CN107580322A - Upgrade method, device and the automatic driving vehicle of automatic driving vehicle software systems - Google Patents
Upgrade method, device and the automatic driving vehicle of automatic driving vehicle software systems Download PDFInfo
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Abstract
The embodiments of the invention provide a kind of upgrade method, device and the automatic driving vehicle of automatic driving vehicle software systems, to solve existing pilotless automobile existing contradiction between high reliability and the requirement of high security and the requirement of high flexibility when upgrading software systems.In the method, automatic driving vehicle software systems include at least two layers, and for controlling the component of various functions of automatic driving vehicle to be placed in different layers, different components is upgraded respectively according to the layer where the different component.
Description
Technical field
The present invention relates to automatic Pilot technical field, more particularly to a kind of upgrading side of automatic driving vehicle software systems
Method, device and automatic driving vehicle.
Background technology
With the development of information technology, the automobile of today is assembling increasing intelligent software and electronic system,
Progressively to Intelligent System of Vehicle evolution.In all intelligent automobile developing direction, pilotless automobile is considered as ultimate friendship
One of pass-out row solution.Following pilotless automobile will more realize advanced function by software
(Software Defined Car).Therefore, the management to software by be pilotless automobile an important technology direction.By
Beneficial to the development of 20 years wireless communication technologys of past, pilotless automobile of new generation can make full use of the powerful calculating in high in the clouds
Ability simultaneously coordinates high-speed radiocommunication link, realizes diversification and efficient software way to manage.Carried out by air interface soft
Part upgrading (Over The Air) is an extensive received mode, by OTA to software system updating also in other field
Extensive checking and implementation are obtained.However, by the core software system of network connection pilotless automobile, it is faced with huge
Security challenge.Compared to traditional mobile terminal, such as smart mobile phone, tablet personal computer, the network security band of pilotless automobile
The negative effect come is far beyond the acceptable category of society.What if the internet security of pilotless automobile cannot be appropriate
Solve, may result in human society and receive time point of new technology and postpone significantly, even resulting in whole industry can not move towards real
With change.
Similar with intelligent mobile terminal, the software of pilotless automobile is also required to constantly upgrade, so as to realize to existing
The amendment of software systems introduces new function.However, the software upgrading of pilotless automobile faces many specific challenges, example
Such as, requirement of the pilotless automobile to security is very high, and the related software upgrading of its automobile control will determine unmanned
Automobile can safety operation, therefore intelligent terminal is far above to the reliability requirement of software upgrading.Meanwhile these critical softwares
Requirement of the upgrading to security it is also different from other intelligent terminals, the component of pilotless automobile must be kept away in escalation process
Exempt to be attacked or be implanted into rogue program.
In addition, pilotless automobile is also required to diversified software to provide abundant customer service, the liter of these softwares
Level comes from many suppliers and contains flexible and changeable configuration, for example, realizing vehicle by using third-party software
Multimedia control, realize driving experience customized etc. by downloading different automatic Pilot algorithms, that is to say, that unmanned
The software systems of automobile should have high reliability and high security, again with high flexibility.
But the software systems of the automatic driving vehicle of high reliability, high security need tightened up upgrading flow control
System, less operability and access property can only be allowed, it means that will be from software and hardware aspect pair to unmanned operating system
User right, wagon control strategy etc. carries out very harsh limitation；And this harsh limitation simultaneously also limit it is logical
Cross the flexibility that diversity software provides various sex service.
In summary, current pilotless automobile is when upgrading software systems, in high reliability and high security will
There is contradiction between the requirement of summation high flexibility.
The content of the invention
The embodiments of the invention provide a kind of upgrade method, device and the automatic driving car of automatic driving vehicle software systems
, it is flexible to solve existing pilotless automobile high reliability and the requirement of high security and height when upgrading software systems
Existing contradiction between the requirement of property.
Based on above mentioned problem, a kind of upgrade method of automatic driving vehicle software systems provided in an embodiment of the present invention, institute
Stating automatic driving vehicle software systems includes at least two layers, wherein, the component of the various functions for controlling automatic driving vehicle
Different layers are placed in, different components is upgraded respectively according to the layer where the different component.
Alternatively, different components is upgraded respectively according to the layer where the different component, including：
Component in different layers is upgraded by different data channel.
Alternatively, the component in different layers is upgraded by different data channel, including：
One upper component is downloaded AKU by over the air OTA and upgraded, and a bottom component passes through straight
The storage device for connecing the erasable storage bottom component is upgraded.
Alternatively, different components is upgraded respectively according to the layer where the different component, including：
The step-up authentication mode of component in different layers is different.
Alternatively, the step-up authentication mode of the component in different layers is different, including：
One upper component certification by way of software automated validation, the certification that a bottom component is confirmed by user
Mode certification.
Alternatively, the step-up authentication mode of the component in different layers is different, including：
Component in different layers is authenticated upgrading respectively by the user with different user authority.
Alternatively, methods described also includes：
Before component to be upgraded is upgraded using AKU, first confirm that the version after component upgrade to be upgraded is treated with described
Whether the component of each layer is compatible below layer where upgrade components.
Alternatively, the different components in different layers are individually or at least one of the automatic driving vehicle is completed in collaboration
Identical function.
Alternatively, when upgrading a upper component, a bottom component is enabled with the upper component to be upgraded extremely
The component of a few identical function, takes over some or all of of upper component to be upgraded described in the automatic driving vehicle
Function.
Alternatively, the various functions of the automatic driving vehicle include any combination of following functions：
The automatically controlling of the vehicle of automatic driving vehicle, the automatically controlling of the car body component of automatic driving vehicle, nobody drives
Sail the automatically controlling of the in-vehicle electronic system of vehicle, the control at least one sensor of automatic driving vehicle, nobody is driven
Sail the data processing of at least one sensor and the path planning of automatic driving vehicle and the Obstacle avoidance strategy of vehicle
Formulate.
Alternatively, path planning and the Obstacle avoidance strategy is included in a period of time to wheel steering system, oil
The setting of door system, brake system, transmission system, the offset of suspension.
Alternatively, methods described also includes：
Before a upper component is upgraded, a bottom component must be carried out first to the data of upper component to be upgraded
Backup.
Alternatively, methods described also includes：
After it is determined that upper component to be upgraded upgrades failure, a bottom component is according to the upper layer group for upgrading failure
The Backup Data of part carries out rollback to the upper level assembly of the upgrading failure；
And automatic driving vehicle is implemented to control with the upper level assembly after rollback.
Alternatively, methods described also includes：
Before installing or upgrading a upper component, by a bottom component to the installation kit of the upper component or
Person's AKU carries out authentication and/or function license confirmation.
Alternatively, authentication is carried out to the installation kit or AKU of the upper component by a bottom component,
Including：
The digital signature of the AKU of upper component or installation kit is passed into bottom certification and authorized component；It is described to recognize
Card is confirmed with authorized component by the Public Key being locally stored to the digital signature, after confirming successfully, determines institute
State AKU or installation kit passes through authentication.
Alternatively, it is true by installation kit or AKU progress function mandate of the bottom component to the upper component
Recognize, including：
By the control function list of the AKU of upper component or installation kit and/or need to obtain belonging to sensing data
List of types, pass to certification and the authorized component of bottom；The certification is with authorized component according to the level and control being locally stored
Function corresponding lists and/or level processed and sensor type corresponding lists, to the AKU or peace of the upper component received
Fill the control function list of bag and/or need the acquisition affiliated list of types of sensing data to be matched, when the match is successful, really
The AKU or installation kit of the fixed upper component are authorized.
Alternatively, methods described also includes：
One bottom component forbids upper component in specific time and/or specific region and/or specific vehicle shape
Upgraded under state.
Alternatively, the sensing data of the automatic driving vehicle is transferred in the different components of different layers.
A kind of update device of automatic driving vehicle software systems provided in an embodiment of the present invention, the automatic driving vehicle
Software systems include at least two layers, for controlling the component of various functions of automatic driving vehicle to be placed in different layers；
Described device includes memory and processor, and the memory is used to store a plurality of instruction, and the processor is used for
The instruction that is stored in the memory is loaded to perform：
Different components is upgraded respectively according to the layer where the different component.
Alternatively, the processor is used to load the instruction that stores in the memory to perform：
The component of different levels is installed or upgraded by different data channel.
Alternatively, the processor is used to load the instruction that stores in the memory to perform：
One upper component is installed or upgraded, one by over the air OTA download AKUs or installation kit
Bottom component is installed by writing direct storage device or the storage device of the directly erasable storage bottom component is entered
Row upgrading.
Alternatively, the processor is used to load the instruction that stores in the memory to perform：
The step-up authentication mode of component in different layers is different.
Alternatively, the processor is used to load the instruction that stores in the memory to perform：
One upper component is authenticated by way of software automated validation, what a bottom component was confirmed by user
Authentication mode is authenticated.
Alternatively, the processor is used to load the instruction that stores in the memory to perform：
Component in different layers is authenticated upgrading by the user with different user authority.
Alternatively, the processor is additionally operable to load the instruction that is stored in the memory to perform：
Before component to be upgraded is upgraded using the AKU downloaded to, the version after component upgrade to be upgraded is first confirmed
It is whether compatible with the component of each layer below the component place to be upgraded layer.
Alternatively, the processor is additionally operable to load the instruction that is stored in the memory to perform：
When upgrading a upper component, a bottom component enables at least one with the upper component to be upgraded
The component of identical function, take over some or all of function of upper component to be upgraded described in the automatic driving vehicle.
Alternatively, the processor is additionally operable to load the instruction that is stored in the memory to perform：
Before a upper component is upgraded, a bottom component must carry out standby to the data of upper component to be upgraded
Part.
Alternatively, the processor is additionally operable to load the instruction that is stored in the memory to perform：
After it is determined that upper component to be upgraded upgrades failure, a bottom component is according to the upper layer group for upgrading failure
The Backup Data of part carries out rollback to the upper level assembly of the upgrading failure；
And automatic driving vehicle is implemented to control with the upper level assembly after rollback.
Alternatively, the processor is used to load the instruction that stores in the memory to perform：
Before installing or upgrading a upper component, by a bottom component to the installation kit of the upper component or
Person's AKU carries out authentication and/or function license confirmation.
Alternatively, the processor is used to load the instruction that stores in the memory to perform：
The digital signature of the AKU of upper component or installation kit is passed into bottom certification and authorized component；It is described to recognize
Card is confirmed with authorized component by the Public Key being locally stored to the digital signature, after confirming successfully, determines institute
State AKU or installation kit passes through authentication.
Alternatively, the processor is used to load the instruction that stores in the memory to perform：
By the control function list of the AKU of upper component or installation kit and/or need to obtain belonging to sensing data
List of types, pass to bottom certification and authorized component；The certification is with authorized component according to the level and control being locally stored
Function corresponding lists and/or level and sensor type corresponding lists, to the AKU of upper component received or installation
The control function list of bag and/or need obtain the affiliated list of types of sensing data matched, when the match is successful, it is determined that
The AKU or installation kit of the upper component are authorized.
Alternatively, the processor is additionally operable to load the instruction that is stored in the memory to perform：
One bottom component forbids upper component in specific time and/or specific region and/or specific vehicle shape
Upgraded under state.
A kind of automatic driving vehicle provided in an embodiment of the present invention, including vehicle and it is provided in an embodiment of the present invention nobody drive
Sail the update device of vehicle software system.
Upgrade method, device and the automatic driving car of a kind of automatic driving vehicle software systems provided in an embodiment of the present invention
, the software systems of wherein automatic driving vehicle are divided at least two layers, the group of the various functions for controlling automatic driving vehicle
Part is placed in different layers, and different components is upgraded according to place level, so as to the component of different levels according to difference
Mode upgraded, for example, can be to safety-type and high reliability requirement component using the higher upgrading mode of security
Upgraded, and require safety and reliability relatively low component and can flexibly be used on the basis of determining securely and reliably
Various modes are upgraded, and then eliminate pilotless automobile in upgrading operation system, in high reliability and high security
It is required that the existing contradiction between the requirement of high flexibility.
Brief description of the drawings
Fig. 1 is a kind of structural representation of automatic driving vehicle provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of the software systems of automatic driving vehicle provided in an embodiment of the present invention；
Fig. 3 is the structural representation that a kind of automatic driving vehicle provided in an embodiment of the present invention is connected with multiple sensing datas
Figure；
A kind of Fig. 4 upgrade methods of a component of the software systems of automatic driving vehicle provided in an embodiment of the present invention
Flow chart；
Fig. 5 is a kind of structural representation of the update device of the software systems of automatic driving vehicle provided in an embodiment of the present invention
Figure.
Embodiment
Upgrade method, device and the automatic driving car of a kind of automatic driving vehicle software systems provided in an embodiment of the present invention
, the software systems of wherein automatic driving vehicle are divided at least two layers, the group of the various functions for controlling automatic driving vehicle
Part is placed in different layers, and different components is upgraded according to place level, so as to the component of different levels according to difference
Mode upgraded, while meet the requirement of high reliability and high security and the requirement of high flexibility.
With reference to Figure of description, to a kind of upgrading of automatic driving vehicle software systems provided in an embodiment of the present invention
Method, apparatus and the embodiment of automatic driving vehicle illustrate.
Automatic driving vehicle be one kind can by multiple sensors carry out Data Collection, and to sensing data at
Reason, eventually through the calculating of software systems, implement to carry out the operation such as path planning, Obstacle avoidance, and then realize automatic running
Vehicle.
The sensor that automatic driving vehicle may use has many classes.For example, automatic driving vehicle can use one
Or multiple laser radars (LiDAR, Laser Radar) are used as sensor.Laser radar passes through flying time technology (ToF, Time
Of Flight) mode obtain range information between sensor and environment.By the scanning to space, sensor can obtain
The point cloud chart of environment.Point cloud chart is one group of distance set with direction and angle information, that is, the environment in three dimensions
Distance set.By the further processing to point cloud chart, the software systems of automatic driving vehicle can push away to environmental information
Calculate, detect the information such as the presence of barrier, size, species, speed.Further, the estimation based on obstacle information, software
Path Planning can be calculated in system.One Path Planning is on the basis of current obstacle information, completely
Foot safety guarantee, that is, avoid colliding and observing traffic rules and regulations with barrier, speed limit, the premise of the traffic rules such as forbidden
Under, the form implementation strategy of the destination from the starting point of reservation to reservation.
Implementation strategy passes through the drive system to vehicle, such as steering, dynamical system, brake system, suspension
It is controlled, so that implementation strategy is finally carried out in vehicle, realizes vehicle in no driver's intervention, or it is less
The traveling of safety is realized in the case of intervention.
Except laser radar, other kinds of sensor can be used for automatic driving vehicle.For example, it is based on binocular camera shooting
Head, monocular cam, millimetre-wave radar, infrared radar, global positioning system (GPS), Inertial Measurement Unit, attitude transducer etc.
Sensor can be used for pilotless automobile.For example, binocular camera can carry out ranging by principle of parallax.It is meanwhile double
Mesh camera can also obtain extra information, such as the identification to traffic lights, traffic sign by the method for image procossing.It is single
Mesh camera can be by target detection, and matches local data base, realizes the ranging to target.Meanwhile monocular cam
The identification of traffic lights, traffic sign can also be obtained by the method for image procossing.Millimetre-wave radar can be by sending and connecing
The electromagnetic wave of millimere-wave band is received, obtains the range information of front obstacle.The similar infrared radar that also has is also to pass through electromagnetic wave
The method of echo detecting obtains range information.
Above various kinds of sensors can also combine the control for carrying out more accurate automatic driving vehicle.A variety of sensings
Device, which is applied in combination, can make up certain drawback existing for single-sensor so that whole Unmanned Systems' robustness is stronger.
The control core of automatic driving vehicle is using multiple sensors gather data and these data is strengthened
Computing.Sensor component must rely on certain hard ware measure device, and then obtain the sampled data of environmental information.And to passing
The processing for the data that sensor is collected, such as path planning, Obstacle avoidance etc., which then rely on, to be stored in carried-on-vehicle computer system
Software approach.Therefore, software systems are a core systems of automatic driving vehicle.
Traveling associated components except controlling vehicle, the software systems of automatic driving vehicle are also required to other portions to vehicle
Part or in-vehicle electronic system are controlled.For example, the part such as air bag, air-conditioning, seat, instrument, light, self-checking system or electricity
Subsystem is also to be completed by software systems.In addition, the in-vehicle electronic system of enhancing, multimedia video, vehicle-mounted nothing
Line communicates, and in-vehicle communication network, car networking communication system is also to be controlled by software systems.A kind of nothing provided in an embodiment of the present invention
People drives vehicle, as shown in figure 1, the software systems of automatic driving vehicle are to each sensor, such as laser radar, camera, milli
The data that metre wave radar, global positioning system, Inertial Measurement Unit etc. are collected into are handled, and control the traveling dependent part of vehicle
Part, such as transfer, brake, choke valve, power supply, and vehicle miscellaneous part, such as air bag, light, and vehicle-mounted
Electronic system, such as in-vehicle wireless communication, multimedia video.
In order that the software systems for obtaining automatic driving vehicle can have security and flexibility concurrently, the embodiment of the present invention provides
A kind of upgrade method of automatic driving vehicle software systems, the software systems of wherein automatic driving vehicle are divided at least two layers,
The component of various functions for controlling automatic driving vehicle is placed in different layers, and different components is upgraded according to place layer.
That is, according to the function of being realized, the software systems of automatic driving vehicle are divided into different component softwares, it is different
Component is placed in different layers, and the component of different layers upgrades in different ways, such as based on wireless aerial upgrade mode and base
In upgrading mode wired or that other are relatively safer, so as to according to component to security and the different demands of flexibility,
The data channel of upgrading is balanced between security and flexibility.
Wherein, the various functions of automatic driving vehicle include：The vehicle of automatic driving vehicle automatically controls, is unmanned
The automatically controlling of the car body component of vehicle, the in-vehicle electronic system of automatic driving vehicle automatically control, to automatic driving vehicle
The control of at least one sensor, the processing to the data of at least one sensor of automatic driving vehicle and nobody drive
Sail formulation of path planning and Obstacle avoidance strategy of vehicle etc..When path planning and Obstacle avoidance strategy are included in one section
The interior setting to wheel steering system, throttle system, brake system, transmission system, the offset of suspension etc..
Communication refers to obtain from a remote server by air interface, the software systems of automatic driving vehicle
The software data that must be updated, and the packet of renewal is installed.Wherein, communication can use multiple types of floors or aerial logical
Letter mode.For example, the optional communication cellular mobile communication system such as including 2G, 3G, 4G, 5G, LTE, CDMA, WiMAX
System, WLAN LAN communication systems, Bluetooth communication system, ZigBee communication system, NFC communication system etc..Optional channel radio
Letter mode is also including the use of satellite communication system, such as stationary orbit, middle orbit, LEO mobile satellite communication system.
Wired communication mode generally refers to the upgrading mode in the case of being contacted by physical media, such as wired ethernet, light
The network communication modes such as fibre are realized.
In one embodiment, software systems such as Fig. 2 institutes of a kind of automatic driving vehicle provided in an embodiment of the present invention
Show, the software systems are divided into N layers, and the component high to security requirement is placed in bottom, and the component high to requirement on flexibility is placed in
Upper strata；The software systems include certification and authorized component L11 bases upgrade components L12, base control component L21, examination ＆ verification component
L22, basic record component L23, advanced upgrade components L24, advanced control assembly L31, advanced control backup component L32 and its
He more has the component of advanced and flexible function, and level of these components according to where it is upgraded.Certainly, ability
Field technique personnel can arbitrarily add other components into the software systems, and can also be otherwise by software system
The difference in functionality component of system is placed in different layers.
Further, it is multiple positioned at multiple layers in the software systems of automatic driving vehicle provided in an embodiment of the present invention
Component is individually or at least one identical function of the automatic driving vehicle is completed in collaboration.
For example, when the software systems of automatic driving vehicle are as shown in Figure 2, basic upgrade components L12, its major function is
The component of control upper strata (2 layers or more) is upgraded.Advanced upgrade components L24 major function is to upper strata (more than 2 layers)
Component by using more easily mode, such as wireless OTA, upgraded；Basic upgrade components L12 is compared to advanced liter
Level assembly L24 may flexibility deficiency, but can provide more preferable security (such as provide physical contact mode upgrade or
Installation, such as utilize Ethernet or softdog).
Base control component L21 suspension, power, can be turned to, Brake Energy body component pair by controlling the chassis of vehicle
The posture and transport condition of vehicle are adjusted.Advanced control assembly L31 can include constantly update sensor processing method,
Automatic Pilot algorithm, target identification and obstacle avoidance strategy etc.；By using the software side different from base control component L21
Method, automatic driving vehicle can realize more diversified automatic Pilot mode under advanced control assembly L31 control.For example,
Advanced control assembly L31 can store personalized path planning scheme, using the short period or compared with even running preferentially to illegally occupy
Carry out wagon control.For another example advanced control assembly L31 can carry out the Classification and Identification of depth to barrier, to optimize obstacle
Thing bypassing method.
Basic record component L23 is the component of a flight data recorder, is able to record the significant data record of automatic driving vehicle,
Played back for potential accident.Basic record component L23 is placed in 2 layers, and its authority changed could be arranged to " can not change "
And digital independent can only be carried out by special interface and high user authority.Advanced record component L42 can remember with basis
Record component L23 and complete identical function, still, advanced record component L42 can be used more relative to basic record component L23
Flexible upgrading mode.
Because the component for being placed in different levels is different with the requirement of flexibility to security, therefore, the component of different levels
Installed or upgraded by different data channel, such as a upper component passes through wireless over the air
(OTA, Over-the-Air Technology) downloads AKU and is upgraded or download installation kit by wireless OTA
Row installation, the component of a bottom is installed by writing direct storage device or the directly erasable bottom component that stores
Storage device is upgraded.
Further, the component of different levels uses different step-up authentication modes, and such as a upper component passes through automatic
The mode certification of certification, the authentication mode certification that a bottom component is confirmed by user；And the component of different levels is by having
The user for having different user authority is authenticated upgrading.
For example, when the software systems of automatic driving vehicle are as shown in Figure 2, certification is placed in nobody with authorized component L11 and driven
The bottom of the software systems of vehicle, i.e., 1 layer are sailed, the component is used for the installation of the other software component of automatic driving vehicle, risen
The authorization and identification of level.Because the certification in 1 layer and authorized component L11 and basic upgrade components L12 have been related to whole software
The safety guarantee of system, therefore certification is placed in the bottom and possesses highest with authorized component L11 and basic upgrade components L12
Upgrade safe class.Wherein, 1 layer of component upgrade it is general require by the user authentication means compared with high safety grade,
For example the special communication interface of authorized user, it could be upgraded in special mechanism.1 layer of software content can also be by looking forward to
The enforceable safety standard or flow that industry, government formulate, these safety certification standards or the necessary solar obligation of flow are at most bottom
Layer, is installed by automobile production manufacturer before automobile dispatches from the factory.For example, the bottom uses the identity mark based on smart card
Know, the layer assembly is carried out data transmission and upgraded by symmetrically or non-symmetrically key and encrypting and decrypting method.Meanwhile interface
Itself special safety certification chip can also be assembled, for strengthening the security of this layer.
2 layers of the component including advanced upgrade components L24 can be upgraded by basic upgrade components L12.By
It is higher in requirement of these components to security, it can be upgraded by the way of such as physical contact.In a kind of embodiment party
In formula, 2 layers are entered row data communication using only wired communication interface, and user authority setting is vehicle manufacture and dealer, political affairs
Mansion mechanism etc..1 layer of other assemblies (such as certification and authorized component L11) can use the method outside control range of the present invention to enter
Row upgrading, such as：Upgraded by directly erasable corresponding original storage device (such as FLASH).
Basic upgrade components L12 control systems are downloaded automatically to 2 layers or more of component, and judge Current vehicle shape
Whether state meets promotion condition and performs upgrading when vehicle-state meets promotion condition.
Advanced upgrade components L24 can be downloaded automatically to the component with more than 2 layers, and judge that current vehicle condition is
It is no to meet promotion condition and perform upgrading when vehicle-state meets promotion condition.
The chance that base control component L21 relative vehicles change is less and possesses higher safe class, can set peace
Complete higher ranked user authen method, upgrading channel etc..
Further, the security from bottom to top obtained in order to ensure level from high to low, flexibility from low to high, upper strata
Component is forbidden modifying to bottom component, in a kind of liter of the software systems of automatic driving vehicle provided in an embodiment of the present invention
In level method, before installing or upgrading a upper component, the installation kit by a bottom component to the upper component
Or AKU carries out authentication and/or function license confirmation.
In one embodiment, in the software systems of the automatic driving vehicle shown in Fig. 2, by intralayer communication, one
Individual component can obtain the data of the other assemblies in same layer；By interlayer communication, a component can call its of different layers
The function of his component.For example, advanced upgrade components L24 can be by calling the function of certification and authorized component L11 to upper layer group
The AKU or installation kit of part carry out safety certification.
Wherein, the installation kit or AKU of the upper component are carried out by a bottom component authentication and/
Or function license confirmation, following two implementations can be used：
The first implementation：By the digital signature of the AKU of upper component or installation kit pass to bottom certification with
Authorized component；Certification is confirmed with authorized component L11 by the Public Key being locally stored to the digital signature, is being confirmed
After success, determine that the AKU or installation kit pass through authentication.
Second of implementation：By the control function list of the AKU of upper component or installation kit and/or need to obtain
The affiliated list of types of sensing data is taken, passes to certification and the authorized component L11 of bottom；Certification and authorized component L11 according to
The level being locally stored and control function corresponding lists and/or level and sensor type corresponding lists, to the upper strata received
The control function list of the AKU or installation kit of component and/or need obtains the affiliated list of types of sensing data and carried out
Match somebody with somebody, when the match is successful, determine that the AKU of the upper component or installation kit are authorized.
Certainly, the installation kit or AKU of the upper component are carried out by a bottom component authentication and/
Or the implementation of function license confirmation is not limited to above two implementation, other possible implementations can also be used.
Further, in order to maintain the reliability of component upgrade, bottom component can change or the work(of adapter upper component
Can, in a kind of upgrade method of the software systems of automatic driving vehicle provided in an embodiment of the present invention, upgrading a upper strata
During component, a bottom component enables at least one identical work(that automatic driving vehicle is completed with the upper component to be upgraded
The component of energy, take over some or all of function of upper component to be upgraded described in the automatic driving vehicle.
For example, in the software systems of the automatic driving vehicle shown in Fig. 2, upgrade to advanced control assembly L31
During, automatic driving vehicle can be taken over by basic upgrade components L21, basic upgrade components L21 using more simple but
It is to meet the control method that safety traffic requires., can be by automatic driving vehicle after advanced control assembly L31 completes upgrading
Advanced control assembly L31 is transferred to be controlled.
Further, in a kind of upgrade method of the software systems of automatic driving vehicle provided in an embodiment of the present invention,
Before a upper component is upgraded, a bottom component backs up the data of upper component to be upgraded.It is determined that to be upgraded
Upper component upgrading failure, the data for the upper component that a bottom component fails according to the upgrading of backup are to the upper of upgrading failure
Level assembly carries out rollback；And automatic driving vehicle is implemented to control with the component after rollback.
For example, in the software systems of the automatic driving vehicle shown in Fig. 2, basic upgrade components L12 can be used for 2
The backup and rollback of the component of layer or more.Advanced upgrade components L24 can be used for the backup and rollback to upper component, when
When advanced upgrade components L24 detects that upper component has security or integrity problem, can force upper component (2 layers with
On component) roll back to before version.
Consideration in security, in a kind of upgrading of the software systems of automatic driving vehicle provided in an embodiment of the present invention
In method, a bottom component limits upper component in specific time and/or specific region and/or specific vehicle-state
Under upgraded.For example, bottom component limitation upper component can only be upgraded in stationary vehicle.
Further, in a kind of upgrade method of the software systems of automatic driving vehicle provided in an embodiment of the present invention,
The data transfer of one sensor of automatic driving vehicle is into the different components of different layers.
Fig. 3 is the structural representation that a kind of automatic driving vehicle provided in an embodiment of the present invention is connected with multiple sensing datas
Figure, wherein, laser radar 31 and the grade sensing data of vision sensor 32 are linked into different groups in two layers (2 layers and 3 layers)
The real-time traffic of part, i.e. base control component L21 and advanced control assembly L31, relatively-stationary high definition cartographic information and enhancing
The component that information can also be transferred to different layers as input is calculated.For identical or different input, the control of different layers
Component can realize that similar function is controlled to vehicle based on different logical sum algorithms.Such as equally be control vehicle,
Upper component, such as advanced control assembly L31, which may include, updates more complicated algorithm to pursue comfortableness, such as lower layer components, base
Plinth control assembly L21 includes more stable more ripe algorithm to ensure the security driven, and it is last that two layers of logic combines completion
Control.Component in two layers can also realize different functions.For example, advanced control assembly L31 controls vehicle air conditioner,
The functions such as entertainment systems, communication system.And base control component L21 is only carried out to the chassis of vehicle traveling, steering, dynamical system
Control.In multi-layer data server based on one in logic or physically, i.e. 1 stratum server, 2 stratum servers and Fig. 3
The unshowned 3 layers server for arriving N layers, vehicle can obtain abundant passenger experience and ensure that basic traveling control will not be by
Distort, such as a third-party enhancing control software will not cause the confusion that vehicle controls substantially.OTA passes through in interlayer and layer
Communication is connected with two components, realizes OTA upgradings and control during upgrading adapter to upper component.Advanced control assembly
L31 can be connected by air interface to 2 related layer assembly servers, carry out component AKU or installation kit download with
And the installation or upgrading of component.Advanced upgrade components L24 and base control component L21 components pass through specific data-interface and 2
The data server of layer is connected.Wherein, the data of the bottom are only stored among 1 stratum server, therefore can ensure its data
Security and controllability.
It is preferred that in a kind of upgrade method of automatic driving vehicle software systems provided in an embodiment of the present invention, in profit
Before upgrading component to be upgraded with the AKU downloaded to, the version after component upgrade to be upgraded and described to be upgraded group are confirmed
The component of each layer is compatible below layer where part.
In one embodiment, based on the structure shown in Fig. 3, a kind of automatic driving vehicle provided in an embodiment of the present invention
Software systems a component upgrade method, as shown in figure 4, wherein, the function that this method is realized is advanced upgrading group
Part L24 function, component to be upgraded are any one layer of component in 3 layers to N layers, and this method includes：
S401, the order by OTA reception software upgradings；
S402, download renewal software kit；
Whether S403, the safety certification for judging to call certification to carry out the software kit of download with authorized component L11 pass through；If
It is then to perform S404；Otherwise, S412 is performed；
Wherein, safety certification can be authentication, can also be function license confirmation, can also be authentication and work(
Can license confirmation.The implementation of safety certification can be two kinds of foregoing implementations or other implementations.
S404, judge whether are the version of software kit downloaded and the component in the layer below the layer where component to be updated
It is compatible；If so, performing S405, otherwise, S412 is performed；
Wherein, advanced upgrade components L24 manages 3 layers of version to the component of N layers, and the version of the component according to all layers
Information, the compatibility of the version of component to be updated is confirmed；
If S405, component to be updated are the component for realizing vehicle traveling control function, corresponding basic function is enabled
Component substitutes component control vehicle to be updated, and stops control of the component to be updated to vehicle；If component to be updated is except realization
Component beyond vehicle traveling control function, then stop control of the component to be updated to vehicle；
Wherein, vehicle traveling control includes the control of automatic driving vehicle, at the data of the sensor of automatic driving vehicle
Reason etc.；In layer of the corresponding basic function component below the layer where component to be updated, component to be updated can be realized
Basic function component, for example, base control component L21 be advanced control assembly L31 corresponding basic function component, base
Plinth record component L23 is advanced record component L42 corresponding basic function component, and basic upgrade components L12 is advanced upgrading
Component L24 corresponding basic function component；
S406, backup component to be updated；
S407, utilize the software packet upgrade downloaded to component to be updated；
S408, judge whether upgrading succeeds；If so, then perform S409；Otherwise, S410 is performed；
If S409, component to be updated are the component for realizing vehicle traveling control function, the component upgraded successfully is enabled
Vehicle is controlled, and stops control of its corresponding basic function component to vehicle；If component to be updated is except realizing vehicle row
The component beyond control function is sailed, then enables control of the component upgraded successfully to vehicle；
S410, according to backup rollback component to be updated；
If S411, component to be updated are the component for realizing vehicle traveling control function, the component control after rollback is enabled
Vehicle processed, and stop control of its corresponding basic function component to vehicle；If component to be updated be except realize vehicle travel
Component beyond control function, then enable control of the component after rollback to vehicle；
S412, renewal terminate.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of upgrading dress of automatic driving vehicle software systems
Put and automatic driving vehicle, by the device and automatic driving vehicle solves the principle of problem and foregoing automatic driving vehicle is soft
The upgrade method of part system is similar, therefore the implementation of the device and automatic driving vehicle may refer to the implementation of preceding method, weight
Multiple part repeats no more.
The update device of a kind of automatic driving vehicle software systems provided in an embodiment of the present invention, as shown in figure 5, the nothing
People drives vehicle software system and is divided at least two layers, for controlling the component of various functions of automatic driving vehicle to be placed in difference
Layer；The device includes memory 51 and processor 52, and memory 51 is used to store a plurality of instruction, and processor 52 is described for loading
The instruction stored in memory is to perform：Different components is upgraded according to place level.
Further, processor 52 is used in load store device 51 instruction that stores to perform：The component of different levels leads to
Different data channel is crossed to be installed or upgraded.
Alternatively, processor 52 is used in load store device 51 instruction that stores to perform：One upper component passes through nothing
The over the air OTA of line downloads AKU or installation kit is installed or upgraded, and a bottom component is by writing direct
Storage device is installed or the storage device of the directly erasable storage bottom component is upgraded.
Further, processor 52 is used in load store device 51 instruction that stores to perform：The component liter of different levels
Level authentication mode is different.
Alternatively, processor 52 is used in load store device 51 instruction that stores to perform：One upper component passes through soft
The mode certification of part automated validation, the authentication mode certification that a bottom component is confirmed by user.
Alternatively, processor 52 is used in load store device 51 instruction that stores to perform：The component of different levels is by having
The user for having different user authority is authenticated upgrading.
Alternatively, the instruction that processor 52 is additionally operable to store in load store device 51 is to perform：Utilizing the liter downloaded to
Before level bag upgrades component to be upgraded, under layer where confirming the version after component upgrade to be upgraded and the component to be upgraded
The component of each layer in face is compatible.
Alternatively, the instruction that processor 52 is additionally operable to store in load store device 51 is to perform：Upgrading a upper layer group
During part, a bottom component enables at least one identical function that automatic driving vehicle is completed with the upper component to be upgraded
Component, take over some or all of function of upper component to be upgraded described in the automatic driving vehicle.
Alternatively, the instruction that processor 52 is additionally operable to store in load store device 51 is to perform：Upgrading a upper layer group
Before part, a bottom component backs up the data of upper component to be upgraded.
Alternatively, the instruction that processor 52 is additionally operable to store in load store device 51 is to perform：Determine upper strata to be upgraded
Component upgrade fails, and the data for the upper component that a bottom component fails according to the upgrading of backup are to upgrading the higher level's group to fail
Part carries out rollback；And automatic driving vehicle is implemented to control with the component after rollback.
Alternatively, the instruction that processor 52 is additionally operable to store in load store device 51 is to perform：In installation or upgrading one
Before upper component, the installation kit or AKU of the upper component are carried out by a bottom component authentication and/
Or function license confirmation.
Alternatively, processor 52 is used in load store device 51 instruction that stores to perform：By the AKU of upper component
Or the digital signature of installation kit passes to bottom certification and authorized component；The certification and authorized component are by being locally stored
Public Key confirms to the digital signature, after confirming successfully, determines that the AKU or installation kit pass through identity
Certification.
Alternatively, processor 52 is used in load store device 51 instruction that stores to perform：By the AKU of upper component
Or installation kit control function list and/or need obtain the affiliated list of types of sensing data, pass to bottom certification with
Authorized component；The certification is with authorized component according to the level being locally stored and control function corresponding lists and/or level and biography
Sensor type corresponding lists, to the AKU or the control function list of installation kit and/or needs of the upper component received
Obtain the affiliated list of types of sensing data matched, when the match is successful, determine the upper component AKU or
Installation kit is authorized.
Further, the instruction that processor 52 is additionally operable to store in load store device 51 is to perform：One bottom component limit
Upper component processed is upgraded under specific time and/or specific region and/or specific vehicle-state.
A kind of automatic driving vehicle provided in an embodiment of the present invention, including vehicle and it is provided in an embodiment of the present invention nobody drive
Sail the update device of vehicle software system.
Through the above description of the embodiments, those skilled in the art can be understood that the embodiment of the present invention
It can be realized by hardware, the mode of necessary general hardware platform can also be added by software to realize.Based on such reason
Solution, the technical scheme of the embodiment of the present invention can be embodied in the form of software product, and the software product can be stored in one
In individual non-volatile memory medium (can be CD-ROM, USB flash disk, mobile hard disk etc.), including some instructions are causing a meter
Calculate the side described in each embodiment of machine equipment (can be personal computer, server, or network equipment etc.) the execution present invention
Method.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, module or stream in accompanying drawing
Journey is not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that the module in device in embodiment can describe be divided according to embodiment
It is distributed in the device of embodiment, respective change can also be carried out and be disposed other than in one or more devices of the present embodiment.On
The module for stating embodiment can be merged into a module, can also be further split into multiple submodule.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (10)
- A kind of 1. upgrade method of automatic driving vehicle software systems, it is characterised in that the automatic driving vehicle software systems Including at least two layers, wherein, for controlling the component of various functions of automatic driving vehicle to be placed in different layers, different components is pressed Upgraded respectively according to the layer where the different component.
- 2. the method as described in claim 1, it is characterised in that different components is according to the layer where the different component point Do not upgraded, including：Component in different layers is upgraded by different data channel.
- 3. the method as described in claim 1, it is characterised in that different components is according to the layer where the different component point Do not upgraded, including：The step-up authentication mode of component in different layers is different.
- 4. the method as described in claim 1, it is characterised in that methods described also includes：Before component to be upgraded is upgraded using AKU, first confirm the version after component upgrade to be upgraded with it is described to be upgraded Whether the component of each layer is compatible below layer where component.
- 5. the method as described in claim 1, it is characterised in that the different components in different layers are individually or institute is completed in collaboration State at least one identical function of automatic driving vehicle.
- 6. method as claimed in claim 5, it is characterised in that when upgrading a upper component, a bottom component enables With the component of at least one identical function of upper component to be upgraded, take over to be upgraded described in the automatic driving vehicle Upper component some or all of function.
- 7. the method as described in claim 1, it is characterised in that methods described also includes：Before installing or upgrading a upper component, installation kit or liter by a bottom component to the upper component Level bag carries out authentication and/or function license confirmation.
- 8. the method as described in claim 1, it is characterised in that methods described also includes：One bottom component forbids upper component under specific time and/or specific region and/or specific vehicle-state Upgraded.
- A kind of 9. update device of automatic driving vehicle software systems, it is characterised in that the automatic driving vehicle software systems Including at least two layers, for controlling the component of various functions of automatic driving vehicle to be placed in different layers；Described device includes memory and processor, and the memory is used to store a plurality of instruction, and the processor is used to load The instruction stored in the memory is to perform the method as any one of claim 1-8.
- 10. a kind of automatic driving vehicle, it is characterised in that soft including vehicle and automatic driving vehicle as claimed in claim 9 The update device of part system.
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| CN201710750366.4A CN107580322A (en) | 2017-08-28 | 2017-08-28 | Upgrade method, device and the automatic driving vehicle of automatic driving vehicle software systems |
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