CN118138639A - Integrated domain controller, sensor data cross-domain transmission method thereof and vehicle-mounted equipment - Google Patents
Integrated domain controller, sensor data cross-domain transmission method thereof and vehicle-mounted equipment Download PDFInfo
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Abstract
An integrated domain controller and a sensor data cross-domain transmission method thereof, an in-vehicle device, the integrated domain controller being configured with a plurality of domains, one of the plurality of domains being configured as a sensor access domain, the remaining domains being configured as application domains, the method comprising: determining a first shared memory space in response to a data acquisition task start of an application domain; transmitting data to a sensor access domain to start transmitting indication information for indicating the sensor access domain to acquire sensor data from a sensor and writing the sensor data into a first shared memory space; and in response to confirming that the sensor data is successfully written into the first shared memory space, reading the written sensor data from the first shared memory space and sending the written sensor data to the target service program of the application domain, wherein the data acquisition task is triggered and started by the target service program. In an application scene adopting an integrated domain controller, the cross-domain transmission of sensor data can be realized by adopting the scheme, and the equipment cost is reduced.
Description
Technical Field
The present invention relates to the field of data cross-domain transmission technologies, and in particular, to an integrated domain controller, a sensor data cross-domain transmission method thereof, and a vehicle device.
Background
In the autopilot technology, "domain" may specifically refer to the driving domain, the cabin domain, the body domain, etc. of an autopilot, each domain typically having a respective kernel and running a respective operating system. In each domain, there may be one or more business processes that require corresponding business processes using data from certain sensors, and thus, corresponding schemes are required to provide sensor data for multiple domains and to support data or command writing from multiple domains to the sensors.
In the conventional art, an Electronic/Electronic (EE) architecture of an autopilot is generally a distributed domain controller (Electronic Control Unit, ECU) architecture, and controllers (or referred to as processors) of each domain are independent from each other in a geographic space and a hardware level. For the same set of sensors, the distance between the sensors and each domain and the specific communication mode may be different, and if a single set of sensors are used for respectively carrying out data communication with a plurality of distributed domains, higher communication cost and reduced communication flexibility may be caused. Thus, conventional schemes for implementing data communication between a sensor and multiple domains typically access a set of sensors for each domain, the sensors communicating with only a single domain that is accessed.
However, with the development of autopilot and car intellectualization, the EE architecture of autopilot cars has gradually changed from a distributed domain controller architecture to an integrated domain controller architecture (e.g., using a System On Chip (SOC)). Due to the multiple domains configured by the integrated domain controller, integration at the hardware level and consistency in geospatial, conventional data communication schemes that configure multiple sets of sensors for multiple domains may result in increased redundancy and cost of equipment.
Disclosure of Invention
The technical problem solved by the embodiment of the invention is how to realize the cross-domain transmission of the sensor data in the application scene adopting the integrated domain controller so as to reduce the equipment cost.
To solve the above technical problems, an embodiment of the present invention provides a method for transmitting sensor data across domains for an integrated domain controller, where the integrated domain controller is configured with a plurality of domains, one of the domains is configured as a sensor access domain, and the other domains are configured as application domains, and the method includes the following steps: determining a first shared memory space in response to a data acquisition task start of an application domain; transmitting data start transmission indicating information to the sensor access domain, wherein the data start transmission indicating information is used for indicating the sensor access domain to acquire sensor data from a sensor and writing the sensor data into the first shared memory space; and in response to confirming that the sensor data is successfully written into the first shared memory space, reading the written sensor data from the first shared memory space, and sending the sensor data to a target service program of the application domain, wherein the data acquisition task is triggered and started by the target service program.
Optionally, the target service program has a plurality of target service programs, and each target service program has a second callback instruction corresponding to each target service program; in response to confirming that the sensor data is successfully written into the first shared memory space, reading the written sensor data from the first shared memory space and sending the sensor data to a target business program of the application domain, comprising: in response to confirming that the sensor data is successfully written into the first shared memory space, triggering and executing a first callback instruction, wherein the first callback instruction is used for reading the written sensor data from the first shared memory space and writing the sensor data into a data queue; and in response to confirming that the sensor data is successfully written into the data queue, triggering and executing second callback instructions corresponding to each target service program respectively, wherein the second callback instructions corresponding to each target service program are used for reading the sensor data from the data queue and sending the sensor data to the target service program.
Optionally, the method further comprises: and in response to confirming that the sensor data is successfully written into the first shared memory space, sending first feedback information to the sensor access domain, wherein the first feedback information is used for indicating the sensor access domain to acquire subsequent sensor data from the sensor and write the subsequent sensor data into the first shared memory space.
Optionally, the method further comprises: determining a second shared memory space in response to the data transmission task of the application domain being started; writing service data into the second shared memory space; wherein, in response to confirming that the service data is successfully written into the second shared memory space, the sensor access domain reads the written service data from the second shared memory space and writes the service data into the sensor.
Optionally, the method further comprises: in response to receiving second feedback information sent by the sensor access domain, writing service data to be written into the sensor into the second shared memory space; and the second feedback information is sent by the sensor access domain in response to the fact that the service data before confirmation is successfully written into the second shared memory space.
Optionally, before writing the service data into the second shared memory space, the method further includes: and executing data security check on the service data to be written, and confirming that the security check of the service data passes.
Optionally, the data start sending indication information is used for indicating the sensor access domain to obtain sensor data from a sensor, and adding timestamp information of the received sensor data into the sensor data and then writing the sensor data into the first shared memory space.
The embodiment of the invention also provides an integrated domain controller, which is configured with a plurality of domains, one of the domains is configured as a sensor access domain, the other domains are configured as application domains, and the application domains are configured to execute the sensor data cross-domain transmission method of the integrated domain controller.
Optionally, the integrated domain controller is a cross-domain fusion SOC chip.
The embodiment of the invention also provides vehicle-mounted equipment comprising the integrated domain controller.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
The embodiment of the invention provides a sensor data cross-domain transmission method of an integrated domain controller, wherein the integrated domain controller is configured with a plurality of domains, one of the domains is configured as a sensor access domain, and the other domains are configured as application domains, and the method specifically comprises the following steps: determining a first shared memory space in response to a data acquisition task start of an application domain; transmitting data start transmission indicating information to the sensor access domain, wherein the data start transmission indicating information is used for indicating the sensor access domain to acquire sensor data from a sensor and writing the sensor data into the first shared memory space; and in response to confirming that the sensor data is successfully written into the first shared memory space, reading the written sensor data from the first shared memory space, and sending the sensor data to a target service program of the application domain, wherein the data acquisition task is triggered and started by the target service program.
In the embodiment of the present invention, when the target service program of the application domain needs to acquire the sensor data, the sensor access domain may be instructed to acquire the data and write the data into the designated first shared memory space, and then the sensor data may be read from the first shared memory space. Therefore, the application domain can conveniently acquire the sensor data on the basis of no additional equipment.
Further, in the embodiment of the present invention, operations of reading and transmitting sensor data are performed in combination with "data queue" and "two-round trigger". Specifically, in the first round of triggering, in response to confirming that the sensor data is successfully written into the first shared memory space, triggering and executing a first callback instruction, firstly reading the written sensor data from the first shared memory space and writing the written sensor data into a data queue; in the second round, responding to the confirmation that the sensor data is successfully written into the data queue, respectively triggering and executing second callback instructions corresponding to each target service program, reading the sensor data from the data queue and sending the sensor data to the corresponding target service program. The first callback instruction may be automatically triggered based on successful writing of the sensor data into the first shared memory space, that is, writing is triggered without active operation of the application domain, and the second callback instruction may be actively issued by the application domain for the corresponding target service program. Therefore, the sensor data is transferred to the data queue first time after being successfully written into the first shared memory space, and then is read out from the data queue according to the requirements of each target service program, so that on one hand, the sensor data which is already written into the first shared memory space can be prevented from being covered or lost, on the other hand, the ordered triggering of the second callback instruction can be used for ensuring that each target service program can orderly and completely receive the required sensor data, and the reliability and stability of data transmission are improved.
Further, in the embodiment of the present invention, when it is confirmed that the current sensor data is successfully written into the first shared memory space, an instruction (i.e., the first feedback information) for acquiring the subsequent sensor data and writing into the first shared memory space may be sent to the sensor access domain. Compared with the conventional mode, after all target service programs need to wait for the current sensor data to be received, the method can send the indication of acquiring the subsequent sensor data and writing the subsequent sensor data into the first shared memory space to the sensor access domain, and the embodiment can ensure that the reliability and the order of data transmission are improved, and meanwhile, the efficiency and the timeliness of the data transmission are improved.
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FIG. 1 is a flow chart of a method for cross-domain transmission of sensor data of an integrated domain controller in an embodiment of the invention;
FIG. 2 is a flow chart of one embodiment of step S13 of FIG. 1;
FIG. 3 is a schematic diagram of data cross-domain transmission between multiple application domains and a sensor via a sensor access domain in an embodiment of the present invention;
FIG. 4 is a data flow diagram of a target business process for sensor data transfer to an application domain in accordance with an embodiment of the present invention;
FIG. 5 is a data flow diagram of sensor data being transmitted within an application domain to a plurality of target business processes;
fig. 6 is a data flow diagram of the transmission of service data of a target service program of an application domain to a sensor in an embodiment of the present invention.
Detailed Description
As described in the background, as the application of the architecture of the integrated domain controller is gradually wide, especially in the vehicle-mounted device in the current automatic driving field, the integrated domain controller configured with multiple domains is generally adopted, and each domain is integrated on the hardware level and consistent in the geographic space, if a traditional data communication scheme for configuring multiple sets of sensors for multiple domains is still adopted, the redundancy of the device and the increase of the cost are caused.
In the embodiment of the present invention, when the target service program of the application domain needs to acquire the sensor data, the sensor access domain may be instructed to acquire the data and write the data into the designated first shared memory space, and then the sensor data may be read from the first shared memory space. Therefore, the application domain can conveniently acquire the sensor data on the basis of no additional equipment.
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
Referring to fig. 1, fig. 1 is a flowchart of a method for transmitting sensor data across domains of an integrated domain controller in an embodiment of the present invention, the integrated domain controller is configured with a plurality of domains, one of the plurality of domains is configured as a sensor access domain, and the other domains are configured as application domains. In particular, the configuration of the sensor access domains and the application domains may be fixed, i.e. a particular one of the domains is fixed as a sensor domain and the other domains are fixed as application domains; or the configuration of the domains may be dynamically adjusted, and the sensor access domains may be different domains at different time periods. In addition, each domain may include hardware composed of components such as circuits, controllers, and the like, and may include firmware, software, and the like that run on the hardware. In one non-limiting example, the integrated domain controller may be a cross-domain fusion SOC for intelligent driving, where the configured plurality of domains may include a driving domain, a cabin domain, a body domain, and the like.
In a specific implementation, the method may be applied to any application domain configured by the integrated domain controller, i.e. the steps of the method may be performed by any application domain.
Specifically, the method may include steps S11 to S13:
step S11: determining a first shared memory space in response to a data acquisition task start of an application domain;
Step S12: transmitting data start transmission indicating information to the sensor access domain, wherein the data start transmission indicating information is used for indicating the sensor access domain to acquire sensor data from a sensor and writing the sensor data into the first shared memory space;
step S13: and in response to confirming that the sensor data is successfully written into the first shared memory space, reading the written sensor data from the first shared memory space, and sending the sensor data to a target service program of the application domain, wherein the data acquisition task is triggered and started by the target service program.
In a specific implementation of step S11, each Application domain may include one or more service programs, which may be, for example, application programs (APPs). Each business program has a respective data acquisition task (or data acquisition process), and different business programs may have the same data acquisition task. The data acquisition task is triggered to start by the belonging business program (i.e., the target business program).
The first shared memory space may be a portion of a memory storage space selected from a memory, and each application domain has a respective shared memory space.
In a specific embodiment of step S11, the first shared memory space may be determined by using a static memory space allocation manner. Specifically, a part of memory space may be allocated to each application domain in advance, and used as a shared memory space (i.e., the first shared memory space) used for writing and reading sensor data later, and a mapping relationship table is used to record a correspondence relationship between each application domain and the allocated first shared memory space; in response to the start of the data acquisition task of the application domain, a first shared memory space corresponding to the application domain may be determined based on the recorded correspondence in the mapping relationship table.
In another embodiment of the step S11, the first shared memory space may be determined by using a memory space dynamic allocation method. Specifically, in response to the start of a data acquisition task of an application domain, the first shared memory space is dynamically allocated for the application domain.
In a specific implementation of step S12, the data start sending instruction information may include sensor data acquisition instruction information, so as to instruct the sensor access domain to acquire sensor data from a sensor, and write the sensor data into the first shared memory space.
In some application scenarios, some business processes of the application domain are sensitive to the time stamp of the sensor data, e.g. for navigation processes that need to acquire inertial measurement unit (Inertial Measurement Unit, IMU) data, track integration is usually required according to the sampling time of two adjacent sets of sensor data. If the service program receives the time stamp of the sensor data as the sampling time, the time stamp is easily affected by system load and the like, especially for a domain running a non-real-time operating system (for example, a domain running a Linux operating system), the time stamp is non-uniform and has a large delay, so that the performance of a subsequent algorithm is affected.
Thus, in an implementation, for a sensor (e.g., IMU) sensitive to a timestamp, the data start transmission indication information may further include write time indication information to indicate that, after the sensor access domain acquires sensor data from the sensor, timestamp information of the sensor data is added to the acquired sensor data, and then the first shared memory space is rewritten. The time stamp information of the sensor data may specifically refer to time stamp information of the sensor access domain that receives the sensor data. Further, the target business program that subsequently receives the sensor data may employ the added timestamp information as the sampling time of the sensor data.
Compared with the method that the service program of the application domain receives the time stamp of the sensor data as the sampling time, the method and the device can improve uniformity and timeliness of the time stamp information obtained in the actual application scene and improve algorithm performance of the service program by indicating the sensor access domain to add the time stamp information for receiving the sensor data in the obtained sensor data.
In the implementation of step S13, the written sensor data is read from the first shared memory space and sent to the target service program, which may be executed in at least several embodiments described below.
In the first specific embodiment of step S13, the target service program corresponding to the data acquisition task has only one target service program, and the target service program has a corresponding third callback instruction; and in response to confirming that the sensor data is successfully written into the first shared memory space, triggering and executing a third callback instruction corresponding to the target service program, wherein the third callback instruction is used for reading the written sensor data from the first shared memory space and sending the written sensor data to the target service program.
In the second specific embodiment of step S13, there are a plurality of target service programs corresponding to the data acquisition task, where each target service program has a fourth callback instruction corresponding to each target service program; in response to confirming that the sensor data is successfully written into the first shared memory space, a third callback instruction corresponding to each target service program can be triggered and executed respectively, and a fourth callback instruction corresponding to each target service program is used for reading the written sensor data from the first shared memory space and sending the written sensor data to the target service program.
In a third embodiment of the step S13, there are a plurality of target service programs corresponding to the data acquisition task, where each target service program has a second callback instruction corresponding to the target service program; the third embodiment is specifically described with reference to fig. 2. Fig. 2 is a flowchart of one embodiment of step S13 in fig. 1.
Specifically, the step S13 may include the following steps S21 to S22.
In step S21, in response to confirming that the sensor data is successfully written into the first shared memory space, triggering execution of a first callback instruction, where the first callback instruction is used to read the written sensor data from the first shared memory space, and write the sensor data into a data queue.
In step S22, in response to confirming that the sensor data is successfully written into the data queue, second callback instructions corresponding to each target service program are respectively triggered and executed, and the second callback instructions corresponding to each target service program are used for reading the sensor data from the data queue and sending the sensor data to the target service program.
It should be noted that in the scenario where the sensor data needs to be sent to a plurality of target service programs, the conventional manner is to use the second embodiment described above, that is, to use "one-shot" to perform the operation of reading the sensor data from the first shared memory space and sending the sensor data to each target service program. However, this approach has the disadvantage that: in practical application, after each target service program receives the current sensor data, the subsequent sensor data needs to be continuously received, and the time for each target service program to receive the current sensor data may not be consistent. Therefore, in order to avoid that a certain target service program does not receive the current sensor data yet, the current sensor data is covered or lost due to the fact that the subsequent sensor data is written into the first shared memory space, an instruction of acquiring the subsequent sensor data and writing the subsequent sensor data into the first shared memory space is sent to the sensor access domain after all the target service programs receive the current sensor data, which obviously results in reduction of efficiency and timeliness of data transmission.
In contrast, in the embodiment of the present invention, the third embodiment described above may be adopted, that is, the operations of reading and transmitting sensor data are performed by combining "data queue" and "two-round trigger". Specifically, in the first round of triggering, in response to confirming that the sensor data is successfully written into the first shared memory space, triggering and executing a first callback instruction, firstly reading the written sensor data from the first shared memory space and writing the written sensor data into a data queue; in the second round of triggering, responding to the confirmation that the sensor data is successfully written into the data queue, respectively triggering and executing second callback instructions corresponding to each target service program, reading the sensor data from the data queue and sending the sensor data to the corresponding target service program. The first callback instruction may be automatically triggered based on successful writing of the sensor data into the first shared memory space, that is, writing is triggered without active operation of the application domain, and the second callback instruction may be actively issued by the application domain for the corresponding target service program. Therefore, the sensor data is transferred to the data queue first time after being successfully written into the first shared memory space, and then is read out from the data queue according to the requirements of each target service program, so that on one hand, the sensor data which is already written into the first shared memory space can be prevented from being covered or lost, on the other hand, the ordered triggering of the second callback instruction can be used for ensuring that each target service program can orderly and completely receive the required sensor data, and the reliability and stability of data transmission are improved.
Further, the method further comprises: and in response to confirming that the sensor data is successfully written into the first shared memory space, sending first feedback information to the sensor access domain, wherein the first feedback information is used for indicating the sensor access domain to acquire subsequent sensor data from the sensor and write the subsequent sensor data into the first shared memory space.
In the embodiment of the present invention, on the basis of combining the above-mentioned scheme of executing the reading and sending of the sensor data by the "data queue" and the "two-round triggering", the problem that the sensor data in the first shared memory space is covered is solved, further, when the sensor data (i.e., the current sensor data) is confirmed to be successfully written into the first shared memory space, that is, an instruction (i.e., the first feedback information) for acquiring the subsequent sensor data and writing into the first shared memory space is sent to the sensor access domain. Compared with the conventional mode, after all target service programs need to wait for the current sensor data to be received, the method can send the indication of acquiring the subsequent sensor data and writing the subsequent sensor data into the first shared memory space to the sensor access domain, and the embodiment can ensure that the reliability and the order of data transmission are improved, and meanwhile, the efficiency and the timeliness of the data transmission are improved.
Further, the method further comprises: determining a second shared memory space in response to the data transmission task of the application domain being started; writing service data into the second shared memory space; wherein, in response to confirming that the service data is successfully written into the second shared memory space, the sensor access domain reads the written service data from the second shared memory space and writes the service data into the sensor.
In a specific implementation, regarding the manner of determining the second shared memory space, the description scheme of determining the first shared memory space in step S11 may be referred to, which is not repeated herein.
In the embodiment of the invention, when the target service program of the application domain needs to write the service data into the sensor, the service data can be written into the designated second shared memory space, and then the sensor access domain can read the written service data from the second shared memory space and write the service data into the sensor. Thus, the application domain can conveniently write data to the sensor on the basis of no additional equipment.
In some non-limiting embodiments, the service data may be a function control command to be written to the sensor. Compared with the conventional scheme, the method and the device generally only support unidirectional transmission of the sensor data, by adopting the embodiment, not only can the sensor data be sent to each application domain through the sensor access domain and the first shared memory space, but also the service data of each application domain can be written into the sensor through the second shared memory space and the sensor access domain (for example, the control of the sensor is realized in a command form), different application scene requirements are met, and the data transmission flexibility is improved.
Still further, the method further comprises: in response to receiving second feedback information sent by the sensor access domain, writing service data to be written into the sensor into the second shared memory space; and the second feedback information is sent by the sensor access domain in response to the fact that the service data before confirmation is successfully written into the second shared memory space.
In an implementation, before writing the service data to the second shared memory space, the method further includes: and executing data security check on the service data to be written, and confirming that the security check of the service data passes. Therefore, the safety of the written sensor service data, especially the safety related to the sensor function control related instructions, can be ensured, and the safety guarantee of the written sensor data is particularly important for the application related to obstacle avoidance or navigation in the automatic driving field.
The embodiment of the invention also provides an integrated domain controller, which is configured with a plurality of domains, one of the domains is configured as a sensor access domain, the other domains are configured as application domains, and the application domains are configured to execute the sensor data cross-domain transmission method shown in any embodiment of fig. 1 and 2.
The embodiment of the invention also provides vehicle-mounted equipment comprising the integrated domain controller.
In the embodiment of the invention, for the vehicle-mounted device configured with the integrated domain controller, one of the domains is configured as a sensor access domain to perform direct data communication with the sensor, and the other domains are configured as application domains to perform indirect data communication with the sensor through the sensor access domain. Specifically, when the target service program of the application domain needs to acquire the sensor data, the sensor access domain may be instructed to acquire the data and write the data into the designated first shared memory space, and then the sensor data may be read from the first shared memory space. Further, when the target service program of the application domain needs to write service data into the sensor, the service data may be written into the designated second shared memory space, and then the sensor access domain may read the written service data from the second shared memory space and write the service data into the sensor. Therefore, the application domain can conveniently acquire the sensor data and write the data into the sensor (for example, control commands are written into the sensor to control related functions of the sensor) on the basis of solving the redundancy problem of the existing sensor equipment and reducing the equipment cost.
The principle and flow of sensor data cross-domain transmission according to the embodiments of the present invention are described in more detail below with reference to fig. 3 to 6.
FIG. 3 is a schematic diagram of data cross-domain transmission between multiple application domains and a sensor via a sensor access domain in an embodiment of the present invention; FIG. 4 is a data flow diagram of a target business process for sensor data transfer to an application domain in accordance with an embodiment of the present invention; FIG. 5 is a data flow diagram of sensor data being transmitted within an application domain to a plurality of target business processes; fig. 6 is a data flow diagram of the transmission of service data of a target service program of an application domain to a sensor in an embodiment of the present invention.
As shown in fig. 3, the application domains 1 to n correspond to the shared memory spaces 1 to n, respectively, and the shared memory spaces 1 to n may be identified by using the shared memory addresses 1 to n, respectively. The shared memory spaces may be continuous memory areas or discontinuous memory areas in the memory, and the embodiment of the invention is not limited. And the data cross-domain transmission is realized by reading and writing data in the corresponding shared memory space between the sensor access domain and each application domain.
As shown in fig. 4, in one embodiment, the data flow is the target business program of the sensor access domain application domain, and the main flow is as follows:
4.1, responding to the starting of a data acquisition task of an application domain, and determining a first shared memory space;
4.2 the application domain sends data to the sensor access domain to start sending indication information;
4.3, the sensor access domain receives the data sent by the application domain and starts to send indication information, acquires sensor data from the sensor, performs preliminary analysis on the acquired sensor data, adds timestamp information for receiving the sensor data, and writes the timestamp information into a first shared memory space;
4.4 the application domain responds to the confirmation that the sensor data is successfully written into the first shared memory space, reads the written sensor data from the first shared memory space, and sends the sensor data to a target business program of the application domain.
Further, the data acquisition task (may also be a data acquisition process) may bind one or more target business programs; referring to fig. 5, after sensor data enter an application domain, the sensor data are sent to the target business processes 1 to n (corresponding to the target business processes shown in fig. 5) to which the data acquisition task is bound, respectively.
In another embodiment, as shown in fig. 6, the data flow is the target business program of the application domain— the second shared memory space — the sensor access domain-the sensor, and the main flow is as follows:
6.1, starting a data transmission task of an application domain, and determining a second shared memory space;
6.2 the application domain writes the business data into the second shared memory space;
and 6.3, the sensor access domain reads the written service data from the second shared memory space and writes the service data into the sensor in response to confirming that the service data is successfully written into the second shared memory space.
In a specific implementation, the operations of reading and writing data from and to the shared memory space by the sensor access domain/application domain and the operations of sending the sensor data to the target service program in the application domain can be implemented by adopting related data reading and writing or transmission instructions of the existing inter-process communication library (Interprocess Communication, abbreviated as IPC communication library).
It should be understood that the term "and/or" is merely an association relationship describing the associated object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, the character "/" indicates that the front and rear associated objects are an "or" relationship.
The term "plurality" as used in the embodiments of the present application means two or more.
The first, second, etc. descriptions in the embodiments of the present application are only used for illustrating and distinguishing the description objects, and no order is used, nor is the number of the devices in the embodiments of the present application limited, and no limitation on the embodiments of the present application should be construed.
It should be noted that the serial numbers of the steps in the present embodiment do not represent a limitation on the execution sequence of the steps.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Claims (10)
1. A method of cross-domain transmission of sensor data for an integrated domain controller, the integrated domain controller configured with a plurality of domains, wherein one of the plurality of domains is configured as a sensor access domain and the remaining domains are configured as application domains, the method comprising:
Determining a first shared memory space in response to a data acquisition task start of an application domain;
Transmitting data start transmission indicating information to the sensor access domain, wherein the data start transmission indicating information is used for indicating the sensor access domain to acquire sensor data from a sensor and writing the sensor data into the first shared memory space;
And in response to confirming that the sensor data is successfully written into the first shared memory space, reading the written sensor data from the first shared memory space, and sending the sensor data to a target service program of the application domain, wherein the data acquisition task is triggered and started by the target service program.
2. The method of claim 1, wherein the target business program has a plurality of target business programs, each target business program having a respective second callback instruction;
In response to confirming that the sensor data is successfully written into the first shared memory space, reading the written sensor data from the first shared memory space and sending the sensor data to a target business program of the application domain, comprising:
in response to confirming that the sensor data is successfully written into the first shared memory space, triggering and executing a first callback instruction, wherein the first callback instruction is used for reading the written sensor data from the first shared memory space and writing the sensor data into a data queue;
And in response to confirming that the sensor data is successfully written into the data queue, triggering and executing second callback instructions corresponding to each target service program respectively, wherein the second callback instructions corresponding to each target service program are used for reading the sensor data from the data queue and sending the sensor data to the target service program.
3. The method according to claim 1 or 2, characterized in that the method further comprises: and in response to confirming that the sensor data is successfully written into the first shared memory space, sending first feedback information to the sensor access domain, wherein the first feedback information is used for indicating the sensor access domain to acquire subsequent sensor data from the sensor and write the subsequent sensor data into the first shared memory space.
4. The method according to claim 1, wherein the method further comprises:
Determining a second shared memory space in response to the data transmission task of the application domain being started;
writing service data into the second shared memory space;
Wherein, in response to confirming that the service data is successfully written into the second shared memory space, the sensor access domain reads the written service data from the second shared memory space and writes the service data into the sensor.
5. The method according to claim 4, wherein the method further comprises:
in response to receiving second feedback information sent by the sensor access domain, writing service data to be written into the sensor into the second shared memory space;
And the second feedback information is sent by the sensor access domain in response to the fact that the service data before confirmation is successfully written into the second shared memory space.
6. The method of claim 4, wherein prior to writing traffic data to the second shared memory space, the method further comprises:
and executing data security check on the service data to be written, and confirming that the security check of the service data passes.
7. The method of claim 1, wherein the data start transmission instruction information is used to instruct the sensor access domain to acquire sensor data from a sensor, and write the sensor data into the first shared memory space after adding timestamp information of the received sensor data to the sensor data.
8. An integrated domain controller configured with a plurality of domains, characterized in that one of the plurality of domains is configured as a sensor access domain and the remaining domains are configured as application domains configured to perform the method of any of claims 1 to 7.
9. The integrated domain controller of claim 8, wherein the integrated domain controller is a cross-domain fusion SOC chip.
10. An in-vehicle apparatus comprising the integrated domain controller of claim 8 or 9.
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| CN202410176384.6A CN118138639A (en) | 2024-02-07 | 2024-02-07 | Integrated domain controller, sensor data cross-domain transmission method thereof and vehicle-mounted equipment |
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| CN202410176384.6A CN118138639A (en) | 2024-02-07 | 2024-02-07 | Integrated domain controller, sensor data cross-domain transmission method thereof and vehicle-mounted equipment |
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