CN113238501A - Vehicle networking control method and system based on RTOS operating system - Google Patents
Vehicle networking control method and system based on RTOS operating system Download PDFInfo
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- CN113238501A CN113238501A CN202110498555.3A CN202110498555A CN113238501A CN 113238501 A CN113238501 A CN 113238501A CN 202110498555 A CN202110498555 A CN 202110498555A CN 113238501 A CN113238501 A CN 113238501A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention provides a vehicle networking control method and system based on an RTOS operating system, wherein in the method provided by the invention, a task monitoring thread and a data subscription thread are established firstly, then a task instruction issued by a terminal device is monitored through the task monitoring thread, a task processing thread is distributed according to the task instruction, and the task instruction is issued to a vehicle through the task processing thread to realize remote control; and acquiring vehicle state data uploaded by the vehicle through a data subscription thread, distributing a data processing thread according to the vehicle state data, and reporting the vehicle state data to the terminal equipment through the data processing thread. Based on the technical scheme provided by the invention, the processing logic of the car networking module is realized under the RTOS operating system architecture, each car networking control function is designed based on a multi-thread task scheduling mechanism, and under the condition of no task instruction issuing and no vehicle data reporting, a task processing thread and a data processing thread are idle, so that the system resource occupation is less, and the memory requirement is reduced.
Description
Technical Field
The invention relates to the field of vehicle networking control, in particular to a vehicle networking control method and system based on an RTOS operating system.
Background
A traditional automobile internet control system is realized based on a LINUX system, and modules of the automobile internet, such as remote control, remote state inquiry and report, remote diagnosis, stolen tracking and the like, are realized based on the LINUX system module.
In the operation of the traditional passenger vehicle networking control system, whether functions are executed or not, all modules under the LINUX system are in the background and operate for a long time, so that a part of system resources in the background are occupied, the RAM space required by the operation of the whole software system is large, and the hardware cost is high.
Disclosure of Invention
In view of the above, the present invention has been made to provide a vehicle networking control method and system based on an RTOS operating system that overcomes or at least partially solves the above-mentioned problems.
According to one aspect of the invention, a vehicle networking control method based on an RTOS (real time operating system) is provided, and comprises the following steps: creating a task monitoring thread, monitoring a task instruction issued by terminal equipment through the task monitoring thread, distributing a task processing thread according to the task instruction, and issuing the task instruction to a vehicle or a vehicle machine through the task processing thread to realize remote control;
and a data subscription thread is created, vehicle state data uploaded by the vehicle is obtained through the data subscription thread, a data processing thread is distributed according to the vehicle state data, and the vehicle state data is reported to the terminal equipment through the data processing thread.
Optionally, the allocating task processing threads according to the task instruction includes:
and analyzing the task instruction through the task monitoring thread to obtain the task type of the task instruction, and distributing the task processing thread according to the task type.
Optionally, issuing the task instruction to the vehicle through the task processing thread includes:
and determining a preset control instruction corresponding to the task instruction according to the task category through the task processing thread and sending the control instruction to an MCU (microprogrammed control Unit) or a vehicle machine, so that the vehicle machine processes the control instruction or the MCU converts the control instruction into a CAN bus control instruction and sends the CAN bus control instruction to a CAN bus of the vehicle for processing.
Optionally, after the task processing thread sends the control instruction to the MCU or the in-vehicle device, the method further includes:
and releasing the memory of the task processing thread.
Optionally, when the task listening thread receives a plurality of task instructions within a preset time, allocating task processing threads according to the task instructions includes:
determining the priority of each task instruction through the task monitoring thread, distributing the task processing thread of each task instruction, and assigning corresponding single processing time length for each task processing thread;
issuing the task instruction to a vehicle through the task processing thread, including:
and polling and executing each task processing thread according to the priority order of the task instructions so as to issue each task instruction to the vehicle.
Optionally, allocating a data processing thread according to the vehicle state data includes:
and analyzing the vehicle state data through the data subscription thread to obtain the data type of the vehicle state data, and distributing the data processing thread according to the data type.
Optionally, after the data processing thread reports the vehicle state data to the terminal device, the method further includes:
and releasing the memory of the data processing thread.
Optionally, reporting the vehicle state data to the terminal device through the data processing thread includes:
and converting the vehicle state data into data in a preset protocol format through the data processing thread and uploading the data to a vehicle networking server so that the vehicle networking server can push the vehicle state data to the terminal equipment.
Optionally, when the data subscription thread receives multiple sets of vehicle state data within a preset time period, allocating a data processing thread according to the vehicle state data includes:
determining the priority of each group of vehicle state data through the data subscription thread, distributing the data processing thread of each vehicle state data, and assigning corresponding single processing duration for each data processing thread;
reporting the vehicle state data to the terminal device through the data processing thread, including:
and polling and executing each data processing thread according to the priority order of the vehicle state data so as to report each group of vehicle state data to the terminal equipment.
According to another aspect of the present invention, there is also provided a vehicle networking control system based on an RTOS operating system, comprising: the terminal equipment, the TEM and the vehicle are respectively in communication connection with the terminal equipment and the vehicle;
the TEM is configured to perform the method of any one of the above.
The method comprises the steps of firstly creating a task monitoring thread and a data subscription thread, then monitoring a task instruction issued by a terminal device through the task monitoring thread, distributing a task processing thread according to the task instruction, and issuing the task instruction to a vehicle through the task processing thread to realize remote control; and acquiring vehicle state data uploaded by the vehicle through a data subscription thread, distributing a data processing thread according to the vehicle state data, and reporting the vehicle state data to the terminal equipment through the data processing thread. Based on the technical scheme provided by the invention, each car networking control function is designed based on a multi-thread task scheduling mechanism under the RTOS operating system architecture, so that the RAM space occupied by the car networking control function is reduced on the premise of not influencing the car networking control and communication functions, and the hardware cost of the whole car networking system is further reduced.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a block diagram of a vehicle networking control system based on an RTOS operating system according to one embodiment of the present invention;
FIG. 2 is an architecture diagram of a vehicle networking control system based on an RTOS operating system in accordance with one embodiment of the present invention;
FIG. 3 is a schematic flow chart of a vehicle networking control method based on an RTOS operating system according to one embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In order to solve the above problems, the present invention provides a vehicle networking control System based on an RTOS Operating System, where the RTOS (Real Time Operating System) refers to an Operating System that can receive and process data quickly enough when external events or data are generated, and the processed result can control the production process or make a quick response to the processing System within a specified Time, schedule all available resources to complete Real-Time tasks, and control all Real-Time tasks to run in a coordinated and consistent manner. Fig. 1 is a block diagram of a vehicle networking control system based on an RTOS operating system according to an embodiment of the present invention. Referring to fig. 1, the car networking control system 100 may include at least a terminal device 110, a TEM120(Telematics client), and a vehicle 130, where the TEM120 is communicatively connected to the terminal device 110 and the vehicle 130, respectively, and the TEM120 is configured to execute a car networking control method based on an RTOS operating system in any of the following embodiments.
In some embodiments of the present invention, the terminal device 110 may include, for example, a mobile phone, a smart home device, a wearable device, a smart mobile device, a virtual reality device, and the like.
FIG. 2 is an architecture diagram of a vehicle networking control system based on an RTOS operating system in accordance with one embodiment of the present invention. Referring to fig. 2, the internet of vehicles control system 100 may further include an internet of vehicles server 160 and an MCU140(Microcontroller Unit). The internet of vehicles server 160 and the TEM120 are respectively connected to base stations, and the base stations may be selected from 4G base stations, 5G base stations, or v2x base stations. The vehicle networking server 160 and the TEM120 can both obtain network signals from the base station, and in the case of a good network, the TEM120 can access the internet as a networking device. The vehicle networking server 160 is in communication connection with the TEM120 through a preset wireless protocol, where the preset wireless protocol may be HTTP, HTTPs, COPA, or MQTT, and the like, and in addition, the vehicle networking server 160 is also in communication connection with the terminal device 110; the MCU140 is communicatively coupled to the TEM120 via a UART protocol, and the MCU140 is also communicatively coupled to a CAN bus of the vehicle 130 via a CAN bus protocol. Preferably, the terminal device 110 is a mobile phone, during a task issuing process, a user may issue a task instruction through a designated application program on the mobile phone, and when the preset wireless protocol is an MQTT protocol, after the car networking server 160 receives the task instruction issued by the terminal device 110, the car networking server 160 is configured to send the task instruction to the TEM120 through an MQTT channel, so that the TEM120 determines a corresponding control instruction according to the task instruction and issues the corresponding control instruction to the car machine 151 of the MCU140 or the MMI150(Multi Media interface, multimedia interactive system), where for task instructions such as "remote car locking", "remote window closing", and "remote starting", the TEM120 sends the corresponding preset control instruction to the MCU 140. For the task commands such as "play music" and "play video", the TEM120 sends the corresponding preset control command to the car machine 151. After the MCU140 receives the control command, the MCU140 is configured to convert the control command into a CAN bus control command and send the CAN bus control command to the vehicle 130 for processing. In the data reporting process, after the MCU140 receives the vehicle status data reported by the CAN bus, the MCU140 is configured to convert the vehicle status data into data in the UART protocol format and report the data to the TEM120, where the vehicle status data includes, for example, vehicle network signals. After the TEM120 receives the vehicle state data, the TEM120 is configured to convert the vehicle state data into data in the MQTT protocol format and send the data to the internet of vehicles server 160, and the internet of vehicles server 160 is configured to report the received vehicle state data to the terminal device 110. In addition, the TEM120 is further configured to receive vehicle status data reported by the car machine 151 and send the vehicle status data to the internet of vehicles server 160, where the vehicle status data reported by the car machine 151 is, for example, vehicle positioning data.
In addition, TEM120 also includes a modem for translating digital signals into pulse signals that can be transmitted along a common telephone line.
Based on the TEM120 proposed above, the present invention also proposes a vehicle networking control method based on the RTOS operating system executed by the TEM120, and fig. 3 is a schematic flowchart of the vehicle networking control method based on the RTOS operating system according to an embodiment of the present invention. Referring to fig. 3, the method may include at least the following steps S302 and S304.
Step S302: creating a task monitoring thread, monitoring a task instruction issued by the terminal device 110 through the task monitoring thread, distributing a task processing thread according to the task instruction, and issuing the task instruction to the vehicle through the task processing thread to realize remote control;
step S304: and a data subscription thread is created, vehicle state data uploaded by the vehicle is acquired through the data subscription thread, a data processing thread is distributed according to the vehicle state data, and the vehicle state data is reported to the terminal device 110 through the data processing thread.
In the embodiment of the invention, a task monitoring thread and a data subscription thread are created, then a task instruction issued by the terminal device 110 is monitored through the task monitoring thread, a task processing thread is distributed according to the task instruction, and the task instruction is issued to the vehicle through the task processing thread to realize remote control; the vehicle state data uploaded by the vehicle is acquired through the data subscription thread, the data processing thread is distributed according to the vehicle state data, and the vehicle state data is reported to the terminal device 110 through the data processing thread. Based on the technical scheme provided by the invention, each car networking control function is designed based on a multi-thread task scheduling mechanism under the RTOS operating system architecture, so that the RAM space occupied by the car networking control function is reduced on the premise of not influencing the car networking control and communication functions, and the hardware cost of the whole car networking system is further reduced.
In some embodiments of the present invention, the allocating task processing threads according to task instructions mentioned in step S302 above may include: and analyzing the task instruction through the task monitoring thread to obtain the task type of the task instruction, and distributing the task processing thread according to the task type.
Specifically, the task listening thread may analyze the task instruction according to the VDS protocol to obtain a classification field corresponding to the task instruction, and may determine the task category of the task instruction according to the classification field, where for example, the classification field corresponding to the task instruction, such as "car door lock closed", is "rdl", the classification field corresponding to the task instruction, such as "car door lock opened", is "rdu", and the classification field corresponding to the task instruction, such as "boot open". And determining the task type corresponding to the task instruction according to the classification field. After determining the task type corresponding to the task instruction, optionally, the task listening thread may determine, through an IPC communication mechanism of the RTOS operating system, that the task processing thread with the thread name of the classification field is the task processing thread corresponding to the task instruction, for example, if the classification field corresponding to the task instruction is "rdl", the task processing thread with the thread name of "rdl" is determined to be the task processing thread corresponding to the task instruction.
After the task processing threads are allocated according to the task categories, next, the task instructions may be issued to the vehicle through the task processing threads to implement remote control, in some embodiments of the present invention, issuing the task instructions to the vehicle through the task processing threads to implement remote control may include: and determining a preset control instruction corresponding to the task instruction according to the task category through the task processing thread and sending the control instruction to the MCU140 or the vehicle 151, so that the vehicle 151 processes the control instruction or the MCU140 converts the control instruction into a CAN bus control instruction and sends the CAN bus control instruction to a CAN bus of the vehicle for processing.
Specifically, for the task instructions such as "lock the car remotely", "close the window remotely", and "start remotely", the task processing thread sends the corresponding preset control instruction to the MCU 140. For the task instructions such as "play music" and "play video", the task processing thread sends the corresponding preset control instruction to the in-vehicle machine 151.
The task processing thread may determine a preset control instruction corresponding to the task instruction according to the task category, for example, the classification field corresponding to the task instruction is "RDL", the classification field represents the task category of the task instruction, and then the corresponding control instruction may be determined to be "IPC _ DR _ RDL _ download _ MSG _ EVT" according to the classification field "RDL", and if the classification field "RDU" corresponding to the task instruction is determined to be "IPC _ DR _ RDU _ download _ MSG _ EVT" according to the classification field "RDU".
For example, if the task instruction received by the task listening thread is "flash whistle", the task instruction may be analyzed to obtain the classification field "RHL", then the task processing thread with the thread name "RHL" may be used as the task processing thread matching the task instruction, and then the task processing thread may determine that the preset control instruction corresponding to the task instruction is "IPC _ DR _ RHL _ DOWNLINK _ MSG _ EVT" according to the classification field "RHL", and then the task processing thread may send the control instruction to the MCU140 so that the MCU140 converts the control instruction into a CAN bus control instruction and sends the CAN bus control instruction to the vehicle for processing.
For the task issuing event, the embodiment starts the task monitoring thread monitoring, schedules all available resources to complete the real-time task, and meets the timeliness and reliability of task completion.
In addition, after the task processing thread sends the control instruction to the MCU140 or the car machine 151, the memory of the task processing thread is released, so as to reduce the system memory space occupied by the task processing thread.
In some embodiments of the present invention, when the task listening thread receives a plurality of task instructions within a preset time period, the allocating task processing threads according to task instructions mentioned in the above step S302 may include: determining the priority of each task instruction through a task monitoring thread, distributing the task processing thread of each task instruction, and assigning corresponding single processing duration for each task processing thread; issuing the task instruction to the vehicle through the task processing thread may include: and polling and executing each task processing thread according to the priority order of the task instructions so as to issue each task instruction to the vehicle.
Specifically, the TASK instructions may be numbered TASK1 and TASK2 … … TASK in order of priority from high to low or from low to high, so as to poll the execution of the TASK processing threads in order of priority of the TASK instructions. In this embodiment, a corresponding single processing duration is specified for each task processing thread, and when the execution of the task processing thread is finished or the execution is overtime, the corresponding task processing thread is emptied to release the memory, so that the system memory space occupied by the task processing thread can be reduced.
In addition, the priority may be set according to the urgency of the task instruction, for example, the priority of "remote locking vehicle" is set to be higher than that of "remote closing window", and in practice, the priority may also be set according to needs, which is not limited by the present invention.
For the multi-task instruction issuing condition, the present embodiment adopts a sequential scheduling, polling execution, and timeout control mechanism to process each task instruction, and when any task processing thread finishes execution or executes timeout, the corresponding thread is nulled to release the resource occupied by the thread.
The vehicle state data acquired by the data subscription thread may be from the MCU140, the MCU140 is in communication connection with the CAN bus of the vehicle 130 through the CAN bus protocol, and after receiving the vehicle state data reported by the CAN bus, the MCU140 is configured to convert the vehicle state data into data in the UART protocol format and report the data to the TEM120, where the vehicle state data is, for example, a vehicle network signal. In addition, the vehicle state data acquired by the data subscription thread may be vehicle state data, such as vehicle positioning data, from the vehicle machine 151 or reported by the vehicle machine 151.
Likewise, when the data subscription thread receives multiple sets of vehicle status data within the preset time period, the allocating the data processing thread according to the vehicle status data mentioned in the above step S304 may include: determining the priority of each group of vehicle state data through a data subscription thread, distributing the data processing thread of each group of vehicle state data, and assigning corresponding single processing duration for each data processing thread; reporting the vehicle state data to the terminal device 110 through the data processing thread may include: and polling and executing each data processing thread according to the priority order of the vehicle state data so as to report each group of vehicle state data to the terminal equipment 110.
When no task instruction is issued or vehicle state data is reported, all task processing threads and data processing threads are idle, and system resources are not occupied. When there are more services issued or data reported, a sequential scheduling, polling execution and overtime control mechanism is adopted to process each task instruction or vehicle state data, and when the thread processing is completed or the execution is overtime, the thread is nulled to release the thread to occupy resources. Under the normal operating condition of the thread, only about 2M of memory is occupied, and compared with the traditional vehicle networking control system which occupies about 138M of memory in normal operation, the occupied memory is reduced by 98%, from the hardware perspective, the RAM space is greatly saved, and the hardware cost is greatly reduced.
In some embodiments of the present invention, the allocating the data processing thread according to the vehicle state data mentioned in the above step S304 may include: and analyzing the vehicle state data through the data subscription thread to obtain the data type of the vehicle state data, and distributing a data processing thread according to the data type.
In a similar way to the above-mentioned task processing thread allocation according to the task instruction, the classification field corresponding to the vehicle state data can be obtained by analyzing the vehicle state data, the classification fields corresponding to different vehicle state data are different, and the data category of the vehicle state data can be determined according to the classification field. After the data category corresponding to the vehicle state data is determined, optionally, the data subscription thread may determine, according to an IPC communication mechanism of the RTOS operating system, a data processing thread with a thread name of the classification field as a data processing thread corresponding to the vehicle state data.
After determining the data processing thread, then reporting the vehicle state data to the terminal device 110 through the data processing thread, in some embodiments of the present invention, reporting the vehicle state data to the terminal device 110 through the data processing thread may include: the vehicle state data is converted into data in a preset protocol format through the data processing thread and uploaded to the internet of vehicles server 160, so that the internet of vehicles server 160 pushes the vehicle state data to the terminal device 110. The preset protocol can be selected from HTTP, HTTPS, COPA, MQTT and other protocols.
After the data processing thread reports the vehicle state data to the terminal device 110, the memory of the data processing thread can be released, so that the system memory space occupied by the data processing thread is reduced.
The invention provides a vehicle networking control method and system based on an RTOS operating system, wherein in the method provided by the invention, a task monitoring thread and a data subscription thread are established firstly, then a task instruction issued by a terminal device 110 is monitored through the task monitoring thread, a task processing thread is distributed according to the task instruction, and the task instruction is issued to a vehicle through the task processing thread so as to realize remote control; the vehicle state data uploaded by the vehicle is acquired through the data subscription thread, the data processing thread is distributed according to the vehicle state data, and the vehicle state data is reported to the terminal device 110 through the data processing thread. Based on the technical scheme provided by the invention, each car networking control function is designed based on a multi-thread task scheduling mechanism under the RTOS operating system architecture, so that the storage space occupied by the car networking control function is reduced on the premise of not influencing the car networking control and communication functions, and the hardware cost of the whole car networking system is further reduced.
It is clear to those skilled in the art that the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and for the sake of brevity, further description is omitted here.
In addition, the functional units in the embodiments of the present invention may be physically independent of each other, two or more functional units may be integrated together, or all the functional units may be integrated in one processing unit. The integrated functional units may be implemented in the form of hardware, or in the form of software or firmware.
Those of ordinary skill in the art will understand that: the integrated functional units, if implemented in software and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computing device (e.g., a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention when the instructions are executed. And the aforementioned storage medium includes: u disk, removable hard disk, Read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disk, and other various media capable of storing program code.
Alternatively, all or part of the steps of implementing the foregoing method embodiments may be implemented by hardware (such as a computing device, e.g., a personal computer, a server, or a network device) associated with program instructions, which may be stored in a computer-readable storage medium, and when the program instructions are executed by a processor of the computing device, the computing device executes all or part of the steps of the method according to the embodiments of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments can be modified or some or all of the technical features can be equivalently replaced within the spirit and principle of the present invention; such modifications or substitutions do not depart from the scope of the present invention.
Claims (10)
1. A vehicle networking control method based on an RTOS operating system comprises the following steps:
creating a task monitoring thread, monitoring a task instruction issued by terminal equipment through the task monitoring thread, distributing a task processing thread according to the task instruction, and issuing the task instruction to a vehicle through the task processing thread to realize remote control;
and a data subscription thread is created, vehicle state data uploaded by the vehicle is obtained through the data subscription thread, a data processing thread is distributed according to the vehicle state data, and the vehicle state data is reported to the terminal equipment through the data processing thread.
2. The method of claim 1, wherein said assigning task processing threads according to said task instructions comprises:
and analyzing the task instruction through the task monitoring thread to obtain the task type of the task instruction, and distributing the task processing thread according to the task type.
3. The method of claim 2, wherein issuing the task instruction to a vehicle by the task processing thread comprises:
and determining a preset control instruction corresponding to the task instruction according to the task category through the task processing thread and sending the control instruction to an MCU (microprogrammed control Unit) or a vehicle machine, so that the vehicle machine processes the control instruction or the MCU converts the control instruction into a CAN bus control instruction and sends the CAN bus control instruction to a CAN bus of the vehicle for processing.
4. The method according to claim 3, wherein after the task processing thread sends the control instruction to the MCU or the in-vehicle device, the method further comprises:
and releasing the memory of the task processing thread.
5. The method of claim 1, wherein when the task listening thread receives a plurality of task instructions within a preset time period, allocating task processing threads according to the task instructions comprises:
determining the priority of each task instruction through the task monitoring thread, distributing the task processing thread of each task instruction, and assigning corresponding single processing time length for each task processing thread;
issuing the task instruction to a vehicle through the task processing thread, including:
and polling and executing each task processing thread according to the priority order of the task instructions so as to issue each task instruction to the vehicle.
6. The method of claim 1, wherein assigning data processing threads according to the vehicle state data comprises:
and analyzing the vehicle state data through the data subscription thread to obtain the data type of the vehicle state data, and distributing the data processing thread according to the data type.
7. The method of claim 1, wherein after the data processing thread reports the vehicle state data to the terminal device, further comprising:
and releasing the memory of the data processing thread.
8. The method of claim 1, wherein reporting the vehicle state data to the terminal device via the data processing thread comprises:
and converting the vehicle state data into data in a preset protocol format through the data processing thread and uploading the data to a vehicle networking server so that the vehicle networking server can push the vehicle state data to the terminal equipment.
9. The method of claim 1, wherein assigning a data processing thread according to the vehicle state data when the data subscription thread receives multiple sets of vehicle state data within a preset time period comprises:
determining the priority of each group of vehicle state data through the data subscription thread, distributing the data processing thread of each vehicle state data, and assigning corresponding single processing duration for each data processing thread;
reporting the vehicle state data to the terminal device through the data processing thread, including:
and polling and executing each data processing thread according to the priority order of the vehicle state data so as to report each group of vehicle state data to the terminal equipment.
10. A vehicle networking control system based on an RTOS operating system, comprising:
the terminal equipment, the TEM and the vehicle are respectively in communication connection with the terminal equipment and the vehicle;
the TEM is configured to perform the method of any one of claims 1-9 above.
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