CN115442173A - Vehicle message forwarding and processing method and device, electronic equipment and storage medium - Google Patents
Vehicle message forwarding and processing method and device, electronic equipment and storage medium Download PDFInfo
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- H04L12/00—Data switching networks
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Abstract
The invention discloses a vehicle message forwarding and processing method and device, electronic equipment and a storage medium. The vehicle message forwarding method comprises the following steps: receiving messages, wherein the messages comprise local domain node messages and non-local domain node messages; classifying the messages into local domain node messages and non-local domain node messages, sending the local domain node messages to function processing equipment of the local domain nodes, and sending all the received messages to message collecting and processing equipment of the local domain nodes. The invention avoids the interrupt processing interference of non-local domain node messages on the functional processing equipment of the local domain node, ensures the processing real-time performance of the functional processing equipment under the multi-core heterogeneous architecture, and completes the collection of the message logs of the whole vehicle through the message collecting and processing equipment, thereby meeting the requirement of intelligent whole vehicle development on complete log information. Meanwhile, in the message collecting and processing equipment, the load of the equipment is reduced in an asynchronous triggering mode.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle message forwarding and processing method, a vehicle message forwarding and processing device, electronic equipment and a storage medium.
Background
The domain nodes in the vehicle perform information interaction through various buses, for example, through a Controller Area Network (CAN) bus. During the communication process of each domain node, a large number of messages, such as CAN messages, are generated. In order to obtain vehicle information, each domain node needs to collect various messages and store the messages as message logs.
In the existing message log storage scheme, a filtering function is set for messages which do not need to be processed by a domain node microprocessing control unit, the messages which are not processed are blocked outside the domain node through filtering configuration, and only the messages related to the domain node are collected into a log. For example, before entering the domain node, messages outside the domain node are filtered by a filter layer of a Low Latency Communication Engine (LLCE).
However, as the development of an intelligent entire vehicle requires complete log information to perform troubleshooting on vehicle faults and early warning and monitoring on illegal messages of the entire vehicle, a message log of the entire vehicle needs to be acquired.
However, because the processing capability of each domain node is limited, if the packet of a node not in the local domain is received due to the limitation of the open filter layer, a large amount of packet data will reach the microprocessing control unit of the node in the local domain. When a large amount of message data arrives, data reception interruption of a Micro Control Unit (MCU) of a domain node may be increased. Meanwhile, the micro-processing control unit also needs to perform identity Identification (ID) filtering on the packets, so that the arrival of a large number of packets also causes the load of the ID filtering function of the micro-processing control unit to increase. These all result in an increased load on the microprocessor control unit. Further, the risk of the microprocessor control unit controlling the actual functional operation of the vehicle body is brought. Thus, there is no simple open filter layer restriction.
Disclosure of Invention
Therefore, it is necessary to provide a vehicle message forwarding and processing method, a vehicle message forwarding and processing device, an electronic device, and a storage medium, for solving the technical problems that the whole vehicle message cannot be acquired and the message filtering limitation cannot be opened simply in the prior art.
The invention provides a vehicle message forwarding method, which comprises the following steps:
receiving messages, wherein the messages comprise local domain node messages and non-local domain node messages;
classifying the messages into local domain node messages and non-local domain node messages, sending the local domain node messages to function processing equipment of the local domain nodes, and sending all the received messages to message collecting and processing equipment of the local domain nodes.
Further, the sending the message of the node in the domain to the function processing device of the node in the domain, and sending all the received messages to the message collecting and processing device specifically includes:
putting the message into a cache region;
establishing mapping between the message and a cache address of a cache region;
and sending the cache addresses of the messages of the nodes in the domain to the function processing equipment of the nodes in the domain, and sending the cache addresses of all the received messages to the message collecting and processing equipment.
Further, the placing the packet into the cache area specifically includes:
and placing the node message of the local domain into a preset local node cache region of the cache region, and placing the node message of the non-local domain into other regions of the cache region.
Further, after receiving the message, the vehicular message forwarding method further includes:
and establishing a message type for the message, and setting a message timestamp.
The invention provides a vehicle message processing method, which comprises the following steps:
establishing a drive layer set as a kernel mode and a service layer set as a user mode;
receiving a message, and caching the message into a message cache by the driving layer;
and responding to an event that the trigger condition is met, the driving layer sends trigger information to the service layer, and the service layer responds to the trigger information, takes out a plurality of messages from the message cache and stores the messages as message logs.
Further, the triggering condition is: the number of the messages in the message cache is larger than or equal to a preset number threshold value or the messages in the message cache are not taken out for more than preset time.
Further, the vehicle message processing method further includes:
acquiring legal cluster information of the whole vehicle message;
and taking the message which does not meet the legal cluster information of the whole vehicle as an illegal message, and executing message early warning operation.
Further, the message early warning operation includes: uploading message information of the illegal message, wherein the message information comprises: the timestamp of the illegal message and the message identifier of the illegal message.
Further, before the receiving the message and the driver layer caching the message into a message cache, the vehicle message processing method further includes:
setting a processor core to be in an isolation state;
and binding the thread related to the message with the processor core set to the isolation state.
The invention provides a vehicle message forwarding device, comprising:
the message receiving module is used for receiving messages, and the messages comprise local domain node messages and non-local domain node messages;
and the classification forwarding module is used for classifying the messages into local domain node messages and non-local domain node messages, sending the local domain node messages to the function processing equipment of the local domain node, and sending all the received messages to the message collection processing equipment of the local domain node.
The present invention provides an electronic device including:
at least one processor; and (c) a second step of,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by at least one of the processors to enable at least one of the processors to perform the vehicle message forwarding method as previously described.
The present invention provides a storage medium storing computer instructions for performing all the steps of the vehicle message forwarding method as described above when executed by a computer.
The invention provides a vehicle message processing device, comprising:
the driving module is used for receiving the message and caching the message into a message cache;
and the service module is used for responding to the event that the trigger condition is met, taking out a plurality of messages from the message cache and storing the messages as message logs.
The present invention provides an electronic device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the vehicle message processing method as previously described.
The present invention provides a storage medium storing computer instructions which, when executed by a computer, perform all of the steps of the vehicle message processing method as previously described.
The invention receives all messages of the nodes of the local domain and the nodes which are not in the local domain, realizes the distinguishing division of the messages of the nodes of the local domain and the messages of the nodes which are not in the local domain by classifying the messages, sends the messages of the nodes of the local domain to the function processing equipment of the nodes of the local domain, and sends all the received messages to the message collecting and processing equipment of the nodes of the local domain, thereby avoiding the interrupt processing interference of the messages of the nodes which are not in the local domain to the function processing equipment of the nodes of the local domain, ensuring the processing real-time performance of the function processing equipment under the multi-core heterogeneous architecture, and simultaneously finishing the collection of message logs of the whole vehicle by the message collecting and processing equipment, thereby meeting the requirement of the intelligent whole vehicle development on complete log information.
Drawings
Fig. 1 is a flowchart of a vehicle message forwarding method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for forwarding vehicle messages according to another embodiment of the present invention;
FIG. 3 is a flowchart illustrating a vehicle message processing method according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for processing vehicle messages according to another embodiment of the present invention;
FIG. 5 is a system diagram of a vehicle message forwarding method system according to an embodiment of the present invention;
FIG. 6 is a diagram of a message caching system according to an embodiment of the present invention;
fig. 7 is a schematic cache diagram of a message collection and processing device according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a message early warning operation of a vehicle message processing method according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a vehicle message forwarding device according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the invention;
FIG. 11 is a schematic diagram of a vehicle message processing device according to the present invention;
fig. 12 is a schematic diagram of a hardware structure of an electronic device according to another embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that as used in the following description, the terms "front," "back," "left," "right," "upper" and "lower" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
For automobile enterprises, message log data in vehicle running is becoming more and more important, and the complete message log storage at the whole vehicle level is a necessary function in the scenes of vehicle state restoration, automatic driving model algorithm training and the like at the time of an emergency. The message log includes a plurality of messages. In some embodiments, the message is a Controller Area Network (CAN) bus message, which is referred to as a CAN message for short.
The existing whole vehicle message logs are dispersed in each domain node such as a cockpit domain, a vehicle control domain, an automatic driving domain and the like, and the controllers of the domain nodes are required to collect and perform subsequent data integration processing respectively. Because communication among all domain nodes of the whole vehicle has a delay phenomenon, the collected whole vehicle message sequence is inaccurate, and subsequent problems caused by time sequence cannot be quickly positioned. Meanwhile, if each domain node controller of the whole vehicle is configured with a message filtering function, when an unconfigured abnormal message appears in the whole vehicle, the message can not be effectively identified from a collected legal message log.
In order to solve the above problem, a vehicle message forwarding method is proposed, as shown in fig. 1.
Fig. 1 is a flowchart of a vehicle message forwarding method according to an embodiment of the present invention, including:
step S101, receiving messages, wherein the messages comprise local domain node messages and non-local domain node messages;
step S102, classifying the messages into local domain node messages and non-local domain node messages, sending the local domain node messages to the function processing equipment of the local domain nodes, and sending all the received messages to the message collecting and processing equipment of the local domain nodes.
In particular, the present embodiment can be applied to electronic devices of a vehicle, such as Low Latency Communication Engine (LLCE) firmware.
The filtering restriction function of the message may be cancelled in order to allow all messages to be received. For example, the restriction of the LLCE on the CAN message filtering layer CAN be cancelled, so that the collection of the full-scale CAN messages of the whole vehicle CAN be performed.
When the message reaches the electronic equipment of the vehicle, step S101 is triggered to collect all messages, so that the whole-vehicle message collection of one domain node is completed.
In some embodiments, the limitation of the LLCE of one vehicle domain node on the CAN message filtering layer is cancelled, and the function of collecting the whole vehicle CAN logs by one vehicle domain center node is completed.
For the collected messages, step S102 is executed to classify the messages into local domain node messages and non-local domain node messages, send the local domain node messages to the function processing device of the local domain node, and send all the received messages to the message collection processing device of the local domain node.
In some embodiments, the packets are classified into local domain node packets and non-local domain node packets based on their arrival addresses.
In some embodiments, the configuration of the filter address is adopted, and the node message in the local domain and the node message in the non-local domain are divided differently according to whether the arrival address of the message is in the range of the node in the local domain.
In some embodiments, the message is a CAN message. The node message of the local domain is a CAN message which needs to be processed by the node of the local domain. The non-local node message is a CAN message which is not required to be processed by the local node.
The function processing device is a processing device for executing the relevant logic processing of the local domain node, and the message collection processing device is independent of the function processing device.
Preferably, the domain node is a vehicle Control domain node, the function processing device is a Micro Control Unit (MCU), and the message collection processing device is a processor independent of the MCU in the domain node. The message collection processing device may be an a53 processor.
Fig. 5 is a schematic diagram of a system for forwarding vehicle messages according to an embodiment of the present invention, including: the system comprises a vehicle message forwarding electronic device 1, a function processing device 2, a message collecting and processing device 3, a cloud server 4 and a CAN bus 5.
The vehicle message forwarding electronic device 1 executes the vehicle message forwarding method according to the embodiment of the present invention, and executes step S101 to receive the full amount of messages from the CAN bus 5. The message includes a log message, a routing message, and the like. The node message of the local domain comprises a log message of the node of the local domain. The non-local domain node message comprises a log message and a routing message of the non-local domain node.
Then, step S102 is executed to perform targeted sorting of filter addresses on the CAN messages that need to be collected in the whole vehicle CAN log, and distinguish the local domain node messages 51 that need to be processed in the local vehicle control domain from the non-local domain node messages 52 that need not to be processed in the local vehicle control domain. Therefore, the CAN message which needs to be processed in the vehicle control domain is transmitted to the function processing equipment 2 for corresponding logic processing, and the CAN message is transmitted to the message collecting and processing equipment 3 for CAN log collection. And for the CAN messages which do not need to be processed in the vehicle control domain, the CAN messages are only transmitted to the message collection and processing equipment 3 for CAN message collection, so that the CPU load of the function processing equipment 2 is reduced, and the stability of the vehicle control function is ensured. After the message collection and processing device 3 collects the CAN messages, the CAN messages are arranged into a message log, and all or part of the messages CAN be sent to the cloud server 4. The local node message 51 includes a log message of the local node. The non-local-domain node packet 52 includes a log packet and a routing packet of the non-local-domain node. Wherein routing messages are forwarded from one channel 12 to another channel 12.
The embodiment of the invention receives all messages of the nodes in the local domain and the nodes not in the local domain, realizes the distinguishing division of the messages of the nodes in the local domain and the messages of the nodes not in the local domain by classifying the messages, sends the messages of the nodes in the local domain to the function processing equipment of the nodes in the local domain, and sends all the received messages to the message collecting and processing equipment of the nodes in the local domain, thereby avoiding the interrupt processing interference of the messages of the nodes not in the local domain to the function processing equipment of the nodes in the local domain, ensuring the processing real-time performance of the function processing equipment under the multi-core heterogeneous architecture, and simultaneously completing the collection of message logs of the whole vehicle by the message collecting and processing equipment, thereby meeting the requirement of intelligent whole vehicle development on complete log information.
Fig. 2 is a flowchart illustrating a vehicular message forwarding method according to an embodiment of the present invention, including:
step S201, receiving a message, wherein the message includes a local domain node message and a non-local domain node message.
Step S202, establishing message types for the messages, and setting message timestamps.
Step S203, the messages are classified into local domain node messages and non-local domain node messages.
And step S204, the message is placed in a cache region.
In one embodiment, the placing the packet into the cache region specifically includes:
and putting the node message of the local domain into a preset local node cache region of the cache region, and putting the node message of the non-local domain into other regions of the cache region.
Step S205, establishing the mapping between the message and the cache address of the cache region.
Step S206, the cache addresses of the messages of the nodes in the domain are sent to the function processing equipment of the nodes in the domain, and the cache addresses of all the received messages are sent to the message collecting and processing equipment.
In particular, the present invention may be applied to electronic devices of a vehicle, such as Low Latency Communication Engine (LLCE) firmware.
Step S201 is identical to step S101, and is not described herein again.
Then, step S202 is executed to establish a message type for the entire amount, i.e., all received messages, and set a message timestamp.
In some embodiments, the message type and the timestamp setting are established for the CAN message, and the collection of the whole vehicle CAN log is carried out.
All messages of the whole vehicle are collected, so that all messages have uniform timestamp baselines, the real sequence of log data is kept, and disorder and incompleteness caused by data splicing are avoided.
Then, for the packet whose packet type and timestamp are established, step S203 is executed to classify the packet into a local domain node packet and a non-local domain node packet.
In some embodiments, the packets are classified into local domain node packets and non-local domain node packets based on their arrival addresses.
In some embodiments, the configuration of the filter address is adopted, and the node message in the local domain and the node message in the non-local domain are divided differently according to whether the arrival address of the message is in the range of the node in the local domain.
Specifically, as shown in fig. 5, the software filter layer 11 is provided in the vehicle message forwarding electronic device 1 to configure the filter address. And filtering the node message 51 of the local domain and the node message 52 of the non-local domain.
Preferably, the configuration of the filter address is done with a software filter layer set in the LLCE firmware.
And then executing the step S204 to the step S206, putting the message into a cache region, establishing mapping between the message and a cache address, and respectively sending the cache address to the function processing device and/or the message collection processing device.
In some embodiments, the first N cache addresses of the cache region are used to store local domain node packets, and the remaining cache addresses are used to store non-local domain node packets.
Fig. 6 is a schematic diagram of a message caching system according to an embodiment of the present invention, including: the vehicle message forwarding electronic device 1, the function processing device 2, the message collection processing device 3, and the shared memory area 6. The vehicle message forwarding electronic device 1 executes the vehicle message forwarding method according to the embodiment of the present invention, and executes steps S201 to S204, receives the full amount of messages from the CAN bus 5, and stores the messages in the shared memory area 6 serving as the cache area. The vehicle message forwarding electronic device 1 is preferably LLCE firmware.
Meanwhile, the vehicle message forwarding electronic device 1 executes step S205 to establish mapping between the message and the cache address, that is, to store the cache address of each message. Then, the vehicle message forwarding electronic device 1 executes step S206, and sends the cache address of the local node message to the function processing device 2, and the function processing device 2 takes out the local node message from the received cache address to execute the corresponding function logic, and notifies the shared memory area 6 to recover the cache address. Meanwhile, the vehicle message forwarding electronic device 1 sends the local domain node message and the cache addresses of the non-local domain node messages to the message collection and processing device 3. The message collection processing device 3 takes out the local domain node message and the non-local domain node message from the received cache address, and stores the messages as message logs. Meanwhile, the message collection processing device 3 informs the vehicle message forwarding electronic device 1 of recovering the cache address.
The vehicle message forwarding electronic device 1 establishes a data reference notification and recovery path with the function processing device 2 and the message collection processing device 3 through the shared memory area 6.
According to the embodiment, the whole vehicle message data is completely collected through one vehicle domain center node, message log data are established, the real sequence of the log data is kept through a uniform timestamp baseline, and disorder and incompleteness caused by data splicing are avoided. Meanwhile, all messages are acquired, so undefined message data of the whole vehicle are also acquired, the abnormity and the invasion of the CAN network of the whole vehicle CAN be identified in time, safety precaution is well taken, and convenient architecture realization and basic data support are provided for future cloud analysis service of log data. In addition, in this embodiment, the filter address configuration is adopted to perform the differential division on the local domain node processing message and the log collection message that is not processed by the local domain node, so as to avoid the interrupt processing interference of the non-local domain node message on the functional processing device of the local domain node, ensure the processing real-time performance of the functional processing device under the multi-core heterogeneous architecture, and complete the collection of the message logs of the entire vehicle through the message collection processing device, thereby meeting the requirement of intelligent entire vehicle development on complete log information.
The message collecting and processing equipment in the domain node has limited capability, cannot support the real-time message log collecting and processing of a large number of CAN messages, and CAN cause the overhigh consumption of the CPU by upper-layer services to influence the operation of other services of the processor.
In order to solve the above problems, the present invention provides a vehicle message processing method.
Fig. 3 is a flowchart illustrating a vehicle message processing method according to an embodiment of the present invention, including:
step S301, establishing a drive layer set as a kernel mode and a service layer set as a user mode;
step S302, receiving a message, and caching the message into a message cache by the driving layer;
step S303, in response to the event that the trigger condition is satisfied, the driving layer sends trigger information to the service layer, and the service layer takes out a plurality of messages from the message cache in response to the trigger information and stores the messages as a message log.
In particular, the embodiment can be applied to electronic devices of a vehicle, such as a message collection processing device of a domain node. As an example, the message collection processing device of the domain node is an a53 processor.
The message receiving driving and processing triggering of the embodiment adopts an asynchronous triggering mode, so that the CPU load of the processor is reduced.
Step S301 establishes a driver layer and a service layer. The driver layer and the service layer are virtual layers, the driver layer is set to be in a kernel state, and the service layer is set to be in a user state. The kernel mode and the user mode are two running states of the operating system. In the kernel mode, any data may be accessed. In the user mode, the memory can be accessed only in a limited way. Therefore, generally, it is desirable to reduce the switching frequency between the user mode and the core mode.
Then, as shown in fig. 7, the driver layer 31 set as the kernel state executes step S302 to cache the message 12 of the vehicle message forwarding electronic device 1 in the message cache 33. The message 12 includes a local domain node message and a non-local domain node message.
In some embodiments, the message cache is a cache of the message collection processing device.
Then, when the trigger condition is satisfied, the step S303 is triggered to be executed, the driver layer 31 sends trigger information 311 to the service layer 32, and then the service layer 32 takes out a plurality of messages from the message cache 33 in response to the trigger information 311 and stores the messages as a message log.
In the embodiment, in the message collection and processing device, the load of the device is reduced by an asynchronous trigger mode of caching the messages into the message cache, and taking out a plurality of messages at a time and storing the messages as message logs when the trigger condition is met. Meanwhile, the service layer of the user mode is triggered only when the triggering condition is met, so that the switching frequency of the processor between the user mode and the kernel mode can be reduced, and the CPU load of the processor is reduced.
Fig. 4 is a flowchart illustrating a vehicle message processing method according to an embodiment of the present invention, including:
step S401, setting the processor core to be in an isolation state.
Step S402, binding the thread related to the message with the processor core set to the isolation state.
Step S403, a driver layer set as a kernel mode and a service layer set as a user mode are established.
Step S404, receiving the message, and caching the message into a message cache by the driving layer.
Step S405, in response to the event that the trigger condition is satisfied, the driving layer sends trigger information to the service layer, the service layer takes out a plurality of messages from the message cache in response to the trigger information and stores the messages as message logs, and the trigger condition is as follows: the number of the messages in the message cache is larger than or equal to a preset number threshold value or the messages in the message cache are not taken out for more than preset time.
And step S406, obtaining legal cluster information of the whole vehicle message.
And step S407, taking the message which does not meet the legal cluster information of the whole vehicle as an illegal message, and executing message early warning operation.
In one embodiment, the message early warning operation includes: uploading message information of the illegal message, wherein the message information comprises: the timestamp of the illegal message and the message identifier of the illegal message.
In particular, the embodiment can be applied to electronic devices of a vehicle, such as a message collection processing device of a domain node.
In some embodiments, the message collection processing device is a multi-core processor. Step S401 is executed, and the processor core is set to the isolated state.
In some embodiments, one processor core of a processor is set to an isolated state.
Then, step S402 is executed to bind the thread related to the packet with the processor core set in the isolated state. Therefore, the processor core set to the isolation state is specially used for executing the vehicle message processing method of the embodiment.
In some embodiments, all threads associated with a CAN packet are bound to a processor core that is set to an isolated state.
The configuration of CPU core isolation for the processor is adopted to ensure the full log storage response capability, and CAN meet the requirement of CAN message log data acquisition and processing of 10 microseconds on average.
Then step S403 establishes a driver layer and a service layer. The driver layer and the service layer are virtual layers, the driver layer is set to be in a kernel state, and the service layer is set to be in a user state. Kernel mode and user mode are two running states of the operating system. While in kernel mode, any data may be accessed. In the user mode, the memory can be accessed only in a limited way. Therefore, generally, it is desirable to reduce the switching frequency of the user mode and the core mode.
Fig. 7 is a schematic cache diagram of a message collection and processing device according to an embodiment of the present invention. In this embodiment, the message collection processing device 3 is a processor. The driver layer 31 set as the kernel state executes step S404 to cache the message 12 of the vehicle message forwarding electronic device 1 in the message cache 33. The message 12 includes a local domain node message and a non-local domain node message. Then, when the trigger condition is satisfied, the step S405 is triggered and executed, the driver layer 31 sends the trigger information 311 to the service layer 32, and then the service layer 32 takes out a plurality of messages from the message cache 33 in response to the trigger information 311 and stores the messages as a message log. The triggering condition is that the number of the messages in the message cache is larger than or equal to a preset number threshold value or the messages in the message cache are not taken out for more than preset time. Therefore, when there is a sufficient number of messages in the message buffer, or the messages are not processed after time out, the service layer in the user mode is triggered to take out the messages. Therefore, the embodiment can significantly reduce the switching frequency of the processor between the user mode and the kernel mode, and reduce the CPU load of the processor.
In some embodiments, the message cache is a cache of the message collection processing device.
Then, step S406 is executed to obtain legal cluster information of the entire vehicle message.
In some embodiments, the valid cluster information of the entire vehicle message includes a valid Channel identifier (Channel ID, CHID) and/or a valid message identifier (Identification, ID) of the entire vehicle message. The legal cluster information of the whole vehicle message can be preset by the vehicle manufacturer and stored in the message collecting and processing device.
The channel is used for transmitting messages. And in the CAN bus of the whole vehicle, data are transmitted through a CAN channel. But not all channels allow all ID messages to pass. Therefore, by combining the channel identifier and the message identifier, the message can be determined to be a legal message or an illegal message. In addition, part of illegal messages can also use non-existent channel identifiers, so that when the non-existent channel identifiers are detected, the messages can also be judged to be illegal messages.
Finally, different vehicles CAN set CAN message ID by manufacturers. Therefore, when an illegal message ID is detected, the message can also be judged to be an illegal message.
And then executing step S407, and taking the message which does not meet the legal cluster information of the whole vehicle as an illegal message. And when judging that an illegal message appears, executing message early warning operation.
In some embodiments, if the message identifier is not within the ID range of the legal cluster information of the entire vehicle, the message is an illegal message; and/or if the combination of the channel identifier and the message identifier of the message is not in the combination range of the channel identifier and the message identifier of the legal cluster information of the whole vehicle, the message is an illegal message; and/or if the channel identification of the message is not in the channel identification of the legal cluster information of the whole vehicle, the message is an illegal message.
Specifically, the message early warning operation may adopt various existing early warning operation modes, including but not limited to: displaying early warning prompt, executing acousto-optic warning and the like.
In one embodiment, the message early warning operation includes: and uploading the message information of the illegal message.
Specifically, message information of the illegal message is uploaded to a cloud server,
in one embodiment, the message information includes: the timestamp of the illegal message and the message identifier of the illegal message.
Fig. 8 is a schematic diagram illustrating a message early warning operation of a vehicle message processing method according to an embodiment of the present invention. The service layer 32 of the message collection and processing device 3 performs uniform log identification monitoring on the CAN message ID of the whole vehicle. The message collection processing device 3 is preferably a processor. And establishing a comparison table of the legal CAN messages of the whole vehicle according to the legal cluster information 81 of the CAN ID of the whole vehicle, and comparing the messages 82 in the collected logs with the quick key information through a CAN channel and the CAN ID. When an illegal CAN ID message 83 appears in the whole vehicle, the occurred time point, the CAN channel number CHID and the illegal CAN message ID are quickly uploaded to the cloud server 4, and the cloud operation is quickly warned. Because a domain node (central node) collects complete whole vehicle CAN logs uniformly, a uniform time base line and a necessary analysis scene of a whole vehicle CAN bus are provided for problem troubleshooting.
According to the embodiment, the cache design of the CAN logs is carried out through the driving layer, the phenomenon that the processing of the service layer is frequently scheduled to cause incomplete collection of the full logs is avoided, and the stability of the operation of other services of the message collection and processing equipment is ensured by reducing the load of a CPU. By establishing a key information table for the legal CAN log of the whole vehicle, the CAN message which carries out illegal intrusion on the whole vehicle CAN be effectively detected in real time and cloud early warning is carried out, so that technical support is provided for carrying out quick safety precaution intervention, and comprehensive and reliable whole vehicle log data is provided for troubleshooting of problems generated by the illegal CAN message. And finally, ensuring the full log storage response capacity by adopting the configuration of isolating the CPU core of the processor.
Fig. 9 is a schematic diagram of a vehicle message forwarding device according to an embodiment of the present invention, including:
a message receiving module 901, configured to receive a message, where the message includes a local domain node message and a non-local domain node message;
a classifying and forwarding module 902, configured to classify the packet based on the packet arrival address, send the packet of the node in the local domain to the functional processing device of the node in the local domain, and send all the received packets to the packet collecting and processing device of the node in the local domain.
In one embodiment, the sending the local domain node packet to the function processing device of the local domain node and sending all received packets to the packet collection processing device specifically includes:
putting the message into a cache region;
establishing mapping between the message and a cache address of a cache region;
and sending the cache addresses of the messages of the nodes in the domain to the function processing equipment of the nodes in the domain, and sending the cache addresses of all the received messages to the message collecting and processing equipment.
In one embodiment, the placing the packet into the cache region specifically includes:
and placing the node message of the local domain into a preset local node cache region of the cache region, and placing the node message of the non-local domain into other regions of the cache region.
In one embodiment, the vehicle message forwarding apparatus further includes:
and the message parameter setting module is used for establishing a message type for the message and setting a message timestamp.
Fig. 10 is a schematic diagram of a hardware structure of an electronic device according to the present invention, which includes:
at least one processor 1001; and the number of the first and second groups,
a memory 1002 communicatively coupled to at least one of the processors 1001; wherein the content of the first and second substances,
the memory 1002 stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the vehicle message forwarding method as previously described.
Fig. 10 illustrates an example of one processor 1001.
The electronic device may further include: an input device 1003 and a display device 1004.
The processor 1001, the memory 1002, the input device 1003, and the display device 1004 may be connected by a bus or by another method, and are illustrated as being connected by a bus.
The memory 1002, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle message forwarding method in the embodiment of the present application, for example, the method flows shown in fig. 1 and fig. 2. The processor 1001 executes various functional applications and data processing by running nonvolatile software programs, instructions, and modules stored in the memory 1002, that is, implements the vehicle message forwarding method in the above embodiment.
The memory 1002 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data created according to the use of the vehicle message forwarding method, and the like. Further, the memory 1002 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 1002 may optionally include memory located remotely from the processor 1001, which may be connected over a network to a device executing the vehicle message forwarding method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 1003 may receive input user clicks and generate signal inputs related to user settings and function controls for the vehicle message forwarding method. The display device 1004 may include a display screen or the like.
The vehicle message forwarding method of any of the above method embodiments is performed when the one or more modules are stored in the memory 1002 and when executed by the one or more processors 1001.
An embodiment of the present invention provides a storage medium storing computer instructions for performing all the steps of the vehicle message forwarding method as described above when executed by a computer.
Fig. 11 is a schematic diagram of a vehicle message processing device according to the present invention, which includes:
an initialization module 1101, configured to establish a driver layer set as a kernel state and a service layer set as a user state;
the driving module 1102 is configured to receive a packet, where the driving layer caches the packet in a packet cache;
the service module 1103 is configured to, in response to an event that a trigger condition is met, send, by the driver layer, trigger information to the service layer, where the service layer, in response to the trigger information, takes out a plurality of messages from the message cache and stores the messages as a message log.
In one embodiment, the vehicle message processing apparatus further includes:
the setting module is used for establishing a drive layer set as a kernel mode and a service layer set as a user mode;
the driving module 1102 is specifically configured to: receiving a message, and caching the message into a message cache by the driving layer;
the service module 1103 is specifically configured to: and responding to an event that the trigger condition is met, the driving layer sends trigger information to the service layer, and the service layer responds to the trigger information, takes out a plurality of messages from the message cache and stores the messages as message logs.
In one embodiment, the trigger condition is: the number of the messages in the message cache is larger than or equal to a preset number threshold value or the messages in the message cache are not taken out for more than preset time.
In one embodiment, the vehicle message processing apparatus further includes:
the whole vehicle message legal cluster information acquisition module is used for acquiring the whole vehicle message legal cluster information;
and the message early warning module is used for taking the message which does not meet the legal cluster information of the whole vehicle as an illegal message and executing message early warning operation.
In one embodiment, the message early warning operation includes: and uploading the message information of the illegal message.
In one embodiment, the message information includes: the timestamp of the illegal message and the message identifier of the illegal message.
In one embodiment, the vehicle message processing apparatus further includes:
the isolation setting module is used for setting the processor core to be in an isolation state;
and the binding module is used for binding the thread related to the message with the processor core set to be in the isolation state.
Fig. 12 is a schematic diagram of a hardware structure of an electronic device according to the present invention, which includes:
at least one processor 1201; and the number of the first and second groups,
a memory 1202 communicatively coupled to at least one of the processors 1201; wherein the content of the first and second substances,
the memory 1202 stores instructions executable by at least one of the processors to enable the at least one processor to perform the vehicle message processing method as previously described.
Fig. 12 illustrates an example of one processor 1201.
The electronic device may further include: an input device 1203 and a display device 1204.
The processor 1201, the memory 1202, the input device 1203, and the display device 1204 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 1202, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle message processing method in the embodiments of the present application, for example, the method flows shown in fig. 3 and 4. The processor 1201 executes various functional applications and data processing by running the nonvolatile software programs, instructions, and modules stored in the memory 1202, that is, implements the vehicle message processing method in the above-described embodiment.
The memory 1202 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the vehicle message processing method, and the like. Further, the memory 1202 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 1202 may optionally include memory located remotely from the processor 1201, which may be connected via a network to a device performing the vehicle message processing method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 1203 may receive input user clicks and generate signal inputs related to user settings and functional control of the vehicle message processing method. The display device 1204 may include a display screen or the like.
Where the one or more modules are stored in the memory 1202, the vehicle message processing method of any of the method embodiments described above is performed when executed by the one or more processors 1201.
The present invention provides a storage medium storing computer instructions for performing all the steps of the vehicle message processing method as described above when executed by a computer.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (15)
1. A vehicle message forwarding method is characterized by comprising the following steps:
receiving messages, wherein the messages comprise local domain node messages and non-local domain node messages;
classifying the messages into local domain node messages and non-local domain node messages, sending the local domain node messages to function processing equipment of the local domain nodes, and sending all the received messages to message collecting and processing equipment of the local domain nodes.
2. The vehicle message forwarding method according to claim 1, wherein the sending the local domain node message to a function processing device of the local domain node, and sending all received messages to a message collection processing device specifically includes:
putting the message into a cache region;
establishing mapping between the message and a cache address of a cache region;
and sending the cache addresses of the messages of the nodes in the domain to the function processing equipment of the nodes in the domain, and sending the cache addresses of all the received messages to the message collecting and processing equipment.
3. The vehicle message forwarding method according to claim 2, wherein the placing the message into a cache area specifically includes:
and placing the node message of the local domain into a preset local node cache region of the cache region, and placing the node message of the non-local domain into other regions of the cache region.
4. The vehicle message forwarding method according to any of claims 1-3, wherein after the receiving of the message, the vehicle message forwarding method further comprises:
and establishing a message type for the message, and setting a message timestamp.
5. A vehicle message processing method, comprising:
establishing a drive layer set as a kernel mode and a service layer set as a user mode;
receiving a message, and caching the message into a message cache by the driving layer;
and responding to an event that the trigger condition is met, the driving layer sends trigger information to the service layer, and the service layer responds to the trigger information, takes out a plurality of messages from the message cache and stores the messages as message logs.
6. The vehicle message processing method of claim 5, wherein the triggering condition is: the number of the messages in the message cache is larger than or equal to a preset number threshold value or the messages in the message cache are not taken out for more than preset time.
7. The vehicular message processing method of claim 5, further comprising:
acquiring legal cluster information of the whole vehicle message;
and taking the message which does not meet the legal cluster information of the whole vehicle as an illegal message, and executing message early warning operation.
8. The vehicle message processing method of claim 7, wherein the message alert operation comprises: uploading message information of the illegal message, wherein the message information comprises: the timestamp of the illegal message and the message identifier of the illegal message.
9. The vehicular message processing method according to any one of claims 5 to 8, wherein before the message is received and the message is cached in a message cache by the driver layer, the vehicular message processing method further comprises:
setting a processor core to be in an isolation state;
and binding the thread related to the message with the processor core set to the isolation state.
10. A vehicle message forwarding device, comprising:
the message receiving module is used for receiving messages, and the messages comprise local domain node messages and non-local domain node messages;
and the classification forwarding module is used for classifying the messages into local domain node messages and non-local domain node messages, sending the local domain node messages to the function processing equipment of the local domain nodes, and sending all the received messages to the message collection processing equipment of the local domain nodes.
11. An electronic device, comprising:
at least one processor; and (c) a second step of,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by at least one of the processors to enable the at least one processor to perform the vehicle message forwarding method of any one of claims 1 to 4.
12. A storage medium storing computer instructions for performing all the steps of the vehicle message forwarding method according to any one of claims 1 to 4 when executed by a computer.
13. A vehicle message processing device, comprising:
the initialization module is used for establishing a drive layer set as a kernel mode and a service layer set as a user mode;
the driving module is used for receiving the message, and the driving layer caches the message into a message cache;
and the service module is used for responding to an event that the trigger condition is met, the driving layer sends trigger information to the service layer, and the service layer responds to the trigger information, takes out a plurality of messages from the message cache and stores the messages as message logs.
14. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by at least one of the processors to enable the at least one processor to perform the vehicle message processing method of any one of claims 5 to 9.
15. A storage medium storing computer instructions for performing all the steps of the vehicle message processing method as claimed in any one of claims 5 to 9 when executed by a computer.
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