Message sending control method and apparatus, vehicle and storage medium

Abstract

The embodiments of the present application relate to the technical field of on-board communications. Provided are a message sending control method and apparatus, a vehicle and a storage medium. The method comprises: by continuously receiving periodic messages sent by an on-board bus, recording a time interval of adjacent periodic messages reaching a master node; each time the master node completes one task execution period, according to the time intervals of all adjacent periodic messages received in the task execution period reaching the master node, determining an on-board bus load corresponding to the task execution period; when the on-board bus load corresponding to the task execution period exceeds a load threshold value, recording the task execution period; and when the number of the recorded task execution periods reaches a number threshold value and the recorded task execution periods are periodic, acquiring a target periodic message meeting a preset delay sending condition, and delaying the next sending time of the target periodic message. The present application balances the load on the on-board bus, and reducing message loss conditions.

Description

Message sending control method, device, vehicle and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on October 12, 2023, with application number 202311325085.6, and invention name “Message sending control method, device, vehicle and storage medium”, all contents of which are incorporated by reference in this application. Technical Field

[0002] The embodiments of the present application relate to the field of vehicle-mounted communication technology, and specifically to a message sending control method, device, vehicle, and storage medium. Background Art

[0003] The Controller Area Network (CAN) bus is a serial communication protocol bus designed for real-time applications. It uses twisted-pair wiring to transmit signals and is one of the most widely used fieldbuses in the world. The CAN bus is used for communication between various components in a car, replacing expensive and bulky distribution wiring harnesses.

[0004] Communication on the CAN bus is carried out through messages, which are divided into two categories: event messages and periodic messages. Event messages are single-trigger messages. Event messages for this event are sent only when an event is triggered by the controller. For example, when the controller receives a request, it sends a message in response. Periodic messages are periodic triggered messages with a certain message sending cycle. The controller connected to the CAN bus sends periodic messages to the CAN bus according to a certain message sending cycle. As shown in Figure 1, when the controller is awakened, after a certain initialization time, it begins to send periodic messages to the CAN bus with a certain message sending cycle (each single arrow in the figure represents a periodic message).

[0005] The inventors discovered in their research that as vehicle designs evolve and their functionality improves, the number of messages on the bus increases. For periodic messages, the message transmission period is typically determined at the beginning of the design. However, the startup delay and wakeup source may vary for each controller, and the transmission of periodic messages can be affected by numerous interference factors, resulting in periodic offsets. These factors can lead to periodic message congestion on the bus, and this congestion can occur periodically.

[0006] For example, please refer to Figure 2-3. Assume that the four controllers A, B, C, and D are all connected to the CAN bus. It can be seen that even if the wake-up sources of these four controllers are the same, their initialization times (indicated by bidirectional arrows) are different, resulting in different first transmission times of the periodic messages of the four controllers. Since the message transmission periods of the periodic messages of the four controllers are different, as the four controllers send more and more periodic messages to the CAN bus, message congestion may occur on the bus at some point in the future.

[0007] However, periodic messages on the bus have pre-set priorities. When the bus is congested, messages with higher priorities are always sent first, while messages with lower priorities cannot be sent. Over time, low-priority messages are prone to loss, affecting the reliability of communication.

[0008] Therefore, how to control the periodic messages sent to the CAN bus to balance the load on the CAN bus and reduce message congestion on the bus is a problem that needs to be solved urgently in this field.

[0009] Summary of the Invention

[0010] The embodiments of the present application propose a message sending control method, device, vehicle and storage medium to solve the above problems.

[0011] In the first aspect, an embodiment of the present application provides a message sending control method, the method comprising: continuously receiving periodic messages sent by a vehicle bus, and recording the time intervals between adjacent periodic messages arriving at a master node, wherein the master node is a predetermined node connected to the vehicle bus, and can receive multiple periodic messages within each task execution cycle of the master node, and the task execution cycle is the time taken for the node to execute a periodic task; whenever the master node goes through a task execution cycle, the vehicle bus load corresponding to the task execution cycle is determined based on the time intervals between all adjacent periodic messages received within the task execution cycle arriving at the master node, and when the vehicle bus load corresponding to the task execution cycle exceeds a load threshold, the task execution cycle is recorded; when the number of recorded task execution cycles reaches the number threshold, and the recorded task execution cycle is a cycle occurrence, a target periodic message that meets a preset postponed sending condition is obtained, and the next sending time of the target periodic message is postponed.

[0012] In the second aspect, an embodiment of the present application provides a message sending control method, the method comprising: upon receiving an adjustment instruction sent by a master node, determining whether the own node is a target node based on the adjustment instruction, wherein the adjustment instruction is generated by the master node in the following manner: continuously receiving periodic messages sent by the vehicle bus, and recording the time interval between adjacent periodic messages arriving at the master node; whenever the master node goes through a task execution cycle, determining the vehicle bus load corresponding to the task execution cycle based on the time interval between all adjacent periodic messages received within the task execution cycle arriving at the master node, and recording the task execution cycle when the vehicle bus load corresponding to the task execution cycle exceeds a load threshold; when the number of recorded task execution cycles reaches a number threshold, and the recorded task execution cycle is a cycle occurrence, obtaining a target cycle message that meets a preset postponed sending condition, and generating an adjustment instruction based on the target cycle message; when it is determined that the own node is the target node, postponing the next sending time of the target cycle message of the own node.

[0013] In the third aspect, an embodiment of the present application provides a message sending control device, which includes: a message receiving module, which is used to continuously receive periodic messages sent by the vehicle bus, and record the time interval between adjacent periodic messages arriving at the master node, wherein the master node is a predetermined node connected to the vehicle bus, and can receive multiple periodic messages within each task execution cycle of the master node, and the task execution cycle is the time consumed by the node to execute a periodic task; a load acquisition module, which is used to determine the vehicle bus load corresponding to the task execution cycle according to the time interval between all adjacent periodic messages received within the task execution cycle arriving at the master node each time the master node goes through a task execution cycle, and record the task execution cycle when the vehicle bus load corresponding to the task execution cycle exceeds the load threshold; a load balancing module, which is used to obtain the target periodic message that meets the preset postponement condition when the number of recorded task execution cycles reaches the number threshold and the recorded task execution cycle is a cycle, and postpone the next sending time of the target periodic message.

[0014] In a fourth aspect, an embodiment of the present application provides a message sending control device, which includes: a self-confirmation module, which is used to determine whether its own node is the target node based on the adjustment instruction when receiving the adjustment instruction sent by the master node, wherein the adjustment instruction is generated by the master node in the following manner: continuously receiving periodic messages sent by the vehicle bus, and recording the time interval between adjacent periodic messages arriving at the master node; whenever the master node goes through a task execution cycle, the vehicle bus load corresponding to the task execution cycle is determined based on the time interval between all adjacent periodic messages received during the task execution cycle arriving at the master node, and when the vehicle bus load corresponding to the task execution cycle exceeds the load threshold, the task execution cycle is recorded; when the number of recorded task execution cycles reaches the number threshold and the recorded task execution cycle is a cycle, a target cycle message that meets the preset postponement condition is obtained, and an adjustment instruction is generated based on the target cycle message; when it is determined that its own node is the target node, the next sending time of the target cycle message of its own node is postponed; the adjustment execution module is used to postpone the next sending time of the target cycle message of its own node when it is determined that its own node is the target node.

[0015] In a fifth aspect, an embodiment of the present application provides a vehicle, comprising a memory; one or more processors; and one or more applications, wherein the one or more applications are stored in the memory and are used to execute the method described above when called by the one or more processors.

[0016] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, in which program code is stored, and the program code is used to execute the method described above when called by a processor.

[0017] The message transmission control method, device, vehicle and storage medium provided in the embodiments of the present application continuously receive periodic messages sent by the vehicle bus and record the time intervals between adjacent periodic messages arriving at the master node, wherein the master node is a predetermined node connected to the vehicle bus and can receive multiple periodic messages during each task execution cycle of the master node, and the task execution cycle is the time consumed by the node to execute a periodic task; whenever the master node goes through a task execution cycle, the vehicle bus load corresponding to the task execution cycle is determined based on the time intervals between all adjacent periodic messages received during the task execution cycle and arriving at the master node, and the task execution cycle is recorded when the vehicle bus load corresponding to the task execution cycle exceeds a load threshold; when the number of recorded task execution cycles reaches a number threshold and the recorded task execution cycle is a cycle occurrence, a target periodic message that meets a preset postponement condition is obtained and the next transmission time of the target periodic message is postponed, thereby orderly controlling the number of periodic messages sent to the CAN bus, effectively reducing the periodic message congestion on the CAN bus, and thus balancing the load on the vehicle bus and reducing the message loss due to bus congestion. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] FIG1 shows a schematic diagram of periodic message transmission provided by an exemplary embodiment of the present application;

[0020] FIG2 is a schematic diagram showing the initialization duration of each node provided by an exemplary embodiment of the present application;

[0021] FIG3 shows a schematic structural diagram of a vehicle bus provided by an exemplary embodiment of the present application;

[0022] FIG4 shows a flow chart of a message sending control method provided in an embodiment of the present application;

[0023] FIG5 is a schematic diagram showing a master node receiving a message provided by an exemplary embodiment of the present application;

[0024] FIG6 shows a schematic diagram of postponing a message sending time provided by an exemplary embodiment of the present application;

[0025] FIG7 shows a schematic flow chart of a message sending control method provided in another embodiment of the present application;

[0026] FIG8 shows a flow chart of a message sending control method provided in yet another embodiment of the present application;

[0027] FIG9 shows a flowchart of a message sending control method applied to a master node provided by an exemplary embodiment of the present application;

[0028] FIG10 shows a flowchart of a message sending control method applied to other nodes provided by an exemplary embodiment of the present application;

[0029] FIG11 shows a schematic structural diagram of a message sending control device provided in an embodiment of the present application;

[0030] FIG12 shows a schematic structural diagram of a message sending control device provided in another embodiment of the present application;

[0031] FIG13 shows a schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the present invention, the following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0033] Please refer to Figure 4, which shows a flow chart of a message transmission control method provided by an embodiment of the present application. The message transmission control method can be applied to a message transmission control device 100 or a vehicle. The vehicle can at least communicate using CAN or a Controller Area Network with Flexible Data rate (CANFD). The message transmission control method can specifically include the following steps S110 to S130.

[0034] Step S110: continuously receiving periodic messages sent by the vehicle bus, and recording the time interval between adjacent periodic messages arriving at the master node.

[0035] The vehicle bus may include, but is not limited to, a CAN bus, a local interconnect network (LIN) bus, and an in-vehicle Ethernet. In the embodiments of the present application, the CAN bus is taken as an example to explain the message transmission control method provided in the embodiments of the present application. In the embodiments of the present application, all messages mentioned refer to CAN messages. Except for event messages in CAN messages, the remaining messages refer to periodic messages in CAN messages. For example, adjacent messages and target periodic messages both refer to adjacent periodic messages.

[0036] In this embodiment, when designing the vehicle bus, one can first select a master node from all nodes in the vehicle. After determining the master node, the software design within the master node can be performed. When designing the software for the master node, the task execution cycle of the master node should be set as short as possible within the performance range, for example, 1ms or 5ms. The task execution cycle of each node in the vehicle refers to the time it takes for the node to execute a periodic task. In order to facilitate the calculation of the load on the bus and to facilitate the subsequent operation of delaying the message transmission time, the task execution cycle of the master node must be less than or equal to the task execution cycle of other nodes. The nodes of the vehicle may include but are not limited to the Electronic Control Unit (ECU), Microcontroller Unit (MCU), Vehicle Control Unit (VCU), Body Control Module (BCM), Door Control Unit (DCU), Zone Control Unit (ZCU), etc.

[0037] All nodes connected to the CAN bus can receive messages on the CAN bus. In some embodiments, the master node can continuously receive periodic messages sent by the vehicle bus from the moment it is awakened, record the time it receives the periodic messages, and calculate the time interval between adjacent periodic messages arriving at the master node based on the time when adjacent messages arrive at the master node.

[0038] The master node can record the received messages and the time intervals between adjacent messages arriving at the master node based on the message identification information (Identity document, ID), and store the recorded content in a table format. For example, as shown in Figure 5, assuming that the master node receives three messages with message IDs of "0x123", "0x432", and "0x433" in sequence, and the time interval between the "0x123" and "0x432" messages arriving at the master node is t1, and the time interval between the "0x432" and "0x433" messages arriving at the master node is t2, then the message IDs of the three messages and the time intervals between adjacent messages arriving at the master node can be recorded in the following table.

[0039] Table 1

[0040] Step S120: Whenever the master node goes through a task execution cycle, the vehicle bus load corresponding to the task execution cycle is determined based on the time interval between all adjacent periodic messages received during the task execution cycle and arriving at the master node. When the vehicle bus load corresponding to the task execution cycle exceeds the load threshold, the task execution cycle is recorded.

[0041] Once the master node is awakened, it must obtain the bus load in real time after initialization, regardless of whether the bus is congested. Since the master node's task execution cycle is very short, the bus load during each task execution cycle can be roughly regarded as the instantaneous bus load.

[0042] It should be noted that a task execution cycle is usually measured in milliseconds, while the time it takes for a message to be sent from the start to the end is measured in microseconds. For a task execution cycle, its duration fully supports sending a large number of messages. However, it is difficult to control when the message is sent during a task execution cycle, so it is possible that the first half of a task execution cycle is very crowded and the second half is very idle. In such a case, if a new message is added in the first half of this task execution cycle, there is a high probability that the message will be sent during the crowded time period. On this basis, there is a risk of message loss. Therefore, it is still considered that the load of this task execution cycle is large.

[0043] In some embodiments, whenever the master node goes through a task execution cycle, the average value of the time intervals between all adjacent periodic messages received during the task execution cycle and the arrival of the master node can be determined as the vehicle bus load corresponding to the task execution cycle. When the vehicle bus load corresponding to the task execution cycle exceeds the load threshold, the task execution cycle is recorded.

[0044] In order to judge whether there is a congested situation in each task execution cycle of the master node, the average value of the time intervals of all adjacent messages in the current task execution cycle can be determined for each task execution cycle of the master node, as the instantaneous load on the vehicle bus in the current task execution cycle. It is understandable that if there is a congested period in a certain task execution cycle of the master node, the time interval at which the adjacent messages in the task execution cycle arrive at the master node will be very small, that is, the average value will also become smaller. Therefore, it is possible to judge whether congestion has occurred on the bus based on the time interval at which adjacent messages arrive at the master node. When the average value (i.e., load) exceeds the load threshold, it can be determined that congestion has occurred in the task execution cycle and the task execution cycle is recorded.

[0045] Step S130: When the number of recorded task execution cycles reaches a number threshold and the recorded task execution cycle is a periodic occurrence, a target cycle message that meets a preset postponement condition is obtained, and the next sending time of the target cycle message is postponed.

[0046] The inventors discovered during their research that the message transmission period of a periodic message is usually fixed, but under the influence of many factors, the time for different nodes to send periodic messages may be slightly delayed or advanced. Since the slightly delayed or advanced transmission of periodic messages temporarily has a small impact on the bus, message congestion will not immediately appear on the bus. However, as periodic messages continue to accumulate on the bus, the slightly delayed or advanced time of periodic messages continues to accumulate, and the impact on the bus will become increasingly greater. After a certain period of time, a bus that would not have been congested may become congested. Since periodic messages are sent periodically, message congestion on the bus caused by periodic messages usually occurs periodically. Therefore, whether the congestion on the bus is caused by periodic messages can be determined based on whether the congestion occurs periodically.

[0047] When the load exceeds the load threshold, it can be determined that message congestion has occurred on the bus. The task execution cycle corresponding to each occurrence of the load exceeding the load threshold is recorded. Based on the time at which each occurrence of the load exceeding the load threshold occurs, it is determined whether the message congestion on the bus is periodic. When the number of recorded task execution cycles reaches the number threshold, it indicates that the message congestion on the bus is caused by periodic messages. At this time, a target periodic message that meets the preset postponement condition can be obtained from the periodic messages, and the next transmission time of the target periodic message can be postponed. This balances the load on the bus by adjusting the transmission time of the target periodic message. The number threshold can be pre-set based on the actual acceptable level of message congestion on the bus.

[0048] When designing a bus, you can pre-set the mapping between nodes, messages (IDs), message transmission cycles, and task execution cycles. This mapping can be stored in a table format on the master node. Messages are recorded using their message IDs. For example, the pre-set mapping between nodes, messages (IDs), message transmission cycles, and task execution cycles can be shown in Table 2.

[0049] Table 2

[0050] The message sending period and task execution period of the received message can be obtained from Table 2; for each received periodic message, the ratio of the task execution period to the message sending period of the periodic message is determined; and messages whose ratio of the task execution period to the message sending period is less than or equal to the preset ratio are determined as target periodic messages. The preset ratio can be predetermined based on the degree of impact of the actual delay of the target periodic message on the overall periodic task corresponding to the target periodic message. The impact of the delay of the target periodic message on the overall periodic task corresponding to the target periodic message should be minimized to ensure the normal operation of the overall periodic task corresponding to the target periodic message. For example, the preset ratio can be set to 10%.

[0051] The inventors found in their research that a slight delay in sending a message with a longer message sending cycle will not have much impact on the overall cycle task corresponding to the message. Therefore, in an embodiment of the present application, "a message whose ratio of task execution cycle to message sending cycle is less than or equal to a preset ratio" is set as a preset delayed sending condition, so that a message with a longer message sending cycle can be selected as the target cycle message, reducing the impact of delaying the sending time of the target cycle message on the overall cycle task corresponding to the target cycle message, and ensuring the normal operation of the overall cycle task corresponding to the target cycle message.

[0052] For example, taking message 2 (message ID ID2) and message 1 (message ID ID1) in Table 2 as examples, assuming the preset ratio is 10%, according to the preset mapping relationship shown in Table 2, the message sending period corresponding to message 2 is 50ms and the task execution period is 5ms. Therefore, the ratio of the task execution period corresponding to message 2 to the message sending period is equal to 10%, that is, message 2 meets the preset deferred sending condition and can be determined as the target period message. However, the message sending period corresponding to message 1 is 10ms and the task execution period is 5ms. Therefore, the ratio of the task execution period corresponding to message 1 to the message sending period is 50%>10%, that is, message 1 does not meet the preset deferred sending condition and cannot be determined as the target period message.

[0053] In an embodiment of the present application, the next sending time of the target period message can be postponed by a target duration, the target duration is an integer multiple of the task execution period corresponding to the target period message, and the ratio of the target duration to the message sending period of the target period message is less than or equal to a preset ratio.

[0054] Among them, when the master node needs to postpone the next sending time of the target cycle message, it can send an adjustment instruction to the node corresponding to the target cycle message, wherein the adjustment instruction can be sent through a preset event message, and the preset event message (or the adjustment instruction therein) is used to notify the node corresponding to the target cycle message to postpone the next sending time of the target cycle message.

[0055] In some implementations, the target duration is determined by the master node. In this case, the adjustment instruction (or the event message including the adjustment instruction) includes at least the target duration determined by the master node and the message ID of the target period message.

[0056] As an implementation method for determining the target duration by the master node, the master node can determine a task execution cycle corresponding to the target period message as the target duration, and the ratio of the task execution cycle to the message sending cycle of the target period message is less than or equal to the preset ratio.

[0057] As another implementation method of determining the target duration by the master node, the master node can determine multiple task execution cycles corresponding to the target period message as the target duration, and the ratio of the sum of the durations of the multiple task execution cycles to the message sending period of the target period message is less than or equal to the preset ratio.

[0058] As another implementation method in which the target duration is determined by the master node, in order to balance the load on the bus more efficiently, the most recently recorded task execution cycle can be obtained as the first task execution cycle; one or more recorded task execution cycles are obtained within a preset ratio range of the current message sending cycle of the target cycle message; the recorded task execution cycle with the lowest vehicle bus load corresponding to one or more recorded task execution cycles is determined as the second task execution cycle; the time interval between the first task execution cycle and the second task execution cycle is used as the target duration, thereby ensuring that the next message sending time of the target cycle message is within the task execution cycle when the master node on the bus is the most idle, thereby improving the message congestion on the bus as soon as possible, improving the efficiency of balancing the load on the bus, and reducing the occurrence of message loss.

[0059] For example, refer to Figure 6. Assuming a preset ratio of 10% in this example, the bus includes task execution cycles (e.g., 5 milliseconds (ms)) for master nodes such as a1 through e2. The most recent congestion occurred during the task execution cycle a1 of the master node. The time period a1-a2 in Figure 6 corresponds to the current message transmission cycle of target period message X (e.g., 200 ms). The task execution cycles of the master nodes between e1 and a2 are omitted in the figure. As shown in Figure 6, within 10% of the current message transmission cycle a1-a2 of target period message X, the instantaneous load of the task execution cycle c1 of the master node is the lowest. The target duration is then the time interval between the task execution cycle a1 of the master node and the task execution cycle c1 of the master node with the lowest instantaneous load, i.e., 10 ms. The master node can send a preset event message (including the message ID of the target period message and the target duration) to the node corresponding to the target period message X via the bus. After receiving the preset event message, the node corresponding to the target period message X controls the target period message X to be sent later in the next message sending cycle from the original time shown in the dotted box in Figure 6a2 to the time of message X in c2, thereby ensuring that the next message sending time of the target period message X falls within the least busy task execution cycle of the master node on the bus.

[0060] In other embodiments, the target duration is determined by the node corresponding to the target periodic message (i.e., the target node mentioned below). In this case, the adjustment instruction or the event message including the adjustment instruction includes at least the message ID of the target periodic message. For how the node corresponding to the target periodic message determines the target duration, please refer to step S220 below.

[0061] It should be noted that the embodiment of the present application only postpones the next message sending time of the target cycle message, and does not modify the message sending period of the target cycle message, that is, after the next sending time of the target cycle message is postponed by the target duration, the subsequent message sending interval of the target cycle message (i.e., the message sending time) still maintains its original message sending interval. That is, by postponing the next sending time of the target cycle message by the target duration through the present application, the effect of postponing the subsequent overall sending time of the target cycle message backward by the target duration can be achieved, thereby balancing the load on the vehicle bus as soon as possible and reducing the occurrence of message loss.

[0062] The message sending control method provided in an embodiment of the present application continuously receives periodic messages sent by the vehicle bus and records the time intervals between adjacent periodic messages arriving at the master node, wherein the master node is a predetermined node connected to the vehicle bus and can receive multiple periodic messages within each task execution cycle of the master node, and the task execution cycle is the time consumed by the node to execute a periodic task; whenever the master node goes through a task execution cycle, the vehicle bus load corresponding to the task execution cycle is determined based on the time intervals between all adjacent periodic messages received within the task execution cycle and arriving at the master node, and the task execution cycle is recorded when the vehicle bus load corresponding to the task execution cycle exceeds a load threshold; when the number of recorded task execution cycles reaches a number threshold and the recorded task execution cycle is a cycle occurrence, a target periodic message that meets a preset postponement condition is obtained and the next sending time of the target periodic message is postponed, thereby orderly controlling the number of periodic messages sent to the CAN bus, effectively reducing the periodic message congestion on the CAN bus, and thus balancing the load on the vehicle bus and reducing the message loss due to bus congestion.

[0063] In some embodiments, referring to FIG. 7 , after step S130 , the message sending control method on the master node side may further include the following steps S140 to S150 .

[0064] Step S140: When the next sending time of the target periodic message is postponed for the first time, timing is started and the timing duration is obtained.

[0065] Step S150: accumulating the number of executions of the step of postponing the next sending time of the target periodic message.

[0066] Step S160: If the timing duration is less than or equal to the preset duration and the number of executions is greater than or equal to the preset number of times, then stop executing steps S110 to S150 until the preset duration has elapsed, and then re-execute steps S110 to S150.

[0067] The preset number of times and the preset duration can be pre-set based on actual needs. For example, the preset number of times can be 100, and the preset duration can be 1 minute. If the number of executions is greater than or equal to the preset number, it means that the delay operation has been executed many times without any significant effect, indicating that the problem may not be with the bus message scheduling. Therefore, all the above steps can be stopped and other solutions can be considered.

[0068] In some embodiments, the timing duration and the number of executions can be serially determined. As an example, when the timing duration reaches a preset duration, it can be determined whether the number of executions is greater than or equal to the preset number. If the number of executions is greater than or equal to the preset number, then the execution of steps S110 to S150 is stopped. If the number of executions is less than the preset number, it indicates that the execution of steps S110 to S130 can effectively adjust the load of the bus, and the execution of steps S110 to S150 can continue. As another example, when the number of executions reaches a preset number, it can be determined whether the timing duration reaches a preset duration. If the timing duration is less than or equal to the preset duration, then the execution of steps S110 to S150 is stopped. If the timing duration is greater than the preset duration, it indicates that the execution of steps S110 to S130 can effectively adjust the load of the bus, and the execution of steps S110 to S150 can continue.

[0069] In other embodiments, the timing duration and the number of executions may be determined in parallel. For example, it may be determined separately whether the timing duration has reached a preset duration and whether the number of executions has reached a preset number. If the number of executions has reached the preset number before the timing duration reaches the preset duration, then steps S110 to S150 are stopped. Otherwise, it indicates that the execution of steps S110 to S130 can effectively adjust the bus load, and steps S110 to S150 are continued.

[0070] Based on steps S140 to S160, by counting the number of executions of the aforementioned step S130 within a preset time period, it is convenient to determine whether the aforementioned steps S110 to S130 are effective in adjusting the load on the bus; when there is no effect, the execution of steps S110 to S150 is stopped, and the detection process of steps S110 to S150 is restarted after pausing for a period of time, thereby saving resources.

[0071] Please refer to Figure 8, which shows a schematic flow chart of a message transmission control method provided in another embodiment of the present application. This message transmission control method can be applied to a message transmission control device 200 or a vehicle. The message transmission control method may specifically include the following steps S210 to S220. The execution subject in this embodiment is a node other than the master node.

[0072] Step S210: upon receiving the adjustment instruction sent by the master node, determining whether the own node is the target node according to the adjustment instruction.

[0073] Among them, the adjustment instruction is generated by the master node in the following manner: continuously receiving periodic messages sent by the vehicle bus, and recording the time intervals between adjacent periodic messages arriving at the master node; whenever the master node goes through a task execution cycle, the vehicle bus load corresponding to the task execution cycle is determined based on the time intervals between all adjacent periodic messages received during the task execution cycle arriving at the master node, and when the vehicle bus load corresponding to the task execution cycle exceeds the load threshold, the task execution cycle is recorded; when the number of recorded task execution cycles reaches the number threshold and the recorded task execution cycle is a periodic occurrence, a target periodic message that meets the preset postponement condition is obtained, and an adjustment instruction is generated based on the target periodic message.

[0074] The target node is the node that sends the target periodic message, that is, the node corresponding to the target periodic message.

[0075] In some implementations, the ID of the target periodic message can be obtained from the obtained adjustment instruction. Based on the ID of the target periodic message, it is determined whether the target periodic message is a message sent by the own node. If the target periodic message is a message sent by the own node, the own node is determined as the target node.

[0076] Step S220: When it is determined that the own node is the target node, the next sending time of the target periodic message of the own node is postponed.

[0077] In some embodiments, when the own node is the target node, it is determined whether the ratio of the task execution period of the own node to the message sending period of the target period message is less than or equal to the preset ratio; when the ratio of the task execution period of the own node to the message sending period of the target period message is less than or equal to the preset ratio, the next sending time of the target period message of the own node is postponed, so as to perform reconfirmation, thereby avoiding the situation where the erroneous message is postponed due to calculation errors caused by the busy task of the main node, and improving the accuracy of the postponed message sending operation.

[0078] In some embodiments, the target duration is determined by the master node. In this case, the adjustment instruction (or the preset event message including the adjustment instruction) includes the target duration. The target duration can be obtained from the adjustment instruction (or the preset event message including the adjustment instruction), and the next sending time of the target period message is postponed by the target duration, wherein the target duration is an integer multiple of the task execution period corresponding to the target period message, and the ratio of the target duration to the message sending period of the target period message is less than or equal to the preset ratio. For details on the implementation method of the master node determining the target duration, please refer to the above step S130.

[0079] In other embodiments, the target duration is determined by the node corresponding to the target cycle message. As an embodiment in which the target duration is determined by the node corresponding to the target cycle message, the node corresponding to the target cycle message can determine a task execution cycle corresponding to the target cycle message as the target duration, postpone the next sending time of the target cycle message by a task execution cycle corresponding to the target cycle message, and the ratio of the task execution cycle to the message sending cycle of the target cycle message is less than or equal to the preset ratio. As another embodiment in which the target duration is determined by the node corresponding to the target cycle message, the node corresponding to the target cycle message can determine multiple task execution cycles corresponding to the target cycle message as the target duration, postpone the next sending time of the target cycle message by multiple task execution cycles corresponding to the target cycle message, and the ratio of the sum of the durations of the multiple task execution cycles to the message sending cycle of the target cycle message is less than or equal to the preset ratio.

[0080] The message sending control method provided in the embodiment of the present application improves the accuracy of the postponement operation by performing a secondary judgment when determining that the own node is the target node to confirm whether the own node has the conditions for postponing sending.

[0081] For ease of understanding, an exemplary embodiment is provided herein to explain the above-mentioned message sending control method in conjunction with Figures 9-10.

[0082] Please refer to Figure 9. After the initialization is completed, the master node begins to detect the load on the bus in real time and records each task execution cycle in which the load exceeds the load threshold. When the number of recorded task execution cycles exceeds the number threshold, and multiple recorded task execution cycles appear periodically, a target cycle message that meets the preset postponed sending conditions is obtained. If there is no target cycle message that meets the preset postponed sending conditions, no subsequent operation is performed and the load detection continues; if there is a target cycle message that meets the preset postponed sending conditions, the next sending time of the target cycle message is postponed, and within the preset time after this postponement operation, it is determined whether the number of executions of the postponement operation reaches the preset number. If the number of executions of the postponement operation reaches the preset number, all operations are stopped, and the aforementioned operation is re-executed after the preset time; if the number of executions of the postponement operation does not reach the preset number, the aforementioned operation is continued to be executed in a loop.

[0083] Referring to Figure 10 , nodes other than the master node on the bus, after initialization, begin sending messages according to their own message transmission cycle and detect in real time whether an adjustment instruction has been received. Upon receiving an adjustment instruction, the node determines whether it is the target node (i.e., the node sending the target period message) based on the adjustment instruction. If the node is determined to be the target node, it determines whether the target period message meets the preset delay condition. If the target period message meets the preset delay condition, the next transmission time of the target period message is postponed.

[0084] Please refer to Figure 11, which shows a schematic structural diagram of a message sending control device 100 provided in an embodiment of the present application. The message sending control device 100 can be applied to a vehicle. The message sending control device 100 includes a message receiving module 110, which continuously receives periodic messages sent by the vehicle bus and records the time intervals for adjacent periodic messages to arrive at the master node, wherein the master node is a predetermined node connected to the vehicle bus and can receive multiple periodic messages within each task execution cycle of the master node. The task execution cycle is the time it takes for the node to execute a periodic task; a load acquisition module 120, which is used to determine the vehicle bus load corresponding to a task execution cycle each time the master node goes through a task execution cycle based on the time intervals for all adjacent periodic messages received within the task execution cycle to arrive at the master node, and record the task execution cycle when the vehicle bus load corresponding to the task execution cycle exceeds the load threshold; a load balancing module 130, which is used to obtain a target periodic message that meets the preset postponement condition when the number of recorded task execution cycles reaches the number threshold and the recorded task execution cycle is a cycle, and postpone the next sending time of the target periodic message.

[0085] In some embodiments, the load acquisition module 120 is also used to determine the vehicle bus load corresponding to a task execution cycle as the average time interval of all adjacent periodic messages received during the task execution cycle reaching the master node whenever the master node goes through the task execution cycle.

[0086] In some embodiments, the load balancing module 130 is also used to obtain the message sending period and task execution period of the received periodic messages; for each received periodic message, determine the ratio of the task execution period to the message sending period of the periodic message; and determine the periodic message whose ratio of the task execution period to the message sending period is less than or equal to the preset ratio as the target periodic message.

[0087] In some embodiments, the load balancing module 130 is also used to postpone the next sending time of the target periodic message by a target duration, where the target duration is an integer multiple of the task execution period of the target periodic message, and the ratio of the target duration to the message sending period of the target periodic message is less than or equal to a preset ratio.

[0088] In some embodiments, the message transmission control device 100 further includes a target duration acquisition module. The target duration acquisition module is configured to determine one or more task execution periods of a target period message as a target duration, wherein a ratio of one task execution period to a message transmission period of the target period message is less than or equal to a preset ratio, and a ratio of a sum of the durations of the multiple task execution periods to the message transmission period of the target period message is less than or equal to a preset ratio.

[0089] In some embodiments, the target duration acquisition module is also used to obtain the most recently recorded task execution cycle as the first task execution cycle; obtain one or more recorded task execution cycles within a preset ratio range of the current message sending cycle of the target cycle message; determine the recorded task execution cycle with the lowest vehicle bus load corresponding to the one or more recorded task execution cycles as the second task execution cycle; and use the time interval between the first task execution cycle and the second task execution cycle as the target duration.

[0090] In some embodiments, the message transmission control device 100 further includes an effect judgment module. The effect judgment module is configured to start timing and obtain the timing duration when the next transmission time of the target periodic message is postponed for the first time; accumulate the number of executions of the step of postponing the next transmission time of the target periodic message; when the timing duration reaches a preset duration, if the number of executions is greater than or equal to the preset number, stop executing the step of continuously receiving the periodic message sent by the vehicle bus and recording the time interval between adjacent periodic messages arriving at the master node, and re-execute the step of continuously receiving the periodic message sent by the vehicle bus and recording the time interval between adjacent periodic messages arriving at the master node after the preset duration is stopped; or before the timing duration reaches the preset duration, if the number of executions reaches the preset number, stop executing the step of continuously receiving the periodic message sent by the vehicle bus and recording the time interval between adjacent periodic messages arriving at the master node, and re-execute the step of continuously receiving the periodic message sent by the vehicle bus and recording the time interval between adjacent periodic messages arriving at the master node after the preset duration is stopped.

[0091] Those skilled in the art will clearly understand that the message sending control device 100 provided in the embodiment of the present application can implement the message sending control method on the master node side provided in the embodiment of the present application. The specific working process of the above modules can refer to the corresponding process of the message sending control method in the embodiment of the present application, and will not be described here.

[0092] In the embodiments provided in the present application, the coupling, direct coupling or communication connection between the modules shown or discussed may be indirect coupling or communication coupling through some interfaces, devices or modules, and may be electrical, mechanical or other forms, and the embodiments of the present application do not limit this.

[0093] In addition, the functional modules in the embodiments of the present application may be integrated into a single processing module, each module may exist physically separately, or two or more modules may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or software functional modules, which is not limited in the embodiments of the present application.

[0094] Please refer to Figure 12, which shows a schematic structural diagram of a message sending control device 200 provided in an embodiment of the present application. The message sending control device 200 can be applied to a vehicle. The message sending control device 200 includes a self-confirmation module 210, which is used to determine whether its own node is the target node based on the adjustment instruction when receiving the adjustment instruction sent by the master node, wherein the adjustment instruction is generated by the master node in the following manner: continuously receiving periodic messages sent by the vehicle bus, and recording the time interval between adjacent periodic messages arriving at the master node; whenever the master node goes through a task execution cycle, the vehicle bus load corresponding to the task execution cycle is determined based on the time interval between all adjacent periodic messages received within the task execution cycle arriving at the master node, and when the vehicle bus load corresponding to the task execution cycle exceeds the load threshold, the task execution cycle is recorded; when the number of recorded task execution cycles reaches the number threshold and the recorded task execution cycle is a cycle, a target cycle message that meets the preset postponement condition is obtained, and an adjustment instruction is generated based on the target cycle message; the adjustment execution module 220 is used to postpone the next sending time of the target cycle message of its own node when it is determined that its own node is the target node.

[0095] In some embodiments, the adjustment execution module 220 is also used to determine whether the ratio of the task execution period of the own node to the message sending period of the target period message is less than or equal to a preset ratio when determining that the own node is the target node; when the ratio of the task execution period of the own node to the message sending period of the target period message is less than or equal to the preset ratio, postpone the next sending time of the target period message of the own node.

[0096] In some embodiments, the adjustment execution module 220 is also used to obtain a target duration from the adjustment instruction, and postpone the next sending time of the target cycle message by the target duration, wherein the target duration is an integer multiple of the task execution period corresponding to the target cycle message, and the ratio of the target duration to the message sending period of the target cycle message is less than or equal to the preset ratio; or the next sending time of the target cycle message is postponed by one or more task execution periods by default, the ratio of one task execution period to the message sending period of the target cycle message is less than or equal to the preset ratio, and the ratio of the sum of the durations of multiple task execution periods to the message sending period of the target cycle message is less than or equal to the preset ratio.

[0097] Those skilled in the art will clearly understand that the message sending control device 200 provided in the embodiment of the present application can implement the message sending control method provided in the embodiment of the present application on the side of other nodes other than the master node. The specific working process of the above modules can refer to the corresponding process of the message sending control method in the embodiment of the present application, and will not be described here.

[0098] In the embodiments provided in the present application, the coupling, direct coupling or communication connection between the modules shown or discussed may be indirect coupling or communication coupling through some interfaces, devices or modules, and may be electrical, mechanical or other forms, and the embodiments of the present application do not limit this.

[0099] In addition, the functional modules in the embodiments of the present application may be integrated into a single processing module, each module may exist physically separately, or two or more modules may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or software functional modules, which is not limited in the embodiments of the present application.

[0100] Referring to Figure 13 , which illustrates a schematic diagram of the structure of a vehicle according to an embodiment of the present application, the vehicle 300 includes a memory 310 , one or more processors 320 , and one or more applications. The one or more applications are stored in the memory and are configured to execute the method described in the above method embodiment when invoked by the one or more processors 320 .

[0101] The memory 310 may include random access memory (RAM) or read-only memory (ROM). The memory 310 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 310 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the various method embodiments described above, and the like. The data storage area may store data generated by the vehicle 300 during use.

[0102] The processor 320 may include one or more processing cores. The processor 320 uses various interfaces and lines to connect the various parts of the entire extended reality device 300, and performs various functions and processes data of the user interface rendering device by running or executing instructions, programs, code sets or instruction sets stored in the memory 310, and calling data stored in the memory 310. The processor 320 can be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 320 can integrate one or more combinations of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. It is understandable that the above-mentioned modem may not be integrated into the processor 320, but may be implemented separately through a communication chip.

[0103] An embodiment of the present application also provides a computer-readable storage medium, in which program code is stored. The program code is used to execute the method described in the above method embodiment when called by a processor.

[0104] The computer readable storage medium can be an electronic memory such as a flash memory, an electrically erasable programmable read only memory (EEPROM), an electrically programmable read only memory (EPROM), a hard disk or a read only memory (ROM). In some embodiments, the computer readable storage medium can include a non-transitory computer-readable storage medium (NTRSM). The computer readable storage medium has storage space for the program code of any method step in the above method. These program codes can be read from one or more computer program products or written into one or more computer program products. The program code can be compressed in an appropriate form.

[0105] The above is only a preferred embodiment of the present application and does not constitute any form of limitation to the present application. Although the present application has been disclosed as above with preferred embodiments, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to equivalent embodiments using the technical contents disclosed above without departing from the scope of the technical solution of the present application. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A message sending control method, characterized in that: The method comprises: Continuously receive periodic messages sent by the vehicle bus, and record the time intervals between adjacent periodic messages arriving at the master node, wherein the master node is a predetermined node connected to the vehicle bus, and can receive multiple periodic messages in each task execution cycle of the master node, and the task execution cycle is the time it takes for the node to execute a periodic task; Whenever the master node goes through a task execution cycle, the vehicle bus load corresponding to the task execution cycle is determined according to the time intervals of all adjacent periodic messages received during the task execution cycle arriving at the master node. When the vehicle bus load corresponding to the task execution cycle exceeds the load threshold, the task execution cycle is recorded; When the number of recorded task execution cycles reaches a number threshold and the recorded task execution cycle is a periodic occurrence, a target cycle message that meets a preset postponement condition is obtained, and the next sending time of the target cycle message is postponed.

2. The method according to claim 1, characterized in that Whenever the master node goes through a task execution cycle, the vehicle bus load corresponding to the task execution cycle is determined according to the time intervals of all adjacent periodic messages received during the task execution cycle arriving at the master node, including: Whenever the master node goes through a task execution cycle, the average value of the time intervals for all adjacent periodic messages received during the task execution cycle to reach the master node is determined as the vehicle bus load corresponding to the task execution cycle.

3. The method according to claim 1, characterized in that: The step of obtaining a target periodic message that meets a preset delay sending condition includes: Obtain the message sending period and task execution period of the received periodic message; For each received periodic message, determine the ratio of the task execution period of the periodic message to the message sending period; A periodic message whose ratio of the task execution period to the message sending period is less than or equal to a preset ratio is determined as a target periodic message.

4. The method according to claim 1, characterized in that The step of postponing the next sending time of the target periodic message includes: The next sending time of the target periodic message is postponed by a target duration, wherein the target duration is an integer multiple of the task execution period of the target periodic message, and the ratio of the target duration to the message sending period of the target periodic message is less than or equal to a preset ratio.

5. The method according to claim 4, characterized in that Before the step of postponing the next sending time of the target periodic message, the method further includes: One or more task execution cycles of the target periodic message are determined as the target duration, the ratio of one task execution cycle to the message sending cycle of the target periodic message is less than or equal to a preset ratio, and the ratio of the sum of the durations of the multiple task execution cycles to the message sending cycle of the target periodic message is less than or equal to a preset ratio.

6. The method according to claim 4, characterized in that Before the step of postponing the next sending time of the target periodic message, the method further includes: Get the most recently recorded task execution cycle as the first task execution cycle; Obtain one or more recorded task execution cycles within a preset ratio range of the current message sending cycle of the target periodic message; Determine a recorded task execution cycle corresponding to the lowest vehicle bus load among the one or more recorded task execution cycles as a second task execution cycle; The time interval between the first task execution cycle and the second task execution cycle is used as the target duration.

7. The method according to claim 1, characterized in that The method further comprises: When the next sending time of the target periodic message is postponed for the first time, the timing is started and the timing duration is obtained; Accumulating the number of executions of the step of postponing the next sending time of the target periodic message; When the timing duration reaches a preset duration, if the number of executions is greater than or equal to the preset number of times, the step of continuously receiving the periodic message sent by the vehicle bus and recording the time intervals between adjacent periodic messages arriving at the master node is stopped, and the step of continuously receiving the periodic message sent by the vehicle bus and recording the time intervals between adjacent periodic messages arriving at the master node is re-executed after the preset duration is stopped; or Before the timing duration reaches the preset duration, if the execution times reach the preset times, the step of continuously receiving the periodic messages sent by the vehicle bus and recording the time intervals between adjacent periodic messages arriving at the main node is stopped, until the preset duration is stopped, and then the step of continuously receiving the periodic messages sent by the vehicle bus and recording the time intervals between adjacent periodic messages arriving at the main node is re-executed.

8. A message sending control method, characterized in that: include: Upon receiving the adjustment instruction sent by the master node, determine whether the own node is the target node according to the adjustment instruction, wherein the adjustment instruction is generated by the master node in the following manner: continuously receive periodic messages sent by the vehicle bus, and record the time intervals for adjacent periodic messages to arrive at the master node; whenever the master node goes through a task execution cycle, determine the vehicle bus load corresponding to the task execution cycle according to the time intervals for all adjacent periodic messages received during the task execution cycle to arrive at the master node, and record the task execution cycle when the vehicle bus load corresponding to the task execution cycle exceeds the load threshold; when the number of recorded task execution cycles reaches the number threshold, and the recorded task execution cycle is a periodic occurrence, obtain the target cycle message that meets the preset postponed sending condition, and generate the adjustment instruction based on the target cycle message; When determining that the own node is the target node, postpone the next sending time of the target periodic message of the own node.

9. The method according to claim 8, characterized in that When the own node is the target node, postponing the next sending time of the target periodic message of the own node according to the adjustment instruction includes: When the own node is the target node, determining whether the ratio of the task execution period of the own node to the message sending period of the target period message is less than or equal to a preset ratio; When the ratio of the task execution period of the own node to the message sending period of the target period message is less than or equal to the preset ratio, the next sending time of the target period message of the own node is postponed.

10. The method according to claim 8, characterized in that The step of postponing the next sending time of the target periodic message of the own node includes: Obtaining a target duration from the adjustment instruction, and postponing the next sending time of the target periodic message by the target duration, wherein the target duration is an integer multiple of the task execution period corresponding to the target periodic message, and the ratio of the target duration to the message sending period of the target periodic message is less than or equal to a preset ratio; or The next sending time of the target cycle message is postponed by one or more of the task execution cycles, the ratio of one task execution cycle to the message sending cycle of the target cycle message is less than or equal to the preset ratio, and the ratio of the sum of the durations of the multiple task execution cycles to the message sending cycle of the target cycle message is less than or equal to the preset ratio.

11. A message sending control device, characterized in that: include: A message receiving module is used to continuously receive periodic messages sent by the vehicle bus and record the time intervals between adjacent periodic messages arriving at the master node, wherein the master node is a predetermined node connected to the vehicle bus and can receive multiple periodic messages in each task execution cycle of the master node, and the task execution cycle is the time taken for the node to execute a periodic task; A load acquisition module is used to determine the vehicle bus load corresponding to a task execution cycle according to the time intervals of all adjacent periodic messages received during the task execution cycle arriving at the master node each time the master node goes through a task execution cycle, and record the task execution cycle when the vehicle bus load corresponding to the task execution cycle exceeds a load threshold; The load balancing module is used to obtain the target cycle message that meets the preset postponement condition and postpone the next sending time of the target cycle message when the number of recorded task execution cycles reaches the number threshold and the recorded task execution cycle is a cycle.

12. A message sending control device, characterized in that: include: A self-confirmation module is used to determine whether its own node is a target node according to the adjustment instruction when receiving the adjustment instruction sent by the master node, wherein the adjustment instruction is generated by the master node in the following manner: continuously receiving periodic messages sent by the vehicle bus, and recording the time intervals for adjacent periodic messages to arrive at the master node; each time the master node goes through a task execution cycle, the vehicle bus load corresponding to the task execution cycle is determined according to the time intervals for all adjacent periodic messages received during the task execution cycle to arrive at the master node, and when the vehicle bus load corresponding to the task execution cycle exceeds the load threshold, the task execution cycle is recorded; when the number of recorded task execution cycles reaches the number threshold, and the recorded task execution cycle is a periodic occurrence, a target periodic message that meets a preset postponement condition is obtained, and an adjustment instruction is generated based on the target periodic message; when it is determined that the own node is the target node, the next sending time of the target periodic message of the own node is postponed; The adjustment execution module is used to postpone the next sending time of the target periodic message of the own node when determining that the own node is the target node.

13. A vehicle, characterized in that: include: Memory; one or more processors; One or more application programs, the one or more application programs are stored in the memory and are used to execute the method according to any one of claims 1 to 10 when called by the one or more processors.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, and the program codes are used to execute the method according to any one of claims 1 to 10 when called by a processor.

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