CN115334110A

CN115334110A - System architecture, communication method, vehicle, medium and chip for vehicle control

Info

Publication number: CN115334110A
Application number: CN202210946374.7A
Authority: CN
Inventors: 孙长宇
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2022-08-08
Filing date: 2022-08-08
Publication date: 2022-11-11

Abstract

The present disclosure relates to a system architecture, a communication method, a vehicle, a medium and a chip for vehicle control, which belong to the field of vehicle communication, and the system architecture comprises: the system comprises a whole vehicle central computing domain controller, a plurality of vehicle-mounted control devices connected with the whole vehicle central computing domain controller through an Ethernet and a plurality of actuating mechanisms connected with the whole vehicle central computing domain controller through a CAN bus; SOA service is configured in the vehicle central computing domain controller, the SOA service provides a calling interface for the vehicle-mounted control device, and the vehicle-mounted control device sends SOA service calling parameters to the vehicle central computing domain controller through the calling interface to call the SOA service, so that the vehicle central computing domain controller generates CAN control signals according to the SOA service calling parameters to control the actuating mechanism. The difference of different communication buses of different operating systems CAN be shielded through SOA service, the complexity of software development is effectively simplified, and the problems of complex design, signal quantity expansion limitation and the like of the traditional CAN communication are solved.

Description

System architecture, communication method, vehicle, medium and chip for vehicle control

Technical Field

The present disclosure relates to the field of vehicle communication, and in particular, to a system architecture, a communication method, a vehicle, a medium, and a chip for vehicle control.

Background

In the related art, the software development of the vehicle usually realizes the communication between the whole vehicle function development and the system software component through the CAN signal, however, after the vehicle is sold, the software function upgrade needs to upgrade the OTA bottom layer, the OTA middle layer and the application layer software at the same time, the required test and diagnosis workload is large, and the software function upgrade after the vehicle is sold is difficult to support. In addition, the mode for realizing the whole vehicle function based on the CAN signal is limited by the bandwidth of the CAN bus, so that the automatic driving trend at present cannot be adapted.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a system architecture, a communication method, a vehicle, a medium, and a chip for vehicle control.

According to a first aspect of the embodiments of the present disclosure, there is provided a system architecture for vehicle control, applied to a vehicle, the system architecture including:

the system comprises a whole vehicle central computing domain controller, a plurality of vehicle-mounted control devices and a plurality of actuating mechanisms, wherein the vehicle-mounted control devices are connected with the whole vehicle central computing domain controller through an Ethernet;

SOA service is configured in the whole vehicle central computing domain controller, the SOA service provides a calling interface for the vehicle-mounted control device, the vehicle-mounted control device sends SOA service calling parameters to the whole vehicle central computing domain controller through the calling interface to call the SOA service, so that the whole vehicle central computing domain controller generates CAN control signals according to the SOA service calling parameters to control the actuating mechanism.

Optionally, the SOA service further provides a subscription interface to the vehicle-mounted control device, and the vehicle-mounted control device subscribes to the SOA service through the subscription interface, so that the vehicle central computing domain controller sends SOA service return parameters to the vehicle-mounted control device subscribing to the SOA service.

Optionally, the entire vehicle central computing domain controller is a multi-core controller, and includes a first core, a second core, and a third core, the first core is deployed with the SOA service, the second core is deployed with a software component for implementing an atomic capability of the vehicle, and the third core is deployed with an AutoSAR component.

Optionally, the software components include a first software component and a plurality of second software components, the AutoSAR component is a legacy platform AutoSAR component, and includes an RTE layer, and the RTE layer is provided with a virtual bus;

the first software component determines an RTE signal mapping rule corresponding to SOA service according to the SOA service corresponding to the SOA service parameter, converts the SOA service calling parameter into a first CAN signal according to the RTE signal mapping rule, and sends the first CAN signal to a virtual bus of an RTE layer, so that a second software component corresponding to the first CAN signal receives the first CAN signal through the virtual bus, and generates the CAN control signal according to the first CAN signal.

Optionally, the second software component is configured to generate a second CAN signal according to a CAN feedback signal sent by the execution mechanism in response to the CAN control signal, and the first software component receives the second CAN signal generated by the second software component through the virtual bus, generates an SOA service return parameter according to the second CAN signal, and sends the SOA service return parameter to the first core.

Optionally, the AutoSAR assembly further includes a BSW layer and an OS layer, and the CAN control signal is sent to the CAN bus through the OS layer after passing through the BSW layer, so that the execution mechanism corresponding to the CAN control signal executes according to the CAN control signal.

Optionally, the vehicle-mounted control device communicates with the entire vehicle central computing domain controller through an ethernet based on a DDS protocol.

Optionally, the vehicle-mounted control device receives a control instruction sent by a remote device through wireless communication, and invokes or subscribes the SOA service according to the control instruction.

According to a second aspect of the embodiments of the present disclosure, there is provided a communication method for vehicle control, applied to the entire vehicle central computing domain controller according to the first aspect of the present disclosure, where the entire vehicle central computing domain controller is connected to a plurality of vehicle-mounted control devices through an ethernet and is connected to a plurality of execution mechanisms through a CAN bus, the method including:

receiving SOA service calling parameters sent by the vehicle-mounted control device through a calling interface provided by SOA service;

and generating a CAN control signal according to the SOA service calling parameter so as to control the actuating mechanism.

According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle, including a complete vehicle central computing domain controller, a plurality of vehicle-mounted control devices connected to the complete vehicle central computing domain controller through an ethernet, and a plurality of execution mechanisms connected to the complete vehicle central computing domain controller through a CAN bus;

wherein the entire vehicle central computing domain controller is configured to perform the method of the second aspect of the present disclosure.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method according to the second aspect of the present disclosure.

According to a fifth aspect of embodiments of the present disclosure, there is provided a chip comprising a processor and an interface; the processor is configured to read instructions to perform the method of the second aspect of the present disclosure.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the different capabilities of the vehicle are packaged and issued in the vehicle central computing domain controller as SOA service for the vehicle-mounted control device of the vehicle to call so as to realize the control of each execution structure of the vehicle, the SOA service CAN shield different operating systems and the difference of different communication buses, the vehicle is packaged into a logic device, the complexity of software development is effectively simplified, and the vehicle central computing domain controller and the vehicle-mounted control device perform data transmission through the Ethernet, so that the problems of complex design, signal quantity expansion limitation and the like of the traditional CAN communication are avoided.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic flow chart diagram illustrating a system architecture for vehicle control in accordance with an exemplary embodiment.

FIG. 2 is a schematic diagram illustrating a vehicle central computing domain controller, according to an exemplary embodiment.

FIG. 3 is a data flow diagram illustrating a system architecture for vehicle control in accordance with an exemplary embodiment.

FIG. 4 is a flow chart illustrating a communication method for vehicle control according to an exemplary embodiment.

FIG. 5 is a block diagram of a vehicle shown in accordance with an exemplary embodiment.

FIG. 6 is a functional block diagram schematic of a vehicle shown in accordance with an exemplary embodiment.

FIG. 7 is a block diagram illustrating a vehicle central computing domain controller in accordance with an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Fig. 1 is a schematic diagram illustrating a system architecture for vehicle control, as applied to a vehicle, according to an exemplary embodiment, the system architecture including:

the vehicle central computing domain controller 110, a plurality of vehicle control devices 120 connected to the vehicle central computing domain controller 110 through an ethernet, and a plurality of execution mechanisms 130 connected to the vehicle central computing domain controller 110 through a CAN bus.

The vehicle central computing domain controller 110 is configured with an SOA (Service-Oriented Architecture) Service, the SOA Service provides a call interface to the vehicle control device 120, and the vehicle control device 120 sends an SOA Service call parameter to the vehicle central computing domain controller 110 through the call interface to call the SOA Service, so that the vehicle central computing domain controller 110 generates a CAN control signal according to the SOA Service call parameter to control the execution mechanism 130.

The SOA service can abstract a uniform data and function calling interface on a heterogeneous distributed system, a plurality of SOA services are deployed in the vehicle central computing domain controller 110, each SOA service is used for being called to realize control of the execution mechanism 130 of the vehicle, for example, a certain SOA service is called to control an outside vehicle lamp and an inside vehicle lamp to further realize a light show function corresponding to the SOA service. The SOA services may include atomic services, each of which may correspond to an atomic capability of one execution mechanism 130, and composite services, each of which may correspond to a plurality of atomic capabilities of a plurality of execution mechanisms 130. Actuators 130 may include doors, windows, battery charge and discharge, interior lights, exterior lights, air conditioning systems, driving systems, etc.

Referring to fig. 1, the on-board control device 120 may include a domain controller such as an intelligent driving domain controller and a cockpit domain controller, and may further include an on-board control device such as a TBOX (Telematics-BOX) and a central control display module, which is not limited in this disclosure. Part of the vehicle-mounted control device 120 may also communicate with the electronic device outside the vehicle in a wireless or wired manner, for example, the TBOX may communicate with a user mobile phone or a vehicle networking server, acquire a control signal sent by the mobile phone or the server, and call the SOA service deployed in the vehicle central computing domain controller 110 according to the control signal.

It should be noted that each actuator 130 may include an MCU (micro controller Unit) and an actuator for specifically executing instructions of the MCU, for example, the actuator 130 may include a window motor and an MCU for controlling the motor, and the MCU may collect a CAN signal through a CAN bus to control an operating state of the motor.

In the embodiment of the disclosure, different capabilities of the vehicle are packaged and issued in the vehicle central computing domain controller 110 as SOA services for the vehicle-mounted control device 120 to call to realize control of each execution structure of the vehicle, differences of different operating systems and different communication buses CAN be shielded through the SOA services, the vehicle is packaged as a logic device, complexity of software development is effectively simplified, and the vehicle central computing domain controller 110 and the vehicle-mounted control device 120 perform data transmission through the ethernet, so that problems of complex design, signal quantity expansion limitation and the like of traditional CAN communication are avoided.

Optionally, the vehicle-mounted control device 120 communicates with the entire vehicle central computing domain controller 110 through an ethernet based on a DDS protocol.

In some optional embodiments, the SOA service further provides a subscription interface to the vehicle-mounted control device 120, and the vehicle-mounted control device 120 subscribes to the SOA service through the subscription interface, so that the entire vehicle central computing domain controller 110 sends an SOA service return parameter to the vehicle-mounted control device 120 subscribed to the SOA service.

The invoking of the SOA service may be implemented based on the SOME/IP protocol, and the subscribing of the SOA service may be implemented based on the DDS protocol stack, that is, the vehicle-mounted control device 120 may communicate with the controller 110 through the ethernet based on the DDS protocol, or communicate with the controller 110 through the ethernet based on the SOME/IP protocol.

Specifically, the vehicle-mounted control device 120 may subscribe to the service by subscribing to topic corresponding to the return parameter of the service, so that the entire vehicle central computing domain controller 110 may send the SOA service return parameter to the vehicle-mounted control device 120 subscribing to the topic. Or, the invoking and subscribing of the SOA service are both implemented based on the SOME/IP protocol, or both are implemented based on the DDS protocol stack, which is not limited in this disclosure.

For example, the vehicle-mounted control device 120 may invoke the SOA service based on the SOME/IP protocol, and after executing the SOA service, the entire vehicle central computing domain controller 110 obtains a service return parameter of the SOA service, and broadcasts the service return parameter to the ethernet based on the DDS protocol, so that the vehicle-mounted control device 120 subscribed to the SOA service obtains the service return parameter. In other possible embodiments, the in-vehicle control device 120 may subscribe to the SOA service and unsubscribe after receiving the service return parameter while invoking the SOA service based on the DDS protocol stack.

It is understood that the SOA service may be invoked to re-run the corresponding software component, or may be periodically automatically run. For example, if a certain SOA service is used to periodically collect first data, the entire vehicle central computing domain controller 110 may broadcast the first data as a service return parameter to the ethernet, so that the vehicle-mounted control device 120 subscribed to the SOA service acquires the first data.

By adopting the scheme, the subscription service is provided for the vehicle-mounted control device 120 through the SOA service, so that the vehicle-mounted control device 120 can acquire the return parameters of the SOA service in a subscription mode, and data transmission is performed by taking data as a center in a publishing/subscription mode, thereby effectively reducing the data delay of a distributed system and improving the reliability.

Fig. 2 is a schematic diagram of a finished vehicle central computing domain controller according to an exemplary embodiment, where as shown in fig. 2, the finished vehicle central computing domain controller 110 is a multi-core controller, and includes a first core, a second core, and a third core, the first core is deployed with the SOA service, the second core is deployed with a software component for implementing an atomic capability of the vehicle, and the third core is deployed with an AutoSAR (automatic Open System Architecture) component.

The software component (SWC) is composed of atomic components as minimum logical units, and the minimum logical units are of two types, namely an application program and a sensor/actuator. The application program is an algorithm implementation type and can be freely mapped on the MCU in each execution mechanism 130; the sensors/actuators provide I/O port types for application programs, and correspond to the MCUs in each execution structure one by one.

The operating system deployed in the first core may be a Linux system, and the operating system deployed in the third core may be an OSEK operating system or a dedicated operating system of the AutoSAR component.

In some optional embodiments, referring to fig. 2, the software components include a first software component and a plurality of second software components, the AutoSAR component is a legacy platform AutoSAR component, and includes an RTE (Runtime environment) layer, the RTE layer being provided with a virtual bus;

It can be understood that, for each SOA service, a signal mapping relationship is configured, that is, a mapping rule between a service invocation parameter and a service return parameter and an RTE signal. Wherein the first software component is for converting the service into a signal and each second software component is for implementing a different capability of the vehicle.

It should be noted that, the first software component and the plurality of second software components are connected to the virtual bus through ports and communicate with each other on the virtual bus in a signal manner, so as to implement data exchange between the software components, and each second software component is actually a description of the function of the execution mechanism 130, and in the implementation process, generates codes executed on the MCU in the execution mechanism 130.

In addition, the second software component may be designed as a two-layer architecture of a service layer (interface encapsulation) and an execution layer (specific logic implementation of window control), the service layer performing relevant prerequisite judgment, logic arbitration, request cache management, and the like; the execution layer makes necessary prerequisite decisions (e.g., obtaining data issued by other second software components via the virtual bus, such as obtaining a rainfall state) and executes the corresponding executable entities in sequence.

By adopting the scheme, the virtual bus is realized through the RTE layer in the AutoSAR assembly of the traditional platform, the service parameters are converted into signals through the first software assembly in the software assembly, and the signals are transmitted to the second software assembly for realizing specific services through the virtual bus, so that the vehicle control based on SOA service is realized, the traditional CAN signal development mode is reserved while the SOA service is adopted, and the safety performance of the vehicle control is ensured.

In some optional embodiments, the second software component is configured to generate a second CAN signal according to a CAN feedback signal sent by the execution mechanism 130 in response to the CAN control signal, and the first software component receives the second CAN signal generated by the second software component through the virtual bus, generates an SOA service return parameter according to the second CAN signal, and sends the SOA service return parameter to the first core.

For example, if the CAN control signal is used to instruct the actuator 130 to close a window or obtain data, after executing an operation corresponding to the control signal (i.e., closing the window or obtaining data), the execution structure may send an execution success signal or a corresponding data signal (i.e., a CAN feedback signal) to the second software component, and the second software component may generate a second CAN signal according to the signal and issue the second CAN signal through the virtual bus, so that the first software component obtains the second CAN signal on the virtual bus, and converts the signal into an SOA service return parameter through signal-to-service, so that the first core CAN obtain feedback information of the actuator 130 where the service parameter runs, and further return the SOA service return parameter to the vehicle-mounted control device 120 which invokes or subscribes the SOA service.

By adopting the scheme, the second software component receives the feedback signal of the execution mechanism 130 and issues the feedback signal to the virtual bus, so that the first software component receives the feedback signal and converts the feedback signal into service, and the service return parameter is sent to a caller or a subscriber through the first core, thereby effectively realizing the control feedback of the SOA service, and ensuring that the vehicle-mounted control device 120 which subscribes or calls the SOA service can know whether the control is successful or not, or acquire the data corresponding to the SOA service.

Optionally, referring to fig. 2, the AutoSAR module further includes a BSW (Basic software) layer and an OS (operating system) layer, and the CAN control signal passes through the BSW layer and then is sent to the CAN bus through the OS layer, so that the actuator 130 corresponding to the CAN control signal executes according to the CAN control signal.

It CAN be understood that there are various different ECUs (Electronic Control units) in the vehicle, which have various functions, but the basic services required for implementing these functions, that is, different ECU functions, CAN be abstracted, such as IO operation, diagnosis, CAN communication, operating system, etc., where the operated IO CAN represent different meanings, the received and transmitted CAN signal CAN represent different meanings, and the task cycle priorities of the operating system scheduling are different. These basic services, which can be abstracted out, are called base software, which in turn constitutes the BSW layer.

That is to say, the AutoSAR component sends the CAN signals sent by each second software component to each execution mechanism 130 through the RTE layer, and after the signals are processed through the BSW layer, the signals are sent to the CAN bus through the operating system corresponding to the AutoSAR component, so as to implement the transmission of the signals. Similarly, the feedback signal of each execution mechanism 130 may be received by an operating system (i.e., an OS layer) of the AutoSAR module, processed by the BSW layer, and then fed back to each software module through a virtual bus of the RTE layer.

In some embodiments, the vehicle-mounted control apparatus 120 receives a control instruction sent by a remote device through wireless communication, and invokes or subscribes the SOA service according to the control instruction.

For example, referring to fig. 3, the TBOX in the vehicle-mounted control apparatus 120 may wirelessly communicate with the user equipment, that is, the TBOX may receive the control instruction sent by the user equipment through wireless communication, and subscribe or invoke one or more SOA services issued by the entire vehicle central computing domain controller 110 connected through the ethernet according to the control instruction.

By adopting the scheme, the control instruction sent by the remote equipment is received through wireless communication so as to call or subscribe the SOA service, so that remote call and subscription of the bottom layer capability of the vehicle can be realized, and the application scenes of IoT (Internet of Things) and V2X (vehicle to X) can be supported more abundantly.

In order to make those skilled in the art understand the technical solution provided by the present disclosure, based on the entire vehicle central computing domain controller shown in fig. 2, the present disclosure further provides a data flow diagram of a system architecture for vehicle control shown in fig. 3 according to an exemplary embodiment, as shown in fig. 3:

the user equipment sends a control instruction to the vehicle TBOX. The user equipment can also send the control signal to the vehicle networking server and forward the control signal to the vehicle TBOX through the vehicle networking server.

And the TBOX generates a service calling parameter according to the control instruction and sends the service calling parameter to a first core of the whole vehicle central computing domain controller 110 so as to call the corresponding SOA service.

The first core sends the service calling parameter to a first software component in the second core so as to convert the service calling parameter into a first CAN signal and send the first CAN signal to a virtual bus of the RTE layer.

The second software component corresponding to the SOA service acquires the first CAN signal through the virtual bus and generates a CAN control signal, and the CAN control signal passes through the BSW layer and the OS layer of the AutoSAR component and then transmits the CAN bus to the corresponding execution mechanism 130.

Fig. 4 is a flowchart illustrating a communication method for vehicle control according to an exemplary embodiment, applied to an entire vehicle central computing domain controller connected to a plurality of vehicle control devices through ethernet and to a plurality of actuators through a CAN bus, the method including:

s401, receiving SOA service calling parameters sent by the vehicle-mounted control device through a calling interface provided by SOA service;

and S402, generating a CAN control signal according to the SOA service calling parameter so as to control the actuating mechanism.

Optionally, the method further comprises:

and providing a subscription interface for the vehicle-mounted control device through the SOA service, and subscribing the SOA service by the vehicle-mounted control device through the subscription interface so that the vehicle central computing domain controller sends an SOA service return parameter to the vehicle-mounted control device subscribing the SOA service.

the method comprises the following steps:

determining an RTE signal mapping rule corresponding to the SOA service according to the SOA service corresponding to the SOA service parameter through the first software component, converting the SOA service calling parameter into a first CAN signal according to the RTE signal mapping rule, sending the first CAN signal to a virtual bus of an RTE layer, so that a second software component corresponding to the first CAN signal receives the first CAN signal through the virtual bus, and generating the CAN control signal according to the first CAN signal.

Optionally, the method further comprises:

generating a second CAN signal by the second software component according to a CAN feedback signal sent by the execution mechanism in response to the CAN control signal;

and receiving the second CAN signal generated by the second software component through the virtual bus by the first software component, generating an SOA service return parameter according to the second CAN signal and sending the SOA service return parameter to the first core.

Optionally, the AutoSAR module further includes a BSW layer and an OS layer, and the CAN control signal is sent to a CAN bus through the OS layer after passing through the BSW layer, so that an execution mechanism corresponding to the CAN control signal executes according to the CAN control signal.

FIG. 5 is a schematic diagram of a vehicle 500, as shown in FIG. 5, including an entire vehicle Central computing Domain controller 110, a plurality of on-board control devices 120 connected to the entire vehicle Central computing Domain controller 110 via Ethernet, and a plurality of actuators 130 connected to the entire vehicle Central computing Domain controller 110 via a CAN bus, according to an exemplary embodiment; wherein the entire vehicle central computing domain controller 110 is configured to execute the communication method for vehicle control provided by the present disclosure.

Referring to FIG. 6, FIG. 6 is a functional block diagram of another vehicle, shown in an exemplary embodiment. The vehicle 600 may be configured in a fully or partially autonomous driving mode. For example, the vehicle 600 may acquire environmental information of its surroundings through the sensing system 620 and derive an automatic driving strategy based on an analysis of the surrounding environmental information to implement full automatic driving, or present the analysis result to the user to implement partial automatic driving.

The vehicle 600 may include various subsystems such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Alternatively, vehicle 600 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the sub-systems and components of the vehicle 600 may be interconnected by wire or wirelessly.

In some embodiments, the infotainment system 610 may include a communication system 611, an entertainment system 612, and a navigation system 613.

The communication system 611 may comprise a wireless communication system that may communicate wirelessly with one or more devices, either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system may communicate with a Wireless Local Area Network (WLAN) using WiFi. In some embodiments, the wireless communication system may utilize an infrared link, bluetooth, or ZigBee to communicate directly with the device. Other wireless protocols, such as various vehicular communication systems, for example, a wireless communication system may include one or more Dedicated Short Range Communications (DSRC) devices that may include public and/or private data communications between vehicles and/or roadside stations.

The entertainment system 612 may include a display device, a microphone, and a sound box, and a user may listen to a broadcast in the car based on the entertainment system, playing music; or the mobile phone is communicated with the vehicle, screen projection of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate the display equipment by touching the screen.

In some cases, the voice signal of the user may be captured by a microphone, and certain control of the vehicle 600 by the user, such as adjusting the temperature in the vehicle, etc., may be implemented according to the analysis of the voice signal of the user. In other cases, music may be played to the user through a sound.

The navigation system 613 may include a map service provided by a map provider to provide navigation of a route for the vehicle 600, and the navigation system 613 may be used in conjunction with a global positioning system 621 and an inertial measurement unit 622 of the vehicle. The map service provided by the map supplier can be a two-dimensional map or a high-precision map.

The sensing system 620 may include several types of sensors that sense information about the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system 621 (the global positioning system may be a GPS system, a beidou system or other positioning system), an Inertial Measurement Unit (IMU) 622, a laser radar 623, a millimeter wave radar 624, an ultrasonic radar 625, and a camera 626. The sensing system 620 may also include sensors of internal systems of the monitored vehicle 600 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect the object and its corresponding characteristics (position, shape, orientation, velocity, etc.). Such detection and identification is a critical function of the safe operation of the vehicle 600.

Global positioning system 621 is used to estimate the geographic location of vehicle 600.

The inertial measurement unit 622 is used to sense a pose change of the vehicle 600 based on the inertial acceleration. In some embodiments, the inertial measurement unit 622 may be a combination of an accelerometer and a gyroscope.

Lidar 623 utilizes laser light to sense objects in the environment in which vehicle 600 is located. In some embodiments, lidar 623 may include one or more laser sources, laser scanners, and one or more detectors, among other system components.

The millimeter-wave radar 624 utilizes radio signals to sense objects within the surrounding environment of the vehicle 600. In some embodiments, in addition to sensing objects, the millimeter-wave radar 624 may also be used to sense the speed and/or heading of objects.

The ultrasonic radar 625 may sense objects around the vehicle 600 using ultrasonic signals.

The camera 626 is used to capture image information of the surroundings of the vehicle 600. The image capturing device 626 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, and the like, and the image information acquired by the image capturing device 626 may include still images or video stream information.

Decision control system 630 includes a computing system 631 that makes analytical decisions based on information obtained by sensing system 620, and decision control system 630 further includes a vehicle controller 632 that controls the powertrain of vehicle 600, and a steering system 633, throttle 634, and brake system 635 for controlling vehicle 600.

The computing system 631 may operate to process and analyze the various information acquired by the perception system 620 to identify objects, and/or features in the environment surrounding the vehicle 600. The target may comprise a pedestrian or an animal and the objects and/or features may comprise traffic signals, road boundaries and obstacles. The computing system 631 may use object recognition algorithms, motion from Motion (SFM) algorithms, video tracking, and the like. In some embodiments, the computing system 631 may be used to map an environment, track objects, estimate the speed of objects, and so forth. The computing system 631 may analyze the various information obtained and derive a control strategy for the vehicle.

The vehicle controller 632 may be used to perform coordinated control on the power battery and the engine 641 of the vehicle to improve the power performance of the vehicle 600.

Steering system 633 is operable to adjust the heading of vehicle 600. For example, in one embodiment, a steering wheel system.

The throttle 634 is used to control the operating speed of the engine 641 and thus the speed of the vehicle 600.

The brake system 635 is used to control the deceleration of the vehicle 600. The braking system 635 may use friction to slow the wheel 644. In some embodiments, the braking system 635 may convert the kinetic energy of the wheels 644 into electrical current. The braking system 635 may also take other forms to slow the rotational speed of the wheel 644 to control the speed of the vehicle 600.

The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine 641, an energy source 642, a transmission 643, and wheels 644. The engine 641 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 641 converts the energy source 642 into mechanical energy.

Examples of energy sources 642 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. The energy source 642 may also provide energy to other systems of the vehicle 600.

The transmission 643 may transmit mechanical power from the engine 641 to the wheels 644. The transmission 643 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 643 may also include other devices, such as clutches. Wherein the drive shaft may include one or more axles that may be coupled to one or more wheels 644.

Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. Computing platform 650 can include at least one processor 651, and processor 651 can execute instructions 653 stored in a non-transitory computer-readable medium, such as memory 652. In some embodiments, the computing platform 650 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 600 in a distributed manner.

The processor 651 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor 651 may also include a processor such as a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof. Although fig. 6 functionally illustrates a processor, memory, and other elements of a computer in the same block, those skilled in the art will appreciate that the processor, computer, or memory may actually comprise multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard drive or other storage medium located in a different housing than the computer. Thus, reference to a processor or computer will be understood to include reference to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only computations related to the component-specific functions.

In the disclosed embodiment, the processor 651 may execute the communication method for vehicle control described above.

In various aspects described herein, the processor 651 may be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are executed on a processor disposed within the vehicle and others are executed by a remote processor, including taking the steps necessary to perform a single maneuver.

In some embodiments, the memory 652 may contain instructions 653 (e.g., program logic), which instructions 653 may be executed by the processor 651 to perform various functions of the vehicle 600. Memory 652 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of infotainment system 610, perception system 620, decision control system 630, drive system 640.

In addition to instructions 653, memory 652 may also store data such as road maps, route information, the location, direction, speed, and other such vehicle data of the vehicle, as well as other information. Such information may be used by the vehicle 600 and the computing platform 650 during operation of the vehicle 600 in autonomous, semi-autonomous, and/or manual modes.

The computing platform 650 may control functions of the vehicle 600 based on inputs received from various subsystems (e.g., the drive system 640, the perception system 620, and the decision control system 630). For example, computing platform 650 may utilize input from decision control system 630 in order to control steering system 633 to avoid obstacles detected by perception system 620. In some embodiments, the computing platform 650 is operable to provide control over many aspects of the vehicle 600 and its subsystems.

Optionally, one or more of these components described above may be mounted or associated separately from the vehicle 600. For example, the first memory 652 may exist partially or completely separately from the vehicle 600. The above components may be communicatively coupled together in a wired and/or wireless manner.

Optionally, the above components are only an example, in an actual application, components in the above modules may be added or deleted according to an actual need, and fig. 6 should not be construed as limiting the embodiment of the present disclosure.

An autonomous automobile traveling on a roadway, such as vehicle 600 above, may identify objects within its surrounding environment to determine an adjustment to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently and may be used to determine the speed at which the autonomous vehicle is to be adjusted based on the respective characteristics of the object, such as its current speed, acceleration, separation from the vehicle, and the like.

Optionally, the vehicle 600 or a sensing and computing device associated with the vehicle 600 (e.g., computing system 631, computing platform 650) may predict the behavior of the identified object based on characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of each other, so it is also possible to predict the behavior of a single identified object taking all identified objects together into account. The vehicle 600 is able to adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous vehicle is able to determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors may also be considered to determine the speed of the vehicle 600, such as the lateral position of the vehicle 600 in the road being traveled, the curvature of the road, the proximity of static and dynamic objects, and so forth.

In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of the vehicle 600 to cause the autonomous vehicle to follow a given trajectory and/or maintain a safe lateral and longitudinal distance from objects in the vicinity of the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).

The vehicle 600 may be any type of vehicle, such as a car, a truck, a motorcycle, a bus, a boat, an airplane, a helicopter, a recreational vehicle, a train, etc., and the disclosed embodiment is not particularly limited.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described communication method for vehicle control when executed by the programmable apparatus.

FIG. 7 is a block diagram illustrating a vehicle central computing domain controller in accordance with an exemplary embodiment. Referring to fig. 7, the overall central computing domain controller 110 includes a processing component 722 that further includes one or more processors, and memory resources, represented by a second memory 732, for storing instructions, such as applications, executable by the processing component 722. The application programs stored in the second memory 732 may include one or more modules that each correspond to a set of instructions. Further, the processing component 722 is configured to execute instructions to perform the communication methods for vehicle control described above.

Finished vehicle central computing domain controller 110 may also include a power supply component 726 configured to perform power management of finished vehicle central computing domain controller 110, a wired or wireless network interface 750 configured to connect finished vehicle central computing domain controller 110 to a network, and an input/output interface 758. The entire vehicle central computing domain controller 110 may operate based on an operating system, such as Windows Server, stored in a second memory 732 ^TM ，Mac OS X ^TM ，Unix ^TM ，Linux ^TM ，FreeBSD ^TM Or the like.

The entire vehicle central computing domain controller 110 may be an independent electronic device, or a part of an independent electronic device, for example, in an embodiment, the entire vehicle central computing domain controller 110 may be an Integrated Circuit (IC) or a chip, where the Integrated Circuit may be one IC or a set of multiple ICs; the chip may include, but is not limited to, the following categories: a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an SOC (System on Chip, SOC, system on Chip, or System on Chip), and the like. The integrated circuit or chip may be configured to execute executable instructions (or code) to implement the communication method for vehicle control described above. Where the executable instructions may be stored in the integrated circuit or chip or may be retrieved from another device or apparatus, for example, where the integrated circuit or chip includes a processor, a memory, and an interface for communicating with other devices. The executable instructions may be stored in the memory, which when executed by the processor, implement the communication method for vehicle control described above; alternatively, the integrated circuit or chip may receive executable instructions through the interface and transmit the executable instructions to the processor for execution to implement the communication method for vehicle control described above.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A system architecture for vehicle control, applied to a vehicle, the system architecture comprising:

2. The system architecture of claim 1, wherein the SOA service further provides a subscription interface to the vehicle-mounted control device, and the vehicle-mounted control device subscribes to the SOA service through the subscription interface, so that the entire vehicle central computing domain controller sends SOA service return parameters to the vehicle-mounted control device subscribing to the SOA service.

3. The system framework of claim 2, wherein the entire vehicle central computing domain controller is a multi-core controller including a first core, a second core and a third core, the first core is deployed with the SOA service, the second core is deployed with software components for implementing atomic capability of the vehicle, and the third core is deployed with an AutoSAR component.

4. The system architecture of claim 3, wherein the software components comprise a first software component and a plurality of second software components, wherein the AutoSAR component is a legacy platform AutoSAR component, comprising an RTE layer, wherein the RTE layer is provided with a virtual bus;

5. The system architecture of claim 4, wherein the second software component is configured to generate a second CAN signal according to a CAN feedback signal sent by the execution mechanism in response to the CAN control signal, and wherein the first software component receives the second CAN signal generated by the second software component via the virtual bus, generates an SOA service return parameter according to the second CAN signal, and sends the SOA service return parameter to the first core.

6. The system architecture of claim 4, wherein the AutoSAR component further comprises a BSW layer and an OS layer, and the CAN control signal passes through the BSW layer and then is sent to a CAN bus through the OS layer, so that an execution mechanism corresponding to the CAN control signal executes according to the CAN control signal.

7. The system architecture of any one of claims 1-6, wherein the onboard control device communicates with the full vehicle central computing domain controller over an Ethernet based on a DDS protocol.

8. The system architecture according to any of claims 2-6, characterized in that said onboard control means receives control instructions sent by a remote device via wireless communication and invokes or subscribes to said SOA service according to said control instructions.

9. A communication method for vehicle control, applied to an entire vehicle central computing domain controller according to any one of claims 1 to 8, connected with a plurality of vehicle control devices through ethernet and with a plurality of actuators through CAN bus, the method comprising:

10. A vehicle is characterized by comprising a whole vehicle central computing domain controller, a plurality of vehicle-mounted control devices connected with the whole vehicle central computing domain controller through an Ethernet and a plurality of actuating mechanisms connected with the whole vehicle central computing domain controller through a CAN bus;

wherein the entire truck central computing domain controller is configured to perform the method of claim 9.

11. A computer-readable storage medium, on which computer program instructions are stored, which program instructions, when executed by a processor, carry out the steps of the method as claimed in claim 9.

12. A chip comprising a processor and an interface; the processor is configured to read instructions to perform the method of claim 9.