CAN FD communication method between vehicle-mounted controllers

The invention provides a CAN FD communication method between vehicle-mounted controllers, and the method comprises the steps: enabling a receiving side to generate a random number after a notificationthat a transmitting side needs to transmit a message is received, so as to enable the transmitting side to transmit the message to the receiving side after the transmitting side carries out the encryption processing of the message through the random number; afterwards, after a preset number of messages are transmitted each time, if a message sending request sent by the sender is received again, the receiver generates a new random number, so that the sender transmits the messages by using the new random number; since the new random number is generated after the preset number of messages are transmitted each time, man-in-the-middle attacks can be prevented, malicious tampering can be prevented and the confidentiality and integrity of the messages can be ensured due to the fact that the messages are encrypted, and i