Communication method and device

Abstract

The embodiment of the invention provides a communication method and device, and the method comprises the steps that first equipment determines second data based on first data, the first data and the second data meet a data type mapping relation, and the data type mapping relation comprises a conversion relation of data formats of different protocols; the first device generates third data according to the second data, wherein the third data comprises the second data and description information of the second data; the first equipment sends a first message to the second equipment, and the first message comprises a data packet header and the third data. By adoption of the embodiment of the invention, the problem that data acquisition tool software, driving state visualization tool software and the like developed based on one platform cannot be matched with another platform for use can be solved; and high-risk open source software does not need to be installed, development is simple, and maintenance cost is low.

Description

Communication method and device Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a communication method and device. Background Art

[0002] With the development of society, smart cars are gradually becoming part of people's daily lives. In the field of smart driving, automakers generally choose to develop smart driving systems based on easily accessible and user-friendly communication middleware, such as the Robot Operating System (ROS).

[0003] The Automotive Open System Architecture (AUTOSAR) Adaptive Platform is an industry standard for in-vehicle high-performance computing platforms. It offers numerous advantages in facilitating the design, development, and certification of in-vehicle high-performance computing platforms. When developing intelligent driving systems on the AUTOSAR Adaptive Platform, automakers use the communication management (CM) middleware provided by the AUTOSAR Adaptive Platform to enable inter-software communication.

[0004] The development of intelligent driving systems also requires a series of supporting data acquisition tool software, driving status visualization tool software, etc. These tool software must also be developed based on the same communication middleware as the intelligent driving system to achieve communication with the intelligent driving system software. Therefore, these tool software will also be deeply coupled with the selected communication middleware.

[0005] If automakers have already developed intelligent driving software using the ROS platform, they need to port this software to an in-vehicle computing platform developed based on the AUTOSAR Adaptive Platform in order to apply it to vehicles. Because the communication middleware of the ROS platform differs from that of the AUTOSAR Adaptive Platform, data acquisition tools and driving status visualization tools developed on the ROS platform will no longer be usable together.

[0006] Summary of the Invention

[0007] The present application discloses a communication method and device, which can solve the problem that data acquisition tool software, driving status visualization tool software, etc. developed based on one platform cannot be used in conjunction with another platform. There is no need to install high-risk open source software, and the development is simple and the maintenance cost is low.

[0008] In a first aspect, the present application provides a communication method for use in an intelligent driving scenario, the method comprising: a first device determines second data based on first data, the first data and the second data satisfy a data type mapping relationship, the data type mapping relationship including a conversion relationship between data formats of different protocols; the first device generates third data based on the second data, the third data including the second data and description information of the second data; the first device sends a first message to the second device, the first message including a data packet header and the third data.

[0009] In the above method, the first data supporting the protocol in the first device can be converted into second data supporting the protocol in the second device by the first device determining the second data based on the first data, and the third data can be generated by the first device according to the second data, so that the third data can be correctly parsed by the communication middleware in the second device. Through this application, cross-communication middleware and cross-device communication between the first device and the second device between different communication middleware can be realized, thereby solving the problem that data acquisition tool software, driving status visualization tool software, etc. developed on one platform cannot be used with another platform, and there is no need to install high-risk open source software in the first device, which is simple to develop and has low maintenance costs.

[0010] In a possible implementation, the first data and the second data have different data formats, and carry the same information.

[0011] In another possible implementation, the description information of the second data includes one or more of the following: a data format of the second data, a length of the second data, or a message digest algorithm version 5 MD5 code of the second data.

[0012] In another possible implementation, the data packet header includes one or more of the following: an action field, an identifier field, or a length field; the action field indicates the type of the first message, the identifier field indicates the subject, or the identifier field indicates the subject and the receiving component and sending component of the third data, and the length field indicates the length of the third data.

[0013] In another possible implementation, the action field is a first value, the first value indicates that the first message is a publish message, and the publish message is used by the second device to send the third data to the receiving component indicated by the identifier field; or, the action field is a second value, the second value indicates that the first message is a subscription message, and the subscription message is used to enable the receiving component indicated by the identifier field to send information that meets the subscription requirements indicated by the third data to the sending component indicated by the identifier field.

[0014] In yet another possible implementation, the first device is a device using the AUTOSAR platform, and the second device is a device using a platform other than the AUTOSAR platform.

[0015] In another possible implementation, the first device is an in-vehicle computing platform, and the second device is a cockpit device.

[0016] In a second aspect, the present application provides an intelligent driving device, which includes a first device and a second device, the first device being configured to: determine second data based on first data, wherein the first data and the second data satisfy a data type mapping relationship, and the data type mapping relationship includes a conversion relationship between data formats of different protocols; generate third data based on the second data, and the third data includes description information of the second data and the second data; send a first message to the second device, the first message including a data packet header and the third data; the second device being configured to: receive the first message; if the first message is a publish message, store the third data included in the first message; if the first message is a subscription message, send a response message to the first device, and the response message includes data that meets the subscription requirements indicated by the third data.

[0017] In a possible implementation, the second device is further configured to: parse the first message; and determine whether the first message is a publish message or a subscribe message.

[0018] In yet another possible implementation, the first data and the second data have different data formats, and carry the same information.

[0019] In another possible implementation, the description information of the second data includes one or more of the following: a data format of the second data, a length of the second data, or a message digest algorithm version 5 MD5 code of the second data.

[0020] In another possible implementation, the data packet header includes one or more of the following: an action field, an identifier field, or a length field; the action field indicates the type of the first message, the identifier field indicates the subject, or the identifier field indicates the subject and indicates the receiving component and the sending component of the third data, and the length field indicates the length of the third data.

[0021] In another possible implementation, the action field is a first value, the first value indicates that the first message is a publish message, and the publish message is used by the second device to send the third data to the receiving component indicated by the identifier field; or, the action field is a second value, the second value indicates that the first message is a subscription message, and the subscription message is used to enable the receiving component indicated by the identifier field to send information that meets the subscription requirements indicated by the third data to the sending component indicated by the identifier field.

[0022] In yet another possible implementation, the first device is a device using the AUTOSAR platform, and the second device is a device using a platform other than the AUTOSAR platform.

[0023] In the above method, when the first device is a device using the automotive open system architecture AUTOSAR platform, and the second device is a device using a platform other than the AUTOSAR platform, the first device implements inter-software communication by using the communication management CM middleware in the AUTOSAR platform, and the second device implements inter-software communication by using the communication middleware in a platform other than the AUTOSAR platform. Through this application, cross-communication middleware and cross-device communication between the first device and the second device between different communication middleware can be realized.

[0024] In another possible implementation, the first device is an in-vehicle computing platform, and the second device is a cockpit device.

[0025] For the technical effects brought about by the second aspect or possible implementation methods, reference may be made to the introduction to the technical effects of the first aspect or corresponding implementation methods.

[0026] In a third aspect, the present application provides a communication device, wherein the communication processing device includes a processor and a memory, the memory and the processor are interconnected via a line, the processor is used to obtain a computer program stored in the memory, and when the computer program is executed by the processor, it is used to execute the communication method in the above-mentioned first aspect and each implementation method.

[0027] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed on a processor, the method described in the first aspect and various implementation methods is implemented.

[0028] In a fifth aspect, the present application provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it implements the method described in the first aspect and various implementation methods.

[0029] In a sixth aspect, the present application provides a chip, which includes a circuit, and the circuit is used to implement the method described in the above first aspect and each implementation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] FIG1 is a schematic structural diagram of an intelligent driving device provided in an embodiment of the present application;

[0031] FIG2 is a schematic structural diagram of another intelligent driving device provided in an embodiment of the present application;

[0032] FIG3 is a schematic diagram of a driving control device of an intelligent driving device provided in an embodiment of the present application;

[0033] FIG4 is a schematic diagram of communication between an AUTOSAR platform and a ROS platform provided in an embodiment of the present application;

[0034] FIG5 is a schematic diagram of another embodiment of the present application providing communication between an AUTOSAR platform and a ROS platform;

[0035] FIG6 is a flow chart of a communication method provided in an embodiment of the present application;

[0036] FIG7 is a schematic diagram of a data type mapping relationship provided in an embodiment of the present application;

[0037] FIG8 is a schematic diagram of a format of a first message provided in an embodiment of the present application;

[0038] FIG9 is a schematic diagram of a first message processing process according to an embodiment of the present application;

[0039] FIG10 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0040] FIG11 is a schematic diagram of an intelligent driving device provided in an embodiment of the present application;

[0041] FIG12 is a schematic structural diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0043] In this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0044] The “at least one” mentioned in the embodiments of this application refers to one or more, and “plurality” refers to two or more. “At least one of the following items” or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, “a and b”, “a and c”, “b and c”, or “a and b and c”, where a, b, c can be single or multiple. “And / or” describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character “ / ” generally indicates that the previous and next associated objects are in an “or” relationship.

[0045] The terms "first," "second," "third," and "fourth" mentioned in the embodiments of this application are used to distinguish different objects, rather than to describe a specific order. 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 limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to such process, method, product, or device.

[0046] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0047] Please refer to Figure 1, which is a schematic diagram of the structure of an intelligent driving device 100 provided in an embodiment of the present application. The intelligent driving device 100 includes a first device 101 and a second device 102. The first device 101 may be a device using the automotive open system architecture (AUTOSAR) platform, and the second device 102 may be a device using a platform other than the AUTOSAR platform. For example, the second device 102 may be a device using the Robot Operating System (ROS) platform. Accordingly, the first device 101 may include an AUTOSAR platform 1011, and the second device 102 may include a platform other than the AUTOSAR platform, such as a ROS platform 1021. Alternatively, the first device 101 may be a device using a platform other than the AUTOSAR platform. For example, the first device 101 may be a device using the ROS platform, and the second device 102 may be a device using the AUTOSAR platform. Accordingly, the first device 101 may include a platform other than the AUTOSAR platform, such as a ROS platform, and the second device 102 may include an AUTOSAR platform, which is not limited in the embodiments of the present application. In the following examples, unless otherwise specified, the first device is a device using the AUTOSAR platform, and the second device is a device using the ROS platform. Optionally, the first device 101 can be an in-vehicle computing platform, and the second device 102 can be a cockpit device. Optionally, the first device 101 can include an intelligent driving software system 1012, which includes three application software: data access, APP1, and actuator signal output. Each module within the intelligent driving software system 1012 uses the communication management (CM) middleware in the AUTOSAR Adaptive Platform to implement message communication between the various software / services. Optionally, the second device 102 can include existing tool software 1022, which includes three application software: data acquisition tool software, driving status visualization tool software, and APP2. These tool software all use other middleware besides the CM middleware, such as the ROS middleware, to implement message communication between the various software / services. It should be noted that the intelligent driving device shown in Figure 1 can be applied to intelligent driving system development, commissioning or operation scenarios, and the embodiments of this application are not limited thereto.

[0048] It is understandable that the structure of the intelligent driving device in FIG1 is only an exemplary implementation in the embodiment of the present application, and the intelligent driving device in the embodiment of the present application may further include more components as needed.

[0049] Please refer to Figure 2, which further illustrates the structure of the intelligent driving device 100 based on Figure 1. The intelligent driving device 100 may include various subsystems, such as a travel system 202, a sensor system 204, a control system 206, one or more peripheral devices 208, a power supply 210, a computer system 212, and a user interface 216. Alternatively, the intelligent driving device 100 may include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the intelligent driving device 100 may be interconnected via wired or wireless connections.

[0050] The propulsion system 202 may include components that provide power and movement for the intelligent driving device 100. In one embodiment, the propulsion system 202 may include an engine 218, an energy source 219, a transmission 220, and wheels / tires 221. The engine 218 may be an internal combustion engine, an electric motor, an air compression engine, or other engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 218 converts the energy source 219 into mechanical energy.

[0051] Examples of energy source 219 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 219 can also provide energy for other systems of the intelligent driving device 100.

[0052] Transmission 220 can transmit mechanical power from engine 218 to wheels 221. Transmission 220 can include a gearbox, a differential, and a drive shaft. In one embodiment, transmission 220 can also include other components, such as a clutch. The drive shaft can include one or more shafts that can be coupled to one or more wheels 221.

[0053] The sensor system 204 may include several sensors that sense information about the environment surrounding the intelligent driving device 100. For example, the sensor system 204 may include a positioning system 222 (the positioning system may be a GPS system, a BeiDou system, or other positioning systems), an inertial measurement unit (IMU) 224, a radar 226, a laser rangefinder 228, and a camera 230. The sensor system 204 may also include sensors of the internal systems of the monitored intelligent driving device 100 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). This detection and recognition is a key function for the safe operation of the autonomous intelligent driving device 100.

[0054] The positioning system 222 may be used to estimate the geographic location of the intelligent driving device 100. The IMU 224 is used to sense the position and orientation changes of the intelligent driving device 100 based on inertial acceleration. In one embodiment, the IMU 224 may be a combination of an accelerometer and a gyroscope.

[0055] The radar 226 may utilize radio signals to sense objects in the surrounding environment of the intelligent driving device 100. In some embodiments, in addition to sensing objects, the radar 226 may also be used to sense the speed and / or heading of the objects.

[0056] The laser rangefinder 228 may utilize laser light to sense objects in the environment in which the intelligent driving device 100 is located. In some embodiments, the laser rangefinder 228 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

[0057] The camera 230 may be used to capture multiple images of the surrounding environment of the intelligent driving device 100. The camera 230 may be a still camera or a video camera.

[0058] The control system 206 controls the operation of the intelligent driving device 100 and its components. The control system 206 may include various components, including a steering system 232 , a throttle 234 , a brake unit 236 , a computer vision system 240 , a path control system 242 , and an obstacle avoidance system 244 .

[0059] The steering system 232 is operable to adjust the forward direction of the intelligent driving device 100. For example, in one embodiment, it can be a steering wheel system.

[0060] The throttle 234 is used to control the operating speed of the engine 218 and thus control the speed of the intelligent driving device 100 .

[0061] Braking unit 236 is used to control the deceleration of intelligent driving device 100. Braking unit 236 can use friction to slow down wheel 221. In other embodiments, braking unit 236 can convert the kinetic energy of wheel 221 into electric current. Braking unit 236 can also take other forms to slow the rotation speed of wheel 221 and thus control the speed of intelligent driving device 100.

[0062] The computer vision system 240 can be operated to process and analyze images captured by the camera 230 to identify objects and / or features in the environment surrounding the intelligent driving device 100, and / or process and analyze data information captured by the radar 226. The objects and / or features may include traffic signs, road boundaries, and obstacles. The computer vision system 240 can use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision technologies. In some embodiments, the computer vision system 240 can be used to map the environment, track objects, estimate the speed of objects, and so on.

[0063] The route control system 242 is used to determine the driving route of the intelligent driving device 100. In some embodiments, the route control system 242 can combine data from the positioning system 222 and one or more predetermined maps to determine the driving route for the intelligent driving device 100.

[0064] The obstacle avoidance system 244 is used to identify, evaluate, and avoid or otherwise negotiate potential obstacles in the environment of the intelligent driving device 100 .

[0065] Of course, in one example, the control system 206 may include additional or alternative components other than those shown and described, or may also include fewer than some of the components shown.

[0066] The intelligent driving device 100 interacts with external sensors, other vehicles, other computer systems, or users through the peripheral devices 208. The peripheral devices 208 may include a wireless communication system 246, an onboard computer 248, a microphone 250, and / or a speaker 252.

[0067] In some embodiments, the peripheral device 208 provides a means for the user of the intelligent driving device 100 to interact with the user interface 216. For example, the onboard computer 248 can provide information to the user of the intelligent driving device 100. The user interface 216 can also operate the onboard computer 248 to receive user input. The onboard computer 248 can be operated via a touch screen. In other cases, the peripheral device 208 can provide a means for the intelligent driving device 100 to communicate with other devices located in the vehicle. For example, the microphone 250 can receive audio (e.g., voice commands or other audio input) from the user of the intelligent driving device 100. Similarly, the speaker 252 can output audio to the user of the intelligent driving device 100.

[0068] The wireless communication system 246 can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 246 can use 3G cellular communication, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communication, such as LTE, or 5G cellular communication. The wireless communication system 246 can use Wi-Fi to communicate with a wireless local area network (WLAN). In some embodiments, the wireless communication system 246 can use an infrared link, Bluetooth, or ZigBee to communicate directly with the device. The wireless communication system 246 may include one or more dedicated short range communications (DSRC) devices, which may include public and / or private data communications between vehicles and / or roadside stations.

[0069] The power supply 210 can provide power to the various components of the intelligent driving device 100. In one embodiment, the power supply 210 can be a rechargeable lithium-ion or lead-acid battery. One or more battery packs of such batteries can be configured as a power source to provide power to the various components of the intelligent driving device 100. In some embodiments, the power supply 210 and the energy source 219 can be implemented together.

[0070] Some or all functions of the intelligent driving device 100 are controlled by a computer system 212. The computer system 212 may include at least one processor 213 that executes instructions 215 stored in a non-transitory computer-readable medium, such as a memory 214. The computer system 212 may also be a plurality of computing devices that control individual components or subsystems of the intelligent driving device 100 in a distributed manner.

[0071] The processor 213 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor may be an ASIC or other hardware-based processor.

[0072] In various aspects described herein, the processor can be remote from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle while others are performed by a remote processor.

[0073] In some embodiments, the memory 214 may include instructions 215 (e.g., program logic) that may be executed by the processor 213 to perform various functions of the intelligent driving device 100, including those described above. The memory 214 may also include additional instructions, including instructions for sending data to, receiving data from, interacting with, and / or sending control instructions to one or more of the travel system 202, the sensor system 204, the control system 206, and the peripheral devices 208.

[0074] In addition to instructions 215 , memory 214 may also store data and other information that may be used by the intelligent driving device 100 and computer system 212 during operation of the intelligent driving device 100 in autonomous, semi-autonomous, and / or manual modes.

[0075] User interface 216 is used to provide information to or receive information from a user of intelligent driving device 100. Optionally, user interface 216 may include one or more input / output devices within the set of peripheral devices 208, such as wireless communication system 246, onboard computer 248, microphone 250, and speaker 252.

[0076] The computer system 212 can control the functions of the intelligent driving device 100 based on input received from various subsystems (e.g., the travel system 202, the sensor system 204, and the control system 206) and from the user interface 216. For example, the computer system 212 can use input from the control system 206 to control the steering system 232 to avoid obstacles detected by the sensor system 204 and the obstacle avoidance system 244. In some embodiments, the computer system 212 is operable to provide control over many aspects of the intelligent driving device 100 and its subsystems.

[0077] Optionally, one or more of the above components may be installed or associated separately from the intelligent driving device 100. For example, the memory 214 may be partially or completely separate from the intelligent driving device 100. The above components may be communicatively coupled together in a wired and / or wireless manner.

[0078] Optionally, the above components are only an example. In actual applications, the components in the above modules may be added or deleted according to actual needs. Figure 2 should not be understood as a limitation to the embodiments of the present application.

[0079] The intelligent driving device 100 may be a car, truck, motorcycle, bus, ship, airplane, helicopter, lawn mower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, cart, smart home device, etc., and the embodiments of the present application do not impose any particular limitation.

[0080] It can be understood that the structure of the intelligent driving device in Figure 2 is only an exemplary implementation in the embodiment of the present application. The intelligent driving device in the embodiment of the present application includes but is not limited to the above structure.

[0081] Please refer to Figure 3, which is a schematic diagram of a driving control device of an intelligent driving device provided in an embodiment of the present application. It is applied to Figure 2 above and is equivalent to the computer system 212 shown in Figure 2. It may include a processor 213, and the processor 213 is coupled to the system bus 305. The processor 213 can be one or more processors, each of which can include one or more processor cores. The memory 214 can store relevant data information, and the memory 214 is coupled to the system bus 305. The computer system 212 also includes a display adapter 307, which can drive a display 309. The system bus 305 is coupled to the input and output (I / O) bus 313 through the bus bridge 301. The I / O interface 315 is coupled to the I / O bus 313. The I / O interface 315 communicates with various I / O devices, such as an input device 317 (e.g., a keyboard, a mouse, a touch screen, etc.), a media tray 321 (e.g., a CD-ROM, a multimedia interface, etc.), a transceiver 323 (capable of sending and / or receiving radio communication signals), a camera 355 (capable of capturing visual and dynamic digital video images), and an external USB interface 325. Optionally, the interface connected to the I / O interface 315 may be a USB interface.

[0082] Processor 213 may be any conventional processor, including a reduced instruction set computer (RISC), a complex instruction set computer (CISC), or a combination thereof. Alternatively, the processor may be an application-specific integrated circuit (ASIC). Alternatively, processor 213 may be a neural network processor, or a combination of a neural network processor and the conventional processors described above.

[0083] Alternatively, in various embodiments described herein, the computer system 212 may be located remotely from the intelligent driving device and may communicate wirelessly with the intelligent driving device. In other aspects, some of the processes described herein are executed on a processor within the intelligent driving device, while others are executed by a remote processor.

[0084] Computer system 212 can communicate with deployment server 349 via network interface 329. Network interface 329 is a hardware network interface, such as a network card. Network 327 can be an external network, such as the Internet, or an internal network, such as Ethernet or a virtual private network (VPN). Alternatively, network 327 can be a wireless network, such as a Wi-Fi network or a cellular network.

[0085] The transceiver 323 (which can send and / or receive radio communication signals) can use various wireless communication methods including but not limited to the second generation mobile communication networks (2G), 3G, 4G, 5G, etc., or DSRC technology, or long-term evolution vehicle-to-everything (LTE-V2X) technology, etc. Its main function is to receive information data sent by external devices and send the information data generated by the intelligent driving device when driving on the target road section back to the external device for storage and analysis.

[0086] The hard disk drive interface 331 is coupled to the system bus 305. The hard disk drive interface 331 is connected to the hard disk drive 333. The system memory 335 is coupled to the system bus 305. The data running in the system memory 335 may include the operating system 337 and application programs 343 of the computer system 212.

[0087] The system memory 335 is coupled to the system bus 305. For example, in the present application, the system memory 335 can be used to store the driving information of the vehicle passing through the target road section in a certain format.

[0088] Operating system (OS) 337 includes a shell 339 and a kernel 341. Shell 339 is an interface between the user and the operating system's kernel. Shell 339 is the outermost layer of the operating system. It manages the interaction between the user and the operating system: it waits for user input; interprets user input to the operating system; and processes various operating system outputs.

[0089] The kernel 341 consists of the parts of the operating system that manage memory, files, peripherals, and system resources. It interacts directly with the hardware and typically runs processes and provides inter-process communication, CPU time slice management, interrupts, memory management, I / O management, and more.

[0090] Applications 343 include autonomous driving-related programs 347, such as programs that manage the autonomous vehicle's interactions with obstacles on the road, control the autonomous vehicle's route or speed, and control the autonomous vehicle's interactions with other autonomous vehicles on the road. Applications 343 also reside on a system called a deploying server 349. In one embodiment, when autonomous driving-related programs 347 are needed, computer system 212 can download them from deploying server 349.

[0091] Sensor 353 is associated with computer system 212. Sensor 353 is used to detect the environment surrounding computer system 212. For example, sensor 353 can detect animals, cars, obstacles, and crosswalks. Furthermore, sensor 353 can detect the environment surrounding these objects, such as animals, cars, obstacles, and crosswalks, for example, the environment surrounding the animals, such as other animals around the animals, weather conditions, and ambient light levels. Alternatively, if computer system 212 is located in a self-driving car, the sensor can be a camera, an infrared sensor, a chemical detector, a microphone, and the like.

[0092] It can be understood that the driving control device of the intelligent driving device in Figure 3 is only an exemplary implementation in the embodiment of the present application. The driving control device applied to the intelligent driving device in the embodiment of the present application includes but is not limited to the above structure.

[0093] Currently, the development of intelligent driving software is typically based on the AUTOSAR Adaptive Platform and other platforms besides the AUTOSAR Adaptive Platform, such as the ROS platform. Referring to Figure 4, which is a schematic diagram of communication between an AUTOSAR platform and a ROS platform, provided in an embodiment of the present application, the method defines a private protocol that includes all structures that may need to communicate. The AUTOSAR platform includes a CM data to private data conversion module, and the ROS platform includes a private data to ROS data conversion module. The specific communication process may include: converting acquired CM data into private data using the CM data to private data conversion module, and transmitting the private data from the AUTOSAR platform to the ROS platform, wherein the private data satisfies the private protocol. After the ROS platform receives the private data, the private data is converted into ROS data using the private data to ROS data conversion module and transmitted within the ROS platform. This method achieves a high degree of decoupling between the AUTOSAR and ROS platforms, but the development workload is substantial, relying on manual coding to implement the functions of the CM data to private data conversion module and the private data to ROS data conversion module, resulting in a high degree of customization and difficulty in reuse. Please refer to Figure 5, which is a schematic diagram of another communication between the AUTOSAR platform and the ROS platform provided by an embodiment of the present application. In this method, the ROS platform and other platforms are integrated on the AUTOSAR platform. The AUTOSAR platform provides a message gateway service. After obtaining CM data, it is converted into ROS platform data through the message gateway service, and cross-device communication is carried out by utilizing the cross-device communication capability of the ROS platform. Accordingly, data acquisition tool software, driving status visualization tool software, etc. on the device using the ROS platform can receive the ROS platform data. In this method, the message gateway service can greatly simplify the user's development workload, but the need to additionally integrate high-risk open source software such as ROS into the AUTOSAR platform will lead to chaotic software management in the AUTOSAR platform and high maintenance costs. To solve the above problems, the embodiment of the present application proposes the following solution.

[0094] Based on the structures of the intelligent driving device provided in Figures 1 and 2 and the vehicle travel control device applied to the intelligent driving device provided in Figure 3, an embodiment of the present application provides a communication method. This method can be applied to intelligent driving scenarios, including intelligent assisted driving, autonomous driving, and unmanned driving, etc., which are not limited in this embodiment of the present application. Referring to Figure 6, this method may include the following steps S601-S603.

[0095] Step S601: The first device determines second data based on the first data.

[0096] The first data and the second data satisfy a data type mapping relationship. The first data may be data collected by the first device, for example, may include the exposure time of a camera in the first device and image data captured by the camera exposure. Optionally, the exposure time of the camera may be predefined or determined by the first device, which is not limited in the embodiments of the present application. Optionally, the first data may be stored in an extensible markup language (XML) file of the AUTOSAR platform, and the AUTOSAR XML file may be referred to as an ARXML file; the second data may be stored in an MSG file of the ROS platform.

[0097] Among them, the first device determining the second data based on the first data can refer to the first device determining the second data based on the first data and a data type mapping relationship, where the data type mapping relationship includes a conversion relationship between data formats of different protocols. For example, the first data supports the communication protocol of the AUTOSAR platform, and the second data supports the communication protocol of the ROS platform. The data type mapping relationship includes a conversion relationship between the data format supporting the communication protocol of the AUTOSAR platform and the data format supporting the communication protocol of the ROS platform. The data type mapping relationship can be predefined or agreed upon by the protocol, and is not limited in the embodiments of the present application.

[0098] The first data and the second data have different data formats, and carry the same information. For example, the information carried by the first data and the second data may be the exposure time of a camera and image data captured by the camera.

[0099] In one example, please refer to Figure 7, which is a schematic diagram of a data type mapping relationship. In Figure 1, the first data includes structure B, and the second data includes structure A, wherein structure B includes an int32_t type field a, a double type field b, and an ara::core::String type field c. The first device determines the second data based on the first data and the data type mapping relationship. The second data is structure A, and structure A includes an int type field a, a double type field b, and a std::string type field c. The data type mapping relationship indicates the mapping relationship between structure A and structure B, for example, the conversion relationship between the int type in structure A and the int32_t type in structure B, the conversion relationship between the double type in structure A and the double type in structure B, and the conversion relationship between the ara::core::String type and the std::string type in structure B.

[0100] Step S602: The first device generates third data according to the second data.

[0101] The third data includes the second data and description information of the second data, and the description information of the second data includes one or more of the following: the data format of the second data, the length of the second data, or the message digest algorithm 5 (MD5) code of the second data; of course, the description information of the second data includes but is not limited to the above examples, and may also include other content, which is not limited here. The data format of the second data can refer to the name of the data type of the second data. For example, if the second data is data from a camera sensor, the data format of the second data can refer to a structure named cameradata.

[0102] Among them, the first device generating the third data based on the second data may mean that the first device serializes the second data to generate the third data, serialization may refer to converting structured data into binary data suitable for communication, and deserialization is the opposite process of serialization, and deserialization is converting the binary data stream received in the communication into structured data.

[0103] Step S603: The first device sends a first message to the second device.

[0104] The first message includes a data packet header and third data. The data packet header includes one or more of the following: an action field, an identifier (ID) field, or a length field. Specifically, as shown in FIG8 , FIG8 is a schematic diagram of the format of the first message. Optionally, the action field may occupy 2 bytes, the identifier field may occupy 64 bytes, and the length field may occupy 4 bytes. The action field indicates the type of the first message. The action field has a first value, indicating that the first message is a publish message. The publish message is used by the second device to send the third data to the receiving component indicated by the identifier field. The action field has a second value, indicating that the first message is a subscription message. The identifier field includes a topic, which indicates the type of data published / subscribed by the first device. The identifier field may also include a sending component and a receiving component. In this case, a subscription message is used to cause the receiving component indicated by the identifier field to send information that meets the subscription requirements indicated by the topic and the third data to the sending component indicated by the identifier field. The length field indicates the length of the third data. Optionally, the first message may comply with the Transmission Control Protocol / Internet Protocol (TCP / IP). When the identifier field does not include information about the sending component and the receiving component, and the first message is a publishing message, the first device is the sending component of the third data; when the identifier field does not include information about the sending component and the receiving component, and the first message is a subscription message, the first device is the receiving component of the information that meets the subscription requirements indicated by the third data.

[0105] The type of the first message can include a publish message or a subscription message. The action field can be an enumerated value. For example, the first value can be PUBLISH and the second value can be SUBSCRIBE. The first value of PUBLISH indicates that the first message is a publish message, which is used by the first device to send third data to the second device; the second value of SUBSCRIBE indicates that the first message is a subscription message, which indicates that the first device needs to receive information from the second device that meets the subscription requirements indicated by the third data. For example, the identifier field includes the publish or subscribe topic (called Instance shortName in the AUTOSAR platform and topic in the ROS platform). The topic can indicate sensor-related data or camera-related data. The identifier field can also include the component requesting the topic or the component wishing to publish the topic. The component can be, for example, an application. In one example, the first device uses the AUTOSAR platform, and the second device uses the ROS platform. The first device includes three applications: data access, APP1, and actuator signal output. The second device includes three applications: a drive test data acquisition tool, a visualization tool, and APP2. For example, the action field in the data packet header of the first message is PUBLISH, the identifier field is (APP1, cam1, APP2), and the length field is 4 bytes. The action field PUBLISH indicates that the first message is a publish message, and the identifier field (APP1, cam1, APP2) indicates that the data carried in the first message is data related to camera cam1 published by APP1 in the first device, and the data can be received by APP2 in the second device. For another example, the action field in the data packet header of the first message is SUBSCRIBE, the identifier field is (APP1, lidar2, APP2), the length field is 4 bytes, and the action field SUBSCRIBE indicates that the first message is a subscription message, and the identifier field (APP1, lidar2, APP2) indicates that APP1 in the first device hopes to receive data related to lidar2 published by APP2 in the second device.

[0106] In a possible implementation, after the first device sends the first message to the second device, the second device receives the first message from the first device.

[0107] Optionally, after receiving the first message from the first device, the second device parses the first message to determine whether the first message is a publish message or a subscribe message. Parsing the first message includes parsing a data packet header included in the first message and determining whether the first message is a publish message or a subscribe message based on an action field in the data packet header.

[0108] Among them, if the first message is a publish message, the third data included in the first message is stored; if the first message is a subscription message, the second device sends a response message to the first device, and the response message includes data that meets the subscription requirements indicated by the third data.

[0109] The response message includes data that meets the subscription requirements indicated by the third data. For example, the data that meets the subscription requirements indicated by the third data may be fourth data. The fourth data may be carried in the second message. The second message includes a data packet header. The relevant description in the data packet header may refer to the data packet header in the first message. After receiving the fourth data from the second device, the first device processes the fourth data. The processing process may be similar to the inverse process of the third data processing. The specific process is as follows: for example, the first device determines fifth data based on the fourth data, wherein the fourth data includes the fifth data and description information of the fifth data. The description information of the fifth data includes, but is not limited to, one or more of the following: the data format of the fifth data, the length of the fifth data, or the MD5 code of the fifth data. The first device determining the fifth data based on the fourth data may refer to deserializing the fourth data to determine the fifth data. Then, the first device determines sixth data based on the fifth data. The fifth data and the sixth data satisfy a data type mapping relationship. The first device may determine the sixth data based on the fifth data and the data type mapping relationship. The data type mapping relationship may refer to the above description and will not be described in detail here.

[0110] In one possible implementation, after receiving the first message, the second device processes the first message. The processing process is shown in FIG9 . First, the action field in the data packet header of the first message is parsed to determine whether the action field is a first value, where the first value corresponds to PUBLISH, as follows:

[0111] (1) If the action field is the first value, the second device parses the identifier field in the data packet header of the first message to determine whether the subject in the identifier field has been registered; if the subject is not registered, the first device is registered as the publisher of the subject, the first message is parsed to obtain the third data, and the third data is published.

[0112] (2) If the action field is not the first value, determine whether the action field is the second value, the second value corresponds to SUBSCRIBE, if the action field is the second value, the second device parses the identifier field in the data packet header in the first message, and determines whether the subject in the identifier field has been registered; if the subject is not registered, register the first device as the recipient of the subject, and when receiving data corresponding to the subject, transparently transmit the data to the first device.

[0113] It should be noted that the embodiment shown in FIG6 is described using an example in which the first device is a device using the AUTOSAR platform and the second device is a device using the ROS platform. When the first device is a device using the ROS platform and the second device is a device using the AUTOSAR platform, the data processing process can refer to the data processing process when the first device is a device using the AUTOSAR platform and the second device is a device using the ROS platform, and will not be further described here.

[0114] In the method described in FIG6 , by determining the second data based on the first data, the first device can convert the first data supporting the protocol in the first device into the second data supporting the protocol in the second device. By generating the third data based on the second data, the first device can correctly parse the third data by the communication middleware in the second device. For example, the first device uses the communication management (CM) middleware in the AUTOSAR platform to implement inter-software communication, and the second device uses the communication middleware in the ROS platform to implement inter-software communication. This application enables cross-communication middleware and cross-device communication between the first and second devices using different communication middleware. This solves the problem that data acquisition tool software and driving status visualization tool software developed based on the ROS platform cannot be used with the AUTOSAR platform. This eliminates the need to install high-risk open source software in the first device, simplifies development, and reduces maintenance costs.

[0115] The above describes in detail the method of the embodiment of the present application, and the following provides an apparatus of the embodiment of the present application.

[0116] Please refer to Figure 10, which is a structural diagram of a communication device 1000 provided in an embodiment of the present application. The communication device 1000 may include a processing unit 1001 and a communication unit 1002. The communication device 1000 can be implemented through hardware, software, or a combination of hardware and software. A detailed description of each unit is as follows.

[0117] The processing unit 1001 is configured to determine second data based on first data, where the first data and the second data satisfy a data type mapping relationship, wherein the data type mapping relationship includes a conversion relationship between data formats of different protocols;

[0118] The processing unit 1001 is configured to generate third data based on the second data, where the third data includes the second data and description information of the second data;

[0119] The communication unit 1002 is configured to send a first message to the second device, where the first message includes a data packet header and the third data.

[0120] In a possible implementation, the first data and the second data have different data formats, and carry the same information.

[0121] In another possible implementation, the description information of the second data includes one or more of the following: a data format of the second data, a length of the second data, or a message digest algorithm version 5 MD5 code of the second data.

[0122] In another possible implementation, the data packet header includes one or more of the following: an action field, an identifier field, or a length field; the action field indicates the type of the first message, the identifier field indicates the subject, or the identifier field indicates the subject and the receiving component and sending component of the third data, and the length field indicates the length of the third data.

[0123] In another possible implementation, the action field is a first value, the first value indicates that the first message is a publish message, and the publish message is used by the second device to send the third data to the receiving component indicated by the identifier field; or, the action field is a second value, the second value indicates that the first message is a subscription message, and the subscription message is used to enable the receiving component indicated by the identifier field to send information that meets the subscription requirements indicated by the third data to the sending component indicated by the identifier field.

[0124] In yet another possible implementation, the communication device is a device using an AUTOSAR platform, and the second device is a device using a platform other than the AUTOSAR platform.

[0125] In another possible implementation, the communication device is an in-vehicle computing platform, and the second device is a cockpit device.

[0126] The implementation and beneficial effects of each unit may also correspond to the corresponding description of the method embodiment shown in FIG6 .

[0127] Please refer to FIG11, which is a schematic diagram of the structure of an intelligent driving device 1100 provided in an embodiment of the present application. The intelligent driving device 1100 includes a first device 1101 and a second device 1102.

[0128] The first device 1101 is configured to: determine second data based on first data, where the first data and the second data satisfy a data type mapping relationship, the data type mapping relationship including a conversion relationship between data formats of different protocols; generate third data based on the second data, where the third data includes the second data and description information of the second data; and send a first message to the second device, where the first message includes a data packet header and the third data;

[0129] The second device 1102 is used to: receive the first message; if the first message is a publish message, store the third data included in the first message; if the first message is a subscription message, send a response message to the first device, and the response message includes data that meets the subscription requirements indicated by the third data.

[0130] In a possible implementation, the second device 1102 is further configured to: parse the first message; and determine whether the first message is a publish message or a subscribe message.

[0131] In yet another possible implementation, the first data and the second data have different data formats, and carry the same information.

[0132] In another possible implementation, the description information of the second data includes one or more of the following: a data format of the second data, a length of the second data, or a message digest algorithm version 5 MD5 code of the second data.

[0133] In another possible implementation, the data packet header includes one or more of the following: an action field, an identifier field, or a length field; the action field indicates the type of the first message, the identifier field indicates the subject, or the identifier field indicates the subject and indicates the receiving component and the sending component of the third data, and the length field indicates the length of the third data.

[0134] In another possible implementation, the action field is a first value, the first value indicates that the first message is a publish message, and the publish message is used by the second device to send the third data to the receiving component indicated by the identifier field; or, the action field is a second value, the second value indicates that the first message is a subscription message, and the subscription message is used to enable the receiving component indicated by the identifier field to send information that meets the subscription requirements indicated by the third data to the sending component indicated by the identifier field.

[0135] In another possible implementation, the first device 1101 is a device using the AUTOSAR platform, and the second device 1102 is a device using a platform other than the AUTOSAR platform.

[0136] In another possible implementation, the first device 1101 is an in-vehicle computing platform, and the second device 1102 is a cockpit device.

[0137] The implementation and beneficial effects of each unit may also correspond to the corresponding description of the method embodiment shown in FIG6 .

[0138] Please refer to Figure 12, which is a schematic diagram of a communication device 1200 provided in an embodiment of the present application. The communication device 1200 includes a processor 1201 and a communication interface 1203, and optionally also includes a memory 1202. The processor 1201, memory 1202 and communication interface 1203 are interconnected via a bus 1204.

[0139] Memory 1202 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM). Memory 1202 is used for storing computer programs and data. Communication interface 1203 is used to receive and send data.

[0140] The processor 1201 may be one or more central processing units (CPUs). When the processor 1201 is a CPU, the CPU may be a single-core CPU or a multi-core CPU.

[0141] The processor 1201 in the communication device 1200 is configured to read the computer program stored in the memory 1202 and perform the following operations:

[0142] Determining second data based on first data, where the first data and the second data satisfy a data type mapping relationship, the data type mapping relationship including a conversion relationship between data formats of different protocols;

[0143] generating third data according to the second data, wherein the third data includes the second data and description information of the second data;

[0144] A first message is sent to the second device, where the first message includes a data packet header and the third data.

[0145] In a possible implementation, the first data and the second data have different data formats, and carry the same information.

[0146] In another possible implementation, the description information of the second data includes one or more of the following: a data format of the second data, a length of the second data, or a message digest algorithm version 5 MD5 code of the second data.

[0147] In another possible implementation, the data packet header includes one or more of the following: an action field, an identifier field, or a length field; the action field indicates the type of the first message, the identifier field indicates the subject, or the identifier field indicates the subject and the receiving component and sending component of the third data, and the length field indicates the length of the third data.

[0148] In another possible implementation, the action field is a first value, the first value indicates that the first message is a publish message, and the publish message is used by the second device to send the third data to the receiving component indicated by the identifier field; or, the action field is a second value, the second value indicates that the first message is a subscription message, and the subscription message is used to enable the receiving component indicated by the identifier field to send information that meets the subscription requirements indicated by the third data to the sending component indicated by the identifier field.

[0149] In yet another possible implementation, the communication device is a device using an AUTOSAR platform, and the second device is a device using a platform other than the AUTOSAR platform.

[0150] In another possible implementation, the communication device is an in-vehicle computing platform, and the second device is a cockpit device.

[0151] The implementation and beneficial effects of each operation may also correspond to the corresponding description of the method embodiment shown in FIG6 .

[0152] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0153] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a base station or a terminal. Of course, the processor and the storage medium can also exist in a base station or a terminal as discrete components.

[0154] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0155] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

Claims

1. A communication method, characterized in that: Applied in intelligent driving scenarios, the method includes: The first device determines second data based on the first data, where the first data and the second data satisfy a data type mapping relationship, and the data type mapping relationship includes a conversion relationship between data formats of different protocols; The first device generates third data according to the second data, where the third data includes the second data and description information of the second data; The first device sends a first message to the second device, where the first message includes a data packet header and the third data.

2. The method according to claim 1, characterized in that The first data and the second data have different data formats, and the first data and the second data carry the same information.

3. The method according to claim 1 or 2, characterized in that The description information of the second data includes one or more of the following: a data format of the second data, a length of the second data, or a message digest algorithm version 5 MD5 code of the second data.

4. The method according to any one of claims 1 to 3, characterized in that The data packet header includes one or more of the following: an action field, an identifier field or a length field; the action field indicates the type of the first message, the identifier field indicates the subject, or the identifier field indicates the subject and the receiving component and sending component of the third data, and the length field indicates the length of the third data.

5. The method according to claim 4, characterized in that The action field is a first value, the first value indicating that the first message is a publish message, and the publish message is used for the second device to send the third data to the receiving component indicated by the identifier field; or The action field is a second value, and the second value indicates that the first message is a subscription message, and the subscription message is used to enable the receiving component indicated by the identifier field to send information that meets the subscription requirements indicated by the third data to the sending component indicated by the identifier field.

6. The method according to any one of claims 1 to 5, characterized in that The first device is a device using the AUTOSAR platform, and the second device is a device using a platform other than the AUTOSAR platform.

7. The method according to claim 6, characterized in that The first device is an in-vehicle computing platform, and the second device is a cockpit device.

8. An intelligent driving device, characterized in that: The intelligent driving device includes a first device and a second device. The first device is used to: Determining second data based on first data, where the first data and the second data satisfy a data type mapping relationship, the data type mapping relationship including a conversion relationship between data formats of different protocols; generating third data according to the second data, wherein the third data includes the second data and description information of the second data; Sending a first message to the second device, where the first message includes a data packet header and the third data; The second device is used to: receiving the first message; If the first message is a publish message, storing the third data included in the first message; If the first message is a subscription message, a response message is sent to the first device, where the response message includes data that meets the subscription requirement indicated by the third data.

9. The intelligent driving device according to claim 8, characterized in that: The second device is further configured to: parsing the first message; Determine whether the first message is a publish message or a subscribe message.

10. The intelligent driving device according to claim 8 or 9, characterized in that: The first data and the second data have different data formats, and the first data and the second data carry the same information.

11. The intelligent driving device according to any one of claims 8 to 10, characterized in that: The description information of the second data includes one or more of the following: a data format of the second data, a length of the second data, or a message digest algorithm version 5 MD5 code of the second data.

12. The intelligent driving device according to any one of claims 8 to 11, characterized in that: The data packet header includes one or more of the following: an action field, an identifier field or a length field; the action field indicates the type of the first message, the identifier field indicates the subject, or the identifier field indicates the subject and indicates the receiving component and the sending component of the third data, and the length field indicates the length of the third data.

13. The intelligent driving device according to claim 12, characterized in that: The action field is a first value, the first value indicating that the first message is a publish message, and the publish message is used for the second device to send the third data to the receiving component indicated by the identifier field; or The action field is a second value, and the second value indicates that the first message is a subscription message, and the subscription message is used to enable the receiving component indicated by the identifier field to send information that meets the subscription requirements indicated by the third data to the sending component indicated by the identifier field.

14. The intelligent driving device according to any one of claims 8 to 13, characterized in that: The first device is a device using the AUTOSAR platform, and the second device is a device using a platform other than the AUTOSAR platform.

15. The intelligent driving device according to claim 14, characterized in that: The first device is an in-vehicle computing platform, and the second device is a cockpit device.

16. A communication device, characterized in that: The communication device comprises a processor and a memory, wherein the memory and the processor are interconnected via a line, the processor is used to obtain a computer program stored in the memory, and when the computer program is executed by the processor, the communication device is used to implement the method according to any one of claims 1 to 7.

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