Message sending method and system, medium, product, electronic equipment and vehicle

Abstract

The invention relates to a message sending method and system, a medium, a product, electronic equipment and a vehicle, the method is applied to a control terminal, and the method comprises the step of controlling a message sending function of at least one node on a communication bus through a routine control instruction based on a vehicle state of the vehicle. According to the method, the node sends a part of messages in different vehicle states, so that the load rate of the CAN bus can be reduced.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a message sending method, system, medium, product, electronic equipment and vehicle. Background Art

[0002] Currently, the on-board CAN (Controller Area Network) bus is mainly used to transmit application messages, debugging messages, and diagnostic messages. However, as more and more smart devices or components are connected to vehicles, the load pressure on the CAN bus on the vehicle is increasing. When some on-board data acquisition devices collect and transmit large amounts of data, it is easy to cause the total CAN load to be too high, affecting the safe operation of the vehicle. Summary of the Invention

[0003] Embodiments of the present application provide a message sending method, system, medium, product, electronic device, and vehicle to solve the problem of CAN bus communication overload.

[0004] To achieve the above-mentioned object, according to a first aspect of the present application, a message sending method is provided, the method being applied to a control terminal, the method comprising:

[0005] Based on the vehicle state of the vehicle, a message sending function of at least one node on the communication bus is controlled through routine control instructions.

[0006] Optionally, the controlling the message sending function of at least one node on the communication bus through a routine control instruction based on the vehicle state includes:

[0007] When the vehicle state is a driving state, the routine control instruction is sent to the first node and / or the second node.

[0008] Optionally, when the vehicle is in a driving state, sending the routine control instruction to the first node and / or the second node includes:

[0009] determining whether the vehicle state is a first driving state;

[0010] When the vehicle state is the first driving state, sending a first control instruction to the first node to control the first node to enable the message sending function; and / or

[0011] A second control instruction is sent to the second node to control the second node to disable the message sending function.

[0012] Optionally, when the vehicle is in a driving state, sending the routine control instruction to the first node and / or the second node includes:

[0013] If the vehicle state is not the first driving state, determining whether the vehicle state is a second driving state;

[0014] When the vehicle state is the second driving state, sending a third control instruction to the second node to control the second node to enable the message sending function; and / or

[0015] A fourth control instruction is sent to the first node to control the first node to disable the message sending function.

[0016] Optionally, the first driving state is a driving state, and the second driving state is a parking state or a sentry mode.

[0017] Optionally, when the vehicle is in a driving state, sending the routine control instruction to the first node and / or the second node includes:

[0018] If the vehicle state is not the second driving state, determining whether the vehicle state is a third driving state;

[0019] When the vehicle state is the third driving state, corresponding routine control instructions are sent to the first node and the second node to control the first node and the second node to deactivate the message sending function.

[0020] Optionally, the sending corresponding routine control instructions to the first node and the second node to control the first node and the second node to disable the message sending function includes:

[0021] Sending the fourth control instruction to the first node to control the first node to deactivate the message sending function;

[0022] The second control instruction is sent to the second node to control the second node to disable the message sending function.

[0023] Optionally, the third driving state is a long endurance state.

[0024] Optionally, the first node is a radar device, and the second node is an ultrasonic device.

[0025] Optionally, the radar device is an angular millimeter wave radar sensor, and the ultrasonic device is an ultrasonic sensor.

[0026] Optionally, the controlling the message sending function of at least one node on the communication bus through a routine control instruction based on the vehicle state further includes:

[0027] When the vehicle state is a debugging state, the routine control instruction is sent to a third node.

[0028] Optionally, when the vehicle state is a debugging state, sending the routine control instruction to the third node includes:

[0029] determining whether the vehicle state is a first debugging state;

[0030] When the vehicle state is the first debugging state, a first debugging instruction of the third node is determined to disable the message sending function of the first message of the third node.

[0031] Optionally, when the vehicle state is a debugging state, sending the routine control instruction to the third node includes:

[0032] In a case where the vehicle state is not the first debugging state, determining whether the vehicle state is a second debugging state;

[0033] When the vehicle state is the second debugging state, a second debugging instruction of the third node is determined to disable the message sending function of the second message of the third node.

[0034] Optionally, the first debugging state is a debugging mode, and the second debugging state is a non-debugging mode.

[0035] Optionally, the first message is a large data message, and the second message is a debugging message.

[0036] Optionally, the third node includes a transceiver module in the domain controller of the vehicle, and the transceiver module is used to control the message sending function of the application message of the domain controller.

[0037] Optionally, when the vehicle state is a driving state, after sending the routine control instruction to the first node and / or the second node, the method further includes:

[0038] Based on the response message fed back by the first node and / or the second node, the third node is controlled to disable the message sending function of the application message corresponding to the vehicle status.

[0039] Optionally, the method further includes:

[0040] Based on a routine control instruction sent by an external device, the third node is controlled to disable the message sending function of the application message corresponding to the vehicle state.

[0041] Optionally, the vehicle state includes a test state,

[0042] The controlling of the message sending function of at least one node on the communication bus by routine control instructions based on the vehicle state includes:

[0043] When the vehicle is in the test state, the routine control instruction is sent to a preset node based on an external instruction.

[0044] Optionally, the control terminal is a control module in a domain controller of the vehicle.

[0045] Optionally, the domain controller is a smart driving domain controller.

[0046] According to a second aspect of the present application, an embodiment of the present application further provides a message sending method, which is applied to a node on a communication bus, and the method includes:

[0047] Based on a routine control instruction sent by a control terminal or an external device, the message sending function of the node is disabled or enabled.

[0048] Optionally, the node is one of an ultrasonic device, a radar device, and a transceiver module in a domain controller of a vehicle.

[0049] According to the third aspect of the present application, an embodiment of the present application further provides a message sending system, the system comprising a control terminal and at least one node for sending message data, wherein:

[0050] The control terminal and the at least one node are communicatively connected via a communication bus;

[0051] The control terminal is used for:

[0052] Based on the vehicle state of the vehicle, controlling the message sending function of at least one of the nodes through routine control instructions;

[0053] The node is used to:

[0054] Based on the routine control instruction sent by the control terminal or the external device, the message sending function of the node is disabled or enabled.

[0055] Optionally, the control terminal is a control module in a domain controller, and the node includes at least one of an ultrasonic device, a radar device, and a transceiver module in the domain controller.

[0056] Optionally, the communication bus is an ADAS bus.

[0057] According to the four aspects of the present application, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and the computer-readable storage medium stores instructions, which, when executed by a computer, enable the computer to implement any one of the message sending methods provided in the embodiments of the present application.

[0058] According to the fifth aspect of the present application, an embodiment of the present application further provides a computer program product, which stores instructions, and when the instructions are executed by a computer, enables the computer to implement any one of the message sending methods provided in the embodiments of the present application.

[0059] According to a sixth aspect of the present application, an embodiment of the present application further provides an electronic device, including:

[0060] a memory having a computer program stored thereon;

[0061] A processor is used to execute the computer program in the memory to implement any one of the message sending methods provided in the embodiments of the present application.

[0062] According to the seventh aspect of the present application, an embodiment of the present application also provides a vehicle, comprising the electronic device described above.

[0063] Some embodiments of this specification include at least the following beneficial effects: by sending routine control instructions corresponding to the vehicle status to the node, the node can send part of the message under different vehicle states, which helps to reduce the load rate of the CAN bus.

[0064] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0066] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0067] Figure 1 is a structural diagram of a message sending system according to some embodiments of this specification;

[0068] Figure 2 is an exemplary flow chart of a message sending method according to some embodiments of this specification;

[0069] Figure 3 is an exemplary flow chart of a method for sending a message in a first driving state according to some embodiments of this specification;

[0070] Figure 4 is an exemplary flow chart of a method for sending a message in a second driving state according to some embodiments of this specification;

[0071] Figure 5 is an exemplary flow chart of a method for sending a message in a third driving state according to some embodiments of this specification;

[0072] Figure 6 is an exemplary flow chart of a message sending method in a first debugging state according to some embodiments of this specification;

[0073] Figure 7 is an exemplary flow chart of a message sending method in a second debugging state according to some embodiments of this specification;

[0074] Figure 8 This is a structural diagram of an electronic device according to some embodiments of this specification. DETAILED DESCRIPTION

[0075] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0076] In order to facilitate understanding of the implementation scheme provided in the embodiment of the present application, the relevant application background of the message sending system provided in the embodiment of the present application is first explained.

[0077] Currently, to expand the transmission capacity and load capacity of the CAN bus, the CAN network is often upgraded to a CAN FD (Controller Area Network with Flexible Data-rate) network, increasing the data rate from 500 Kbps to 2 Mbps and increasing the effective data capacity of each frame from 8 bytes to 64 bytes. This increases the transmission capacity and bandwidth of the CAN bus. However, this approach can easily increase system costs by increasing physical transmission capacity.

[0078] In addition, the CAN bus load rate can be reduced and the communication rate increased by increasing the message transmission cycle. For example, if a message collects 100k data per time and the transmission cycle is 100ms, the message's load on the CAN bus is 100k * (1s / 100ms) = 1000kbps. When the transmission cycle is increased to 1000ms, the message's load on the CAN bus is 100k * (1s / 1000ms) = 100kbps, reducing the CAN bus load rate. However, once the CAN bus communication rate reaches a specified value, increasing the transmission cycle cannot increase the CAN bus communication rate. Moreover, for time-sensitive signals (such as voltage signals and fault signals), increasing the acquisition cycle may result in the loss of important signals or delay diagnosis time, resulting in the inability to detect vehicle functional faults.

[0079] In view of this, some embodiments of this specification provide a message sending method, which sends corresponding routine control instructions to the nodes corresponding to the vehicle status, allowing the nodes to send partial messages under different working conditions, which helps to reduce the load rate of the CAN bus.

[0080] Figure 1 It is a structural diagram of a message sending system according to some embodiments of this specification.

[0081] The message sending system of this specification can be applied to vehicles or other industrial automation fields. For example, the message sending system of this specification can be applied to advanced driver assistance systems (ADAS) and autonomous driving systems of vehicles.

[0082] The vehicle may be powered by electricity, fuel, or a new energy hybrid vehicle. For example, when the vehicle is powered by electricity, it may be a new energy vehicle, such as a pure electric vehicle, an extended-range electric vehicle, a hybrid electric vehicle, or a fuel cell electric vehicle. When the vehicle is powered by fuel, it may be a car, an agricultural transport vehicle, a tractor, or a trailer. When the vehicle is an automobile, it may be a sedan, an SUV, a truck, a bus, or a van.

[0083] like Figure 1 As shown, the message sending system 100 may include: a node and a communication bus.

[0084] The node is used to send and receive message data on the communication bus. A node can be any device or combination of devices such as a controller, sensor, and actuator.

[0085] In some embodiments, as Figure 1As shown, the node may include multiple nodes. For example, the multiple nodes may include a first node 110, a second node 120, and a third node 130.

[0086] In some embodiments, the first node 110 may be a plurality of radar devices installed on a vehicle, configured to detect obstacles in adjacent lanes of the vehicle, obtain radar device message data, and transmit it to a communication bus. The radar device message data may include obstacle location information, sensor fault information, point cloud information, etc. In some embodiments, the radar device is an angular millimeter-wave radar sensor, etc.

[0087] In some embodiments, multiple radar devices may be installed on the front, rear, and sides of the vehicle to achieve all-round environmental awareness.

[0088] In some embodiments, the second node 120 may be an ultrasonic device installed on the vehicle. The ultrasonic device may include one or more ultrasonic sensors and a controller connected to the ultrasonic sensors. The ultrasonic device may be used to detect obstacles around the vehicle, obtain ultrasonic device message data, and transmit it to the communication bus. The ultrasonic device message data may include relative position information between the vehicle and the obstacle, sensor fault information, etc. In some embodiments, the ultrasonic device is an ultrasonic sensor. In some embodiments, the second node 120 may also be a PAS box (Parking Assistance System) connected to multiple ultrasonic sensors. The PAS box may be used to control the message transmission function of the ultrasonic sensors.

[0089] In some embodiments, the third node 130 can also be a transceiver module in the vehicle's domain controller. The vehicle's domain controller is used to integrate and plan the vehicle's perception information to obtain message data, such as application messages related to driving status, application messages related to parking status, sentinel mode application messages, long-endurance mode application messages, big data messages, diagnostic messages, debugging messages, etc., any one or combination.

[0090] In some embodiments, the domain controller is a smart driving domain controller.

[0091] In some embodiments, the domain controller may include a control module and a transceiver module, wherein the transceiver module is used to control the message sending function of the domain controller's application messages. The control module refers to a computing system with data processing and computing capabilities. For example, the control module may include any one of a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, and a microprocessor.

[0092] In some embodiments, the message sending system 100 may further include external devices.

[0093] The external device may be a user terminal, a diagnostic device, etc. The external device may be connected to the communication bus.

[0094] Vehicle diagnostic equipment refers to specialized tools and systems used to detect, diagnose, and repair vehicle faults. These devices connect to the vehicle's communication bus (such as the CAN bus and CAN FD bus), read data from various nodes on the vehicle, and send control commands (such as routine control commands) to other components.

[0095] A user terminal refers to one or more terminal devices or software used by a user. A user may refer to a driver, passenger, or administrator on a vehicle. In some embodiments, a user terminal may interact with other components (such as nodes, etc.) in a communication bus. For example, a user terminal may send control instructions (such as routine control instructions) to other components via the communication bus. The above examples are intended only to illustrate the breadth of the user terminal device range and are not intended to limit its scope.

[0096] In some embodiments, the user terminal may include a mobile device, a computer, a laptop, etc. or any combination thereof. In some embodiments, the user terminal may include a display component (e.g., a display screen, etc.), an interactive component (e.g., a mouse, a keyboard, a touch screen, etc.), etc.

[0097] An in-vehicle bus (IVB) is a communication network used to connect and communicate various electronic devices and control units within a vehicle. Examples of in-vehicle buses include the ADAS bus, CAN bus, CAN FD bus, and Ethernet. The ADAS bus is used in Advanced Driver Assistance Systems (ADAS).

[0098] In some embodiments, the control module of the domain controller of an external device or vehicle can interact with other components (such as nodes) in the communication bus to obtain data and / or information therefrom. The control module of the domain controller of the external device or vehicle can execute program instructions based on this data, information, and / or processing results to perform one or more functions described in the embodiments of this specification. For more details, please refer to the relevant description below.

[0099] For the purpose of ease of explanation, the following description will be given using the CAN bus as an example of a communication bus.

[0100] It is worth noting that the message sending system 100 is provided for illustrative purposes only and is not intended to limit the scope of this specification. Those skilled in the art can make various changes and modifications based on the description of this specification. For example, the message sending system 100 may also include a database, an information source, etc. For another example, the message sending system 100 may be implemented on other devices to achieve similar or different functions. However, such changes and modifications do not deviate from the scope of this specification.

[0101] Figure 2 This is an exemplary flow chart of a message sending method according to some embodiments of this specification. In some embodiments, process 200 can be executed by a control module in a domain controller of a vehicle or an external device based on a message sending system. Figure 2 As shown, the process 200 includes the following steps.

[0102] The vehicle state of the vehicle (not shown in the figure) is obtained.

[0103] The vehicle status refers to the state of the vehicle during driving or in different functional modes. For example, the vehicle status may include driving status, parking status, long-range status, first debugging status, second debugging status, startup status, fault status, etc.

[0104] Driving status refers to the status of a vehicle when it is driving on the road.

[0105] Parking status refers to the state of the vehicle when it is parked, in parking mode, or in sentry mode. Sentry mode refers to the monitoring mode of the vehicle when it is parked.

[0106] The long-range state refers to the state of the vehicle in the mode of maximizing the range.

[0107] The first debugging state refers to the state of the vehicle during the development and testing phase, which is used to diagnose and optimize vehicle performance.

[0108] The second debugging state refers to the normal operating mode of the vehicle. The second debugging state can be used for daily driving of the vehicle.

[0109] The starting state refers to the state during the vehicle starting process.

[0110] In some embodiments, the vehicle status can be obtained in a variety of ways. For example, signals from various sensors and controllers can be obtained via a communication bus to determine the vehicle status. These sensors and controllers include, but are not limited to, wheel speed sensors, steering angle sensors, brake pressure sensors, tire pressure sensors, ultrasonic sensors, cameras, and the like.

[0111] For example, the engine speed signal can be obtained based on the wheel speed sensor, the motor speed signal can be obtained based on the motor speed sensor, and if the engine speed signal and the motor speed signal are non-zero values, it is determined that the vehicle state is the driving state.

[0112] Step S210 , based on the vehicle state of the vehicle, controlling the message sending function of at least one node on the communication bus through routine control instructions.

[0113] The at least one node refers to a target node in the communication bus that needs to control the message sending function.

[0114] For more information about nodes, see Figure 1 Related description.

[0115] For example, the at least one node may be any one or a combination of a radar device, an ultrasonic device, a domain controller of a vehicle, and the like.

[0116] In some embodiments, the node further includes a vehicle body controller, and the method further includes: sending a corresponding routine control instruction to the vehicle body controller to control the vehicle body controller to enable a message sending function.

[0117] In some embodiments, the node also includes other devices or components other than the preset nodes on the vehicle. For example, a body controller is used to provide vehicle body information, such as a vehicle speed sensor, wheel speed sensor, steering angle sensor, brake pressure sensor, tire pressure sensor, etc. Body information is crucial for the real-time functions of the vehicle, such as gear information, door lock status, etc. Delays or loss of body information may cause serious safety problems. Therefore, it is necessary to ensure the real-time transmission of the full amount of body information, that is, the data collected by the body controller in all vehicle states needs to be transmitted to the communication bus.

[0118] In some embodiments, the target node can be determined in a variety of ways. For example, a comparison table of vehicle states and target nodes can be preset based on historical data, and the target node corresponding to the current vehicle state can be determined by looking up the table.

[0119] Routine control instructions are used to control the sending status of the message data corresponding to the target node under certain vehicle status. The sending status can include starting sending, continuing sending, stopping sending, etc.

[0120] Different target nodes and different vehicle states have different corresponding routine control instructions.

[0121] In some embodiments, the routine control instructions for the target node can be determined based on the vehicle state in a variety of ways. For example, a comparison table of vehicle states and routine control instructions for target nodes can be preset based on historical data, and the routine control instructions for the target node corresponding to the current vehicle state can be determined by looking up the table.

[0122] In some embodiments of this specification, by dynamically controlling the sending status of the node according to the vehicle status, reducing the data traffic on the bus can avoid data congestion, improve the response speed and stability of the system, and ensure the timely transmission of real-time data; the system can better centrally monitor key data and ensure the normal operation of the driving assistance system and other safety systems.

[0123] In some embodiments, the control terminal may be a control module in a domain controller.

[0124] In some embodiments, the control terminal may also be an external device.

[0125] In some embodiments, the control terminal refers to a system with computing capabilities, such as a computer, an industrial computer, a computing cloud platform, etc.

[0126] A node is a device that executes data acquisition or control instructions in a communication bus.

[0127] For more information about the first node, the second node, and the third node, please refer to the relevant description below.

[0128] In some embodiments, the control terminal can be connected to the node via a communication bus or the like to obtain data and / or information therefrom. The control terminal can execute program instructions based on this data, information, and / or processing results to perform one or more functions described in the embodiments of this specification. For example, the control terminal can determine corresponding application messages based on this data. Application messages refer to data related to message data sent by a node. For example, application messages may include message data sent by a node and / or control instructions, status information, navigation, and path planning data determined based on this data.

[0129] In some embodiments of this specification, controlling the message sending status of a node by a control terminal can improve the real-time performance of the control and reduce transmission delay.

[0130] In some embodiments, the control terminal controls the third node to disable the message sending function of the application message corresponding to the vehicle status in response to receiving the response message fed back by the first node and / or the second node.

[0131] Different vehicle states require different corresponding application messages that the third node needs to deactivate.

[0132] Exemplarily, the vehicle is in the first driving state, and the corresponding application message is an application message related to the parking state and an application message of the sentry mode.

[0133] Exemplarily, the vehicle is in the second driving state, and the corresponding application message is an application message related to the driving state.

[0134] Exemplarily, the vehicle is in the third driving state, and the corresponding application messages are application messages related to the driving state, application messages related to the parking state, application messages of the sentry mode, and the like.

[0135] Exemplarily, the vehicle is in a first debugging state, and the corresponding application message is big data message data.

[0136] Exemplarily, the vehicle is in the second debugging state, and the corresponding application message is debugging message data.

[0137] For more details about this embodiment, please refer to the relevant description below.

[0138] In some embodiments of this specification, under different vehicle states, the transmission of application messages corresponding to the vehicle state is turned off by the third node, which can reduce the delay of message control and improve the efficiency of message control.

[0139] Different vehicle states can receive routine control instructions from external devices to control the first node, the second node and the third node to disable or enable the message sending function.

[0140] In some embodiments, the control module of the domain controller may receive a routine control instruction sent by an external device, and control the third node to disable a message sending function of the application message corresponding to the vehicle status.

[0141] In some embodiments, the external device sends a corresponding routine control instruction to the control module of the domain controller, including: when the vehicle is in a first driving state, sending a first smart driving instruction to control the third node to disable the message sending function of parking message data; or, when the vehicle is in a second driving state, sending a second smart driving instruction to control the third node to disable the message sending function of driving message data; or, when the vehicle is in a third driving state, sending a third smart driving instruction to control the third node to disable the message sending function of parking message data and driving message data; or, when the vehicle is in a first debugging state, sending a first debugging instruction to control the third node to disable the message sending function of the first message; or, when the vehicle is in a second debugging state, sending a second debugging instruction to control the third node to disable the message sending function of the second message. For more information about this embodiment, please refer to the relevant description below.

[0142] In some embodiments of this specification, under different vehicle states, the sending of application messages in the domain controller corresponding to the vehicle state can be turned off by an external device, which can improve the reliability of message control, improve the personalized control of message data according to actual conditions, and help reduce the bus load.

[0143] In some embodiments, in response to the vehicle being in a test state, a routine control instruction is sent to a preset node based on an external instruction.

[0144] In some embodiments, in response to the vehicle state of the vehicle being a test state, a routine control instruction is sent to a node corresponding to the vehicle state through an external device.

[0145] In some embodiments, the external device may send a routine control instruction to the third node in response to receiving a response message fed back by the first node and / or the second node to stop the message sending function of the application message corresponding to the vehicle status.

[0146] In some embodiments of this specification, controlling the message sending status of a node through an external device can improve personalized control of message data according to actual conditions, help reduce bus load and save energy.

[0147] In some embodiments, when the vehicle state is a driving state, a routine control instruction is sent to the first node and / or the second node.

[0148] The driving state refers to the state related to the driving process of the vehicle.

[0149] Different driving states correspond to different one or more target nodes.

[0150] The driving state includes a first driving state, a second driving state, and a third driving state.

[0151] The first node and / or the second node refers to a target node that needs to control a message sending function of message data in a driving state.

[0152] In some embodiments, the first node may be a radar device and the second node may be an ultrasonic device.

[0153] In some embodiments of the present specification, under different driving conditions, by controlling the function of sending message data of the first node and the second node, the bandwidth occupancy of the communication bus can be significantly reduced; it helps to improve the transmission efficiency of the bus and ensure the timely transmission of key data (such as radar data or ultrasonic data or corresponding application messages).

[0154] Figure 3 This is an exemplary flow chart of a method for sending a message in a first driving state according to some embodiments of this specification. In some embodiments, process 300 can be executed by a control module in a domain controller of a vehicle or an external device based on a message sending system.

[0155] Step S310: Determine whether the vehicle state is the first driving state.

[0156] Step S320, when the vehicle state is the first driving state, sending a first control instruction to the first node to control the first node to enable the message sending function; and / or, sending a second control instruction to the second node to control the second node to disable the message sending function.

[0157] The first control instruction is used to instruct the first node to enable the message sending function. For example, the first control instruction includes an identifier instructing the first node to enable the message sending function and the identity of the first node. The identifier can be represented by 00 or 01. For example, 00 indicates that the target node executes the function of sending the corresponding message data to the communication bus; 01 indicates that the target node executes the function of stopping sending the corresponding message data to the communication bus. For example, the identifier in the first control instruction is 01.

[0158] The identity is used to uniquely identify each node. The identity can be an integer, string, or other unique identifier used to distinguish different nodes in network communication.

[0159] In some embodiments, the first node may enable a function of sending corresponding message data to the communication bus based on the first control instruction.

[0160] In some embodiments, the first node can receive a first control instruction from a third node or an external device, enable the function of sending corresponding message data to the communication bus, and feed back a response message to the third node or external device at the same time as enabling the function or at a specified interval.

[0161] The response message is used to indicate that the node has successfully executed the corresponding routine control instruction.

[0162] The second control instruction is used to instruct the second node to disable the message sending function. For example, the second control instruction includes an identifier instructing the second node to disable the message sending function and the identity of the second node. For example, the identifier in the second control instruction is 00.

[0163] In some embodiments, the second node may stop sending the corresponding message data to the communication bus based on the second control instruction.

[0164] In some embodiments, the second node can receive a second control instruction from a third node or an external device, disable the function of sending the corresponding message data to the communication bus, and at the same time as disabling the function or at a specified interval, feedback a response message to the third node or the external device.

[0165] In some embodiments, if the vehicle state is a first driving state (e.g., a driving state), the radar device is used as at least part of the first node, the identifier in the routine control instruction of the first node is set to 01, and the first control instruction of the radar device is determined; the ultrasonic device is used as at least part of the second node, the identifier in the routine control instruction of the second node is set to 00, and the second control instruction of the ultrasonic device is determined.

[0166] In some embodiments, the first node may enable a function of sending message data corresponding to the first node to the communication bus based on a first control instruction, and may feed back a response message simultaneously with the enabling of the function or at a specified interval. The second node may disable a function of sending message data corresponding to the second node to the communication bus based on a second control instruction, and may feed back a response message simultaneously with the disabling of the function or at a specified interval.

[0167] For illustrative purposes only and not limitation, the third node is a transceiver module in a domain controller of the vehicle, the first node is a radar device, and the second node is an ultrasonic device.

[0168] Exemplarily, if the vehicle state is a first driving state (e.g., a driving state), the control module in the domain controller may send a routine control instruction (e.g., Req: 31 01AA 01 00) to the ultrasonic device (e.g., a PAS box) to instruct the ultrasonic device to turn off the transmission of corresponding message data on the communication bus (e.g., a CAN bus). After the shutdown is completed, the ultrasonic device may feedback a response message (e.g., Ans: 71 01AA 01 00) to the control module in the vehicle's domain controller. The control module in the vehicle's domain controller may send a routine control instruction (e.g., Req: 31 01AA 02 01) to the radar device to instruct the ultrasonic device to turn on the transmission of corresponding message data on the communication bus (e.g., a CAN bus). After the radar device is turned on, it may feedback a response message (e.g., Ans: 71 01AA 0200) to the control module in the vehicle's domain controller.

[0169] In some embodiments of this specification, by determining the control instructions for the first driving state, the radar device's message data transmission function is enabled only when needed, and the ultrasonic device's message data transmission function is stopped. This can reduce data traffic on the bus and prevent unnecessary data transmission from occupying bandwidth. This helps optimize communication bus resources and improve network efficiency. In some embodiments, if the vehicle state is the first driving state (e.g., driving state), the configuration parameters of the third node can be set to the first configuration parameters.

[0170] The configuration parameters of the third node refer to parameters related to the transmission status of various message data of the vehicle's domain controller. For example, the configuration parameters of the third node include configuration parameters of the third node corresponding to different vehicle states. The transmission status can include enabled or disabled.

[0171] In some embodiments, the configuration parameter of the third node can be a binary sequence, and each bit parameter in the binary sequence can indicate whether a certain message data is allowed to be sent. For example, each bit parameter can be represented by two identifiers: 0 or 1. 1 indicates that the message data is allowed to be sent, and 0 indicates that the message data is not allowed to be sent. Exemplarily, the configuration parameter of the third node is represented as (0, 0, 1, 1, 0, 1, ...), where 1 indicates that the message data corresponding to the position is started to be sent, and 0 indicates that the message data corresponding to the position is stopped to be sent.

[0172] In some embodiments, the configuration parameters of the third node can be determined in a variety of ways. For example, a comparison table of vehicle states and configuration parameters of third nodes can be preset based on historical data, and the configuration parameters of the third node corresponding to the current vehicle state can be determined by looking up the table.

[0173] The first configuration parameter is used to indicate the sending status of one or more message data in the domain controller of the vehicle in the first driving state.

[0174] In some embodiments, in response to the vehicle state being in a first driving state (e.g., a driving state), a first configuration parameter for the driving state can be determined in a variety of ways. For example, when the vehicle state is in the driving state, the control module in the domain controller can determine an application message related to the parking state and an application message related to the sentry mode, search the configuration parameters for the location of the application message related to the parking state and the application message related to the sentry mode, and set the parameter at that location to a preset value (e.g., 0) to obtain the first configuration parameter for the driving state. The preset value is used to indicate that the corresponding message data should be stopped from being sent.

[0175] In some embodiments, a first intelligent driving instruction of the third node can be determined based on the first configuration parameter to control the third node to stop sending parking message data to the communication bus.

[0176] The first intelligent driving instruction is a control instruction used to control the sending status of one or more specified message data in the domain controller in the first driving state.

[0177] Parking message data is application messages related to the parking status and sentry mode application messages in the vehicle's domain controller. For example, parking message data includes parking space information, obstacle location information, etc.

[0178] In some embodiments, in response to receiving a response message fed back by the first node and / or the second node, the control module of the domain controller can generate a first intelligent driving instruction based on the first configuration parameter to control the third node to stop sending parking message data to the communication bus.

[0179] In some embodiments, in response to receiving a response message fed back by the first node and / or the second node, the external device can generate a first intelligent driving instruction based on the first configuration parameter and send it to the control module of the domain controller to control the third node to stop sending parking message data to the communication bus.

[0180] In some embodiments of this specification, by disabling the sending of parking message data while the vehicle is in motion, resource utilization can be significantly optimized, bus load can be reduced, and energy can be saved.

[0181] For more descriptions about the vehicle state, the first driving state, the first node, the domain controller of the vehicle, etc., please refer to Figure 1 、 Figure 2 Related description.

[0182] Figure 4This is an exemplary flow chart of a method for sending a message in a second driving state according to some embodiments of this specification. In some embodiments, process 400 can be executed based on a control module in a domain controller of a vehicle of a message sending system or an external device. Figure 4 As shown, process 400 includes step S410 and / or step S420.

[0183] Step S410: When the vehicle state is not the first driving state, determine whether the vehicle state is the second driving state.

[0184] Step S420, when the vehicle state is the second driving state, sending a third control instruction to the second node to control the second node to enable the message sending function; and / or, sending a fourth control instruction to the first node to control the first node to disable the message sending function.

[0185] In some embodiments, the first driving state is a driving state, and the second driving state is a parking state or a sentry mode.

[0186] The third control instruction is used to instruct the second node to enable the message sending function. For example, the third control instruction includes an identifier instructing the second node to enable the message sending function and the identity of the second node. For example, the identifier in the third control instruction is 01.

[0187] In some embodiments, the second node may disable the function of sending the corresponding message data to the communication bus based on the third control instruction.

[0188] In some embodiments, the second node can receive a third control instruction from the control terminal or external device, enable the function of sending the corresponding message data to the communication bus, and feedback a response message to the control terminal or external device at the same time as enabling the function or at a specified interval.

[0189] The fourth control instruction is used to instruct the first node to disable the message sending function. For example, the fourth control instruction includes an identifier instructing the first node to disable the message sending function and the identity of the first node. For example, the identifier in the fourth control instruction is 00.

[0190] In some embodiments, the first node may stop sending the corresponding message data to the communication bus based on the fourth control instruction.

[0191] In some embodiments, the first node can receive a fourth control instruction sent by the control terminal or external device, disable the function of sending the corresponding message data to the communication bus, and at the same time as disabling the function or at a specified interval, feedback a response message to the control terminal or external device.

[0192] In some embodiments, if the vehicle state is the second driving state (e.g., parking state), the ultrasonic device is used as at least part of the second node, the identifier in the routine control instruction of the second node is set to 01, and the third control instruction of the second node is determined; the radar device is used as at least part of the first node, the identifier in the routine control instruction of the first node is set to 00, and the fourth control instruction of the first node is determined.

[0193] In some embodiments, the second node may enable a function of sending message data corresponding to the second node to the communication bus based on a third control instruction, and may feed back a response message simultaneously with the enabling of the function or at a specified interval. The first node may disable a function of sending message data corresponding to the first node to the communication bus based on a fourth control instruction, and may feed back a response message simultaneously with the disabling of the function or at a specified interval.

[0194] For illustrative purposes only and not limitation, the third node is a transceiver module in a domain controller of the vehicle, the first node is a radar device, and the second node is an ultrasonic device.

[0195] For example, if the vehicle state is the second driving state (e.g., parking state), the control module in the domain controller may send a routine control instruction (e.g., Req: 31 01AA 01 01) to the ultrasonic device (e.g., PAS box) to instruct the ultrasonic device to start sending corresponding message data on the communication bus (e.g., CAN bus). After the ultrasonic device is turned on, it may feedback a response message (e.g., Ans: 71 01AA 01 00) to the control module in the domain controller. The control module in the domain controller may send a routine control instruction (e.g., Req: 31 01AA 02 00) to the radar device to instruct the ultrasonic device to stop sending corresponding message data on the communication bus (e.g., CAN bus). After the radar device is turned off, it may feedback a response message (e.g., Ans: 71 01AA 02 00) to the control module in the domain controller.

[0196] In some embodiments of this specification, by determining the control instructions for the second driving state, the ultrasonic device's message data transmission function is enabled only when needed, while the radar device's message data transmission function is disabled. This can reduce data traffic on the bus and prevent unnecessary data transmission from occupying bandwidth. This helps optimize communication bus resources and improve network efficiency. In some embodiments, if the vehicle state is the second driving state (e.g., parking state), the configuration parameters of the third node are set to the second configuration parameters.

[0197] The second configuration parameter is used to indicate the sending status of one or more message data in the domain controller of the vehicle in the second driving state.

[0198] In some embodiments, in response to the vehicle state being in the second driving state (e.g., parking state), second configuration parameters for the parking state can be determined in various ways. For example, when the vehicle state is parking state, the control module in the domain controller can determine an application message related to the driving state, search the configuration parameters for the location of the application message related to the driving state, and set the parameter at that location to a preset value (e.g., 0) to obtain the second configuration parameters for the parking state.

[0199] In some embodiments, a second intelligent driving instruction of the third node can be determined based on the second configuration parameter to control the third node to stop sending driving message data to the communication bus.

[0200] The second intelligent driving instruction is a control instruction used to control the sending status of one or more specified message data in the domain controller in the second driving state.

[0201] Driving message data refers to application messages related to driving status collected by the vehicle's domain controller. For example, driving message data can include driving lane information, target location information, etc.

[0202] In some embodiments, in response to receiving a response message fed back by the first node and / or the second node, the control module of the domain controller can generate a second intelligent driving instruction based on the second configuration parameter to control the third node to stop sending driving message data to the communication bus.

[0203] In some embodiments, in response to receiving a response message fed back by the first node and / or the second node, the external device can generate a second intelligent driving instruction based on the second configuration parameter and send it to the control module of the domain controller to control the third node to stop sending driving message data to the communication bus.

[0204] In some embodiments of this specification, in the parking state, by turning off the transmission of driving message data, resource utilization can be significantly optimized, bus load can be reduced, and energy can be saved.

[0205] For more information about the vehicle state, the second driving state, the second node, the vehicle's domain controller, etc., please refer to Figure 1 、 Figure 2 Related description.

[0206] Figure 5 This is an exemplary flow chart of a method for sending a message in the third driving state according to some embodiments of this specification. In some embodiments, process 500 can be executed by a control module in a domain controller of a vehicle or an external device based on a message sending system.

[0207] Step S510: When the vehicle state is not the second driving state, determine whether the vehicle state is the third driving state.

[0208] In some embodiments, the third driving state is a long endurance state.

[0209] Step S520: When the vehicle state is the third driving state, corresponding routine control instructions are sent to the first node and the second node to control the first node and the second node to disable the message sending function.

[0210] The corresponding routine control instruction is used to instruct the node corresponding to the third driving state to disable the message sending function. For example, the corresponding routine control instruction includes the fourth control instruction of the first node and the second control instruction of the second node.

[0211] In some embodiments, a fourth control instruction is sent to the first node to control the first node to disable a message sending function; and a second control instruction is sent to the second node to control the second node to disable the message sending function.

[0212] In some embodiments, the second node may disable the function of sending the corresponding message data to the communication bus based on the second control instruction; the first node may disable the function of sending the corresponding message data to the communication bus based on the fourth control instruction.

[0213] In some embodiments of this specification, in the long-endurance state, by disabling the message sending function of the radar device and the ultrasonic device, the bandwidth occupancy of the communication bus can be significantly reduced; this helps to improve the transmission efficiency of the bus and ensure that the power consumption of the entire system is reduced.

[0214] For the purpose of illustration only and not limitation, the third node is a transceiver module in the domain controller of the vehicle.

[0215] In some embodiments, if the vehicle state is a long-range state, the configuration parameter of the third node is set to a third configuration parameter.

[0216] The third configuration parameter is used to indicate the sending status of one or more message data in the domain controller of the vehicle in the long-range state.

[0217] In some embodiments, the control module in the domain controller can determine the third configuration parameter in a variety of ways in response to the vehicle state being in a long-range state. For example, when the vehicle state is in a long-range state, the control module in the domain controller can determine the message data related to driving, the application message related to the parking state, the application message of the sentinel mode, etc., and search the configuration parameters for the location of the application message related to the driving state, the application message related to the parking state, the application message of the sentinel mode, etc.; set the parameter of the location to a preset value (such as 0) to obtain the third configuration parameter corresponding to the long-range state. In some embodiments, based on the third configuration parameter, the third intelligent driving instruction of the third node is determined to control the third node to stop sending driving message data and parking message data to the communication bus.

[0218] The third intelligent driving instruction is a control instruction for controlling the transmission status of one or more message data in the domain controller during long-range driving. For example, the third intelligent driving instruction can control the third node to stop sending driving message data and parking message data to the communication bus.

[0219] In some embodiments, the control module of the domain controller generates a third intelligent driving instruction based on a third configuration parameter in response to receiving a response message fed back by the first node and / or the second node, and sends the corresponding third intelligent driving instruction to the third node to control the third node to stop sending driving message data and parking message data to the communication bus.

[0220] In some embodiments, in response to receiving a response message fed back by the first node and / or the second node, the external device can generate a third intelligent driving instruction based on a third configuration parameter and send it to the control module of the domain controller to control the third node to stop sending driving message data and parking message data to the communication bus.

[0221] For more information about the vehicle's domain controller, routine control instructions, long-range status, etc., please refer to Figure 1 、 Figure 2 Related description.

[0222] In some embodiments of this specification, in a long-range driving state, by shutting down the transmission of driving message data and parking message data in the vehicle's domain controller, resource utilization can be significantly optimized, bus load can be reduced, and energy can be saved.

[0223] In some embodiments, when the vehicle state is a debugging state, a routine control instruction is sent to the third node.

[0224] The debugging state refers to a state related to the debugging process of the vehicle. For example, the debugging state may include a first debugging state and a second debugging state.

[0225] The third node refers to a target node that needs to control the message sending function of the message data in the debugging state. For example, the third node can be a transceiver module in the domain controller of the vehicle.

[0226] Figure 6 6 is an exemplary flow chart of a method for sending a message in a first debugging state according to some embodiments of this specification. In some embodiments, process 600 may be executed by a control module in a domain controller of a vehicle or an external device based on a message sending system.

[0227] Step S610: Determine whether the vehicle state is a first debugging state.

[0228] In some embodiments, the first debugging state is a debugging mode, or the first debugging state is a vehicle state in a debugging mode.

[0229] Step S620: When the vehicle state is the first debugging state, determine a first debugging instruction of the third node to disable the message sending function of the first message of the third node.

[0230] The first message data refers to the message data that needs to be enabled or disabled in the third node in the first debugging state. For example, the first message is big data message data. Big data message data is used to collect and analyze large amounts of vehicle data. For example, big data message data may include, but is not limited to, user driving habits, usage frequency, road condition information, etc.

[0231] The first debugging instruction of the third node is used to instruct the third node to disable the message sending function of one or more specified message data in the first debugging state. For example, the first debugging instruction of the third node includes a first identifier and a second identifier. The first identifier is used to instruct the third node to enable or disable the message sending function of the specified message data. The second identifier indicates the type of the specified message data. For example, the first identifier in the first debugging instruction is 0, and the second identifier in the first debugging instruction is the identifier corresponding to the first message.

[0232] In some embodiments, the third node may disable the function of sending the first message to the communication bus based on the first debugging instruction of the third node.

[0233] In some embodiments, the third node can receive a first debugging instruction of the third node sent by an external device, and disable the function of sending the first message to the communication bus, and at the same time or at a specified interval, feedback a response message to the external device.

[0234] In some embodiments of the present specification, in the first debugging state, by disabling message data that is not related to the first debugging state, reducing data traffic on the bus can avoid data congestion, improve the response speed and stability of the system, and ensure the real-time and accuracy of data during the debugging process; enable the debugging tool to focus more on key data, reduce interference from irrelevant data, and improve debugging efficiency and accuracy.

[0235] For the purpose of illustration only and not limitation, the third node is a transceiver module in the domain controller of the vehicle.

[0236] In some embodiments, in response to the vehicle being in a first commissioning state (eg, commissioning mode), a fourth configuration parameter of the third node is determined.

[0237] The fourth configuration parameter is used to indicate the sending status of one or more message data in the domain controller in the first debugging state. For example, the fourth configuration parameter can instruct the domain controller of the vehicle to stop sending large data message data to the communication bus.

[0238] In some embodiments, the control module in the domain controller can search for the location of the big data message data in the configuration parameters in response to the vehicle status being the first debugging state; set the parameter at the location to a preset value (e.g., 0) to obtain the fourth configuration parameter of the first debugging state.

[0239] In some embodiments, a first debugging instruction of the third node may be determined based on a fourth configuration parameter of the third node; and based on the first debugging instruction, the third node may be controlled to stop sending large data message data to the communication bus.

[0240] The first debugging instruction can control the third node to stop sending message data unrelated to vehicle debugging to the communication bus. For example, the first debugging instruction can control the third node to stop sending large data message data to the communication bus in the first debugging state.

[0241] In some embodiments, in response to the vehicle being in a first debugging state (e.g., debugging mode), the control module of the domain controller may generate a first debugging instruction based on a fourth configuration parameter to control the third node to stop sending large data message data to the communication bus.

[0242] In some embodiments, in response to the vehicle being in a first debugging state (e.g., debugging mode), the external device can generate a first debugging instruction based on a fourth configuration parameter and send it to a control module of the domain controller to control the third node to stop sending large data message data to the communication bus.

[0243] Exemplarily, if the vehicle state is the first debugging state, the external device sends the first debugging instruction of the first debugging state (e.g., Req: 31 01AA 03 00) to the domain controller of the vehicle to control the third node to turn off the sending of large data message data on the communication bus (e.g., CAN bus). The third node can reply with a response message (e.g., Ans: 71 01AA 03 00) at the same time as turning off the sending of large data message data or at a specified interval.

[0244] In some embodiments of this specification, large data packets typically contain a large amount of information and occupy a high bandwidth. In the debugging state, by disabling the transmission of large data packets, the bandwidth usage of the communication bus can be significantly reduced, allowing the debugging tool to obtain and analyze key data more quickly.

[0245] Figure 7 7 is an exemplary flow chart of a method for sending a message in a second debugging state according to some embodiments of this specification. In some embodiments, process 700 may be executed by a control module in a domain controller of a vehicle or an external device based on a message sending system.

[0246] Step S710: When the vehicle state is not the first debugging state, determine whether the vehicle state is the second debugging state.

[0247] In some embodiments, the second debugging state is a non-debugging mode, or the second debugging state is a vehicle state in a non-debugging mode.

[0248] Step S720: When the vehicle state is the second debugging state, determine the second debugging instruction of the third node to disable the message sending function of the second message of the third node.

[0249] Second message data refers to message data that needs to be enabled or disabled in the third node in the second debugging state. For example, the second message is debug message data. Debug message data is data that helps debug and optimize the system during the development and testing phases. For example, big data message data may include, but is not limited to, system configuration parameters, system operation logs, CPU (Central Processing Unit) usage, memory usage, etc.

[0250] The second debug instruction of the third node is a routine control instruction for instructing the third node to disable or enable one or more message sending functions for the specified message data in the second debug state. For example, the second debug instruction of the third node includes a first identifier and a second identifier. For example, the first identifier in the second debug instruction is 0, and the second identifier in the second debug instruction is an identifier corresponding to the second message.

[0251] In some embodiments, the third node may disable the function of sending the second message to the communication bus based on the second debugging instruction of the third node.

[0252] In some embodiments, the third node can receive a second debugging instruction of the third node sent by a message sending function of one or more specified message data of an external device, and stop the function of sending the second message to the communication bus, and at the same time as deactivating the function or at a specified interval, feedback a response message to the external device.

[0253] In some embodiments of this specification, in the second debugging state, by disabling message data irrelevant to the second debugging state, the bandwidth occupancy of the communication bus can be significantly reduced; this helps to improve the transmission efficiency of the bus and ensures reduced power consumption of the entire system.

[0254] For the purpose of illustration only and not limitation, the third node is a transceiver module in the domain controller of the vehicle.

[0255] In some embodiments, in response to the vehicle being in a second commissioning state (eg, non-commissioning mode), a fifth configuration parameter of the third node is determined.

[0256] The fifth configuration parameter is used to indicate the sending status of one or more message data in the domain controller of the vehicle in the second debugging state. The fifth configuration parameter can instruct the third node to stop sending debugging message data to the communication bus.

[0257] In some embodiments, the control module in the domain controller can search for the location of the debug message data in the configuration parameters in response to the vehicle status being the second debug state; set the parameter at the location to a preset value (e.g., 0) to obtain the fifth configuration parameter of the second debug state.

[0258] In some embodiments, a second debugging instruction of the domain controller of the vehicle can be determined based on a fifth configuration parameter of the domain controller of the vehicle; and based on the second debugging instruction, the third node is controlled to stop sending debugging message data to the communication bus.

[0259] The second debugging instruction can control the third node to stop sending message data related to the vehicle debugging process to the communication bus. For example, the second debugging instruction can control the third node to stop sending debugging message data to the communication bus in the second debugging state.

[0260] In some embodiments, in response to the vehicle being in a second debugging state (eg, non-debugging mode), the control module of the domain controller may generate a second debugging instruction based on a fifth configuration parameter to control the third node to stop sending debugging message data to the communication bus.

[0261] In some embodiments, in response to the vehicle being in a second debugging state (e.g., non-debugging mode), the external device can generate a second debugging instruction based on a fifth configuration parameter and send it to the control module of the domain controller to control the third node to stop sending debugging message data to the communication bus.

[0262] Exemplarily, if the vehicle state is the second debugging state, the external device sends a second debugging instruction (e.g., Req: 31 01AA 04 00) for the second debugging state to the control module in the domain controller to control the third node to turn off the sending of debugging message data on the communication bus (e.g., CAN bus). The third node can reply with a response message (e.g., Ans: 71 01AA 04 00) at the same time as turning off the sending of debugging message data or at a specified interval.

[0263] In some embodiments of this specification, debug message data usually contains a large amount of diagnostic information and log data, which occupies a relatively high bandwidth. In the second debugging state, by turning off the sending of debug message data, resource utilization can be significantly optimized, bus load can be reduced, and energy can be saved.

[0264] For more information about the vehicle's domain controller, routine control instructions, first debugging state, second debugging state, etc., please refer to Figure 1 、 Figure 2 Related description.

[0265] It should be noted that the above description of the relevant processes is for illustration and purpose only and does not limit the scope of application of this specification. For those skilled in the art, various modifications and changes can be made to the processes under the guidance of this specification. However, such modifications and changes are still within the scope of this specification.

[0266] One or more embodiments of the present specification also provide a message sending method, which is applied to a node on a communication bus, and includes: disabling or enabling the message sending function of the node based on a routine control instruction sent by a control terminal or an external device.

[0267] In some embodiments, the node is one of an ultrasonic device, a radar device, and a transceiver module in a domain controller of a vehicle.

[0268] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0269] Figure 8 This is a schematic diagram of the structure of an electronic device according to some embodiments of this specification. Figure 8As shown, the electronic device 800 may include: a processor 801, a memory 802. The electronic device 800 may also include one or more of a multimedia component 803, an input / output (I / O) component 804, and a communication component 805. In this embodiment, the electronic device 800 may be a device integrated into a vehicle to interact with the aforementioned message sending system to implement the message sending method provided in this embodiment. It should be understood that the electronic device 800 may also include some components of the aforementioned message sending system.

[0270] The processor 801 is used to control the overall functions of the electronic device 800 to complete all or part of the steps in the above-mentioned message sending method. The memory 802 is used to store various types of data to support the functions of the auxiliary electronic device 800. Such data may include, for example, instructions for any application or method used to function on the auxiliary electronic device 800, as well as application-related data, such as contact information, sent and received messages, pictures, audio, video, etc. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 802 or transmitted via the communication component 805. The audio component also includes at least one speaker for outputting audio signals. The I / O component 804 provides an interface between the processor 801 and other interface modules, which may include a keyboard, a mouse, buttons, etc. These buttons may be virtual or physical buttons. The communication component 805 is used for wired or wireless communication between the electronic device 800 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, Narrow Band Internet of Things (NB-IOT), Enhanced Machine-Type Communication (eMTC), or other 5G technologies, or a combination thereof, is not limited here. Therefore, the corresponding communication component 805 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0271] In an exemplary embodiment, the electronic device 800 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the above-mentioned message sending method.

[0272] In another exemplary embodiment, a computer-readable storage medium including program instructions is further provided. When the program instructions are executed by a processor, the steps of the above-mentioned message sending method are implemented. For example, the computer-readable storage medium may be the memory 802 including the program instructions. The program instructions may be executed by the processor 801 of the electronic device 800 to implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application.

[0273] Alternatively, when the instructions are executed by a computer, they implement or execute the methods, steps, and logic diagrams disclosed in the embodiments of the present application.

[0274] The present application also provides a vehicle, on which is provided the message sending system provided by any of the above embodiments or the electronic device provided by any of the above embodiments, and the message sending system or electronic device is used to execute the message sending method provided by any of the above embodiments.

[0275] In one embodiment, a vehicle can be configured for a fully or partially autonomous driving mode. For example, the vehicle can control itself while in autonomous driving mode and, through human interaction, determine the current state of the vehicle and its surroundings, determine the possible behavior of at least one other vehicle in the surroundings, and determine a confidence level corresponding to the likelihood that the other vehicle will perform the possible behavior, and control the vehicle based on this information. While in autonomous driving mode, the vehicle can be configured to function without human interaction.

[0276] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0277] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0278] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of each embodiment in the embodiments of the present application have different focuses, for parts that are not described in detail in a certain embodiment, please refer to the relevant embodiments of other embodiments. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A message sending method, characterized in that: The method is applied to a control terminal, and the method includes: Based on the vehicle state of the vehicle, a message sending function of at least one node on the communication bus is controlled through routine control instructions.

2. The method according to claim 1, characterized in that The controlling of the message sending function of at least one node on the communication bus by routine control instructions based on the vehicle state includes: When the vehicle state is a driving state, the routine control instruction is sent to the first node and / or the second node.

3. The method according to claim 2, characterized in that When the vehicle state is the driving state, sending the routine control instruction to the first node and / or the second node includes: determining whether the vehicle state is a first driving state; When the vehicle state is the first driving state, sending a first control instruction to the first node to control the first node to enable the message sending function; and / or A second control instruction is sent to the second node to control the second node to disable the message sending function.

4. The method according to claim 3, characterized in that When the vehicle state is the driving state, sending the routine control instruction to the first node and / or the second node includes: If the vehicle state is not the first driving state, determining whether the vehicle state is a second driving state; When the vehicle state is the second driving state, sending a third control instruction to the second node to control the second node to enable the message sending function; and / or A fourth control instruction is sent to the first node to control the first node to disable the message sending function.

5. The method according to claim 4, characterized in that The first driving state is a driving state, and the second driving state is a parking state or a sentry mode.

6. The method according to claim 4, characterized in that When the vehicle state is the driving state, sending the routine control instruction to the first node and / or the second node includes: If the vehicle state is not the second driving state, determining whether the vehicle state is a third driving state; When the vehicle state is the third driving state, corresponding routine control instructions are sent to the first node and the second node to control the first node and the second node to deactivate the message sending function.

7. The method according to claim 6, characterized in that The sending corresponding routine control instructions to the first node and the second node to control the first node and the second node to disable the message sending function includes: Sending the fourth control instruction to the first node to control the first node to deactivate the message sending function; The second control instruction is sent to the second node to control the second node to disable the message sending function.

8. The method according to claim 6, characterized in that The third driving state is a long cruising state.

9. The method according to claim 2, characterized in that The first node is a radar device, and the second node is an ultrasonic device.

10. The method according to claim 9, characterized in that The radar device is an angular millimeter wave radar sensor, and the ultrasonic device is an ultrasonic sensor.

11. The method according to claim 2, characterized in that The method of controlling the message sending function of at least one node on the communication bus through routine control instructions based on the vehicle state of the vehicle further includes: When the vehicle state is a debugging state, the routine control instruction is sent to a third node.

12. The method according to claim 11, characterized in that When the vehicle state is a debugging state, sending the routine control instruction to the third node includes: determining whether the vehicle state is a first debugging state; When the vehicle state is the first debugging state, a first debugging instruction of the third node is determined to disable the message sending function of the first message of the third node.

13. The method according to claim 12, characterized in that When the vehicle state is a debugging state, sending the routine control instruction to the third node includes: In a case where the vehicle state is not the first debugging state, determining whether the vehicle state is a second debugging state; When the vehicle state is the second debugging state, a second debugging instruction of the third node is determined to disable the message sending function of the second message of the third node.

14. The method according to claim 13, characterized in that The first debugging state is a debugging mode, and the second debugging state is a non-debugging mode.

15. The method according to claim 13, characterized in that The first message is a large data message, and the second message is a debugging message.

16. The method according to claim 11, characterized in that The third node includes a transceiver module in the domain controller of the vehicle, and the transceiver module is used to control the message sending function of the application message of the domain controller.

17. The method according to claim 11, characterized in that When the vehicle is in a driving state, after sending the routine control instruction to the first node and / or the second node, the method further includes: Based on the response message fed back by the first node and / or the second node, the third node is controlled to disable the message sending function of the application message corresponding to the vehicle status.

18. The method according to claim 1, wherein The method further comprises: Based on a routine control instruction sent by an external device, the third node is controlled to disable the message sending function of the application message corresponding to the vehicle state.

19. The method according to claim 1, wherein The vehicle state includes a test state, The controlling of the message sending function of at least one node on the communication bus by routine control instructions based on the vehicle state includes: When the vehicle is in the test state, the routine control instruction is sent to a preset node based on an external instruction.

20. The method according to any one of claims 1 to 19, characterized in that The control terminal is a control module in the domain controller of the vehicle.

21. The method according to claim 20, characterized in that The domain controller is a smart driving domain controller.

22. A message sending method, characterized in that: The method is applied to a node on a communication bus, and the method comprises: Based on a routine control instruction sent by a control terminal or an external device, the message sending function of the node is disabled or enabled.

23. The method according to claim 22, characterized in that The node is one of an ultrasonic device, a radar device, and a transceiver module in a domain controller of a vehicle.

24. A message sending system, characterized in that: The system includes a control terminal and at least one node for sending message data, wherein: The control terminal and the at least one node are communicatively connected via a communication bus; The control terminal is used for: Based on the vehicle state of the vehicle, controlling the message sending function of at least one of the nodes through routine control instructions; The node is used to: Based on the routine control instruction sent by the control terminal or the external device, the message sending function of the node is disabled or enabled.

25. The system according to claim 24, wherein: The control terminal is a control module in the domain controller, and the node includes at least one of an ultrasonic device, a radar device, and a transceiver module in the domain controller.

26. The system according to claim 24, wherein: The communication bus is an ADAS bus.

27. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer-readable storage medium stores instructions, which, when executed by a computer, enable the computer to implement the message sending method according to any one of claims 1 to 23.

28. A computer program product, characterized in that The computer program product stores instructions, which, when executed by a computer, enable the computer to implement the message sending method according to any one of claims 1 to 23.

29. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the message sending method according to any one of claims 1 to 23.

30. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 29.

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