FR3125607A1 - Method and device for calibrating a vehicle computer - Google Patents

Abstract

The present invention relates to a method and a device for calibrating a vehicle computer. To this end, the computer implements a multilayer software architecture (1) comprising a high-level application layer (10) and a low-level service layer (11), the application layer implementing a plurality of application software modules (101 to 103) and the service layer implementing a management module (111) for calibration data stored in the memory of the computer. Read access, by one of the application software modules, to a set of calibration data is permitted via the calibration data management module (111) via a first interface (1100) between the application layer ( 10) and the service layer (11), this first interface (1100) being common to all the application software modules (101 to 103). Figure for abstract: Figure 1

Description

Method and device for calibrating a vehicle computer

The present invention relates to methods and devices for calibrating a computer of a vehicle, for example a motor vehicle. The present invention also relates to a method and a device for communicating data between several layers of a multilayer software architecture of a vehicle computer.

Technology background

Contemporary vehicles carry a large number of computers, each providing, for example, one or more driving assistance system functions, such as, for example, the management of driving assistance, traction control, electronic braking or the control of actuators to ensure the optimal operation of a combustion engine. These driving assistance systems are known as ADAS systems (from the English "Advanced Driver-Assistance System" or in French "Advanced Driving Assistance System"). The most advanced driving assistance systems provide control of the vehicle, which becomes a so-called autonomous vehicle, i.e. a vehicle capable of driving in the road environment without driver intervention.

These computers are also called UCE (“Unit of Electronic Control” or in English ECU “Electronic Control Unit”). These computers embed software which is executed to ensure the functions for which they are responsible. These computers implement a multilayer software architecture with a hierarchy between the layers, the higher level layer or layers implementing application software executing the ADAS functions for example while the lowest level layer or layers implement services such as access to the data bus, memory, etc. Such a hierarchy between the layers is, for example, described in the OSI model (from the English "Open Systems Interconnection" or in French "Interconnection of open systems") or, more specifically concerning vehicle computers, in the AUTOSAR standard (from English "AUTomotive Open System Architecture" or in French "Architecture de system open automobile").

To operate, the application software of the high-level layer or layers calls upon or uses calibration data accessible via a calibration data management module implemented in a low-level service layer. Modifying the calibration data involves systematically modifying the low-level service layer implementing this module, which in particular complicates the process of developing application software requiring new calibration data or updated calibration data. Thus, a modification of the calibration data required for an evolution of an application software requires an update of software implemented in the low level layers managing these calibration data, the dependence between the application software of the high layer or layers level and the services provided by the low level layers being very strong. The costs and development time of the high-level application part are therefore very high.

Summary of the present invention

An object of the present invention is to solve at least one of the disadvantages of the technological background.

Another object of the present invention is to reduce the dependence between a high-level application part and a low-level service part of a multilayer software architecture of a vehicle computer.

According to a first aspect, the present invention relates to a method for calibrating a vehicle computer, the computer implementing a multilayer software architecture comprising a high-level application layer and at least one low-level service layer, the high-level application layer implementing a plurality of application software modules and the at least one low-level service layer implementing a module for managing calibration data stored in the memory of the computer, the method comprising a read access step, by a first application software module of the plurality of application software modules, to at least a first set of calibration data via the calibration data management module via a first interface between the high-level application layer and the at least one low-level service layer, the first interface being common to each application software module of the plurality of modules application software.

According to a variant, the first interface is configured to allow read access to the at least one first set of calibration data to each application software module of the plurality of application software modules via the calibration data management module.

According to another variant, the calibration data of the at least one first set are stored in the memory in the form of a table and/or in the form of scalars.

According to an additional variant, the method further comprises a step of read access, by a second application software module of the plurality, to at least one second set of calibration data via the calibration data management module by the intermediary of at least one second interface between the high-level application layer and the at least one low-level service layer, the at least one second interface being dedicated to the second software module.

According to yet another variant, each application software module of the plurality of application software modules is configured to implement at least one function of a vehicle driving assistance system, called ADAS system.

According to an additional variant, the at least one first data set is identified by a generic name that does not depend on the at least one function of the ADAS system.

According to another variant, a volume of the at least one first set of calibration data is a function of an available space dedicated to the calibration data in the memory.

According to a second aspect, the present invention relates to a device for calibrating a vehicle computer, the device comprising a memory associated with a processor configured for the implementation of the steps of the method according to the first aspect of the present invention.

According to a third aspect, the present invention relates to a vehicle, for example of the automobile type, comprising a device as described above according to the second aspect of the present invention.

According to a fourth aspect, the present invention relates to a computer program which comprises instructions adapted for the execution of the steps of the method according to the first aspect of the present invention, this in particular when the computer program is executed by at least one processor.

Such a computer program can use any programming language, and be in the form of source code, object code, or intermediate code between source code and object code, such as in a partially compiled form, or in any other desirable form.

According to a fifth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for the execution of the steps of the method according to the first aspect of the present invention.

On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium may comprise a storage means, such as a ROM memory, a CD-ROM or a ROM memory of the microelectronic circuit type, or even a magnetic recording means or a hard disk.

On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be conveyed via an electrical or optical cable, by conventional or hertzian radio or by self-directed laser beam or by other ways. The computer program according to the present invention can in particular be downloaded from an Internet-type network.

Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to execute or to be used in the execution of the method in question.

Brief description of figures

Other characteristics and advantages of the present invention will emerge from the description of the specific and non-limiting examples of embodiments of the present invention below, with reference to the appended figures 1 to 3, in which:

schematically illustrates a multilayer software architecture of a vehicle computer, according to a particular and non-limiting embodiment of the present invention;

schematically illustrates a device configured to calibrate the ECU of the , according to a particular and non-limiting embodiment of the present invention;

illustrates a flowchart of the different steps of a process for calibrating the computer of the , according to a particular and non-limiting embodiment of the present invention.

Description of the examples of realization

A method and a device for calibrating a vehicle computer will now be described in the following with reference in conjunction with FIGS. 1 to 3. The same elements are identified with the same reference signs throughout the description which will follow.

According to a particular and non-limiting embodiment of the present invention, a computer of a vehicle implements a multilayer software architecture, for example as described in the AUTOSAR standard. Such an architecture comprises a plurality of hierarchical layers, among which a high-level application layer implements a plurality of application software modules and one or more low-level service layers (that is to say with a hierarchical level lower than the application layer) implement a calibration data management module, these calibration data being used by the application software modules, the calibration data being stored in the memory of the computer. Read access to one or more first sets of calibration data is given to a first application software module via the calibration data management module, this access being permitted by a first interface common to all the application software modules between the high-level application layer and the low-level service layers.

This first interface comes in addition to existing second interfaces, each second interface being dedicated and specific to a second application software module for accessing a second particular set of calibration data.

The AUTOSAR standard is for example described in the document version 11.2020: R20-11.

The calibration data correspond for example to constant global variables in software, called application software module. This calibration data cannot be modified when running the software code in the serial life of the vehicle. This configuration data can be modified or updated via an instrumentation tool or via a download tool.

A software calibration allows, at each phase of the development of computer software, to fine-tune one or more control laws until arriving at an optimal solution for the series life of the computer implementing these control laws via application software implemented by the high-level application layer. This ensures that the computer operates in accordance with specifications, ensuring the safety of the vehicle and its passengers.

The first interface common to all the application software modules acts as a generic interface between the application software modules and the calibration data management module, which facilitates access to the first sets of calibration data accessible by all the application software modules, even when they evolve or are modified. Generic access to the first sets of calibration data makes it possible to calibrate and test each software module during an evolution of this software module, which facilitates the development of such software modules and reduces the associated development costs.

The first interface is configured to allow the evolution of the calibration uses of at least one high-level application layer without modifying a single low-level service layer.

schematically illustrates a multilayer software architecture 1 of a vehicle computer, according to a particular and non-limiting embodiment of the present invention.

The computer, whose architecture is presented schematically on the , implements for example one or more functions of an ADAS system via several application software modules 101, 102, 103 (also called applications), for example for the management of the millimetric radars fitted to the vehicle and allowing the detection of objects in the environment of the vehicle, as well as the distance between the vehicle and its objects.

Examples of such ADAS systems are provided by way of non-exhaustive illustration below:

- parking assistance system;

- assistance system for keeping the vehicle in the lane, known as the LKA system (from the English “Lane-Keeping Assist” or in French “Assistant de maintained dans la queue”);

- adaptive cruise control system, known as ACC (Adaptive Cruise Control);

- predictive cruise control, known as the PCC system (from the English "Predictive Cruise Control");

- electronic stability control system, known as the ESC system (from the English “Electronic Stability Control” or in French “Contrôle Electrique de la Stabilité”), DSC (from the English “Dynamic Stability Control” or in French “Controle Dynamique of stability”) or even ESP (from English “Electronic Stability Program” or in French “Programme electronique de lastabilisation”);

- automatic climate control system;

- automatic switching on of dipped headlights;

- automatic wiper.

The software architecture 1 of the computer comprises one or more high-level application layers 10 and one or more low-level layers 11 (that is to say lower level than the high-level application layer or layers), called service layers. .

In what follows, reference will be made to a high-level application layer 10 and a low-level service layer 11 for reasons of clarity, the number of high-level application layer(s) not being limited to a single layer and the number of low-level service layer(s) not limited to a single layer.

The high-level application layer 10 advantageously implements several application software modules 101, 102, 103 each implementing, for example, a determined function of an ADAS system, for example the management of the vehicle's radars for the detection of object(s). ), measuring the distance to these objects, recognizing these objects, etc.

The number of application software modules implemented in layer 10 is not limited to 3 but extends to any number greater than or equal to 1.

The validation and the calibration of each of these application software modules 101, 102, 103 is done on the basis of calibration data stored in the memory of the computer, the read accesses to these calibration data being managed by a data management module calibration 111 implemented by the low level service layer 11.

The calibration data management module 111 manages and guarantees access to the various sets of calibration data stored in the memory of the computer according to the physical addresses allocated to these various sets of calibration data.

The application software modules 101 to 103 have read access to these different sets of calibration data without, however, needing to know the physical addresses of these sets of data in the memory. The high-level application layer thus does not manage the memory addresses of the calibration data sets.

The low-level service layer or layers 11 advantageously implement so-called basic or basic software modules (from the English “Basic Software” or in French “Basic Software”), including the calibration data management module 111.

According to a variant embodiment, the software architecture comprises an intermediate level layer between the high level application layer 10 and the low level service layer, this layer being called RTE layer (from the English “Runtime Environment” or in French “ Runtime environment”).

The low-level layers include, for example, a service layer, an ECU (“Unit of Electronic Control” or ECU) abstraction layer, also called a computer, a microcontroller abstraction layer and a layer of complex drivers. These different layers and their functions are known to those skilled in the art and are not described in detail.

These low-level, so-called service layers, provide several benefits or services, for example grouped together functionally, for example they deliver computer memory access services, system access services or even communication services (via for example one or more data buses). Each of these services is provided or implemented by one or more so-called basic or basic software modules.

Thus, access to the memory and in particular to the calibration data by the application software modules 101 to 103 of the high level application layer 10 is controlled by the calibration data management module 111 of the low level service layer 11.

Access to the calibration data by the application software modules 101, 102, 103 is obtained via the calibration data management module 111 via:

- a first interface 1100 common to all the application software modules 101 to 103 of the high-level application layer 10 to access one or more first sets of calibration data stored in memory, each of these first sets being accessible by each application software module of the application layer 10; And

- a plurality of second interfaces 1101, 1102, 1103 and 1104 each specific to a single application software module of the application layer 10, each second interface allowing a second set of data specific to the application software module to which the second interface is dedicated allowing access to this second set of calibration data. Thus, for example, the application software module 101 has access to a second set of calibration data determined via the second interface 1101 which is dedicated solely to this software module 101; the application software module 102 has access to a second set of calibration data determined via the second interface 1102 which is dedicated solely to this software module 102 as well as to another second set of calibration data determined via the second interface 1103 which is dedicated solely to this software module 102; and the application software module 103 has access to a second set of calibration data determined via the second interface 1104 which is dedicated solely to this software module 103.

The accesses to the first set(s) of calibration data by the software modules 101 to 103 via the first interface 1100 are illustrated with dotted lines while the accesses to the second sets of calibration data by the software modules 101 to 103 via the second interfaces 1101 to 1104 are illustrated with solid lines on the .

Read access to the first set(s) of calibration data by one or more first application software modules from among the modules 101 to 103 comprises for example, for a first application software module, the transmission of a request to read a first set of calibration data. The request includes for example a name identifying this first set of data, the name being defined according to determined naming rules. For example, the name of a first set of calibration data is chosen so as to be generic, that is to say not dependent on the functions of the ADAS system implemented by the application software modules 101 to 103. data are themselves each identified by a generic name. The names of the different first games are advantageously known to each of the modules 101 to 103, allowing each of these modules to call one or more first games according to the calibration needs during the different development phases of these application software modules 101 to 103, with the exception of the first development phase which is based on the second sets of calibration data specific to each application software module 101 to 103. This request is transmitted via the first interface 1100.

Upon receipt of the read request, the management module 111 determines the physical address of the first calibration data set required from the name contained in the request and identifying this first calibration data set. This physical address is for example determined from a correspondence table, called LUT (from the English "Look-Up Table") matching or associating the names of each of the first sets of data stored in memory with their address respective physics in memory.

Read access to one or more second sets of calibration data by an application software module to which these second sets are dedicated (called the second application software module) is obtained in a similar manner by the transmission of a read request by this second module intended for the management module 111. However, each second data set is named according to a particular name depending on the function of the ADAS system implemented by this second application software module. A second data set can thus only be called up for reading by the second module to which it is dedicated via the second interface also dedicated to this second module and to this second set of calibration data.

The management module 111 then provides read access to the first set of data required via the first interface 1100 to the application software module that issued the request.

The process of calibrating the application software module is then implemented on the basis of the first set of calibration data.

Each first set of calibration data is for example stored in memory in the form of a table or array or in the form of scalars. According to a variant, a first set of calibration data is stored according to a mixed array(s)/scalars.

The size or the total volume of the first sets of calibration data depends on the memory space available for the calibration data, and cannot exceed this volume of memory space available or dedicated to the calibration data.

schematically illustrates a device 2 configured for the calibration of one or more software of an application layer of a computer, according to a particular and non-limiting embodiment of the present invention. The device 2 corresponds for example to a device on board the vehicle, for example a computer.

The device 2 is for example configured for the implementation of the operations described with regard to the and/or the steps of the process described with regard to the . Examples of such a device 2 include, but are not limited to, on-board electronic equipment such as a vehicle's on-board computer or an electronic computer such as an ECU (“Electronic Control Unit”). The elements of device 2, individually or in combination, can be integrated in a single integrated circuit, in several integrated circuits, and/or in discrete components. The device 2 can be made in the form of electronic circuits or software (or computer) modules or else a combination of electronic circuits and software modules.

The device 2 comprises one (or more) processor(s) 20 configured to execute instructions for carrying out the steps of the method and/or for executing the instructions of the software or software embedded in the device 2. The processor 20 can include integrated memory, an input/output interface, and various circuits known to those skilled in the art. The device 2 further comprises at least one memory 21 corresponding for example to a volatile and/or non-volatile memory and/or comprises a memory storage device which can comprise volatile and/or non-volatile memory, such as EEPROM, ROM , PROM, RAM, DRAM, SRAM, flash, magnetic or optical disk.

The computer code of the on-board software or software comprising the instructions to be loaded and executed by the processor is for example stored on the memory 21.

According to various particular and non-limiting examples of embodiment, the device 2 is coupled in communication with other similar devices or systems and/or with communication devices, for example a TCU (from the English “Telematic Control Unit” or in French "Telematic Control Unit"), for example via a communication bus or through dedicated input/output ports.

According to a particular and non-limiting example of embodiment, the device 2 comprises a communication interface 22 which makes it possible to establish communication with other devices (such as other computers of the on-board system) via a communication channel 220. The communication interface 22 corresponds for example to a transmitter configured to transmit and receive information and/or data via the communication channel 220. The communication interface 22 corresponds for example to a CAN-type wired network (of the English “Controller Area Network” or in French “Réseau de Contrôleurs”), CAN FD (from English “Controller Area Network Flexible Data-Rate” or in French “Réseau de Contrôleurs à Flow de Data Flexible”), FlexRay (standardized by the ISO 17458 standard) or Ethernet (standardized by the ISO/IEC 802-3 standard).

According to a particular and non-limiting example of embodiment, the device 2 can supply output signals to one or more external devices.

illustrates a flowchart of the different steps of a process for calibrating a computer of a vehicle and/or for calibrating one or more application software modules of a high-level application layer of the computer, according to a particular embodiment example and non-limiting of the present invention. The method is for example implemented by a device on board the vehicle, for example by the device 2 of the .

In a step 31, read access to at least a first set of calibration data is authorized for a first application software module of a plurality of application software modules implemented in a high-level application layer of the computer. This access is authorized via a calibration data management module implemented in a low-level service layer of the computer, via a first interface between the high-level application layer and the low-level service layer. This first interface is advantageously common to each application software module of the plurality of application software modules implemented in the high-level application layer of the computer.

According to a variant, the variants and examples of the operations described in relation to the apply to the process steps of the .

Of course, the present invention is not limited to the embodiments described above but extends to a method for calibrating an application software which would include secondary steps without departing from the scope of the present invention. The same would apply to a device configured for the implementation of such a method.

The present invention also relates to a vehicle, for example an automobile or more generally an autonomous motor vehicle, comprising the device 2 of the .

Claims (10)

Method for calibrating a vehicle computer, said computer implementing a multi-layer software architecture (1) comprising a high-level application layer (10) and at least one low-level service layer (11), said high-level application layer ( 10) implementing a plurality of application software modules (101, 102, 103) and said at least one low-level service layer (11) implementing a module for managing (111) calibration data stored in the memory of said computer , said method comprising a step (31) of read access, by a first application software module of said plurality of application software modules (101, 102, 103), to at least one first set of calibration data via said management (111) of calibration data via a first interface (1100) between said high level application layer (10) and said at least one low level service layer (11), said first interface (1100) being common to each application software module of said plurality of application software modules (101, 102, 103). A method according to claim 1, wherein said first interface (1100) is configured to allow read access to said at least one first set of calibration data to each application software module of said plurality of application software modules (101, 102, 103 ) via said calibration data management module (111). Method according to Claim 1 or 2, for which the calibration data of the at least one first set are stored in the said memory in the form of a table and/or in the form of scalars. Method according to any one of claims 1 to 3, further comprising a step of read access, by a second application software module of the said plurality of application software modules (101, 102, 103), to at least one second set calibration data via said calibration data management module via at least one second interface (1101, 1102, 1103, 1104) between said high-level application layer (10) and said at least one service layer low level (11), said at least one second interface (1101, 1102, 1103, 1104) being dedicated to said second software module. Method according to one of Claims 1 to 4, for which each application software module of the said plurality of application software modules (101, 102, 103) is configured to implement at least one function of a driving the vehicle, known as the ADAS system. Method according to claim 5, for which said at least one first data set is identified by a generic name not depending on said at least one function of the ADAS system. Method according to one of Claims 1 to 6, for which a volume of said at least one first set of calibration data is a function of an available space dedicated to the calibration data in said memory. Computer program comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor. Device (2) for calibrating a vehicle computer, said device (2) comprising a memory (21) associated with at least one processor (20) configured for the implementation of the steps of the method according to any one of the claims 1 to 7. Vehicle comprising the device (2) according to claim 9.