CN111601267B - Sensor data sharing method, device, equipment and storage medium - Google Patents
Sensor data sharing method, device, equipment and storage medium Download PDFInfo
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- CN111601267B CN111601267B CN202010249463.7A CN202010249463A CN111601267B CN 111601267 B CN111601267 B CN 111601267B CN 202010249463 A CN202010249463 A CN 202010249463A CN 111601267 B CN111601267 B CN 111601267B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40143—Bus networks involving priority mechanisms
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/02—Arrangements for optimising operational condition
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/16—Gateway arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40234—Local Interconnect Network LIN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application discloses a sensor data sharing method, a device, equipment and a storage medium, wherein the method comprises the steps that an intelligent gateway determines sensor data forwarding configuration parameters based on a sensor data acquisition request sent by a target electronic control unit of a target vehicle; the intelligent gateway determines the working state of the vehicle auxiliary function controlled by the target electronic control unit; the intelligent gateway determines a sensor data forwarding strategy based on sensor data forwarding configuration parameters and the working state of a vehicle auxiliary function controlled by a target electronic control unit; the intelligent gateway obtains corresponding sensor data based on a sensor data forwarding strategy and forwards the sensor data to a data bus corresponding to the sensor data forwarding strategy. The technical scheme provided by the application can realize that the electronic control unit which needs to use the same group of sensors does not need to be repeatedly arranged with the sensors, and only the required sensor data is forwarded through the intelligent gateway, so that the resource utilization rate is improved, and the development cost is reduced.
Description
Technical Field
The invention relates to the technical field of vehicle networking, in particular to a sensor data sharing method, device, equipment and storage medium.
Background
Along with the continuous development of current intelligent driving technique, the intelligent driving auxiliary function that can provide on the vehicle is more and more, and what follows with is that the sensor quantity of installation is also increasing constantly, including various cameras, millimeter wave radar, laser radar and ultrasonic radar etc.. Each smart driving assistance function requires one or more sensors to implement its function, and each ECU (Electronic Control Unit) of the vehicle is not used for sensor data transmission although there is a connection such as a CAN/ethernet bus, and the sensor data is shared by each ECU. Since the intelligent driving assistance function usually needs to use one or more sensors to realize the functions, some functions may involve using the same sensor or the same group of sensors, and the problem that the sensors need to be arranged repeatedly occurs at the moment. And the more the types of sensors are, the more peripheral interfaces that the ECU needs to support are, and the driver chip for the relevant interfaces is also required on the hard board, which results in a large size and high cost of the hard board of the ECU, and therefore, a more effective solution needs to be provided.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a sensor data sharing method, a sensor data sharing device, computer equipment and a storage medium. The technical scheme is as follows:
one aspect of the present application provides a sensor data sharing apparatus, including:
the system comprises a sensor, an intelligent gateway, a data bus and an electronic control unit;
the sensor is electrically connected with the intelligent gateway, the intelligent gateway is electrically connected with the data bus, and the data bus is electrically connected with the electronic control unit.
Another aspect of the present application provides a sensor data sharing method, where the method includes:
the intelligent gateway determines sensor data forwarding configuration parameters of a target electronic control unit based on a sensor data acquisition request sent by the target electronic control unit of a target vehicle;
the intelligent gateway determines the working state of the vehicle auxiliary function controlled by the target electronic control unit;
the intelligent gateway determines a sensor data forwarding strategy based on sensor data forwarding configuration parameters of the target electronic control unit and the working state of a vehicle auxiliary function controlled by the target electronic control unit;
the intelligent gateway obtains corresponding sensor data based on the sensor data forwarding strategy and forwards the corresponding sensor data to a data bus corresponding to the sensor data forwarding strategy.
Another aspect of the application provides an apparatus comprising a processor and a memory having stored therein at least one instruction, at least one program, set of codes, or set of instructions that is loaded and executed by the processor to implement the sensor data sharing method.
Another aspect of the present application provides a computer-readable storage medium having stored therein at least one instruction, at least one program, set of codes, or set of instructions, which is loaded and executed by a processor to implement the sensor data sharing method.
The sensor data sharing method, the sensor data sharing device, the sensor data sharing equipment and the storage medium have the following technical effects:
the method comprises the steps that sensor data forwarding configuration parameters of a target electronic control unit are determined through an intelligent gateway based on a sensor data acquisition request sent by the target electronic control unit of a target vehicle; the intelligent gateway determines the working state of the vehicle auxiliary function controlled by the target electronic control unit, is beneficial to supplying the sensor data to different electronic control units for utilization, reduces resource waste and improves the resource utilization rate, and determines a sensor data forwarding strategy based on the sensor data forwarding configuration parameters of the target electronic control unit and the working state of the vehicle auxiliary function controlled by the target electronic control unit; the intelligent gateway obtains corresponding sensor data based on the sensor data forwarding strategy and forwards the corresponding sensor data to a data bus corresponding to the sensor data forwarding strategy. Through the technical scheme of this application, can realize need not the repeated sensor of arranging to the electronic control unit that needs to use same sensor or same group sensor, as long as forward required sensor data through intelligent gateway can, reduce the wasting of resources, reduce development cost, and intelligent gateway is based on sensor data forward the strategy and acquire corresponding sensor data, and will sensor data forward to with the corresponding data bus of sensor data forward strategy is not restricted by sensor interface type, and data utilization is more nimble and reduce cost.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of a sensor data sharing device according to an embodiment of the present application;
fig. 2 is a schematic architecture diagram of an intelligent gateway in a sensor data sharing device according to an embodiment of the present application;
FIG. 3 is a flow chart of a method for sharing sensor data according to an embodiment of the present disclosure;
FIG. 4 is a flowchart of an intelligent gateway determining an operating state of a vehicle auxiliary function controlled by the target electronic control unit according to an embodiment of the present application;
fig. 5 is a flowchart of the intelligent gateway determining a sensor data forwarding policy based on sensor data forwarding configuration parameters of the target electronic control unit and an operating state of a vehicle auxiliary function controlled by the target electronic control unit according to an embodiment of the present application;
FIG. 6 is a flow chart of another sensor data sharing method provided by an embodiment of the present application;
FIG. 7 is a flow chart of another sensor data sharing method provided by embodiments of the present application;
FIG. 8 is a flow chart of another sensor data sharing method provided by embodiments of the present application;
fig. 9 is a block diagram of a hardware structure of an embedded terminal of a sensor data sharing method according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application. Examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 is a schematic diagram of a sensor data sharing device according to an embodiment of the present disclosure, and as shown in fig. 1, the sensor data sharing device may include a sensor 100, an intelligent gateway 200, a data bus 300, and an electronic control unit 400.
In the embodiment of the present invention, the sensor 100 is electrically connected to the intelligent gateway 200, the intelligent gateway 200 is electrically connected to the data bus 300, and the data bus 300 is electrically connected to the electronic control unit 400.
In this embodiment of the present disclosure, the sensor data sharing apparatus may include one or more sensors 100, where the sensors 100 may be configured to acquire sensor data and send the acquired sensor data to the intelligent gateway 200; in practical applications, the sensor 100 may include, for example, a camera, a millimeter wave radar, a laser radar, and an ultrasonic radar, which can be used to acquire video and images, etc.; in some embodiments, the sensor 100 may further include a light sensor, a motion sensor, and other sensors, which can be used to obtain vehicle speed, acceleration, deceleration, and a seat belt status; in practical applications, the sensor data sharing system may further be configured with other sensors such as a gyroscope, a thermometer, and an infrared sensor, which are not described herein again.
In this embodiment, the intelligent gateway 200 may be configured to determine sensor data forwarding configuration parameters of a target electronic control unit based on a sensor data acquisition request sent by the target electronic control unit of a target vehicle; determining the working state of the auxiliary function of the vehicle controlled by the target electronic control unit; determining a sensor data forwarding strategy based on sensor data forwarding configuration parameters of the target electronic control unit and working states of vehicle auxiliary functions controlled by the target electronic control unit; corresponding sensor data is acquired based on the sensor data forwarding policy, and the corresponding sensor data is forwarded to the data bus 300 corresponding to the sensor data forwarding policy. In one embodiment, before the intelligent gateway obtains corresponding sensor data based on the sensor data forwarding policy and forwards the corresponding sensor data to the data bus corresponding to the sensor data forwarding policy, the intelligent gateway performs data acquisition permission detection based on sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit and a sensor number corresponding to the sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit 400, and when a result of the data acquisition permission detection is passed, obtains corresponding sensor data based on the sensor data forwarding policy and forwards the sensor data to the data bus 300 corresponding to the sensor data forwarding policy; and when the result of the data acquisition permission detection is failed, transmitting a forwarding rejection message to the target electronic control unit 400. Specifically, fig. 2 is a schematic structural diagram of an intelligent gateway 200 in a sensor data sharing device according to an embodiment of the present disclosure, please refer to fig. 2, where the intelligent gateway 200 may include one or more types of data receiving units 201, a data parsing unit 202 corresponding to the one or more types of data receiving units 201, and a data caching unit 203, where the one or more types of data receiving units 201 are configured to receive sensor data sent by a sensor 100 based on a data interface type and send the sensor data to a corresponding data parsing unit 202, and in an embodiment of the present specification, the types of the data receiving units 201 may include, but are not limited to: a CAN (Controller Area Network) data receiving unit, a LIN (Local Interconnect Network) data receiving unit, an ethernet data receiving unit, and other data receiving units, for example, a FlexRay data receiving unit and an SPI (Serial Peripheral Interface) data receiving unit; the data parsing unit 202 corresponding to the one or more types of data receiving units 201 is configured to perform data parsing on the sensor data received from the corresponding data receiving unit 201 for subsequent repackaging of the data, and send the parsed sensor data to the data caching unit 203, in this embodiment of the specification, the type of the data parsing unit 202 may include, but is not limited to, the type corresponding to the data receiving unit: a CAN data analysis unit, a LIN data analysis unit, an ethernet data analysis unit, and other data analysis units, for example, a FlexRay data analysis unit and an SPI data analysis unit; the data caching unit 203 may be configured to cache the parsed sensor data for forwarding. With continued reference to fig. 2, the intelligent gateway 200 may further include a forwarding policy configuration unit 204, a data forwarding unit 205, one or more types of data protocol stacking units 206, and one or more types of data transceiving units 207; specifically, the forwarding policy configuration unit 204 may determine a sensor data forwarding policy based on sensor data forwarding configuration parameters of the target electronic control unit and a working state of a vehicle auxiliary function controlled by the target electronic control unit, and send the forwarding policy to the data forwarding unit 205, the data forwarding unit 205 acquires corresponding sensor data from the data caching unit 203 based on the sensor data forwarding policy and forwards the sensor data to the data protocol stacking unit 206 corresponding to the sensor data forwarding policy for repackaging the sensor data, and the data protocol stacking unit 206 sends the packaged sensor data to the corresponding data transceiving unit 207 after repackaging the sensor data. In this embodiment, the type of the data protocol stack unit 206 corresponding to the data receiving unit may include, but is not limited to: a CAN data protocol stack unit, an ethernet data protocol stack unit, and other data protocol stack units, such as a FlexRay data protocol stack unit and an SPI data protocol stack unit; in the embodiment of the present specification, the types of the data transceiving unit 207 may include, but are not limited to: CAN data transceiving units, ethernet data transceiving units and other data transceiving units, for example FlexRay data transceiving units and SPI data transceiving units.
In addition, it should be noted that fig. 2 is only an example of an architecture of an intelligent gateway provided in the embodiment of the present application, and the present invention is not limited thereto.
In this embodiment of the present invention, the data bus 300 may be configured to receive corresponding sensor data acquired by the intelligent gateway based on the sensor data forwarding policy, and forward the sensor data to the target electronic control unit 400; in practical applications, the Data bus 300 may include one or more types of Data buses, such as a CAN bus, an ethernet bus, and a CAN-FD (CAN with Flexible Data rate CAN network) bus.
In an embodiment of the present invention, the sensor data sharing device may include one or more electronic control units 400, and referring to fig. 1, in an embodiment, n electronic control units may be connected to the CAN bus, and m electronic control units may be connected to the ethernet bus. Specifically, the electronic control unit 400 may include a network communication unit, a processor, a memory, and the like. Specifically, the ecu 400 may be configured to control one or more vehicle auxiliary functions, receive sensor data forwarded by the data bus 300, send a sensor data acquisition request to the smart gateway 200, and so on.
Referring to fig. 1, in practical application, the sensor 100 can continuously acquire sensor data and transmit the acquired sensor data to the intelligent gateway 200, and the intelligent gateway 200 performs data analysis on the sensor data to obtain analyzed sensor data; the intelligent gateway 200 performs data caching on the analyzed sensor data; the intelligent gateway 200 determines sensor data forwarding configuration parameters of a target electronic control unit based on a sensor data acquisition request sent by the target electronic control unit 400 of a target vehicle; the intelligent gateway 200 determines the working state of the vehicle auxiliary function controlled by the target electronic control unit; the intelligent gateway 200 determines a sensor data forwarding strategy based on sensor data forwarding configuration parameters of the target electronic control unit and a working state of a vehicle auxiliary function controlled by the target electronic control unit; the intelligent gateway 200 acquires corresponding sensor data based on the sensor data forwarding policy, and forwards the corresponding sensor data to the data bus 300 corresponding to the sensor data forwarding policy. In one embodiment, before the intelligent gateway 200 acquires corresponding sensor data based on the sensor data forwarding policy and forwards the corresponding sensor data to the data bus 300 corresponding to the sensor data forwarding policy, the intelligent gateway 200 performs data acquisition permission detection based on the sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit 400 and the sensor number corresponding to the sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit 400, and when the result of the data acquisition permission detection is passed, the intelligent gateway 200 acquires corresponding sensor data based on the sensor data forwarding policy and forwards the sensor data to the data bus 300 corresponding to the sensor data forwarding policy. In another embodiment, when the result of the data acquisition permission detection is failed, the intelligent gateway 200 sends a forwarding rejection message to the target electronic control unit 400.
In addition, it should be noted that fig. 1 is only an example of a system architecture of a sensor data sharing system provided in the embodiment of the present application, and the present invention is not limited thereto, for example, the data bus 300 may include not only a CAN bus and an ethernet bus; CAN-FD bus and/or other types of data bus may also be included.
The sensor data sharing device determines sensor data forwarding configuration parameters of a target electronic control unit through an intelligent gateway based on a sensor data acquisition request sent by the target electronic control unit of a target vehicle; the intelligent gateway determines the working state of the vehicle auxiliary function controlled by the target electronic control unit, so that the subsequent reasonable allocation of resources is facilitated, the resource waste is reduced, the resource utilization rate is improved, and the sensor data allocation efficiency is improved; determining a sensor data forwarding strategy based on sensor data forwarding configuration parameters of the target electronic control unit and the working state of a vehicle auxiliary function controlled by the target electronic control unit through an intelligent gateway; the intelligent gateway acquires corresponding sensor data based on the sensor data forwarding strategy and forwards the sensor data to a data bus corresponding to the sensor data forwarding strategy, so that the accuracy of sensor data forwarding can be improved, the resource waste is reduced, and the cost is reduced; the priority of sensor data forwarding is determined through the intelligent gateway based on the working state of the vehicle auxiliary function controlled by the target electronic control unit, so that reasonable distribution of resources is facilitated, resource waste is reduced, the resource utilization rate is improved, and the sensor data forwarding efficiency is improved. By acquiring sensor data by using the sensor and transmitting corresponding sensor data to the intelligent gateway based on the type of the data interface, only a related peripheral interface circuit is required to be arranged on the intelligent gateway, and all related peripheral interfaces are not required to be realized on each electronic control unit, so that the number of peripheral interfaces of the electronic control units is greatly reduced, the development cost of hardware boards of the electronic control units is reduced, and the software development cost and complexity of the electronic control units are also reduced; the intelligent gateway caches the analyzed sensor data, can update the acquired sensor data in real time, and improves the reliability of the acquired sensor data. The intelligent gateway detects data acquisition permission based on sensor data required by a vehicle auxiliary function controlled by the target electronic control unit and a sensor number corresponding to the sensor data required by the vehicle auxiliary function controlled by the target electronic control unit, and when the result of the data acquisition permission detection is passed, the intelligent gateway acquires corresponding sensor data based on the sensor data forwarding strategy and forwards the corresponding sensor data to a data bus corresponding to the sensor data forwarding strategy; and when the data acquisition permission detection result is that the data acquisition permission detection result is failed, the intelligent gateway sends a forwarding refusal message to the target electronic control unit, so that the reliability and the safety of sensor data forwarding are improved.
Fig. 3 is a flowchart of a sensor data sharing method according to an embodiment of the present application, where the sensor data sharing method according to the embodiment of the present application performs sensor data sharing by using the sensor data sharing device shown in fig. 1, specifically, referring to fig. 3, the sensor data sharing method according to the embodiment of the present application includes the following steps:
s301: the intelligent gateway determines sensor data forwarding configuration parameters of a target electronic control unit based on a sensor data acquisition request sent by the target electronic control unit of a target vehicle.
Specifically, the sensor data acquisition request sent by the target electronic control unit includes an identification code of the target electronic control unit, where the identification code is uniquely determined and used to distinguish different electronic control units, and in one embodiment, a number may be used as the identification code. The intelligent gateway can determine sensor data forwarding configuration parameters of the target electronic control unit based on the identification code of the target electronic control unit carried in the sensor data acquisition request sent by the target electronic control unit of the target vehicle.
In this embodiment, the sensor data forwarding configuration parameters of the target electronic control unit may include, but are not limited to:
the target electronic control unit is used for controlling the vehicle auxiliary function to be used, and the target electronic control unit is used for controlling the vehicle auxiliary function to be used.
In practical applications, sensor data forwarding configuration parameters (including sensor data required to be used by a vehicle auxiliary function controlled by an electronic control unit, a sensor number corresponding to the sensor data required to be used by the vehicle auxiliary function controlled by the electronic control unit, and a data bus type corresponding to the electronic control unit) of all electronic control units are preset, and when a target electronic control unit sends a sensor data acquisition request to an intelligent gateway, the intelligent gateway can determine the sensor data forwarding configuration parameters of the target electronic control unit from the preset sensor data forwarding configuration parameters of all electronic control units based on an identification code of the target electronic control unit carried in the sensor data acquisition request.
The method comprises the steps that sensor data forwarding configuration parameters of a target electronic control unit are determined through an intelligent gateway based on a sensor data acquisition request sent by the target electronic control unit of a target vehicle, a sensor data forwarding strategy is determined by the intelligent gateway based on the sensor data forwarding configuration parameters of the target electronic control unit and the working state of a vehicle auxiliary function controlled by the target electronic control unit, and data acquisition permission detection is carried out by the intelligent gateway based on sensor data needed to be used by the vehicle auxiliary function controlled by the target electronic control unit and a sensor number corresponding to the sensor data needed to be used by the vehicle auxiliary function controlled by the target electronic control unit.
S302: and the intelligent gateway determines the working state of the vehicle auxiliary function controlled by the target electronic control unit.
Specifically, the operating state of the vehicle auxiliary function controlled by the target electronic control unit may include: working or not working.
Specifically, as shown in fig. 4, the method may include:
s401: the intelligent gateway acquires real-time conditions of the target vehicle.
Specifically, the real-time operating conditions of the target vehicle may include, but are not limited to:
the vehicle speed of the target vehicle, the door opening state of the target vehicle, the window opening state of the target vehicle, the in-vehicle temperature of the target vehicle, and the like.
S402: and the intelligent gateway detects the state of the vehicle auxiliary function controlled by the target electronic control unit based on the real-time working condition of the target vehicle to obtain the working state of the vehicle auxiliary function controlled by the target electronic control unit.
In practical application, for example, the vehicle speed of the target vehicle obtained by the intelligent gateway is 30Km/h, and when the vehicle auxiliary function controlled by the target electronic control unit is the 360-degree all-round parking auxiliary function, the intelligent gateway can perform state detection on the 360-degree all-round parking auxiliary function based on the vehicle speed of the target vehicle, and determine that the working state of the 360-degree all-round parking auxiliary function is not working.
The real-time working condition of the target vehicle is obtained through the intelligent gateway, the vehicle auxiliary function controlled by the target electronic control unit is subjected to state detection based on the real-time working condition of the target vehicle, the working state of the vehicle auxiliary function controlled by the target electronic control unit is obtained, the follow-up intelligent gateway is favorable for determining the priority of sensor data forwarding based on the working state of the vehicle auxiliary function controlled by the target electronic control unit, the reasonable distribution of resources is facilitated, the resource waste is reduced, the resource utilization rate is improved, and the sensor data distribution efficiency is improved.
S303: and the intelligent gateway determines a sensor data forwarding strategy based on the sensor data forwarding configuration parameters of the target electronic control unit and the working state of the vehicle auxiliary function controlled by the target electronic control unit.
Specifically, as shown in fig. 5, the determining, by the intelligent gateway, a sensor data forwarding policy based on the sensor data forwarding configuration parameters of the target electronic control unit and the operating state of the vehicle auxiliary function controlled by the target electronic control unit may include:
s501: the intelligent gateway determines the flow direction of sensor data forwarding based on the type of the data bus corresponding to the target electronic control unit;
in particular, the data bus types may include, but are not limited to:
CAN bus, CAN-FD bus, and ethernet bus.
The intelligent gateway determines the flow direction of sensor data forwarding based on the type of the data bus corresponding to the target electronic control unit, so that the reliability of sensor data forwarding can be improved, the sensor data are forwarded to the data bus corresponding to the sensor data forwarding strategy, the sensor data can be supplied to different electronic control units for utilization, the sensor data are not limited by the type of a sensor interface, the data utilization is more flexible, and the cost is reduced.
S502: the intelligent gateway determines the priority of sensor data forwarding based on the working state of the vehicle auxiliary function controlled by the target electronic control unit;
specifically, the priority may be set according to actual application requirements, and in one embodiment, the priority may include but is not limited to: high, low and no forwarding; in another embodiment, the priority may be set according to a digital code, and the priority may include but is not limited to: level 1, level 2, level 3, level 4, etc., with higher level numbers giving lower priority.
In practical applications, the determining, by the intelligent gateway, the priority of sensor data forwarding based on the operating state of the vehicle auxiliary function controlled by the target electronic control unit may include:
when the working state of the vehicle auxiliary function controlled by the target electronic control unit is working, determining that the priority of forwarding the sensor data to the vehicle auxiliary function is high; and when the working state of the vehicle auxiliary function controlled by the target electronic control unit is non-working, determining that the priority of forwarding the sensor data to the vehicle auxiliary function is low or not forwarding.
The intelligent gateway determines the priority of sensor data forwarding based on the working state of the vehicle auxiliary function controlled by the target electronic control unit, so that reasonable allocation of resources can be facilitated, resource waste is reduced, the resource utilization rate is improved, and the sensor data forwarding efficiency is improved.
S503: and the intelligent gateway takes the forwarding flow direction of the sensor data and the forwarding priority of the sensor data as the sensor data forwarding strategy.
The sensor data forwarding strategy is determined by the intelligent gateway based on the sensor data forwarding configuration parameters of the target electronic control unit and the working state of the vehicle auxiliary function controlled by the target electronic control unit, so that the reliability of sensor data forwarding can be improved, the sensor data are forwarded to a data bus corresponding to the sensor data forwarding strategy, the sensor data can be supplied to different electronic control units for utilization, the sensor data are not limited by the type of a sensor interface, the data utilization is more flexible, and the cost is reduced; the method is favorable for reasonable distribution of resources, reduces resource waste, improves the resource utilization rate and improves the sensor data forwarding efficiency.
S304: the intelligent gateway obtains corresponding sensor data based on the sensor data forwarding strategy and forwards the sensor data to a data bus corresponding to the sensor data forwarding strategy.
Specifically, a data bus corresponding to the sensor data forwarding strategy is determined according to the sensor data forwarding flow direction determined by the intelligent gateway based on the data bus type corresponding to the target electronic control unit, corresponding sensor data is obtained through the intelligent gateway based on the sensor data forwarding strategy, and the sensor data is forwarded to the data bus corresponding to the sensor data forwarding strategy, so that the sensor data forwarding accuracy can be improved, the resource waste can be reduced, and the cost can be reduced
In this specification, as shown in fig. 6, the method may further include:
s601: and acquiring sensor data by using the sensor, and transmitting the corresponding sensor data to the intelligent gateway based on the type of the data interface.
Specifically, the data interface types may include, but are not limited to:
CAN data interface, LIN data interface, ethernet data interface, flexRay data interface and SPI data interface.
In an embodiment of the present specification, the intelligent gateway includes one or more types of data receiving units, and is capable of receiving sensor data based on a data interface type, so that after the sensor data is collected by using a sensor, the corresponding sensor data can be transmitted to the intelligent gateway based on the data interface type. By the method, only the related peripheral interface circuit is needed to be arranged on the intelligent gateway, and all related peripheral interfaces are not needed to be realized on each electronic control unit, so that the number of the peripheral interfaces of the electronic control unit is greatly reduced, the development cost of a hardware board of the electronic control unit is reduced, and the software development cost and the complexity of the electronic control unit are also reduced.
S602: and the intelligent gateway analyzes the data of the sensor to obtain the analyzed sensor data.
In an embodiment of the present description, for corresponding sensor data sent by the sensor based on a data interface type, the intelligent gateway may perform data analysis on the sensor data based on the data interface type to obtain analyzed sensor data.
And carrying out data analysis on the sensor data through the intelligent gateway to obtain the analyzed sensor data, and facilitating the repacking of the sensor data in the follow-up process so as to send the sensor data to a corresponding data bus.
S603: and the intelligent gateway performs data caching on the analyzed sensor data.
And performing data caching on the analyzed sensor data through the intelligent gateway, updating the acquired sensor data in real time, and improving the reliability of the acquired sensor data.
In an embodiment of the present specification, the method may further include:
prior to forwarding the sensor data to a data bus corresponding to the sensor data forwarding policy,
and the intelligent gateway repackages the sensor data based on the type of the data bus corresponding to the sensor data forwarding strategy.
The sensor data is repackaged through the intelligent gateway based on the type of the data bus corresponding to the sensor data forwarding strategy, so that the sensor data can be forwarded to the data bus corresponding to the sensor data forwarding strategy in a follow-up mode, and the reliability of data forwarding is improved.
In one embodiment, as shown in fig. 7, the method further comprises:
before the intelligent gateway acquires corresponding sensor data based on the sensor data forwarding strategy and forwards the sensor data to a data bus corresponding to the sensor data forwarding strategy,
s701: and when the result of the data acquisition permission detection is that the data acquisition permission detection passes, the intelligent gateway acquires corresponding sensor data based on the sensor data forwarding strategy and forwards the corresponding sensor data to a data bus corresponding to the sensor data forwarding strategy.
Specifically, the performing, by the intelligent gateway, data acquisition permission detection based on the sensor data that needs to be used by the vehicle auxiliary function controlled by the target electronic control unit and the sensor number corresponding to the sensor data that needs to be used by the vehicle auxiliary function controlled by the target electronic control unit may include: the intelligent gateway compares the sensor data required by the vehicle auxiliary function controlled by the target electronic control unit with the sensor data which can be acquired by the vehicle auxiliary function controlled by the preset target electronic control unit; and comparing the sensor number corresponding to the sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit with a preset sensor number corresponding to the sensor data which can be acquired by the vehicle auxiliary function controlled by the target electronic control unit, and determining that the result of data acquisition permission detection is passed when the comparison results are the same.
In another embodiment, as shown in fig. 8, the method further comprises:
when the result of the data acquisition right detection is failed,
s801: and the intelligent gateway sends a forwarding refusal message to the target electronic control unit.
Specifically, the intelligent gateway compares sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit with sensor data which can be acquired by the preset vehicle auxiliary function controlled by the target electronic control unit; and comparing the sensor number corresponding to the sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit with a preset sensor number corresponding to the sensor data which can be acquired by the vehicle auxiliary function controlled by the target electronic control unit, and determining that the result of data acquisition permission detection is failed when the comparison result is different.
And carrying out data acquisition permission detection through the sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit through the intelligent gateway and the sensor number corresponding to the sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit, when the result of the data acquisition permission detection is passed, acquiring corresponding sensor data based on the sensor data forwarding strategy by the intelligent gateway, forwarding the corresponding sensor data to a data bus corresponding to the sensor data forwarding strategy, and when the result of the data acquisition permission detection is passed, sending a forwarding refusal message to the target electronic control unit by the intelligent gateway. The reliability and the safety of sensor data forwarding can be improved.
In the embodiment of the specification, a sensor data forwarding configuration parameter of a target electronic control unit is determined by an intelligent gateway based on a sensor data acquisition request sent by the target electronic control unit of a target vehicle; the intelligent gateway determines the working state of the vehicle auxiliary function controlled by the target electronic control unit, so that the subsequent reasonable allocation of resources is facilitated, the resource waste is reduced, the resource utilization rate is improved, and the sensor data allocation efficiency is improved; determining a sensor data forwarding strategy through an intelligent gateway based on sensor data forwarding configuration parameters of the target electronic control unit and working states of vehicle auxiliary functions controlled by the target electronic control unit; the intelligent gateway acquires corresponding sensor data based on the sensor data forwarding strategy and forwards the sensor data to a data bus corresponding to the sensor data forwarding strategy, so that the accuracy of sensor data forwarding can be improved, the resource waste is reduced, and the cost is reduced; the priority of sensor data forwarding is determined through the intelligent gateway based on the working state of the vehicle auxiliary function controlled by the target electronic control unit, so that reasonable distribution of resources is facilitated, resource waste is reduced, the resource utilization rate is improved, and the sensor data forwarding efficiency is improved. By acquiring sensor data by using the sensor and transmitting corresponding sensor data to the intelligent gateway based on the type of the data interface, only a related peripheral interface circuit is required to be arranged on the intelligent gateway, and all related peripheral interfaces are not required to be realized on each electronic control unit, so that the number of peripheral interfaces of the electronic control units is greatly reduced, the development cost of hardware boards of the electronic control units is reduced, and the software development cost and complexity of the electronic control units are also reduced; the intelligent gateway performs data caching on the analyzed sensor data, can update the acquired sensor data in real time, and improves the reliability of the acquired sensor data. The intelligent gateway detects data acquisition permission based on sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit and a sensor number corresponding to the sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit, and when the result of the data acquisition permission detection is passed, the intelligent gateway acquires corresponding sensor data based on the sensor data forwarding strategy and forwards the corresponding sensor data to a data bus corresponding to the sensor data forwarding strategy; and when the data acquisition permission detection result is that the data acquisition permission detection result is failed, the intelligent gateway sends a forwarding refusal message to the target electronic control unit, so that the reliability and the safety of sensor data forwarding are improved.
Embodiments of the present invention provide a computer device, which includes a processor and a memory, where at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the sensor data sharing method provided in the above method embodiments.
The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to use of the apparatus, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.
The method provided by the embodiment of the present invention may be executed in a mobile terminal, a computer terminal, a server, or a similar computing device, that is, the computer device may include an embedded terminal, a mobile terminal, a computer terminal, or a similar computing device. Taking the embedded terminal as an example, fig. 9 is a hardware structure block diagram of the embedded terminal of the sensor data sharing method provided in the embodiment of the present invention. As shown in fig. 9, the embedded terminal 900 may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 910 (the processors 910 may include but are not limited to a Processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 930 for storing data, and one or more storage media 920 (e.g., one or more mass storage devices) for storing applications 923 or data 922. Memory 930 and storage media 920 may be, among other things, transient or persistent storage. The program stored in the storage medium 920 may include one or more modules, each of which may include a series of instruction operations in a server. Further, the processor 910 may be configured to communicate with the storage medium 920, and execute a series of instruction operations in the storage medium 920 on the embedded terminal 900. The embedded terminal 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input-output interfaces 940, and/or one or more operating systems 921, such as Unix TM 、Linux TM 、FreeBSD TM 、QNX TM 、 FreeRTOS TM And VxWorks TM And so on.
The input/output interface 940 may be used to receive or transmit data via a network, and in practical applications, the types of the input/output interface may include, but are not limited to, a CAN data interface, a LIN data interface, an ethernet data interface, a FlexRay data interface, and an SPI data interface. The above-described specific examples of the network may include a wireless network provided by a communication provider of the embedded terminal 900. In one example, the input/output Interface 940 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the input/output interface 940 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
It will be understood by those skilled in the art that the structure shown in fig. 9 is only an illustration and is not intended to limit the structure of the electronic device. For example, the embedded terminal 900 may also include more or fewer components than shown in FIG. 9, or have a different configuration than shown in FIG. 9.
Embodiments of the present invention also provide a computer-readable storage medium, which may be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing a sensor data sharing method in the method embodiments, where the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement the sensor data sharing method provided in the method embodiments.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: various media that can store program codes, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), an SD card, and a Micro SD card (TF card).
As can be seen from the embodiments of the sensor data sharing method, apparatus, computer device, or storage medium provided by the present invention, the present invention determines the sensor data forwarding configuration parameters of the target electronic control unit based on the sensor data acquisition request sent by the target electronic control unit of the target vehicle through the intelligent gateway; the intelligent gateway determines the working state of the vehicle auxiliary function controlled by the target electronic control unit, so that the subsequent reasonable allocation of resources is facilitated, the resource waste is reduced, the resource utilization rate is improved, and the sensor data allocation efficiency is improved; determining a sensor data forwarding strategy through an intelligent gateway based on sensor data forwarding configuration parameters of the target electronic control unit and working states of vehicle auxiliary functions controlled by the target electronic control unit; the intelligent gateway acquires corresponding sensor data based on the sensor data forwarding strategy and forwards the sensor data to a data bus corresponding to the sensor data forwarding strategy, so that the accuracy of sensor data forwarding can be improved, the resource waste is reduced, and the cost is reduced; the priority of sensor data forwarding is determined through the intelligent gateway based on the working state of the vehicle auxiliary function controlled by the target electronic control unit, so that reasonable distribution of resources is facilitated, resource waste is reduced, the resource utilization rate is improved, and the sensor data forwarding efficiency is improved. By acquiring sensor data by using the sensor and transmitting corresponding sensor data to the intelligent gateway based on the type of the data interface, only a related peripheral interface circuit is required to be arranged on the intelligent gateway, and all related peripheral interfaces are not required to be realized on each electronic control unit, so that the number of peripheral interfaces of the electronic control units is greatly reduced, the development cost of hardware boards of the electronic control units is reduced, and the software development cost and complexity of the electronic control units are also reduced; the intelligent gateway performs data caching on the analyzed sensor data, can update the acquired sensor data in real time, and improves the reliability of the acquired sensor data. The intelligent gateway detects data acquisition permission based on sensor data required by a vehicle auxiliary function controlled by the target electronic control unit and a sensor number corresponding to the sensor data required by the vehicle auxiliary function controlled by the target electronic control unit, and when the result of the data acquisition permission detection is passed, the intelligent gateway acquires corresponding sensor data based on the sensor data forwarding strategy and forwards the corresponding sensor data to a data bus corresponding to the sensor data forwarding strategy; when the result of the data acquisition permission detection is failed, the intelligent gateway sends a forwarding refusal message to the target electronic control unit, so that the reliability and the safety of sensor data forwarding are improved.
It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus, device and storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps of implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, such as a read-only memory, an SD card or a Micro SD card (TF card).
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A sensor data sharing apparatus, characterized in that the apparatus comprises;
the system comprises a sensor, an intelligent gateway, a data bus and an electronic control unit;
the sensor is electrically connected with the intelligent gateway, the intelligent gateway is electrically connected with the data bus, and the data bus is electrically connected with the electronic control unit;
the intelligent gateway is used for determining sensor data forwarding configuration parameters of a target electronic control unit based on a sensor data acquisition request sent by the target electronic control unit of a target vehicle; determining the working state of the auxiliary function of the vehicle controlled by the target electronic control unit; determining a sensor data forwarding strategy based on sensor data forwarding configuration parameters of the target electronic control unit and working states of vehicle auxiliary functions controlled by the target electronic control unit; and acquiring corresponding sensor data based on the sensor data forwarding strategy, and forwarding the corresponding sensor data to a data bus corresponding to the sensor data forwarding strategy.
2. A sensor data sharing method for performing sensor data sharing by the sensor data sharing apparatus according to claim 1, the method comprising:
the intelligent gateway determines sensor data forwarding configuration parameters of a target electronic control unit based on a sensor data acquisition request sent by the target electronic control unit of a target vehicle;
the intelligent gateway determines the working state of the vehicle auxiliary function controlled by the target electronic control unit;
the intelligent gateway determines a sensor data forwarding strategy based on sensor data forwarding configuration parameters of the target electronic control unit and the working state of a vehicle auxiliary function controlled by the target electronic control unit;
the intelligent gateway obtains corresponding sensor data based on the sensor data forwarding strategy and forwards the corresponding sensor data to a data bus corresponding to the sensor data forwarding strategy.
3. The method of claim 2, wherein the intelligent gateway determining an operational status of the target electronic control unit controlled vehicle auxiliary function comprises:
the intelligent gateway acquires the real-time working condition of the target vehicle;
and the intelligent gateway detects the state of the vehicle auxiliary function controlled by the target electronic control unit based on the real-time working condition of the target vehicle to obtain the working state of the vehicle auxiliary function controlled by the target electronic control unit.
4. The method of claim 2, wherein the sensor data forwarding configuration parameters of the target electronic control unit comprise:
the vehicle auxiliary function controlled by the target electronic control unit needs to use sensor data, a sensor number corresponding to the sensor data needed to be used by the vehicle auxiliary function controlled by the target electronic control unit, and a data bus type corresponding to the target electronic control unit.
5. The method of claim 4, wherein the determining, by the intelligent gateway, a sensor data forwarding policy based on the sensor data forwarding configuration parameters of the target electronic control unit and the operating state of the vehicle auxiliary functions controlled by the target electronic control unit comprises:
the intelligent gateway determines the flow direction of sensor data forwarding based on the type of the data bus corresponding to the target electronic control unit;
the intelligent gateway determines the priority of sensor data forwarding based on the working state of the vehicle auxiliary function controlled by the target electronic control unit;
and the intelligent gateway takes the forwarding flow direction of the sensor data and the forwarding priority of the sensor data as the sensor data forwarding strategy.
6. The method of claim 4, further comprising:
before the intelligent gateway acquires corresponding sensor data based on the sensor data forwarding strategy and forwards the sensor data to a data bus corresponding to the sensor data forwarding strategy,
the intelligent gateway detects data acquisition permission based on sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit and sensor numbers corresponding to the sensor data required to be used by the vehicle auxiliary function controlled by the target electronic control unit, and when the result of the data acquisition permission detection is passed, the intelligent gateway acquires corresponding sensor data based on the sensor data forwarding strategy and forwards the corresponding sensor data to a data bus corresponding to the sensor data forwarding strategy.
7. The method of claim 6, further comprising:
and when the data acquisition permission detection result is that the data acquisition permission detection result does not pass, the intelligent gateway sends a forwarding refusal message to the target electronic control unit.
8. The method of claim 2, further comprising:
acquiring sensor data by using the sensor, and transmitting corresponding sensor data to the intelligent gateway based on the type of a data interface;
the intelligent gateway analyzes the data of the sensor to obtain analyzed sensor data;
and the intelligent gateway performs data caching on the analyzed sensor data.
9. A sensor data sharing device, characterized in that the device comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the sensor data sharing method according to any one of claims 2 to 8.
10. A computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the sensor data sharing method according to any one of claims 2 to 8.
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