Driving control message processing method and device, equipment and medium

Abstract

The invention discloses a driving control message processing method and device, equipment and a medium. The method comprises the following steps: receiving a driving control message and a working state which are regularly sent by each intelligent driving application system; detecting whether each intelligent driving application system meets a message multiplexing processing condition or not according to the working state; when it is detected that the message multiplexing processing condition is met, driving control messages sent by all the intelligent driving application systems are combined, and a target driving control message is obtained; and sending the target driving control message to a gateway controller, so that the gateway controller sends the target driving control message to a chassis controller. According to the embodiment of the invention, under the condition that each intelligent driving application system meets the message multiplexing processing condition, the driving control messages sent by each intelligent driving application system can be automatically combined into one message and then transmitted, so that the network load can be effectively reduced, and the communication real-time performance and safety of the vehicle are ensured.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to a method, apparatus, device, and medium for processing driving control messages. Background Technology

[0002] Intelligent driving vehicles with autonomous driving capabilities typically have multiple intelligent driving application systems. Each intelligent driving application system can be a hardware or software system that provides specific driving functions during the vehicle's autonomous driving process. During the vehicle's operation, each intelligent driving application system needs to periodically send driving control messages to the vehicle's chassis controller, requesting the chassis controller to perform corresponding deceleration, acceleration, rear wheel steering angle adjustment, or front wheel steering angle adjustment operations. The driving control message contains data used to request the chassis controller to perform the specified deceleration, acceleration, rear wheel steering angle adjustment, or front wheel steering angle adjustment operation.

[0003] In related technologies, a common approach to processing driving control messages involves periodically sending driving control messages from various intelligent driving application systems to the vehicle's gateway controller. The gateway controller then forwards these messages to the vehicle's chassis controller. This approach requires the periodic transmission of multiple driving control messages, resulting in high network load and impacting the vehicle's communication real-time performance and safety. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and medium for processing driving control messages, in order to solve the problem that the driving control message processing schemes in related technologies require the periodic transmission of multiple driving control messages, resulting in high network load on the vehicle and affecting the real-time communication and security of the vehicle.

[0005] According to one aspect of the present invention, a method for processing driving control messages is provided, comprising:

[0006] The data receiving component receives driving control messages and operating statuses periodically sent by various intelligent driving application systems of the vehicle.

[0007] By judging the components, based on the working status sent by each intelligent driving application system, it is detected whether each intelligent driving application system meets the message multiplexing processing conditions;

[0008] When it is detected that each intelligent driving application system meets the message multiplexing processing conditions, the driving control messages sent by each intelligent driving application system are merged to obtain the target driving control message.

[0009] The target driving control message is sent to the vehicle's gateway controller via a data transmission component, so that the gateway controller sends the target driving control message to the vehicle's chassis controller.

[0010] According to another aspect of the present invention, a processing apparatus for driving control messages is provided, comprising:

[0011] The message receiving module is used to receive driving control messages and operating statuses periodically sent by various intelligent driving application systems of the vehicle through the data receiving component.

[0012] The message detection module is used to detect whether each intelligent driving application system meets the message multiplexing processing conditions based on the working status sent by each intelligent driving application system by the judgment component.

[0013] The message merging module is used to merge the driving control messages sent by each intelligent driving application system to obtain the target driving control message when it is detected that each intelligent driving application system meets the message multiplexing processing conditions.

[0014] The message transmission module is used to send the target driving control message to the vehicle's gateway controller via a data transmission component, so that the gateway controller sends the target driving control message to the vehicle's chassis controller.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor;

[0017] and a memory communicatively connected to the at least one processor;

[0018] The memory stores a computer program that is executed by the at least one processor, which enables the at least one processor to perform the driving control message processing method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the method for processing driving control messages according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a processor, implements the method for processing driving control messages as described in any embodiment of the present invention.

[0021] The technical solution of this invention, after receiving driving control messages and operating statuses periodically sent by various intelligent driving application systems of the vehicle through a data receiving component, uses a judgment component to detect whether each intelligent driving application system meets the message multiplexing processing conditions based on the operating status sent by each intelligent driving application system. When it is detected that each intelligent driving application system meets the message multiplexing processing conditions, the driving control messages sent by each intelligent driving application system are merged to obtain a target driving control message. Then, the target driving control message is sent to the vehicle's gateway controller through a data sending component, so that the gateway controller sends the target driving control message to the vehicle's chassis controller. This solves the problem in related technologies where the driving control message processing scheme requires the periodic transmission of multiple driving control messages, resulting in high network load on the vehicle and affecting the real-time performance and security of vehicle communication. It can automatically merge the driving control messages sent by various intelligent driving application systems into a single message before transmission when each intelligent driving application system meets the message multiplexing processing conditions, which can effectively reduce network load and ensure the real-time performance and security of vehicle communication.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a method for processing driving control messages provided in Embodiment 1 of the present invention.

[0025] Figure 2 This is a flowchart of a method for processing driving control messages provided in Embodiment 2 of the present invention.

[0026] Figure 3 This is a schematic diagram of a driving control message processing device provided in Embodiment 3 of the present invention.

[0027] Figure 4 A schematic diagram of the structure of an electronic device for implementing the driving control message processing method of this embodiment of the invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "target," "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising," "including," and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1 This is a flowchart illustrating a method for processing driving control messages according to Embodiment 1 of the present invention. This embodiment is applicable to processing driving control messages periodically sent by various intelligent driving application systems. The method can be executed by a driving control message processing device, which can be implemented in hardware and / or software and can be configured in the vehicle's overall controller. The vehicle is an intelligent driving vehicle with autonomous driving capabilities. Figure 1 As shown, the method includes:

[0032] Step 101: Receive driving control messages and operating statuses periodically sent by various intelligent driving application systems of the vehicle through the data receiving component.

[0033] Optionally, vehicles with autonomous driving capabilities may be equipped with multiple intelligent driving application systems. Each intelligent driving application system may be a hardware or software system used to provide specified driving functions during the vehicle's autonomous driving process.

[0034] Optional intelligent driving application systems include automatic emergency braking system, adaptive cruise control system, advanced cruise system, lane keeping assist system, emergency lane keeping system, automatic lane change system with turn signal, and automatic parking assist system.

[0035] Optionally, the automatic emergency braking system can be a hardware or software system that provides automatic emergency braking functionality during the vehicle's autonomous driving process. Automatic emergency braking functionality can refer to the function of continuously monitoring the driving environment ahead of the vehicle through sensors, and triggering automatic emergency braking to apply emergency braking when a potential collision with a vehicle, pedestrian, or obstacle is detected and the vehicle fails to take timely braking measures. The adaptive cruise control system can be a hardware or software system that provides adaptive cruise functionality during the vehicle's autonomous driving process. Adaptive cruise functionality can refer to the function of automatically adjusting the vehicle's speed to maintain a safe distance from the vehicle in front. The advanced cruise system can be a hardware or software system that provides adaptive cruise, lane keeping, and automatic lane changing functions during the vehicle's autonomous driving process. The lane keeping assist system can be a hardware or software system that provides lane departure warning, lane departure intervention, and lane centering control functions during the vehicle's autonomous driving process. The emergency lane keeping system can be a hardware or software system that provides the function of reducing the risk of lane departure or collision through active steering intervention during the vehicle's autonomous driving process. The automatic lane changing system with turn signals can be a hardware or software system that provides lane changing assistance during the vehicle's autonomous driving process. Lane change assist refers to a function that monitors the traffic environment to the side, rear, and behind the vehicle in real time. When the vehicle activates its turn signal and initiates a lane change operation, it automatically analyzes the position and speed of surrounding vehicles to determine if the lane change conditions are met. If the conditions are met, it automatically adjusts the vehicle's speed to assist in a smooth lane change. Automatic parking assist can be a hardware or software system used to provide automatic parking functionality during the vehicle's autonomous driving process.

[0036] Optionally, the vehicle's chassis controller can be a hardware module installed on the vehicle for adjusting parameters such as vehicle speed, rear wheel steering angle, and front wheel steering angle. Control request data can be data used to request the chassis controller to perform a specified deceleration operation, acceleration operation, rear wheel steering angle adjustment operation, or front wheel steering angle adjustment operation. After receiving a message containing control request data, the vehicle's chassis controller extracts the control request data from the message and performs the corresponding deceleration operation, acceleration operation, rear wheel steering angle adjustment operation, or front wheel steering angle adjustment operation based on the control request data. A driving control message can refer to a message obtained by encapsulating the specified control request data. A driving control message is simply a message containing control request data.

[0037] Optionally, the operating status can be information indicating whether the intelligent driving application system agrees to merge and process driving control messages sent by the intelligent driving application system. The operating status can be a message multiplexing enabled state or a message multiplexing disabled state. A message multiplexing enabled state can be information indicating that the intelligent driving application system agrees to merge and process driving control messages sent by the intelligent driving application system. For example, a message multiplexing enabled state is 1. A message multiplexing disabled state can be information indicating that the intelligent driving application system does not agree to merge and process driving control messages sent by the intelligent driving application system.

[0038] Optionally, the data receiving component can be a hardware or software module installed in the vehicle to receive driving control messages and operational status updates periodically sent by various intelligent driving application systems within the vehicle. During the operation of the intelligent driving vehicle, each intelligent driving application system will periodically send its operational status and driving control messages that need to be sent to the vehicle's chassis controller to the data receiving component at a preset frequency.

[0039] Step 102: By using the judgment component, based on the working status sent by each intelligent driving application system, detect whether each intelligent driving application system meets the message multiplexing processing conditions.

[0040] Optionally, the judgment component detects whether each intelligent driving application system meets the message multiplexing processing conditions based on the working status sent by each intelligent driving application system. This includes: the judgment component performs the following operations: determining whether the working status sent by each intelligent driving application system is a message multiplexing enabled state; if the working status sent by each intelligent driving application system is a message multiplexing enabled state, then it is determined that each intelligent driving application system meets the message multiplexing processing conditions.

[0041] Optionally, by using a judgment component, based on the working status sent by each intelligent driving application system, it can be determined whether each intelligent driving application system meets the message multiplexing processing conditions. This also includes: if any intelligent driving application system sends a working status that is not in the message multiplexing enabled state, then it is determined that each intelligent driving application system does not meet the message multiplexing processing conditions.

[0042] Optionally, the message multiplexing processing condition is used to determine whether driving control messages sent by various intelligent driving application systems can be merged. The message multiplexing processing condition can be that all intelligent driving application systems send messages in a message multiplexing enabled state. When all intelligent driving application systems send messages in a message multiplexing enabled state, it can be determined that the driving control messages sent by each intelligent driving application system can be merged, and each intelligent driving application system meets the message multiplexing processing condition. If any intelligent driving application system sends a message multiplexing enabled state, it can be determined that the driving control messages sent by each intelligent driving application system cannot be merged, and each intelligent driving application system does not meet the message multiplexing processing condition.

[0043] Optionally, the judgment component can be a hardware or software module installed in the vehicle to detect whether each intelligent driving application system meets the message multiplexing processing conditions based on the operating status sent by each intelligent driving application system. Each time the data receiving component receives driving control messages and operating statuses periodically sent by each intelligent driving application system, the judgment component performs the operation of detecting whether each intelligent driving application system meets the message multiplexing processing conditions based on the operating status sent by each intelligent driving application system. Detecting whether each intelligent driving application system meets the message multiplexing processing conditions based on the operating status sent by each intelligent driving application system includes: determining whether the operating status sent by each intelligent driving application system is a message multiplexing enabled state; if all operating statuses sent by each intelligent driving application system are in a message multiplexing enabled state, then it is determined that each intelligent driving application system meets the message multiplexing processing conditions; if any of the operating statuses sent by each intelligent driving application system is not in a message multiplexing enabled state, then it is determined that each intelligent driving application system does not meet the message multiplexing processing conditions.

[0044] Step 103: When it is detected that each intelligent driving application system meets the message multiplexing processing conditions, the driving control messages sent by each intelligent driving application system are merged to obtain the target driving control message.

[0045] Optionally, the target driving control message can be a message obtained by merging the driving control messages sent by various intelligent driving application systems, resulting in a single message containing control request data from the driving control messages sent by each intelligent driving application system. When it is detected that each intelligent driving application system meets the message multiplexing processing conditions, it indicates that the driving control messages sent by each intelligent driving application system can be merged. Therefore, the driving control messages sent by each intelligent driving application system are merged to obtain the target driving control message.

[0046] Optionally, the driving control messages sent by various intelligent driving application systems are merged to obtain a target driving control message, including: extracting control request data from the driving control messages sent by various intelligent driving application systems; sorting each control request data according to a preset sorting order, and determining the sorted sequence as the data to be transmitted; and encapsulating the data to be transmitted into a message of a preset communication protocol to obtain the target driving control message.

[0047] Optionally, the preset sorting order can refer to the sorting order of the various intelligent driving application systems. The sorting order of the various intelligent driving application systems can be a pre-set sorting order for each system. These intelligent driving application systems include automatic emergency braking system, adaptive cruise control system, advanced cruise control system, lane keeping assist system, emergency lane keeping system, automatic lane change system with turn signal, and automatic parking assist system. The sorting order of the various intelligent driving application systems is: automatic emergency braking system, adaptive cruise control system, advanced cruise control system, lane keeping assist system, emergency lane keeping system, automatic lane change system with turn signal, and automatic parking assist system.

[0048] Optionally, the data to be transmitted can be composed of control request data arranged in driving control messages sent by various intelligent driving application systems. The preset communication protocol can be the communication protocol used between various modules in the vehicle. The preset communication protocol can be a Controller Area Network (CAN) communication protocol or an Ethernet communication protocol. The data to be transmitted can be encapsulated as CAN messages or Ethernet messages.

[0049] Optionally, the control request data is sorted according to a preset sorting order, and the sorted sequence is determined as the data to be transmitted, including: sorting the control request data according to the sorting order of each intelligent driving application system, and determining the sorted sequence as the data to be transmitted.

[0050] Optionally, control request data can be extracted from the driving control messages sent by each intelligent driving application system, and sorted according to the order of the intelligent driving application systems. The control request data from the automatic emergency braking system is ranked first. The control request data from the adaptive cruise control system is ranked second. The control request data from the advanced cruise system is ranked third. The control request data from the lane keeping assist system is ranked fourth. The control request data from the emergency lane keeping system is ranked fifth. The control request data from the automatic lane change system with turn signal is ranked sixth. The control request data from the automatic parking assist system is ranked seventh. Then, the sorted sequence is determined as the data to be transmitted, and the data to be transmitted is encapsulated into a message of a preset communication protocol to obtain the target driving control message.

[0051] Step 104: Send the target driving control message to the vehicle's gateway controller via the data transmission component, so that the gateway controller sends the target driving control message to the vehicle's chassis controller.

[0052] Optionally, the vehicle's gateway controller can be a hardware module installed in the vehicle to coordinate data communication between various modules within the vehicle. The data transmission component can be a hardware or software module installed in the vehicle to send target driving control messages or driving control messages that need to be sent to the chassis controller to the gateway controller. After receiving the target driving control message or driving control message sent by the data transmission component, the gateway controller will send the target driving control message or driving control message to the vehicle's chassis controller.

[0053] Optionally, after receiving the target driving control message, the data transmission component can be used to send the target driving control message to the vehicle's gateway controller. Upon receiving the target driving control message from the data transmission component, the gateway controller forwards it to the vehicle's chassis controller. Upon receiving the target driving control message, the chassis controller extracts the data to be transmitted from the message and then executes corresponding deceleration, acceleration, rear wheel angle adjustment, or front wheel angle adjustment operations based on the various control request data within the data to be transmitted.

[0054] Optionally, after determining whether each intelligent driving application system meets the message multiplexing processing conditions based on the working status sent by each intelligent driving application system by the judgment component, the method further includes: when it is detected that each intelligent driving application system does not meet the message multiplexing processing conditions, the driving control messages sent by each intelligent driving application system are sent to the vehicle's gateway controller by the data transmission component, so that the gateway controller sends the driving control messages sent by each intelligent driving application system to the vehicle's chassis controller.

[0055] Optionally, when the conditions for message multiplexing are met by various intelligent driving application systems, it indicates that the driving control messages sent by these systems cannot be merged. Therefore, the driving control messages are not merged, and are instead sent to the vehicle's gateway controller via the data transmission component. Upon receiving the driving control messages from each intelligent driving application system, the gateway controller forwards them to the vehicle's chassis controller. Upon receiving these messages, the chassis controller extracts the control request data and executes corresponding deceleration, acceleration, rear wheel angle adjustment, or front wheel angle adjustment operations based on the control request data.

[0056] The technical solution of this invention, after receiving driving control messages and operating statuses periodically sent by various intelligent driving application systems of the vehicle through a data receiving component, uses a judgment component to detect whether each intelligent driving application system meets the message multiplexing processing conditions based on its operating status. When the conditions are met, the driving control messages sent by each system are merged to obtain a target driving control message. This target message is then sent to the vehicle's gateway controller via a data sending component, enabling the gateway controller to forward it to the vehicle's chassis controller. This solves the problem in related technologies where multiple driving control messages need to be transmitted periodically, leading to high network load and affecting the vehicle's real-time communication and security. This invention automatically merges the driving control messages sent by various intelligent driving application systems into a single message before transmission, effectively reducing network load and ensuring real-time communication and security. The technical solution of this invention also reduces network architecture complexity and increases the flexibility of functional expansion.

[0057] Example 2

[0058] Figure 2 This is a flowchart illustrating a method for processing driving control messages according to Embodiment 2 of the present invention. The embodiments of the present invention can be combined with various optional solutions from one or more of the above embodiments. For example... Figure 2 As shown, the method includes:

[0059] Step 201: Receive driving control messages and operating statuses periodically sent by various intelligent driving application systems of the vehicle through the data receiving component.

[0060] The various intelligent driving application systems include automatic emergency braking system, adaptive cruise control system, advanced cruise system, lane keeping assist system, emergency lane keeping system, automatic lane change system with turn signal, and automatic parking assist system.

[0061] Step 202: By judging the working status sent by each intelligent driving application system, the component detects whether each intelligent driving application system meets the message multiplexing processing conditions.

[0062] Step 203: When it is detected that each intelligent driving application system meets the message multiplexing processing conditions, extract the control request data from the driving control messages sent by each intelligent driving application system.

[0063] Step 204: Sort each control request data according to the preset sorting order, and determine the sorted sequence as the data to be transmitted.

[0064] Step 205: Encapsulate the data to be transmitted into a message of a preset communication protocol to obtain the target driving control message.

[0065] Step 206: Send the target driving control message to the vehicle's gateway controller via the data transmission component, so that the gateway controller sends the target driving control message to the vehicle's chassis controller.

[0066] The technical solution of this invention can automatically merge the driving control messages sent by each intelligent driving application system into a single message before transmission, provided that the message multiplexing processing conditions are met. This can effectively reduce network load and ensure the real-time communication and safety of the vehicle.

[0067] Example 3

[0068] Figure 3 This is a schematic diagram of a driving control message processing device provided in Embodiment 3 of the present invention. The device can be configured in an electronic device. Figure 3 As shown, the device includes: a message receiving module 301, a message detection module 302, a message merging module 303, and a message transmission module 304.

[0069] The system includes a message receiving module 301, which receives driving control messages and operating statuses periodically sent by various intelligent driving application systems of the vehicle via a data receiving component; a message detection module 302, which uses a judgment component to detect whether each intelligent driving application system meets the message multiplexing processing conditions based on the operating statuses sent by each intelligent driving application system; a message merging module 303, which merges the driving control messages sent by each intelligent driving application system to obtain a target driving control message when it is detected that each intelligent driving application system meets the message multiplexing processing conditions; and a message transmission module 304, which sends the target driving control message to the vehicle's gateway controller via a data sending component, so that the gateway controller sends the target driving control message to the vehicle's chassis controller.

[0070] The technical solution of this invention, after receiving driving control messages and operating statuses periodically sent by various intelligent driving application systems of the vehicle through a data receiving component, uses a judgment component to detect whether each intelligent driving application system meets the message multiplexing processing conditions based on the operating status sent by each intelligent driving application system. When it is detected that each intelligent driving application system meets the message multiplexing processing conditions, the driving control messages sent by each intelligent driving application system are merged to obtain a target driving control message. Then, the target driving control message is sent to the vehicle's gateway controller through a data sending component, so that the gateway controller sends the target driving control message to the vehicle's chassis controller. This solves the problem in related technologies where the driving control message processing scheme requires the periodic transmission of multiple driving control messages, resulting in high network load on the vehicle and affecting the real-time performance and security of vehicle communication. It can automatically merge the driving control messages sent by various intelligent driving application systems into a single message before transmission when each intelligent driving application system meets the message multiplexing processing conditions, which can effectively reduce network load and ensure the real-time performance and security of vehicle communication.

[0071] In one optional embodiment of the present invention, the various intelligent driving application systems may include an automatic emergency braking system, an adaptive cruise control system, an advanced cruise system, a lane keeping assist system, an emergency lane keeping system, an automatic lane change system with turn signals, and an automatic parking assist system.

[0072] In an optional embodiment of the present invention, the message detection module 302 is specifically configured to: perform the following operations through the judgment component: determine whether the working status sent by each intelligent driving application system is a message multiplexing enabled state; if the working status sent by each intelligent driving application system is a message multiplexing enabled state, then determine that each intelligent driving application system meets the message multiplexing processing conditions.

[0073] In an optional embodiment of the present invention, the message merging module 303 is specifically used to: extract control request data from driving control messages sent by various intelligent driving application systems; sort each control request data according to a preset sorting order, and determine the sorted sequence as data to be transmitted; and encapsulate the data to be transmitted into a message of a preset communication protocol to obtain a target driving control message.

[0074] In an optional embodiment of the present invention, the message merging module 303 may, when performing the operation of sorting each control request data according to a preset sorting order and determining the sorted sequence as the data to be transmitted, specifically be used to: sort each control request data according to the sorting order of each intelligent driving application system and determine the sorted sequence as the data to be transmitted.

[0075] In an optional embodiment of the present invention, the message detection module 302 may be further configured to: if any intelligent driving application system sends a working state that is not a message multiplexing enabled state, then determine that each intelligent driving application system does not meet the message multiplexing processing conditions.

[0076] In an optional embodiment of the present invention, the message transmission module 304 is further configured to: when it is detected that each intelligent driving application system does not meet the message multiplexing processing conditions, send the driving control messages sent by each intelligent driving application system to the vehicle's gateway controller through the data transmission component, so that the gateway controller sends the driving control messages sent by each intelligent driving application system to the vehicle's chassis controller.

[0077] The driving control message processing device provided in the embodiments of the present invention can execute the driving control message processing method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0078] Example 4

[0079] Figure 4 A schematic diagram of an electronic device 10, which can be used to implement the driving control message processing method of embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, electronic devices, blade electronic devices, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0080] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0081] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0082] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the processing methods for driving control messages.

[0083] In some embodiments, the method for processing driving control messages can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed on a heterogeneous hardware accelerator via ROM and / or a communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the driving control message processing method described above can be performed. Alternatively, in other embodiments, the processor can be configured to perform the driving control message processing method by any other suitable means (e.g., by means of firmware).

[0084] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0085] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or electronic device.

[0086] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0087] To provide user interaction, the systems and techniques described herein can be implemented on a heterogeneous hardware accelerator, which includes: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the heterogeneous hardware accelerator. Other types of devices can also be used to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or haptic feedback); and input from the user can be received in any form (including sound input, voice input, or haptic input).

[0088] The systems and technologies described herein can be implemented in computing systems that include back-end components (e.g., as data electronic devices), or computing systems that include middleware components (e.g., application electronic devices), or computing systems that include front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0089] A computing system can include clients and electronic devices. Clients and electronic devices are generally geographically separated and typically interact via communication networks. The client-electronic device relationship is created by computer programs running on the respective computers and establishing a client-electronic device relationship between them. Electronic devices can be cloud electronic devices, also known as cloud computing electronic devices or cloud servers, which are hosting products within the cloud computing service ecosystem. These address the shortcomings of traditional physical hosting and VPS services, such as high management difficulty and weak business scalability.

[0090] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0091] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for processing driving control messages, characterized in that, include: The data receiving component receives driving control messages and operating statuses periodically sent by various intelligent driving application systems of the vehicle. By judging the components, based on the working status sent by each intelligent driving application system, it is detected whether each intelligent driving application system meets the message multiplexing processing conditions; When it is detected that each intelligent driving application system meets the message multiplexing processing conditions, the driving control messages sent by each intelligent driving application system are merged to obtain the target driving control message. The target driving control message is sent to the vehicle's gateway controller via a data transmission component, so that the gateway controller sends the target driving control message to the vehicle's chassis controller.

2. The method for processing driving control messages according to claim 1, characterized in that, The various intelligent driving application systems include automatic emergency braking system, adaptive cruise control system, advanced cruise system, lane keeping assist system, emergency lane keeping system, automatic lane change system with turn signal, and automatic parking assist system.

3. The method for processing driving control messages according to claim 1, characterized in that, By judging the components, based on the working status sent by each intelligent driving application system, it is determined whether each intelligent driving application system meets the message multiplexing processing conditions, including: The following operations are performed by determining whether the component is functioning correctly: Determine whether the working status sent by each intelligent driving application system is in the message multiplexing enabled state; If all the working statuses sent by each intelligent driving application system are in the message multiplexing enabled state, then it is determined that each intelligent driving application system meets the message multiplexing processing conditions.

4. The method for processing driving control messages according to claim 1, characterized in that, The driving control messages sent by various intelligent driving application systems are merged to obtain the target driving control message, including: Extract control request data from driving control messages sent by various intelligent driving application systems; The control request data is sorted according to a preset sorting order, and the sorted sequence is determined as the data to be transmitted. The data to be transmitted is encapsulated into a message of a preset communication protocol to obtain the target driving control message.

5. The method for processing driving control messages according to claim 4, characterized in that, The control request data is sorted according to a preset sorting order, and the resulting sequence is determined as the data to be transmitted, including: The control request data is sorted according to the sorting order of each intelligent driving application system, and the resulting sequence is determined as the data to be transmitted.

6. The method for processing driving control messages according to claim 3, characterized in that, The judgment component, based on the working status sent by each intelligent driving application system, detects whether each intelligent driving application system meets the message multiplexing processing conditions, and also includes: If any intelligent driving application system sends a working status that is not in the message multiplexing enabled state, then it is determined that each intelligent driving application system does not meet the message multiplexing processing conditions.

7. The method for processing driving control messages according to claim 1, characterized in that, After determining whether each intelligent driving application system meets the message multiplexing processing conditions based on the working status sent by each application system through the judgment component, the process also includes: When it is detected that the various intelligent driving application systems do not meet the message multiplexing processing conditions, the driving control messages sent by the various intelligent driving application systems are sent to the vehicle's gateway controller through the data transmission component, so that the gateway controller sends the driving control messages sent by the various intelligent driving application systems to the vehicle's chassis controller.

8. A device for processing driving control messages, characterized in that, include: The message receiving module is used to receive driving control messages and operating statuses periodically sent by various intelligent driving application systems of the vehicle through the data receiving component. The message detection module is used to detect whether each intelligent driving application system meets the message multiplexing processing conditions based on the working status sent by each intelligent driving application system by the judgment component. The message merging module is used to merge the driving control messages sent by each intelligent driving application system to obtain the target driving control message when it is detected that each intelligent driving application system meets the message multiplexing processing conditions. The message transmission module is used to send the target driving control message to the vehicle's gateway controller via a data transmission component, so that the gateway controller sends the target driving control message to the vehicle's chassis controller.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that is executed by the at least one processor, which enables the at least one processor to perform the method for processing driving control messages according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for processing driving control messages as described in any one of claims 1-7.

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