CN114200873B - Modularized vehicle-mounted intelligent control software system based on SOA architecture and control method - Google Patents
Modularized vehicle-mounted intelligent control software system based on SOA architecture and control method Download PDFInfo
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- CN114200873B CN114200873B CN202210143714.2A CN202210143714A CN114200873B CN 114200873 B CN114200873 B CN 114200873B CN 202210143714 A CN202210143714 A CN 202210143714A CN 114200873 B CN114200873 B CN 114200873B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21063—Bus, I-O connected to a bus
Abstract
The invention discloses a modularized vehicle-mounted intelligent control software system based on SOA architecture and a control method, wherein in the system, an application layer comprises various functional application logic modules of vehicle-mounted intelligent control software, a protocol layer comprises a protocol analysis module for receiving data by various interfaces, an interaction layer comprises an interface module, and the interface module is connected with a drive of vehicle-mounted hardware; data communication is carried out between the three layers through the middleware, the protocol layer sends hardware initial information to the interaction layer, and the interaction layer calls a hardware driving interface to carry out hardware initialization according to the hardware initial information; the interaction layer sends the received original data to the protocol layer for analysis; and the functional application logic module in the application layer acquires the analytical data corresponding to the required vehicle-mounted hardware from the storage module to realize the corresponding function. Through the technical scheme of the invention, the independence and the stability of the components of the bottom layer and the middle layer of the system are kept, and the reusability and the portability of the program module are greatly enhanced.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted application systems, in particular to a modularized vehicle-mounted intelligent control software system based on an SOA (service oriented architecture) and a control method of the modularized vehicle-mounted intelligent control software system based on the SOA.
Background
For the automotive industry, greater changes will occur in the coming years. To mitigate global climate change, more and more automobile manufacturers are committing to phase out internal combustion engine powered vehicles and are eventually being replaced by electric vehicles capable of autonomous driving. The university of Munich technology informatics reputation professor, the automotive software expert, Manfred Broy, states: "past software is part of the car, whereas today software determines the value of the car. The success of a vehicle is more dependent on software than on machinery. "the international automobile research center automotive engineering department of the university of claimensen, usa, Zoran Filipi: "no other industry has experienced such a rapid technological change as the automotive industry. The impetus for this development comes from the upcoming demand, increasingly stringent carbon dioxide emission standards, with all previously unprecedented rates of automation and infotainment, and the desire to meet customer expectations for performance, comfort, and utility. "
Due to the requirements of intelligent networking, man-machine co-driving and automatic driving, the complexity of automobile software also rises in an exponential mode, the sensing and fusion of various sensors, the planning decision of complex and variable scenes and the control execution with high real-time requirement in an automatic driving system relate to a large number of calculations with large types of differences, and in a vehicle-road cooperative system, the vehicle-cloud-road cooperative communication and the data intercommunication sensing among the three components raise higher real-time and reliability requirements on a vehicle-end intelligent driving control software architecture; compared with the hardware and the interface part of the vehicle-mounted intelligent controller, the functions of adding a new physical interface and the like are difficult after the equipment is installed and the vehicle leaves the factory. The software of the vehicle-mounted intelligent driving controller needs to be decomposed into different service subsystems, so that the stability and reliability of the bottom layer of the software system are guaranteed, and the independent upgrade of the application function is realized.
The early in-vehicle embedded software has no unified standard, the basic software is strongly coupled with the application software and has no portability, and the introduction of the AUTOSAR standard standardizes the embedded software basic interface to ensure that an application developer carries out application development based on the unified basic software interface, but the business mode of the AutoSAR also causes great obstruction to the culture of talents. Although the standard of AutoSAR can be freely downloaded on the internet, as a large programmer, if you want to develop based on AutoSAR, you will first join an automobile software company, hope that the company can at least buy one pre-developed version with millions. Since the configuration of AutoSAR relies heavily on dedicated IDE tools, which typically sell 10 million dollars per License. So that the general enterprises can not buy too much. This also causes the AutoSAR technology talents to be a scare in the talent market.
In this context, many software architectures that can be used on the internet before can also be applied to automobile software after being modified and transformed, typically, the SOA architecture.
In 1996, Gartner proposed the concept of SOA (Service-Oriented Architecture) first, and in 2002, Gartner proposed SOA (Service-Oriented Architecture) which is the most important topic in the field of modern application development. By 2008, the SOA is expected to become an absolute dominant software engineering practice method. The perspective targets described by Gartner for SOA are: IT is made more flexible to respond to business unit needs more quickly, and Real-Time Enterprise is implemented. The six fields of construction technology, software engineering, software platforms, information safety, trusted computing and software industry are not only SOA core ideas, but also the basis of development and application of the SOA core ideas.
The SOA aims to decompose a system into different single small software services, the software service functions are separated from each other and are used as single application program functions or 'components', the components independently exist in a hardware platform of the vehicle-mounted intelligent driving controller, middleware is used among the components, well-defined interfaces and interface protocols are used among the components, the complicated software is decomposed into a plurality of software components and integrated in a low-coupling mode, the reliability and the reusability of software of the vehicle-mounted intelligent driving controller are improved, and a vehicle-mounted controller software developer is helped to realize application algorithms and update iteration of the software in a faster mode.
Disclosure of Invention
Aiming at the problems, the invention provides a modularized vehicle-mounted intelligent control software system based on an SOA architecture and a control method thereof, complex vehicle-end software is divided into different program components through the SOA architecture, communication among layers is realized by utilizing middleware which is independently packaged and developed, the realization of an interface and a protocol layer of an interaction layer is isolated from the software function implementation technology of an application layer, the independence and the stability of a system bottom layer and a middle layer component are kept, and the independence of the interaction layer of the bottom layer and the protocol layer of the middle layer is kept for the new increase and the upgrade of the program of the application layer, and the program is irrelevant to an operating system. The system is formed by assembling a plurality of subprograms in a low-coupling and high-cohesion mode, so that reusability and portability of a program module are greatly enhanced, the upgrading of functional applications such as an original automatic driving algorithm, vehicle-road cooperative application and the like is realized, the reliability of software is ensured, newly developed applications and algorithms can be integrated, and the production efficiency of application software is improved. Meanwhile, when the system is suitable, the system formed by aggregating the independent functions can be opened to the partner to realize win-win, and the system can quickly respond to new customer requirements, shorten the project development period and meet the current and long-term business application change and upgrade requirements.
In order to achieve the above object, the present invention provides a modular vehicle-mounted intelligent control software system based on an SOA architecture, comprising: an application layer, a protocol layer and an interaction layer;
the application layer comprises various functional application logic modules of vehicle-mounted intelligent control software, the protocol layer comprises a protocol analysis module for receiving data by each interface, the interaction layer comprises an interface module, and the interface module is connected with a driver of vehicle-mounted hardware;
the application layer, the protocol layer and the interaction layer are in data communication through middleware, the protocol layer sends preset hardware initial information to the interaction layer, and the interaction layer initializes the vehicle-mounted hardware by calling a corresponding hardware driving interface;
the interaction layer sends the original data uploaded by the vehicle-mounted hardware and received by the interface module to the protocol layer, and the protocol layer analyzes the original data and stores the analyzed data to the middleware;
and the functional application logic module in the application layer acquires the analytical data corresponding to the required vehicle-mounted hardware from the middleware to realize corresponding functions.
In the above technical solution, preferably, the application layer, the protocol layer, and the interaction layer are constructed based on an SOA architecture, the three layers are independent from each other, and the neutron modules in each layer are low-coupled and high-cohesive to realize the functions of the vehicle-mounted intelligent control software.
In the above technical solution, preferably, the interaction layer further includes a basic service module, the basic service module is connected to the interface module, and obtains basic service data from the vehicle-mounted hardware through the interface module, and the basic function application logic module in the application layer implements a basic service function according to analysis data of the basic service data.
In the above technical solution, preferably, the interaction layer specifically includes a daemon module, a log module, a timing module, an FTP module, a TCP client module, a TCP server module, a secure communication module, a network configuration module, and a storage management module;
the system comprises a daemon process module, a log module and a time correction module, wherein the daemon process module is used for starting, supervising and restarting processes, the log module is used for acquiring information of other modules to write in a log file and managing the log file, and the time correction module is used for performing time correction according to time correction source data;
the FTP module uploads and downloads files in a passive mode in a task pool mode, the TCP client module comprises a TCP client side, the TCP client side is connected with the TCP server module, the TCP server module realizes wireless data interaction with a vehicle-mounted terminal, and the TCP client side monitors interactive data through a socket and transmits the data to other modules;
the security communication module provides signature authentication and data encryption and decryption services, the network configuration module provides communication management services, and the storage management module provides storage and reading management services.
In the above technical solution, preferably, the interface module includes a serial port, a CAN FD, a GPIO, a vehicle ethernet, a USB, and an ADC interface, and the interface transmits data to the protocol layer through the middleware, and the protocol analysis module of the corresponding interface in the protocol layer analyzes the data.
In the above technical solution, preferably, the protocol layer includes a serial port protocol module, a CAN protocol module, a vehicle-mounted ethernet protocol module, and a platform protocol module;
the serial port protocol module carries out socket communication with an interface corresponding to the interface module according to the type of the external equipment, and provides serial port data analysis and serial port data packaging services;
the CAN protocol module provides CAN data analysis and packaging services according to the type of external equipment;
the vehicle-mounted Ethernet protocol module provides vehicle-mounted Ethernet data analysis and packaging service according to external vehicle-mounted Ethernet equipment;
and the platform protocol module provides format analysis and data packaging services for data interaction with the platform according to the type of the link platform.
The invention also provides a control method of the modularized vehicle-mounted intelligent control software system based on the SOA architecture, which is applied to the modularized vehicle-mounted intelligent control software system based on the SOA architecture disclosed by any one of the technical schemes and comprises the following steps:
the protocol layer sends the initial information of the vehicle-mounted hardware to the interaction layer;
the interaction layer sends the initial information to corresponding vehicle-mounted hardware through a hardware driving interface for initialization;
the interaction layer receives the original data of the vehicle-mounted hardware through a hardware interface and uploads the original data to the protocol layer;
the protocol layer respectively analyzes the data of the original data according to the interface type;
and the functional application logic module in the application layer acquires the analytical data corresponding to the required vehicle-mounted hardware so as to realize corresponding functions.
In the above technical solution, preferably, the control method further includes:
the application layer calculates control data aiming at the vehicle-mounted hardware according to a corresponding functional application logic algorithm;
the protocol layer acquires the control data and packs the control data;
and the interaction layer sends the packed control signal to corresponding vehicle-mounted hardware through a hardware interface.
In the above technical solution, preferably, the control method further includes: acquiring basic service data by the vehicle-mounted hardware through an interface of the interaction layer;
and realizing the basic service function by a basic function application logic module in the application layer according to the analysis data of the basic service data.
In the above technical solution, preferably, the basic function application logic module includes a daemon process module, a log module, a timing module, an FTP module, a TCP client module, a TCP server module, a secure communication module, a network configuration module, and a storage management module;
the system comprises a daemon process module, a log module and a time correction module, wherein the daemon process module is used for starting, supervising and restarting processes, the log module is used for acquiring information of other modules to write in a log file and managing the log file, and the time correction module is used for performing time correction according to time correction source data;
the FTP module uploads and downloads files in a passive mode in a task pool mode, the TCP client module comprises a TCP client side, the TCP client side is connected with the TCP server module, the TCP server module realizes wireless data interaction with a vehicle-mounted terminal, and the TCP client side monitors interactive data through a socket and transmits the data to other modules;
the security communication module provides signature authentication and data encryption and decryption services, the network configuration module provides communication management services, and the storage management module provides storage and reading management services.
Compared with the prior art, the invention has the beneficial effects that: the method has the advantages that complex vehicle-end software is split into different program components through an SOA (service oriented architecture), communication among layers is realized by utilizing middleware which is independently packaged and developed, an interface and a protocol layer of an interaction layer are isolated from a software function implementation technology of an application layer, and the independence and stability of components at a bottom layer and a middle layer of a system are kept, so that the program of the application layer is newly added and upgraded and is independent from the interaction layer and the protocol layer of the middle layer at the bottom layer and is irrelevant to an operating system. The system is formed by assembling a plurality of subprograms in a low-coupling and high-cohesion mode, so that reusability and portability of a program module are greatly enhanced, the upgrading of functional applications such as an original automatic driving algorithm, vehicle-road cooperative application and the like is realized, the reliability of software is ensured, newly developed applications and algorithms can be integrated, and the production efficiency of application software is improved. Meanwhile, when the system is suitable, the system formed by aggregating the independent functions can be opened to the partner to realize win-win, and the system can quickly respond to new customer requirements, shorten the project development period and meet the current and long-term business application change and upgrade requirements.
Drawings
Fig. 1 is a schematic structural diagram of a modular vehicle-mounted intelligent control software system based on an SOA architecture according to an embodiment of the present invention;
FIG. 2 is a schematic flow diagram of GPS and gyroscope data according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a flow of CAN data from vehicle-mounted hardware data to an application algorithm according to an embodiment of the present invention;
fig. 4 is a schematic flow diagram of CAN data from an application algorithm to vehicle hardware data according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention is described in further detail below with reference to the attached drawing figures:
as shown in fig. 1, the modular vehicle-mounted intelligent control software system based on the SOA architecture provided by the present invention includes: an application layer, a protocol layer and an interaction layer;
the application layer comprises various functional application logic modules of vehicle-mounted intelligent control software, the protocol layer comprises a protocol analysis module for receiving data by each interface, and the interaction layer comprises an interface module which is connected with a driver of vehicle-mounted hardware;
the application layer, the protocol layer and the interaction layer are in data communication through the middleware, the protocol layer sends preset hardware initial information to the interaction layer, and the interaction layer initializes the vehicle-mounted hardware by calling corresponding hardware driving interfaces;
the interaction layer sends the original data uploaded by the vehicle-mounted hardware and received by the interface module to the protocol layer, and the protocol layer analyzes the original data and stores the analyzed data to the middleware;
and the functional application logic module in the application layer acquires the analytical data corresponding to the required vehicle-mounted hardware from the middleware to realize corresponding functions.
In the embodiment, the complex vehicle-end software is split into different program components through the SOA architecture, communication among the layers is realized by utilizing the middleware which is independently packaged and developed, the realization of the interface and the protocol layer of the interaction layer is isolated from the software function implementation technology of the application layer, and the independence and the stability of the system bottom layer and the middle layer components are kept, so that the independence of the interaction layer and the protocol layer of the middle layer relative to the bottom layer is kept when the program of the application layer is newly added and upgraded, and the program is irrelevant to an operating system. The system is formed by assembling a plurality of subprograms in a low-coupling and high-cohesion mode, so that reusability and portability of a program module are greatly enhanced, the upgrading of functional applications such as an original automatic driving algorithm, vehicle-road cooperative application and the like is realized, the reliability of software is ensured, newly developed applications and algorithms can be integrated, and the production efficiency of application software is improved. Meanwhile, when the system is suitable, the system formed by aggregating the independent functions can be opened to the partner to realize win-win, and the system can quickly respond to new customer requirements, shorten the project development period and meet the current and long-term business application change and upgrade requirements.
Specifically, the application layer is all application logic processing, including an automatic driving algorithm, implementation of a vehicle-road cooperative scene, and the like, the protocol layer is used for analyzing and packaging a protocol for receiving data by each interface, and the interaction layer is initialization of each bottom layer data interface and reading and writing of data.
Taking an autopilot (electric only) application as an example, the input and output enumeration portion of the autopilot application is as follows:
1. input signal
Positioning and gyroscope data: longitude, latitude, yaw and angular velocity, pitch and angular velocity, roll and angular velocity, X/Y/Z acceleration … …
Vehicle data: vehicle speed, power battery voltage, power battery current, bus voltage, bus current, motor speed, motor torque, current brake pressure, current steering wheel angle, current steering wheel angular velocity … …
2. Output signal
Control information: target vehicle speed, target accelerator pedal opening, target brake pressure, target steering wheel angle, target steering wheel angular velocity, radar scan length/width range … …
As described above, the interaction layer obtains data of the vehicle-mounted hardware through the specific interface as an input signal, performs protocol analysis on the data of the specific interface through the protocol layer, inputs the obtained data into the automatic driving application program module of the application layer for calculation to obtain the output signal, and controls the vehicle-mounted hardware by using the output signal to realize automatic driving.
In the above embodiment, preferably, the application layer, the protocol layer and the interaction layer are constructed based on an SOA architecture, the three layers are independent from each other, and the neutron modules in each layer are low-coupled and high-cohesive to realize the function of the vehicle-mounted intelligent control software.
In the foregoing embodiment, preferably, the interaction layer further includes a basic service module, the basic service module is connected to the interface module, and obtains basic service data from the vehicle-mounted hardware through the interface module, and the basic function application logic module in the application layer implements a basic service function according to analysis data of the basic service data. Specifically, the basic service module includes basic functions of device self-check, device registration, fault information upload, OTA, log upload, device information acquisition, and the like, and provides a corresponding data read-write interface.
In the above embodiment, preferably, the interaction layer specifically includes a daemon module, a log module, a timing module, an FTP module, a TCP client module, a TCP server module, a secure communication module, a network configuration module, and a storage management module;
the daemon module is used for starting, supervising and restarting each process, specifically, reading a process. And starts the respective processes. Then, continuously monitoring the state of each process, restarting the abnormal process, and executing the version rollback of the corresponding process if the abnormal process is still abnormal after being restarted for multiple times; and (4) carrying out dog feeding operation by the daemon process, and triggering the controller to restart softly when the daemon process is abnormal.
The log module is used for acquiring information of other modules to write in a log file and managing the log file, specifically, creating the log file according to the current time, acquiring log information of each module in a socket mode, and uniformly writing and storing the log information into the log file according to the time, the module name, the state name and the state information format; meanwhile, the module manages the log file, only keeps the log within 7 days, and provides a log writing interface and a log file uploading interface.
The timing module carries out time calibration according to timing source data, and specifically, the timing source of the timing module is three: satellite positioning timing, communication module (base station) timing, and server timing (NTP protocol). According to different time service precision, the communication module time service and the server time service are used as alternative schemes, GPS time correction is used as the highest precision source, and after satellite positioning is successful, the GPS time correction is firstly used, a time acquisition interface is provided, and a time correction interface is actively triggered.
The FTP module uploads and downloads files in a passive mode by adopting a task pool mode, specifically, receives information (FTP server information, file information, check codes and the like) required to be downloaded by other modules, downloads/uploads the files in the passive mode, checks the files after the downloading is finished, returns a processing result of the corresponding module, and provides a file uploading/downloading interface and a processing result returning interface.
The TCP client module comprises a TCP client side, the TCP client side is connected with the TCP server module, the TCP server module realizes wireless data interaction with the vehicle-mounted terminal, and the TCP client side monitors interactive data through a socket and transmits the data to other modules.
Specifically, the TCP client module is configured to build a reliable TCP client, complete connection (automatic reconnection mechanism) with a platform TCP server (not limited to a single TCP client) and data interaction, unify a port interacting with the platform, monitor data interacting with the platform by each other module through a socket, and transmit the data to the other modules, that is, the TCP client module provides a read-write interface for creating the TCP client and communicating with an opposite-end TCP server.
The TCP server module is used for building a TCP server in the intelligent driving controller, completing wireless data interaction between the intelligent driving controller and other vehicle-mounted terminals, and providing related data transparent transmission service for other components, namely, the TCP server module provides a TCP server establishing interface and a reading and writing interface for communicating with an opposite terminal TCP client.
The safety communication module provides signature authentication and data encryption and decryption services, particularly realizes the signature authentication and data encryption/decryption services with a platform, realizes the online updating of a CA certificate and the real-time signature and signature verification services in the V2X function module, and provides interfaces for signature, signature verification, data encryption and data decryption.
The network configuration module provides communication management service, realizes communication module management (obtaining ICCID, IMEI and networking) service, wifi configuration (SSID, wifi password, channel, wifi protocol stack) and other functions, and provides communication module management and wifi configuration interfaces.
The storage management module provides storage and reading management services, specifically provides EEPROM storage and reading management services, and provides an EEPROM storage and reading interface.
In the above embodiment, preferably, the interface module includes a serial port, a CAN FD, a GPIO, a vehicle-mounted ethernet, a USB, an ADC, a voice, an LED indicator, and the like, and the various interfaces are initialized as needed, and the interfaces transmit data to the protocol layer through middleware such as a shared memory and a socket, and the protocol analysis module corresponding to the interfaces in the protocol layer analyzes the data, thereby completing communication between the interface receipt and the upper layer component, and providing an initialization interface corresponding to the interfaces and a data read-write interface.
In the above embodiment, preferably, the protocol layer includes a serial port protocol module, a CAN protocol module, a vehicle-mounted ethernet protocol module, and a platform protocol module;
the serial port protocol module carries out socket communication with an interface corresponding to the interface module according to the type of the external equipment, and provides services of serial port data analysis and serial port data packaging;
the CAN protocol module provides CAN data analysis and packaging services according to the type of the external equipment;
the vehicle-mounted Ethernet protocol module provides vehicle-mounted Ethernet data analysis and packaging service according to external vehicle-mounted Ethernet equipment;
and the platform protocol module provides format analysis and data packaging services for data interaction with the platform according to the type of the link platform.
The invention also provides a control method of the modularized vehicle-mounted intelligent control software system based on the SOA architecture, which is applied to the modularized vehicle-mounted intelligent control software system based on the SOA architecture disclosed in any one of the embodiments and comprises the following steps:
the protocol layer sends the initial information of the vehicle-mounted hardware to the interaction layer;
the interaction layer sends the initial information to corresponding vehicle-mounted hardware through a hardware driving interface to initialize;
the interaction layer receives original data of the vehicle-mounted hardware through the hardware interface and uploads the original data to the protocol layer;
the protocol layer respectively analyzes the data of the original data according to the interface type;
and the functional application logic module in the application layer acquires the analytical data corresponding to the required vehicle-mounted hardware so as to realize corresponding functions.
In the embodiment, the complex vehicle-end software is split into different program components through the SOA architecture, communication among the layers is realized by utilizing the middleware which is independently packaged and developed, the realization of the interface and the protocol layer of the interaction layer is isolated from the software function implementation technology of the application layer, and the independence and the stability of the system bottom layer and the middle layer components are kept, so that the independence of the interaction layer and the protocol layer of the middle layer relative to the bottom layer is kept when the program of the application layer is newly added and upgraded, and the program is irrelevant to an operating system. The system is formed by assembling a plurality of subprograms in a low-coupling and high-cohesion mode, so that reusability and portability of a program module are greatly enhanced, upgrading of functional applications such as an original automatic driving algorithm and vehicle-road cooperative application is realized, reliability of software is guaranteed, newly developed applications and algorithms can be integrated, and production efficiency of application software is improved. Meanwhile, when the system is suitable, the system formed by aggregating the independent functions can be opened to the partner to realize win-win, and the system can quickly respond to new customer requirements, shorten the project development period and meet the current and long-term business application change and upgrade requirements.
In the above embodiment, preferably, the control method further includes:
the application layer calculates to obtain control data aiming at the vehicle-mounted hardware according to a corresponding functional application logic algorithm;
the protocol layer acquires control data and packages the control data;
and the interaction layer sends the packed control signal to corresponding vehicle-mounted hardware through a hardware interface.
In the above embodiment, preferably, the control method further includes: acquiring basic service data by vehicle-mounted hardware through an interface of an interaction layer;
and realizing the basic service function by a basic function application logic module in the application layer according to the analysis data of the basic service data.
In the above embodiment, preferably, the basic function application logic module includes a daemon process module, a log module, a timing module, an FTP module, a TCP client module, a TCP server module, a secure communication module, a network configuration module, and a storage management module;
the system comprises a daemon process module, a log module, a time correction module and a time correction module, wherein the daemon process module is used for starting, supervising and restarting processes, the log module is used for acquiring information of other modules to write in a log file and managing the log file, and the time correction module is used for performing time correction according to time correction source data;
the FTP module uploads and downloads files in a passive mode in a task pool mode, the TCP client module comprises a TCP client, the TCP client is connected with the TCP server module, the TCP server module realizes wireless data interaction with the vehicle-mounted terminal, and the TCP client monitors interactive data through a socket and transmits the data to other modules;
the safety communication module provides signature authentication and data encryption and decryption services, the network configuration module provides communication management services, and the storage management module provides storage and reading management services.
As shown in fig. 2, according to the control method of the modular vehicle-mounted intelligent control software system based on the SOA architecture disclosed in the embodiment, taking the flow direction of the GPS and gyroscope data under the autopilot application as an example, the control method is specifically described as follows:
the protocol layer sends initial information of the gps and the gyroscope module to the interaction layer assembly, the interaction layer gps and the gyroscope assembly are initialized, the interaction layer uploads original data to the protocol layer gps and the gyroscope assembly, the protocol layer analyzes the data and stores the data to a shared memory, and the autopilot application program reads the data and applies the data to an algorithm.
As shown in fig. 3, taking CAN data flow from vehicle-mounted hardware data to application program algorithm as an example, the control method is specifically described as follows:
the protocol layer sends CAN bus module initial information to the interaction layer assembly, the interaction layer CAN assembly is initialized, the interaction layer uploads original data to the protocol layer CAN assembly, and the protocol layer analyzes the data and stores the data to the shared memory.
As shown in fig. 4, taking CAN data flow from application algorithm to vehicle-mounted hardware data as an example, the control method is specifically described as follows:
the automatic driving application layer program reads data and applies the data to an algorithm, the automatic driving application program calculates a target vehicle control signal, the protocol layer acquires a corresponding signal value (shared memory) according to a signal name, the protocol layer packs the control signal into a CAN message according to a bus protocol, and the interaction layer reads and transmits the latest CAN message according to an initialization period.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A modularized vehicle-mounted intelligent control software system based on SOA architecture is applied to integration of vehicle-mounted software application programs and is characterized by comprising the following steps: an application layer, a protocol layer and an interaction layer;
the application layer comprises various functional application logic modules of vehicle-mounted intelligent control software, the protocol layer comprises a protocol analysis module for receiving data by each interface, the interaction layer comprises an interface module, and the interface module is connected with a driver of vehicle-mounted hardware;
the application layer, the protocol layer and the interaction layer are in data communication through middleware, the protocol layer sends preset hardware initial information to the interaction layer, and the interaction layer initializes the vehicle-mounted hardware by calling a corresponding hardware driving interface;
the interaction layer sends the original data uploaded by the vehicle-mounted hardware and received by the interface module to the protocol layer, and the protocol layer analyzes the original data and stores the analyzed data to the middleware;
and the functional application logic module in the application layer acquires the analytic data corresponding to the required vehicle-mounted hardware from the middleware to realize corresponding functions.
2. The SOA-architecture-based modular vehicle-mounted intelligent control software system according to claim 1, characterized in that the application layer, the protocol layer and the interaction layer are constructed based on an SOA architecture, the three layers are independent from each other, and the submodules in each layer are low-coupled and high-cohesive to realize the functions of the vehicle-mounted intelligent control software.
3. The SOA-architecture-based modular vehicle-mounted intelligent control software system as claimed in claim 1, wherein the interaction layer further comprises a basic service module, the basic service module is connected with the interface module, basic service data is obtained by the vehicle-mounted hardware through the interface module, and a basic function application logic module in the application layer realizes a basic service function according to analysis data of the basic service data.
4. The SOA-architecture-based modular vehicle-mounted intelligent control software system according to claim 3, wherein the interaction layer specifically comprises a daemon module, a log module, a timing module, an FTP module, a TCP client module, a TCP server module, a secure communication module, a network configuration module and a storage management module;
the system comprises a daemon process module, a log module and a time correction module, wherein the daemon process module is used for starting, supervising and restarting processes, the log module is used for acquiring information of other modules to write in a log file and managing the log file, and the time correction module is used for performing time correction according to time correction source data;
the FTP module uploads and downloads files in a passive mode in a task pool mode, the TCP client module comprises a TCP client side, the TCP client side is connected with the TCP server module, the TCP server module realizes wireless data interaction with a vehicle-mounted terminal, and the TCP client side monitors interactive data through a socket and transmits the data to other modules;
the security communication module provides signature authentication and data encryption and decryption services, the network configuration module provides communication management services, and the storage management module provides storage and reading management services.
5. The SOA-architecture-based modular vehicle-mounted intelligent control software system according to claim 1 or 3, characterized in that the interface module comprises a serial port, a CAN FD, a GPIO, a vehicle-mounted Ethernet, a USB and an ADC interface, the interface transmits data to the protocol layer through the middleware, and the data is analyzed by a protocol analysis module of a corresponding interface in the protocol layer.
6. The SOA architecture-based modular vehicle-mounted intelligent control software system of claim 5, wherein the protocol layer comprises a serial protocol module, a CAN protocol module, a vehicle-mounted Ethernet protocol module and a platform protocol module;
the serial port protocol module carries out socket communication with an interface corresponding to the interface module according to the type of the external equipment, and provides serial port data analysis and serial port data packaging services;
the CAN protocol module provides CAN data analysis and packaging services according to the type of external equipment;
the vehicle-mounted Ethernet protocol module provides vehicle-mounted Ethernet data analysis and packaging service according to external vehicle-mounted Ethernet equipment;
and the platform protocol module provides format analysis and data packaging services for data interaction with the platform according to the type of the link platform.
7. A control method of a modularized vehicle-mounted intelligent control software system based on an SOA architecture is applied to the modularized vehicle-mounted intelligent control software system based on the SOA architecture in any one of claims 1 to 6, and is characterized by comprising the following steps:
the protocol layer sends the initial information of the vehicle-mounted hardware to the interaction layer;
the interaction layer sends the initial information to corresponding vehicle-mounted hardware through a hardware driving interface for initialization;
the interaction layer receives the original data of the vehicle-mounted hardware through a hardware interface and uploads the original data to the protocol layer;
the protocol layer respectively analyzes the data of the original data according to the interface type;
and the functional application logic module in the application layer acquires the analytical data corresponding to the required vehicle-mounted hardware so as to realize corresponding functions.
8. The control method of the modular vehicle-mounted intelligent control software system based on the SOA architecture of claim 7, further comprising:
the application layer calculates control data aiming at the vehicle-mounted hardware according to a corresponding functional application logic algorithm;
the protocol layer acquires the control data and packs the control data;
and the interaction layer sends the packed control signal to corresponding vehicle-mounted hardware through a hardware interface.
9. The control method of the modular vehicle-mounted intelligent control software system based on the SOA architecture of claim 8, further comprising:
acquiring basic service data by the vehicle-mounted hardware through an interface of the interaction layer;
and realizing the basic service function by a basic function application logic module in the application layer according to the analysis data of the basic service data.
10. The SOA-architecture-based control method for the modular vehicle-mounted intelligent control software system according to claim 9, wherein the basic function application logic module comprises a daemon process module, a log module, a timing module, an FTP module, a TCP client module, a TCP server module, a secure communication module, a network configuration module and a storage management module;
the system comprises a daemon process module, a log module and a time correction module, wherein the daemon process module is used for starting, supervising and restarting processes, the log module is used for acquiring information of other modules to write in a log file and managing the log file, and the time correction module is used for performing time correction according to time correction source data;
the FTP module uploads and downloads files in a passive mode in a task pool mode, the TCP client module comprises a TCP client side, the TCP client side is connected with the TCP server module, the TCP server module realizes wireless data interaction with a vehicle-mounted terminal, and the TCP client side monitors interactive data through a socket and transmits the data to other modules;
the security communication module provides signature authentication and data encryption and decryption services, the network configuration module provides communication management services, and the storage management module provides storage and reading management services.
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