Data acquisition method and device, equipment and storage medium

The invention discloses a data acquisition method, device and equipment and a storage medium, and belongs to the technical field of data acquisition. The method comprises the following steps: receiving vehicle data sent by each CAN bus channel through a first kernel, and transmitting the vehicle data to a second kernel for storage; the received vehicle data are routed among the CAN bus channels through the first kernel; and the stored vehicle data are combined based on the routing result through the second kernel to obtain total data corresponding to each CAN bus channel, the total data are all data of all CAN channels of the whole vehicle, and the total data are not specific to an independent domain controller, so that the total data of the CAN channels can be obtained more comprehensively, and the reliability of the whole vehicle is improved. In addition, all CAN data volume on each CAN bus can be obtained, additional equipment does not need to be added, and the cost of data acquisition is also reduced. 本发明