CN115113603A - Electrical architecture system for vehicle and vehicle - Google Patents
Electrical architecture system for vehicle and vehicle Download PDFInfo
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- CN115113603A CN115113603A CN202210618011.0A CN202210618011A CN115113603A CN 115113603 A CN115113603 A CN 115113603A CN 202210618011 A CN202210618011 A CN 202210618011A CN 115113603 A CN115113603 A CN 115113603A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Abstract
The invention provides an electrical architecture system for a vehicle and a vehicle, the architecture system comprising: the basic platform layer comprises a service software layer, a middleware and a hardware layer, wherein the middleware is arranged between the service software layer and the hardware layer and is used for decoupling software and hardware; the application software layer is used for carrying out service function logic design according to service functions and user requirements; and the application software layer calls the service software of the service software layer through the service communication interface. The functional software does not depend on other functional software, and does not use the fixed CAN signal communication among the functional software for logic binding, but applies the Ethernet dynamic connection technology, designs a service software interface, is called by the functional software, and the whole architecture system has higher mobility, CAN realize the reconstruction of the functional software, rearranges the service and completes the agile development of the software. The invention can quickly and conveniently finish the requirement of function development under the increasing user function requirements, and can carry out infinite function reconstruction according to the user requirements.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an electrical framework system for a vehicle and the vehicle.
Background
The current electronic and electrical architecture design is a traditional distributed architecture design, the functional design is relatively solidified, control is generally performed based on interaction signals among controllers, complex interaction logic exists among functional software, decoupling design is not performed, and therefore each function needs to be controlled by binding other functional software. The electronic and electrical architecture platform is not beneficial to the platform, the modularized functional design, the increasingly vehicle individuation, the intellectualization and the service design facing the user.
Particularly, for the electrical architecture design of a control system of a vehicle, the function development of the control system cannot meet the increasing user experience requirements, and a series of logic of relevant controllers or CAN signal changes are required in the function development process or the new design change process.
Referring to fig. 1, fig. 1 is a conventional electrical architecture in the prior art, when software controllers (ECUs 1-ECUn) need to be changed, each software controller needs to be updated when a new function is updated due to the coupling of the software controllers, and the development cycle is long and the cost is very high.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention provides an electrical architecture system for a vehicle and the vehicle, and aims to solve the technical problems that in the prior art, control is performed based on interaction signals among controllers, an electronic electrical architecture platform is not beneficial to platform and modularized functional design, and the like.
In a first aspect of the present invention, there is provided an electrical architecture system for a vehicle, the architecture system comprising: the basic platform layer comprises a service software layer, a middleware and a hardware layer, wherein the middleware is arranged on the service software layer and the hardware layerBetween ， For decoupling of software from hardware; the application software layer comprises application software, and the application software is used for carrying out service function logic design according to service functions and user requirements; the application software layer calls the service software of the service software layer through the service communication interface. The method comprises the steps of splitting an original function software architecture in the prior art into two layers of software, namely an application software layer and a basic platform layer, converting a vehicle basic function into service software in the service software layer, and completing service interface design aiming at the service software, wherein the application software in the application software layer completes flexible arrangement design of functional logic by calling the service software; the base platform layer completes control of the actuator or data acquisition of the sensor, layered independent design is realized, and decoupling is realized layer by layer.
In an alternative aspect of the invention, the base platform layer comprises one or more selected from the group consisting of: the system comprises an atomic service, an integrated service and an interactive service, wherein the atomic service, the integrated service and the interactive service jointly realize a service software library which is used for being called by a software layer.
In an alternative embodiment of the present invention, the hardware layer includes an MCU microcontroller and an MPU microprocessor, where the MCU is used for processing control logic and the MPU is used for software operation requiring high computational power. Therefore, different controllers are used under different requirements, the matching degree of the controllers and functions is higher, the response is faster, and consideration on space and energy consumption is taken into account.
In an optional aspect of the present invention, the architecture system further comprises: a standard control layer comprising a plurality of curing hardware, the curing hardware comprising one or more selected from the group consisting of: sensor, executor, drive, regional control, wherein standard control layer connects at the hardware layer.
In an optional aspect of the present invention, the base platform layer further includes a virtualization and an operating system, the virtualization employs a Hypervisor virtual machine technology, and the operating system includes at least one of LINUX and QNX.
In an optional aspect of the invention, the middleware includes Classic AUTOSAR and Adaptive AUTOSAR software.
In the optional scheme of the invention, the application software layer calls the service software of the service software layer through the service communication interface, and the SOME/IP communication interface is adopted to complete the dynamic calling of the service software.
In an alternative aspect of the invention, the application software layer and the base platform layer are deployed in a functional domain controller.
In the optional scheme of the invention, the application software of the application software layer and the application software are subjected to soft and soft decoupling through service software; the decoupling of the application software and the hardware is completed between the application software and the hardware layer of the application software layer through the middleware; service software of the service software layer is decoupled from service software through middleware.
In a second aspect of the invention, there is also provided a vehicle comprising the electrical architecture system for a vehicle described above.
To sum up, the embodiment of the invention provides an electrical architecture system for a vehicle, which splits an original function software architecture in the prior art into two layers of software, namely an application software layer and a basic platform layer, converts a basic function of the vehicle into service software in a software service layer, and completes service interface design aiming at the service software, and the application software in the application software layer completes flexible arrangement design of functional logic by calling the service software; the basic platform layer finishes control on an actuator or data acquisition of a sensor, realizes layered independent design and layer-by-layer decoupling, solves the decoupling between functional software (the functional software is defined as application software and service software), ensures that the functional software does not depend on other functional software, does not use fixed CAN signal communication between the functional software and the service software to carry out logic binding, but applies an Ethernet dynamic connection technology, designs a service software interface, is called by the functional software, has higher mobility, CAN realize functional software reconstruction and rearrangement service, and finishes agile software development. The invention can quickly and conveniently finish the requirement of function development under the increasing user function requirements, and can carry out infinite function reconstruction according to the user requirements.
Additional features and advantages of embodiments of the invention will be described in the detailed description which follows.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a connection topology diagram of a prior art architecture system according to an embodiment of the present invention;
FIG. 2 is a connection topology diagram of an electrical architecture system for a vehicle provided by an embodiment of the present invention;
FIG. 3 is a block schematic diagram of an electrical architecture system for a vehicle provided by an embodiment of the present invention; and
fig. 4 is a block diagram of an exemplary architecture-specific system according to an embodiment of the present invention.
In the above figures, the list of parts represented by the various reference numerals is as follows:
[ SUMMARY OF THE INVENTION ]
100. An electrical architecture system for a vehicle;
101. a base platform layer; 101a, a service software layer;
101b, an operating system; 101c, a hardware layer;
102. an application software layer; 103. A standard control layer;
b1, middleware; b2, virtualization;
[ EXAMPLES one ]
a. A service software layer; b. An application software layer;
c. a window controller; d. A driver state detector;
e. an air conditioner controller; f. A sound box;
g. a central control screen; h. A body area controller BU;
i. an entertainment cockpit domain controller; j. A GW gateway.
Detailed Description
In order to make the above and other features and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are for purposes of illustration only and are not intended to be limiting.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Techniques, methods, and systems known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
Most of vehicle system architectures in the prior art are controlled based on interaction signals among controllers, function development of the vehicle system architectures cannot meet increasing user experience requirements, logic or CAN (controller area network) signals of a series of relevant controllers are required to be changed in the process of function development or in the process of new design change, development difficulty and development cycle of new functions are increased, and iteration of the functions is not facilitated.
[ SUMMARY OF THE INVENTION ]
Referring to fig. 2 and 3, fig. 2 is a connection topology diagram of an electrical architecture system for a vehicle according to an embodiment of the present invention; FIG. 3 is a block diagram representation of an electrical architecture system for a vehicle provided by an embodiment of the present invention. In one general inventive concept of an embodiment of the present invention, there is first provided an electrical architecture system 100 for a vehicle, the architecture system 100 including:
a base platform layer 101 including a service software layer 101a, an operating system 101b, and a hardware layer 101 c;
the application software layer 102, the application software layer 102 calls the service software of the service software layer 101a through the service communication interface;
the standard control layer 103 includes a plurality of pieces of solidified hardware, the solidified hardware may include solidified hardware components of standard interfaces such as sensors, actuators, drivers, and the like, for example, a sunlight sensor, a rainfall sensor, a light driver, an electric horn, a window lifter, and the like, the solidified hardware may complete local driving of a target vehicle, execute or upload data according to instructions, and its interior only has a software program for driving or collecting data and no functional logic software, thereby further software and hardware decoupling of the platform may be completed, so that development of the functional software is separated from the inherent hardware, that is, the functional software does not need to care which brand or type of sensor and actuator are used in a project, and it only needs to obtain data or issue a control command. The platform is favorable for being used for various vehicle type projects, and the binding and dependence on hardware are reduced.
It can be understood that the above-mentioned term "application software layer 102" is service software in the vehicle-mounted electrical architecture system 100, and is a service function logic design performed according to service functions and user requirements, and a part of function software is built in a platform to meet the use requirements of basic functions of a vehicle, and can be divided into a vehicle body function, a power system function, a chassis system function, an entertainment cabin system function, and the like according to services.
The service software layer 101a defines original control functions of the vehicle, including atomic services (atomic services: each single service function of the vehicle), integrated services (functions obtained by combining a plurality of single services), interactive services, a common implementation service software library for the application layer, and the like. Exemplary are as follows: window up, rainfall information, air conditioning temperature regulation, cruise function, etc. Service software location is functional to the original configuration on each target vehicle, specific to the service software and service interface.
Further, the operating system 101b is mainly used for a user to perform interactive operation to execute software running, and in the embodiment of the present invention, vehicle-mounted operating systems such as LINUX, QNX, Android, and Tizen may be used.
In the embodiment of the present invention, the hardware layer 101c includes a controller for controlling the software to operate according to a preset logic.
Further, in the embodiment of the present invention, the controller includes an MCU microcontroller and an MPU microprocessor, the MCU is used for processing control logic, and the MPU is used for software operation requiring high computation power, and generally refers to a complex algorithm or a function-like program, such as navigation computation, path planning, sensor data sensing for intelligent driving, and a fusion algorithm, which requires the system to compute based on a large amount of data. Therefore, different controllers are used under different requirements, the matching degree of the controllers and functions is higher, the response is faster, and consideration on space and energy consumption is taken into account.
Further, between the service software layer 101a and the operating system 101b is the middleware b1, the middleware b1 is used as a key basis for decoupling the software and the hardware, and a standard software interface is used between the software and the hardware, so that the development of software functions and the change of the software are independent of a hardware chip.
In the embodiment of the present invention, the middleware technology optionally used by the middleware b1 adopts Classic automotive and Adaptive automotive software.
Furthermore, virtualization b2 is provided between the operating system 101b and the hardware layer 101c, and by virtualizing the hardware, a computer is virtualized into multiple logical computers, which can be regarded as abstractions of the platform hardware and the operating system, and privileged instructions sensitive to virtualization are captured and processed between the operating system and the hardware layer, so that the operating system can run without modification. For compatibility with heterogeneous designs of operating systems, hardware sharing may be allowed for multiple operating systems and applications.
Optionally, virtualization b2 uses Hypervisor virtual machine technology.
In the embodiment of the present invention, the application software layer 102 calls the service software of the service software layer 101a through the service communication interface.
It can be understood that the application software in the application software layer 102 implements the flexible arrangement design of the functional logic by calling the service software while the vehicle basic function is converted into the service software in the service software layer 101a and the service interface design is implemented for the service software.
Specifically, the application software and the application software are subjected to soft decoupling through service software; the decoupling of the application software and the hardware is completed between the application software layer 102 and the hardware layer 101c through the middleware b 1; service software and service software are decoupled through middleware b 1. The application layer 102 and the base platform layer 10 may be arbitrarily deployed in the function domain controller, and thus depend on the capabilities of the hardware layer 101c, such as chip processing, drivers, memory, and the like. Optionally, the CP AUTOSAR and AP AUTOSAR middleware are used to deploy service software, and the dynamic call to the service is completed between the application software layer 102 and the service software layer 101a, that is, between the above-mentioned service software and service software, by using the SOME/IP communication interface.
It can be understood that the main focus of platform development is focused on the basic platform layer 101, the SOA service system is established to include a service software library and middleware technology applications, the application layer development is not the focus of platform development, but is the application of service system development, and the development can be performed subsequently according to the business.
In summary, in order to implement the decoupling design of the functional software, the original functional software architecture in the prior art is split into two layers of software, namely an application software layer 102 and a base platform layer 101, the vehicle base function is converted into service software in a service software layer 101a, the service interface design is completed aiming at the service software, and the application software in the application software layer 102 completes the flexible arrangement design of the functional logic by calling the service software; the basic platform layer 101 completes control of actuators or data acquisition of sensors, realizes layered independent design and layer-by-layer decoupling, solves decoupling between functional software (the functional software is defined as application software and service software), ensures that the functional software does not depend on other functional software and does not use fixed CAN signal communication between the functional software and the service software to carry out logic binding, but applies an Ethernet dynamic connection technology to design a service software interface and is called by the functional software, and the integral architecture system 100 has higher mobility, CAN realize functional software reconstruction and rearrangement of services, and completes software agile development. The method and the device solve the problem of rapidly and conveniently finishing the requirement of function development under the background of increasing user function requirements and can carry out infinite function reconstruction according to the user requirements.
[ EXAMPLES one ]
Referring to fig. 4, fig. 4 is a block diagram illustrating an exemplary architecture system 100 according to an embodiment of the present invention; the architecture system 100 applies the SOA technology, and is designed into three layers, an application layer (also called a business layer), a base platform layer (also called a service system layer), and a standard control layer. The basic platform layer is divided into a service software layer, a middleware layer, an operating system and a virtualization and hardware layer. In order to realize the decoupling design of the functional software, the original functional software architecture is divided into two layers of software, namely an application layer software and a basic platform layer software, the basic function of the vehicle is converted into service layer software, the service interface design is completed, and the application software calls the service software to complete the flexible arrangement design of the functional logic; the base platform layer completes control of actuators or acquisition of sensor data through the standard control layer to form a architecture system 100 with mobility.
Taking the integrated service as "driver status monitoring" as an example, the architecture system 100 specifically includes the following:
service software layer (a): the system comprises a vehicle window service, an air conditioner service, a driver state monitoring service, a navigation service and a voice service. Respectively carried in a body area controller BU (h) and a cockpit area controller HU (i).
Application software layer (b): the intelligent refreshing system comprises an intelligent refreshing function and is deployed in a body area controller BU (h) for realization.
The window controller (c) controls the lowering of the window as a window lowering actuator control unit.
The driver state monitoring controller (d) is used as a driver fatigue state identification control unit and identifies whether the driver is tired.
The air conditioner controller (e) is used as an air conditioner temperature execution unit, a fragrance execution unit, an air volume execution unit, an air outlet mode executor control unit, an air conditioner temperature control unit, a fragrance opening unit, an air volume regulation unit and an air outlet mode setting unit.
The sound (f) is controlled by a recreation area controller HU (i) and controls the music playing.
The central control screen (g) is controlled by the entertainment domain controller HU (i) and displays.
Body area controller bu (h): the car window service software is realized, and the car window controller (c) is controlled to execute through a CAN bus command; realizing air conditioner service software, and controlling the execution of an air conditioner controller (e) through a CAN bus command; and (3) realizing driver state monitoring service software, and acquiring the fatigue state of the driver identified by the driver state monitoring controller (d) through a CAN bus.
Entertainment cockpit Domain controller HU (i): the navigation service software is used for controlling the display of the central control screen; realizing that voice service software controls the sound equipment to play;
and the GW gateway (j) is used for Ethernet data transmission interaction.
The method comprises the steps that an application software layer (b) in a car body domain controller BU (h) obtains a driver fatigue state from a driver state monitoring controller (d) through CAN bus data by calling a driver state monitoring service according to a preset function logic, sends a CAN bus command to control an air conditioner controller (e) to execute by calling the air conditioner service, sends a CAN bus command to control a car window controller (c) to execute by calling the car window service, carries out Ethernet communication with an entertainment cabin domain controller HU (i) through a GW gateway (j), calls a navigation service control center control screen (g) in the entertainment cabin domain controller HU (i) to display a navigation interface, and calls a voice service to control a sound box (f) to play music and prompt tones.
The embodiment of the invention further provides an electric vehicle, which includes the above architecture system 100.
Further, it should be understood by those skilled in the art that if the architecture platform system for a vehicle provided by the embodiment of the present invention is combined and replaced by fusing, simply changing, mutually changing, etc., all or part of the sub-modules involved, such as the components are placed and moved; or the products formed by the components are integrally arranged; or a detachable design; it is within the scope of the present invention to replace the corresponding components of the present invention with such a device/apparatus/system.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An electrical architecture system for a vehicle, the architecture system comprising:
a base platform layer including a service software layer, a middleware and a hardware layer, wherein the middleware is arranged between the service software layer and the hardware layer ， For decoupling of software from hardware;
the application software layer comprises application software, and the application software is used for carrying out service function logic design according to service functions and user requirements;
and the application software layer calls the service software of the service software layer through a service communication interface.
2. The electrical architecture system for a vehicle of claim 1, wherein the base platform tier comprises one or more selected from the group consisting of: the system comprises an atomic service, an integrated service and an interactive service, wherein the atomic service, the integrated service and the interactive service jointly realize a service software library which is used for being called by a software layer.
3. An electrical architecture system for a vehicle according to claim 1, characterized in that said hardware layer comprises an MCU microcontroller and an MPU microprocessor, wherein said MCU is used for the processing of control logic and the MPU is used for software operations requiring high computational power.
4. The electrical architecture system for a vehicle of claim 1, further comprising:
a standard control layer comprising a plurality of curing hardware, the curing hardware comprising one or more selected from the group consisting of: the system comprises a sensor, an actuator, a driver and a region control, wherein the standard control layer is connected with the hardware layer.
5. The electrical architecture system for a vehicle of claim 1, wherein the base platform layer further comprises a virtualization and operating system, the virtualization employing Hypervisor virtual machine technology, the operating system comprising at least one of LINUX, QNX.
6. The electrical architecture system for a vehicle of claim 1, wherein the middleware includes Classic automotive and Adaptive automotive software.
7. The electrical architecture system for a vehicle of claim 1, wherein the application software layer calls the service software of the service software layer through a service communication interface, and the dynamic call to the service software is accomplished using a SOME/IP communication interface.
8. The electrical architecture system for a vehicle of claim 1, wherein the application software layer and the base platform layer are deployed in a functional domain controller.
9. The electrical architecture system for a vehicle of claim 1, wherein the application software of the application software layer is soft and soft decoupled with the application software through service software; the decoupling of the application software and the hardware is completed between the application software and the hardware layer of the application software layer through middleware; service software of the service software layer is decoupled from service software through middleware.
10. A vehicle comprising an architecture system according to any one of claims 1 to 9.
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| CN202210618011.0A CN115113603A (en) | 2022-06-01 | 2022-06-01 | Electrical architecture system for vehicle and vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115883278A (en) * | 2022-09-30 | 2023-03-31 | 成都赛力斯科技有限公司 | Software architecture based on whole vehicle domain control, signal processing method, vehicle and equipment |
| CN117492730A (en) * | 2023-12-29 | 2024-02-02 | 陕西天行健车联网信息技术有限公司 | Software architecture system for vehicle control and software development method |
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2022
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115883278A (en) * | 2022-09-30 | 2023-03-31 | 成都赛力斯科技有限公司 | Software architecture based on whole vehicle domain control, signal processing method, vehicle and equipment |
| CN117492730A (en) * | 2023-12-29 | 2024-02-02 | 陕西天行健车联网信息技术有限公司 | Software architecture system for vehicle control and software development method |
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