Vehicle message transmission method and device

Abstract

The invention relates to a vehicle message transmission method and device. The method comprises the following steps: a message sending end obtains a first vehicle message to be sent to a message receiving end; the first vehicle message is transmitted through the first transmission service; under the condition that the first vehicle message meets a preset condition, mapping the first vehicle message into an inner-layer label of a second vehicle message to obtain the second vehicle message carrying the first vehicle message; the second vehicle message is transmitted through a second transmission service, and the transmission priority of the second transmission service is higher than that of the first transmission service; sending a second vehicle message carrying the first vehicle message to a message receiving end through a second transmission service; and the message receiving end is used for extracting the first vehicle message from the second vehicle message carrying the first vehicle message. By adopting the method, the transmission efficiency of the low-priority message is improved.

Description

Technical Field

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

[0002] With the development of vehicle control technology, a technology has emerged that uses vehicle messages to transmit vehicle signals. However, the transmission of vehicle messages will have a transmission delay, and a large transmission delay may cause errors in vehicle decision-making and planning, thereby causing dangerous driving.

[0003] In traditional technology, in order to reduce the transmission delay of some important vehicle messages, vehicle messages are usually divided into transmission priorities. Relatively important vehicle messages are classified as high-priority messages, which can be transmitted through high-priority transmission services to ensure the immediate transmission of high-priority messages.

[0004] However, in some cases, some low-priority vehicle messages also require real-time transmission. For example, after taking your hands off the steering wheel, to ensure driving safety, you need to synchronize the hands-off detection signal message to the electronic parking brake unit to reduce speed or stop the vehicle. However, this signal message is usually transmitted via a low-priority transmission service. If there are multiple higher-priority messages to be processed, this low-priority signal message may experience a significant transmission delay. Therefore, existing vehicle message transmission methods have low transmission efficiency for low-priority messages. Summary of the Invention

[0005] Based on this, it is necessary to provide a vehicle message transmission method, device, computer-readable storage medium and computer program product that can improve the transmission efficiency of low-priority messages in order to address the above technical problems.

[0006] In a first aspect, the present application provides a vehicle message transmission method, which is applied to a message sending end, comprising:

[0007] Acquire a first vehicle message to be sent to a message receiving end; transmit the first vehicle message through a first transmission service;

[0008] If the first vehicle message meets a preset condition, mapping the first vehicle message to an inner label of a second vehicle message to obtain a second vehicle message carrying the first vehicle message; transmitting the second vehicle message via a second transmission service, wherein the second transmission service has a higher transmission priority than the first transmission service;

[0009] The second vehicle message carrying the first vehicle message is sent to the message receiving end through the second transmission service; the message receiving end is used to extract the first vehicle message from the second vehicle message carrying the first vehicle message.

[0010] In one embodiment, the first vehicle message includes a first type of message that needs to be transmitted through the Ethernet, and the Ethernet includes a first transmission time slot, and the first transmission time slot is used to provide a second transmission service; the second vehicle message carrying the first vehicle message is sent to the message receiving end through the second transmission service, including: when the first vehicle message is the first type of message, the second vehicle message carrying the first vehicle message is encapsulated to obtain an Ethernet message to be transmitted; the Ethernet message to be transmitted is sent to the message receiving end through the first transmission time slot included in the Ethernet; the message receiving end is used to parse the Ethernet message to be transmitted to obtain the second vehicle message carrying the first vehicle message.

[0011] In one embodiment, the sending of the Ethernet message to be transmitted to the message receiving end through the first transmission time slot contained in the Ethernet includes: copying the Ethernet message to be transmitted to obtain multiple Ethernet messages to be transmitted; sending each of the Ethernet messages to be transmitted to the message receiving end through the first transmission time slot contained in different communication channels in the Ethernet; the message receiving end is used to parse the Ethernet message to be transmitted when receiving any of the Ethernet messages to be transmitted, and discard other Ethernet messages to be transmitted except the Ethernet message to be transmitted.

[0012] In one embodiment, the first vehicle message includes a second type of message that is transmitted only in a controller local area network, and the controller local area network includes a second transmission time slot, and the second transmission time slot is used to provide a second transmission service; the second vehicle message carrying the first vehicle message is sent to the message receiving end through the second transmission time slot included in the controller local area network, including: when the first vehicle message is the second type of message, the second vehicle message carrying the first vehicle message is sent to the message receiving end through the second transmission time slot included in the controller local area network.

[0013] In one embodiment, the first vehicle message is pre-set with a sending delay threshold; when the first vehicle message meets the preset conditions, the first vehicle message is mapped to the inner label of the second vehicle message to obtain a second vehicle message carrying the first vehicle message, including: when the sending delay of the first vehicle message reaches the sending delay threshold, the first vehicle message is mapped to the inner label of the second vehicle message to obtain a second vehicle message carrying the first vehicle message.

[0014] In a second aspect, the present application further provides a vehicle message transmission method, which is applied to a message receiving end, comprising:

[0015] Acquire a second vehicle message transmitted by the message sender through the second transmission service;

[0016] When the second vehicle message carries the first vehicle message to be sent to the message receiving end, the first vehicle message is obtained from the second vehicle message; the first vehicle message is a vehicle message transmitted through the first transmission service, and the transmission priority of the second transmission service is higher than that of the first transmission service.

[0017] In one embodiment, when the second vehicle message carries the first vehicle message to be sent to the message receiving end, obtaining the first vehicle message from the second vehicle message includes: when the second vehicle message carries an inner message mark, obtaining the vehicle message identifier stored in the inner label of the second vehicle message; the inner message mark is used to represent that the inner label of the second vehicle message carries an inner vehicle message; the vehicle message identifier is used to store the receiving end address corresponding to each inner vehicle message carried in the inner label of the second vehicle message; when the address of the message receiving end is stored in the vehicle message identifier, obtaining the inner vehicle message corresponding to the vehicle message identifier carried in the inner label of the second vehicle message as the first vehicle message.

[0018] In one embodiment, the method of obtaining the second vehicle message transmitted by the message sender through the second transmission service includes: receiving the Ethernet message to be transmitted by the message sender through the first transmission time slot included in the Ethernet; the first transmission time slot is used to provide the second transmission service, and the Ethernet message to be transmitted is obtained by the message sender encapsulating the second vehicle message; parsing the Ethernet message to be transmitted to obtain the second vehicle message.

[0019] In one embodiment, the message sending end sends a plurality of Ethernet messages to be transmitted, and each of the Ethernet messages to be transmitted is sent to the message receiving end through the first transmission time slot contained in different communication channels in the Ethernet; obtaining the Ethernet message to be transmitted sent by the message sending end through the first transmission time slot contained in the Ethernet includes: when any one of the plurality of Ethernet messages to be transmitted is received, obtaining the Ethernet message to be transmitted, and discarding other Ethernet messages to be transmitted except the Ethernet message to be transmitted.

[0020] In a third aspect, the present application further provides a vehicle message transmission device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described in any embodiment of the first aspect when executing the computer program.

[0021] In a fourth aspect, the present application further provides a method comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method described in any embodiment of the second aspect are implemented.

[0022] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of the embodiments of the first aspect or the second aspect.

[0023] In a sixth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method described in any embodiment of the first aspect or the second aspect.

[0024] The above-mentioned vehicle message transmission method, device, computer equipment, storage medium and computer program product obtain a first vehicle message to be sent to a message receiving end through a message sending end; the first vehicle message is transmitted through a first transmission service; when the first vehicle message meets a preset condition, the first vehicle message is mapped to the inner label of the second vehicle message to obtain a second vehicle message carrying the first vehicle message; the second vehicle message is transmitted through a second transmission service, and the transmission priority of the second transmission service is higher than that of the first transmission service; the second vehicle message carrying the first vehicle message is sent to the message receiving end through the second transmission service; the message receiving end is used to extract the first vehicle message from the second vehicle message carrying the first vehicle message. The present application can, when a message sending end sends a first vehicle message transmitted through a first transmission service, map the first vehicle message to an inner label of a second vehicle message if the first vehicle message meets a preset condition, thereby carrying the above-mentioned first vehicle message in the second vehicle message, and send the second vehicle message carrying the first vehicle message to the message receiving end through the second transmission service. Moreover, since the transmission priority of the second transmission service is higher than that of the first transmission service, the low-priority first vehicle message can be transmitted through a high-priority transmission service in this way, thereby reducing the transmission delay and improving the transmission efficiency of the low-priority message. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A diagram showing an application environment of a vehicle message transmission method in one embodiment;

[0027] Figure 2 1 is a flow chart of a vehicle message transmission method according to an embodiment;

[0028] Figure 3 1 is a flow chart of sending a second vehicle message to a message receiving end in one embodiment;

[0029] Figure 4 A schematic flow chart of a vehicle message transmission method according to another embodiment;

[0030] Figure 5 1 is a flow chart of obtaining a first vehicle message from a second vehicle message in one embodiment;

[0031] Figure 6A schematic diagram of the electronic and electrical architecture of a vehicle in one embodiment;

[0032] Figure 7 Schematic diagram of the data structure of a CAN FD bus standard frame in one embodiment;

[0033] Figure 8 A diagram showing the internal and external module definitions of a transmitting end and a receiving end in one embodiment;

[0034] Figure 9 A schematic diagram of a hands-off steering wheel monitoring signal reaching an electronic parking brake unit in one embodiment;

[0035] Figure 10 is a schematic diagram of a data frame reaching a receiving end through multiple channels in one embodiment;

[0036] Figure 11 A schematic diagram of Ethernet transmission service division in one embodiment;

[0037] Figure 12 A schematic diagram of CAN network transmission service division in one embodiment;

[0038] Figure 13 This is a diagram showing the internal structure of a vehicle message transmission device in one embodiment;

[0039] Figure 14 This is a diagram of the internal structure of a vehicle message transmission device in another embodiment. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0041] The vehicle message transmission method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. Among them, the message sending end 101 communicates with the message receiving end 102 through a network, such as Ethernet or a controller local area network. Specifically, after obtaining the first vehicle message that needs to be transmitted to the message receiving end 102 through the first transmission service, the message sending end 101 can first determine whether the first vehicle message meets a certain preset condition. If it does, the first vehicle message can be mapped to the inner label of the second vehicle message that can be transmitted through the second transmission service, so that the second vehicle message can carry the first vehicle message, and then the second vehicle message carrying the first vehicle message can be sent to the message receiving end 102 through the second transmission service, thereby realizing the transmission of low-priority vehicle messages using a high-priority transmission service. Among them, the message sending end 101 and the message receiving end 102 can be various vehicle-mounted devices, such as a vehicle-mounted controller.

[0042] In one embodiment, Figure 2 As shown, a vehicle message transmission method is provided, which is applied to Figure 1 Taking the message sending end 101 in the example as an example, the following steps are included:

[0043] Step S201 , obtaining a first vehicle message to be sent to the message receiving terminal 102 ; the first vehicle message is transmitted via a first transmission service.

[0044] The first vehicle message refers to a vehicle message that needs to be sent to the message receiving end 102 and transmitted via the first transmission service. The vehicle message can be the actual data transmitted in the data field of a data frame, which can include a data frame of a CAN network or an Ethernet data frame. The first transmission service can be a low-priority transmission service, that is, the first vehicle message can be a low-priority message. Specifically, if the message sending end 101 needs to send a low-priority first vehicle message, it can first obtain the first vehicle message.

[0045] In step S202, when the first vehicle message meets the preset conditions, the first vehicle message is mapped to the inner label of the second vehicle message to obtain a second vehicle message carrying the first vehicle message; the second vehicle message is transmitted through the second transmission service, and the transmission priority of the second transmission service is higher than that of the first transmission service.

[0046] The second vehicle message is a vehicle message that can be transmitted via the second transmission service. This vehicle message can also refer to a data frame, and this data frame can also include a CAN network data frame or an Ethernet data frame. The transmission priority of the second transmission service is higher than that of the first transmission service. That is, the second transmission service can be a high-priority transmission service. In this case, the second vehicle message can be a high-priority message. This transmission priority can refer to a transmission time priority. Therefore, compared to the first vehicle message, the second vehicle message will arrive at the message receiving end 102 earlier. In this embodiment, the second vehicle message can carry an inner label. The inner label can be understood as consisting of a portion of the data field in the data frame. The position and length of the inner label in the data field can be fixed or adaptively adjusted. This inner label can be used to store the message information of the first vehicle message. Mapping can be understood as the process of writing the message ID, signal length, and message data of the first vehicle message into the data field of the second vehicle message where the inner label is located. Therefore, after mapping, the second vehicle message can store the message ID, signal length, and message data of the first vehicle message. The preset condition is a pre-set condition for giving priority to transmitting the first vehicle message.

[0047] Specifically, if the first vehicle message to be sent meets preset conditions, the message sender can also map the first vehicle message to the inner label of the second vehicle message, so that the first vehicle message can be stored in the inner label of the second vehicle message, thereby obtaining a second vehicle message carrying the first vehicle message. Because the second vehicle message can be transmitted using the second transmission service with a higher transmission priority, the transmission efficiency of vehicle messages can be improved.

[0048] Step S203 : sending the second vehicle message carrying the first vehicle message to the message receiving end 102 via the second transmission service; the message receiving end 102 is configured to extract the first vehicle message from the second vehicle message carrying the first vehicle message.

[0049] After obtaining the second vehicle message carrying the first vehicle message, the message sending end 101 can also send the second vehicle message to the message receiving end 102. After receiving the above-mentioned second vehicle message, the message receiving end 102 can extract the first vehicle message carried by it from the second vehicle message. For example, it can obtain the message ID, signal length and message data of the first vehicle message in the data field where the inner label of the second vehicle message is located, thereby realizing the extraction of the first vehicle message.

[0050] In the above-mentioned vehicle message transmission method, a first vehicle message to be sent to a message receiving end 102 is obtained through the message sending end 101; the first vehicle message is transmitted through a first transmission service; when the first vehicle message meets a preset condition, the first vehicle message is mapped to an inner label of a second vehicle message to obtain a second vehicle message carrying the first vehicle message; the second vehicle message is transmitted through a second transmission service, and the transmission priority of the second transmission service is higher than that of the first transmission service; the second vehicle message carrying the first vehicle message is sent to the message receiving end 102 through the second transmission service; the message receiving end 102 is used to extract the first vehicle message from the second vehicle message carrying the first vehicle message. The present application can map the first vehicle message to the inner label of the second vehicle message when the message sending end 101 sends the first vehicle message to be transmitted through the first transmission service, if the first vehicle message meets the preset conditions, so that the above-mentioned first vehicle message is carried in the second vehicle message, and the second vehicle message carrying the first vehicle message is sent to the message receiving end 102 through the second transmission service. Since the transmission priority of the second transmission service is higher than that of the first transmission service, the low-priority first vehicle message can be transmitted through the high-priority transmission service in this way, thereby reducing the transmission delay and improving the transmission efficiency of the low-priority message.

[0051] In one embodiment, the first vehicle message includes a first type of message that needs to be transmitted via Ethernet, and the Ethernet includes a first transmission time slot, and the first transmission time slot is used to provide a second transmission service; Figure 3 As shown, step S203 may further include:

[0052] Step S301 : When the first vehicle message is a first type message, encapsulate the second vehicle message carrying the first vehicle message to obtain an Ethernet message to be transmitted.

[0053] Among them, the first type of message refers to the message that needs to be transmitted through the Ethernet. The Ethernet can provide transmission services of different priorities in the same time slot. For example, the Ethernet can include time slot 1 and time slot 2, where time slot 1 can be used to provide a transmission service for time-sensitive stream data, which has the highest transmission priority. Time slot 2 can include a stream reservation transmission service and a best-effort transmission service, where the transmission priority of the stream reservation transmission service is higher than the best-effort transmission service. In this embodiment, the first transmission time slot can refer to time slot 1 in the Ethernet, which can be used to provide the second transmission service to transmit high-priority vehicle message data, while time slot 2 in the Ethernet can be used to provide the first transmission service for transmitting low-priority vehicle message data.

[0054] The Ethernet message to be transmitted refers to the encapsulated second vehicle message. In this embodiment, when the second vehicle message is transmitted in the Ethernet, the second vehicle message needs to be encapsulated first. Therefore, if the first vehicle message is a first type of message that needs to be transmitted in the Ethernet, the message sending end 101 stores the first vehicle message in the inner label of the second vehicle message, and can also encapsulate the second vehicle message to obtain the Ethernet message to be transmitted that can be transmitted in the Ethernet.

[0055] Step S302 : sending the Ethernet message to be transmitted to the message receiving end 102 via the first transmission time slot included in the Ethernet; the message receiving end 102 is used to parse the Ethernet message to be transmitted to obtain a second vehicle message carrying the first vehicle message.

[0056] After obtaining the Ethernet message to be transmitted, the Ethernet message to be transmitted can be sent to the message receiving end 102 through the first transmission time slot included in the Ethernet, for example, through the time slot 1 included in the Ethernet for providing the second transmission service. After receiving the Ethernet message to be transmitted, the message receiving end 102 can also parse the Ethernet message to be transmitted to obtain the second vehicle message carrying the first vehicle message.

[0057] In this embodiment, when the first vehicle message is a first type of message that needs to be transmitted via Ethernet, the second vehicle message carrying the first vehicle message can be encapsulated to obtain an Ethernet message to be transmitted, thereby realizing the sending of the Ethernet message to be transmitted through the first transmission time slot for providing the second transmission service contained in the Ethernet. In this way, priority transmission of the first vehicle message that needs to be transmitted via Ethernet is achieved.

[0058] Furthermore, step S302 may further include: copying the Ethernet message to be transmitted to obtain multiple Ethernet messages to be transmitted; sending each Ethernet message to be transmitted to the message receiving end 102 through the first transmission time slot contained in different communication channels in the Ethernet; the message receiving end 102 is used to parse the Ethernet message to be transmitted when receiving any Ethernet message to be transmitted, and discard other Ethernet messages to be transmitted except the Ethernet message to be transmitted.

[0059] In this embodiment, the Ethernet message to be transmitted can be transmitted to the message receiving end 102 via multiple communication channels, and each communication channel can carry a first transmission time slot. For example, the Ethernet message to be transmitted can be sent to the message receiving end 102 via communication channel 1, which can be sent to the message receiving end 102 via the transmission channel of the message sending end 101-node 1-node 2-message receiving end 102, or can be sent to the message receiving end 102 via communication channel 2, which can be sent to the message receiving end 102 via the transmission channel of the message sending end 101-node 3-message receiving end 102. Therefore, in order to further improve the efficiency and stability of Ethernet message transmission, this embodiment can copy the Ethernet message to be transmitted multiple times, so that they are sent to the message receiving end 102 via the first transmission time slots of different communication channels. In other words, the Ethernet message to be transmitted can be copied to obtain Ethernet message to be transmitted 1 and Ethernet message to be transmitted 2, wherein Ethernet message to be transmitted 1 is sent to the message receiving end 102 via communication channel 1, and Ethernet message to be transmitted 2 is sent to the message receiving end 102 via communication channel 2.

[0060] Afterwards, upon receiving any one of the Ethernet messages to be transmitted, for example, either Ethernet message 1 or Ethernet message 2, the message receiving end may parse the Ethernet message to be transmitted and discard the remaining Ethernet messages to be transmitted. For example, if Ethernet message 1 arrives at message receiving end 102 before Ethernet message 2, message receiving end 102 may parse Ethernet message 1 and then, upon arrival of Ethernet message 2, discard Ethernet message 2.

[0061] In this embodiment, when the Ethernet message to be transmitted is transmitted through the first transmission time slot of the Ethernet, it is also possible to copy the Ethernet message to be transmitted multiple times, thereby utilizing the first transmission time slots contained in different communication channels in the Ethernet to send each Ethernet message to be transmitted to the message receiving end 102. The message receiving end 102 can discard the remaining Ethernet messages to be transmitted after receiving any Ethernet message to be transmitted. In this way, the efficiency and stability of the transmission of the Ethernet messages to be transmitted can be further improved.

[0062] In one embodiment, the first vehicle message includes a second type of message that is transmitted only in the controller local area network, and the controller local area network includes a second transmission time slot, which is used to provide a second transmission service; step S203 may further include: when the first vehicle message is a second type of message, the second vehicle message carrying the first vehicle message is sent to the message receiving end through the second transmission time slot included in the controller local area network.

[0063] The second type of message refers to a message that does not need to be transmitted via Ethernet, but only needs to be transmitted through the controller area network (CAN) network. The controller area network may also include multiple time slots, which can be used to provide transmission services of different priorities. For example, the controller area network may include time slot 1 and time slot 2, where time slot 1 can be used as a high-priority transmission service, while time slot 2 can be used as a low-priority transmission service. In this embodiment, the second transmission time slot may refer to time slot 1 in the controller area network, which can be used to provide the second transmission service for transmitting high-priority vehicle message data, while time slot 2 in the controller area network can be used to provide the first transmission service for transmitting low-priority vehicle message data.

[0064] Specifically, if the first vehicle message is a second type of message that only needs to be transmitted through the controller local area network, the message sending end 101 can also transmit the second vehicle message carrying the first vehicle message to the message receiving end 102 through the second transmission time slot contained in the controller local area network. Since the second transmission time slot can be used to provide high-priority transmission services, this method can achieve priority transmission of the first vehicle message that is only transmitted in the controller local area network.

[0065] In this embodiment, the second vehicle message carrying the first vehicle message can also be transmitted to the message receiving end 102 through the second transmission time slot included in the controller local area network. In this way, priority transmission of the first vehicle message that is only transmitted in the controller local area network can be achieved.

[0066] In one embodiment, the first vehicle message is pre-set with a sending delay threshold; step S201 may further include: when the sending delay of the first vehicle message reaches the sending delay threshold, mapping the first vehicle message to the inner label of the second vehicle message to obtain the second vehicle message carrying the first vehicle message.

[0067] The sending delay threshold refers to the pre-set maximum threshold for the sending delay of vehicle messages. If the sending time delay of the first vehicle message exceeds this threshold, it may be affected by the message delay. Therefore, in this case, the first vehicle message needs to be transmitted first to avoid the impact caused by the message sending delay.

[0068] Specifically, after obtaining the first vehicle message that needs to be sent to the message receiving end 102, the message sending end 101 can also monitor whether the first vehicle message has been sent. If the first vehicle message has not been sent when the sending delay threshold is reached, that is, the sending delay of the first vehicle message has reached the sending delay threshold, it indicates that the first vehicle message meets the preset conditions at this time and needs to be sent first, thereby executing the step of mapping the first vehicle message into the inner label of the second vehicle message to obtain the second vehicle message carrying the first vehicle message.

[0069] In this embodiment, it is also possible to collect the sending delay of the first vehicle message and determine whether the sending delay reaches the preset sending delay threshold of the first vehicle message, thereby determining whether the first vehicle message meets the preset conditions. In this way, the timeliness of the sending of the first vehicle message can be ensured.

[0070] In addition, step S201 may further include: when the bandwidth utilization of the first transmission service exceeds a preset bandwidth utilization threshold, mapping the first vehicle message into the inner label of the second vehicle message to obtain the second vehicle message carrying the first vehicle message.

[0071] The bandwidth utilization threshold can be a pre-set bandwidth utilization used to determine whether the first transmission service is in a busy state. If the bandwidth utilization of the first transmission service exceeds the above-mentioned bandwidth utilization threshold, it indicates that the first transmission service is in a busy state. At this time, the immediate transmission of the first vehicle message cannot be guaranteed. Therefore, in this case, the first vehicle message also needs to be transmitted first to avoid the impact caused by message sending delay.

[0072] Specifically, after obtaining the first vehicle message that needs to be sent to the message receiving end 102, the message sending end 101 can also obtain the bandwidth utilization of the first transmission service. If the bandwidth utilization has exceeded the preset bandwidth utilization threshold at this time, it indicates that the first vehicle message meets the preset conditions for priority transmission and needs to be sent first, thereby executing the step of mapping the first vehicle message into the inner label of the second vehicle message to obtain the second vehicle message carrying the first vehicle message.

[0073] In this embodiment, it is also possible to collect the bandwidth utilization of the first transmission service and determine whether the bandwidth utilization reaches the bandwidth utilization threshold preset by the first transmission service, thereby determining whether the first vehicle message meets the preset conditions. In this way, the timeliness of sending the first vehicle message can also be ensured.

[0074] In one embodiment, Figure 4 As shown, a vehicle message transmission method is also provided, which is applied to Figure 1Taking the message receiving end 102 in FIG. 1 as an example, the method includes the following steps:

[0075] Step S401, obtaining a second vehicle message transmitted by the message sending end 101 through a second transmission service;

[0076] In step S402, when the second vehicle message carries the first vehicle message to be sent to the message receiving end 102, the first vehicle message is obtained from the second vehicle message; the first vehicle message is a vehicle message transmitted through the first transmission service, and the transmission priority of the second transmission service is higher than that of the first transmission service.

[0077] In this embodiment, the second vehicle message transmitted via the high-priority transmission service, i.e., the second transmission service, may include two types: a second vehicle message that does not carry the first vehicle message in its inner layer, and a second vehicle message that carries the first vehicle message that needs to be sent to the message receiving end 102 in priority in its inner layer. Specifically, after the message sending end 101 sends the second vehicle message to the message receiving end 102 via the second transmission service, the message receiving end 102 can determine whether the received second vehicle message carries the first vehicle message that needs to be received by the message receiving end 102. If the second vehicle message carries the first vehicle message that needs to be received by the message receiving end 102, the message receiving end 102 can extract the first vehicle message from the second vehicle message, thereby completing the priority transmission of the first vehicle message.

[0078] In the above-mentioned message transmission method, the second vehicle message transmitted by the message sending end 101 through the second transmission service is obtained through the message receiving end 102; when the second vehicle message carries the first vehicle message to be sent to the message receiving end, the first vehicle message is obtained from the second vehicle message; the first vehicle message is a vehicle message transmitted through the first transmission service, and the transmission priority of the second transmission service is higher than that of the first transmission service. In the present application, when the message sending end 101 sends a first vehicle message transmitted through the first transmission service, if the first vehicle message meets the preset conditions, the first vehicle message can be mapped to the inner label of the second vehicle message, so that the above-mentioned first vehicle message is carried in the second vehicle message, and the second vehicle message carrying the first vehicle message is sent to the message receiving end 102 through the second transmission service. After receiving the second vehicle message, the message receiving end 102 can extract the first vehicle message from it if the second vehicle message carries the first vehicle message sent to the message receiving end 102. Since the transmission priority of the second transmission service is higher than that of the first transmission service, the low-priority first vehicle message can be transmitted through the high-priority transmission service in this way, thereby reducing the transmission delay and improving the transmission efficiency of the low-priority message.

[0079] In one embodiment, Figure 5 As shown, step S402 may further include:

[0080] Step S501, when the second vehicle message carries an inner message tag, obtain the vehicle message identifier stored in the inner label of the second vehicle message; the inner message tag is used to represent that the inner label of the second vehicle message carries an inner vehicle message; the vehicle message identifier is used to store the receiving end address corresponding to each inner vehicle message carried in the inner label of the second vehicle message.

[0081] The inner message tag can be set in the data field of the second vehicle message. This inner message tag is used to identify whether the inner tag of the second vehicle message carries an inner vehicle message. This inner vehicle message can be a low-priority message that requires a higher transmission priority. In addition, the inner tag of a second vehicle message can store multiple low-priority inner vehicle messages. The vehicle message identifier is used to identify each inner vehicle message stored in the inner tag of the second vehicle message. For example, it can be the CANID information corresponding to the inner vehicle message, which can be the address of the message receiving end corresponding to the inner vehicle message.

[0082] For example, the inner label of a second vehicle message may store multiple lower-priority inner vehicle messages, namely, message 1, message 2, and message 3. In this case, the second vehicle message may carry an inner message tag to indicate that the inner label of the second vehicle message carries an inner vehicle message. Furthermore, each inner vehicle message has a corresponding vehicle message identifier, namely, identifier 1, identifier 2, and identifier 3. Identifier 1 is used to store the message receiving end address of message 1, identifier 2 is used to store the message receiving end address of message 2, and identifier 3 is used to store the message receiving end address of message 3.

[0083] Therefore, after receiving the second vehicle message, the message receiving end 102 needs to first determine whether the received second vehicle message carries an inner message tag. If so, it can be clearly seen that the inner label of the second vehicle message stores an inner vehicle message, and further obtain the vehicle message identifiers of each inner vehicle message stored in the inner label of the second vehicle message.

[0084] Step S502 : When the vehicle message identifier stores the address of the message receiving end 102 , the inner vehicle message corresponding to the vehicle message identifier carried in the inner label of the second vehicle message is obtained as the first vehicle message.

[0085] Afterwards, the message receiving end 102 can determine whether the receiving end address corresponding to each inner-layer vehicle message stored in each vehicle message identifier matches the address of the message receiving end 102. If so, it means that the inner-layer vehicle message is a vehicle message sent to the message receiving end 102. Therefore, the message receiving end 102 can extract the inner-layer vehicle message as the first vehicle message from the received second vehicle message.

[0086] In this embodiment, if the second vehicle message carries an inner vehicle message, an inner message tag can be added to the second vehicle message, so that after receiving the second vehicle message, the message receiving end 102 can first determine whether it carries an inner message tag. If so, the stored vehicle message identifier can be further obtained from the inner label of the second vehicle message, so as to determine whether the inner label of the second vehicle message carries the first vehicle message to be sent to the message receiving end 102. In this way, the efficiency of extracting the first vehicle message can be improved.

[0087] In one embodiment, step S401 may further include: receiving the Ethernet message to be transmitted by the message sending end 101 through the first transmission time slot contained in the Ethernet; the first transmission time slot is used to provide a second transmission service, and the Ethernet message to be transmitted is obtained by the message sending end encapsulating the second vehicle message; parsing the Ethernet message to be transmitted to obtain the second vehicle message.

[0088] In this embodiment, the second vehicle message can be transmitted to the message receiving end 102 via Ethernet. When transmitting via Ethernet, the message transmitting end 101 first needs to encapsulate the second vehicle message to obtain an Ethernet message to be transmitted, and then transmit the Ethernet message to the message receiving end 102 via a first transmission time slot included in the Ethernet for providing a second transmission service. After receiving the Ethernet message to be transmitted, the message receiving end 102 can parse it to restore the second vehicle message.

[0089] In this embodiment, the second vehicle message can also be obtained by receiving the Ethernet message to be transmitted by the message sending end 101 through the first transmission time slot in the Ethernet and parsing the Ethernet message to be transmitted. Since the second vehicle message can carry the first vehicle message with low priority transmission, this method can achieve priority transmission of the first vehicle message that needs to be transmitted through the Ethernet.

[0090] Furthermore, the message sending end 101 sends a plurality of Ethernet messages to be transmitted, and each Ethernet message to be transmitted is sent to the message receiving end 102 respectively through the first transmission time slot included in different communication channels in the Ethernet; obtaining the Ethernet message to be transmitted sent by the message sending end through the first transmission time slot included in the Ethernet may further include: when any one of the plurality of Ethernet messages to be transmitted is received, obtaining the Ethernet message to be transmitted, and discarding other Ethernet messages to be transmitted except the Ethernet message to be transmitted.

[0091] In this embodiment, to improve the efficiency and stability of Ethernet message transmission, message transmitter 101 can also duplicate the Ethernet message to be transmitted when transmitting it to message receiver 102, thereby obtaining multiple Ethernet messages to be transmitted. Each Ethernet message to be transmitted is then sent to message receiver 102 via the first transmission time slot of a different communication channel in the Ethernet network. Upon receiving any one of the multiple Ethernet messages to be transmitted, namely, the earliest Ethernet message to be transmitted, message receiver 102 can parse it to obtain the second vehicle message. Message receiver 102 can discard any other Ethernet messages to be transmitted, thereby avoiding the receipt of duplicate messages.

[0092] In this embodiment, when the Ethernet message to be transmitted is transmitted through the first transmission time slot of the Ethernet, it is also possible to copy the Ethernet message to be transmitted multiple times, thereby utilizing the first transmission time slots contained in different communication channels in the Ethernet to send each Ethernet message to be transmitted to the message receiving end 102. The message receiving end 102 can discard the remaining Ethernet messages to be transmitted after receiving any Ethernet message to be transmitted. In this way, the efficiency and stability of the transmission of the Ethernet messages to be transmitted can be further improved.

[0093] In one embodiment, a method based on time-sensitive transmission of the CAN network bus is also provided, which can ensure the accurate synchronous transmission of lower priority CAN bus messages. The method uses internal and external tags to map lower priority messages to higher priority CAN network messages for transmission, and determines non-blocking time slot mapping of the CAN network in the Ethernet network channel to ensure accurate real-time synchronous transmission of message data. In addition, the channel path is designed to be redundant, and the copied messages are transmitted on multiple channels to ensure the reliable transmission of data messages.

[0094] Specifically, this method can be applied to Figure 6In the vehicle electrical and electronic architecture shown in the figure, the ECUs (Electric Control Units) in each domain of the vehicle system architecture are connected via the CAN bus or Ethernet bus for communication message transmission and signal interaction. The vehicle system interacts with the outside world through the intelligent cockpit CDC (Cockpit Domain Controller). In addition, the data message structure used for transmission can be as follows: Figure 7 As shown, Figure 7 The data structure shown is the data structure of the CANFD bus standard frame. CANID represents the request identifier or response identifier of each ECU (it can also be understood as the address of each ECU). The total message length (DLC) is fixed at 64 bytes, the frame type is fixed to the data frame type, and the outer message length is the data message length of the outer CANID. If the inner message mark is not set, the data length of the CANID message data field can be up to 64 bytes. If the inner message mark is set, the data field can carry up to 1 outer CAN network + 6 standard CAN network data (each standard CAN message occupies 8 bytes). In this way, high-priority CANFD bus message mapping (carrying) one or more low-priority CAN bus messages can be achieved to transmit high-priority messages of low-priority messages. For details of the remaining fields, see Figure 7 shown. Figure 8 It shows the internal and external module definitions of the sending and receiving ends. Figure 8 The CAN network module is divided into two types: connected via CAN bus and connected via Ethernet channel. For detailed definition, see Figure 8 shown.

[0095] Figure 9 What is shown is the hands-off monitoring signal for the steering wheel, that is, the HOD signal can reach the electronic parking brake unit EPB through multiple channels to control the vehicle speed or stop. When driving a vehicle, your hands may be off the steering wheel due to fatigue driving, which may cause the vehicle to be in a dangerous situation. At this time, the signal must be synchronized to the EPB in time to slow down or stop the vehicle to ensure the safety of the vehicle. In order to ensure that the HOD signal reaches the EPB in real time and reliably, the HOD signal can be copied to reach the EPB through multiple communication channels. If the HOD signal with the same timestamp from multiple channels reaches VIU1, the HOD information will be eliminated in VIU1, that is, the earliest arriving HOD signal will be received, and the remaining messages will be discarded and forwarded to EPB for processing. Other signal processing is similar to this, which can be seen as follows: Figure 10 shown.

[0096] Figure 11This demonstration demonstrates the process of dividing data packets into several VLAN IDs and arranging them for end-to-end transmission within a fixed, recurring cycle, based on the Ethernet IEEE 802.1Q protocol. These packets can be defined according to different time slots: time-sensitive flows, best-effort flows, and reserved flows. Time-sensitive flows are suitable for critical messages with strict real-time requirements, while other less time-sensitive messages use best-effort flows and reserved flows. Ethernet communications are divided into fixed-length, continuously repeating cycles. These cycles are divided into time slots, and within each time slot, data is assigned different priorities to ensure transmission within a designated time slot. This allows time-sensitive flows to have dedicated time slots, ensuring deterministic transmission of this traffic on traditional Ethernet networks. Meanwhile, best-effort flows and reserved flows are accommodated in the remaining time slots of each cycle. Reserved flows are guaranteed dedicated bandwidth, while best-effort flows can use the remaining bandwidth. If a transmission is highly sensitive to synchronization time, but the channel in time slot 1 is also busy, a dedicated channel reserved for the flow in time slot 2 can be used for signal transmission, thus ensuring reliable Ethernet data transmission and meeting time-sensitive requirements.

[0097] Figure 12 The demonstration shows the process of dividing data packets into several CANID transmissions and arranging them for end-to-end transmission in a fixed repetitive cycle based on CAN bus transmission. Figure 11 Similarly, time slot channels are defined as high-priority time slots with time sensitivity and low-priority time slots to meet the real-time sensitivity requirements of critical signals. Low-priority signals are also allocated time slot 2, ensuring real-time transmission. However, when low-priority signals require prompt, real-time processing, they are placed in high-priority time slot 1 for transmission to ensure time sensitivity.

[0098] Taking HOD signal and EPB execution as an example, the specific execution process is as follows:

[0099] 1. Define HOD signal CANID=0x501, such as Figure 12 As shown, the signal is in the lower priority time slot 2. If there are no or only a few signals with higher priority than it transmitted in time slot 2, the HOD signal can also obtain transmission permission in time. However, if there are a large number of higher priority signals that need to be processed in time slot 2, the lower priority HOD signal will not be processed for a long time, which may cause a vehicle accident.

[0100] 2. Map the signal message to the inner label of the message with CANID=0x100 in time slot 1. The message format is shown in Figure 7 As shown, the signal message is transmitted together with the message of CANID=0x100.

[0101] (1) If the signal message is only transmitted in the CAN network, since the CAN network is based on broadcast transmission, all ECUs on the CAN bus can receive the message. If the address of an ECU is equal to the outer CANID, the ECU can obtain the data of the outer CANID. If the ECU determines that it is not equal to the outer CANID, it determines whether the message has an inner message mark. If not, it discards the message. If so, it compares the inner CANID to see if it is equal to the ECU address. If not, it discards the message. If equal, it receives and processes the message. In this way, the time sensitivity requirements of the signal message can be guaranteed.

[0102] (2) If the CAN network signal message needs to be transmitted via the Ethernet network, in order to ensure the real-time requirements of the signal, the CAN message is carried in Ethernet time slot 1, such as Figure 11 The message is then encapsulated and replicated through multiple channels, as shown in Figure 10 The transmission method shown above ensures the reliability and real-time performance of data transmission.

[0103] (3) After the receiving end receives the data, if it is processed by the Ethernet node, the target node will parse and process the message.

[0104] In this embodiment, in order to ensure the accurate synchronous transmission of lower priority CAN bus messages in the CAN network, internal and external tags can be used to map lower priority messages to higher priority CAN network messages for transmission, and the CAN network can be mapped to a non-blocking time slot in the Ethernet network channel to ensure the accurate real-time synchronous transmission of message data. In addition, the channel path is designed to be redundant, and the copied messages are transmitted on multiple channels to ensure the reliable transmission of data messages.

[0105] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0106] Based on the same inventive concept, embodiments of the present application also provide a vehicle message transmission device for implementing the aforementioned vehicle message transmission method. The implementation solution provided by this device is similar to the implementation solution described in the aforementioned method. Therefore, the specific limitations of one or more vehicle message transmission device embodiments provided below can be found in the above-mentioned limitations of the vehicle message transmission method and will not be repeated here.

[0107] In one embodiment, a vehicle message transmission device is provided. The vehicle message transmission device can be a message sending end, and its internal structure diagram can be as follows: Figure 13 As shown. The computer device includes a processor, a memory, an input / output interface and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a vehicle message transmission method is implemented.

[0108] In one embodiment, a vehicle message transmission device is also provided. The vehicle message transmission device can be a message receiving end, and its internal structure diagram can be as shown below: Figure 14 As shown. The computer device includes a processor, a memory, an input / output interface and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a vehicle message transmission method is implemented.

[0109] Those skilled in the art will understand that Figure 13The structure shown in or 14 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0110] In one embodiment, a vehicle message transmission device is further provided, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0111] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0112] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0113] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0114] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0115] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A vehicle message transmission method, characterized in that: Applied to a message sending end, the method includes: Acquire a first vehicle message to be sent to a message receiving end; transmit the first vehicle message through a first transmission service; If the first vehicle message meets a preset condition, mapping the first vehicle message to an inner label of a second vehicle message to obtain a second vehicle message carrying the first vehicle message; transmitting the second vehicle message via a second transmission service, wherein the second transmission service has a higher transmission priority than the first transmission service; The second vehicle message carrying the first vehicle message is sent to the message receiving end through the second transmission service; the message receiving end is used to extract the first vehicle message from the second vehicle message carrying the first vehicle message.

2. The method according to claim 1, characterized in that The first vehicle message includes a first type of message that needs to be transmitted via an Ethernet, the Ethernet includes a first transmission time slot, and the first transmission time slot is used to provide a second transmission service; and sending the second vehicle message carrying the first vehicle message to the message receiving end via the second transmission service includes: In a case where the first vehicle message is a message of the first type, encapsulating a second vehicle message carrying the first vehicle message to obtain an Ethernet message to be transmitted; The Ethernet message to be transmitted is sent to the message receiving end through the first transmission time slot included in the Ethernet; the message receiving end is used to parse the Ethernet message to be transmitted to obtain the second vehicle message carrying the first vehicle message.

3. The method according to claim 2, characterized in that The sending the Ethernet message to be transmitted to the message receiving end through the first transmission time slot included in the Ethernet includes: duplicating the Ethernet message to be transmitted to obtain a plurality of Ethernet messages to be transmitted; Each of the Ethernet messages to be transmitted is sent to the message receiving end through the first transmission time slot contained in different communication channels in the Ethernet; the message receiving end is used to parse the Ethernet message to be transmitted when receiving any of the Ethernet messages to be transmitted, and discard other Ethernet messages to be transmitted except the Ethernet message to be transmitted.

4. The method according to claim 1, wherein The first vehicle message includes a second type message that is transmitted only in a controller area network, the controller area network includes a second transmission time slot, and the second transmission time slot is used to provide a second transmission service; The sending, by using the second transmission service, the second vehicle message carrying the first vehicle message to the message receiving end includes: In the case that the first vehicle message is the second type message, the second vehicle message carrying the first vehicle message is sent to the message receiving end through the second transmission time slot included in the controller area network.

5. A vehicle message transmission method, characterized in that: Applied to a message receiving end, the method includes: Acquire a second vehicle message transmitted by the message sender through the second transmission service; When the second vehicle message carries the first vehicle message to be sent to the message receiving end, the first vehicle message is obtained from the second vehicle message; the first vehicle message is a vehicle message transmitted through the first transmission service, and the transmission priority of the second transmission service is higher than that of the first transmission service.

6. The method according to claim 5, characterized in that When the second vehicle message carries the first vehicle message to be sent to the message receiving end, obtaining the first vehicle message from the second vehicle message includes: In a case where the second vehicle message carries an inner message tag, obtaining a vehicle message identifier stored in the inner tag of the second vehicle message; the inner message tag is used to indicate that the inner tag of the second vehicle message carries an inner vehicle message; the vehicle message identifier is used to store a receiving end address corresponding to each inner vehicle message carried in the inner tag of the second vehicle message; In a case where the address of the message receiving end is stored in the vehicle message identifier, an inner vehicle message corresponding to the vehicle message identifier carried in the inner label of the second vehicle message is obtained as the first vehicle message.

7. The method according to claim 5, characterized in that The acquiring of the second vehicle message transmitted by the message sending end through the second transmission service includes: receiving an Ethernet message to be transmitted transmitted by the message sending end through a first transmission time slot included in the Ethernet; the first transmission time slot is used to provide a second transmission service, and the Ethernet message to be transmitted is obtained by encapsulating the second vehicle message by the message sending end; Parse the Ethernet message to be transmitted to obtain the second vehicle message.

8. The method according to claim 7, characterized in that The message sending end sends a plurality of Ethernet messages to be transmitted, and each of the Ethernet messages to be transmitted is sent to the message receiving end through the first transmission time slot included in a different communication channel in the Ethernet; and obtaining the Ethernet message to be transmitted sent by the message sending end through the first transmission time slot included in the Ethernet includes: When any one of the plurality of Ethernet packets to be transmitted is received, the Ethernet packet to be transmitted is acquired, and other Ethernet packets to be transmitted except the Ethernet packet to be transmitted are discarded.

9. A vehicle message transmission device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

10. A vehicle message transmission device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the method according to any one of claims 5 to 8 are implemented.

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