Data transmission method and apparatus

Abstract

This application provides a data transmission method and apparatus applicable to vehicles. The data transmission method and apparatus are applicable to intelligent and connected vehicles for quickly and accurately completing instant snapshots of the vehicle and vehicle status monitoring. The vehicle includes at least one vehicle integration unit (VIU), and a communication connection is established between the at least one VIU and a control device, where the control device and the at least one VIU access the same multicast group. The method includes: acquiring monitored information by a first VIU, the first VIU being any one of the at least one VIU; and transmitting a multicast packet by the first VIU using the multicast group, where the control device acquires the multicast packet by monitoring the multicast group, the multicast packet including the information detected by the first VIU, so that the multicast packet can be used by the control device to analyze the vehicle status.

Description

Technical Field

[0001] This application relates to the field of vehicles, and specifically to a data transmission method and apparatus.

Background Art

[0002] With the development of vehicle technology, the demand for intelligent vehicles is gradually increasing. The modules inside a frequently used vehicle are connected to each other through a controller area network (CAN) bus for communication, so the information about the modules inside the vehicle is analyzed or monitored through the CAN bus.

[0003] However, the bandwidth of the CAN bus is relatively small. Due to the bandwidth constraint, the transmission efficiency of the information data of the modules inside the vehicle is low. Therefore, how to increase the transmission speed of the information inside the vehicle has become an urgent problem to be solved.

Summary of the Invention

Means for Solving the Problems

[0004] Embodiments of this application provide a data transmission method and apparatus for quickly and accurately completing an instant snapshot of a vehicle and state monitoring of the vehicle.

[0005] In view of this, according to a first aspect, this application provides a data transmission method applied to a vehicle. The vehicle includes at least one vehicle integration unit (VIU), and at least 1 VIUA communication connection is established between the control device and the VIU, and the control device and at least one VIU access the same multicast group. The method includes obtaining information that is monitored by a first VIU, the first VIU being any one of at least one VIU. The first VIU sends multicast packets by using a multicast group, the control device obtains multicast packets by monitoring the multicast group, and the multicast packets contain information discovered by the first VIU so that they are used by the control device to analyze the status of the vehicle.

[0006] Accordingly, in the method provided in this application, a communication connection may be established for one or more VIUs in a vehicle so that a snapshot of the vehicle is transmitted, and a multicast group may be established to transmit multicast packets within the multicast group. The snapshot of the vehicle can then be transmitted rapidly through high-speed, high-efficiency transmission over a communication network such as Ethernet or a wireless network. A control device can rapidly receive multicast packets transmitted by the VIUs in order to analyze the vehicle status by using one or more frames of the multicast packets received by the VIUs, by monitoring the multicast group. This improves the efficiency of receiving information monitored by the VIUs for the control device.

[0007] In one possible implementation, the communication network may include wired or wireless communication, i.e., an Ethernet or wireless communication connection is established between the control device and at least one VIU. The first VIU transmitting multicast packets by using a multicast group may include the first VIU transmitting multicast packets in the multicast group via the Ethernet or wireless connection.

[0008] The speeds of Ethernet and wireless networks are far greater than the transmission speed of CAN. Therefore, in this implementation of the present application, multiple VIUs or VIUs and control devices may be connected to each other via Ethernet and / or wireless networks to carry out efficient transmission of information monitored by VIUs, and multicast groups may be formed based on Ethernet and / or wireless networks, so that a control device can efficiently acquire information monitored by VIUs by using multicast groups to complete the analysis of the vehicle status.

[0009] In one possible implementation, the vehicle includes at least two VIUs, and before the first VIU sends a multicast packet to a multicast group, the method may further include the first VIU performing time synchronization with one of the at least two other VIUs. The first VIU sending a multicast packet to a multicast group may include the first VIU sending the multicast packet based on a time axis obtained after the time synchronization.

[0010] In this implementation of the present application, the VIU may perform time synchronization periodically or before the VIU transmits data. Thus, the VIU can transmit multicast packets based on a time axis acquired after synchronization, and each VIU in the vehicle may transmit multicast packets synchronously or stamp a timestamp, etc., after time synchronization has been performed on the multicast packets, so that a control device can take an instant snapshot of the vehicle.

[0011] In one possible implementation, the transmission of multicast packets by the first VIU to a multicast group includes the periodic transmission of multicast packets by the first VIU. In this implementation of the present application, the VIU may periodically transmit multicast packets so that a control device can monitor the status of the vehicle.

[0012] In one possible implementation, the information monitored by the first VIU includes one or more of the following: state information of the first VIU, information about the I / O interface of the first VIU, the original sampled value of the analog-to-digital converter (ADC) of the first VIU, or information collected by a sensor monitored by the first VIU.

[0013] Therefore, in this implementation of the present application, the VIU may transmit to the multicast group status information, information about the I / O interface, the original sampled value of the ADC, or information collected by the sensor, so that a control device can monitor the status of the vehicle by using multicast packets transmitted in the multicast group.

[0014] In one possible implementation, information collected by sensors is used by a control device to plan the vehicle's route. Therefore, in this implementation of the present application, assuming efficient communication takes place in a multicast group established based on an Ethernet or wireless network, the control device can efficiently and quickly plan the vehicle's route by using the information collected by sensors, enabling the vehicle to determine its route more accurately and quickly. This enhances vehicle safety.

[0015] In one possible implementation, before the first VIU sends multicast packets to the multicast group, the method further includes the first VIU receiving a join request sent by a control device, the join request being used to request to join the multicast group. The first VIU responds to the join request using the multicast address so that the control device joins the multicast group based on the multicast address, monitors the port corresponding to the multicast address, and receives multicast packets.

[0016] Therefore, in this implementation of the present application, the control device may request the VIU to allow it to join the multicast group in order to obtain permission to monitor the multicast group, to monitor the port corresponding to the multicast address, and to receive multicast packets.

[0017] In one possible implementation, the method may further include the first VIU receiving control commands transmitted by a control device. The first VIU controls one or more of its I / O interfaces, sensors, or vehicle execution units according to the control commands.

[0018] Therefore, in this implementation of the present application, the control device can efficiently and accurately control the VIU's I / O interface, sensors, vehicle execution unit, etc. When the control device is connected to the VIU via a wireless network, the control device can remotely control the vehicle. This improves the user experience.

[0019] According to a second aspect, the present application provides a data transmission method applicable to a vehicle. The vehicle includes at least one vehicle integration unit (VIU), a communication connection is established between the at least one VIU and a control device, and the control device and the at least one VIU access the same multicast group. The method includes the control device obtaining the multicast address of the multicast group. The control device monitors a port corresponding to the multicast address and obtains at least one frame of a multicast packet through the port, the multicast packet containing information monitored by a first VIU of the at least one VIU, the first VIU being any one of the at least one VIU. The control device analyzes the state of the vehicle by using at least one frame of the multicast packet.

[0020] Accordingly, in the method provided in this application, a communication connection may be established for one or more VIUs in a vehicle so that a snapshot of the vehicle is transmitted, and a multicast group may be established to transmit multicast packets within the multicast group. The snapshot of the vehicle can then be transmitted rapidly through high-speed, high-efficiency transmission over a communication network such as Ethernet or a wireless network. A control device can rapidly receive multicast packets transmitted by the VIUs in order to analyze the vehicle status by using one or more frames of the multicast packets received by the VIUs, by monitoring the multicast group. This improves the efficiency of receiving information monitored by the VIUs for the control device.

[0021] In one possible implementation, an Ethernet or wireless connection is established between the control device and at least one VIU. The control device can receive multicast packets transmitted in the multicast group via the Ethernet and / or wireless connection.

[0022] The speeds of Ethernet and wireless networks are far greater than the transmission speed of CAN. Therefore, in this implementation of the present application, multiple VIUs or VIUs and control devices may be connected to each other via Ethernet and / or wireless networks to perform efficient transmission of information monitored by VIUs, and a multicast group may be formed based on the Ethernet and / or wireless network, so that a control device can efficiently acquire information monitored by VIUs by using multicast groups to complete the analysis of the vehicle status.

[0023] In one possible implementation, at least one frame of a multicast packet includes one or more of the following: state information of at least one VIU, information about the I / O interface of at least one VIU, the original sampled value of the analog-to-digital converter (ADC) of at least one VIU, or information collected by a sensor monitored by at least one VIU.

[0024] Therefore, in this implementation of the present application, the VIU may transmit to the multicast group status information, information about the I / O interface, the original sampled value of the ADC, or information collected by the sensor, so that a control device can monitor the status of the vehicle by using multicast packets transmitted in the multicast group.

[0025] In one possible implementation, when at least one frame of a multicast packet contains information collected by a sensor monitored by at least one VIU, the method further includes the control device planning the vehicle's route based on the information collected by the sensor monitored by at least one VIU. Thus, in this implementation of the present application, assuming efficient communication takes place in a multicast group established over an Ethernet or wireless network, the control device can efficiently and quickly plan the vehicle's route by using the information collected by the sensor, so that the vehicle can determine its route more accurately and quickly. This enhances vehicle safety.

[0026] In one possible implementation, the acquisition of at least one frame of the multicast packet through a port may include the control device periodically receiving, through the port, at least one frame of the multicast packet transmitted by at least one VIU to the multicast group. In this implementation of the present application, the VIU may periodically transmit multicast packets so that the control device can monitor the state of the vehicle.

[0027] In one possible implementation, the acquisition of the multicast address of the multicast group by the control device may include the control device transmitting a participation request to the first VIU, and the participation request is used to request participation in the multicast group. The control device receives the multicast address with which the first VIU responds using it.

[0028] Therefore, in this implementation of the present application, the control device may request the VIU to be able to participate in the multicast group in order to obtain permission to monitor the multicast group, to monitor the port corresponding to the multicast address, and to receive the multicast packet.

[0029] In one possible implementation, after the control device analyzes the state of the vehicle by using at least one frame of the multicast packet, the method further includes the control device generating an analysis image based on the change of the state of the vehicle over time and displaying the analysis image.

[0030] Therefore, in this implementation of the present application, the control device may generate and display an analysis image showing the change of the state of the vehicle over time so that the user can intuitively observe the state of the vehicle by using the analysis image. <00,00101>

[0031] In one possible implementation, the method may further include the control device sending a control command to at least one VIU, the control command being used to control one or more of the I / O interfaces, sensors, or execution units of at least one VIU.

[0032] Therefore, in this implementation of the present application, the control device can efficiently and accurately control the VIU's I / O interface, sensors, vehicle execution unit, etc. When the control device is connected to the VIU via a wireless network, the control device can remotely control the vehicle. This improves the user experience.

[0033] According to a third aspect, the present application provides an electronic device. The electronic device includes a display screen, memory, and one or more processors. One or more processors are configured to execute one or more computer programs stored in memory. The memory stores the code for a graphical user interface (GUI). One or more processors are configured to execute the GUI code stored in memory so that the display screen displays the graphical user interface stored in memory. The graphical user interface is, Displaying the multicast address of a multicast group on the display screen, wherein the multicast group contains at least one VIU, The system includes acknowledging a multicast address and, in response to receiving at least one frame of a multicast packet transmitted by at least one VIU in a multicast group, displaying information contained in at least one frame of the multicast packet on a display screen.

[0034] In one possible implementation, the graphical user interface is particularly, This may include displaying one or more of the following: status information of at least one VIU, information about the I / O interface of at least one VIU, the original sampled value of the analog-to-digital converter (ADC) of at least one VIU, or information collected by a sensor monitored by at least one VIU.

[0035] In one possible implementation, the graphical user interface is particularly, This may include displaying an analytical image in response to the generation of an analytical image based on changes in the vehicle's condition over time.

[0036] According to a fourth aspect, the present application provides a vehicle integration unit VIU applicable to a vehicle. The vehicle includes at least one vehicle integration unit VIU, the VIU being any one of at least one VIU, a communication connection being established between at least one VIU and a control device, and the control device and at least one VIU accessing the same multicast group. The VIU is, A monitoring module configured to acquire the information to be monitored, The system includes a transceiver module configured to transmit multicast packets by using a multicast group, such that the control device obtains multicast packets by monitoring a multicast group, the multicast packets contain information discovered by a first VIU, and the multicast packets are used by the control device to analyze the status of the vehicle.

[0037] For the beneficial effects generated in any one of the fourth embodiments or in any possible implementation of the fourth embodiment, please refer to the description of the first embodiment or any one of the possible implementations of the first embodiment.

[0038] In one possible implementation, an Ethernet connection and / or wireless communication connection is established between the control device and at least one VIU.

[0039] The transceiver module is specifically configured to transmit multicast packets in a multicast group over Ethernet and / or wireless connections.

[0040] In one possible implementation, the vehicle includes at least two VIUs, and before the first VIU sends a multicast packet to a multicast group, the VIU further includes a synchronization module configured to synchronize its time with one of at least two other VIUs.

[0041] The transceiver module is specifically configured to send multicast packets based on a time axis acquired after time synchronization.

[0042] In one possible implementation, the transceiver module is configured to periodically transmit multicast packets.

[0043] In one possible implementation, the information monitored by the monitoring module may include one or more of the following: VIU status information, information about the VIU's I / O interface, the original sample values ​​of the VIU's analog-to-digital converter (ADC), or information collected by sensors monitored by the VIU.

[0044] In one possible implementation, the information collected by the sensors is used by a control device to plan the vehicle's route.

[0045] In one possible implementation, the transceiver module is configured to receive a join request sent by the control device, which is used to request to join the multicast group, and to respond to the join request using the multicast address. The transceiver module is configured to receive a join request sent by the control device, which is used to request to join the multicast group, and to respond to the join request using the multicast address.

[0046] In one possible implementation, the VIU may further include a control module. The transceiver module is further configured to receive control commands transmitted by a control device. The control module is configured to control one or more of the I / O interfaces, sensors, or vehicle execution units of the first VIU according to the control commands.

[0047] According to a fifth aspect, the present application provides a control device applicable to a vehicle. The vehicle includes at least one vehicle integration unit (VIU), a communication connection is established between at least one VIU and the control device, and the control device and at least one VIU access the same multicast group. The control device is A transceiver module configured to obtain the multicast address of a multicast group, A monitoring module configured by a control device to monitor a port corresponding to a multicast address, The transceiver module is further configured to receive at least one frame of a multicast packet through a port, and the multicast packet contains information that is monitored by a first VIU of at least one VIU, and the first VIU is any one of at least one VIU, and the monitoring module It includes a processing module configured to analyze the vehicle's status using at least one frame of a multicast packet.

[0048] For the beneficial effects generated in the fifth aspect or any one of the possible implementations of the fifth aspect, please refer to the description of the second aspect or any one of the possible implementations of the second aspect.

[0049] In one possible implementation, an Ethernet connection and / or wireless connection is established between the control device and at least one VIU.

[0050] The transceiver module is configured to receive multicast packets transmitted in a multicast group, specifically over Ethernet and / or wireless connections.

[0051] In one possible implementation, at least one frame of a multicast packet includes one or more of the following: state information of at least one VIU, information about the I / O interface of at least one VIU, the original sampled value of the analog-to-digital converter (ADC) of at least one VIU, or information collected by a sensor monitored by at least one VIU.

[0052] In one possible implementation, when at least one frame of a multicast packet contains information collected by a sensor monitored by at least one VIU, the processing module is further configured to allow a control device to plan the vehicle's route based on the information collected by the sensor monitored by at least one VIU.

[0053] In one possible implementation, the transceiver module is configured to periodically receive, in particular, at least one frame of a multicast packet sent to a multicast group by at least one VIU through a port.

[0054] In one possible implementation, the transceiver module is further configured to send a join request to a first VIU, which is used to request to join a multicast group, and the first VIU is one of at least one VIU, and to receive a multicast address that the first VIU will use to reply.

[0055] In one possible implementation, the control device further includes a display module.

[0056] After the control device analyzes the vehicle's state using at least one frame of a multicast packet, the processing module is further configured to generate an analysis image based on the changes in the vehicle's state over time. The display module is configured to display the analyzed image.

[0057] In one possible implementation, the transceiver module is further configured to send control commands to at least one VIU, which are used to control one or more of the I / O interfaces, sensors, or execution units of at least one VIU.

[0058] According to a sixth aspect, one embodiment of the present application provides a VIU, which has the function of performing a data transmission method according to a first aspect. This function may be implemented by hardware or by hardware running corresponding software. The hardware or software includes one or more modules corresponding to the aforementioned function.

[0059] According to a seventh aspect, one embodiment of the present application provides a control device including a processor and memory. The processor and memory are interconnected through wiring, and the processor invokes program code in the memory to perform processing-related functions in a data transmission method, according to any one of the first aspects.

[0060] According to the eighth aspect, one embodiment of the present application provides a data transmission device. The data transmission device may also be called a digital processing chip or chip. The chip includes a processing unit and a communication interface. The processing unit receives program instructions through the communication interface, and when the program instructions are executed by the processing unit, the processing unit is configured to perform processing-related functions according to either the first aspect or any selected implementation of the first aspect.

[0061] According to the ninth aspect, one embodiment of the present application provides a computer-readable storage medium containing instructions. When the instructions are executed on a computer, the computer is enabled to perform a method according to the first aspect or any optional implementation of the first aspect, or the second aspect or any optional implementation of the second aspect.

[0062] According to a tenth aspect, one embodiment of the present application provides a computer program product including instructions. When the computer program product is executed on a computer, the computer is enabled to perform a method according to the first aspect or any optional implementation of the first aspect, or the second aspect or any optional implementation of the second aspect.

[0063] According to the eleventh aspect, the present application provides a vehicle comprising at least one VIU, wherein a communication connection is established between at least one VIU and a control device, and the control device and the at least one VIU access the same multicast group. The at least one VIU is configured to perform a method according to one of the first aspects or any optional implementation of the first aspect, and the control device is configured to perform a method according to one of the second aspects or any optional implementation of the second aspect.

[0064] According to a twelfth aspect, the present application provides a data transmission system comprising a control device and at least one VIU. A communication connection is established between the at least one VIU and the control device, and the control device and the at least one VIU access the same multicast group. The at least one VIU is configured to perform the method according to one of the first aspect or any optional implementation of the first aspect, and the control device is configured to perform the method according to one of the second aspect or any optional implementation of the second aspect. [Brief explanation of the drawing]

[0065] [Figure 1] This is a schematic diagram of the structure of a vehicle according to one embodiment of this application. [Figure 2] This is a schematic diagram of the data transmission system according to this application. [Figure 3A] This is a schematic diagram of another data transmission system according to this application. [Figure 3B] This is a schematic diagram of another data transmission system according to this application. [Figure 4] This is a schematic diagram of another data transmission system according to this application. [Figure 5] This is a schematic flowchart of the data transmission method described in this application. [Figure 6] This is a schematic flowchart of the data transmission method described in this application. [Figure 7] This is a schematic diagram of the data transmission method according to this application. [Figure 8] This is a schematic diagram illustrating the application scenario of the data transmission method described in this application. [Figure 9] This is a schematic diagram illustrating application scenarios for other data transmission methods described in this application. [Figure 10A] This is a schematic diagram illustrating application scenarios for other data transmission methods described in this application. [Figure 10B] This is a schematic diagram illustrating application scenarios for other data transmission methods described in this application. [Figure 11] This is a schematic diagram of the GUI display interface according to this application. [Figure 12] This is a schematic diagram of another GUI display interface according to this application. [Figure 13] This is a schematic diagram of another GUI display interface according to this application. [Figure 14] This is a schematic diagram of another GUI display interface according to this application. [Figure 15] This is a schematic diagram of another GUI display interface according to this application. [Figure 16] This is a schematic diagram of another GUI display interface according to this application. [Figure 17] This is a schematic diagram of another GUI display interface according to this application. [Figure 18] This is a schematic diagram of another GUI display interface according to this application. [Figure 19] This is a schematic diagram of another GUI display interface according to this application. [Figure 20] This is a schematic diagram of another GUI display interface according to this application. [Figure 21] This is a schematic diagram of the VIU according to this application. [Figure 22] This is a schematic diagram of the control device according to this application. [Figure 23] This is a schematic diagram of another VIU according to this application. [Figure 24] This is a schematic diagram of another control device according to this application. [Figure 25] This is a schematic diagram of the chip structure according to this application. [Modes for carrying out the invention]

[0066] The technical measures of the embodiments of this application will be described below with reference to the accompanying drawings of the embodiments of this application. It will be clear that the embodiments described are only a part of the embodiments of this application, and not all of them. All other embodiments that can be obtained by those skilled in the art without creative effort based on the embodiments of this application are within the scope of protection of this application.

[0067] The data transmission method provided in embodiments of this application may be applied to various vehicle-related scenarios, such as scenarios in which a travel path is planned for a vehicle, scenarios in which the status of a vehicle is monitored, or scenarios in which a vehicle is remotely controlled. In addition, this application may also be applied to scenarios in which a travel path is planned for various robots, such as cargo robots, detection robots, cleaning robots, and other types of robots, scenarios in which the status of a vehicle is monitored, and scenarios in which a vehicle is remotely controlled. To further illustrate the application scenarios, a cargo robot is used as an example herein. During transport, a cargo robot may monitor its status in real time, plan its travel path, and remotely control the cargo robot in order to complete the transport safely and reliably.

[0068] Embodiments of this application will be described below with reference to the attached drawings. Those skilled in the art will know that, as the technology develops and new scenarios emerge, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0069] To facilitate understanding of this approach, in embodiments of this application, the structure of the vehicle provided herein will first be described with reference to Figure 1. Figure 1 is a schematic diagram of the structure of a vehicle according to one embodiment of this application. The vehicle 100 may be configured to be in an autonomous driving mode. For example, when the vehicle 100 is in autonomous driving mode, the vehicle 100 may be controlled to determine the current state of the vehicle and the surrounding environment through manual operation, to determine whether obstacles are present in the surrounding environment, and to control the vehicle 100 based on information about the obstacles. When the vehicle 100 is in autonomous driving mode, the vehicle 100 may also be configured to operate without interaction with a person.

[0070] Vehicle 100 may include various subsystems, such as a driving system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, a power supply 110, a computer system 112, and a user interface 116. Optionally, vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and component of vehicle 100 may be interconnected by wire or wireless means.

[0071] The propulsion system 102 may include components that provide the driving force for the vehicle 100 to move. In one embodiment, the propulsion system 102 may include an engine 118, an energy source 119, a transmission 120, and wheels / tires 121.

[0072] The engine 118 may be an internal combustion engine, an electric motor, an air-compression engine, or a combination of other types of engines, for example, a hybrid engine including a gasoline engine and an electric motor, or a hybrid engine including an internal combustion engine and an air-compression engine. The engine 118 converts an energy source 119 into mechanical energy. Examples of energy sources 119 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other power sources. The energy source 119 may also provide energy for other systems of the vehicle 100. The transmission 120 can transmit mechanical power from the engine 118 to the wheels 1211. The transmission 120 may include a gearbox, a differential, and drive shafts. In some embodiments, the transmission 120 may further include other components, such as a clutch. The drive shafts may include one or more shafts that can be coupled to one or more wheels 121.

[0073] The sensor system 104 may include several sensors that detect information about the surrounding environment of the vehicle 100. For example, the sensor system 104 may include a positioning system 122 (the positioning system may be the Global Positioning System GPS, the Beidou system, or other positioning systems), an inertial measurement unit (IMU) 124, a radar 126, a laser rangefinder 128, and a camera 130. The sensor system 104 may further include sensors within the internal systems of the monitored vehicle 100 (e.g., an in-cabin air quality monitor, a fuel gauge, and an oil temperature gauge). One or more sensor data from these sensors may be used to detect objects and their corresponding characteristics (such as position, shape, direction, and speed). Such detection and identification are essential functions for the safe operation of the autonomous vehicle 100. Sensors referred to in the following implementations of this application may include the radar 126, the laser rangefinder 128, and the camera 130.

[0074] The positioning system 122 may be configured to estimate the geographical location of the vehicle 100. The IMU 124 is configured to sense changes in the position and orientation of the vehicle 100 based on inertial acceleration. In some embodiments, the IMU 124 may be a combination of an accelerometer and a gyroscope. The radar 126 may sense objects in the environment surrounding the vehicle 100 by using radio signals, and may specifically be represented as a millimeter-wave radar or a laser radar. In some embodiments, in addition to sensing objects, the radar 126 may further be configured to sense the velocity and / or direction of movement of objects. The laser rangefinder 128 may sense objects in the environment in which the vehicle 100 is located by using a laser. In some embodiments, the laser rangefinder 128 may include one or more laser sources, a laser scanner, one or more detectors, and other system components. The camera 130 may be configured to capture multiple images of the environment surrounding the vehicle 100. The camera 130 may be a still image camera or a video camera.

[0075] The control system 106 controls the operation of the vehicle 100 and its components. The control system 106 may include a variety of components, including a steering system 132, an accelerator 134, a brake unit 136, a computer vision system 140, a line control system 142, and an obstacle avoidance system 144.

[0076] The steering system 132 may operate to adjust the direction of movement of the vehicle 100. For example, in one embodiment, the steering system 132 may be a steering wheel system. The accelerator 134 is configured to control the operating speed of the engine 118 and to further control the speed of the vehicle 100. The brake unit 136 is configured to control the vehicle 100 to decelerate. The brake unit 136 may use friction to reduce the rotational speed of the wheels 121. In other embodiments, the brake unit 136 may convert the kinetic energy of the wheels 121 into an electric current. The brake unit 136 may also use other methods to reduce the rotational speed of the wheels 121 in order to control the speed of the vehicle 100. The computer vision system 140 may operate to process and analyze images captured by the camera 130 to identify objects and / or features in the environment surrounding the vehicle 100. Objects and / or features may include traffic signals, road boundaries, and obstacles. The computer vision system 140 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 140 may be configured to map an environment, track objects, estimate the speed of objects, and so on. The line control system 142 is configured to determine the travel path and speed of the vehicle 100. In some embodiments, the line control system 142 may include a horizontal planning module 1421 and a vertical planning module 1422. The horizontal planning module 1421 and the vertical planning module 1422 are configured to determine the travel path and speed of the vehicle 100 based on data from an obstacle avoidance system 144, GPS 122, and one or more predetermined maps. The obstacle avoidance system 144 is configured to identify, evaluate, and avoid or otherwise pass over obstacles in the environment of the vehicle 100. Obstacles may be specifically represented as actual obstacles that the vehicle 100 could collide with and virtual moving objects.In some cases, the control system 106 may be equipped with or include components other than those shown and described. Alternatively, the control system 106 may not be equipped with some of the components shown above.

[0077] Vehicle 100 interacts with external sensors, other vehicles, other computer systems, or users by using peripheral devices 108. Peripheral devices 108 may include a wireless data transmission system 146, an on-board computer 148, a microphone 150, and / or a speaker 152. In some embodiments, peripheral devices 108 provide means for the user of vehicle 100 to interact with a user interface 116. For example, the on-board computer 148 may provide information for the user of vehicle 100. The user interface 116 may further be used to operate the on-board computer 148 to receive user input. Operations may be performed on the on-board computer 148 through a touchscreen. In other cases, peripheral devices 108 may provide means for vehicle 100 to communicate with other devices located in the vehicle. For example, the microphone 150 may receive audio (e.g., voice commands or other audio input) from the user of vehicle 100. Similarly, the speaker 152 may output audio to the user of vehicle 100. The wireless data transmission system 146 can communicate wirelessly with one or more devices, either directly or through a communication network. For example, the wireless data transmission system 146 can communicate through a 3G cellular network such as CDMA, EVD0, or GSM / GPRS, through a 4G cellular network such as LTE, or through a 5G cellular network. The wireless data transmission system 146 can communicate through a wireless local area network (WLAN). In some embodiments, the wireless data transmission system 146 can communicate directly with devices via an infrared link, Bluetooth®, or ZigBee. Other wireless protocols, such as those used in various vehicle data transmission systems including the wireless data transmission system 146, may include one or more dedicated short-range communications (DSRC) devices.Communication between these devices may include public and / or private data communications between vehicles, between roadside stations, or between vehicles and roadside stations.

[0078] The power supply 110 can supply power to various components of the vehicle 100. In some embodiments, the power supply 110 may be a rechargeable lithium-ion battery or a lead-acid battery. One or more battery packs of such batteries may be configured as a power source for supplying power to the components of the vehicle 100. In some embodiments, the power supply 110 and the energy source 119 may be implemented together, for example in some all-electric vehicles.

[0079] Some or all of the functions of vehicle 100 are controlled by a computer system 112. The computer system 112 may include at least one processor 113. The processor 113 executes instructions 115 stored in a non-temporary computer-readable medium such as memory 114. The computer system 112 may also be a group of computing devices that distribute-control individual components or subsystems of vehicle 100. The processor 113 may be any conventional processor, such as a commercially available central processing unit (CPU). Optionally, the processor 113 may be a dedicated device, such as an application-specific integrated circuit (ASIC) or other hardware-based processor. Figure 1 functionally shows the processor, memory, and other components of the computer system 112 in the same block, but those skilled in the art should understand that a processor or memory may actually include multiple processors or memories that are not located in the same physical housing. For example, memory 114 may be a hard disk drive or other storage medium located in a different housing from the housing of the computer system 112. Therefore, references to processor 113 or memory 114 are understood as references to a set of processors or memories that may or may not operate simultaneously. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration components, may each include their own processor. The processors perform only the calculations related to the component-specific functions.

[0080] In various embodiments described herein, the processor 113 may be located remotely from the vehicle 100 and communicate wirelessly with the vehicle 100. In other embodiments, some of the processes described herein are performed by a processor 113 located inside the vehicle 100, while other processes are performed by a remote processor 113. The process includes the necessary steps to perform a single operation.

[0081] In some embodiments, memory 114 may also include instructions 115 (e.g., program logic) which may be executed by processor 113 to perform various functions of vehicle 100, including the functions described above. Memory 114 may also include additional instructions, including instructions used to send data to, receive data from, interact with, and / or control one or more of the progress system 102, sensor system 104, control system 106, and peripheral devices 108. In addition to instructions 115, memory 114 may further store data such as road maps, route information, location, direction, speed, and other vehicle data, as well as other information. Such information may be used by vehicle 100 and computer system 112 when vehicle 100 is operating in autonomous mode, semi-autonomous mode, and / or manual mode. User interface 116 is configured to provide information for or receive information from the user of vehicle 100. Optionally, the user interface 116 may include one or more input / output devices from a set of peripheral devices 108, such as a wireless data transmission system 146, an in-vehicle computer 148, a microphone 150, or a speaker 152.

[0082] The computer system 112 can control the functions of the vehicle 100 based on inputs received from various subsystems (e.g., the driving system 102, the sensor system 104, and the control system 106) and the user interface 116. For example, the computer system 112 can communicate with other systems or components in the vehicle 100 via the CAN bus. For example, the computer system 112 can use inputs from the control system 106 to control the steering system 132 to avoid obstacles detected by the sensor system 104 or the obstacle avoidance system 144. In some embodiments, the computer system 112 may operate to provide control over many aspects of the vehicle 100 and its subsystems.

[0083] Optionally, one or more of the aforementioned components may be installed separately from the vehicle 100 or associated with the vehicle 100. For example, the memory 114 may exist partially or completely separately from the vehicle 100. The aforementioned components may be coupled together so as to be able to communicate together via wired and / or wireless means.

[0084] The components described above are merely examples and are optional. In actual applications, components within the modules described above may be added or removed based on actual requirements. Figure 1 should not be understood as a limitation on this embodiment of the present application. The data transmission method provided in this application may be performed by a computer system 112, radar 126, laser rangefinder 128, or peripheral devices such as an on-board computer 148 or other on-board terminals. For example, the data transmission method provided in this application may be performed by an on-board computer 148. The on-board computer 148 may plan the vehicle's travel path and corresponding speed curve, generate control commands based on the travel path, and transmit the control commands to the computer system 112. The computer system 112 controls the steering system 132, accelerator 134, brake unit 136, computer vision system 140, line control system 142, obstacle avoidance system 144, etc., within the vehicle's control system 106 in order to perform autonomous driving of the vehicle.

[0085] Vehicle 100 could be a passenger car, truck, motorcycle, bus, ship, aircraft, helicopter, lawnmower, recreational vehicle, playground vehicle, construction machine, trolley, golf cart, train, handcart, etc. This is not particularly limited to this embodiment of the present application.

[0086] This application further provides a data transmission system. The data transmission system may include a control device and at least one VIU. For example, as shown in Figure 2, a central computing architecture (CCA) platform may be configured for a vehicle. The vehicle may include one or more VIUs. One or more VIUs are connected to a control device. The control device may be located inside the vehicle or located outside the vehicle. A communication connection may be established between the control device and one or more VIUs, and one or more VIUs and the control device access the same multicast group. A multicast group is a network that includes multiple nodes. In one implementation of this application, nodes may be VIUs, a control device, etc. For example, three VIUs may form a multicast group, and a tablet computer may access the multicast group. In this case, the multicast group includes three VIUs and a tablet computer. It should be understood that the four VIUs shown in Figure 2 (VIU1, VIU2, VIU3, and VIU4) and the four VIUs shown in the following embodiments of this application are used only as illustrative examples. The vehicle may include more or fewer VIUs. This is not limited to the present application.

[0087] It should be understood that one or more VIUs are contained within the vehicle. For example, a VIU may monitor or control all or some modules or devices in the control system 106, the driving system 102, the sensor system 104, etc.

[0088] A VIU within a vehicle may include one or more components (for example, all or some components of the driving system 102, all or some components of the control system, one or more components of the sensor system, or independent components). A VIU may be configured to monitor the state of the VIU, monitor the state of sensors or other components connected to the VIU, and acquire information collected by components contained within the VIU or components connected to the VIU. For example, a vehicle may be divided into multiple regions based on the internal hardware structure of the vehicle, and multiple VIUs may be configured for the vehicle, with each region corresponding to one VIU, and each VIU may be configured to monitor the state of the VIU, and to acquire information about hardware located in a region and managed by the VIU.

[0089] VIUs and control devices within a vehicle access the same multicast group and transmit data by using the multicast group. A VIU or control device may be used as a node within the multicast group. A node accessing the multicast group may obtain data transmitted by other nodes by monitoring the port corresponding to the multicast group, or it may transmit data to other nodes within the multicast group through the port corresponding to the multicast group. The network topology including nodes within the multicast group may include tree topology, ring topology, linear topology, etc., and may be specifically tailored based on the actual application scenario.

[0090] The control devices and one or more VIUs may be connected to each other via a wired or wireless communication network. For example, a wired communication network may include, but is not limited to, an optical transport network (OTN), a synchronous digital hierarchy (SDH), a passive optical network (PON), Ethernet, or flexible Ethernet (FlexE). Wireless networks include, but are not limited to, one or more of the following: 5th-Generation (5G) mobile communication technology systems, long-term evolution (LTE) systems, global systems for mobile communication (GSM), code division multiple access (CDMA) networks, wideband code division multiple access (WCDMA®) networks, wireless fidelity (Wi-Fi), Bluetooth, ZigBee, radio frequency identification (RFID) technology, long-range (Lora) wireless communication, and near-field communication (NFC). Ethernet as referred to in the following implementations of this application may specifically include Ethernet or FlexE. Therefore, in the vehicle provided in this application, a connection may be established for the VIU via a wired or wireless communication network so that the VIU can quickly transmit the data monitored by the VIU.Compared to when a vehicle transmits data via a CAN bus, this application allows the vehicle to significantly improve data transmission efficiency and perform instant snapshots of the entire vehicle or a single system within the vehicle.

[0091] The control device may be located inside the vehicle or may be an external device connected to the vehicle. For example, the control device may include a multi-domain controller (MDC), cockpit domain controller (CDC), or electronic control unit (ECU) located inside the vehicle, or it may include a terminal or server connected to the VIU, such as a smart phone, television, tablet computer, band, head-mounted display (HMD), augmented reality (AR) device, mixed reality (MR) device, cellular phone, smartphone, personal digital assistant (PDA), tablet computer, in-vehicle terminal, laptop computer, or personal computer (PC).

[0092] The VIUs within the vehicle may be deployed and arranged based on actual requirements. The vehicle may be divided into one or more regions based on the number of VIUs, with one VIU corresponding to one region. Each VIU is responsible for controlling access to devices within its corresponding region, collecting sensor data, monitoring running components within a region, and monitoring the chip state of the VIU, such as core voltage or core temperature.

[0093] For example, to simplify understanding, several possible vehicle structures provided in this application are used as illustrative examples.

[0094] For example, referring to Figure 3A, VIU1, VIU2, VIU3, and VIU4 may form a multicast group, and the network structure corresponding to the multicast group may be a ring structure. Various terminals (for example, terminals 1 through n shown in Figure 3A) may access the multicast group through a wireless network. For example, terminals may access routers, switches, etc., through a wireless network, and routers or switches may access the multicast group through a wired network. Specifically, for example, a wireless router may provide a wireless access method such as Wi-Fi, 4G, or 5G and establish a wireless communication channel between the VIU and the outside. For example, a handheld wireless terminal such as a PC, tablet computer, or mobile phone may access the wireless network provided by the router to access the multicast group in which the VIU in the vehicle is located.

[0095] Typically, a load balance switch (LSW) is installed in the VIU, and the VIU communicates using the LSW, for example, by receiving or transmitting commands or data.

[0096] In another example, referring to Figure 3B, VIU1, VIU2, VIU3, and VIU4 may form a multicast group, and the network structure corresponding to the multicast group may be a linear ring structure. The CDC is an internal vehicle device and may be directly connected to VIU1 via Ethernet. In this specification, the CDC may also be directly connected to VIU2, VIU3, or VIU4 via Ethernet.

[0097] In addition, a connection may be established between the PC and the VIU via Ethernet so that the PC can access the multicast group. A connection may be established between the table and the VIU via Wi-Fi or Bluetooth so that the table can access the multicast group. The CDC, PC, and tablet computer can receive multicast packets transmitted by VIU1, VIU2, VIU3, or VIU4 by monitoring the ports corresponding to the multicast group, and based on the received multicast packets, extract information monitored by the VIU, or send control commands or data to VIU1, VIU2, VIU3, or VIU4 by using the multicast group.

[0098] In another example, referring to Figure 4, a specific vehicle 401 is used as an example. Four VIUs, namely VIU1, VIU2, VIU3, and VIU4, are installed inside the vehicle. Each VIU monitors the state of sensors connected to the VIU, the state of the I / O interfaces inside the VIU, the state of the VIU, etc., and may generate multicast packets based on the monitored information and send multicast packets to a multicast group. After accessing the multicast group, the tablet computer may monitor the port corresponding to the multicast group to obtain the information monitored by the VIU.

[0099] The above describes the vehicle provided in this application. The data transmission method provided in this application will now be described based on the vehicle shown in Figures 1 to 4.

[0100] Figure 5 is a schematic flowchart of the data transmission method according to this application. Details are as follows.

[0101] 501: Obtain information from the first VIU.

[0102] The data transmission method provided in this application may be applied to a vehicle. The vehicle may include at least one VIU, and the first VIU may be any one of at least one VIU.

[0103] The information monitored by the first VIU may include status information of the first VIU, information about devices connected to the first VIU, and information about devices included in the first VIU.

[0104] Specifically, the information monitored by the first VIU includes one or more of the following: status information of the first VIU, information about the I / O interface of the first VIU, the original sampled value of the analog-to-digital converter (ADC) of the first VIU, information collected by sensors monitored by the first VIU, and input information of other controllers or the first VIU.

[0105] For example, the state information of the first VIU may include the running state of the first VIU, core voltage, chip core temperature, etc. Information about the I / O interface may include state information about the I / O channels provided in the first VIU, for example, information indicating whether the value is 1, and control or monitoring information for the switch chip, power chip, etc., of the first VIU. Information collected by sensors may include information collected by sensors in the first VIU or sensors connected to the first VIU. Sensors are, for example, RGB sensors (or called cameras), radar, or laser rangefinders. Correspondingly, information collected by sensors may include information such as images, electromagnetic echo point clouds, or laser point clouds.

[0106] 502. The control device receives multicast packets sent to the multicast group by the first VIU by monitoring the multicast group.

[0107] After obtaining the monitored information, the first VIU encapsulates the data using a pre-configured protocol and obtains one or more frames of the multicast packet. The first VIU then sends one or more frames of the multicast packet to the multicast group. After obtaining the multicast group address, the control device receives one or more frames of the multicast packet sent by the VIU in the multicast group by monitoring the port corresponding to the multicast group.

[0108] Step 502 is described in detail below.

[0109] After acquiring the monitored information, the first VIU first encapsulates the data using a pre-configured protocol and acquires one or more frames of a multicast packet. The pre-configured protocol may include, but is not limited to, a transmission protocol such as the user datagram protocol (UDP), the transmission control protocol (TCP), or the automotive real-time data protocol (ARTDP).

[0110] For example, as shown in Table 1, a multicast packet may contain multiple types of information monitored by the first VIU.

[0111] [Table 1]

[0112] The information identifier area may contain information such as the data type of the multicast packet, the multicast group address, the multicast port, and the identifier or address of the first VIU.

[0113] The system information area may include status information for the first VIU, such as the running state, core voltage, or chip core temperature.

[0114] The I / O status information area may include status information for I / O interfaces located inside or connected to the first VIU, such as the on / off state of the I / O interfaces.

[0115] The ADC sampling information area may contain the original sampled values ​​of the ADC at a given moment or over a given period of time.

[0116] The pulse width modulation (PWM) and control output area may include modulation modes for information collected by the first VIU, control information for other devices, and so on.

[0117] The switch chip information area may include switch chip status information, input / output information, etc. For example, the switch chip information area may include the core temperature of the switch chip (e.g., LSW), the core voltage of the switch chip, and the output information of the switch chip.

[0118] The power management information area may include information such as the operating status of the power chip or battery level, for example, the operating status of the power chip, core voltage, and chip core temperature, or information such as power supply margin, input battery level, or output battery level.

[0119] Other functional information areas may include status information of other devices connected to the first VIU or information collected by them, such as status information of an RGB sensor connected to the first VIU or image information collected by it.

[0120] The intermediate variable monitoring area may include intermediate values ​​for the state change of the first VIU over a certain period, intermediate values ​​for the state change of the device included in the first VIU over a certain period, intermediate values ​​for the state change of the device connected to the first VIU over a certain period, and so on. For example, if the first VIU is connected to an accelerator pedal, the intermediate variable may include the change in the opening degree of the accelerator pedal over a certain period.

[0121] Typically, if the information collected by the first VIU does not exceed a certain amount, the information collected by the first VIU may be encapsulated within a single frame of a packet so that the control device can quickly obtain the information collected by the first VIU.

[0122] A multicast group may correspond to one or more ports. When multiple VIUs are installed inside a vehicle, the VIUs may use different ports to transmit multicast packets. Naturally, a VIU may also use the same port to transmit multicast packets. For example, a first VIU may use port 4000 to transmit multicast packets, and a control device may monitor port 4000 corresponding to the multicast group to receive multicast packets transmitted by the first VIU. The control device may then parse the multicast packets based on a pre-agreed format.

[0123] In one possible implementation, if a vehicle contains multiple VIUs, these VIUs may synchronize their time. For example, each VIU may include a load balance switch (LSW). The VIUs may communicate with each other using the LSW, synchronize using a pre-configured time synchronization mechanism, and transmit multicast packets on a timeline acquired after time synchronization. The VIUs may transmit multicast packets at the same moment.

[0124] For example, if an Ethernet connection is established between multiple VIUs, the multiple VIUs may synchronize their time using an Ethernet time synchronization mechanism and then transmit multicast packets on the time axis obtained after the time synchronization using the time synchronization mechanism. The VIUs may also transmit multicast packets at the same moment to quickly complete an instant snapshot of the vehicle, so that a multicast device can simultaneously capture multicast packets transmitted by multiple VIUs in the vehicle, obtain an accurate and rapid snapshot of the entire vehicle, and perform subsequent analysis, control, etc.

[0125] In one possible implementation, the VIU may periodically transmit multicast packets so that the control device can periodically receive multicast files transmitted by the VIU, and so that the control device can monitor the vehicle's status in real time, adjust control over the vehicle, etc.

[0126] In one possible implementation, prior to step 502, the method may further include the control device joining a multicast group. Specifically, the control device may send a join request to the VIU in the vehicle to request to join the multicast group. After the VIU receives the join request, if the VIU permits the control device to join the multicast group, the VIU may send a multicast address in response to the join request so that the control device joins the multicast group based on the multicast address, monitors the port corresponding to the multicast group, and receives multicast packets transmitted in the multicast group. Furthermore, the control device may perform actions such as analyzing the state of the vehicle and controlling the vehicle.

[0127] 503: The control device analyzes the vehicle's state by using at least one frame of a multicast packet.

[0128] After receiving at least one frame of a multicast packet transmitted by at least one VIU, the control device may analyze the vehicle's status based on at least one frame of the multicast packet.

[0129] For example, if multicast packets contain VIU state information, a control device may analyze changes in the VIU state based on multicast packets received over a period of time. In another example, if multicast packets contain the degree of brake pedal opening in a vehicle, a control device may analyze the state of the vehicle's brake system based on multicast packets received over a period of time.

[0130] Accordingly, in the method provided in this application, a communication connection may be established for one or more VIUs in a vehicle so that a snapshot of the vehicle is transmitted, and a multicast group may be established to transmit multicast packets within the multicast group. The snapshot of the vehicle can then be transmitted rapidly through high-speed, high-efficiency transmission over a communication network such as Ethernet or a wireless network. A control device can rapidly receive multicast packets transmitted by the VIUs to analyze the vehicle status by using one or more received frames of the multicast packets, by monitoring the multicast group. This improves the efficiency of receiving information monitored by the VIUs for the control device. In addition, the cost of building the control and monitoring system is reduced, all data can be collected and processed without special hardware, and wired and wireless connections can be implemented through flexible deployment arrangements. This is applicable to various application scenarios where the entire vehicle or some functional units need to be controlled and monitored.

[0131] The data transmission method applicable to vehicles provided in this application allows for the simultaneous implementation of non-logical transient control of the entire vehicle or a single VIU of the vehicle, meaning that the vehicle can be controlled without relying on fixed control logic. In addition, compared to monitoring tools using CAN buses, the control devices provided in this application can be deployed or connected to vehicles more efficiently, easily, and at a lower cost. Furthermore, this embodiment of the application significantly improves the efficiency of developing the overall vehicle electrical / electronic architecture, improves hardware monitoring and self-checking methods, modifies conventional vehicle applications where only some output / input points can be monitored simultaneously, and expands the application scenarios for the overall vehicle electrical / electronic architecture.

[0132] In one possible implementation, the control device may generate an analysis image based on information contained in multiple frames of a received multicast packet and display the analysis image through a display device, the analysis image may include changes in the vehicle's state over time. For example, the control device may generate a curve showing how the opening of the vehicle's brake pedal changes over time and display the curve on a display screen. In another example, the control device may generate and display a curve showing how the core voltage or chip core temperature of the first VIU changes over time. In yet another example, the control device may generate and display a square wave pattern showing how the state of the I / O interface of the first VIU changes over time.

[0133] Therefore, in this implementation of the present application, when multicast packets carry intermediate variables of changes in the vehicle's state, the control device can generate and display an image showing how the vehicle's state changes over time, thereby intuitively representing the changes in the vehicle's state. This allows the user to know the vehicle's state in real time based on the image, or the control device to control the vehicle more accurately based on the changes in the vehicle's state.

[0134] In one possible implementation, the method provided in this application may further include a control device sending a control command to at least one VIU in a multicast group, the control command being used to control one or more I / O interfaces, sensors, or execution units of at least one VIU. A first VIU is used as an example. After receiving the control command, the first VIU may respond to the control command and control one or more I / O interfaces, sensors, or execution units in accordance with the control command. Execution units may include devices such as a vehicle's brake unit, steering system, or engine. For example, the control command may be used only to enable or disable an I / O interface, to enable or disable a sensor, or to instruct the vehicle to apply the brakes.

[0135] For example, if a multicast packet contains information collected by sensors connected to the VIU, such as images, laser point clouds, or electromagnetic echo point clouds, the control device may identify obstacles in the vehicle's surrounding environment, such as other vehicles, pedestrians, or traffic signals, based on the information collected by the sensors, in order to plan the vehicle's route based on those identified obstacles. This enables autonomous driving of the vehicle and improves the user experience.

[0136] In another example, if a control device joins a multicast group via a wireless network in a given scenario, the control device can remotely control the vehicle, for example, by remotely closing the windows, closing the doors, or folding in the rearview mirrors, thus allowing the user to remotely control the vehicle. Therefore, the user experience is improved.

[0137] Therefore, in this implementation of the present application, the control device can control the vehicle by using received multicast packets to, for example, plan the driving route or remotely control the vehicle, so that the vehicle can run more safely and stably. Thus, the user experience is improved.

[0138] The above describes in detail the procedure of the data transmission method provided in this application. Below, the data transmission method provided in this application will be described in more detail using a more specific application scenario as an example.

[0139] Figure 6 is a schematic flowchart of the data transmission method according to this application. Details are as follows.

[0140] 601: The control device sends a join request to the second VIU.

[0141] A vehicle may contain multiple VIUs. Communication connections are established between the multiple VIUs, such as via Ethernet or wireless connections, allowing multiple VIUs to access the same multicast group.

[0142] A control device can be a terminal, PC, server, or a control module such as a CDC or MDC inside a vehicle. A control device may send a join request to a VIU, for example, a second VIU, to request to join a multicast group. The join request may carry the control device's identifier, instructions for joining the multicast group, and other information.

[0143] 602: The second VIU responds using a multicast address.

[0144] After receiving the join request, the second VIU determines whether the control device is permitted to join the multicast group, and if so, responds with the multicast address.

[0145] Specifically, the second VIU may determine in several ways whether the control device is permitted to join the multicast group.

[0146] For example, in Method 1, if the control device is an internal control module of the vehicle, such as a CDC or MDC, the second VIU may decide that the control device is permitted to join a multicast group.

[0147] In another example, in Method 2, if the control device is an external device, such as a tablet computer, PC, or mobile terminal, the second VIU may query a pre-configured list to see if the control device identifier is in a list of devices permitted to access the multicast group. If the control device identifier is in the list of devices permitted to access the multicast group, the second VIU responds to the control device with the multicast address.

[0148] In yet another example, in scheme 3, the second VIU may directly display information through a display installed in the vehicle indicating that the control device is requesting access to a multicast group, and the user decides whether the control device is permitted to join the multicast group. If the user decides that the control device is permitted to join the multicast group, the second VIU may send the multicast address to the control device. In this scheme, the user can decide whether the control device is permitted to join the multicast group, thus improving vehicle security and user experience.

[0149] Optionally, after deciding that a control device is permitted to access a multicast group, the second VIU may add the identifier of the control device to a local list, which stores the control device that accesses the multicast group. Thus, the second VIU may later determine, based on the table, which specific device accesses the multicast group, or, when the control device requests to rejoin the multicast group, the second VIU permits the control device to access the multicast group.

[0150] Naturally, if the second VIU determines that the control device is not permitted to join the multicast group, the second VIU may either not respond to the control device with a message, or respond to the control device with a rejection message, thereby denying the control device access to the multicast group. For example, if the identifier of the control device is not on the list of devices permitted to access the multicast group, or if the user decides to deny the control device access to the multicast group, the second VIU may either not respond to the control device with a message, or respond to the control device with a rejection message, thereby denying the control device access to the multicast group.

[0151] After receiving a multicast address, the control device may join the multicast group according to the corresponding protocol based on the multicast address and monitor the port corresponding to the multicast group. For example, if the multicast group is established based on Ethernet, the control device may access the multicast group according to the corresponding Ethernet communication protocol based on the multicast address and subsequently parse the received data according to the communication protocol.

[0152] For example, the control device may be a terminal, such as an Android® system-based terminal like a tablet computer or mobile device, and a customized VIU health monitoring application (app) may run on the Android device. A specified multicast group is joined in the app so that multicast packets sent by each VIU can be captured and displayed in a rich data visualization view. This facilitates tracking of execution status and critical debugging information of the VIU, as well as improving the feasibility of VIU maintenance and testing.

[0153] 603. The first VIU and the second VIU perform time synchronization.

[0154] To avoid the problem of data not being transmitted at the same moment due to time asynchronous operation between VIUs within the vehicle, the VIUs within the vehicle may perform time synchronization before transmitting data, or perform it periodically.

[0155] Specifically, the first VIU and the second VIU may send time synchronization messages to each other in order to synchronize their time. For example, over a certain period, the first VIU may periodically send time synchronization messages to the second VIU, the synchronization messages may carry the clock of the first VIU, and the second VIU may determine the link transmission latency based on the clock carried in the periodic time synchronization messages and synchronize its clock with the first VIU.

[0156] For example, the first VIU may synchronize its time by using a generalized precision time protocol (gPTP) time synchronization mechanism, so that each VIU transmits based on the time axis obtained after synchronization.

[0157] Therefore, in this implementation of the present application, the VIU may perform time synchronization, for example, according to a gPTP time synchronization mechanism, in order to perform synchronous data transmission by the VIU, and transmit data based on the time axis obtained after synchronization. This avoids a situation in which the system snapshot period becomes staggered and meaningless due to asynchronous data transmission.

[0158] 604: Obtain information on the monitoring status of the first and second VIUs.

[0159] For the steps to obtain the monitored information for the first and second VIUs, please refer to the relevant explanation in step 501. Further details will not be explained here.

[0160] 605: The control device receives multicast packets transmitted by the first VIU and the second VIU in the multicast group by monitoring the multicast group.

[0161] The first VIU and the second VIU perform time synchronization, and the first VIU and the second VIU can transmit their respective monitored information on the time axis obtained after time synchronization.

[0162] After accessing or joining a multicast group, the control device monitors each port corresponding to the multicast group to receive multicast packets transmitted by the first VIU and the second VIU within the multicast group, respectively.

[0163] For example, after acquiring monitored information, the VIU may load the monitored information into a single frame of a packet and then periodically transmit the monitored information in a pre-configured format to a designated port by using the LSW based on the current system clock beat. The VIU then rapidly replicates and transmits the packets using the switch's Layer 2 switching protocol, forwarding the packets within the switch node's forwarding latency (e.g., 5 to 10 μs). This enables rapid transmission of multicast packets. The control device may accurately record global status information of the vehicle based on the current clock beat and analyze the vehicle's status using the received multicast packets, or display the vehicle's status in a manner such as drawing a curve or dynamic graph. This satisfies data analysis requirements in various scenarios, such as video application scenarios, machine learning application scenarios, and target tracking application scenarios in radar systems.

[0164] The following examples will explain the steps performed on the VIU side and the control device side separately.

[0165] First, an example of the steps performed on the VIU side is explained below.

[0166] Each VIU may monitor the status of multiple devices, such as multiple sensors or multiple execution units in a vehicle, or the data collected therefrom. When collecting multiple types of data, the VIU may load multiple types of data into the same frame of a multicast packet to improve transmission efficiency.

[0167] For example, VIU can encapsulate and transmit packets by using the ARTDP protocol. The length of the information contained in each frame of a multicast packet can be specifically shown in Table 2.

[0168] [Table 2]

[0169] The ARTDP protocol header is used to distinguish the location information of the VIU source node from the location information of another required node.

[0170] MCU information may include actual control values ​​and status information of the MCU chip.

[0171] Network information may include the communication status of the VIU for communication connectivity, connection method, transmission volume statistics, network discovery information, etc.

[0172] Auxiliary chip status information may include status information such as current, temperature, voltage, or input / output information of chips such as power management chips, chip drive chips, expansion chips, or MCUs that can collect information.

[0173] Typically, to ensure that the information collected by the VIU is transmitted within the same frame, 20+N+M+K+X+Y<1472 (bytes) prevents the information collected by the VIU from being split across multiple frames, enabling efficient transmission of multicast packets.

[0174] Next, the VIU periodically sends multicast packets within the multicast group, for example, sending multicast packets every second.

[0175] Therefore, in this implementation of the present application, multicast groups can be used to efficiently and accurately transmit multicast packets and to perform instant snapshots of vehicles. By using queues, it is not necessary to establish multiple links and connections to complete the transmission of multicast packets. This avoids a situation where an instant snapshot of the entire system cannot be completed through data transmission.

[0176] It can be understood that a VIU is used as an issuer and a control device is used as a subscriber. As shown in Figure 7, the issuer may send protocol data (PD) to a multicast group in a manner defined in a protocol data unit (PDU). The subscriber may monitor each port corresponding to the multicast group and receive the PD issued by each VIU.

[0177] Next, an example of steps performed on the control device is described below.

[0178] After accessing or joining a multicast group, the control device monitors each port corresponding to the multicast group to receive multicast packets sent by the VIU.

[0179] After receiving a multicast packet, the control device may parse the multicast packet according to a pre-configured protocol to obtain information monitored by each VIU.

[0180] Typically, the VIU may periodically transmit multicast packets, and in response, the control device may periodically receive multicast packets transmitted by the VIU.

[0181] Optionally, if the control device does not receive multicast packets transmitted by the VIU for N consecutive periods, the control device may check whether the connection to the VIU is interrupted, or display prompt information to indicate a failure in communication connection to the VIU, a communication failure, a VIU failure, etc.

[0182] For example, the control device is a terminal with an Android system. A VIU health monitoring app is installed on the terminal. In the app, the VIU communication monitoring processing module is enabled, and communication checks are performed based on the communication period defined in the protocol data unit (PDU). After the background service is enabled in the app, the UDP multicast client joins the specified multicast group, monitors the specified local port, retrieves the required UDP multicast packets, and a customized UDP packet decoder parses the PDU ID. When retrieving UDP multicast packets, the background service in the app updates the status of the processing module based on the PDU ID. If the background service in the app does not receive multicast packets sent by the VIU for a continuous period exceeding a specified period (e.g., 5 seconds), the background service in the app determines that the VIU is offline due to a timeout and notifies the app of foreground activity via a callback interface, for example, by displaying information that the VIU is offline or has failed. The data bus used to send UDP packets can be customized in the app. After retrieving UDP multicast packets, the background service in the app packets the packets and publishes them to the bus. Foreground activity in an application registers the bus with a monitor to receive UDP packets. When a UDP multicast packet is received, the background service in the application parses the data using a UDP packet decoder and notifies the foreground activity in the application via a callback interface, updating, for example, the VIU status information.

[0183] In another example, the control device is a terminal with an Android system. The VIU health monitoring app is installed on the terminal, and decoder classes, such as a UDP packet decoder class, are compiled within the app. Instances of this class can be obtained by inputting UDP packets in order to parse UDP packets (i.e., multicast packets).

[0184] Typically, VIUs upload data based on their respective local clocks, and clock differences may exist between multiple VIUs. A control device may receive all data by monitoring a designated port corresponding to a multicast group and perform beat synchronization based on packet frame counts in the protocol field, or it may analyze the received data over the same period according to a generalized precision time protocol (gPTP) time synchronization mechanism, thereby obtaining information monitored by the VIUs in the vehicle at the same moment. This avoids situations where data is inaccurate or invalid due to time differences.

[0185] 606: The control device analyzes the vehicle's state by using at least one frame of a multicast packet.

[0186] After receiving at least one frame of a multicast packet, the control device may analyze the vehicle's state by parsing at least one frame of the multicast packet and using the parsing results, and based on the vehicle's state, it may provide further prompts, control the vehicle, etc.

[0187] For example, a multicast packet contains the original sampled value of the ADC. After receiving the multicast packet, the control device can calculate the actual value of each channel of the ADC by using a pre-configured formula. For example, the pre-configured formula might be: sampled value × voltage divider = actual ADC value. Therefore, the control device can analyze the change in the actual value of each channel of the vehicle's ADC by using the multicast packets received through monitoring multicast groups, in order to know the conversion state of the vehicle's ADC.

[0188] Optionally, after analyzing the vehicle's state using at least one frame of a multicast packet, the control device may plot a curve based on the analysis results to obtain an analysis image. Specifically, the control device may plot a curve based on the time axis and state information such as I / O interfaces and ADCs, and display a dynamic curve. This facilitates observation by the user.

[0189] When plotting a curve, the control device may refer to intermediate values ​​of several hardware variables monitored by the VIU to more accurately analyze the vehicle's changing state. For example, the initial, intermediate, and final values ​​of the change in accelerator pedal position over a period of time may all be included in a multicast packet. By using the multicast packet, the control device obtains the initial, intermediate, and final values ​​of the change in accelerator pedal position over that period through analysis, and plots a curve based on these initial, intermediate, and final values ​​to more intuitively reflect the state of change in accelerator pedal position over that period.

[0190] Optionally, when multicast packets carry information such as laser point clouds, electromagnetic echo point clouds, or images collected by sensors and monitored by a VIU, the control device may output pedestrians, vehicles, traffic signals, or other environmental information monitored by sensors based on a pre-trained perceptual model, and the control device may generate an environmental image based on the information output by the perceptual model, the environmental image including pedestrians, vehicles, traffic signals, or other environmental information monitored by sensors, thereby allowing the user to observe the environment around the vehicle by using the environmental image. Thus, the user experience is improved.

[0191] Optionally, after receiving multicast packets and obtaining analysis results, the control device may locally store the analysis results or the multicast packets based on a time axis, so that the vehicle's past state can be subsequently analyzed based on past data. This improves the user experience.

[0192] For example, the control device is a terminal with an Android system. The VIU health monitoring app is installed on the terminal, and data is stored in the app by using an SQLite database, and the viu_log table is established by using data items to be recorded as column names. Whenever a UDP packet is received, a background service in the app retrieves all the data of the packet through parsing using a UDP packet decoder, adds a timestamp to the data, and then writes the data to the viu_log table. Every 30 minutes, the background service in the app checks for and deletes data that was placed in the database one hour before the current time.

[0193] Optionally, the control device may further calculate the vehicle's bandwidth based on the amount of multicast packets received. The control device may generate prompt messages based on the vehicle's bandwidth usage to show examples of when the vehicle's bandwidth is sufficient, insufficient, etc. Alternatively, when the vehicle's bandwidth usage exceeds a bandwidth threshold, the user may be prompted to increase the bandwidth, or the VIU may be notified to control the amount of data to be transmitted in order to reduce bandwidth usage and maintain sufficient bandwidth.

[0194] For example, a UDP packet decoder and a bandwidth calculator may be installed in the control device. The UDP packet decoder obtains the cumulative received and transmitted packet counts on each port of the LSW chip of each VIU and then sends the data to the bandwidth calculator. In the bandwidth calculator, a first-in, first-out data queue is established for each port to store all packet counts for one second. Each time new data enters the queue, the data on the front of the queue is pushed out and the difference between the new data and the data on the front of the queue is returned. This difference is the received (transmitted) packet count P on the port for one second. c The downlink (uplink) bandwidth data on a port can be calculated using the bandwidth calculation formula. The bandwidth calculation formula is bandwidth = P c *R + Offset(bytes / s) may also be used, where bandwidth represents bandwidth, R is the size factor of the multicast packet and is a preset value, and Offset is a constant. When bandwidth usage reaches 95%, the control device may generate prompt information to prompt the user to increase bandwidth, or send control commands to the VIUs to control the amount of data transmitted by each VIU in order to reduce bandwidth usage.

[0195] In the data transmission method applicable to the vehicle provided in this application, it can be understood that a global system instant snapshot in Ethernet technology is used to complete a global snapshot of the electronic system in the electrical / electronic (E / E) architecture of the entire vehicle. In addition, the VIU performs time synchronization to complete a synchronous snapshot of the nodes for the same execution period. The control device completes information gathering for the entire system for the same period by using a point-to-multipoint multicast communication data synchronization distribution mechanism.

[0196] 607: The control device sends control commands to the first VIU and the second VIU, respectively.

[0197] The control device may analyze the vehicle state by using at least one frame of a multicast packet and send control commands to each VIU based on the vehicle state in order to control each VIU using control commands and to further control the vehicle. Alternatively, the control device may send control commands to each VIU based on user actions in order to control each VIU using control commands and to further control the vehicle.

[0198] Typically, a VIU can correspond to a module in a different part of a vehicle. For example, if the driver's side door of a vehicle is controlled by VIU1, a control device may carry the identifier of VIU1 using control commands to control the opening and closing of the driver's side door by using the vehicle. Alternatively, if different VIUs transmit data on different ports within a multicast group, a control device may send control commands on the port corresponding to VIU1 so that VIU1 receives and executes control commands, controlling things like closing a door or closing a window.

[0199] 608: The first and second VIUs execute control commands.

[0200] After receiving a control command transmitted by a control device, the VIU analyzes and executes the control command.

[0201] Typically, a VIU may correspond to a module in a different part of a vehicle, and each VIU may receive messages transmitted in a multicast group. When a VIU receives a control command carrying its identifier, the VIU may determine that the target of the control command is the VIU. The VIU may analyze the control command, execute it, and, for example, enable or disable an I / O interface or a sensor connected to the VIU, or control an executable connected to the VIU, for example, control the opening of the accelerator pedal, the opening of the brake pedal, or the rotation angle of the steering wheel.

[0202] For example, in some autonomous driving scenarios, as shown in Figure 8, the control device may be a device such as the vehicle's MCU or an in-vehicle terminal. The control device may acquire data such as laser point clouds, electromagnetic echo point clouds, or images collected by sensors such as the vehicle's laser rangefinder, radar, or camera by using multicast packets, and output perceptual information collected by the sensors by using a pre-configured perceptual model. Based on the perceptual information, the control device may plan the vehicle's route and, using the VIU, send control commands to each VIU based on the route to control the vehicle to drive along the route.

[0203] In other examples, in some automated valet parking (AVP) scenarios, as shown in Figure 9, the control device may be a device such as a tablet computer or handheld terminal. The control device may access multicast groups via a communication network such as 4G, 5G, or Wi-Fi and send control commands to each VIU of the vehicle to control the vehicle's steering system, accelerator, brake unit, etc., so that the vehicle moves into the parking space.

[0204] In other examples, in some remote control scenarios, the control device may be a device such as a tablet computer or a handheld terminal. The control device may access a multicast group corresponding to the vehicle via a wireless network, and the control device may include a display screen that displays the vehicle status obtained based on multicast packets, for example, the on / off status of the I / O interface corresponding to the windows or the on / off status of the I / O interface corresponding to the doors. The user may remotely send control commands to the multicast group by using the control device to control operations such as closing doors, closing windows, or folding rearview mirrors. For example, the control device may access the multicast group via a communication network such as 4G, 5G, or Wi-Fi. As shown in Figure 10A, if a vehicle door is not closed, the unclosed door may be displayed on the terminal, and the user may select the door that needs to be closed on the terminal's display interface so that the vehicle door is closed. As shown in Figure 10B, a terminal can send a control command to close a door to a VIU in a multicast group via a communication network such as 4G, 5G, or Wi-Fi, so that the corresponding VIU can remotely control the opening and closing of the door by adjusting the on / off state of the I / O interface corresponding to the door.

[0205] In the data transmission method applied to the vehicle provided in this application, after accessing a multicast group, the control device can acquire information monitored by the VIU and precisely control a single I / O, sensor, etc. of the VIU, thus enabling more precise control of the vehicle. In addition, in scenarios where the control device accesses the multicast group via a wireless communication network, the control device can be used to remotely control the vehicle. This enhances vehicle safety and improves the user experience. In the vehicle provided in this embodiment of this application, it can be understood that system monitoring and debugging capabilities for the entire vehicle platform are built by using a new electrical / electronic architecture and communication technology (e.g., Ethernet or wireless communication) for the entire vehicle. By using snapshot data, it is possible to draw a complete control logic diagram, and various algorithms and software control logic in the vehicle can be comprehensively output and monitored. Alternatively, system monitoring and debugging capabilities may be used as a detection tool for manually or automatically diagnosing input / output points and internal monitoring points of the entire vehicle device. Alternatively, system monitoring and debugging capabilities may be used as basic application data and provided for higher-level applications, and the collected data may be recorded as historical data for analysis.

[0206] Therefore, in this implementation of the present application, the VIU and the control device can be connected to each other via a wireless or wired communication network, thereby improving the data transmission rate of the VIU and enabling efficient and accurate completion of instant snapshots of the entire vehicle or the vehicle's systems. In addition, the control device can participate in the multicast group in which the VIU is located, monitor multicast packets transmitted by the VIU within the multicast group, analyze the information carried in the multicast packets, and analyze the vehicle's status based on the information carried in the multicast packets.

[0207] The above describes in detail the vehicle and data transmission method provided in this application. Hereafter, the graphical user interface (GUI) provided in this application will be described in detail with reference to the vehicle and data transmission method. For ease of understanding, the GUI provided in this application will be described below by using several examples related to display interfaces.

[0208] First, this application provides a graphical user interface, the GUI, which is stored in an electronic device.

[0209] Next, this application further provides an electronic device. The electronic device includes a display screen, memory, and one or more processors. The one or more processors are configured to execute one or more computer programs stored in memory. The display screen is configured to display a graphical user interface stored in memory.

[0210] The graphical user interface of this application will be described below. Displaying the multicast address of a multicast group, wherein the multicast group contains at least one VIU, This includes acknowledging a multicast address and, in response to receiving at least one frame of a multicast packet transmitted by at least one VIU in a multicast group, displaying information contained in at least one frame of the multicast packet.

[0211] For example, as shown in Figure 11, the acquired address, i.e., the IP address of the multicast group shown in Figure 11, may be displayed on the screen. Optionally, the multicast group's network topology type (e.g., a ring network structure), the number of VIUs (e.g., four VIUs), or the port number (e.g., 40000) may also be displayed on the screen. When the user taps the "OK" button, a join request may be sent to any VIU based on its IP address to request to join the multicast group.

[0212] In one possible implementation, the graphical user interface is particularly, This includes displaying one or more of the following: status information for at least one VIU, information about the I / O interface of at least one VIU, the original sampled value of the ADC of at least one VIU, or information collected by a sensor monitored by at least one VIU.

[0213] For example, after accessing a multicast group, the terminal can receive multicast packets sent by the VIU by monitoring the port corresponding to the multicast group, analyze the multicast packets, and display the information contained in them. For details on the process of analyzing multicast packets, please refer to the relevant explanation in Figure 5 or Figure 6. Further details are not provided here.

[0214] For example, as shown in Figure 12, if multicast packets carry information such as the MCU core temperature of each VIU, the MCU core voltage of each VIU, or the system operating status of each VIU, then information such as the MCU core temperature of each VIU, the MCU core voltage of each VIU, or the system operating status of each VIU may be displayed on the display screen. In this interface, foreground activity in the application acquires the VIU communication status and UDP multicast packets and obtains information such as the PDU ID, VIU system status, communication bandwidth, or latency through analysis using a UDP packet decoder. A ring network topology containing four VIUs in a vehicle is displayed on the interface. Naturally, if VIUs are connected by using other topologies, the corresponding topologies may also be displayed on the interface. The ring network topology is used only as an example for illustrative purposes in this specification. Each VIU is connected to port 1 of an adjacent VIU through port 0 of the LSW. Core data, such as information such as the MCU core temperature, MCU core voltage, or the system operating status of each VIU, may be displayed on each VIU module in real time. In addition, node latency in the ring network may also be displayed on the interface; for example, the latency value is displayed in the upper right corner of Figure 12. To display the connection status between VIUs more intuitively, when two adjacent VIUs are communicating normally with each other, the link between VIUs is connected in the display interface. Real-time data on the link indicates the adjusted bandwidth between VIUs, and the direction of the arrow indicates the direction of data transmission. The color of the arrow may be used to indicate the uplink bandwidth ratio on port 0 of the LSW chip of each VIU (for example, green indicates that the bandwidth portion is less than 40%, yellow indicates that the bandwidth portion is in the range of 40% to 70%, and red indicates that the bandwidth portion is greater than 70%). When communication between VIUs is interrupted, the link connecting the VIU blocks is failed, and the arrow disappears. When communication between VIUs is normal, a VIU block may be tapped to enter the VIU system function monitoring information details page.Otherwise, a dialog box will appear indicating that the VIU device has been disconnected.

[0215] Typically, a relatively large amount of information is obtained by using at least one frame of a multicast packet. To improve the user experience, information about the vehicle may be categorized and displayed, meaning that the information obtained by using at least one frame of a multicast packet is categorized into multiple types. For example, the information obtained by using multicast packets may be categorized based on the vehicle's hardware, such as electric power steering (EPS), LSW bandwidth information, ADC channel values, I / O interface on / off status, and Electronic Brake Systems (EBS) status. Of course, the information obtained by using multicast packets may also be categorized using other classification methods, for example, based on information type. Specifically, this may be adjusted based on the actual application scenario, and is not limited herein.

[0216] After the information collected by each VIU in the vehicle is obtained using at least one frame of a multicast packet, the changing state of the information collected by each VIU in the vehicle may be displayed more intuitively by drawing a curve in response to a selection action performed by the user for each classification piece of information. For example, for ease of understanding, the GUI provided in this application is described below using, as an example, a system internal critical data monitoring module, a board I / O status monitoring module, a board ADC monitoring module, an LSW chip monitoring module, a brake system monitoring module, a steering system monitoring module, etc.

[0217] As shown in Figure 13, curves of VIU state information over a period of time, such as the internal temperature and voltage of the MCU at different locations, may be plotted, and the curves are displayed on the screen in response to the user's action of selecting VIU state information.

[0218] As shown in Figure 14, VIU0 is used as an example. The current states of 10 groups of I / O ports on VIU0 may be displayed. Each group of I / O ports contains 16 I / O interfaces, and the state of each I / O interface can be represented by using 1 bit. For example, 1 indicates a high level and 0 indicates a low level.

[0219] As shown in Figure 15, the state changes of each I / O interface within each group of I / O ports can be represented in the form of a square wave. I / O port group 0 is used as an example. A square wave corresponding to the changing state of the I / O ports over a certain period is displayed on the screen in response to the user's selection of I / O port group 0.

[0220] As shown in Figure 16, information corresponding to all groups of ADCs (i.e., VADC Group 0 to VADC Group 5 in Figure 16) can be displayed in list format. For each group of ADC modules, the left column shows the original sampled value received by the ADC, and the right column shows the calculated actual value of the ADC.

[0221] As shown in Figure 17, the information monitored by the LSW chip may be displayed on the screen in list format, including the adjusted bandwidth, link status, error packet count obtained by using a UDP packet decoder at each of the eight LSW chip ports (Ports), and uplink and downlink real-time bandwidth obtained by using a bandwidth calculation processor at each of the eight ports. As shown in Figure 18, curves corresponding to the uplink and downlink bandwidths corresponding to the modules on each port may be drawn. Port 0 is used as an example. Curves of the change in uplink and downlink bandwidth on Port 0 over a period of time may be displayed on the screen.

[0222] As shown in Figure 19, a curve of the target pressure and actual pressure of the vehicle's brake pedal over a certain period may be plotted. Therefore, the specified pressure and actual pressure of the vehicle's brake pedal may be compared in order to adjust the algorithm corresponding to the brake pedal so that the difference between the target pressure and the actual pressure of the brake pedal becomes smaller.

[0223] As shown in Figure 20, a curve of the target and actual rotation angles of the vehicle's steering system over a certain period may be plotted. For example, in an autonomous driving scenario, when a driving path is planned for the vehicle, the target rotation angle may be planned for the vehicle based on the difference between the actual rotation angle and the target rotation angle, so that the vehicle's driving path can be planned more accurately thereafter, and the actual rotation angle obtained when the vehicle is driving may be detected.

[0224] In addition, the control device may store received multicast packets or data contained in multicast packets, and subsequently acquire past data for each VIU in the vehicle by reading past data, and subsequently analyze each module of the vehicle more accurately, and acquire past state changes of the vehicle through analysis such as sensor baseline drift or brake pedal sensitivity adjustment. For example, the GUI display interface may further include a past data module. In response to the user's action of selecting a past data module, past data may be read from a local storage medium or database, and the past data may be displayed.

[0225] Therefore, the GUI provided in this application allows for precise monitoring of each VIU within the vehicle, and the current state of each input / output point of the system and the instantaneous values ​​of specified intermediate variables can be monitored. In addition, the intermediate states of each layer of system functionality can be monitored and controlled through intervention. This improves the accuracy of vehicle control and enhances the user experience.

[0226] The above describes in detail the methods, systems, and GUIs provided in this application. The apparatus provided in this application will be described below with reference to Figures 1 to 20.

[0227] It should be understood that the VIU and control device provided in this application may be applied to a vehicle. The vehicle includes at least one vehicle integrated unit VIU, the VIU being any one of at least one VIU, a communication connection being established between at least one VIU and a control device, and the control device and at least one VIU accessing the same multicast group. The control device may be included in the vehicle, or a communication connection may be established between the control device and the vehicle. Specifically, the control device may be tailored based on the actual application scenario, this is not limited herein.

[0228] The VIU and control devices provided in this application will be described separately below. The VIU and control devices are configured to perform the steps performed by the VIU and control devices in Figure 5 or Figure 6, respectively.

[0229] Figure 21 is a schematic diagram of the VIU according to this application.

[0230] VIU is A monitoring module 2101 is configured to acquire monitored information, The system may also include a transceiver module 2102 configured to transmit multicast packets by using a multicast group, such that a control device obtains multicast packets by monitoring the multicast group, the multicast packets containing information discovered by the first VIU, and the multicast packets being used by the control device to analyze the vehicle status.

[0231] In one possible implementation, an Ethernet connection and / or wireless communication connection is established between the control device and at least one VIU.

[0232] The transceiver module 2102 is specifically configured to transmit multicast packets in a multicast group over an Ethernet connection and / or a wireless connection.

[0233] In one possible implementation, the vehicle includes at least two VIUs, and before the first VIU sends multicast packets to a multicast group, the VIU may further include a synchronization module 2103 configured to synchronize its time with one of at least two other VIUs.

[0234] The transceiver module 2102 is specifically configured to transmit multicast packets based on a time axis acquired after time synchronization.

[0235] In one possible implementation, the transceiver module is configured to periodically transmit multicast packets.

[0236] In one possible implementation, the information monitored by the monitoring module 2101 includes one or more of the following: VIU status information, information about the VIU's I / O interface, the original sampled values ​​of the VIU's analog-to-digital converter (ADC), or information collected by sensors monitored by the VIU.

[0237] In one possible implementation, the information collected by the sensors is used by a control device to plan the vehicle's route.

[0238] In one possible implementation, before the transceiver module 2102 sends multicast packets to the multicast group, the transceiver module 2102 is configured to receive join requests sent by the control device, which are used to request to join the multicast group, and to respond to join requests using the multicast address.

[0239] In one possible implementation, the VIU may further include a control module 2104. The transceiver module is further configured to receive control commands transmitted by a control device. The control module 2104 is configured to control one or more of the I / O interfaces, sensors, or vehicle execution units of the first VIU according to the control commands.

[0240] Figure 22 is a schematic diagram of the control device according to this application.

[0241] The control device is A transceiver module 2201 is configured to obtain the multicast address of a multicast group, The control device is configured to monitor the port corresponding to the multicast address. Listen Module 2202, The transceiver module 2201 is further configured to receive at least one frame of a multicast packet through the port, and the multicast packet includes information that is monitored by at least one VIU. Listen Module 2202 and, It includes a processing module 2203 configured to analyze the vehicle's status by using at least one frame of a multicast packet.

[0242] In one possible implementation, an Ethernet connection and / or wireless connection is established between the control device and at least one VIU.

[0243] The transceiver module 2201 is configured to receive multicast packets transmitted in a multicast group, specifically over Ethernet and / or wireless connections.

[0244] In one possible implementation, at least one frame of a multicast packet includes one or more of the following: state information of at least one VIU, information about the I / O interface of at least one VIU, the original sampled value of the analog-to-digital converter (ADC) of at least one VIU, or information collected by a sensor monitored by at least one VIU.

[0245] In one possible implementation, when at least one frame of a multicast packet contains information collected by a sensor monitored by at least one VIU, the processing module 2203 is further configured to allow the control device to plan the vehicle's route based on the information collected by the sensor monitored by at least one VIU.

[0246] In one possible implementation, the transceiver module 2201 is configured to periodically receive, in particular, at least one frame of a multicast packet sent to a multicast group by at least one VIU through its port.

[0247] In one possible implementation, the transceiver module 2201 further sends a join request to a first VIU, which is used to request to join a multicast group, the first VIU being one of at least one VIU, and is configured to receive a multicast address that the first VIU will use to reply.

[0248] In one possible implementation, the control device further includes a display module 2204.

[0249] After the control device analyzes the vehicle's state using at least one frame of a multicast packet, the processing module 2203 is further configured to generate an analysis image based on the changes in the vehicle's state over time.

[0250] The display module 2204 is configured to display the analysis image.

[0251] In one possible implementation, the transceiver module 2201 is further configured to send control commands to at least one VIU, which are used to control one or more of the I / O interfaces, sensors, or execution units of at least one VIU.

[0252] Figure 23 is a schematic diagram of another VIU according to this application. Details are as follows:

[0253] The VIU may include a processor 2301, a transceiver 2303, and memory 2302. The processor 2301, transceiver 2303, and memory 2302 are interconnected through wiring. Memory 2302 stores program instructions and data.

[0254] Memory 2302 stores program instructions and data corresponding to the steps shown in Figures 5 through 10B.

[0255] The processor 2301 is configured to perform the method steps performed by the VIU in any one of the aforementioned embodiments shown in Figures 5 to 10B.

[0256] Optionally, the VIU may further include a transceiver 2303 configured to receive or transmit data.

[0257] One embodiment of this application further provides a computer-readable storage medium that stores a program used to generate the vehicle's speed. When the program is executed on a computer, the computer is enabled to perform steps of the method described in the embodiments shown in Figures 5 to 10B.

[0258] Optionally, the VIU shown in Figure 23 is a chip.

[0259] Figure 24 is a schematic diagram of another control device according to this application. Details are as follows.

[0260] The control device may include a processor 2401, a transceiver 2403, and a memory 2402. The processor 2401, transceiver 2403, and memory 2402 are interconnected through wiring. Memory 2402 stores program instructions and data.

[0261] Memory 2402 stores program instructions and data corresponding to the steps shown in Figures 5 through 10B.

[0262] The processor 2401 is configured to perform method steps performed by the control device in any one of the aforementioned embodiments shown in Figures 5 to 10B.

[0263] Optionally, the control device may further include a transceiver 2403 configured to receive or transmit data.

[0264] One embodiment of this application further provides a computer-readable storage medium that stores a program used to generate the vehicle's speed. When the program is executed on a computer, the computer is enabled to perform steps of the method described in the embodiments shown in Figures 5 to 10B.

[0265] Optionally, the control device shown in Figure 24 is a chip.

[0266] One embodiment of this application further provides a VIU, which may also be called a digital processing chip or chip. The chip includes a processing unit and a communication interface. The processing unit receives program instructions through the communication interface, and when the program instructions are executed by the processing unit, the processing unit is configured to perform method steps performed by the VIU in any one of the aforementioned embodiments shown in Figures 5 to 10B.

[0267] Certain embodiments of the present application further provide a control device. The control device may also be referred to as a digital processing chip or a chip. The chip includes a processing unit and a communication interface. The processing unit obtains program instructions through the communication interface, and when the program instructions are executed by the processing unit, the processing unit is configured to perform the method steps performed by the control device in any one of the foregoing embodiments from FIG. 5 to FIG. 10B.

[0268] Certain embodiments of the present application further provide a digital processing chip. A circuit configured to implement the function of processor 2301 or processor 2301 and one or more interfaces are integrated into the digital processing chip. When a memory is integrated into the digital processing chip, the digital processing chip may complete any one or more of the method steps of the foregoing embodiments. When the memory is not integrated into the digital processing chip, the digital processing chip may be connected to an external memory through the communication interface. The digital processing chip implements the actions performed by the VIU in the foregoing embodiments based on the program code stored in the external memory.

[0269] Certain embodiments of the present application further provide a digital processing chip. A circuit configured to implement the function of processor 2401 or processor 2401 and one or more interfaces are integrated into the digital processing chip. When a memory is integrated into the digital processing chip, the digital processing chip may complete any one or more of the method steps of the foregoing embodiments. When the memory is not integrated into the digital processing chip, the digital processing chip may be connected to an external memory through the communication interface. The digital processing chip implements the actions performed by the control device in the foregoing embodiments based on the program code stored in the external memory.

[0270] One embodiment of this application further provides a computer program product. When the computer program product is executed on a computer, the computer is enabled to perform steps performed by the VIU in the manner described in the embodiments shown in Figures 5 to 10B.

[0271] A data transmission device provided in one embodiment of this application may be a chip. The chip includes a processing unit and a communication unit. The processing unit may be, for example, a processor, and the communication unit may be, for example, an input / output interface, pins, or a circuit. The processing unit may execute computer executable instructions stored in a storage unit, thereby causing the chip in the server to perform the data transmission method described in the embodiments shown in Figures 5 to 10B. Optionally, the storage unit may be a storage unit within the chip, for example, a register or a buffer, or the storage unit may be a storage unit located outside the chip in the wireless access device end, for example, read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, or random access memory (RAM).

[0272] Specifically, the processing unit or processor may be a central processing unit (CPU), a neural-network processing unit (NPU), a graphics processing unit (GPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), other programmable logic devices, discrete gates, transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0273] For example, Figure 25 is a schematic diagram of a chip according to one embodiment of the present application. The chip may be represented as a neural network processing unit (NPU) 250. The NPU 250 is mounted on a host CPU as a coprocessor, and the host CPU assigns tasks to it. The core of the NPU is the operating circuit 2503. The operating circuit 2503 is controlled by a controller 2504 to extract matrix data from memory and perform multiplication operations.

[0274] In some implementations, the operating circuit 2503 includes multiple processing units (process engines, PEs). In some implementations, the operating circuit 2503 is a two-dimensional systolic array. Alternatively, the operating circuit 2503 may be a one-dimensional systolic array or another electronic circuit capable of performing mathematical operations such as multiplication and addition. In some implementations, the operating circuit 2503 is a general-purpose matrix processor.

[0275] For example, suppose we have an input matrix A, a weight matrix B, and an output matrix C. The operating circuit fetches data corresponding to matrix B from the weight memory 2502 and buffers the data on each PE of the operating circuit. The operating circuit fetches data corresponding to matrix A from the input memory 2501, performs matrix operations on matrix B, and stores the obtained intermediate or final result of the matrix in the accumulator 2508.

[0276] Unified memory 2506 is configured to store input and output data. Weight data is directly transferred to weight memory 2502 using a direct memory access controller (DMAC) 2505. Input data is also transferred to unified memory 2506 using the DMAC.

[0277] The bus interface unit (BIU) 2510 is configured to interact with the DMAC and instruction fetch buffer (IFB) 2509 via the AXI bus.

[0278] The bus interface unit (BIU) 2510 is used by the instruction fetch buffer 2509 to retrieve instructions from external memory, and is further used by the direct memory access controller 2505 to retrieve the original data corresponding to input matrix A or input matrix B from external memory.

[0279] The DMAC is primarily configured to transfer input data from external memory DDR to unified memory 2506, weight data to weight memory 2502, or input data to input memory 2501.

[0280] The vector computation unit 2507 includes multiple operational processing units that, if necessary, perform further processing on the output of the operational circuit, such as vector multiplication, vector addition, exponential operations, logarithmic operations, or value comparisons. The vector computation unit 2507 is primarily configured to perform network computations in the non-convolutional / fully connected layers of a neural network, such as batch normalization, pixel-level addition, and upsampling on the feature plane.

[0281] In some implementations, the vector computation unit 2507 can store the processed output vectors in the unified memory 2506. For example, the vector computation unit 2507 may apply linear and / or nonlinear functions to the output of the operator circuit 2503, for example, by performing linear interpolation on the feature plane extracted in the convolutional layer, or in other examples, by accumulating vectors of values ​​to generate activation values. In some implementations, the vector computation unit 2507 generates normalized values, values ​​obtained through pixel-level addition, or a combination thereof. In some implementations, the processed output vectors can be used as activation inputs to the operator circuit 2503, for example, in subsequent layers in a neural network.

[0282] The instruction fetch buffer 2509, connected to the controller 2504, is configured to store instructions used by the controller 2504.

[0283] Unified memory 2506, input memory 2501, weight memory 2502, and instruction fetch buffer 2509 are all on-chip memory. External memory is dedicated to the NPU's hardware architecture.

[0284] The operation of each layer in the recurrent neural network can be performed by the operating circuit 2503 or the vector computation unit 2507.

[0285] The processors mentioned above may be general-purpose central processing units, microprocessors, ASICs, or one or more integrated circuits for controlling program execution in the methods shown in Figures 5 to 10B.

[0286] Furthermore, it should be noted that the embodiments of the apparatus described are merely examples. Units described as separate parts may or may not be physically separate, and parts shown as units may or may not be physical units, may be located in one place, or may be distributed across multiple network units. Some or all of the modules may be selected based on the actual requirements for achieving the objectives of the embodiment's strategy. In addition, in the accompanying drawings of the embodiments of the apparatus provided in this application, the connection relationships between modules indicate that the modules have communication connections with each other, which may specifically be implemented as one or more communication buses or signal cables.

[0287] Based on the description of the implementation forms described above, those skilled in the art will clearly understand that this application can be implemented by software and necessary general-purpose hardware, or, of course, by dedicated hardware including dedicated integrated circuits, dedicated CPUs, dedicated memory, dedicated components, etc. Typically, all functions completed by a computer program may be easily implemented by using corresponding hardware, and the specific hardware structures used to implement the same functions may also be in various forms, such as analog circuits, digital circuits, or dedicated circuits. However, in most cases, the implementation form of a software program is the preferred implementation form. Based on such understanding, the essential technical measures of this application or the parts that contribute to the prior art may be implemented in the form of a software product. A computer software product is stored on a readable storage medium such as a computer floppy disk, USB flash drive, removable hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, and includes several instructions for instructing a computer device (which may be a personal computer, server, network device, etc.) to perform the methods described in the embodiments of this application.

[0288] All or part of the embodiments described above may be implemented using software, hardware, firmware, or any combination thereof. When software is used to implement an embodiment, all or part of the embodiment may be implemented in the form of a computer program product.

[0289] A computer program product includes one or more computer instructions. When computer program instructions are loaded into a computer and executed, some or all of the procedures or functions according to embodiments of this application are generated. The computer may be a general-purpose computer, a dedicated computer, a computer network, or another programmable device. Computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted by wired (e.g., coaxial cable, optical fiber, or digital subscriber line (DSL)) or wireless (e.g., infrared, radio, or microwave) means from one website, computer, server, or data center to another. The computer-readable storage medium may be any available medium accessible by a computer or a data storage device such as a server or data center that integrates one or more available media. Available media may be magnetic media (e.g., floppy disks, hard disks, or magnetic tapes), optical media (e.g., DVDs), semiconductor media (e.g., solid-state drives (SSDs)), etc.

[0290] In the specification, claims, and attached drawings of this application, terms such as "first", "second", "third", "fourth", etc. (if any) are intended to distinguish similar objects and do not necessarily indicate a specific order or sequence. Since data called in such a way are interchangeable in an appropriate state, it should be understood that the embodiments described in this specification can be implemented in an order other than the order exemplified or described in this specification. In addition, the terms "comprising", "having", and any other variations are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device including an enumeration of steps or units is not necessarily limited to the steps or units clearly enumerated, and may include other steps or units not clearly enumerated or inherently provided in such a process, method, product, or device.

Explanation of Reference Numerals

[0291] 100 Vehicle 102 Traveling System 104 Sensor System 106 Control System 108 Peripheral Device 110 Power Supply 112 Computer System 113 Processor 114 Memory 115 Instruction 116 User Interface 118 Engine 119 Energy Source 120 Transmission Device 121 Wheel 122 Positioning System 124 Inertial Measurement Unit 126 Radar 128 Laser Rangefinder 130 Camera 132 Steering System 134 Accelerator 136 Brake Unit 140 Computer Vision Systems 142 Line Control System 144 Obstacle Avoidance System 146 Wireless communication systems, wireless data transmission systems 148 In-vehicle computer 150 Microphones 152 speakers 250 Neural Network Processing Units 1421 Horizontal Planning Module 1422 Vertical Planning Module 2101 Monitoring Module 2102 Transceiver Module 2103 Synchronization Module 2104 Control Module 2201 Transceiver Module 2202 Monitoring Module 2203 Processing Module 2204 Display Module 2301 Processor 2302 memory 2303 Transceiver 2401 Processor 2402 memory 2403 Transceiver 2501 Input Memory 2502 Weight Memory 2503 Operation circuit 2504 Controller 2505 Direct Memory Access Controller 2506 Unified Memory 2507 Vector Computation Unit 2508 Accumulator 2509 Instruction Fetch Buffer 2510 Bus Interface Unit

Claims

1. A data transmission method applicable to a vehicle, wherein the vehicle includes at least two nodes, a communication connection is established between each of the at least two nodes and a control device, the control device and the at least two nodes access the same multicast group, and each of the at least two nodes comprises a monitoring module, a transceiver module, a synchronization module, and a control module, and the method is A step of acquiring multicast packets by the monitoring module of the first node, wherein the first node is one of the at least two nodes, The steps include: transmitting the multicast packets through the multicast group using the transceiver module of the first node, wherein the multicast packets are acquired by the control device by the control device monitoring the multicast group, and the multicast packets are used by the control device to analyze the status of the vehicle; Includes, Before the first node transmits the multicast packet to the multicast group, the method further: The synchronization module of the first node performs a time synchronization with the second node among the at least two nodes other than the first node, The step of the first node sending the multicast packet to the multicast group is: The first node includes the step of transmitting the multicast packet based on a time axis acquired after the time synchronization, A method wherein the at least two nodes are configured to synchronize their time with each other by sending time synchronization messages to each other, independently of the control device sending a request to join the multicast group.

2. The method according to claim 1, wherein the at least two nodes are at least two vehicle integration units (VIUs), and the first node is the first VIU of the at least two VIUs.

3. An Ethernet connection and / or wireless connection is established between the control device and the at least two nodes. The step of the first node transmitting the multicast packet through the multicast group is: The method according to claim 1 or 2, further comprising the step of having the first node transmit the multicast packets in the multicast group through the Ethernet connection and / or the wireless connection.

4. The step of the first node sending the multicast packet to the multicast group is: The method according to any one of claims 1 to 3, further comprising the step of periodically transmitting the multicast packets by the first node.

5. The aforementioned multicast packet is Status information of the first node, information about the I / O interface of the first node, the original sampling value of the analog-to-digital converter (ADC) of the first node, and information collected by sensors monitored by the first node. The method according to any one of claims 1 to 4, comprising one or more of the above.

6. The method according to claim 5, wherein the information collected by the sensor is for planning the vehicle's travel path.

7. Before the first node transmits the multicast packet to the multicast group, the method further: The first node receives a join request from the control device, the join request being used to request participation in the multicast group, and the steps are: The steps include: the first node responding to the join request using the multicast address so that the control device joins the multicast group based on the multicast address, monitors the port corresponding to the multicast address, and receives the multicast packets; The method according to any one of claims 1 to 6, including the method described in any one of claims 1 to 6.

8. The steps include: receiving a control command transmitted by the control device using the transceiver module of the first node; The steps include controlling one or more of the I / O interfaces, sensors, or execution units of the vehicle of the first node using the control module of the first node in accordance with the control commands, The method according to claim 5 or 6, further comprising:

9. A data transmission method applicable to a vehicle, wherein the vehicle includes at least two nodes, a communication connection is established between each of the at least two nodes and a control device, the control device and the at least two nodes access the same multicast group, and each of the at least two nodes comprises a monitoring module, a transceiver module, a synchronization module, and a control module, and the method is The control device obtains the multicast address of the multicast group, The steps include: monitoring the port corresponding to the multicast address using the control device, and obtaining at least one frame of a multicast packet through the port using the control device, wherein the multicast packet includes information monitored by the monitoring module of the first node of the at least two nodes, and the first node is one of the at least two nodes; The control device performs the steps of analyzing the status of the vehicle by using at least one frame of a multicast packet, Includes, The above method further, The first node performs a time synchronization with the second node among the at least two nodes other than the first node using the synchronization module of the first node, The steps include: sending the multicast packet to the multicast group using the transceiver module of the first node; The step of sending includes, The first node includes the step of transmitting the multicast packet based on a time axis acquired after the time synchronization, The at least two nodes are configured to synchronize their time with each other by sending time synchronization messages to each other, independently of the control device sending a request to join the multicast group. method.

10. The method according to claim 9, wherein the at least two nodes are at least two vehicle integration units (VIUs), and the first node is the first VIU of the at least two VIUs.

11. An Ethernet connection and / or wireless connection is established between the control device and each of the at least two nodes. The step of obtaining at least one frame of a multicast packet through the multicast group is: The method according to claim 9 or 10, further comprising the step of receiving the multicast packets transmitted in the multicast group by the control device through the Ethernet connection and / or the wireless connection.

12. The at least one frame of the multicast packet is Status information of each of the at least two nodes, information about the I / O interface of each of the at least two nodes, the original sampled value of the analog-to-digital converter (ADC) of each of the at least two nodes, and information collected by sensors monitored by each of the at least two nodes. The method according to any one of claims 9 to 11, comprising one or more of the above.

13. When the at least one frame of the multicast packet includes the information collected by the sensor monitored by each of the at least two nodes, the method further: The method according to claim 12, comprising the step of the control device planning the vehicle's travel path based on the information collected by the sensors monitored by each of the at least two nodes.

14. The step of obtaining at least one frame of a multicast packet through the multicast group is: The method according to any one of claims 9 to 13, comprising the step of periodically receiving, by the control device, the multicast group the at least one frame of a multicast packet transmitted to the multicast group by each of the at least two nodes.

15. The step of obtaining the multicast address of the multicast group by the control device is: The steps include: sending a join request to the first node by the control device, wherein the join request is used to request that the node join the multicast group; The control device receives the multicast address that the first node uses to respond, The method according to any one of claims 9 to 14, including the method described in any one of claims 9 to 14.

16. After the control device analyzes the vehicle's status using at least one frame of the multicast packet, the method further: The method according to any one of claims 9 to 15, comprising the steps of generating an analysis image based on the changes in the condition of the vehicle over time using the control device, and displaying the analysis image.

17. The method according to any one of claims 9 to 16, further comprising the step of transmitting a control command to each of the at least two nodes by the control device, the control command being used to control one or more of the I / O interfaces, sensors, or execution units of each of the at least two nodes.

18. A first device applied to a vehicle, wherein the vehicle includes at least two nodes, the first device is applied to the first of the at least two nodes, a communication connection is established between each of the at least two nodes and a control device, the control device and the at least two nodes access the same multicast group, and the first device, Means for obtaining multicast packets, Means for transmitting multicast packets through the multicast group, wherein the multicast packets are acquired by the control device by the control device monitoring the multicast group; The multicast packet includes, and the control device uses the multicast packet to analyze the status of the vehicle. The first apparatus described above further, The first node provides means for synchronizing the time with a second node among the at least two nodes other than the first node before sending the multicast packet to the multicast group, The first node provides means for sending the multicast packet to the multicast group, The means for transmitting includes, The first node includes means for transmitting the multicast packets based on a time axis acquired after the time synchronization, A first device in which at least two nodes are configured to synchronize their time with each other by sending time synchronization messages to each other, independently of the control device sending a request to join the multicast group.

19. The first device according to claim 18, wherein the at least two nodes are at least two vehicle integration units (VIUs), and the first device is applied to the first VIU of the at least two VIUs.

20. An Ethernet connection and / or wireless connection is established between the control device and each of the at least two nodes. The first device according to claim 18 or 19, wherein the multicast packets in the multicast group are transmitted through the Ethernet connection and / or the wireless connection.

21. The first device according to any one of claims 18 to 20, wherein the multicast packets are transmitted periodically.

22. The aforementioned multicast packet is Status information of the first node, information about the I / O interface of the first node, the original sampling value of the analog-to-digital converter (ADC) of the first node, or information collected by sensors monitored by the first node. The first apparatus according to any one of claims 18 to 21, comprising one or more of the following.

23. The first device according to claim 22, wherein the information collected by the sensor is for planning the vehicle's travel path.

24. The first apparatus described above further, Means for receiving a join request transmitted by the control device, wherein the join request is used to request participation in the multicast group, Means for responding to the join request using the multicast address so that the control device joins the multicast group based on the multicast address, monitors the port corresponding to the multicast address, and receives the multicast packets, The first apparatus according to any one of claims 18 to 23, including

25. The first apparatus described above further, Means for receiving control commands transmitted by the control device, Means for controlling one or more of the I / O interface of the first node, the sensors, or the execution unit of the vehicle, in accordance with the control command, The first apparatus according to claim 22 or 23, including the following:

26. A control device applied to a vehicle, wherein the vehicle includes at least two nodes, a communication connection is established between each of the at least two nodes and the control device, the control device and the at least two nodes access the same multicast group, and the control device Means for obtaining the multicast address of the multicast group, Means for monitoring a port corresponding to the multicast address and obtaining at least one frame of a multicast packet through the port, wherein the multicast packet includes information monitored by a first node among the at least two nodes, and the first node is one of the at least two nodes; Means for analyzing the status of the vehicle by using at least one frame of the multicast packet, Includes, The control device further, The first node provides means for synchronizing the time with the second node among the at least two nodes other than the first node, The first node provides means for sending the multicast packet to the multicast group, The means for transmitting includes, The first node includes means for transmitting the multicast packets based on a time axis acquired after the time synchronization, A control device wherein at least two nodes are configured to synchronize their time with each other by sending time synchronization messages to each other, independently of the control device sending a request to join the multicast group.

27. The control device according to claim 26, wherein the at least two nodes are at least two vehicle integration units (VIUs), and the first node is the first VIU of the at least two VIUs.

28. An Ethernet connection and / or wireless connection is established between the control device and each of the at least two nodes, and the control device The control device according to claim 26 or 27, comprising means for receiving the multicast packets transmitted in the multicast group via the Ethernet connection and / or the wireless connection.

29. The at least one frame of the multicast packet is Status information of each of the at least two nodes, information about the I / O interface of each of the at least two nodes, the original sampled value of the analog-to-digital converter (ADC) of each of the at least two nodes, and information collected by sensors monitored by each of the at least two nodes. A control device according to any one of claims 26 to 28, comprising one or more of the above.

30. The control device according to claim 29, wherein when the at least one frame of a multicast packet includes the information collected by the sensor monitored by each of the at least two nodes, the control device is further configured to plan the vehicle's travel path based on the information collected by the sensor monitored by each of the at least two nodes.

31. The control device is A control device according to any one of claims 26 to 30, comprising means for periodically receiving the at least one frame of a multicast packet transmitted to the multicast group by each of the at least two nodes through the multicast group.

32. The control device further, Means for sending a join request to the first node, wherein the join request is used to request that the node join the multicast group, Means for receiving the multicast address that the first node uses to respond, A control device according to any one of claims 26 to 31, further comprising:

33. After the control device analyzes the status of the vehicle by using at least one frame of the multicast packet, the control device further: Means for generating an analysis image based on the temporal changes in the condition of the vehicle, Means for displaying the aforementioned analysis image, A control device according to any one of claims 26 to 32, including the control device according to any one of claims 26 to 32.

34. The control device further, A control device according to any one of claims 26 to 33, comprising means for transmitting control commands to the at least two nodes, wherein the control commands are used to control one or more of the I / O interfaces, sensors, or execution units of the at least two nodes.

35. A device within a node, including a processor, The processor obtains program instructions through a communication interface, and the program instructions are executed by the processor to carry out the method according to any one of claims 1 to 8, or An apparatus wherein the processor is coupled to a memory, the memory stores program instructions, and the program instructions stored in the memory are executed by the processor to carry out the method according to any one of claims 1 to 8.

36. A device within a control device, including a processor, The processor obtains program instructions through a communication interface, and the program instructions are executed by the processor to carry out the method described in any one of claims 9 to 17, or An apparatus wherein the processor is coupled to a memory, the memory stores program instructions, and the program instructions stored in the memory are executed by the processor to carry out the method according to any one of claims 9 to 17.

37. A computer-readable storage medium containing a program, wherein the program is executed by a processing unit to perform the method according to any one of claims 1 to 9 or 9 to 17.

38. A vehicle comprising at least two nodes, wherein a communication connection is established between each of the at least two nodes and a control device, and the control device and the at least two nodes access the same multicast group. The at least two nodes are configured to perform the method described in any one of claims 1 to 8, A vehicle wherein the control device is configured to perform the method according to any one of claims 9 to 17.

39. A communication system comprising at least two nodes and a control device, wherein a communication connection is established between each of the at least two nodes and the control device, and the control device and the at least two nodes access the same multicast group. Each of the at least two nodes is configured to perform the method described in any one of claims 1 to 8, The control device is configured to perform the method described in any one of claims 9 to 17, and is a communication system.

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