Signal conversion method, gateway device, domain controller and computer program product

Abstract

The invention provides a signal conversion method, a gateway device, a domain controller and a computer program product, according to the signal conversion method provided by the invention, when a first device communicates with a second device, a first DBC file corresponding to the first device is imported and analyzed to obtain first message definition information corresponding to the first device; and importing and analyzing a second DBC file corresponding to a second device to obtain second message definition information corresponding to the second device, then receiving a first message sent by a first device, reading the first message based on the first message definition information to obtain first message signal information corresponding to the first message, and sending the first message signal information to the second device. Second message signal information corresponding to the first message signal information is determined based on a pre-created mapping table, the second message signal information is message signal information conforming to the second message definition information, and the mapping table comprises a mapping relation between the first message signal information and the second message signal information; and finally, packaging the second message signal information into a second message based on the second message definition information, thereby realizing automatic conversion of the message, and sending the second message to the second equipment, thereby realizing normal communication between the first equipment and the second equipment.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a signal conversion method, gateway device, domain controller, and computer program product. Background Technology

[0002] DBC files are file formats used to describe data frames and signals in the CAN (Controller Area Network) communication protocol. The main purpose of DBC files is to provide standardized and normalized data descriptions for CAN communication, facilitating data exchange and understanding between different systems. Each DBC file may contain specific information, such as data frame definitions, signal characteristics, and the relationships between signals and data frames; this information is crucial for understanding and using CAN communication.

[0003] In some scenarios, it is necessary to communicate between two devices with different communication protocols and file formats. The two devices have different DBC files, and the definitions of communication data frames and signals are different. How to achieve normal communication between the two devices is an urgent problem to be solved. Summary of the Invention

[0004] Based on this, the present invention provides a signal conversion method, a gateway device, a domain controller, and a computer program product. Using this signal conversion method, when the first device and the second device are communicating, a pre-created mapping table can be used to convert the first message corresponding to the first device into a second message corresponding to the second device, thereby sending the converted second message to the second device to realize communication between the first device and the second device.

[0005] On one hand, the present invention provides a signal conversion method, comprising:

[0006] Import and parse the first DBC file corresponding to the first device to obtain the first message definition information corresponding to the first device; import and parse the second DBC file corresponding to the second device to obtain the second message definition information corresponding to the second device.

[0007] Receive a first message sent by a first device, read the first message based on the first message definition information, and obtain the first message signal information corresponding to the first message;

[0008] The second message signal information corresponding to the first message signal information is determined based on a pre-created mapping table. The second message signal information is a message signal information that conforms to the second message definition information. The mapping table includes the mapping relationship between the first message signal information and the second message signal information.

[0009] Based on the second message definition information, the second message signal information is encapsulated into a second message message, and the second message message is sent to the second device.

[0010] Furthermore, in some embodiments, the first message signal information includes first message information and first signal information. The first message information includes at least a first message identifier, a message period, a message sending node, and a first message receiving node. The first signal information includes at least a first signal name and a signal value corresponding to the first signal name.

[0011] The step of reading the first message message based on the first message definition information to obtain the first message signal information corresponding to the first message message includes:

[0012] Based on the first message definition information, the first message message is read to obtain the first message identifier, the message period, the message sending node, the first message receiving node corresponding to the first message message, and the first signal name and the signal value corresponding to the first signal carried by the first message message.

[0013] Furthermore, in some implementations, determining the second message signal information corresponding to the first message signal information based on a pre-created mapping table includes:

[0014] In the mapping table, determine the second message identifier corresponding to the first message identifier, determine the second message receiving node corresponding to the first message receiving node, and determine the second signal name corresponding to the first signal name;

[0015] The second message signal information is generated based on the second message identifier, the message period, the message sending node, the second message receiving node, the second signal name, and the signal value.

[0016] Furthermore, in some embodiments, the step of encapsulating the second message signal information into a second message message based on the second message definition information includes:

[0017] Based on the second message identifier, the corresponding second message name, second message format, and message length are determined in the second message definition information; and based on the second signal name, the corresponding second signal encoding format, signal length, signal start bit, and signal end bit are determined in the second message definition information.

[0018] Based on the second message format, the message length, the second signal encoding format, the signal length, the signal start bit, and the signal end bit, the second message name, the second message identifier, the message period, the message sending node, the second message receiving node, the second signal name, and the signal value are encapsulated into the second message message.

[0019] Furthermore, in some embodiments, the first message signal information includes a first checksum corresponding to the first message message, and after encapsulating the second message signal information into a second message message based on the second message definition information, it further includes:

[0020] The second check code corresponding to the second message is calculated based on a predefined check algorithm.

[0021] The second checksum is filled into the second message.

[0022] Furthermore, in some embodiments, sending the second message to the second device includes:

[0023] A sending timer corresponding to the second message is created based on the message period;

[0024] The second message is sent to the second device based on the transmission timer.

[0025] Furthermore, in some embodiments, the message definition information includes one or more of the following: message identifier, message name, message period, message format, checksum, signal name, signal length, signal start bit, signal end bit, signal factor, offset, unit, maximum signal value, and minimum signal value.

[0026] On the other hand, the present invention also provides a gateway device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the steps of the method as described in any of the preceding claims.

[0027] On the other hand, the present invention also provides a domain controller, including the gateway device as described above.

[0028] On the other hand, the present invention also provides a computer program product having at least one instruction stored thereon, wherein the at least one instruction, when executed by a gateway device, implements the steps of the above-described signal conversion method.

[0029] According to the signal conversion method provided by the present invention, when the first device and the second device communicate, the method imports and parses the first DBC file corresponding to the first device to obtain the first message definition information corresponding to the first device, and imports and parses the second DBC file corresponding to the second device to obtain the second message definition information corresponding to the second device. The method receives the first message message sent by the first device, reads the first message message based on the first message definition information to obtain the first message signal information corresponding to the first message message, and then determines the second message signal information corresponding to the first message signal information based on a pre-created mapping table. The second message signal information is message signal information that conforms to the second message definition information. The mapping table includes the mapping relationship between the first message signal information and the second message signal information. Finally, the second message signal information is encapsulated into a second message based on the second message definition information, and the second message is sent to the second device. By using the pre-created mapping table to convert the first message message conforming to the first device into a second message message conforming to the second device, communication between the first device and the second device with different message definition information is realized.

[0030] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0031] Figure 1 This is a schematic flowchart of a signal conversion method provided in an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the structure of a gateway device provided in an embodiment of the present invention. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0034] In the description of one or more embodiments of the present invention, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0035] Controller Area Network (CAN) is one of the most widely used buses internationally. In North America and Western Europe, the CAN bus protocol has become the standard bus for automotive computer control systems and embedded industrial control LANs. With the continuous development of the automotive industry, the controllers of major vehicle components, especially the vehicle controller, mainly exchange control signals through the CAN bus.

[0036] In the development of automotive controller software, defining the interaction signals of each controller (i.e., the communication matrix) is a prerequisite for software development. Among related technologies, automotive CAN communication technology is mostly based on DBC files for data parsing, using DBC files to record a series of CAN frames representing the message format in CAN communication.

[0037] However, when two devices based on different communication networks need to communicate, since the two devices based on different communication networks have different definitions of CAN message signals, it is usually necessary to manually convert the message signals sent by both ends so that the message signal sent by one end can be correctly recognized by the other end. This not only wastes a lot of time, but also cannot ensure a high enough level of accuracy.

[0038] Based on this, the present invention proposes a signal conversion method. When a first device and a second device communicate, the method imports and parses a first DBC file corresponding to the first device to obtain first message definition information, and imports and parses a second DBC file corresponding to the second device to obtain second message definition information. It receives a first message message sent by the first device, reads the first message message based on the first message definition information to obtain first message signal information corresponding to the first message message, and then determines the second message signal information corresponding to the first message signal information based on a pre-created mapping table. The second message signal information is message signal information conforming to the second message definition information. The mapping table includes the mapping relationship between the first message signal information and the second message signal information. Finally, based on the second message definition information, the second message signal information is encapsulated into a second message, and the second message is sent to the second device. By using a pre-created mapping table to convert a first message conforming to the first device into a second message conforming to the second device, communication between a first device and a second device with different message definition information is realized. Furthermore, this signal conversion method is automatically implemented based on program code, greatly improving signal conversion efficiency and accuracy.

[0039] Please see Figure 1 , Figure 1This is a flowchart illustrating a signal conversion method provided in an embodiment of the present invention. The executing entity of this process can be a program used to determine the interference target. Alternatively, the executing entity of this process can also be a vehicle or domain controller equipped with the aforementioned program, or other devices capable of communicating with the vehicle, domain controller, etc., without specific limitations.

[0040] The following is about Figure 1 The process shown will be described in detail. The signal conversion method may specifically include the following steps:

[0041] Step S102: Import and parse the first DBC file corresponding to the first device to obtain the first message definition information corresponding to the first device; and import and parse the second DBC file corresponding to the second device to obtain the second message definition information corresponding to the second device.

[0042] It should be noted that, in one or more embodiments of the present invention, the executing entity for the signal conversion method can be a third-party device located outside the first and second devices. This third-party device can be a gateway, which carries a computer program for executing the signal conversion method. The signal conversion method proposed in one or more embodiments of the present invention will be described below with the gateway as the executing entity.

[0043] DBC files are a commonly used data definition file for the CAN bus, frequently used in electronic control unit (ECU) communication within a CAN bus network. Their main function is to describe information such as the name, physical value, signal length, transmission period, calculation formula, and units of the message signal. Using a predefined DBC file, we can parse data frames in the CAN network into specific message signals.

[0044] Specifically, in step S102, the gateway imports and parses the first DBC file corresponding to the first device to obtain the first message definition information corresponding to the first device, and imports and parses the second DBC file corresponding to the second device to obtain the second message definition information corresponding to the second device.

[0045] Among them, the message definition information is the definition information of message signals transmitted in the communication network in the DBC file.

[0046] Step S104: Receive the first message sent by the first device, read the first message based on the first message definition information, and obtain the first message signal information corresponding to the first message;

[0047] Specifically, after importing and parsing the first DBC file corresponding to the first device and the second DBC file corresponding to the second device, the system receives the first message sent by the first device and parses the first message based on the first message definition information read from the first DBC file to obtain the first message signal information corresponding to the first message.

[0048] It should be noted that the DBC file defines various attributes of the message, including but not limited to the message name, message identifier, message period, message sending node, message receiving node, and signal information included in the message. Signal information may include signal name, signal length, signal start bit, signal factor, offset, unit, maximum signal value, and minimum signal value. The message period is the message transmission cycle, the message identifier is the message's ID identifier, the message sending node is the node that sends the message, and the message receiving node is the target receiving node for the message.

[0049] In this embodiment of the invention, the first message message sent by the first device is parsed based on the first message definition information obtained from the first DBC file to obtain the first message signal information corresponding to the first message message. The first message signal information includes at least a first message identifier, a message period, a message sending node, a first message receiving node, a first signal name, and a signal value corresponding to the first signal name.

[0050] Step S106: Determine the second message signal information corresponding to the first message signal information based on the pre-created mapping table. The second message signal information is the message signal information that conforms to the definition information of the second message. The mapping table includes the mapping relationship between the first message signal information and the second message signal information.

[0051] Understandably, since the first device and the second device are different devices based on different communication networks, their corresponding first DBC files and second DBC files are also different. This leads to differences in the definitions of message signals in the first DBC file and the second DBC file. For example, for acceleration message signals used to express the same information, the signal ID defined in the first DBC file of the first device is different from the signal ID defined in the second DBC file. Therefore, when the first device and the second device communicate, it is necessary to perform signal conversion on the message signals sent by the first device so that the converted message signals conform to the signal definition standards of the second DBC file.

[0052] Specifically, after reading the first message signal information corresponding to the first message, the second message signal information corresponding to the first message signal information is determined in a pre-created mapping table. The second message signal information is a message signal information that conforms to the definition information of the second message. The mapping table includes the mapping relationship between the first message signal information and the second message signal information.

[0053] Step S108: Based on the second message definition information, the second message signal information is encapsulated into a second message message, and the second message message is sent to the second device.

[0054] Specifically, the second message definition information is the message definition information extracted from the second DBC file. After obtaining the second message signal information, the second message signal information is encapsulated based on the second message definition information to obtain a message message that can be correctly read by the second device, and then the second message is sent to the second device.

[0055] In this embodiment of the invention, when the first device and the second device communicate, the first DBC file corresponding to the first device is imported and parsed to obtain the first message definition information corresponding to the first device, and the second DBC file corresponding to the second device is imported and parsed to obtain the second message definition information corresponding to the second device. A first message message sent by the first device is received, and the first message message is read based on the first message definition information to obtain the first message signal information corresponding to the first message message. Then, based on a pre-created mapping table, the second message signal information corresponding to the first message signal information is determined. The second message signal information is a message signal information that conforms to the second message definition information. The mapping table includes the mapping relationship between the first message signal information and the second message signal information. Finally, based on the second message definition information, the second message signal information is encapsulated into a second message, and the second message is sent to the second device. By using the pre-created mapping table to convert the first message message conforming to the first device into a second message message conforming to the second device, communication between the first device and the second device with different message definition information is realized.

[0056] In one embodiment, the first message signal information includes first message information and first signal information. The first message information includes at least a first message identifier, a message period, a message sending node, and a first message receiving node. The first signal information includes at least a first signal name and a signal value corresponding to the first signal name. In step S104, the first message message is read based on the first message definition information to obtain the first message signal information corresponding to the first message message. Specifically, this can be done by reading the first message message based on the first message definition information to obtain the first message identifier, message period, message sending node, and first message receiving node corresponding to the first message message, as well as the first signal name and signal value corresponding to the first signal carried by the first message message.

[0057] It should be noted that the first message definition information refers to the message definition information in the first DBC file. This may include one or more of the following: message identifier, message name, message period, message format, checksum, signal name, signal length, signal start bit, signal end bit, signal factor, offset, unit, maximum signal value, and minimum signal value. In other words, the DBC file predefines various attributes for each message message. After obtaining the first message message, it can be parsed based on the first message definition information corresponding to the first DBC file.

[0058] In this embodiment, a first message sent by a first device is received. After receiving the first message, the first message is parsed according to the first message definition information corresponding to the first DBC file to obtain the first message identifier, message period, message sending node, and first message receiving node corresponding to the first message, as well as the first signal name and signal value corresponding to the first signal carried by the first message.

[0059] Optionally, parsing the first message message according to the first message definition information can also be performed as follows: reading the first message identifier corresponding to the first message message; determining predefined message attributes corresponding to the first message identifier in the first message definition information based on the first message identifier; parsing the message message based on the predefined message attributes to obtain the first message identifier, message period, message sending node, and first message receiving node corresponding to the first message message; and obtaining the first signal name and signal value corresponding to the first signal carried by the first message message. The predefined message attributes include one or more of the following: message name, message period, message format, checksum, signal name, signal length, signal start bit, signal end bit, signal factor, offset, unit, maximum signal value, and minimum signal value.

[0060] In one embodiment, in step S106, determining the second message signal information corresponding to the first message signal information based on a pre-created mapping table can specifically involve: determining the second message identifier corresponding to the first message identifier, determining the second message receiving node corresponding to the first message receiving node, and determining the second signal name corresponding to the first signal name in the mapping table, and generating the second message signal information based on the second message identifier, message period, message sending node, second message receiving node, second signal name, and signal value.

[0061] It should be noted that the first message signal information includes multiple message attributes defined based on the first DBC file, and the second message signal information includes multiple message attributes defined based on the second DBC file. The mapping table pre-stores the correspondence between each message attribute in the first message signal information and each message attribute in the second message signal information. For example, the correspondence between the first message identifier and the second message identifier, and the correspondence between the first signal name and the second signal name.

[0062] In this embodiment of the invention, after obtaining the first message signal information, a second message identifier corresponding to the first message identifier, a second message receiving node corresponding to the first message receiving node, and a second signal name corresponding to the first signal name are determined in a pre-created mapping table. Second message signal information is then generated based on the second message identifier, message period, message sending node, second message receiving node, second signal name, and signal value. The mapped message attributes of each message attribute in the first message are found using the pre-created mapping table, and a second message conforming to the second device is generated according to the mapped message attributes. This allows the second device to correctly receive and identify the second message, enabling communication between the first device and the second device with different message definition information.

[0063] In one embodiment, in step S108, the second message signal information is encapsulated into a second message message based on the second message definition information. Specifically, this can be achieved by: determining the corresponding second message name, second message format, and message length in the second message definition information based on the second message identifier; determining the corresponding second signal encoding format, signal length, signal start bit, and signal end bit in the second message definition information based on the second signal name; and encapsulating the second message name, second message identifier, message period, message sending node, second message receiving node, second signal name, and signal value into a second message message based on the second message format, message length, second signal encoding format, signal length, signal start bit, and signal end bit.

[0064] It should be noted that the second message definition information is the message definition information in the second DBC file, which may include one or more of the following: message identifier, message name, message period, message format, checksum, signal name, signal length, signal start bit, signal end bit, signal factor, offset, unit, maximum signal value, and minimum signal value.

[0065] In this embodiment of the invention, after obtaining the second message signal information, the corresponding second message name, second message format, and message length are determined in the second message definition information based on the second message identifier in the second message signal information. Furthermore, the corresponding second signal encoding format, signal length, signal start bit, and signal end bit are determined in the second message definition information based on the second signal name. Thus, based on the second message format, message length, second signal encoding format, signal length, signal start bit, and signal end bit, the second message name, second message identifier, message period, message sending node, second message receiving node, second signal name, and signal value are encapsulated into a second message message. The second message message corresponds to the first message message, satisfies the second DBC file definition, and can be correctly recognized by the second device. The second message message is then sent to the second device, realizing communication between the first device and the second device with different message definition information.

[0066] In one embodiment, the first message signal information further includes a first check code corresponding to the first message message. After the second message signal information is encapsulated into a second message message based on the second message definition information, a second check code corresponding to the second message message is calculated based on a predefined check algorithm, and the second check code is filled into the second message message.

[0067] The first checksum is verification data calculated based on a predefined verification algorithm and the content of the message. It is used by the message receiver to verify the integrity of the message based on the checksum after receiving it.

[0068] In this embodiment of the invention, if the first message includes a first check code, when generating the second message, the second check code is calculated based on the content of the second message according to the predefined check algorithm, and the second check code is added to the second message so that the second device can check the integrity of the second message data according to the second check code after receiving the second message.

[0069] In one embodiment, in step S108, sending the second message to the second device can specifically be: creating a sending timer corresponding to the second message based on the message period, and sending the second message to the second device based on the sending timer.

[0070] That is, when the second message is sent, a corresponding sending timer is constructed according to the message period corresponding to the second message, and the second message is sent to the second device according to the sending timer and the predefined sending period.

[0071] In one or more embodiments of the present invention, when the first device and the second device communicate, a first DBC file corresponding to the first device is imported and parsed to obtain first message definition information corresponding to the first device, and a second DBC file corresponding to the second device is imported and parsed to obtain second message definition information corresponding to the second device. A first message message sent by the first device is received, and the first message message is read based on the first message definition information to obtain first message signal information corresponding to the first message message. Then, based on a pre-created mapping table, second message signal information corresponding to the first message signal information is determined. The second message signal information is message signal information that conforms to the second message definition information. The mapping table includes... The mapping relationship between the first and second message signal information is established. Finally, based on the second message definition information, the second message signal information is encapsulated into a second message message and sent to the second device. By parsing the message message sent by the first device, a pre-created mapping table is used to map each parsed message attribute to a message attribute that conforms to the second device, and a second message that conforms to the second device is created. This realizes communication between the first and second devices with different message definition information. Moreover, the message parsing, mapping and creation processes are all automatically executed based on code, which not only greatly solves the signal conversion time, but also has higher accuracy compared to manual execution.

[0072] In some embodiments, the present invention also provides Figure 2 The diagram shows the structure of the gateway device. Figure 2 At the hardware level, the gateway device includes a processor 21, an internal bus 22, a network interface 23, memory 24, and non-volatile memory 25, and may also include other hardware required for other services. This gateway device can be installed in a vehicle. The processor 21 can read the corresponding computer program from the non-volatile memory 25 into memory and run it to implement the aforementioned signal conversion method. During communication between the first and second devices, signal conversion is automatically performed, improving signal conversion efficiency and accuracy.

[0073] In some embodiments, the present invention also provides a domain controller, which includes the gateway device as described above.

[0074] In some embodiments, the present invention also provides a computer program product that may store at least one instruction, which may be loaded and executed by a domain processor as described in the above embodiments. The specific execution process can be found in the detailed descriptions in the above embodiments, and will not be repeated here.

[0075] Finally, the various embodiments in this invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments.

[0076] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A signal conversion method, comprising: Import and parse the first DBC file corresponding to the first device to obtain the first message definition information corresponding to the first device; import and parse the second DBC file corresponding to the second device to obtain the second message definition information corresponding to the second device. Receive a first message sent by a first device, read the first message based on the first message definition information, and obtain the first message signal information corresponding to the first message; The second message signal information corresponding to the first message signal information is determined based on a pre-created mapping table. The second message signal information is a message signal information that conforms to the second message definition information. The mapping table includes the mapping relationship between the first message signal information and the second message signal information. Based on the second message definition information, the second message signal information is encapsulated into a second message message, and the second message message is sent to the second device.

2. The method according to claim 1, wherein the first message signal information includes first message information and first signal information, the first message information includes at least a first message identifier, a message period, a message sending node and a first message receiving node, and the first signal information includes at least a first signal name and a signal value corresponding to the first signal name; The step of reading the first message message based on the first message definition information to obtain the first message signal information corresponding to the first message message includes: Based on the first message definition information, the first message message is read to obtain the first message identifier, the message period, the message sending node, the first message receiving node corresponding to the first message message, and the first signal name and the signal value corresponding to the first signal carried by the first message message.

3. The method according to claim 2, wherein determining the second message signal information corresponding to the first message signal information based on a pre-created mapping table includes: In the mapping table, determine the second message identifier corresponding to the first message identifier, determine the second message receiving node corresponding to the first message receiving node, and determine the second signal name corresponding to the first signal name; The second message signal information is generated based on the second message identifier, the message period, the message sending node, the second message receiving node, the second signal name, and the signal value.

4. The method according to claim 3, wherein encapsulating the second message signal information into a second message message based on the second message definition information includes: Based on the second message identifier, the corresponding second message name, second message format, and message length are determined in the second message definition information; and based on the second signal name, the corresponding second signal encoding format, signal length, signal start bit, and signal end bit are determined in the second message definition information. Based on the second message format, the message length, the second signal encoding format, the signal length, the signal start bit, and the signal end bit, the second message name, the second message identifier, the message period, the message sending node, the second message receiving node, the second signal name, and the signal value are encapsulated into the second message message.

5. The method according to claim 1, wherein the first message signal information further includes a first checksum corresponding to the first message message; After encapsulating the second message signal information into a second message message based on the second message definition information, the process further includes: The second check code corresponding to the second message is calculated based on a predefined check algorithm. The second checksum is filled into the second message.

6. The method according to claim 2, wherein sending the second message to the second device comprises: A sending timer corresponding to the second message is created based on the message period; The second message is sent to the second device based on the transmission timer.

7. The method according to claim 1, wherein the message definition information includes one or more of the following: message identifier, message name, message period, message format, checksum, signal name, signal length, signal start bit, signal end bit, signal factor, offset, unit, maximum signal value, and minimum signal value.

8. A gateway device, comprising: A processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the steps of the method as claimed in any one of claims 1 to 7.

9. A domain controller, comprising the gateway device as claimed in claim 8.

10. A computer program product having at least one instruction stored thereon, wherein the at least one instruction, when executed by a gateway device, implements the steps of the method according to any one of claims 1 to 7.

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