to verify the correctness of the message content during transmission by calculating and comparing the checksum.

[0089] Exemplarily, the sending end triggers a dynamic priority adjustment event, acting as a "priority adjustment master node", and other receiving nodes act as "priority adjustment slave nodes", and the priority adjustment master node sends a dynamic priority mapping request. Assume that the dynamic priority mapping request contains the following information fields: the original priority identifier is 0x555, the target priority identifier is 0x123, the request identifier is 0x0001, and the dynamic priority switch adjustment signal is set to the on state. In order to ensure the integrity and non-tampering of the request message during transmission, based on the E2E protection protocol, the sending end ECU calculates a check code based on the data recorded in the first four fields using the CRC algorithm, and fills the CRC check code into the fifth field to form a complete dynamic priority mapping request message. The receiving end applies the same CRC algorithm to recalculate the data extracted from the first field to the fourth field to generate a new CRC check code. Subsequently, the newly calculated CRC check code is compared with the CRC check code recorded in the fifth field of the message. If the two match, it indicates that the request message is intact during transmission, and the receiving end ECU can safely parse and execute the priority mapping instruction in the message. On the contrary, if the CRC check fails, it indicates that the message may have been damaged or illegally tampered with during transmission. The receiving ECU will reject and discard the message to ensure the reliability and security of communication.

[0090] Based on the above optional embodiment, by embedding the first end-to-end protection content in the dynamic priority mapping request message, the security and data integrity verification of the message during transmission can be significantly enhanced.

[0091] Optionally, in step S13, in response to determining to perform priority mapping on the initial data message based on the judgment result, mapping the original priority identifier of the initial data message to the target priority identifier of the intermediate data message, and moving the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier includes:

[0092] Step S131, receiving a dynamic priority mapping response from a receiving end, wherein the dynamic priority mapping response is used to determine whether the receiving end has successfully established a priority mapping;

[0093] Step S132, in response to determining to perform priority mapping on the initial data message based on the judgment result and determining that the receiving end has successfully established priority mapping based on the dynamic priority mapping response, the original priority identifier of the initial data message is mapped to the target priority identifier of the intermediate data message, and the message content of the initial data message is moved to the message content of the intermediate data message according to the target priority identifier.

[0094] Exemplarily, when the sending end receives the dynamic priority mapping response message from the receiving end, it determines that the receiving end has successfully established the priority mapping, and then performs priority mapping on the initial data message. At the same time, the priority adjustment master node receives the dynamic priority adjustment request response message, judges and counts the mapping configuration status signal therein, and starts to configure the mapping of the message priority after confirming that all receiving nodes have successfully established the priority mapping.

[0095] Exemplarily, based on the priority mapping judgment result of the sending ECU for the initial data message and the feedback information in the received dynamic priority mapping response message, it is confirmed that the receiving ECU has successfully established the priority mapping. Assuming that the original priority identifier of the initial data message is 0x555 and the target priority identifier is set to 0x123, after receiving the dynamic priority mapping response confirming that the mapping has been established, the sending ECU begins to execute the priority mapping. It moves the message content of I-PDU_2_original to be sent to I-PDU_HighPriority, that is, encapsulates the data content of the low-priority message into the high-priority message. After completing this mapping, the sending ECU will no longer use the original priority to send messages, but will use the mapped high priority for data broadcasting to ensure the timely transmission of critical data.

[0096] Based on the above optional embodiments, by receiving and parsing the dynamic priority mapping response of the receiving end, the priority adjustment master node can confirm that the receiving end has successfully established the priority mapping, and then execute the priority mapping of the initial data message based on the priority mapping judgment of the sending end ECU on the initial data message and the received feedback information, thereby ensuring that key data can be transmitted in a timely manner with a higher priority, thereby improving the real-time and efficiency of data processing in the vehicle communication system, while shortening the development cycle, reducing the development workload of each ECU, and avoiding the problem of incompatible communication matrix versions.

[0097] Optionally, the information fields carried in the dynamic priority mapping response include at least: a first field, a second field, a third field and a sixth field, wherein the sixth field is used to record a mapping configuration status signal, and the mapping configuration status signal is used to determine one of the following: the receiving end has successfully established a priority mapping, the receiving end has not successfully established a priority mapping, and the receiving end has refused to establish a priority mapping.

[0098] Exemplarily, the mapping configuration status signal includes but is not limited to: 0x00, 0x01, 0x02, wherein 0x00 indicates that the receiving end has successfully established the priority mapping, 0x01 indicates that the receiving end has not successfully established the priority mapping, and 0x02 indicates that the receiving end has refused to establish the priority mapping.

[0099] Exemplarily, a dynamic priority request message with the following structure is constructed:

[0100] The first field (original priority identifier): 0x555;

[0101] The second field (target priority identifier): 0x123;

[0102] The third field (request identifier): 0x0001;

[0103] The sixth field (mapping configuration status signal): 0x00.

[0104] Based on the above optional embodiments, after receiving the dynamic priority mapping response, the priority adjustment master node parses the content of the sixth field to determine whether the dynamic priority mapping of the receiving end is successfully established, thereby ensuring the efficiency and flexibility of the dynamic priority adjustment, while avoiding communication failures and incompatibility issues, and improving the overall performance and development efficiency of the vehicle communication system.

[0105] Optionally, the information field carried in the dynamic priority mapping request also includes: a seventh field, the seventh field is used to record a second end-to-end protection content, wherein the second end-to-end protection content is used to perform data verification on the dynamic priority mapping response at the sending end of the dynamic priority mapping request.

[0106] Exemplarily, when the sending ECU, i.e., the priority adjustment master node, constructs a dynamic priority mapping request message, it will calculate an end-to-end protection code based on the key field of the message and fill the protection code into the seventh field. When the receiving ECU receives the dynamic priority mapping request message, it will configure the priority mapping according to the information in the request, and construct a dynamic priority mapping response message after completing the configuration. When constructing the response message, the receiving ECU will use the same algorithm and key as the request message, generate a response protection code according to the key field in the response message, and fill it into the corresponding field of the response message as the second end-to-end protection content. After receiving the dynamic priority mapping response message, the sending ECU will extract the second end-to-end protection content in the seventh field and recalculate the protection code of the response message using the same algorithm and key. If the calculated protection code matches the protection code recorded in the seventh field, it means that the response message has not been tampered with during transmission, the data is complete and the source is reliable, and the subsequent priority mapping configuration can be safely performed based on this. If there is a mismatch, it indicates that the response message may have been attacked or an error occurred during transmission. At this time, the sending ECU will reject the priority mapping configuration and may resend the request, issue an alarm, or take other security measures to ensure the stability and security of the system.

[0107] Based on the above optional embodiments, by adding a second end-to-end protection content in the dynamic priority mapping request message, the security of CAN bus communication is enhanced, the insertion or tampering of illegal data is prevented, the normal operation of the vehicle communication system is guaranteed, and the efficiency of development and maintenance is improved.

[0108] Optionally, filling the target data message with the intermediate data message includes: in response to determining that the receiving end has successfully established the priority mapping based on the dynamic priority mapping response, filling the target data message with the intermediate data message.

[0109] Exemplarily, the original priority identifier of the initial data message I-PDU_2_original is 0x555. The content of I-PDU_2_original is moved to the intermediate data message I-PDU_HighPriority through the dynamic priority encapsulation module, and its target priority identifier is set to 0x123, that is, the high priority identifier. At this point, the data of the low-priority message has been encapsulated into the high-priority message. Next, the sending end fills the message content of the intermediate data message I-PDU_HighPriority into the target data message L-PDU_2_hp. After completing this operation, the sending end ECU will stop using the original priority to send messages, and use the mapped high priority for data broadcasting to ensure that critical data can be transmitted in a timely manner with a higher priority to meet real-time communication needs.

[0110] Based on the above optional embodiments, by confirming that the receiving end has successfully established the priority mapping before adjusting and sending the data message priority, the accuracy and real-time performance of data transmission can be ensured, avoiding data parsing errors or communication delays caused by improper configuration of the receiving end.

[0111] Optionally, the data message processing method further includes: in response to determining that no priority mapping is required for the initial data message based on the judgment result or determining that the receiving end has not successfully established priority mapping based on the dynamic priority mapping response, filling the initial data message into the target data message.

[0112] Exemplarily, when the priority adjustment master node determines that it is not necessary to perform priority mapping on the initial data message I-PDU_2_original based on the analysis results of the dynamic priority judgment module, or the received dynamic priority mapping response indicates that a priority adjustment slave node has failed to successfully establish a priority mapping, the priority adjustment master node will directly use the original low-priority-identified I-PDU_2_original, without additional priority conversion, and directly fill its content into the target data message L-PDU_2_hp, and encapsulate it in the data link layer data format. Subsequently, L-PDU_2_hp will be sent with the original priority, thereby avoiding communication interruption or data misalignment caused by priority mapping failure.

[0113] Based on the above optional embodiments, when the dynamic priority adjustment mechanism is triggered but the implementation conditions are not met, such as the receiving ECU fails to successfully establish the priority mapping, the system can quickly fall back to the original static priority configuration, ensuring the continuity and security of data transmission. At the same time, unnecessary priority adjustment operations are avoided, thereby reducing the waste of system resources and maintaining the stability and efficiency of vehicle network communication.

[0114] According to another aspect of an embodiment of the present disclosure, a data message processing method is provided, including:

[0115] Step S31, obtaining a target data message via a differential signal line, wherein the target data message is obtained by signal assembly of application data to be sent by each electronic control system of the target vehicle in a data link layer data format;

[0116] Step S32, extracting the intermediate data message from the target data message, wherein the intermediate data message is obtained by signal assembly in an interactive layer data format;

[0117] Step S33, determining whether to enable priority mapping for the intermediate data message, and obtaining a determination result;

[0118] Step S34, in response to determining that priority mapping has been enabled for the intermediate data message based on the judgment result, mapping the target priority identifier of the intermediate data message back to the original priority identifier of the initial data message, and moving the message content of the intermediate data message to the message content of the initial data message according to the original priority identifier, wherein the priority of the intermediate data message is higher than the priority of the initial data message, and the initial data message is obtained by signal assembling the application data in the interactive layer data format;

[0119] Step S35, parse the application data from the message content of the initial data message, and distribute the application data to the upper layer application.

[0120] Exemplarily, the receiving ECU receives the target data message L-PDU_2_hp from the transmitting ECU via the differential signal line. The target data message adopts the data format of the data link layer, which includes application data to be sent by various electronic control systems of the target vehicle. The above application data is packaged after signal assembly, and its target priority is identified as 0x123.

[0121] Furthermore, the receiving ECU first extracts the intermediate data message I-PDU_HighPriority from the target data message L-PDU_2_hp. The intermediate data message also uses the data format of the interactive layer, but the priority identifier it carries is higher than the original priority identifier of the initial data message I-PDU_2_original, that is, 0x123 is higher than 0x555. Next, the dynamic priority judgment module of the receiving ECU will analyze whether the priority mapping has been enabled for the intermediate data message I-PDU_HighPriority. If the judgment result is that the priority mapping has been enabled, the receiving ECU will perform the following steps:

[0122] (1) Dynamic priority resolution: The target priority identifier 0x123 of the intermediate data message I-PDU_HighPriority is mapped back to the original priority identifier 0x555 of the initial data message I-PDU_2_original, and the message content of I-PDU_HighPriority is moved to I-PDU_2_original to ensure that the original structure and information of the data message are restored.

[0123] (2) Signal parsing and distribution: The application data is parsed from the message content of I-PDU_2_original, and then the above application data is distributed to the upper-layer application to ensure that the application layer can correctly process and use this information to perform corresponding functions and status monitoring.

[0124] Based on the above optional embodiment, by parsing and utilizing the information in the high-priority message received from the sending ECU, even if the message undergoes priority adjustment during the sending process, the receiving ECU can restore the structure of the original data message through the dynamic priority parsing module, thereby ensuring accurate parsing and timely distribution of application data, meeting the needs of real-time communication and data processing. At the same time, this mechanism also simplifies the management and update of the communication matrix, reduces the development workload of each ECU, and enhances the overall performance of the vehicle communication system and the agility of development.

[0125] Optionally, the data message processing method further includes:

[0126] Step S41, obtaining a dynamic priority mapping request, wherein the information fields carried in the dynamic priority mapping request include at least: a first field, a second field, a third field, and a fourth field, the first field is used to record an original priority identifier, the second field is used to record a target priority identifier, the third field is used to record a request identifier of the dynamic priority mapping request, and the fourth field is used to record a dynamic priority switch adjustment signal, and the request identifier is determined according to the number of requests;

[0127] Step S42: In response to the dynamic priority mapping request, a priority mapping is established between the original priority identifier and the target priority identifier, and the dynamic priority switch adjustment signal is set to an on state.

[0128] Exemplarily, the receiving end ECU receives a dynamic priority mapping request message through the CAN bus, the request message is sent by the sending end ECU, and the information fields carried in the message include at least:

[0129] The first field is used to record the original priority identifier of the initial data message, such as the identifier 0x555.

[0130] The second field is used to record the target priority identifier of the dynamic priority mapping, such as the identifier 0x123, which is a high priority identifier.

[0131] The third field is used to record the unique request ID of this dynamic priority mapping request. The ID is incremented according to the number of requests to ensure the traceability and uniqueness of each request.

[0132] The fourth field is used to record the dynamic priority switch adjustment signal, indicating whether the receiving ECU should turn on the priority mapping function. It is usually set to the on state for priority mapping.

[0133] In response to the received dynamic priority mapping request, the receiving ECU will perform the following operations:

[0134] (1) Verification and configuration: The receiving ECU first verifies the validity and integrity of the dynamic priority mapping request message through the E2E protection mechanism. Then, based on the original priority identifier and the target priority identifier in the message, it establishes a priority mapping relationship within it. That is, it establishes a mapping between 0x123 and 0x555 in the receiving processing module to ensure that when a message with a high priority identifier is received, it can be correctly parsed and mapped back to the message content with the original identifier.

[0135] (2) Turn on the dynamic priority switch: The receiving ECU sets the dynamic priority switch adjustment signal to the on state to activate the priority mapping function. At the same time, the receiving ECU will start to monitor and process the message with the high priority identifier 0x123, and convert the message content into the message corresponding to the original identifier 0x555 based on the mapping relationship, ensuring that the application layer can correctly receive and process the signal content of the original identifier.

[0136] Based on the above optional embodiments, it is ensured that the receiving ECU can adjust its receiving and signal processing strategies in real time according to the dynamic priority mapping request message. Even in different development stages or vehicle operating conditions, the dynamic priority mapping function can be used to flexibly process and parse the messages from the sending ECU, thereby meeting the real-time and flexibility requirements of the vehicle communication system. At the same time, the complexity and development workload when changing the communication matrix are reduced, thereby improving the efficiency of vehicle development and maintenance.

[0137] Optionally, the data message processing method further includes:

[0138] Step S51, in response to determining that priority mapping has been enabled for the intermediate data message based on the judgment result, a dynamic priority mapping response is constructed, wherein the dynamic priority mapping response is used to determine whether the receiving end has successfully established the priority mapping;

[0139] Step S52: forwarding the dynamic priority mapping response via the differential signal line.

[0140] For example, assuming that the receiving ECU has determined that the priority mapping has been enabled for the intermediate data message I-PDU_HighPriority based on the analysis of the dynamic priority judgment module, it means that the receiving ECU has completed the work of mapping the message content with the high priority identifier 0x123 back to the initial data message I-PDU_2_original with the original priority identifier 0x555, and can correctly parse and process the message after the dynamic priority adjustment. On this basis, the receiving ECU will construct a dynamic priority mapping response message to feedback the configuration status of its priority mapping to the sending ECU. The mapping response message contains the following information:

[0141] The first field is used to record the original priority identifier, that is, the priority identifier 0x555 of the message I-PDU_2_original.

[0142] The second field is used to record the mapped target priority identifier, that is, the priority identifier 0x123 of the message I-PDU_HighPriority.

[0143] Mapping configuration status signal: used to indicate that the receiving ECU has successfully established and configured the priority mapping.

[0144] Furthermore, the receiving ECU sends the constructed dynamic priority mapping response message back to the sending ECU through the CAN High and CAN Low lines of the CAN bus. After receiving the dynamic priority mapping response, the sending ECU confirms that the receiving ECU has successfully established the priority mapping, and then continues to execute its priority adjustment process, such as stopping using the original priority for message sending and using the mapped high priority for data broadcasting.

[0145] Based on the above optional embodiments, the two-way communication and confirmation of the dynamic priority mapping mechanism are ensured, and the reliability and robustness of the entire message priority adjustment process are enhanced, so that the sending ECU can flexibly adjust its message sending strategy based on the actual configuration status of the receiving ECU, ensuring that key data messages can be transmitted on the bus with the expected priority, meeting the needs of real-time communication and function execution of vehicles. At the same time, the management of the communication matrix is ​​simplified, the software version synchronization and ECU update required for dynamic priority adjustment are reduced, development resources are saved, and the development cycle is shortened.

[0146] According to another aspect of the embodiment of the present disclosure, there is also provided a data message processing system, including: a transmitting end and a receiving end;

[0147] A transmitting end, configured to obtain an initial data message, map an original priority identifier of the initial data message to a target priority identifier of the intermediate data message in response to determining to perform priority mapping on the initial data message, move a message content of the initial data message to a message content of the intermediate data message according to the target priority identifier, fill the intermediate data message into the target data message, and forward the target data message via a differential signal line;

[0148] A receiving end, configured to obtain a target data message via a differential signal line, extract an intermediate data message from the target data message, map the target priority identifier back to the original priority identifier in response to determining that priority mapping has been enabled for the intermediate data message, and move the message content of the intermediate data message to the message content of the initial data message according to the original priority identifier, parse application data from the message content of the initial data message, and distribute the application data to an upper layer application;

[0149] Among them, the initial data message is obtained by assembling the application data to be sent by each electronic control system of the target vehicle in an interactive layer data format, and the intermediate data message is obtained by assembling the signal in the interactive layer data format, and the priority of the intermediate data message is higher than the priority of the initial data message. The target data message carries a target priority identifier, and the target data message is obtained by assembling the application data in a data link layer data format.

[0150] Figure 5 is a schematic diagram of a data message processing method according to one embodiment of the present disclosure, such as Figure 5 As shown, the sending end module includes: a signal assembly module, a message routing module and a sending module. Among them, the signal assembly module is responsible for collecting the application data to be sent by each ECU of the target vehicle and performing signal assembly on it, including adding necessary factors and offset processing, and finally generating an initial data message, that is, a message in the initial interaction layer data format; the message routing module includes a dynamic priority judgment module and a dynamic priority encapsulation module. The dynamic priority judgment module is used to judge whether it is necessary to perform priority mapping on the initial data message according to internal notification events of the vehicle (such as emergency braking, low-power mode switching, cockpit intelligent scene changes, etc.) or external request events (such as serial port debugging, extended calibration protocol calibration, etc.). The dynamic priority encapsulation module is used to encapsulate the message content of the original priority identifier into the message of a higher priority identifier, completing the copying of the message content and the replacement of the identifier; the sending module includes a bus interface, a controller area network (CAN bus) and a transceiver. The bus interface is used to convert the data format generated inside the ECU into a format suitable for CAN bus transmission. The transceiver is used to further transform the data generated by the ECU and converted by the bus interface into an electrical signal suitable for transmission on the physical layer of the CAN bus.

[0151] Exemplarily, in the sending end module, the signal assembly module is responsible for collecting and processing the data to be sent by each ECU in the target vehicle, converting it into a specific interactive layer data format to form an initial data message. Assume that the above initial data message includes initial data message 1 and initial data message 2. The dynamic priority judgment module then judges the priority of initial data message 1 and initial data message 2. According to the judgment result, initial data message 1 does not need priority mapping, so initial data message 1 will be directly sent according to its original priority through the bus interface, CAN bus and transceiver. Initial data message 2 is judged to need to increase its message priority, indicating that initial data message 2 needs priority mapping to ensure that the data it carries can obtain higher real-time and priority. After receiving initial data message 2, the dynamic priority encapsulation module encapsulates its message content into the target data message, which has a higher priority identifier. Next, the target data message is formatted into a data link layer data format suitable for CAN bus transmission through the bus interface, and is further converted into a differential signal of the physical layer by the transceiver, and sent to the CAN bus through the high bit line and the low bit line.

[0152] Figure 6 is a schematic diagram of a data message processing method according to one embodiment of the present disclosure, such as Figure 6 As shown, the functions of the receiving module correspond to those of the sending module to ensure the integrity and accuracy of the dynamic priority mapping. Figure 6 In the CAN bus, the receiving module includes: a message receiving module, a dynamic priority judgment module, a dynamic priority parsing module and a signal parsing module. Among them, the message receiving module is responsible for receiving data messages from the CAN bus; the dynamic priority judgment module is used to determine whether the received message has been priority mapped; after confirming that the message has been priority mapped, the dynamic priority parsing module will extract the load data in the message and move it to the initial data message; the signal parsing module is used to parse the interactive layer data format message with the original priority identifier output by the dynamic priority parsing module, and convert the message content into a data format that can be understood by the application layer.

[0153] Exemplarily, in the receiving end module, it is assumed that two messages are received: the target data message and the initial data message 1. The dynamic priority determination module determines that the initial data message 1 does not require priority resolution, so the initial data message 1 directly enters the signal resolution module for conventional processing. The target data message is identified as a message after priority mapping, and the dynamic priority resolution module moves the message content of the target data message to the initial data message 2 with the original priority identifier. The initial data message 2 is then processed by the signal resolution module, and its original signal content is restored and provided to the upper layer application.

[0154] During the communication process, the sender of the message can, according to demand, act as a dynamic priority adjustment master node and request the bus to establish a message priority mapping. Each receiving end of the message acts as a dynamic priority adjustment slave node to correctly receive and parse the message after mapping priority.

[0155] Figure 7 is a schematic diagram of a data message processing method according to one embodiment of the present disclosure, such as Figure 7 As shown, in the priority adjustment master node, when the dynamic priority judgment module confirms that the initial data message generated by the signal assembly module needs to be prioritized, the priority adjustment master node constructs and sends a dynamic priority mapping request to the differential signal line. When the priority adjustment master node receives a dynamic priority mapping response from the slave node, the initial data message is mapped to a target data message with a higher priority identifier through the dynamic priority encapsulation module, and then the target data message is sent to the differential signal line through the sending module.

[0156] Figure 8 is a schematic diagram of a data message processing method according to one embodiment of the present disclosure, such as Figure 8 As shown, when the priority adjustment slave node receives a dynamic priority mapping request transmitted via a differential signal line, it first constructs a dynamic priority mapping response. Subsequently, the receiving module transmits the target data message from the dynamic priority adjustment master node to the dynamic priority judgment module. If it is determined that the target data message has been priority mapped, it is transmitted to the dynamic priority parsing module and the signal parsing module to recover the message identifier and message content and provide them to the upper layer application.

[0157] Fig. 9 is a schematic diagram of a dynamic priority mapping request / response message format according to one embodiment of the present disclosure, such as Fig. 9 As shown, the dynamic priority mapping request / response message format includes three parts: header, data and tail. Among them, the header includes: frame start bit, identifier, control segment; the tail includes: cyclic redundancy check segment, delay time, response bit and frame end bit. In the data segment, the dynamic priority mapping request includes: original priority identifier, target priority identifier, request identifier, switch adjustment signal and first end-to-end protection content; the dynamic priority mapping response includes: original priority identifier, target priority identifier, request identifier, mapping configuration status signal and second end-to-end protection content.

[0158] Fig.10 is a schematic diagram of a dynamic priority mapping establishment process according to one embodiment of the present disclosure, such as Fig.10As shown, in the dynamic priority mapping establishment process, when an internal or external event triggers a message priority adjustment requirement, the dynamic priority adjustment master node generates a dynamic priority mapping request and sends the generated dynamic priority mapping request to the dynamic priority adjustment slave node. After the dynamic priority adjustment slave node receives the dynamic priority mapping request, it configures the node's dynamic priority parsing module to map the message content with a high priority identifier to the message content with an original priority identifier, and then configures the node's dynamic priority judgment module to enable priority mapping. Based on the above process, the dynamic priority adjustment slave node constructs a dynamic priority mapping request response and sends it to the dynamic priority adjustment master node.

[0159] Fig.11 is a schematic diagram of a dynamic priority mapping establishment process according to one embodiment of the present disclosure, such as Fig.11 As shown, after the dynamic priority adjustment master node receives the dynamic priority mapping request response from the dynamic priority adjustment slave node, if all receiving nodes are ready to receive the message with the mapping priority identifier, the dynamic priority encapsulation module is configured to move the message content of the original priority identifier to the message content of the high priority identifier. Further, the dynamic priority judgment module is configured to enable the dynamic priority binding of the original priority identifier, and send the message according to the high priority identifier. If there is a receiving node that is not ready to receive the message with the mapping priority identifier, the message is sent according to the original priority identifier.

[0160] Based on the above optional embodiments, by introducing a dynamic priority adjustment mechanism, the adjustment of the message priority is allowed to be implemented only within the code of the sending electronic control system, without modifying the software configuration of the receiving electronic control system, thereby achieving the purpose of simplifying the communication matrix change process and reducing the scope of software updates, thereby achieving the technical effect of improving the efficiency and real-time performance of data message processing, and further solving the technical problems of low efficiency and poor real-time performance of the data message processing method provided in the relevant technology.

[0161] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0162] According to an embodiment of the present disclosure, a device embodiment of a data message processing device is provided. It should be noted that the device can be used to execute the above-mentioned data message processing method.

[0163] Fig.12is a structural block diagram of a data message processing device according to one embodiment of the present disclosure, such as Fig.12 As shown, the device comprises:

[0164] The acquisition module 1201 is used to acquire an initial data message, wherein the initial data message is obtained by assembling the application data to be sent by each electronic control system of the target vehicle in an interactive layer data format;

[0165] The judgment module 1202 is used to judge whether to perform priority mapping on the initial data message and obtain a judgment result;

[0166] A mapping module 1203 is used for, in response to determining to perform priority mapping on the initial data message based on the judgment result, mapping the original priority identifier of the initial data message to the target priority identifier of the intermediate data message, and moving the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier, wherein the intermediate data message is obtained by signal assembly in the interactive layer data format, and the priority of the intermediate data message is higher than the priority of the initial data message;

[0167] A filling module 1204 is used to fill the intermediate data message into the target data message, wherein the target data message carries a target priority identifier, and the target data message is obtained by signal assembling the application data in a data link layer data format;

[0168] The forwarding module 1205 is used to forward the target data message via the differential signal line.

[0169] Optionally, the judgment module 1202 is further used to: judge whether to perform priority mapping on the initial data message based on the internal vehicle notification event and / or the external vehicle request event of the target vehicle, and obtain a judgment result.

[0170] Optionally, the mapping module 1203 is also used to: respond to the priority mapping of the initial data message determined based on the judgment result, and construct a dynamic priority mapping request, wherein the information fields carried in the dynamic priority mapping request include at least: a first field, a second field, a third field and a fourth field, the first field is used to record the original priority identifier, the second field is used to record the target priority identifier, the third field is used to record the request identifier of the dynamic priority mapping request, and the fourth field is used to record the dynamic priority switch adjustment signal, and the request identifier is determined according to the number of requests; and forward the dynamic priority mapping request via the differential signal line.

[0171] Optionally, the mapping module 1203 is also used to: receive a dynamic priority mapping response from the receiving end, wherein the dynamic priority mapping response is used to determine whether the receiving end has successfully established the priority mapping; respond to determine to perform priority mapping on the initial data message based on the judgment result and determine that the receiving end has successfully established the priority mapping based on the dynamic priority mapping response, map the original priority identifier of the initial data message to the target priority identifier of the intermediate data message, and move the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier.

[0172] Optionally, the filling module 1204 is further used to: in response to determining that the receiving end has successfully established the priority mapping based on the dynamic priority mapping response, fill the intermediate data message into the target data message.

[0173] Optionally, the filling module 1203 is further used to: in response to determining that no priority mapping is required for the initial data packet based on the judgment result or determining that the receiving end has not successfully established priority mapping based on the dynamic priority mapping response, fill the initial data packet into the target data packet.

[0174] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0175] According to another aspect of the embodiments of the present disclosure, an electronic device is further provided, including: a memory storing an executable program; and a processor for running the program, wherein the data message processing method in each embodiment of the present disclosure is executed when the program is running.

[0176] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0177] S1, obtaining an initial data message, wherein the initial data message is obtained by assembling the application data to be sent by each electronic control system of the target vehicle in an interactive layer data format;

[0178] S2, determining whether to perform priority mapping on the initial data message and obtaining a determination result;

[0179] S3, in response to determining to perform priority mapping on the initial data message based on the judgment result, mapping the original priority identifier of the initial data message to the target priority identifier of the intermediate data message, and moving the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier, wherein the intermediate data message is obtained after signal assembly in the interactive layer data format, and the priority of the intermediate data message is higher than the priority of the initial data message;

[0180] S4, filling the intermediate data message into the target data message, wherein the target data message carries a target priority identifier, and the target data message is obtained by signal assembling the application data in a data link layer data format;

[0181] S5, forwarding the target data message via the differential signal line.

[0182] According to another aspect of an embodiment of the present disclosure, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the data message processing method in each embodiment of the present disclosure.

[0183] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0184] S1, obtaining an initial data message, wherein the initial data message is obtained by assembling the application data to be sent by each electronic control system of the target vehicle in an interactive layer data format;

[0185] S2, determining whether to perform priority mapping on the initial data message and obtaining a determination result;

[0186] S3, in response to determining to perform priority mapping on the initial data message based on the judgment result, mapping the original priority identifier of the initial data message to the target priority identifier of the intermediate data message, and moving the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier, wherein the intermediate data message is obtained after signal assembly in the interactive layer data format, and the priority of the intermediate data message is higher than the priority of the initial data message;

[0187] S4, filling the intermediate data message into the target data message, wherein the target data message carries a target priority identifier, and the target data message is obtained by signal assembling the application data in a data link layer data format;

[0188] S5, forwarding the target data message via the differential signal line.

[0189] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0190] According to another aspect of the embodiments of the present disclosure, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the data message processing method in each embodiment of the present disclosure is implemented.

[0191] Optionally, in this embodiment, the computer program product may be configured as a computer program for executing the following steps:

[0192] S1, obtaining an initial data message, wherein the initial data message is obtained by assembling the application data to be sent by each electronic control system of the target vehicle in an interactive layer data format;

[0193] S2, determining whether to perform priority mapping on the initial data message and obtaining a determination result;

[0194] S3, in response to determining to perform priority mapping on the initial data message based on the judgment result, mapping the original priority identifier of the initial data message to the target priority identifier of the intermediate data message, and moving the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier, wherein the intermediate data message is obtained after signal assembly in the interactive layer data format, and the priority of the intermediate data message is higher than the priority of the initial data message;

[0195] S4, filling the intermediate data message into the target data message, wherein the target data message carries a target priority identifier, and the target data message is obtained by signal assembling the application data in a data link layer data format;

[0196] S5, forwarding the target data message via the differential signal line.

[0197] In the above embodiments of the present disclosure, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0198] In the several embodiments provided in the present disclosure, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0199] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0200] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0201] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0202] The above is only a preferred embodiment of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present disclosure. These improvements and modifications should also be regarded as the scope of protection of the present disclosure.

Claims

1. A data message processing method, characterized in that: include: Acquire an initial data message, wherein the initial data message is obtained by assembling the application data to be sent by each electronic control system of the target vehicle in an interactive layer data format; Determine whether to perform priority mapping on the initial data message, and obtain a determination result; In response to determining to perform priority mapping on the initial data message based on the judgment result, the original priority identifier of the initial data message is mapped to the target priority identifier of the intermediate data message, and the message content of the initial data message is moved to the message content of the intermediate data message according to the target priority identifier, wherein the intermediate data message is obtained by signal assembly using the interactive layer data format, and the priority of the intermediate data message is higher than the priority of the initial data message; Filling the intermediate data message into the target data message, wherein the target data message carries the target priority identifier, and the target data message is obtained by signal assembling the application data in a data link layer data format; The target data message is forwarded via the differential signal line.

2. The data message processing method according to claim 1, characterized in that: Determining whether to perform priority mapping on the initial data message, and obtaining the determination result includes: Based on the internal vehicle notification event and / or the external vehicle request event of the target vehicle, it is determined whether to perform priority mapping on the initial data message to obtain the determination result.

3. The data message processing method according to claim 1, characterized in that: The data message processing method also includes: In response to determining to perform priority mapping on the initial data message based on the judgment result, a dynamic priority mapping request is constructed, wherein the information fields carried in the dynamic priority mapping request at least include: a first field, a second field, a third field and a fourth field, the first field is used to record the original priority identifier, the second field is used to record the target priority identifier, the third field is used to record the request identifier of the dynamic priority mapping request, the fourth field is used to record the dynamic priority switch adjustment signal, and the request identifier is determined according to the number of requests; The dynamic priority mapping request is forwarded via the differential signal line.

4. The data message processing method according to claim 3, characterized in that: The information field carried in the dynamic priority mapping request also includes: a fifth field, which is used to record a first end-to-end protection content, wherein the first end-to-end protection content is used to perform data verification on the dynamic priority mapping request at the receiving end of the dynamic priority mapping request.

5. The data message processing method according to claim 4, characterized in that: In response to determining to perform priority mapping on the initial data message based on the judgment result, mapping the original priority identifier of the initial data message to the target priority identifier of the intermediate data message, and moving the message content of the initial data message to the message content of the intermediate data message according to the target priority identifier includes: receiving a dynamic priority mapping response from the receiving end, wherein the dynamic priority mapping response is used to determine whether the receiving end has successfully established a priority mapping; In response to determining to perform priority mapping on the initial data message based on the judgment result and determining that the receiving end has successfully established priority mapping based on the dynamic priority mapping response, the original priority identifier of the initial data message is mapped to the target priority identifier of the intermediate data message, and the message content of the initial data message is moved to the message content of the intermediate data message according to the target priority identifier.

6. The data message processing method according to claim 5, characterized in that: The information fields carried in the dynamic priority mapping response include at least: the first field, the second field, the third field and the sixth field, wherein the sixth field is used to record a mapping configuration status signal, and the mapping configuration status signal is used to determine one of the following: the receiving end has successfully established a priority mapping, the receiving end has not successfully established a priority mapping, and the receiving end has refused to establish a priority mapping.

7. The data message processing method according to claim 6, characterized in that: The information field carried in the dynamic priority mapping request also includes: a seventh field, which is used to record a second end-to-end protection content, wherein the second end-to-end protection content is used to perform data verification on the dynamic priority mapping response at the sending end of the dynamic priority mapping request.

8. The data message processing method according to claim 5, characterized in that: Filling the intermediate data message into the target data message includes: In response to determining that the receiving end has successfully established the priority mapping based on the dynamic priority mapping response, the intermediate data message is filled into the target data message.

9. The data message processing method according to claim 5, characterized in that: The data message processing method also includes: In response to determining that there is no need to perform priority mapping on the initial data message based on the judgment result or determining that the receiving end has not successfully established priority mapping based on the dynamic priority mapping response, the initial data message is filled into the target data message.

10. A data message processing method, characterized in that: include: Acquire a target data message via a differential signal line, wherein the target data message is obtained by assembling the application data to be sent by each electronic control system of the target vehicle in a data link layer data format; Extracting an intermediate data message from the target data message, wherein the intermediate data message is obtained by signal assembly in an interactive layer data format; Determine whether to enable priority mapping for the intermediate data message, and obtain a determination result; In response to determining that priority mapping has been enabled for the intermediate data message based on the judgment result, mapping the target priority identifier of the intermediate data message back to the original priority identifier of the initial data message, and moving the message content of the intermediate data message to the message content of the initial data message according to the original priority identifier, wherein the priority of the intermediate data message is higher than the priority of the initial data message, and the initial data message is obtained by signal assembling the application data in the interactive layer data format; The application data is parsed from the message content of the initial data message, and the application data is distributed to an upper layer application.

11. The data message processing method according to claim 10, characterized in that: The data message processing method also includes: Obtain a dynamic priority mapping request, wherein the information fields carried in the dynamic priority mapping request include at least: a first field, a second field, a third field, and a fourth field, the first field is used to record the original priority identifier, the second field is used to record the target priority identifier, the third field is used to record the request identifier of the dynamic priority mapping request, the fourth field is used to record the dynamic priority switch adjustment signal, and the request identifier is determined according to the number of requests; In response to the dynamic priority mapping request, a priority mapping is established between the original priority identifier and the target priority identifier, and the dynamic priority switch adjustment signal is set to an on state.

12. The data message processing method according to claim 10, characterized in that: The data message processing method also includes: In response to determining that priority mapping has been enabled for the intermediate data message based on the judgment result, a dynamic priority mapping response is constructed, wherein the dynamic priority mapping response is used to determine whether the receiving end has successfully established priority mapping; The dynamic priority mapping response is forwarded via the differential signal line.

13. A data message processing system, characterized in that: include: The sender and the receiver; The transmitting end is used to obtain an initial data message, map an original priority identifier of the initial data message to a target priority identifier of an intermediate data message in response to determining to perform priority mapping on the initial data message, move a message content of the initial data message to a message content of the intermediate data message according to the target priority identifier, fill the intermediate data message into a target data message, and forward the target data message via a differential signal line; The receiving end is used to obtain the target data message via the differential signal line, extract the intermediate data message from the target data message, map the target priority identifier back to the original priority identifier in response to determining that priority mapping has been enabled for the intermediate data message, and move the message content of the intermediate data message to the message content of the initial data message according to the original priority identifier, parse the application data from the message content of the initial data message, and distribute the application data to the upper layer application; Among them, the initial data message is obtained by assembling the application data to be sent by each electronic control system of the target vehicle in an interactive layer data format, the intermediate data message is obtained by assembling the signal in the interactive layer data format, and the priority of the intermediate data message is higher than the priority of the initial data message, the target data message carries the target priority identifier, and the target data message is obtained by assembling the application data in a data link layer data format.

14. An electronic device, characterized in that: include: A memory storing an executable program; A processor, used to run the program, wherein the program executes the data message processing method described in any one of claims 1 to 12 when running.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the storage medium is located is controlled to execute the data message processing method according to any one of claims 1 to 12.

16. A computer program product, characterized in that The method comprises a computer program, which implements the data message processing method according to any one of claims 1 to 12 when being executed by a processor.

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