Vehicle message transmission method and device, vehicle, storage medium and program product

Abstract

The present application relates to the technical field of information transmission, and discloses a vehicle message transmission method and device, a vehicle, a storage medium and a program product. No matter in which mode the first controller works, as long as the functional modules participating in signal parameter acquisition are the same, the first controller and the second controller both encapsulate messages based on a pre-stored general configuration file. The first functional message of the first controller is completely consistent with the sender associated with the second functional message sent by the second controller. The target node does not need to perceive whether the data comes from the first controller or the second controller through two different configuration files, avoids data analysis errors caused by sender conflicts, realizes that a set of general configuration files are shared in the two working modes of the first controller, eliminates configuration file version redundancy. And through the same set of hardware and software control logic, the switching of the two working modes of the first controller can be realized without redeveloping logic code, thereby improving production efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of information transmission, and in particular to a vehicle message transmission method and device, a vehicle, a storage medium and a program product. BACKGROUND

[0002] In the development of automotive platforms, different configurations of vehicle models have generally adopted a unified hardware specification of a vehicle information unit (VIU) controller to reduce hardware costs and supply chain complexity, but the functional deployment of the VIU needs to support two modes: one is an integrated mode in which the core functions of other subsystems or controllers of the vehicle are integrated in the VIU, and the VIU serves as the only sender to output functional messages indicating the status of each subsystem or controller; the other is a hanging mode in which each subsystem or controller independently sends functional messages, and the VIU only forwards the functional messages.

[0003] Currently, when switching the working mode of the VIU, different software versions need to be recompiled and written, which is very inefficient. Moreover, because the sender of the functional message is inconsistent in different working modes, independent DBC files need to be maintained for the two working modes. However, in the case of unified hardware, the misloading of incompatible DBC files leads to conflicts in which the same message is sent by multiple nodes on the bus, causing communication errors. SUMMARY

[0004] The present application provides a vehicle message transmission method, device, vehicle, storage medium and program product to solve the compatibility risk problem of the configuration files of the VIU integrated mode and the hanging mode in the prior art.

[0005] In a first aspect, the present application provides a vehicle message transmission method, a vehicle comprising a first controller and a second controller, the second controller comprising a plurality of functional modules, and the first controller integrating at least one functional module of the second controller; the method is applied to the first controller, and the method comprises:

[0006] If it is detected that the working mode is the integrated mode, a first signal parameter of a target functional module of the self is acquired, the first signal parameter is encapsulated into a first functional message based on a pre-stored universal configuration file, and the first functional message is sent to a target node;

[0007] If it is detected that the working mode is the hanging mode, a second functional message sent by the second controller is received and stored, and the second functional message is forwarded to the target node; wherein the second functional message is obtained by the second controller based on a second signal parameter of a target functional module of the self according to the universal configuration file, and the sender associated with the first functional message and the second functional message is the target functional module.

[0008] The first controller and the second controller are based on the same pre-stored general configuration file to encapsulate the message, as long as the functional modules participating in the signal parameter collection are the same, no matter which mode the first controller works in. The first functional message of the first controller and the second functional message sent by the second controller are completely consistent in terms of the sender and the signal parameter meaning associated with the sender. The target node does not need to perceive whether the data is from the first controller or the second controller through two different configuration files, avoids data analysis errors caused by sender conflicts, realizes that a set of general configuration files are shared in the two working modes of the first controller, and eliminates configuration file version redundancy. And through the same set of hardware and software control logic, the switching of the two working modes of the first controller can be realized, without the need to redevelop logic code, and the production efficiency is improved.

[0009] In an optional embodiment, the first signal parameter is encapsulated into the first functional message based on the pre-stored general configuration file, comprising:

[0010] According to the general configuration file, the message identifier associated with the target functional module is obtained, and the message transmission protocol of the vehicle is determined;

[0011] Based on the message identifier and the message transmission protocol, the first signal parameter is encapsulated into the first functional message; wherein the message identifiers of the first functional message and the second functional message are the same.

[0012] In the integrated mode, the first controller encapsulates the first signal parameter monitored by the self functional module into the first functional message based on the message transmission protocol and the message identifier. In the hanging mode, the second controller encapsulates the corresponding second signal parameter into the second functional message. Whether the functional message is sent to the target node by the first controller or by the second controller, the target node will determine the sender as the corresponding virtual sending node according to the same message identifier, avoid the situation of sending conflict, realize that a set of general configuration files are shared in the two working modes of the first controller, and completely eliminate version redundancy.

[0013] In an optional embodiment, before obtaining the first signal parameter of the target functional module of the self, the method further comprises:

[0014] According to the pre-stored general configuration file, the message sending authority of the first controller is obtained; wherein the message sending authority includes the functional message that the first controller is allowed to send in the integrated mode and is not allowed to send in the hanging mode;

[0015] Based on the message sending authority, the target functional module is determined.

[0016] The application accurately identifies all function messages required to be sent by itself in the integrated mode by reading the pre-stored general configuration file, thereby determining the target function module. When a new function module is added, only the virtual sending node and the corresponding message attribute need to be added in the general configuration file to manage the message sending authority of the first controller, without the need of redeveloping logic code, stronger scalability, greatly shortened development verification period, and high efficiency requirement of platform development.

[0017] In an alternative embodiment, the first controller comprises a general sending interface, a general receiving interface and a general forwarding interface; sending the first function message to the target node comprises:

[0018] sending the first function message to the target node through the bus by using the general sending interface;

[0019] receiving and storing the second function message sent by the second controller, and forwarding the second function message to the target node comprises:

[0020] sending a disabling instruction to the general sending interface, monitoring the bus data by using the general receiving interface, and performing message analysis on the bus data to obtain the second function message sent by the second controller;

[0021] sending a forwarding request to the general forwarding interface to forward the second function message to the target node by using the general forwarding interface.

[0022] The application realizes the sending, receiving and forwarding communication behaviors of the first controller by using the general sending interface, the general receiving interface and the general forwarding interface. When the integrated mode is switched to the hanging mode, only the general sending interface needs to be disabled to stop sending the first function message. Then the second function message is switched to the listening and forwarding state. Since all the interfaces work according to the same general configuration file, the data format is consistent in the whole process from receiving, internal transmission to forwarding, thereby ensuring the real-time performance and reliability of the data.

[0023] In an alternative embodiment, the method further comprises:

[0024] obtaining a feedback message of the first function message on the bus;

[0025] if the consistency verification of the feedback message and the first function message is passed, it is determined that the first function message is sent normally.

[0026] The application listens to the bus in the integrated mode, compares the feedback message listened to with the first function message originally sent, compares the values, discovers the sending abnormality caused by bus failure, data interference or arbitration loss in time, ensures the reliable delivery of information, and generates a diagnosis log through data consistency verification results, so that maintenance personnel can quickly locate the fault, and the maintenance cost and time are reduced.

[0027] In an alternative embodiment, the method further comprises:

[0028] determining the forwarding time consumption of the second function message;

[0029] if the forwarding time consumption is detected to be less than the time consumption threshold, determining that the second function message is forwarded normally.

[0030] The application verifies the performance of the first controller in the hanging mode by comparing the actual forwarding time consumption with the preset time consumption threshold, ensures that the second function message can be delivered to the target node in time, avoids the risk of data display lag caused by processing delay, and guarantees the real-time performance of the function. And by recording the forwarding time consumption detection result, once the forwarding is detected to be overdue, the accurate fault code can be recorded, which facilitates problem troubleshooting.

[0031] In an alternative embodiment, the target node is configured to analyze the first function message or the second function message to obtain a target signal parameter; the method further comprises:

[0032] obtaining the target signal parameter of the target node;

[0033] if the target signal parameter is detected to be inconsistent with the first signal parameter or the second signal parameter, determining that the first controller has a fault.

[0034] The application compares the data finally displayed by the display device with the initial first signal parameter or the second signal parameter, and when the data is inconsistent, it can be determined that the communication link of the first controller is abnormal, which avoids the user from relying on incorrect information for operation, guarantees the use safety, and improves the data reliability.

[0035] In an alternative embodiment, the method further comprises:

[0036] receiving a working mode instruction set by a user for the first controller;

[0037] switching the current working mode of the first controller based on the working mode instruction.

[0038] The application only needs to switch the working mode of the first controller through the working mode instruction and update the network topology, without changing the hardware or the software analysis logic of the target node, so that the mode can be quickly adapted.

[0039] In a second aspect, the present application provides a vehicle message transmission device, the vehicle comprising a first controller and a second controller, the second controller comprising a plurality of function modules, and the first controller integrating at least one function module of the second controller; the device is applied to the first controller, and the device comprises:

[0040] a first processing module, configured to, if it is detected that the working mode is the integrated mode, acquire a first signal parameter of a target function module of the first processing module, encapsulate the first signal parameter into a first function message based on a pre-stored universal configuration file, and send the first function message to a target node;

[0041] a second processing module, configured to, if it is detected that the working mode is the hanging mode, receive and store a second function message sent by the second controller, and forward the second function message to the target node; wherein the second function message is obtained by the second controller based on a second signal parameter of a target function module of the second controller and based on the universal configuration file, and a sender associated with the first function message and the second function message is the target function module.

[0042] In a third aspect, the present application provides a vehicle, comprising a memory and a processor, the memory and the processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the vehicle message transmission method of the first aspect or any of the corresponding embodiments.

[0043] In a fourth aspect, the present application provides a computer readable storage medium, the computer readable storage medium stores computer instructions, and the computer instructions are used to make a computer execute the vehicle message transmission method of the first aspect or any of the corresponding embodiments.

[0044] In a fifth aspect, the present application provides a computer program product, comprising computer instructions, and the computer instructions are used to make a computer execute the vehicle message transmission method of the first aspect or any of the corresponding embodiments.

[0045] The present application has the following beneficial effects:

[0046] The first controller and the second controller are both based on the same pre-stored general configuration file to encapsulate the message as long as the functional modules participating in the signal parameter collection are the same, no matter which mode the first controller works in. The first functional message of the first controller and the second functional message sent by the second controller are completely consistent in terms of the sender and the signal parameter meaning associated with the sender. The target node does not need to perceive whether the data is from the first controller or the second controller through two different configuration files, avoids data analysis errors caused by sender conflicts, realizes that a set of general configuration files are shared in the two working modes of the first controller, eliminates configuration file version redundancy. And through the same set of hardware and software control logic, the switching of the two working modes of the first controller can be realized, without the need to redevelop logic code, and the production efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the specific embodiments or the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0048] Figure 1 is a schematic diagram of an application scenario according to an embodiment of the present application;

[0049] Figure 2 is a first flowchart of a vehicle message transmission method according to an embodiment of the present application;

[0050] Figure 3 is a second flowchart of a vehicle message transmission method according to an embodiment of the present application;

[0051] Figure 4A is a timing diagram of an integrated mode according to an embodiment of the present application;

[0052] Figure 4B is a timing diagram of another integrated mode according to an embodiment of the present application;

[0053] Figure 5A is a timing diagram of a hanging mode according to an embodiment of the present application;

[0054] Figure 5B is a timing diagram of another hanging mode according to an embodiment of the present application;

[0055] Figure 6 is a third flowchart of a vehicle message transmission method according to an embodiment of the present application;

[0056] Figure 7is a structural block diagram of a vehicle message transmission device according to an embodiment of the present application;

[0057] Figure 8 is a hardware structure schematic diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0059] It can be understood that, before using the technical solutions disclosed in the embodiments of the present application, the type, use range, use scenario and the like of personal information involved in the present application should be informed to the user and the authorization of the user should be obtained through appropriate means according to relevant laws and regulations.

[0060] The terms "first", "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0061] As an optional application scenario of the embodiments of the present application, as shown in Figure 1 The message transmission system can include at least one terminal device and at least one server, Figure 1 As shown in the figure, the system includes a computer 101, a mobile terminal 102 and a server 103, and the terminal devices such as the computer 101 and the mobile terminal 102 are connected to the server 103 through a network 110.

[0062] The terminal device can be specifically a smart phone, a tablet computer, a notebook computer, a palm computer, and can also be a desktop computer, a game console, a smart television, a smart wearable device, a vehicle-mounted terminal, a VR (Virtual Reality) device, an AR (Augmented Reality) device, etc. The server 103 can be an independent physical server, or a server cluster or a distributed system, or a cloud server providing cloud services. The network 110 can be a wired network or a wireless network, and its instances include but are not limited to the Internet, an intranet, a local area network, a wide area network, a mobile communication network and a combination thereof.

[0063] In the development of automotive platforms, different configurations of vehicles have generally adopted a unified hardware specification VIU to reduce hardware costs and supply chain complexity. However, the function deployment needs to support two modes: one is the integrated mode, such as integrating the core functions of the battery management system (BMS), electronic parking brake system (EPB), and air conditioning controller (AC) in the VIU, with the VIU as the only sender, outputting function messages such as battery status and parking instructions; the other is the hanging mode: such as hanging BMS, EPB, and AC in the form of independent controllers on the CAN bus, with the independent controllers sending function messages, and the VIU receiving and forwarding the messages.

[0064] The related technology has the following core defects in software level for the compatibility of the two function modes of VIU:

[0065] (1) Software logic is hard-bound with function mode: the sending enable logic of VIU is fixed with mode, such as independent sending code segment for integrated mode and receiving, forwarding code segment for hanging mode, and mode switching requires recompilation and software version flashing, such as compiling DBC file V1.0 for integrated mode and V2.0 for hanging mode, which cannot be quickly adapted through software parameters, resulting in low production efficiency.

[0066] (2) Version redundancy and high conflict risk: the message sender needs to be bound to VIU for integrated mode and to independent controllers for hanging mode, which requires maintaining two independent DBC files; when VIU hardware is unified, if the DBC file is loaded incorrectly, such as loading integrated mode DBC file for hanging mode, it will cause conflict between "VIU preset sending" and "independent controller actual sending" of the same message on the bus, resulting in data errors.

[0067] (3) Poor flexibility of mode configuration relying on software reinstallation: if the vehicle needs to be upgraded from hanging mode to integrated mode, such as adding integrated functions later, it needs to reinstall VIU software through special equipment, rather than just modifying configuration parameters, which is complex and prone to function failure due to software compatibility issues, resulting in high after-sales maintenance costs.

[0068] (4) Insufficient software extensibility, difficult to adapt to new functions: if a new function module such as a steering controller is added, the integrated sending and hanging receiving logic code of the module needs to be redeveloped, which cannot reuse the existing framework and requires retesting and verification, resulting in a long adaptation period and not meeting the efficient needs of platform development.

[0069] The embodiment of the present application provides a vehicle message transmission method, no matter in which mode the first controller works, as long as the functional modules participating in signal parameter collection are the same, the first controller and the second controller encapsulate messages based on the same pre-stored general configuration file. The first functional message of the first controller is completely consistent with the sender and signal parameter meaning associated with the second functional message sent by the second controller. The target node can obtain corresponding signal parameters without perceiving whether the data is from the first controller or the second controller through two different configuration files, avoids data analysis errors caused by sender conflicts, realizes that one set of general configuration files is shared in the two working modes of the first controller, and eliminates configuration file version redundancy. And through the same set of hardware and software control logic, the switching of the two working modes of the first controller can be realized without redeveloping logic codes, and the production efficiency is improved.

[0070] According to the embodiment of the present application, a vehicle message transmission method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from here.

[0071] In the present embodiment, a vehicle message transmission method is provided, which can be used for a first controller of a vehicle, such as a VIU controller, Figure 2 The flowchart of the vehicle message transmission method according to the embodiment of the present application is shown in FIG. 1, which includes the following steps: Figure 2 As shown in the figure,

[0072] In step S201, if it is detected that the working mode is integrated mode, the first signal parameter of the target functional module of itself is acquired, the first signal parameter is encapsulated into a first functional message based on the pre-stored general configuration file, and the first functional message is sent to the target node.

[0073] Specifically, the vehicle includes a first controller and a second controller, wherein the second controller includes a plurality of functional modules, and the first controller integrates at least one functional module of the second controller.

[0074] It should be noted that the number of second controllers can be multiple, for example, the multiple second controllers can be BMS, EPB, AC, or independent controllers of vehicle subsystem controllers, wherein the BMS mainly includes functional modules for monitoring the voltage / current / temperature, state of charge and other state parameters of the battery in real time, the EPB includes functional modules for monitoring the parking state, and the AC includes functional modules for temperature monitoring. The first controller integrates at least one functional module of one or more second controllers, for example, the first controller integrates functional modules for battery state monitoring, parking state monitoring, and air conditioning temperature monitoring.

[0075] In the embodiment, the first controller comprises a general sending interface, a general receiving interface and a general forwarding interface, wherein the general sending interface is used for sending function messages, the general receiving interface is used for receiving function messages, and the general forwarding interface is used for forwarding the received function messages.

[0076] In the embodiment, the first controller replaces the monitoring work of the corresponding function modules in the independent controllers such as the BMS, the EPB and the AC in the integrated mode, collects the first signal parameters of the function modules of the first controller, and encapsulates the first signal parameters into the first function messages according to the general configuration file (general DBC file). The target function module refers to the function module of which the first controller has the sending right of the message. The general configuration file comprises the sender associated with various function messages, the encapsulation format setting of the signal parameters and the message sending right.

[0077] In step S202, if it is detected that the working mode is the hanging mode, the second function message sent by the second controller is received and stored, and the second function message is forwarded to the target node. The second function message is encapsulated by the second controller based on the general configuration file and the second signal parameters of the target function module of the second controller. The sender associated with the first function message and the second function message is the target function module.

[0078] Specifically, if the working mode of the first controller is the hanging mode, the first controller does not participate in the sending work of the function messages of the function modules of the first controller. The target function module of the second controller works normally, collects the second signal parameters, and the second controller encapsulates the second signal parameters into the second function message according to the general configuration file. Then, the second controller sends the second function message to the first controller, and the first controller forwards the second function message to the target node.

[0079] In the embodiment, taking the monitoring process of the battery state as an example, the first controller generates the first function message comprising the battery state parameters in the integrated mode, and receives the second function message comprising the battery state parameters sent by the BMS in the hanging mode. However, the message identifiers of the first function message and the second function message are directly associated with the target function module (i.e. the battery state monitoring module). After the target node receives the first function message or the second function message, the target node identifies that the first function message or the second function message is the battery state message according to the message identifier, and thus the battery state parameters are parsed.

[0080] The vehicle message transmission method provided in the embodiment ensures that the first function message of the first controller and the second function message sent by the second controller are completely consistent in terms of the sender and the signal parameter meaning associated with the second function message, and the target node does not need to perceive whether the data is from the first controller or the second controller through two different configuration files, thereby avoiding data analysis errors caused by sender conflicts, achieving that a set of general configuration files are shared by the two working modes of the first controller, and eliminating configuration file version redundancy. Moreover, the switching between the two working modes of the first controller can be realized through the same set of hardware and software control logic, without the need to redevelop logic codes, thereby improving production efficiency.

[0081] In the embodiment, a vehicle message transmission method is provided, which can be used for a first controller of a vehicle, such as a VIU controller, Figure 3 The flowchart of the vehicle message transmission method according to the embodiment of the application is shown in FIG. 1, which includes the following steps: Figure 3

[0082] In step S301, if it is detected that the working mode is the integrated mode, the first signal parameter of the target function module of the first controller is acquired, the first signal parameter is encapsulated into a first function message based on a pre-stored general configuration file, and the first function message is sent to the target node.

[0083] Specifically, step S301 includes the following steps.

[0084] In step S3011, if it is detected that the working mode is the integrated mode, the first signal parameter of the target function module of the first controller is acquired.

[0085] In some optional embodiments, before the first signal parameter of the target function module of the first controller is acquired, the message sending authority of the first controller is obtained according to the pre-stored general configuration file, and the target function module is determined based on the message sending authority. The message sending authority includes a function message that is allowed to be sent by the first controller in the integrated mode and is not allowed to be sent in the hanging mode.

[0086] ​In the embodiment, a message attribute Tx_Enable_Map is added in the general configuration file, which is used to mark the sending enable state of the first controller to the function message in different working modes, and the value format is "VIU_Tx_Enable→Integrated_Mode, VIU_Tx_Disable→Dangling_Mode", wherein Integrated_Mode is integrated mode, that is, the general sending interface of the first controller is enabled in the integrated mode, and the first controller can send the function message; and Dangling_Mode is dangling mode, that is, the general sending interface is not enabled in the dangling mode, and the first controller cannot send the function message.

[0087] Exemplarily, the message attribute of the battery state message can be set as "VIU_Tx_Enable→Integrated_Mode, VIU_Tx_Disable→Dangling_Mode", which explicitly indicates that the VIU controller sends the battery state message in the integrated mode and does not send in the dangling mode, thereby avoiding sending conflicts.

[0088] Specifically, by reading the general configuration file, the authority range of the function message that can be sent by the first controller in the integrated mode and cannot be sent in the dangling mode is obtained, so as to locate the target function module with the corresponding message sending authority and obtain the first signal parameter of the target function module, such as the state of charge parameter BMS_SOC of the battery, the parking state parameter EPB_State, and the air conditioning temperature parameter AC_Temp.

[0089] The embodiment accurately identifies all function messages that need to be sent by itself in the integrated mode by reading the pre-stored general configuration file, thereby determining the target function module. When a new function module is added, only the virtual sending node and the corresponding message attribute need to be added in the general configuration file, so that the message sending authority of the first controller can be managed without the need of redeveloping logic code, which has stronger scalability, greatly shortens the development and verification period, and meets the efficient needs of platform development.

[0090] In step S3012, the message identifier associated with the target function module is obtained according to the general configuration file, and the message transmission protocol of the vehicle is determined.

[0091] Specifically, the virtual sending nodes of the respective functional modules are configured in the general configuration file, and an association between the virtual sending nodes and the message identifiers is established. For example, the first controller integrates the functional modules of the BMS, the EPB and the AC controller, and in the node definition section (BU:) of the general configuration file, general virtual sending nodes are respectively created for the BMS, the EPB and the AC, and the naming rule of the virtual sending nodes is “[functional module]_VIRTUAL_TX”. For example, the virtual sending node of the BMS is named BMS_VIRTUAL_TX, the virtual sending node of the EPB can be named EPB_VIRTUAL_TX, and the virtual sending node of the AC can be named AC_VIRTUAL_TX.

[0092] Further, the nominal sender of the functional messages (for example, the battery state message, the parking state message and the air conditioner temperature message, etc.) of the respective functional modules is uniformly set as the corresponding virtual sending node, without binding the first controller or the second controller hardware, and the virtual sending node is associated with the corresponding message identifier. For example, the message identifier of BMS_VIRTUAL_TX can be 0x230, the message identifier of EPB_VIRTUAL_TX can be 0x340, and the message identifier of AC_VIRTUAL_TX can be 0x450.

[0093] In the embodiment, the message transmission protocol of the vehicle can adopt the Controller Area Network (CAN) protocol, and the actual application scenario can be selected.

[0094] In step S3013, the first signal parameter is encapsulated into the first functional message based on the message identifier and the message transmission protocol, and the message identifier of the first functional message and the second functional message is the same.

[0095] Specifically, the signal parameter of the functional message can also be defined in the general configuration file. For example, the state of charge parameter BMS_SOC of the battery can be set as 0|16@1+ (0.1, 0) [0|100] "%", that is, the starting bit of the state of charge in the battery state message is 0, the signal length is 16 (2 bytes), @1+ represents the big-endian byte order, the scaling factor is 0.1, the offset is 0, and the value range is 0-100%.

[0096] For another example, the parking state parameter EPB_State can be set as 0|8@1+ (1, 0) [0|3] " ", that is, the starting bit of the parking state in the parking state message is 0, the signal length is 8 (1 byte), @1+ represents the big-endian byte order, the factor is 0.1, the offset is 0, and the value range is 0-3, and different values can represent different parking states.

[0097] For another example, the air conditioner temperature parameter AC_Temp can be set as 0|12@1+ (0.5, 0) [-40|85] "℃", that is, the starting bit of the air conditioner temperature in the air conditioner temperature message is 0, the signal length is 12 (1.5 bytes), @1+ indicates big-endian byte order, the factor is 0.1, the offset is 0, and the value ranges from -40℃ to 85℃.

[0098] In this embodiment, in the integrated mode, the first controller encapsulates the first signal parameter monitored by the self-function module into a first function message based on the message transmission protocol and the message identifier. In the hanging mode, the second controller also encapsulates the corresponding second signal parameter into a second function message. The specific encapsulation process can refer to the detailed description of the related art, and will not be described here.

[0099] In this embodiment, whether the function message is sent by the first controller or the second controller to the target node, the target node will determine the sender as the corresponding virtual sending node according to the same message identifier, avoiding the occurrence of sending conflict, realizing that the two working modes of the first controller share a set of general configuration files, and completely eliminating version redundancy.

[0100] Step S3014, using the general sending interface, sending the first function message to the target node through the bus.

[0101] Specifically, the first controller includes a general sending interface. In the integrated mode, the first controller enables the message sending function of the target function module integrated by itself, and the target function module acts as the only sending subject to send the function message to the target node through the general sending interface at a preset period (such as 100 ms). The target node can be a node such as an instrument or a gateway device.

[0102] In some optional embodiments, the feedback message of the bus to the first function message is obtained, and if it is detected that the data consistency verification of the feedback message and the first function message passes, it is determined that the first function message is sent normally.

[0103] Specifically, the first controller listens to the feedback message of the bus to the first function message, parses the data field of the feedback message, and obtains the feedback signal parameter. If the value of the feedback signal parameter is consistent with the value of the first signal parameter, it is determined that the data consistency verification passes, and the sending normal log of the first function message is recorded; if the data consistency verification does not pass, the sending abnormal log is recorded.

[0104] In the integrated mode, the first controller listens to the bus, compares the feedback message detected with the first function message originally sent, discovers the sending abnormality caused by bus failure, data interference or arbitration loss in time, ensures the reliable delivery of information. And through the data consistency verification result, the diagnostic log is generated, so that the maintenance personnel can quickly locate the fault, and the maintenance cost and time are reduced.

[0105] In step S302, if it is detected that the working mode is the hanging-down mode, the second function message sent by the second controller is received and stored, and the second function message is forwarded to the target node; wherein the second function message is obtained by the second controller based on the general configuration file on the second signal parameter of the target function module of the second controller, and the sender associated with the first function message and the second function message is the target function module.

[0106] Specifically, the above step S302 includes:

[0107] In step S3021, if it is detected that the working mode is the hanging-down mode, a disable instruction is sent to the general sending interface, the bus data is monitored by using the general receiving interface, and the second function message sent by the second controller is obtained by analyzing the bus data.

[0108] Specifically, in the hanging-down mode, the first controller sends a disable instruction to the general sending interface to close the general sending interface and not to send the message of the function module in the hanging-down mode. After the general receiving interface of the first controller monitors the bus data, a receiving interrupt is triggered, the bus data is analyzed, the second function message sent by the second controller is identified, and the second function message is temporarily stored in the cache area.

[0109] In step S3022, a forwarding request is sent to the general forwarding interface to forward the second function message to the target node by using the general forwarding interface.

[0110] Specifically, the forwarding request is sent to the general forwarding interface, the CAN driver is called by the general forwarding interface, and the second function message in the cache area is forwarded to the target node.

[0111] Specifically, in the hanging-down mode, the VIU controller disables the sending function of all the first function messages of the corresponding function module, only receives the second function message sent by the independent controller, and forwards it to the target node such as the instrument and the gateway device according to the preset rule (such as forwarding within 10 ms after receiving).

[0112] In the embodiment, the sending, receiving and forwarding communication behaviors of the first controller are realized through the general sending interface, the general receiving interface and the general forwarding interface. When the integrated mode is switched to the hanging mode, the general sending interface is only disabled to stop sending the first function message. Then the second function message is switched to the listening and forwarding state. Since all the interfaces work according to the same general configuration file, the data format is consistent in the whole process from receiving, internal transmission to forwarding, which guarantees the real-time performance and reliability of the data.

[0113] In some optional embodiments, the forwarding time consumption of the second function message is determined, and if it is detected that the forwarding time consumption is less than the time consumption threshold, it is determined that the forwarding of the second function message is normal.

[0114] Specifically, the first controller starts timing after receiving the second function message, and stops timing after forwarding the second function message to the target node to obtain the forwarding time consumption. If the forwarding time consumption is less than the time consumption threshold (for example, 10 ms), a normal forwarding log is recorded; if the forwarding time consumption is not less than the time consumption threshold (for example, 10 ms), an abnormal forwarding log is recorded.

[0115] The embodiment verifies the performance of the first controller in the hanging mode by comparing the actual forwarding time consumption with the preset time consumption threshold, ensures that the second function message can be timely delivered to the target node, avoids the risk of data display lag caused by processing delay, and guarantees the real-time performance of the function. In addition, by recording the forwarding time consumption detection result, once the forwarding timeout is detected, the accurate fault code can be recorded to facilitate problem troubleshooting.

[0116] In some optional embodiments, the target signal parameter of the target node is obtained, and if it is detected that the target signal parameter is inconsistent with the first signal parameter or the second signal parameter, it is determined that the first controller has a fault.

[0117] Specifically, the target node can be a display device, and the display interface of the monitoring instrument display device is monitored to obtain the target signal parameter analyzed by the target node. If the first controller is in the integrated mode, the target signal parameter is compared with the first signal parameter; if the first controller is in the hanging mode, the target signal parameter is compared with the second signal parameter, and if they are inconsistent, it indicates that there is data jump or loss, and a fault log is recorded.

[0118] The embodiment compares the data finally displayed by the display device with the initial first signal parameter or the second signal parameter, and when the data is inconsistent, it can be determined that the communication link of the first controller is abnormal, which avoids the user from relying on the error information for operation, guarantees the use safety, and improves the data reliability.

[0119] In some optional embodiments, a working mode instruction set by a user for the first controller is received, and based on the working mode instruction, the current working mode of the first controller is switched.

[0120] Specifically, the working mode instruction can be issued to the first controller through a unified diagnostic service (UDS), such as a 0x2E service or a vehicle network management (NM) message, for example, instruction 0x2E 0x0C 0x01 represents an integrated mode, and instruction 0x2E 0x0C 0x02 represents a hanging mode.

[0121] Further, after receiving the working mode instruction, the first controller can store the working mode instruction in a non-volatile memory (such as an EEPROM) of the first controller, and the first controller automatically reads the working mode instruction after being powered on, so as to switch the current working mode, execute the working flow of the corresponding working mode according to the above embodiments, and no software code needs to be modified or version needs to be reloaded, so that the mode is quickly adapted (the configuration time is less than 10 s).

[0122] The embodiment only needs to switch the working mode of the first controller through the working mode instruction and update the network topology, without changing the hardware or the software analysis logic of the target node, so that the mode is quickly adapted.

[0123] The vehicle message transmission scheme of the application will be described in detail below by taking the first controller as a VIU controller as an example in combination with a specific application example.

[0124] The application example provides a vehicle message transmission system, which comprises a CAN communication module, a general DBC configuration module, a working mode configuration module, and a VIU sending right management module.

[0125] The CAN communication module comprises a VIU (hardware unified) controller, an independent controller (i.e., a second controller), an instrument, a gateway device, and the like to form a CAN bus network, and each node communicates by using a CAN 2.0B standard protocol. The CAN communication module supports UDS diagnosis and NM protocol, provides a data transmission channel for VIU working mode configuration, and does not need a special hardware configuration interface. The VIU controller provides a general sending / receiving / forwarding interface, supports two working mode multiplexing, and avoids interface redundancy.

[0126] The general DBC configuration module comprises a pre-stored general configuration file, which contains virtual sending nodes, signal parameters, message attributes, and the like of each functional module, and does not involve any hardware configuration parameter. The general configuration file provides a DBC attribute analysis interface, and the VIU can read message attributes and the like in real time, without pre-compiling mode logic, so as to solve the DBC version redundancy problem.

[0127] Exemplarily, the configuration fragment of the general configuration file is as follows:

[0128] / / Node definition: VIU, independent controller, virtual sending node, target node;

[0129] BU_ : VIU BMS_Ind EPB_Ind AC_Ind INSTRUMENT BMS_VIRTUAL_TX EPB_VIRTUAL_TX AC_VIRTUAL_TX;

[0130] / / Battery status message (message identifier 0x230): virtual sending node BMS_VIRTUAL_TX;

[0131] BO_ 560 BMS_Battery_Status: 8 BMS_VIRTUAL_TX;

[0132] SG_BMS_SOC: 0|16@1+ (0.1,0) [0|100] "%" VIU, BMS_Ind, INSTRUMENT;

[0133] / / Parking state message (message identifier 0x340): virtual sending node EPB_VIRTUAL_TX;

[0134] BO_ 832 EPB_Parking_Status: 8 EPB_VIRTUAL_TX;

[0135] SG_EPB_State: 0|8@1+ (1,0) [0|3] " " VIU, EPB_Ind, INSTRUMENT;

[0136] / / Air conditioner temperature message (message identifier 0x450): virtual sending node AC_VIRTUAL_TX;

[0137] BO_ 920 AC_Aircon_Temp: 8 AC_VIRTUAL_TX;

[0138] SG_AC_Temp: 0|12@1+ (0.5,0) [-40|85] "℃" VIU, AC_Ind, INSTRUMENT;

[0139] / / Message attribute: define VIU sending enable rule (integrated mode / hanging mode);

[0140] BA_DEF_BO_Tx_Enable_Map "VIU_Tx_Enable→Integrated_Mode, VIU_Tx_Disable→Dangling_Mode";

[0141] BA_Tx_Enable_Map 560 "VIU_Tx_Enable→Integrated_Mode, VIU_Tx_Disable→Dangling_Mode";

[0142] BA_Tx_Enable_Map 832 "VIU_Tx_Enable→Integrated_Mode, VIU_Tx_Disable→Dangling_Mode";

[0143] BA_Tx_Enable_Map 920 "VIU_Tx_Enable→Integrated_Mode, VIU_Tx_Disable→Dangling_Mode".

[0144] The working mode configuration module is deployed in a production line programming device or an on-board diagnostic instrument, provides a visual configuration interface (supports user selection of integrated mode or dangling mode), and sends a working mode instruction to the VIU through a UDS 0x2E service. The working mode instruction is stored in an EEPROM of the VIU, supports batch configuration (production line scenario) and single adjustment (after-sales scenario), does not need to be reinstalled, and improves the configuration efficiency by 80%.

[0145] The VIU sending right management module is integrated in the VIU software system, includes a mode reading unit, a DBC attribute analysis unit, a general sending / receiving / forwarding interface, and a data self-checking unit. The mode reading unit is used to read the working mode instruction in the EEPROM and output a mode identifier (such as "1" representing integrated mode and "2" representing dangling mode), without the need of hardware assistance. The DBC attribute analysis unit is used to analyze the Tx_Enable_Map attribute of the general configuration file and output the sending enable state (enabled or disabled) of each function message, which is universally applicable to all function modules. The general sending / receiving / forwarding interface is used to provide a unified sending interface, a receiving interface, and a forwarding interface, so that the two working modes are multiplexed, and the binding relationship between the working modes and the code is decoupled. The data self-checking unit is used to verify the integrity of the sending data in the integrated mode and the timeliness of the forwarding data in the dangling mode, to ensure the reliability of the data.

[0146] In the application example, the user can first create a general configuration file in CANoe, which can be named VIU_Integrated_Dangling_DBC.dbc, and configure the virtual sending nodes (e.g., BMS_VIRTUAL_TX, EPB_VIRTUAL_TX, AC_VIRTUAL_TX) of each functional module, message identifiers (0x230, 0x340, 0x450), and message properties, etc. After saving, load to the general DBC configuration module.

[0147] Then, the user can open the visual interface of the working mode configuration module using the production line programming device, select the integrated mode, and the working mode configuration module sends the working mode instruction 0x2E 0x0C 0x01 to the VIU through the UDS 0x2E service, which is automatically stored at the EEPROM address 0x002000 of the VIU. After the configuration is completed, the VIU feeds back a configuration success signal; or the user can select the dangling mode, send the working mode instruction 0x2E 0x0C 0x02, and connect the CAN bus of the BMS_Ind, EPB_Ind, AC_Ind, etc. independent controllers at the vehicle OBD interface to complete the hardware deployment.

[0148] As shown in Figure 4A and Figure 4B When the VIU is in the integrated mode, the working process of the VIU is as follows:

[0149] 0ms: The VIU is powered on to start initialization, and the mode reading unit reads the working mode instruction 0x2E 0x0C 0x01 of the EEPROM;

[0150] 1ms: The EEPROM returns the integrated mode identifier, the mode reading unit determines that it is the integrated mode, and outputs the integrated mode signal to the general sending interface;

[0151] 5ms: The DBC property analysis unit sends a request to the general DBC configuration module to obtain the "Tx_Enable_Map" property of the messages 0x230, 0x340, 0x450, which are all "VIU_Tx_Enable";

[0152] 6ms: The DBC property analysis unit outputs the enable instruction to the general sending interface;

[0153] 10ms: The general sending interface calls the CAN controller driver to configure the sending period (100ms) of the 0x230 message, fill the BMS_SOC data (70%→binary 700), and trigger the first sending;

[0154] 15ms: The data self-check unit receives the 0x230 message fed back by the CAN bus, analyzes the data field, confirms that BMS_SOC=700 is consistent with the sent value, and records the normal sending log;

[0155] 20ms: The CAN bus transmits the 0x230 message to the instrument, and the instrument displays SOC=70%.

[0156] 110ms: The general sending interface automatically sends the second 0x230 message according to the period, and the cycle is executed.

[0157] As shown in Figure 5A and Figure 5B When the VIU is in the hanging mode, the working process of the VIU is as follows:

[0158] 0ms: The VIU is powered on to start initialization, and the mode reading unit reads the working mode instruction 0x2E 0x0C0x02 of the EEPROM;

[0159] 1ms: The EEPROM returns the hanging mode identifier, the mode reading unit determines that it is the hanging mode, and outputs the hanging mode signal to the general sending interface to disable sending;

[0160] 5ms: The DBC attribute analysis unit obtains the "Tx_Enable_Map" attribute "VIU_Tx_Disable", outputs the disable instruction to the general sending interface, and closes the CAN sending enable bit;

[0161] 10ms: The BMS_Ind sends the 0x230 message (SOC=65%→650) according to the 100ms period, and the VIU general receiving interface detects the CAN bus data and triggers the receiving interrupt;

[0162] 12ms: The general receiving interface completes message analysis, temporarily stores the 0x230 message data in the cache area, and sends a forwarding request to the general forwarding interface;

[0163] 15ms: The general forwarding interface calls the CAN driver to forward the 0x230 message in the cache area to the CAN ID (such as 0x100) of the instrument;

[0164] 20ms: The CAN bus transmits the 0x230 message to the instrument, and the instrument displays SOC=65%;

[0165] 25ms: The data self-check unit calculates the forwarding time consumption (15-12=3ms), confirms that it is less than the preset time consumption threshold 10ms, and records the normal forwarding log.

[0166] As shown in Figure 6As shown, after the VIU is powered on, the working mode instruction stored in the EEPROM can be read through the software interface to determine whether the current working mode is integrated mode or hanging mode, without relying on hardware signals or code segment switching.

[0167] If it is integrated mode, the VIU parses the message properties in the general configuration file, calls the general sending interface (not an independent code segment), sends the first function message at a preset period, receives the feedback message of the feedback message sent by the bus to itself, verifies the data integrity, and avoids data loss.

[0168] If it is hanging mode, the VIU parses the message properties in the general configuration file, disables the general sending interface (only closes the enable bit, without modifying the code), only enables the general receiving interface and the general forwarding interface, receives the second function message sent by the second controller, calls the general forwarding interface to forward to the target node, and reuses the existing software framework.

[0169] Whether in integrated mode (message sent through VIU) or hanging mode (message sent through BMS, EPB, and AC), the target node (such as an instrument or gateway device) automatically identifies the signal parameters as battery status, parking status, and air conditioner temperature according to the message identifiers 0x230, 0x240, and 0x450 by reading the signal analysis rules in the general configuration file, so that the data can be normally displayed and processed without modifying the software, thereby solving the problem of the receiving end needing to adapt to different sending parties in related technologies.

[0170] In some embodiments, in integrated mode, CANoe is connected to the vehicle CAN bus, the message monitoring function is started, it is observed that the VIU sends 0x230, 0x340, and 0x450 messages every 100 ms, and it is verified that the message identifier, data length, and signal value all conform to the definition of the general configuration file; the instrument display interface is viewed, BMS_SOC is stably displayed as 70%, EPB_State is “parking”, and AC_Temp displays 24℃, confirming that there is no data jump or loss; the VIU internal log is read, and the “sending normal” log record accumulates 100 records and lasts for 10s, with no error log, confirming that the integrated mode works normally.

[0171] In some embodiments, in hanging mode, CANoe monitors that BMS_Ind sends 0x230 messages every 100 ms, EPB_Ind sends 0x340 messages, and AC_Ind sends 0x450 messages, and the VIU has no sending messages; the instrument displays SOC=65%, EPB_State as “parking”, and AC_Temp as 25℃, which is consistent with the signal values sent by the independent controller; the VIU internal log is read, and the “forwarding normal” record accumulates 100 records, the forwarding time consumption is between 3~5 ms, which meets the preset requirement, and it is confirmed that the hanging mode works normally.

[0172] The application realizes multiplexing of two working modes in the same software framework through the universal sending interface and through the receiving interface, the universal forwarding interface and the analysis of the universal configuration file, without compiling different versions, improves production efficiency, avoids software compatibility risks, and thus solves the problem of software logic hard binding.

[0173] The application shares a set of universal configuration files in the two working modes, eliminates DBC version redundancy, reduces maintenance cost by 40%, solves the bus conflict problem caused by DBC mismatch, and improves data reliability.

[0174] The application can switch the working mode through the working mode instruction, without reinstalling the software, and the time consumption of after-sales upgrade is shortened from several hours to several minutes, the maintenance cost is reduced by 60%, and the mode configuration and after-sales upgrade are simplified.

[0175] When a new function module is added, the application only needs to add the corresponding virtual sending node and message attribute in the universal configuration file, multiplexes the universal sending / receiving / forwarding interface, shortens the adaptation period by 50%, meets the platform development demand, and improves software expansibility.

[0176] The application does not need to change any hardware, continues the cost advantage, and realizes flexible adaptation of functions through software optimization, balances cost and flexibility, and retains the unified advantage of VIU hardware.

[0177] In the embodiment, a vehicle message transmission device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, implementation of hardware, or a combination of software and hardware, is also possible and contemplated.

[0178] The embodiment provides a vehicle message transmission device, a vehicle including a first controller and a second controller, the second controller including a plurality of function modules, the first controller integrated with at least one function module of the second controller; the device is applied to the first controller, as shown in Figure 7 The device includes:

[0179] The first processing module 701 is configured to, if it is detected that the working mode is the integrated mode, acquire a first signal parameter of a target function module of itself, encapsulate the first signal parameter into a first function message based on a pre-stored universal configuration file, and send the first function message to a target node.

[0180] The second processing module 702 is configured to, if it is detected that the working mode is the hanging mode, receive and store the second function message sent by the second controller, and forward the second function message to the target node; wherein the second function message is obtained by the second controller based on the general configuration file and the second signal parameter of the target function module of the second controller, and the sender associated with the first function message and the second function message is the target function module.

[0181] In some optional embodiments, the first processing module 701 is further configured to:

[0182] According to the general configuration file, obtain the message identifier associated with the target function module, and determine the message transmission protocol of the vehicle;

[0183] Based on the message identifier and the message transmission protocol, the first signal parameter is encapsulated into the first function message; wherein the message identifiers of the first function message and the second function message are the same.

[0184] In some optional embodiments, before obtaining the first signal parameter of the target function module of the first controller, the first processing module 701 is further configured to:

[0185] According to the pre-stored general configuration file, obtain the message sending authority of the first controller; wherein the message sending authority includes the function message that the first controller is allowed to send in the integrated mode and is not allowed to send in the hanging mode;

[0186] Based on the message sending authority, determine the target function module.

[0187] In some optional embodiments, the first controller includes a general sending interface, a general receiving interface and a general forwarding interface; the first processing module 701 is further configured to: utilize the general sending interface to send the first function message to the target node through the bus;

[0188] The second processing module 702 is further configured to: send a disable instruction to the general sending interface, utilize the general receiving interface to monitor the bus data, and perform message analysis on the bus data to obtain the second function message sent by the second controller; and send a forwarding request to the general forwarding interface to utilize the general forwarding interface to forward the second function message to the target node.

[0189] In some optional embodiments, the first processing module 701 is further configured to:

[0190] Obtain the feedback message of the first function message to the bus;

[0191] If it is detected that the data consistency verification of the feedback message and the first function message is passed, it is determined that the first function message is sent normally.

[0192] In some optional embodiments, the second processing module 702 is further configured to:

[0193] determine a forwarding time consumption of the second function message;

[0194] if the forwarding time consumption is detected to be less than the time consumption threshold, determine that the second function message is forwarded normally.

[0195] In some optional embodiments, the target node is configured to parse the first function message or the second function message to obtain a target signal parameter; and the apparatus is further configured to:

[0196] obtain the target signal parameter of the target node;

[0197] if the target signal parameter is detected to be inconsistent with the first signal parameter or the second signal parameter, determine that the first controller is faulty.

[0198] In some optional embodiments, the apparatus is further configured to:

[0199] receive a working mode instruction set by a user for the first controller;

[0200] switch the current working mode of the first controller based on the working mode instruction.

[0201] The vehicle message transmission apparatus provided by the embodiments of the present application can execute the vehicle message transmission method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method. The further function description of each of the above modules and units is the same as that of the corresponding embodiments, and will not be repeated here.

[0202] Figure 8 A structural schematic diagram of a vehicle is provided.

[0203] The following will be specifically described with reference to Figure 8 which shows a structural schematic diagram of a vehicle suitable for being used to implement the embodiments of the present application. The vehicle can include a processor (such as a central processor, a graphic processor, etc.) 801, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 802 or programs loaded from a storage 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for vehicle operation are also stored. The processor 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0204] Generally, the following devices can be connected to the I / O interface 805: input devices 806 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, and the like; output devices 807 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, and the like; storage devices 808 including, for example, a magnetic tape, a hard disk, and the like; and communication devices 809. The communication devices 809 can allow the vehicle to communicate wirelessly or wired with other devices to exchange data. Although Figure 8 The vehicle is shown with various devices, but it is understood that not all of the shown devices are required to be implemented or present, and more or fewer devices can alternatively be implemented or present.

[0205] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present application. For example, embodiments of the present application include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication devices 809, or installed from the storage devices 808, or installed from the ROM 802. When the computer program is executed by the processor 801, the above-mentioned functions defined in the vehicle message transmission method of embodiments of the present application are performed.

[0206] Figure 8 The vehicle shown is merely an example and should not impose any limitation on the functions and use range of embodiments of the present application.

[0207] Embodiments of the present application also provide a computer-readable storage medium, the above-mentioned method according to embodiments of the present application can be implemented in hardware, firmware, or as computer code recordable on a storage medium, or as computer code originally stored in a remote storage medium or non-transitory machine-readable storage medium and to be downloaded through a network and stored in a local storage medium, so that the method described herein can be processed by such software stored on a storage medium using a general-purpose computer, a special-purpose processor, or programmable or special-purpose hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk or a solid state disk, etc.; further, the storage medium can also include a combination of the above-mentioned types of storage. It can be understood that the computer, processor, microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, processor or hardware, the vehicle message transmission method shown in the above embodiments is implemented.

[0208] Part of the present application can be applied as a computer program product, for example, computer program instructions, when executed by a computer, through the operation of the computer, can invoke or provide the method and / or technical solutions according to the present application. Those skilled in the art should understand that the form of computer program instructions in computer readable medium includes but is not limited to source files, executable files, installation package files and the like, and accordingly, the way of computer program instructions executed by computer includes but is not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer readable medium can be any available computer readable storage medium or communication medium accessible to the computer.

[0209] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A method for transmitting vehicle messages, characterized in that, The vehicle includes a first controller and a second controller, the second controller including multiple functional modules, and the first controller integrating at least one functional module of the second controller; the method is applied to the first controller, and the method includes: If the working mode is detected to be integrated mode, the first signal parameter of its own target functional module is obtained, the first signal parameter is encapsulated into a first functional message based on the pre-stored general configuration file, and the first functional message is sent to the target node; If the operating mode is detected to be the downlink mode, the second function message sent by the second controller is received and stored, and the second function message is forwarded to the target node; wherein, the second function message is obtained by the second controller encapsulating the second signal parameters of its own target function module based on the general configuration file, and the sender associated with the first function message and the second function message is the target function module.

2. The vehicle message transmission method according to claim 1, characterized in that, The first signal parameters are encapsulated into a first functional message based on a pre-stored general configuration file, including: Based on the general configuration file, the message identifier associated with the target functional module is obtained, and the message transmission protocol of the vehicle is determined. Based on the message identifier and the message transmission protocol, the first signal parameter is encapsulated into a first functional message; wherein the message identifier of the first functional message and the second functional message are the same.

3. The vehicle message transmission method according to claim 2, characterized in that, Before obtaining the first signal parameters of its own target functional module, the method further includes: Based on a pre-stored general configuration file, the message sending permissions of the first controller are obtained; wherein, the message sending permissions include functional messages that the first controller is allowed to send in integrated mode but is not allowed to send in attached mode; Based on the message sending permissions, the target functional module is determined.

4. The vehicle message transmission method according to claim 1, characterized in that, The first controller includes a general-purpose sending interface, a general-purpose receiving interface, and a general-purpose forwarding interface; sending the first function message to the target node includes: Using the general-purpose transmission interface, the first functional message is sent to the target node via the bus; The step of receiving and storing the second function message sent by the second controller, and forwarding the second function message to the target node, includes: A disable command is sent to the general-purpose transmit interface, and the bus data is monitored using the general-purpose receive interface. The bus data is parsed to obtain the second function message sent by the second controller. A forwarding request is sent to the general forwarding interface to forward the second function message to the target node using the general forwarding interface.

5. The vehicle message transmission method according to claim 4, characterized in that, The method further includes: Obtain the bus's feedback message for the first function message; If the data consistency verification between the feedback message and the first function message is successful, it is determined that the first function message was sent normally.

6. The vehicle message transmission method according to claim 4, characterized in that, The method further includes: Determine the forwarding time of the second function message; If the forwarding time is less than the time threshold, it is determined that the forwarding of the second function message is normal.

7. The vehicle message transmission method according to any one of claims 1-6, characterized in that, The target node is used to parse the first functional message or the second functional message to obtain target signal parameters; the method further includes: Obtain the target signal parameters of the target node; If the target signal parameter is detected to be inconsistent with the first signal parameter or the second signal parameter, it is determined that the first controller has malfunctioned.

8. The vehicle message transmission method according to any one of claims 1-6, characterized in that, The method further includes: Receive the operating mode command set by the user for the first controller; Based on the operating mode command, switch the current operating mode of the first controller.

9. A vehicle message transmission device, characterized in that, The vehicle includes a first controller and a second controller, the second controller including multiple functional modules, and the first controller integrating at least one functional module of the second controller; the device is applied to the first controller, and the device includes: The first processing module is used to, if the working mode is detected to be integrated mode, obtain the first signal parameters of its own target functional module, encapsulate the first signal parameters into a first functional message based on a pre-stored general configuration file, and send the first functional message to the target node. The second processing module is used to receive and store the second function message sent by the second controller if the working mode is detected to be the downlink mode, and forward the second function message to the target node; wherein, the second function message is obtained by the second controller encapsulating the second signal parameters of its target function module based on the general configuration file, and the sender associated with the first function message and the second function message is the target function module.

10. A vehicle, characterized in that, include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the vehicle message transmission method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the vehicle message transmission method according to any one of claims 1 to 8.

12. A computer program product, characterized in that, It includes computer instructions for causing a computer to perform the vehicle message transmission method according to any one of claims 1 to 8.

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