Audio sending method and device, vehicle, storage medium and program product

Abstract

The invention relates to an audio sending method and device, a vehicle, a storage medium and a program product. In response to the acquired to-be-sent audio data, determining a target bandwidth allocated to a data sending node, the data sending node being used for sending the audio data; the preset transmission delay of the audio data is acquired, the transmission priority of the audio data is determined according to the preset transmission delay, and the smaller the preset transmission delay is, the higher the transmission priority is; and sending the audio data to at least one audio receiving node based on the target bandwidth according to the transmission priority. Therefore, the smaller the preset transmission delay of the audio data is, the higher the set transmission priority of the audio data is, high-priority transmission of the audio data with low delay requirements and delay certainty of transmission of the audio data are ensured, and the audio data are transmitted based on the target bandwidth special for the data transmission node, so that the transmission efficiency of the audio data is improved. And the sending real-time performance of the audio data is further improved.

Description

Technical Field

[0001] This disclosure relates to the field of audio technology, and in particular to an audio transmission method, apparatus, vehicle, storage medium, and program product. Background Technology

[0002] Currently, the external audio systems of new energy vehicles based on a ring network structure use the AVTP (Audio Video Transport Protocol) to transmit and drive sound. In this ring network-based external audio system, the cockpit controller generates audio data based on DSP (Digital Signal Processing) technology, and then sends the audio data to various domain controllers in the vehicle for audio playback via an Ethernet switch within the cockpit controller.

[0003] However, the real-time transmission performance of AVTP audio streams in the audio playback methods provided in related technologies needs to be improved. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides an audio transmission method, apparatus, vehicle, storage medium, and program product.

[0005] According to a first aspect of the present disclosure, an audio transmission method is provided, comprising: In response to acquiring the audio data to be sent, a target bandwidth is determined for the data sending node, which is used to send the audio data; The preset transmission delay of the audio data is obtained, and the transmission priority of the audio data is determined according to the preset transmission delay. The smaller the preset transmission delay, the higher the transmission priority. The audio data is sent to at least one audio receiving node based on the target bandwidth according to the transmission priority.

[0006] By adopting the above method, based on the preset transmission delay of audio data, the smaller the preset transmission delay, the higher the transmission priority of the audio data is set, which ensures the high-priority transmission of audio data with low latency requirements and the deterministic delay of audio data transmission. This avoids the situation where some audio receiving nodes regard the message as lost because the audio transmission delay exceeds the preset transmission delay. Furthermore, by transmitting the audio data based on the target bandwidth dedicated to the data sending node, the real-time transmission performance of audio data is further improved.

[0007] In some possible implementations, sending the audio data to at least one audio receiving node based on the target bandwidth according to the transmission priority includes: determining a first transmission queue corresponding to the audio data from at least one preset audio transmission queue according to the transmission priority, wherein different preset audio transmission queues correspond to different transmission priorities; dividing the audio data into the first transmission queue; and sending the audio data in the first transmission queue to the at least one audio receiving node based on the target bandwidth.

[0008] This implementation method allows audio data to be assigned to a first transmission queue with matching transmission priorities based on the transmission priority of the audio data to be sent. This ensures the deterministic delay of audio messages and also guarantees that audio data with high transmission priority can be sent first, reducing the transmission delay of audio data.

[0009] In some possible implementations, sending the audio data in the first transmission queue to the at least one audio receiving node based on the target bandwidth includes: obtaining the parameter value of the bandwidth parameter corresponding to the target bandwidth at the current time, the bandwidth parameter representing the available bandwidth of the target bandwidth at different times; and in response to the parameter value being greater than or equal to a preset parameter threshold, sending the audio data in the first transmission queue to the at least one audio receiving node based on the target bandwidth.

[0010] This implementation method allows for scheduling and control of the audio data transmission behavior of data transmission nodes based on the bandwidth parameters corresponding to the target bandwidth, thereby improving the overall transmission efficiency of audio data.

[0011] In some possible implementations, the method further includes: in response to the data sending node starting to send data, decreasing the parameter value according to the occupancy of the target bandwidth; or, in response to the data sending node stopping to send data, increasing the parameter value according to the bandwidth allocation.

[0012] Using this implementation method, traffic shaping can be performed on the data transmitted by the Ethernet switch based on the change in the value of the bandwidth parameter. This can ensure that high-priority audio data can be transmitted first, and can also prevent the unlimited transmission of high-priority data streams. This is because if the transmission of high-priority data streams is not restricted, the transmission of low-priority data streams will be restricted and cannot be transmitted effectively. In some possible implementations, the target bandwidth includes a first bandwidth corresponding to the data sending node; the preset parameter threshold includes a first preset parameter threshold corresponding to the first bandwidth; the step of sending the audio data in the first transmission queue to the at least one audio receiving node based on the target bandwidth in response to the parameter value being greater than or equal to the preset parameter threshold includes: in response to the parameter value being greater than or equal to the first preset parameter threshold, if it is determined that the transmission priority corresponding to the first transmission queue is the highest, or if there is no data to be transmitted in the second transmission queue, the audio data in the first transmission queue is sent to the at least one audio receiving node based on the first bandwidth; wherein, the second transmission queue includes at least one transmission queue among a plurality of preset transmission queues corresponding to the data sending node, with a transmission priority higher than that of the first transmission queue.

[0013] By adopting this implementation method, when the value of the bandwidth parameter is greater than or equal to the first preset parameter threshold, audio data in the transmission queue with the highest transmission priority can be sent first based on the dedicated first bandwidth allocated to the data sending node, so as to ensure that high transmission priority audio data can be sent first and reduce the transmission delay of audio data.

[0014] In some possible implementations, the method further includes: in response to starting to transmit the audio data based on the first bandwidth, reducing the parameter value according to the bandwidth occupancy of the first bandwidth; in response to the completion of the audio data transmission, if the reduced parameter value is still greater than or equal to the first preset parameter threshold, transmitting data in a third transmission queue based on the remaining bandwidth of the first bandwidth; wherein the third transmission queue includes the transmission queue with the highest transmission priority and containing audio data to be transmitted among the multiple preset transmission queues other than the first transmission queue.

[0015] In this implementation, since the data sending node stops sending data when the value of the bandwidth parameter is less than the first preset parameter threshold, this disclosure can constrain the bandwidth size of the data sending node when sending high-priority data by reducing the value of the bandwidth parameter when starting to send audio data based on the first bandwidth, thus avoiding the problem that it will keep sending high-priority messages and cause other messages to be unable to be sent effectively.

[0016] In some possible implementations, the method further includes: in response to sending data in a third transmission queue based on the remaining bandwidth of the first bandwidth, continuing to decrease the parameter value according to the bandwidth occupancy of the first bandwidth; if the decreased parameter value is less than the first preset parameter threshold, controlling the data sending node to stop sending data, and increasing the parameter value according to the bandwidth allocation; if the parameter value increases to be greater than or equal to the first preset parameter threshold, sending data in a fourth transmission queue based on the data sending node, the fourth transmission queue including the transmission queue with the highest transmission priority among the plurality of preset transmission queues containing non-audio data to be transmitted.

[0017] In some possible implementations, the target bandwidth includes multiple second bandwidths corresponding to the data sending node, with different second bandwidths corresponding to different transmission priorities and different bandwidth parameters; the step of sending the audio data in the first transmission queue to the at least one audio receiving node based on the target bandwidth in response to the parameter value being greater than or equal to a preset parameter threshold includes: determining the available bandwidth corresponding to the first transmission queue from the multiple second bandwidths according to the transmission priority; and sending the audio data in the first transmission queue to the at least one audio receiving node based on the available bandwidth in response to the parameter value of the bandwidth parameter of the available bandwidth being greater than or equal to a second preset parameter threshold.

[0018] In this implementation, each transmission queue with a transmission priority can send data based on its allocated second bandwidth. This ensures that high-priority audio data can be sent in a timely manner using its dedicated bandwidth, while also preventing high-priority data transmission queues from occupying bandwidth and causing low-priority data to fail to be sent in a timely and effective manner, thus improving the efficiency of data transmission nodes.

[0019] In some possible implementations, the data transmitting node and the audio receiving node are located in the vehicle.

[0020] In some possible implementations, the data transmitting node includes the vehicle's cockpit controller, and the audio receiving node includes the vehicle's domain controller.

[0021] In this implementation, when the vehicle's external audio system based on a ring network structure transmits and drives sound, the smaller the preset transmission delay of the audio data to be sent, the higher the transmission priority of the audio data. This ensures the high-priority transmission of audio data with low latency requirements and the deterministic delay of the transmitted audio data. It also avoids the situation where some audio receiving nodes consider the message lost because the audio transmission delay exceeds the preset transmission delay. Furthermore, the real-time performance of the audio data transmission is further improved by transmitting the audio data based on the dedicated target bandwidth of the data sending node.

[0022] According to a second aspect of the present disclosure, an audio transmitting apparatus is provided, comprising: The first determining module is configured to determine the target bandwidth allocated to the data sending node in response to acquiring the audio data to be sent, wherein the data sending node is used to send the audio data; The second determining module is configured to obtain a preset transmission delay of the audio data and determine the transmission priority of the audio data based on the preset transmission delay, wherein the smaller the preset transmission delay, the higher the transmission priority. The sending module is configured to send the audio data to at least one audio receiving node based on the target bandwidth according to the transmission priority.

[0023] Optionally, the sending module is configured to determine the first transmission queue corresponding to the audio data from at least one preset audio transmission queue according to the transmission priority, wherein different preset audio transmission queues correspond to different transmission priorities; divide the audio data into the first transmission queue; and send the audio data in the first transmission queue to the at least one audio receiving node based on the target bandwidth.

[0024] Optionally, the sending module is configured to obtain the parameter value of the bandwidth parameter corresponding to the target bandwidth at the current time, the bandwidth parameter representing the available bandwidth of the target bandwidth at different times; in response to the parameter value being greater than or equal to a preset parameter threshold, the audio data in the first transmission queue is sent to the at least one audio receiving node based on the target bandwidth.

[0025] Optionally, the device further includes: The parameter adjustment module is configured to, in response to the data sending node starting to send data, decrease the parameter value according to the target bandwidth occupancy; or, in response to the data sending node stopping to send data, increase the parameter value according to the bandwidth allocation.

[0026] According to a third aspect of the present disclosure, a vehicle is provided, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to perform the steps of the audio transmission method provided in the first aspect of this disclosure.

[0027] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the steps of the audio transmission method provided in the first aspect of the present disclosure.

[0028] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the audio transmission method provided in the first aspect of the present disclosure.

[0029] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: based on the preset transmission delay of audio data, the smaller the preset transmission delay, the higher the transmission priority of the audio data is set, which ensures the high-priority transmission of audio data with low latency requirements and the deterministic delay of the transmission of audio data, avoiding the situation where some audio receiving nodes regard the message as lost because the audio transmission delay exceeds the preset transmission delay, and further improving the real-time transmission performance of audio data by transmitting the audio data based on the target bandwidth dedicated to the data sending node.

[0030] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0031] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0032] Figure 1 This is a schematic diagram of the audio link in a vehicle's external audio system based on a ring network structure.

[0033] Figure 2 This is a flowchart illustrating an audio transmission method according to an exemplary embodiment.

[0034] Figure 3 It is based on Figure 1 The illustrated embodiment shows a flowchart of another audio transmission method.

[0035] Figure 4 This is a schematic diagram illustrating data transmission of various transmission queues in an Ethernet switch according to an exemplary embodiment.

[0036] Figure 5 It is based on Figure 3The illustrated embodiment shows a flowchart of another audio transmission method.

[0037] Figure 6 It is based on Figure 5 The illustrated embodiment shows a flowchart of an audio transmission method.

[0038] Figure 7 This is a schematic diagram illustrating an audio data transmission process according to an exemplary embodiment.

[0039] Figure 8 This is a block diagram illustrating an audio transmitting device according to an exemplary embodiment.

[0040] Figure 9 It is based on Figure 8 The illustrated embodiment shows a block diagram of an audio transmission device.

[0041] Figure 10 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0042] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0043] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0044] This disclosure is primarily applied to scenarios where a vehicle's external audio system, based on a ring network structure, plays audio. The vehicle can be in any state, such as parked, driving, or stationary. Figure 1 This is a schematic diagram of the audio link in a vehicle's external audio system based on a ring network structure. For example... Figure 1 As shown, typically, the vehicle's DSP is located in the cockpit controller, meaning the cockpit controller is the audio source generation unit. The vehicle's power amplifier chip (such as...) Figure 1 The "non-boost ICs" shown in the diagram are distributed across various controllers. For example... Figure 1As shown, the audio link involved in this external audio system includes the SoC built into the cockpit controller → DSP → power amplifier (i.e., non-boost IC) → speaker. The audio data generated by the DSP is transmitted from the cockpit controller to various domain controllers in the vehicle (e.g., SoC → DSP → power amplifier, i.e., non-boost IC) via an Ethernet switch within the cockpit controller using the AVTP protocol. Figure 1 The audio link involved in each domain controller (RZCU, MZCU, LZCU) is: MCU (Microcontroller Unit) → Power Amplifier (i.e., non-boost IC) → Speaker. Figure 1 The PHY (Physical) chip in the system is the physical layer chip, which can send and receive Ethernet data frames.

[0045] Currently, the latency requirement for audio playback is 150ms. Since the human ear typically doesn't perceive a delay within 150ms, a fixed transmission latency Tx (Tx < 150ms) can be set on each domain controller, provided the tables are already aligned. Each domain controller will then play audio simultaneously upon Tx arrival, ensuring concurrent audio playback across all domain controllers. The arrival time of Tx is the presentation time, or the audio source playback time.

[0046] However, once the audio playback time is confirmed, this time cannot be changed, but the transmission latency on Ethernet is uncontrollable. For example, if the transmission load is too high and / or the transmission is interrupted by high-priority packets, the transmission of audio packets will be delayed. Therefore, in related technologies, the deterministic latency of Ethernet audio data transmission cannot be guaranteed, and the real-time performance of AVTP audio stream transmission needs improvement. Furthermore, if the transmission latency exceeds the set audio playback time, the packet will be dropped, resulting in some speakers not producing sound.

[0047] To address the aforementioned problems, this disclosure provides an audio transmission method, apparatus, vehicle, storage medium, and program product. The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0048] Figure 2 This is a flowchart illustrating an audio transmission method according to an exemplary embodiment, such as... Figure 2 As shown, the method includes the following steps.

[0049] In step S11, in response to acquiring the audio data to be sent, a target bandwidth is determined for the data sending node, which is used to send the audio data.

[0050] The audio data can be an audio signal generated by the DSP within the vehicle's cockpit controller based on audio generation instructions from the SoC (System on a Chip). Both the data sending node and the audio receiving node (described later) can be located within the vehicle. For example, the data sending node could be the vehicle's cockpit controller, and the audio receiving node could be the vehicle's domain controller. It should be noted that, in addition to sending this audio data, the data sending node can also be used to send other types of Ethernet data. The audio receiving node can be any of the various domain controllers on the vehicle (such as…). Figure 1 (As shown in RZCU, MZCU, LZCU).

[0051] In this disclosure, a dedicated target bandwidth can be allocated to the data sending node. This avoids the problem that some nodes may saturate the bandwidth without restraint when all nodes share the bandwidth, thus affecting the real-time performance of the data sending node in transmitting audio data.

[0052] In one possible implementation, the target bandwidth can be allocated periodically to the data sending node, for example, 200 Mbps of bandwidth can be allocated to the data sending node per second.

[0053] In step S12, the preset transmission delay of the audio data is obtained, and the transmission priority of the audio data is determined according to the preset transmission delay. The smaller the preset transmission delay, the higher the transmission priority.

[0054] The preset transmission delay refers to a uniform audio transmission delay that is pre-set so that all audio receiving nodes can receive audio data simultaneously. For example, if the preset transmission delay is 100ms, then the transmission delay of audio data from the data sending node to each domain controller (i.e., the audio receiving node) is 100ms.

[0055] It is understandable that the preset transmission delay may differ for audio data under different service types. This disclosure allows setting the preset transmission delay to be smaller, with higher priority for the transmission of the corresponding audio data. This ensures the real-time transmission of audio data with smaller preset transmission delays and also addresses the deterministic latency of audio data transmission over Ethernet.

[0056] In step S13, the audio data is sent to at least one audio receiving node based on the target bandwidth according to the transmission priority.

[0057] By performing this step, the audio data to be sent can be sent to at least one audio receiving node based on the transmission priority of the data sending node and the target bandwidth dedicated to that data sending node, thereby reducing the transmission latency of the audio data and ensuring the real-time transmission of the audio data.

[0058] By adopting the above method, based on the preset transmission delay of audio data, the smaller the preset transmission delay, the higher the transmission priority of the audio data is set, which ensures the high-priority transmission of audio data with low latency requirements and the deterministic delay of audio data transmission. This avoids the situation where some audio receiving nodes regard the message as lost because the audio transmission delay exceeds the preset transmission delay. Furthermore, by transmitting the audio data based on the target bandwidth dedicated to the data sending node, the real-time transmission performance of audio data is further improved.

[0059] Figure 3 It is based on Figure 1 The illustrated embodiment shows a flowchart of another audio transmission method, such as... Figure 3 As shown, step S13 includes the following sub-steps: In step S131, the first transmission queue corresponding to the audio data is determined from at least one preset audio transmission queue according to the transmission priority. Different preset audio transmission queues correspond to different transmission priorities.

[0060] In practical applications, an Ethernet switch is deployed on the data sending node. This switch, upon receiving data to be sent, forwards the data to a designated port based on the destination MAC address. To improve data transmission efficiency, multiple preset transmission queues can be configured on the Ethernet switch. These preset transmission queues include at least one preset audio transmission queue, and may also include other transmission queues. The preset audio transmission queues can be used to send audio data, and different preset audio transmission queues can correspond to different transmission priorities. Thus, based on the transmission priority of the currently received audio data to be sent, the first transmission queue corresponding to that audio data can be determined from the at least one preset audio transmission queue.

[0061] In step S132, the audio data is divided into the first transmission queue.

[0062] In step S133, the audio data in the first transmission queue is sent to at least one audio receiving node based on the target bandwidth.

[0063] For example, Figure 4 This is a schematic diagram illustrating data transmission in various transmission queues of an Ethernet switch according to an exemplary embodiment, such as... Figure 4 As shown, the Ethernet switch built into the cockpit controller can be divided into 8 preset transmission queues (e.g., ...). Figure 4The sequence of queues (0-7) is defined as follows: Queues 0, 1, and 2 can be the preset audio transmission queues, with queue 0 having a higher transmission priority than queue 1, and queue 1 having a higher transmission priority than queue 2. Queues 3 through 7 are other transmission queues, which can be used to transmit audio data without strict requirements on transmission latency, or to transmit other types of Ethernet data. It should be noted that the transmission priorities of queues 3 through 7 can be set to be the same and lower than that of queue 2, or they can be set to be the same as that of queue 2. For example, the transmission priority of queue 0 is represented as SR Class A, the transmission priority of queue 1 as SR Class B, and the transmission priorities of queues 2 through 7 as Non-SR Class, with the transmission priorities ordered from highest to lowest as SR Class A, SR Class B, and Non-SR Class. Thus, for audio and video streams with a transmission latency requirement of less than or equal to 10ms, their corresponding transmission priority can be determined as SR Class A; for audio and video streams with a transmission latency requirement greater than 10ms but less than 100ms, their corresponding transmission priority can be determined as SR Class B; and for Ethernet data streams without strict transmission latency requirements, their corresponding transmission priority can be determined as Non-SR Class. Queues 0 and 1 can be used as dedicated transmission queues for audio data, while other types of data can be sent through other transmission queues. This ensures that audio data with low latency requirements is sent first, and that the latency of audio data transmission is deterministic.

[0064] Continue with Figure 4 For example, assuming the transmission priority of the audio data to be sent is SR Class A, the first transmission queue corresponding to this audio data can be determined as queue 0. The audio data can be assigned to queue 0, and thus, based on the target bandwidth, the audio data in queue 0 can be sent to at least one audio receiving node. The above example is merely illustrative and is not intended to limit the scope of this disclosure.

[0065] Continue with Figure 4 Taking an example, the contention process during data transmission is explained for the three data transmission priority queues: SR Class A, SR Class B, and Non-SR Class. Figure 4As shown, the application layer sends the data to be transmitted to the Ethernet switch. The Ethernet switch assigns audio data with the highest transmission priority (SR Class A) to queue 0, audio data with the next highest transmission priority (SR Class B) to queue 1, and Ethernet data (including audio data and / or non-audio data) that does not have strict requirements for transmission latency to one of queues 2 to 7. The audio data in queues 0 and 1 undergoes credit shaping using a shaping algorithm (as described below). Figure 7 (Corresponding example) The audio data is sent to at least one audio receiving node based on the output layer. Since the transmission priority of queues 0 and 1, which have undergone the shaping algorithm, is higher than that of other queues, the audio data in queues 0 and 1 will be sent out from the Ethernet switch first.

[0066] Using the above method, the audio data to be sent can be divided into the first transmission queue with matching transmission priority based on the transmission priority of the audio data to be sent, which can ensure the deterministic delay of audio messages and also ensure that audio data with high transmission priority can be sent first, thereby reducing the transmission delay of audio data.

[0067] Figure 5 It is based on Figure 3 The illustrated embodiment shows a flowchart of another audio transmission method, such as... Figure 5 As shown, step S133 includes the following sub-steps: In step S1331, the parameter value of the bandwidth parameter corresponding to the target bandwidth at the current time is obtained. This bandwidth parameter represents the available bandwidth of the target bandwidth at different times. The bandwidth parameter can be a bandwidth credit value (which can be represented as a credit value). This bandwidth credit value may vary at different times. The higher the bandwidth credit value, the greater the available bandwidth of the target bandwidth.

[0068] For example, a target bandwidth of 200Mbps can be allocated to the data sending node per second, with a corresponding credit value of 1. When the data sending node starts sending data, the 200Mbps will be gradually occupied, and the credit value will decrease accordingly. When the data sending node stops sending data, the credit value will increase. In step S1332, in response to the parameter value being greater than or equal to a preset parameter threshold, the audio data in the first transmission queue is sent to at least one audio receiving node based on the target bandwidth.

[0069] The preset parameter threshold refers to the lower limit of the bandwidth parameter that the data sending node can transmit data. This disclosure initiates the transmission of audio data when the parameter value is determined to be greater than or equal to the preset parameter threshold, thereby effectively controlling the data sending node's audio data packet transmission behavior.

[0070] It is understandable that, in response to the parameter value being greater than or equal to the preset parameter threshold, when the data sending node sends data, it will prioritize sending data from the transmission queue with the higher transmission priority based on the transmission priority of each transmission queue.

[0071] Using the above method, the packet sending behavior of audio data transmission nodes can be scheduled and controlled based on the bandwidth parameters corresponding to the target bandwidth, thereby improving the overall transmission efficiency of audio data.

[0072] It should be noted that the audio transmission method provided in this disclosure further includes: in response to the data transmission node starting to transmit data, decreasing the parameter value according to the target bandwidth occupancy; or, in response to the data transmission node stopping to transmit data, increasing the parameter value according to the bandwidth allocation.

[0073] In one possible implementation, this parameter value can be decreased based on the target bandwidth usage. For example, initially, the parameter value is 1, corresponding to a target bandwidth of 200Mbps. If 100Mbps of the target bandwidth is occupied, the parameter value is reduced to 0.5; if 150Mbps of the target bandwidth is occupied, the parameter value is reduced to 0.25. Similarly, the parameter value can be increased based on bandwidth allocation using the same logic.

[0074] In another possible implementation, the parameter value can be increased or decreased according to the preset parameter adjustment range.

[0075] In other words, when the data transmitting node in this disclosure starts transmitting data, the parameter value of the bandwidth parameter corresponding to the target bandwidth decreases. When the parameter value decreases to less than a preset parameter threshold, the data transmitting node stops transmitting data. When the data transmitting node stops transmitting data, the parameter value of the bandwidth parameter corresponding to the target bandwidth begins to increase. In this way, traffic shaping can be performed on the data transmitted by the Ethernet switch based on the change in the parameter value of the bandwidth parameter. This allows high-priority audio data to be transmitted first, and also avoids the unrestricted transmission of high-priority data streams. This is because if the transmission of high-priority data streams is not restricted, the transmission of low-priority data streams will be restricted and cannot be transmitted effectively. In one possible implementation, the target bandwidth may include a first bandwidth corresponding to the data sending node, which can be understood as a dedicated bandwidth allocated to the entire data sending node. The preset parameter threshold may include a first preset parameter threshold corresponding to the first bandwidth. Thus, during the execution of step S1332, in response to a parameter value greater than or equal to the first preset parameter threshold, and in the case that the transmission priority corresponding to the first transmission queue is determined to be the highest, or that there is no data to be transmitted in the second transmission queue, the audio data in the first transmission queue is sent to at least one audio receiving node based on the first bandwidth. The second transmission queue includes at least one transmission queue among multiple preset transmission queues corresponding to the data sending node whose transmission priority is higher than that of the first transmission queue.

[0076] Understandably, if the first transmission queue has the highest transmission priority, or if there is no data to be transmitted in the second transmission queue, indicating that the first transmission queue is currently the transmission queue with the highest transmission priority and data to be transmitted, then the audio data in the first transmission queue needs to be sent to at least one audio receiving node based on the first bandwidth, in order to reduce the transmission latency of the audio data in the first transmission queue.

[0077] Using the above method, when the bandwidth parameter value is greater than or equal to the first preset parameter threshold, audio data in the transmission queue with the highest transmission priority can be sent first based on the dedicated first bandwidth allocated to the data sending node, ensuring that high transmission priority audio data can be sent first and reducing the transmission delay of audio data.

[0078] As described above, when the data sending node in this disclosure starts sending data, the value of the bandwidth parameter decreases. When the value of the parameter decreases to less than a preset parameter threshold, the data sending node stops sending data. When the data sending node stops sending data, the value of the bandwidth parameter begins to increase. Figure 6 It is based on Figure 5 The illustrated embodiment shows a flowchart of an audio transmission method, such as... Figure 6 As shown, the method also includes the following steps: In step S1333, in response to starting to send audio data based on the first bandwidth, the parameter value of the bandwidth parameter is reduced according to the bandwidth occupancy of the first bandwidth.

[0079] In step S1334, in response to the completion of audio data transmission, if the reduced parameter value is still greater than or equal to the first preset parameter threshold, data in the third transmission queue is transmitted based on the remaining bandwidth of the first bandwidth.

[0080] The third transmission queue includes the transmission queue with the highest transmission priority and containing audio data to be transmitted, which is one of the multiple preset transmission queues other than the first transmission queue.

[0081] In this implementation, since the data sending node stops sending data when the value of the bandwidth parameter is less than the first preset parameter threshold, this disclosure can constrain the bandwidth size of the data sending node when sending high-priority data by reducing the value of the bandwidth parameter when starting to send audio data based on the first bandwidth, thus avoiding the problem that it will keep sending high-priority messages and cause other messages to be unable to be sent effectively.

[0082] like Figure 6 As shown, the method also includes the following steps: In step S1335, in response to sending data in the third transmission queue based on the remaining bandwidth of the first bandwidth, the parameter value of the bandwidth parameter is further reduced according to the bandwidth occupancy of the first bandwidth.

[0083] In step S1336, if the reduced parameter value is less than the first preset parameter threshold, the data sending node is controlled to stop sending data, and the bandwidth parameter value is increased according to the bandwidth allocation.

[0084] In step S1337, when the parameter value increases to be greater than or equal to the first preset parameter threshold, the data in the fourth transmission queue is sent based on the data sending node. The fourth transmission queue includes the transmission queue with the highest transmission priority among multiple preset transmission queues containing non-audio data to be transmitted.

[0085] For example, Figure 7 This is a schematic diagram illustrating an audio data transmission process according to an exemplary embodiment. Assume the first preset parameter threshold is 0, such as... Figure 7 As shown, at time 1, the credit value is 0, but the data sending node has not received the data frame to be sent. Since the data sending node has no data to send at time 1, the credit value begins to rise. At time 2, the data sending node receives the audio data frame A to be sent, and frame A has the highest transmission priority, so it is assigned to... Figure 4 Queue 0, as shown, is the transmission queue with the highest transmission priority and containing data to be transmitted at time 2. Therefore, queue 0 is the first transmission queue. Thus, the data sending node begins transmitting frame A from queue 0 at time 2 based on the allocated first bandwidth, as shown... Figure 7As shown, when the data sending node starts sending frame A, the credit value of the first bandwidth begins to decrease. At time 3, frame A is sent and the credit value is still positive. At this time, there is an audio data frame B to be transmitted in queue 1 of the second transmission priority (queue 1 is the third transmission queue). At time 3, the data sending node starts sending audio data frame B, and the credit value of the first bandwidth continues to decrease. At time 4, the credit value of the first bandwidth decreases to a negative value, and frame C with a transmission priority of Non-SR Class cannot be sent. The data transmission channels corresponding to queues 0 and 1 of the Ethernet switch become silent. Figure 7 As shown, the credit value begins to rise at time 4. At time 5, the credit value reaches 0, frame C begins to send data, and the credit value begins to fall again. At time 6, frame C uses up the first bandwidth of the data sending node, the credit value becomes negative, and the data sending node stops sending data. From time 6 onwards, the credit value begins to rise, and at time 7, the credit value rises to 0. If there are still no data frames to be sent at time 7, the credit value will continue to rise to a positive value. In this way, when the bandwidth parameter value of the data sending node is greater than or equal to the first preset parameter threshold of 0, data in the transmission queue with the highest transmission priority can be sent first. If there is still bandwidth remaining, data is sent sequentially according to the transmission priority of each queue. While the data sending node is sending data, its credit value decreases. When the credit value drops to less than 0, the data sending node stops sending data. This allows for traffic shaping at the Ethernet switch's data egress point, sending audio data in packet form, ensuring deterministic latency in audio data transmission, reducing latency and jitter, and scheduling and controlling the packet sending behavior of the data sending node. It also constrains the bandwidth of high-priority packets sent by the sending node, preventing it from continuously sending high-priority packets that would prevent other packets (such as packets corresponding to data in queues 2-7) from being effectively sent. The above example is merely illustrative and is not intended to limit the scope of this disclosure.

[0086] In another possible implementation of this disclosure, the target bandwidth includes multiple second bandwidths corresponding to the data sending node, with different second bandwidths corresponding to different transmission priorities and different bandwidth parameters. This allows each data sending node to allocate its own second bandwidth for each transmission priority of the data to be sent. Thus, during step S1332, the available bandwidth corresponding to the first transmission queue can be determined from the multiple second bandwidths based on the transmission priority of the audio data to be sent; in response to the bandwidth parameter value of the available bandwidth being greater than or equal to a second preset parameter threshold, the audio data in the first transmission queue is sent to at least one audio receiving node based on the available bandwidth.

[0087] For example, assuming the data transmission priorities on an Ethernet switch are ordered from highest to lowest as SR Class A, SR Class B, and Non-SR Class, then the target bandwidth of 300Mbps allocated to this data transmission node can include 100Mbps for SR Class A, 100Mbps for SR Class B, and 100Mbps for Non-SR Class. In this way, each transmission priority queue can transmit data based on its own allocated second bandwidth. This ensures that high-priority audio data can be transmitted in a timely manner using its dedicated bandwidth, while also preventing high-priority data transmission queues from occupying bandwidth and causing low-priority data to be unable to be transmitted in a timely and effective manner, thus improving the efficiency of data transmission nodes. Figure 8 This is a block diagram illustrating an audio transmitting device according to an exemplary embodiment. (Refer to...) Figure 8 The device includes: The first determining module 801 is configured to determine the target bandwidth allocated to the data sending node in response to acquiring the audio data to be sent, wherein the data sending node is used to send the audio data; The second determining module 802 is configured to obtain a preset transmission delay of the audio data and determine the transmission priority of the audio data based on the preset transmission delay, wherein the smaller the preset transmission delay, the higher the transmission priority. The transmitting module 803 is configured to transmit the audio data to at least one audio receiving node based on the target bandwidth according to the transmission priority.

[0088] Optionally, the sending module 803 is configured to determine the first transmission queue corresponding to the audio data from at least one preset audio transmission queue according to the transmission priority, wherein different preset audio transmission queues correspond to different transmission priorities; divide the audio data into the first transmission queue; and send the audio data in the first transmission queue to the at least one audio receiving node based on the target bandwidth.

[0089] Optionally, the sending module 803 is configured to obtain the parameter value of the bandwidth parameter corresponding to the target bandwidth at the current time, the bandwidth parameter representing the available bandwidth of the target bandwidth at different times; in response to the parameter value being greater than or equal to a preset parameter threshold, the audio data in the first transmission queue is sent to the at least one audio receiving node based on the target bandwidth.

[0090] Optionally, Figure 9 It is based on Figure 8The illustrated embodiment shows a block diagram of an audio transmitting device, such as Figure 9 As shown, the device also includes: The parameter adjustment module 804 is configured to decrease the parameter value according to the target bandwidth occupancy in response to the data sending node starting to send data; or, increase the parameter value according to the bandwidth allocation in response to the data sending node stopping to send data.

[0091] Optionally, the target bandwidth includes the first bandwidth corresponding to the data sending node; the preset parameter threshold includes the first preset parameter threshold corresponding to the first bandwidth; The sending module 803 is configured to, in response to the parameter value being greater than or equal to the first preset parameter threshold, and in the case that the transmission priority corresponding to the first transmission queue is the highest, or there is no data to be transmitted in the second transmission queue, send the audio data in the first transmission queue to the at least one audio receiving node based on the first bandwidth; wherein, the second transmission queue includes at least one transmission queue with a higher transmission priority than the first transmission queue among a plurality of preset transmission queues corresponding to the data sending node.

[0092] Optionally, the parameter adjustment module 804 is configured to decrease the parameter value according to the bandwidth occupancy of the first bandwidth in response to starting to send the audio data based on the first bandwidth; The sending module 803 is configured to, in response to the completion of the audio data transmission, send data in the third transmission queue based on the remaining bandwidth of the first bandwidth, provided that the reduced parameter value is still greater than or equal to the first preset parameter threshold. The third transmission queue includes the transmission queue with the highest transmission priority and containing audio data to be transmitted, which is among the multiple preset transmission queues excluding the first transmission queue.

[0093] Optionally, the parameter adjustment module 804 is configured to, in response to sending data in the third transmission queue based on the remaining bandwidth of the first bandwidth, continue to reduce the parameter value according to the bandwidth occupancy of the first bandwidth; if the reduced parameter value is less than the first preset parameter threshold, control the data sending node to stop sending data, and increase the parameter value according to the bandwidth allocation; The sending module 803 is configured to send data in the fourth transmission queue based on the data sending node when the parameter value increases to be greater than or equal to the first preset parameter threshold. The fourth transmission queue includes the transmission queue with the highest transmission priority among the plurality of preset transmission queues containing non-audio data to be transmitted.

[0094] Optionally, the target bandwidth includes multiple second bandwidths corresponding to the data sending node, with different second bandwidths corresponding to different transmission priorities and different bandwidth parameters; The sending module 803 is configured to determine the available bandwidth corresponding to the first transmission queue from the plurality of second bandwidths according to the transmission priority; and in response to the parameter value of the bandwidth parameter of the available bandwidth being greater than or equal to a second preset parameter threshold, to send the audio data in the first transmission queue to the at least one audio receiving node based on the available bandwidth.

[0095] Optionally, the data sending node and the audio receiving node are located in the vehicle.

[0096] Optionally, the data transmitting node includes the vehicle's cockpit controller, and the audio receiving node includes the vehicle's domain controller.

[0097] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0098] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the audio transmission method provided in this disclosure.

[0099] Figure 10 This is a block diagram illustrating a vehicle according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0100] Reference Figure 10 The vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of the vehicle 600 can be interconnected via wired or wireless means.

[0101] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, etc.

[0102] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0103] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0104] The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0105] Some or all of the functions of vehicle 600 are controlled by computing platform 650. Computing platform 650 may include at least one processor 651 and memory 652, processor 651 can execute instructions 653 stored in memory 652.

[0106] Processor 651 can be any conventional processor, such as a commercially available CPU. Processors may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems-on-chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0107] The memory 652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0108] In addition to instruction 653, memory 652 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 652 can be used by computing platform 650.

[0109] In this embodiment of the disclosure, the processor 651 may execute instructions 653 to complete all or part of the steps of the above-described audio transmission method.

[0110] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described audio transmission method when executed by the programmable device.

[0111] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0112] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0113] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0114] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0115] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

[0116] In the above detailed description, reference has been made to the accompanying drawings, which illustrate specific aspects of this disclosure by way of illustration. In this regard, terms indicating direction or positional relationship, such as “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential,” are used with reference to the orientation of the described figures. Since components of the described device can be positioned in multiple different orientations, directional terms are used for illustrative purposes and not for limitation. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concept of this disclosure. Therefore, the following detailed description should not be considered limiting.

[0117] It should be understood that, unless otherwise specifically indicated, features of various embodiments of this disclosure described herein can be combined with each other. As used herein, the term “and / or” includes any one of the relevant listed items and any combination of any two or more; similarly, “at least one of…” includes any one of the relevant listed items and any combination of any two or more.

[0118] It should be understood that, unless otherwise expressly specified and limited, the terms "joining," "attaching," "installing," "connecting," "linking," "fixing," etc., used in the embodiments of this disclosure should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms herein based on the specific circumstances.

[0119] Furthermore, the term "above" as used herein with respect to components, elements, or material layers formed or located "above" a surface may be used to indicate that the component, element, or material layer is "indirectly" positioned (e.g., placed, formed, deposited, etc.) on the surface such that one or more additional components, elements, or layers are arranged between the surface and the component, element, or material layer. However, the term "above" as used with respect to components, elements, or material layers formed or located "above" a surface may also optionally have a specific meaning: that the component, element, or material layer is "directly" positioned (e.g., placed, formed, deposited, etc.) on the surface, for example, in direct contact with the surface.

[0120] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Rather, these terms are used only to distinguish one component, part, region, layer, or section from another. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section. Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include at least one of that feature. In the description herein, “a plurality” means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0121] It should be understood that spatial relative terms, such as “above,” “upper,” “below,” and “lower,” are used herein to describe the relationship between one element and another shown in the figures. In addition to the orientation depicted in the figures, these spatial relative terms are also intended to encompass different orientations of the device in use or operation. For example, if the device in the figures is flipped, an element described as “above” or “upper” relative to another element would be “below” or “lower” relative to that other element. Thus, depending on the spatial orientation of the device, the term “above” encompasses both above and below orientations. Devices may have other orientations (e.g., rotated 90 degrees or in other orientations), and the spatial relative terms used herein should be interpreted accordingly.

Claims

1. An audio transmission method, characterized by, The method comprises: in response to obtaining audio data to be transmitted, determining a target bandwidth allocated to a data sending node for transmitting the audio data; obtaining a preset transmission delay of the audio data, and determining a transmission priority of the audio data according to the preset transmission delay, wherein the smaller the preset transmission delay is, the higher the transmission priority is; transmitting the audio data to at least one audio receiving node based on the target bandwidth according to the transmission priority.

2. The method of claim 1, wherein, The transmitting the audio data to at least one audio receiving node based on the target bandwidth according to the transmission priority comprises: determining a first transmission queue corresponding to the audio data from at least one preset audio transmission queue according to the transmission priority, wherein different preset audio transmission queues correspond to different transmission priorities; dividing the audio data into the first transmission queue; and transmitting the audio data in the first transmission queue to the at least one audio receiving node based on the target bandwidth.

3. The method of claim 2, wherein, The transmitting the audio data to the at least one audio receiving node based on the target bandwidth comprises: obtaining a parameter value of a bandwidth parameter corresponding to the target bandwidth at a current time, wherein the bandwidth parameter represents available bandwidth of the target bandwidth at different times; and in response to the parameter value being greater than or equal to a preset parameter threshold, transmitting the audio data in the first transmission queue to the at least one audio receiving node based on the target bandwidth.

4. The method of claim 3, wherein, The method further comprises: in response to the data sending node starting to transmit data, reducing the parameter value according to an occupation of the target bandwidth; or in response to the data sending node stopping to transmit data, increasing the parameter value according to a bandwidth allocation.

5. The method of claim 3, wherein, The target bandwidth comprises a first bandwidth corresponding to the data sending node; and the preset parameter threshold comprises a first preset parameter threshold corresponding to the first bandwidth. The transmitting the audio data to the at least one audio receiving node based on the target bandwidth in response to the parameter value being greater than or equal to a preset parameter threshold comprises: in response to the parameter value being greater than or equal to the first preset parameter threshold, transmitting the audio data in the first transmission queue to the at least one audio receiving node based on the first bandwidth, in a case where it is determined that a transmission priority corresponding to the first transmission queue is the highest, or there is no data to be transmitted in a second transmission queue; and the second transmission queue comprises at least one transmission queue having a higher transmission priority than the first transmission queue among a plurality of preset transmission queues corresponding to the data sending node.

6. The method of claim 5, wherein, The method further comprises: in response to starting to transmit the audio data based on the first bandwidth, reducing the parameter value according to a bandwidth occupation of the first bandwidth; and in response to the audio data being transmitted, transmitting data in a third transmission queue based on a remaining bandwidth of the first bandwidth in a case where the reduced parameter value is still greater than or equal to the first preset parameter threshold. The third transmission queue includes a transmission queue with the highest transmission priority and audio data to be transmitted among the transmission queues other than the first transmission queue in the plurality of preset transmission queues.

7. The method of claim 6, wherein, The method further includes: In response to transmitting data in the third transmission queue based on the remaining bandwidth of the first bandwidth, continuing to decrease the parameter value according to bandwidth occupation of the first bandwidth; In a case where the decreased parameter value is less than the first preset parameter threshold, controlling the data sending node to stop transmitting data and increasing the parameter value according to bandwidth allocation; In a case where the parameter value is increased to be greater than or equal to the first preset parameter threshold, transmitting data in a fourth transmission queue based on the data sending node, the fourth transmission queue including a transmission queue with the highest transmission priority and non-audio data to be transmitted in the plurality of preset transmission queues.

8. The method of claim 3, wherein, The target bandwidth includes a plurality of second bandwidths corresponding to the data sending node, different second bandwidths corresponding to different transmission priorities, and different second bandwidths corresponding to different bandwidth parameters; The response to the parameter value being greater than or equal to the preset parameter threshold includes: Determining an available bandwidth corresponding to the first transmission queue from the plurality of second bandwidths according to the transmission priority; and In response to a parameter value of a bandwidth parameter of the available bandwidth being greater than or equal to a second preset parameter threshold, transmitting the audio data in the first transmission queue to the at least one audio receiving node based on the available bandwidth.

9. The method according to any one of claims 1 to 8, characterized in that, The data sending node and the audio receiving node are located in a vehicle.

10. The method of claim 9, wherein, The data sending node includes a cabin controller of the vehicle, and the audio receiving node includes a domain controller of the vehicle.

11. An audio transmitting apparatus, characterized by comprising: The method includes: A first determination module configured to determine a target bandwidth allocated to a data sending node in response to obtaining audio data to be transmitted, the data sending node being used to transmit the audio data; A second determination module configured to obtain a preset transmission delay of the audio data and determine a transmission priority of the audio data according to the preset transmission delay, the smaller the preset transmission delay, the higher the transmission priority; A sending module configured to transmit the audio data to at least one audio receiving node based on the target bandwidth according to the transmission priority.

12. The apparatus of claim 11, wherein, The sending module is configured to determine a first transmission queue corresponding to the audio data from at least one preset audio transmission queue according to the transmission priority, different preset audio transmission queues corresponding to different transmission priorities; and divide the audio data into the first transmission queue; The sending module is configured to transmit the audio data in the first transmission queue to the at least one audio receiving node based on the target bandwidth.

13. The apparatus of claim 12, wherein, The sending module is configured to acquire a parameter value of a bandwidth parameter corresponding to the target bandwidth at a current time, the bandwidth parameter representing available bandwidth of the target bandwidth at different times; and in response to the parameter value being greater than or equal to a preset parameter threshold, send the audio data in the first transmission queue to the at least one audio receiving node based on the target bandwidth.

14. The apparatus of claim 13, wherein, The apparatus further includes: A parameter adjustment module configured to, in response to the data sending node starting to send data, reduce the parameter value according to occupation of the target bandwidth; or, in response to the data sending node stopping to send data, increase the parameter value according to bandwidth allocation.

15. A vehicle characterized by comprising: Comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the steps of the audio sending method of any one of claims 1-10.

16. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements the steps of the method of any one of claims 1-10.

17. A computer program product, characterised in that, A computer program that, when executed by a processor, implements the steps of the method of any one of claims 1-10.

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