Program upgrading device based on vehicle Ethernet framework and control method thereof

The present invention provides a program upgrading device based on a vehicle Ethernet framework and a control method thereof, a vehicle, a computer device and a computer readable storage medium. The device comprises a controller, an Ethernet gateway, a plurality of domain controllers and a plurality of electronic controllers. The Ethernet gateway is connected with the controllers and the domain controllers through the Ethernet; the domain controllers are connected with the electronic controllers through the Ethernet or a CAN bus; the controllers are configured to determine whether any one electronic controller satisfies an upgrading condition or not according to the whole vehicle network information, the program is sent to the Ethernet gateway when any one electronic controller satisfies the upgrading condition; and the Ethernet gateway is configured to receive the program, and the program is flashed to any one electronic controller through passing through the domain controllers according to the DOIP protocol. The fusion of the flashing schemes between the Ethernet and the CAN and the flashing of multiple electronic controllers are realized.