CN115567895A - OTA software update data transmission method and system - Google Patents
OTA software update data transmission method and system Download PDFInfo
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- CN115567895A CN115567895A CN202211184182.3A CN202211184182A CN115567895A CN 115567895 A CN115567895 A CN 115567895A CN 202211184182 A CN202211184182 A CN 202211184182A CN 115567895 A CN115567895 A CN 115567895A
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- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
In the vehicle-mounted OTA software updating data transmission system, an H2PU receives a software updating instruction pushed by a cloud server and forwards the software updating instruction and a software updating file carried by the software updating instruction to an SOC; the software update file includes: at least one target controller identifier, a software update package corresponding to each target controller identifier and a flash flow configuration file; and the SOC transmits the software updating package corresponding to the target controller identifier to the target controller corresponding to the target controller identifier according to the flash flow configuration file corresponding to the target controller identifier and the updating link corresponding to the target controller identifier aiming at each target controller identifier, so that the target controller can realize multi-point simultaneous updating package transmission and OTA updating, the updating package transmission rate is improved, and the OTA updating efficiency is improved.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a method and a system for transmitting OTA software updating data.
Background
With the high-speed development of the automatic driving and car networking industries, under the explosive growth of an automobile electronic system and software, the software update iteration is rapid to meet new functions and new requirements, and various devices such as a millimeter wave radar, a laser radar, an IMU inertia measurement unit, an ADU automatic driving domain controller, an H2PU high-precision positioning unit and the like are involved in an automatic driving domain.
In the prior art, upgrade packet transmission and OTA upgrade are often performed in a point-to-point manner in the entire autopilot domain, resulting in low transmission rate and complex upgrade communication interaction link. A reliable and sophisticated OTA network architecture communication link system is not yet available.
Disclosure of Invention
The application aims to provide an OTA software updating data transmission method and system, based on a software updating package and a flash flow configuration file which respectively correspond to a target controller identifier and a target controller identifier contained in a software updating file, through an updating link corresponding to a target controller, multi-point simultaneous transmission of the updating package and OTA updating can be realized, the transmission rate of the updating package is increased, and the OTA updating efficiency is improved.
In a first aspect, an embodiment of the present application provides a method for transmitting OTA software update data, where the method is applied to an OTA software update data transmission system; the system comprises: the system comprises an automatic driving area controller ADU, a positioning controller H2PU, a driving monitoring system DMS and an environment monitoring controller; wherein, the ADU includes: a system level controller SOC and a microcontroller MCU; the H2PU is respectively connected with the SOC and the DMS; the SOC is also connected with the MCU and the environment monitoring controller respectively; the MCU is also connected with the environment monitoring controller; the method comprises the following steps: the H2PU receives a software updating instruction pushed by the cloud server, and forwards the software updating instruction and a software updating file carried by the software updating instruction to the SOC; the software update file includes: at least one target controller identifier, a software update package corresponding to each target controller identifier and a flash flow configuration file corresponding to each target controller identifier; and the SOC transmits the software updating package corresponding to the target controller identifier to the target controller corresponding to the target controller identifier according to the flash process configuration file corresponding to the target controller identifier and the updating link corresponding to the target controller identifier aiming at each target controller identifier, so that the target controller updates the software version.
In a second aspect, an embodiment of the present application further provides an OTA software update data transmission system, where the OTA software update data transmission system includes: the system comprises an automatic driving area controller ADU, a positioning controller H2PU, a driving monitoring system DMS and an environment monitoring controller; wherein, the ADU includes: a system level controller SOC and a microcontroller MCU; the H2PU is respectively connected with the SOC and the DMS; the SOC is also connected with the MCU and the environment monitoring controller respectively; the MCU is also connected with the environment monitoring controller; an OTA software update data transmission system is used to perform the method as described in the first aspect.
In the OTA software update data transmission method and system provided by the embodiment of the application, the method is applied to the OTA software update data transmission system; the system comprises: an automatic driving area controller ADU, a positioning controller H2PU, a driving monitoring system DMS and an environment monitoring controller; wherein, the ADU includes: a system level controller SOC and a microcontroller MCU; the H2PU is respectively connected with the SOC and the DMS; the SOC is also connected with the MCU and the environment monitoring controller respectively; the MCU is also connected with the environment monitoring controller; the method comprises the following steps: the H2PU receives a software updating instruction pushed by the cloud server, and forwards the software updating instruction and a software updating file carried by the software updating instruction to the SOC; the software update file includes: at least one target controller identifier, and a software update package and a flash flow configuration file corresponding to each target controller identifier respectively; and the SOC transmits the software updating package corresponding to the target controller identifier to the target controller corresponding to the target controller identifier according to the flash process configuration file corresponding to the target controller identifier and the updating link corresponding to the target controller identifier aiming at each target controller identifier, so that the target controller updates the software version. In the embodiment of the application, based on the target controller identifier contained in the software update file, the software update package and the flash flow configuration file respectively corresponding to the target controller identifier, the multi-point simultaneous transmission of the update package and the OTA update can be realized through the update link corresponding to the target controller, the transmission rate of the update package is increased, and the OTA update efficiency is improved.
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In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description or the prior art description are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is an architecture diagram of an OTA software update data transmission system according to an embodiment of the present application;
fig. 2 is a schematic diagram of an architecture of another OTA software update data transmission system according to an embodiment of the present application;
FIG. 3 is a diagram of a software architecture for upgrading an ADU-SOC of a host node according to an embodiment of the present application;
fig. 4 is a schematic diagram of an update link of a LIADR lidar according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of an update link of a DMS according to an embodiment of the present application;
fig. 6 is a schematic diagram of an update link at an MCU end according to an embodiment of the present application;
fig. 7 is a schematic diagram of an update link of a multifunctional camera according to an embodiment of the present application;
fig. 8 is a state switching diagram of a Transfer component of the OtaEngine module according to an embodiment of the present application.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present application. All other embodiments that can be derived by a person skilled in the art from the embodiments given in the present application without making any creative effort shall fall within the protection scope of the present application.
In the prior art, the following problems often exist in the transmission process of the software update package:
1. in the existing OTA technology, only single-point software update package transmission and single-point OTA upgrade interaction are supported (only one path of data transmission or upgrade interaction is supported at the same time), so that the upgrade time is long, and the vehicle using experience of a user is further influenced.
2. In the existing OTA technology, the upgrade of the adaptive components cannot be efficiently and quickly performed, and a lot of time and effort are often required to develop and debug the upgrade module software of the components.
3. In the existing OTA technology, because the parts in the domain adopt respective flashing specifications, in the traditional upgrading scheme, respective software updating functions are often realized according to the flashing specifications of respective manufacturers, so that a large amount of redundant codes are filled in software, and the software complexity is greatly improved.
4. In the existing OTA technology, due to differences of communication types and operating system platforms, for example: CAN, LIN and ETH cannot only use one node as an upgrade master control node, so that unified management and control of upgrade flow and version number information cannot be achieved.
5. In the prior OTA technology, due to the difference of communication types, the data receiving and forwarding are performed at the application layer, and a large amount of running time of a CPU is required.
6. In the existing OTA technology, in the multi-link transmission communication, if the communication is abnormal, the fast and efficient positioning cannot be performed, and the access state between each module is not consistent.
7. In the prior OTA technology, the executable file upgrade package file must be address-sequential, requiring additional padding actions.
Based on this, the embodiment of the application provides a method and a system for transmitting OTA software update data, which solve the following problems:
1. and multi-point software update package transmission and multi-point OTA upgrading interaction (supporting multi-path data transmission and upgrading interaction at the same time) are adopted, so that the upgrading time overhead is shortened, and the vehicle using experience of a user is improved.
2. Designing general spare part flash standard OtaEngine configuration file, and realizing general upgrading engine module based on this file design, the upgrading of high-efficient quick adaptation spare part has greatly shortened the upgrading module software development and the debugging of spare part, the time and the energy of spending.
3. By adopting a general software architecture which is general and similar to a template and different flash specifications OtaEngine, the upgrading of different parts is adapted, so that redundant codes in software are greatly reduced, and the complexity of the software is greatly reduced.
4. In the automatic driving domain, the ADU is adopted as the upgrading master control node, so that unified management and control of version number information can be realized, management and control of an upgrading process are greatly facilitated, and complexity of OTA upgrading is reduced.
5. And if the communication link is abnormal, the abnormal communication link point can be quickly positioned according to a Doip ACK response mechanism.
6. The upgrading engine of the invention realizes an automatic filling mechanism for discontinuous addresses in the ECU upgrading packet, greatly facilitates the upgrading packet manufacturing and reduces the upgrading packet filling action.
7. The method supports the flash process of dynamically changing the parts, reduces software development and debugging brought by process change, and greatly shortens the software updating iteration cycle.
8. The method supports dynamic increase and deletion of the number of parts in the automatic driving area, and reduces additional development and debugging tasks caused by the upgrade of newly added parts.
For the convenience of understanding the embodiment, a detailed description will be given to an OTA software update data transmission system disclosed in the embodiment of the present application.
Fig. 1 is an architectural schematic diagram of an OTA software update data transmission system according to an embodiment of the present application, where the OTA software update data transmission system includes: the system comprises an automatic driving area controller ADU, a positioning controller H2PU, a driving monitoring system DMS and an environment monitoring controller; wherein, the ADU includes: a system level controller SOC and a microcontroller MCU; the H2PU is respectively connected with the SOC and the DMS; the SOC is also connected with the MCU and the environment monitoring controller respectively; the MCU is also connected with the environment monitoring controller. Based on the system architecture, the OTA software update data transmission method provided by the embodiment of the application comprises the following steps:
(1) The H2PU receives a software updating instruction pushed by the cloud server, and forwards the software updating instruction and a software updating file carried by the software updating instruction to the SOC; the software update file includes: at least one target controller identifier, a software update package corresponding to each target controller identifier and a flash flow configuration file;
(2) And the SOC transmits a software updating package corresponding to the target controller identifier to the target controller corresponding to the target controller identifier according to the flash process configuration file corresponding to the target controller identifier and the updating link corresponding to the target controller identifier aiming at each target controller identifier, so that the target controller updates the software version.
In the autopilot territory, the ADU includes MCU and SOC, MCU microcontroller carries on real-time operating system Autosar Os, SOC high performance controller carries on the QNX system, in the autopilot territory, almost all controllers on the ADU connection car, consequently, the ADU upgrades in OTA and plays to turning on important effect, the Master main node that all spare parts in the domain were upgraded is regarded as by the ADU to this application embodiment, be responsible for all sensors and controller files in the domain and verify and sign, data transmission, upgrade package version information management and control, upgrade flow management and control etc.. Therefore, the ADU needs to have the writing specifications and the flow of all sensors and controllers in the domain, and due to the difference between the writing specifications of various manufacturers and the writing file formats, the ADU needs a set of general software upgrading software architecture, and can adapt to the writing specifications of various controllers quickly and efficiently. Therefore, the embodiment of the application provides an efficient and convenient upgrading interactive flow software architecture and a network link, so that the upgrading of the controller in the domain can be performed quickly and efficiently.
Referring to fig. 2, the whole vehicle mainly comprises a cloud vehicle cloud and a vehicle-end automatic driving domain.
The vehicle cloud is a cloud server and is responsible for pushing a software update package, visually displaying the running state of the vehicle, performing remote control, performing remote diagnosis and the like. The vehicle end automatic driving domain mainly comprises: h2PU, ADU, DMS, radar, lidar, multiFunctionCamera, etc., wherein:
the H2PU performs data transmission and interaction with the cloud through the 4G/5G module through an Http protocol, and the results of vehicle running state information, software updating state, vehicle diagnosis, vehicle control and the like are forwarded or transmitted back to the cloud. And meanwhile, the H2PU can also send commands such as remote control, remote diagnosis, software update and the like issued by the cloud to an ADU (automatic data Unit) end in the automatic driving area in a forwarding or transparent transmission mode. As can be seen from fig. 2, the H2PU mainly interacts with the ADU and the DMS, where the H2PU communicates with the ADU using the UDSonIP protocol and with the DMS using the UDSonCAN protocol.
ADU is main control unit in the autopilot domain, and all controllers in the domain have and carry out direct or indirect connection, contain two controller units of SOC high performance controller and MCU microcontroller in the ADU, wherein the SOC is responsible for the communication based on UDSONIP outside the terminal pair, MCU is responsible for outside the terminal pair and is based on communication such as CAN, CANFD, LIN, J1939, is responsible for the upgrading of almost all upgradable spare part in autopilot domain, include: the method comprises the steps of upgrading software data packet transmission, upgrading flow management and control, upgrading software version management and control, collecting and reporting of fault information in responsible automatic driving, supporting processing and receiving of a remote diagnosis function initiated by a cloud end, supporting ADU (advanced data Unit) to support other parts in an online diagnosis domain, namely remote diagnosis, supporting report of information such as vehicle states, vehicle control information and camera original data of a remote interaction responsible automatic driving system, interacting with an HMI (human machine interface), and feeding back the operation states of all modules or components in an intelligent driving domain in real time.
And the Lidar _ Front _ mid range is responsible for detecting relevant information such as the distance, the azimuth, the height, the posture and the like of a target in the surrounding environment in the intelligent driving system, and is communicated with the ADU through the Ethernet, wherein the upgrading and data interaction adopt a UDSonIP protocol based on the Ethernet.
Radar detects surrounding environment targets, including angles, distances, relative speeds and the like of the targets, as shown in fig. 2, four-way medium-range millimeter wave Radar is adopted and connected with an ADU MCU through CAN/CANFD, and the update interaction mainly adopts the UdsOnCan protocol.
The multifunctional camera is used for lane line identification, traffic signal board identification and traffic light identification, and is connected with the ADU through a CAN (controller area network), and an UdsOnCan protocol is adopted for interaction in upgrading interaction as shown in figure 2.
The DMS driving monitoring system is responsible for monitoring the state of a driver, is connected with the H2PU through the CAN, and indirectly interacts with the ADU through the H2PU in the communication interaction process, wherein the H2PU plays the role of a DOIP-GATEWAY GATEWAY. The communication interaction data between the ADU and the DMS is routed.
In the embodiment of the application, based on the software update package and the flash flow configuration file respectively corresponding to the target controller identifier and the target controller identifier contained in the software update file, the multi-point simultaneous transmission of the upgrade package and the OTA upgrade can be realized through the update link corresponding to the target controller, the transmission rate of the upgrade package is increased, and the OTA upgrade efficiency is improved.
Next, the upgrade data transmission links between the controllers are shown based on the overall system network architecture of the upgrade links in the ADU domain.
The target controller is a first type controller; the first type of controller comprises an H2PU or a laser radar in an environment monitoring controller, and the updating link corresponding to the target controller is as follows: SOC-first type controller; the SOC transmits a software updating packet corresponding to the target controller identifier to a target controller corresponding to the target controller identifier according to a flash process configuration file corresponding to the target controller identifier and an updating link corresponding to the target controller identifier, and the steps comprise: in a preferred embodiment of the present application, the target controller is a DMS; the updating link corresponding to the target controller is as follows: SOC-H2PU-DMS; the SOC transmits a software updating packet corresponding to the target controller identifier to a target controller corresponding to the target controller identifier according to the flashing flow configuration file corresponding to the target controller identifier and an updating link corresponding to the target controller identifier, and the steps comprise: the SOC checks and signs the DMS software update package corresponding to the DMS, and sends the DMS software update package to the H2PU according to the DMS flash flow configuration file corresponding to the DMS, so that the H2PU serves as a DOIP gateway to forward the DMS software update package to the DMS.
In a preferred embodiment of the present application, the target controller is a second type controller; the second type of controller comprises a millimeter wave radar or a multifunctional camera in the environment monitoring controller, and the corresponding update link of the target controller is as follows: SOC-MCU-second type controller; the SOC transmits a software updating packet corresponding to the target controller identifier to a target controller corresponding to the target controller identifier according to the flashing flow configuration file corresponding to the target controller identifier and an updating link corresponding to the target controller identifier, and the steps comprise: and the SOC checks and signs a second software update package corresponding to the second type of controller, and sends the second software update package to the MCU according to a second flashing flow configuration file corresponding to the second type of controller, so that the MCU serves as a DOIP gateway to forward the second software update package to the second type of controller.
(1) The first upgrading link: the target controller is a first type controller; the first type of controller comprises an H2PU or a laser radar in an environment monitoring controller, and the updating link corresponding to the target controller is as follows: SOC-first class controller; and the SOC checks and signs the first software updating package corresponding to the first type of controller, and transmits the first software updating package to the first type of controller according to the flashing flow configuration file corresponding to the first type of controller.
First, it needs to know the upgrade master node ADU-SOC in the ADU domain, and the software architecture thereof is shown in fig. 3.
The OTA central control unit is used as an upgrading software updating package center, not only is upgrading flow management and control and software updating package transmission and the like needed to be realized, but also the software updating package is needed to be checked and signed, the version of an intra-domain controller is managed and controlled, the upgrading state is not reported to the cloud, and the HMI in the current state is fed back in real time. In this embodiment, the SOC is based on the DOIP transport protocol and is responsible for communication interaction with each component. The SOC internal data transmission link is shown by arrows in fig. 3, and the functions of the respective modules will be described in detail below.
TCP/IP: transport control protocol and internet protocol, which specify the format and manner of transfer of data to and from all communication devices on a network, particularly from one host to another. Defining a transmission layer communication mode.
DOIP: doIP (Diagnostic communication over Internet Protocol) is a diagnosis based on an in-vehicle ethernet, and DoIP is a transmission Protocol for transmitting UDS Diagnostic data over an ethernet network. DoIP bandwidth is high, is fit for the scene of transmitting a large amount of data, such as OTA software upgrade on the car.
DM: the diagnostic management implements diagnostic communication management, diagnostic session control, diagnostic service analysis distribution, fault information management, fault information storage, and the like.
The DMS, diagnostic management server, realizes the diagnosis service, realizes the application layer, and realizes the diagnosis service: such as security access algorithms, data transmission, diagnostic data acquisition, etc., file transmission, data verification, data signature verification, etc.
OTAM air upgrade management, realize upgrading process initiation, obtain upgrade progress to hmi and cloud end, whole upgrade process management and control (software update package is received, software update package is checked and signed, software update package is decompressed, initiate the upgrading through the manifest list of maniest).
The OTAE air upgrading engine realizes a general software updating packet transmission architecture, realizes management and control of an upgrading process, upgrading packet software analysis, provides a standard upgrading progress interface for otam, realizes a standard flash process of parts, realizes uds service, monitors communication overtime, monitors abnormity and the like, and passes a uds service interface of the dmc standard.
The DMS diagnostic management client initiates a standard uds service and supports session management, safety access management, response timeout monitoring and the like.
Specifically, an SOC-side upgrade link and a rough data transmission process are described below, where a laser radar and an H2PU are connected to the SOC side, the laser radar processes big data of target information in real time with high performance and high computational power by virtue of SOC, and the H2PU and the SOC have frequent data interaction, such as: remote diagnostics, remote interaction, OTA software update package transmission, etc., wherein the H2PU and LIDAR upgrade interaction are substantially identical, a communication link is illustrated here, for example, with LIADR LIDAR, as shown in fig. 4.
The SOC end is responsible for checking and storing the laser software update package, the SOC divides the software update package into data blocks with specified sizes according to the LIADR receiving capacity through the UDSONIP, and the data blocks are sent to the lidar through a data transmission mode or a file transmission mode (file transmission is requested by an 2020 edition ISO14229 newly added UDS service 0x 38), and the lidar stores data in real time and checks the data integrity. Json specifies OtaEngine _ LIDAR _ update according to LIDAR refresh specifications for refresh upgrade.
On the interactive link, the H2PU and the LIADR are basically consistent, and the only difference is that the H2PU target address and the IP address are sent to a diagnosis path of the appointed H2 PU. In the flash flow, the H2PU and the LIDAR each follow their own flash specification.
(2) And a second upgrading link: the target controller is DMS; the updating link corresponding to the target controller is as follows: SOC-H2PU-DMS; the SOC checks and signs the DMS software update package corresponding to the DMS, and sends the DMS software update package to the H2PU according to the DMS refresh flow configuration file corresponding to the DMS, so that the H2PU is used as a DOIP gateway to forward the DMS software update package to the DMS.
Referring to fig. 5, the DMS is directly connected to the H2PU, so that the H2PU serves as a role of the DOIP Gateway in a communication link of the DMS update interaction, and update interaction data of the ADU end needs to be forwarded and routed to the DMS end, it is noted that an IP address for initiating the DOIP diagnosis at the SOC end is set as an IP address of the H2PU end, but a target address in the DOIP packet needs to be set as a target address of the DMS link, and a value of the target address needs to be established in cooperation with the H2PU end. And the SOC end specifies an OtaEngine _ DMSUpdate.json file according to the DMS flash specification and initiates flash upgrade interaction.
(3) The third upgrading link: the target controller is a second type controller; the second type of controller comprises a millimeter wave radar or a multifunctional camera in the environment monitoring controller, and the updating link corresponding to the target controller is as follows: SOC-MCU-second type controller; the SOC checks and signs a second software update package corresponding to the second type of controller, and sends the second software update package to the MCU according to a second flashing flow configuration file corresponding to the second type of controller, so that the MCU is used as a DOIP gateway to forward the second software update package to the second type of controller.
First, the software architecture of the MCU end is known, as shown in fig. 6: and diagnosing the software architecture of the communication link for the MCU terminal. In the software updating interactive link, the MCU uses a standard automotive open system diagnostic protocol stack, as shown in fig. 6, which mainly realizes the conversion from the ethernet-based diagnostic message to the CAN-based diagnostic message (i.e. from DOIP to CANTP), and because the communication rate difference between the vehicle-mounted ethernet and the CAN bus is considered, the MCU needs to realize the flow control, and a shared Buffer mode is set to achieve the goal of achieving the goal of implementing the flow control
On the upgrade interactive link in the ADU domain, the upgrade interactive link of the 4-path millimeter wave radar is basically consistent with the multifunctional camera, and the only difference is that the MCU end can send the upgrade interactive link to a diagnosis channel of the specified millimeter wave radar according to a target address during routing. Since four millimeter wave radars are mounted, it should be noted here that the target address of each path is different to distinguish the upgrade links.
In the flashing process, the 4-path millimeter wave radar upgrading interactive link and the multifunctional camera respectively follow the own flashing specification, so the flashing process is different. The list of Manifest Manifest of the part upgrade specification of the present invention will be described in detail below.
The following describes upgrading a communication link by taking an example of upgrading interaction of a multifunctional camera.
Because the MCU in the ADU has rich standard protocol communication interfaces, such as LIN interface, CAN interface, CANFD interface and J1939 interface, the MCU is mainly responsible for communication of parts such as the protocol bus and the like and transmission of upgrade data. In the invention, as can be known from a system architecture, the upgrading interaction of the MCU end is mainly 4 paths of millimeter wave radars and one path of multifunctional camera. The 4-path millimeter wave radar adopts an upgrading interaction protocol to be UDSONCAN, and the multifunctional camera adopts an upgrading interaction protocol to be UDSONCAN FD. Taking the upgrading of the multifunctional camera as an example, the upgrading communication link is as shown in fig. 7:
the SOC end is responsible for checking and storing a software update packet of the multifunctional camera, the SOC divides the software update packet into data blocks with specified sizes according to the receiving capacity of the MFC through UDSONIP, and sends the data blocks to the MCU, the MCU distinguishes a routing link of the diagnosis message according to a target address (set as the target address of the multifunctional camera) of the received DOIP diagnosis message, the DOIP diagnosis message CAN analyze a DOIP header when reaching the MCU DOIP layer, and identifies whether a sender is in a white list according to a source address and a target address in a data field, otherwise, the message is discarded and an Ack response is sent, if the source address of the sender is identified to be consistent, the Ack response is confirmed, and then the destination address is judged to an upper layer, according to the configured link, the content of the data field of the DOIP diagnosis message is sent to a diagnosis communication link of the multifunctional camera, namely a CAN transmission layer corresponding to the multifunctional camera, tp is responsible for unpacking the software packet and the like, and is sent according to an iso15765-2 protocol, and finally sent to the CAN communication link of the multifunctional camera.
The flash specification of the multifunctional camera has been made
Json, which can accommodate upgrades to the MFC standard.
In a preferred embodiment of the present application, the SOC is further configured to divide the software update package into data blocks with a specified size according to a data volume receiving capability of the target controller, and send the data blocks to the target controller through a data transmission manner or a file transmission manner. The generation process of the flash flow configuration file corresponding to each target controller is as follows: acquiring a flash flow configuration parameter corresponding to a target controller aiming at each target controller; and importing the flashing flow configuration parameters into a preset OTA software flashing configuration template to generate a flashing flow configuration file corresponding to the controller.
The configuration file of the flashing process corresponding to each target controller comprises: general configuration information, communication protocol configuration information, data file transmission configuration information and process service configuration information. An OTA engine is installed in the SOC; and the SOC executes a software version updating step corresponding to at least one target controller through the OTA engine. The OTA engine includes: the system comprises a configuration file analysis component, an update package file analysis component, a UDS service component, a data transmission component and an upgrade management component.
The upgrade data transmission master node OtaEngine and its configuration file provided in the embodiments of the present application will be described in detail below.
The embodiment of the application provides a standard and general OtaEngine part flashing flow configuration file in combination with the condition in an automatic driving domain, the file adopts a json file format and is used for maintaining the software updating specification of each part in the automatic driving domain, a set of general software flashing framework is developed according to the file and named as OtaEngine, the function of the universal software flashing framework is similar to that of a template, and the flashing flow specification of a controller is rapidly established by importing different OtaEngine part flashing configuration files. In this embodiment, an OtaEngine module maintains an OtaEngine configuration file for each component, where the file defines: general configuration, doip bus configuration, dataTransfer/FileTransfer configuration, process service configuration parameters, etc. The method comprises a controller upgrading file list (application upgrading packet data, calibration area data, flash drive data and the like), a communication parameter list, an upgrading service flow process and the like, wherein each controller in a domain corresponds to a respective OtaEngine configuration file. The configuration file mapping relationship in the embodiment of the present application is substantially as shown in table 1:
TABLE 1
The following will first introduce the OtaEngine configuration file, and then introduce the detailed design of the OtaEngine module, and the OtaEngine configuration file of the present invention mainly includes: general configuration, doip communication configuration, dataTransfer/FileTransfer configuration, and process service configuration parameters, and the specific field design and description are as follows:
● The invention is designed as a universal configuration comprising: the system comprises a manager protocol version information, a file transmission type, a controller ID, a file type, a file number, a data transmission inspection mode, a security access mask and the like. As shown in table 2:
TABLE 2
● The file list (DataTransfer/FileTransfer configuration) is designed in the following way:
the data transmission is divided into data transmission and file transmission through different transmission types, wherein the data transmission is performed in a binary stream mode, and a data transmission storage address, a data transmission size and the like are designated. For example, the following examples: the 0x34 service in UDS services, requests data transfer, as follows:
currently, based on the list of data transmission files, an identifier field "RequestDataTransferPara" is used to indicate that the list of data transmission files supports multiple data transmissions, and the definition of the field is shown in table 3:
TABLE 3
File transfer is performed in units of files, and file names, file paths, file sizes, file compression types, and the like are specified. For example: the UDS service 0x38 requests file transfer, and the json format in manifest is as follows:
at present, in a file list based on a file transfer mode, an identifier field "RequestFileTransferPara" is used to indicate a file transfer file list, and currently, multiple file transfers are supported, where the following definition of the field is shown in table 4:
TABLE 4
● The design mode of the invention is as follows:
the DMC reads the communication configuration parameters thereof, establishes Doip communication, and the communication parameter design is as shown in the following table 5:
TABLE 5
| Name of field | Description of the invention |
| IPAddress | UDS Server end IP address |
| LogicalAddress | Destination address of UDS Server end node |
| SourceAddress | UDS Client terminal source address |
| FunctionAddress | UDS Server-side functional addressing address |
● The standard flow of the flash is shown in a Uds service list mode, and the format designed in the embodiment of the present application is shown in table 6:
TABLE 6
The following describes a core module OtaEngine in this embodiment, to implement OtaEngine configuration file analysis, software update package analysis, upgrade flow management and control, software update package software version management, upgrade exception error handling mechanism, upgrade state machine, and the like, and its software architecture mainly includes: the components such as JsonParse, updateFileParse, udsService, dataTransfer, updateManage and the like respectively correspond to a configuration file analysis component, an update package file analysis component, a UDS service component, a data transmission component and an upgrade management component. The roles played by the respective modules and the functions implemented will be described in detail below.
The JsonParse module: and reading and analyzing the Json configuration file and providing a standard Reader interface.
FileParse component: the analysis of the Upgrade package file of the Upgrade Packet is realized, the analysis of the formats of the Upgrade package files such as S19, hex and Bin of the MCU platform is supported, and the analysis of the binary stream file of the Upgrade package file of the SOC platform is supported.
UdsService component: the method realizes standard UDS service, provides a standard service interface, and can register callback functions such as service response, service response timeout, service abnormal response and the like.
DataTransfer component: the method realizes the standard UDS flash process, and realizes the segmented transmission of the upgrade package, the filling of the upgrade package, the transmission flow control of the upgrade package, the multi-file transmission management, the transmission state management, the abnormal transmission management and the like.
UpdateManage component: and realizing management and control of an upgrading process, such as initiation of an upgrading request, monitoring of upgrading progress, an upgrading exception handling mechanism and the like.
The function implementation of each component of the OtaEngine will be described in detail below:
the JsonParse component is used for realizing the parsing of the OtaEngine _ Update _ Config. Such as Doipreader, commonReader, udsServiceTableReader, requestDataTransferReader, etc.
● The DoiReader analyzes and obtains Doip communication parameters and provides a read interface;
● The CommonReader analyzes and obtains the general configuration parameters and provides a read interface;
● The RequestDataTransferReader analyzes and obtains data transmission related parameters and provides a read interface;
● And the UdsServiceTableReader analyzes and acquires a brushing flow service list of the controller and provides a read interface.
The FileParse component is used for realizing the analysis of a software update package (the software update package is an executable file generated by compiling a micro-control unit embedded platform), and the embodiment of the invention supports the analysis of various file types, such as: an ASCII text file (S19 file) formed by Motorola S19 file format, an ASCII text file (HEX file) formed by text in Intel HEX file format, an ASCII text file (bin file) formed by text in bin file format, and an executable file generated by the on-chip system embedded Linux platform compilation, such as an ASCII text file (bin file) formed by text in bin file format, which basically covers all upgraded file formats.
The UdsService component is used for realizing functions of a standard UDS service sending and receiving interface, service distribution and the like. The UdsService component mainly comprises: commelocation (providing standard UDS service sending and receiving interfaces), excepting handler (UDS service response timeout processing and UDS negative response processing), diagmsghander (filling corresponding fields of UDS service messages according to the OtaEngine configuration file, checking whether UDS response messages meet specification establishment or not) and DiagServiceDispatcher (distributing and processing diagnostic services).
The UpdateManage component is used for realizing OtaEngine external interaction (reporting current progress, obtaining vehicle state and the like), retrieving parts needing to be upgraded, initiating an upgrading process, monitoring the upgrading progress, processing upgrading abnormity, maintaining a json file of OtaEngine parts brushing specification and the like. The UpdateManage is designed as a factory class, the upgrade of a certain part can be flexibly increased and reduced, the current upgrade item is obtained through the OtaEngine _ update. The invention currently supports the upgrading of almost all upgradable parts in the automatic driving domain, such as ADUUPdate (the ADU upgrades MCU and SOC), lidarUdate, radarUdate, and the like.
The management of the OtaEngine upgrade file in this embodiment is roughly as follows:
the decryption checkmark of the software update package is not described here, the Manifest file records which parts in the current upgrade package are upgradable, and records the corresponding version number, the upgrade package file including the currently upgradable parts is under the bin folder, and the configuration file related to the upgrade is stored under the etc folder. The Manifest files and bin folders are mainly obtained by issuing decompression check tags through a cloud. The Etc file can be stored in an ADU at a fixed position or issued by the cloud. Considering that the current model of the component is basically unchanged and the flash flow is unchanged, the Etc file can be fixedly stored in a designated position in the ADU. Json of a unique configuration file OtaEngine _ Update of the module defines a json file mapping relation between parts and a flash specification, version information of the parts and the like. The file is obtained by retrieving ECUid of upgradable parts in the manifest, the ECUid is a unique identifier of each part, and a flash canonical json file mapping relation is established through the ECUID.
The DataTransfer implementation and its state machine will be described in detail below
The DataTransfer implementation process is as follows:
an OTA engine is installed in the SOC; the OTA engine comprises: the system comprises a configuration file analysis component, an update package file analysis component, a UDS service component, a data transmission component and an upgrade management component; the SOC is used for transmitting a software updating packet corresponding to the target controller identifier to a target controller corresponding to the target controller identifier according to a flashing flow configuration file corresponding to the target controller identifier and an updating link corresponding to the target controller identifier aiming at each target controller identifier, and comprises the following steps:
(1) Triggering an upgrading request corresponding to the target controller through an upgrading management component;
(2) Acquiring a Doip communication connection parameter of a target controller, acquiring a UDS service parameter and a UDS flashing flow list through a configuration file analysis component; for example, the method includes the steps of obtaining a Doip communication parameter according to a DoiReader interface of a JsonParse component, and obtaining a UDS service parameter and a UDS flashing flow list according to a UdsServiceTableReader interface of the JsonParse component.
(3) Acquiring data transmission parameters of a software update package corresponding to a target controller through a configuration file analysis component; and acquiring file transmission parameters according to a RequestDataTransferReader interface of the JsonParse component, and acquiring an upgrade package file path, a file name and other data transmission parameters.
(4) Analyzing a software update package corresponding to the data transmission parameters through an update package file analysis component, and filling discontinuous data of addresses; and analyzing the upgrade package file through the upgrade package file path and the file name, filling data with discontinuous addresses, wherein the filling is 0xFF in the default mode at present, acquiring a data segment, sending the data segment through a data transmission service, and adjusting the data volume according to the ECU response.
(5) And establishing a Doip communication connection in the target controller through the data transmission component according to the Doip parameters, and transmitting the analyzed software updating packet to the target controller according to the UDS service component through which the UDS refreshing flow passes.
In a preferred embodiment of the present application, before the step of obtaining the Doip communication connection parameter of the target controller, the step of obtaining the UDS service parameter, and the step of the UDS flashing flow list by using the configuration file parsing component, the method further includes: detecting whether the current state of the vehicle meets an upgrading condition and a data transmission condition through a data transmission assembly; if so, continuing to execute the steps of obtaining the Doip communication connection parameter of the target controller, obtaining the UDS service parameter and refreshing the flow list by the UDS through the configuration file analysis component.
In a preferred embodiment of the present application, in the process of transmitting the software update package, the method further includes: detecting Socket connection state or data transmission response time in real time through a data transmission assembly; and under the condition that the Socket connection state is judged to be disconnected or the data transmission response time is overtime, continuing to execute the step of performing the Doip communication connection on the target controller.
The state machine of the Transfer component of the OtaEngine module, such as the state switching diagram of the Transfer component of the OtaEngine module shown in fig. 8, will be described in detail below, where the state switching diagram mainly includes: default status, send status, wait status, response status, failure status, success status, etc. The state machine is enabled when an upgrade request is triggered.
● And (4) default state: when an upgrade request is triggered, the initial state is the state, and whether upgrade conditions and data transmission are met or not is periodically detected in the state, for example: vehicle gear, vehicle speed, vehicle state, network bandwidth, remaining storage capacity, network throughput, etc.
● And (3) sending state: and when the data transmission condition is met, switching to the state, and making a flashing process (configured in an OtaEngine Json configuration file) according to the specification to sequentially send the UDS service in the state, namely configuring the type or format of the UDS service according to the configuration parameters set in the Json file and sending the UDS service.
● A waiting state: and the state is switched to the state only from the sending state, the state carries out overtime monitoring and retransmission mechanism on the response of the service, and simultaneously detects the Socket connection state and judges whether the equipment needs to be reconnected by the Doip. The determination method of the present invention regarding the Doip reconnection is shown in Table 7:
TABLE 7
Currently, only a reset request and a jump request relate to the problem of Doip reconnection, when other services detect disconnection in a waiting state, data transmission failure is judged, and the data transmission is directly jumped to an invalid state, if the current service is the reset request or the jump request, whether reconnection is needed is judged according to the rule in the table, wherein ResetBeforeResponse and whether a Reconnect (EcuReset Reconnect, jumpToBootReconnect) field is needed are set in a Json file according to the brushing specification of parts. Wherein, the state of the state machine is judged when reconnection is judged according to ResetBeforeResponse. And judging whether reconnection is needed according to the fields of EcuResetReconnect and JumppToBootReconnect. The Doip reconnection process not only requires Socket connection establishment, but also requires a Doip routing activation process.
Currently, the software supports reconnection in a wait state and a respond state. All cases of the above table are satisfied. For example: in the waiting state, when the socket connection is disconnected, currently, an ECU reset request, resetBeforeResponse in json is set to true and EcuReset Reconnect is also set to true, and a reconnection operation is to be performed. And if the ResetBeforeResponse is set to False, the communication connection is abnormally disconnected, and the data transmission mode is exited.
● Response state: when receiving a service request positive response or a pending response, switching to the current state, if the response is positive, judging whether the current state is a data transmission service and whether transmission is completed, and when the response is the data transmission service and the transmission is not completed, keeping the current UDS service as the data transmission service and switching the state to the sending state. Otherwise, the subsequent Service is executed in turn according to the Uds Service Table. And if the pending response is currently received, starting a pending overtime monitoring mechanism. And switching to a waiting state. Waiting for a positive response.
● A failure state: when receiving a negative response of the service request or receiving overtime or losing the file analysis, switching to the current state, and exiting the upgrading mode when the current state is reached. And returning upgrading and data transmission failure.
● Success status: and when all the services in the Uds Service Table are executed, jumping to the current state, indicating that the data transmission is finished, and exiting the upgrading mode.
Based on the above vehicle-mounted OTA software updating system, an embodiment of the present application further provides an OTA software updating system, as shown in fig. 2, the OTA software updating system includes: the cloud server and the vehicle-mounted OTA software updating system in the first aspect; the cloud server is connected with the H2PU in the vehicle-mounted OTA software updating system; the cloud server is used for sending a software updating instruction to the H2PU so that the H2PU forwards the software updating instruction to the SOC in the vehicle-mounted OTA software updating system to update the software version of at least one controller subsequently.
The vehicle-mounted OTA software updating system and the OTA software updating system provided by the embodiment of the application have the following advantages:
the design of the interactive network communication link is upgraded for each component and controller within the autopilot domain. And a standard and universal otangene configuration file is designed and adopted, so that the development and debugging period is greatly shortened. And the file transmission is adopted, so that the reliable and safe transmission of the files of the linux or qnx embedded system is greatly facilitated. The upgrading of a full-domain controller is supported, and the software iteration updating rate is improved. Newly-increased spare part's in adaptation field that can be quick upgrading need not to carry out software development, and this otaengine modular design can adapt to many embedded platforms, fine portability. The otaegenin supports simultaneous upgrading of multiple devices, and greatly shortens the upgrading time. Due to the adoption of the otaEngine configuration file, the method has excellent expandability. Supporting the expansion of multi-data and multi-file transmission. The method supports multi-platform executable file format analysis and executable file address filling.
Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present application, which are used for illustrating the technical solutions of the present application and not for limiting the same, and the protection scope of the present application is not limited thereto, although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The OTA software updating data transmission method is characterized in that the method is applied to an OTA software updating data transmission system; the system comprises: the system comprises an automatic driving area controller ADU, a positioning controller H2PU, a driving monitoring system DMS and an environment monitoring controller; wherein the ADU comprises: a system level controller SOC and a microcontroller MCU; the H2PU is respectively connected with the SOC and the DMS; the SOC is also connected with the MCU and the environment monitoring controller respectively; the MCU is also connected with the environment monitoring controller; the method comprises the following steps:
the H2PU receives a software updating instruction pushed by a cloud server, and forwards the software updating instruction and a software updating file carried by the software updating instruction to the SOC; the software update file includes: at least one target controller identifier, a software update package corresponding to each target controller identifier and a flash flow configuration file;
and the SOC transmits a software updating packet corresponding to the target controller identifier to the target controller corresponding to the target controller identifier according to the flash process configuration file corresponding to the target controller identifier and the updating link corresponding to the target controller identifier aiming at each target controller identifier, so that the target controller updates the software version.
2. The method of claim 1, wherein an OTA engine is installed in the SOC; the OTA engine includes: the system comprises a configuration file analysis component, an update package file analysis component, a UDS service component, a data transmission component and an upgrade management component;
the SOC transmits a software update package corresponding to the target controller identifier to a target controller corresponding to the target controller identifier according to a flash process configuration file corresponding to the target controller identifier and an update link corresponding to the target controller identifier aiming at each target controller identifier, and the steps comprise:
triggering an upgrading request corresponding to a target controller through the upgrading management component;
acquiring a Doip communication connection parameter, an UDS service parameter and an UDS flash flow list of the target controller through the configuration file analysis component;
acquiring data transmission parameters of a software update package corresponding to the target controller through the configuration file analysis component;
analyzing the software update package corresponding to the data transmission parameters through the update package file analysis component, and filling discontinuous address data;
and establishing a Doip communication connection in the target controller through the data transmission component according to the Doip parameters, and transmitting the analyzed software update package to the target controller through the UDS service component according to the UDS refresh flow.
3. The method according to claim 2, wherein before the steps of obtaining the Doip communication connection parameter of the target controller, obtaining the UDS service parameter, and the UDS flashing flow list by the profile parsing component, the method further comprises:
detecting whether the current state of the vehicle meets an upgrading condition and a data transmission condition through the data transmission assembly; if yes, the steps of obtaining the Doip communication connection parameter of the target controller, obtaining the UDS service parameter and refreshing the UDS flow list through the configuration file analysis component are continuously executed.
4. The method of claim 2, wherein during the transmission of the software update package, the method further comprises:
detecting the Socket connection state or the data transmission response time in real time through the data transmission assembly; and under the condition that the Socket connection state is judged to be disconnected or the data transmission response time is overtime, continuing to execute the step of performing Doip communication connection on the target controller.
5. The method according to claim 1, wherein the generation process of the flash flow configuration file corresponding to each target controller is as follows:
for each target controller, acquiring a flash process configuration parameter corresponding to the target controller; and importing the flash flow configuration parameters into a preset OTA software flash configuration template to generate a flash flow configuration file corresponding to the controller.
6. The method of claim 1, wherein the flash flow configuration file corresponding to each target controller comprises: general configuration information, communication protocol configuration information, data file transmission configuration information and process service configuration information.
7. The method of claim 1, wherein the target controller is a first type of controller; the first type of controller comprises the H2PU or a laser radar in the environment monitoring controller, and the updating link corresponding to the target controller is as follows: SOC-first class controller;
the step that the SOC transmits the software updating package corresponding to the target controller identifier to the target controller corresponding to the target controller identifier according to the flash process configuration file corresponding to the target controller identifier and the updating link corresponding to the target controller identifier includes the following steps:
and the SOC checks a first software updating package corresponding to the first type of controller, and transmits the first software updating package to the first type of controller according to the flashing flow configuration file corresponding to the first type of controller.
8. The method of claim 2, wherein the target controller is the DMS; the updating link corresponding to the target controller is as follows: SOC-H2PU-DMS;
the step that the SOC transmits the software updating package corresponding to the target controller identifier to the target controller corresponding to the target controller identifier according to the flash process configuration file corresponding to the target controller identifier and the updating link corresponding to the target controller identifier comprises the following steps:
the SOC checks and signs the DMS software update package corresponding to the DMS, and sends the DMS software update package to the H2PU according to the DMS flash process configuration file corresponding to the DMS, so that the H2PU is used as a DOIP gateway to forward the DMS software update package to the DMS.
9. The method of claim 1, wherein the target controller is a second type of controller; the second type of controller comprises a millimeter wave radar or a multifunctional camera in the environment monitoring controller, and the updating link corresponding to the target controller is as follows: SOC-MCU-second type controller;
the step that the SOC transmits the software updating package corresponding to the target controller identifier to the target controller corresponding to the target controller identifier according to the flash process configuration file corresponding to the target controller identifier and the updating link corresponding to the target controller identifier includes the following steps:
and the SOC checks and signs a second software update package corresponding to the second type of controller, and sends the second software update package to the MCU according to a second flashing flow configuration file corresponding to the second type of controller, so that the MCU is used as a DOIP gateway to forward the second software update package to the second type of controller.
10. An OTA software update data transmission system, comprising: the system comprises an automatic driving area controller ADU, a positioning controller H2PU, a driving monitoring system DMS and an environment monitoring controller; wherein the ADU comprises: a system level controller SOC and a microcontroller MCU; the H2PU is respectively connected with the SOC and the DMS; the SOC is also connected with the MCU and the environment monitoring controller respectively; the MCU is also connected with the environment monitoring controller; the OTA software update data transmission system is configured to perform the method of any of claims 1-9.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116560688A (en) * | 2023-05-05 | 2023-08-08 | 上汽通用汽车有限公司 | Software updating method for domain controller |
| CN117215603A (en) * | 2023-11-08 | 2023-12-12 | 宁德时代新能源科技股份有限公司 | Software flashing method and device of domain controller, computer equipment and storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116560688A (en) * | 2023-05-05 | 2023-08-08 | 上汽通用汽车有限公司 | Software updating method for domain controller |
| CN117215603A (en) * | 2023-11-08 | 2023-12-12 | 宁德时代新能源科技股份有限公司 | Software flashing method and device of domain controller, computer equipment and storage medium |
| CN117215603B (en) * | 2023-11-08 | 2024-04-02 | 宁德时代新能源科技股份有限公司 | Software flashing method and device of domain controller, computer equipment and storage medium |
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