WO2023060524A1 - 车载应用的参数标定方法、装置和车辆 - Google Patents

车载应用的参数标定方法、装置和车辆 Download PDF

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Publication number
WO2023060524A1
WO2023060524A1 PCT/CN2021/123960 CN2021123960W WO2023060524A1 WO 2023060524 A1 WO2023060524 A1 WO 2023060524A1 CN 2021123960 W CN2021123960 W CN 2021123960W WO 2023060524 A1 WO2023060524 A1 WO 2023060524A1
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WIPO (PCT)
Prior art keywords
calibration
service
vehicle
application
parameters
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PCT/CN2021/123960
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English (en)
French (fr)
Inventor
王晓华
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华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to PCT/CN2021/123960 priority Critical patent/WO2023060524A1/zh
Priority to CN202180103227.7A priority patent/CN118103825A/zh
Publication of WO2023060524A1 publication Critical patent/WO2023060524A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F12/00—Accessing, addressing or allocating within memory systems or architectures
    • G06F12/02—Addressing or allocation; Relocation
    • G06F12/08—Addressing or allocation; Relocation in hierarchically structured memory systems, e.g. virtual memory systems
    • G06F12/10—Address translation
    • G06F12/109—Address translation for multiple virtual address spaces, e.g. segmentation

Definitions

  • the present application relates to the automotive field, and more specifically, to a parameter calibration method, device and vehicle for vehicle applications.
  • the functions of the vehicle are mainly packaged in the embedded electronic control unit (ECU) in the form of software.
  • the address of the vehicle application in the ECU is fixed and can be directly addressed.
  • the calibration equipment can be calibrated online by reading and writing the memory address in the ECU.
  • AP adaptive platform
  • POSIX portable operating system interface
  • the present application provides a parameter calibration method, device and vehicle for a vehicle application, in order to solve the problem that the variable address in the vehicle application cannot be confirmed before running, which leads to the failure of the calibration equipment to calibrate.
  • the present application provides a parameter calibration method for a vehicle application, which can be executed by the vehicle application.
  • the method includes: the vehicle application publishes one or more calibration parameters, the vehicle application is deployed in the AP AutoSAR configured with the calibration service, and is configured to use the calibration service, and the calibration service is used to provide data publishing and parameter Calibration services; the vehicle application receives one or more calibration parameters and their corresponding calibration values from the calibration device, each calibration value is used to calibrate the corresponding calibration parameters, and one or more calibration parameters from the calibration device are for the vehicle application Part or all of the published one or more calibration parameters, the calibration device is a device that has subscribed to the calibration service of the vehicle application.
  • the vehicle application deployed on AP AutoSAR and configured to use the calibration service can issue calibration parameters based on the calibration service provided by AP AutoSAR, and receive calibration parameters and calibration values from the calibration device. Therefore, as long as the calibration device subscribes to the calibration service of the vehicle application, it can realize the calibration of the vehicle application without confirming the memory address of the data, which avoids the failure of the calibration device to calibrate because the variable address in the vehicle application cannot be confirmed before running. question. At the same time, it also alleviates the problem that the XCP-based calibration cannot be performed due to the absence of a universal calibration protocol (XCP) module defined on the AP.
  • XCP universal calibration protocol
  • the method further includes: the vehicle application publishes one or more measurement data, and the calibration value from the calibration device is based on at least part of the one or more measurement data Sure.
  • the in-vehicle application can publish one or more measurements, so that calibration values can be determined based on the measurements published by the in-vehicle application.
  • the calibration parameters are position coordinates.
  • the measurement data can be, for example, images captured by the camera. Through the detection of the image, it can be judged whether the position coordinates of the camera are appropriate, or whether to further adjust, and how to adjust.
  • the measurement data released by the vehicle application is measured based on the previously written calibration value, and can be used to determine the calibration value for the next parameter calibration.
  • the calibration value written last time may be, for example, the calibration value received from the calibration device last time, or the calibration value written into the vehicle application before the device leaves the factory.
  • the calibration value written in the previous time will affect the measurement data, and the measurement data will further affect the calibration value of the next parameter calibration. Therefore, the measurement data is related to the calibration value.
  • the calibration service includes a calibration service interface
  • the vehicle application is configured with a provision port, and provides a port-associated calibration service interface
  • the calibration service interface is used to provide data for the calibration service.
  • the data of the calibration service includes calibration data and/or measurement data
  • the calibration service interface is configured with a first data element group and a second data element group, the first data element group is used to carry calibration data, and the second data element group is used for used to carry measurement data
  • the calibration data includes calibration parameters, or calibration parameters and their corresponding calibration values, and the measurement data is related to the calibration values.
  • the calibration service includes a calibration service interface
  • the in-vehicle application is configured with a provision port
  • the provision port can be associated with the calibration service interface of the calibration service, so the in-vehicle application can issue calibration parameters and/or measurement data based on the calibration service interface, and can obtain from The calibration device receives the calibration parameters and their corresponding calibration values, and can perform data transmission based on the calibration service interface.
  • the calibration service includes a calibration service instance
  • the vehicle application is configured with a provisioning service instance
  • the provisioning service instance is associated with the calibration service instance
  • the calibration service instance is used to provide the calibration service Communication Interface.
  • the calibration service includes a calibration service instance
  • the vehicle application is configured with a service provision instance
  • the service provision instance is associated with a calibration request instance
  • the calibration request instance can be used to provide a communication interface for the calibration service. Therefore, the calibration parameters and calibration data released by the vehicle application, the calibration parameters and their corresponding calibration values received from the calibration device, and the responses fed back to the calibration device can all communicate through the calibration service interface provided by the calibration service instance.
  • the method further includes: the vehicle application receives a calibration request from the calibration device, where the calibration request carries one or more calibration parameters and their corresponding calibration values, The calibration request is used to request to calibrate the calibration parameters of the vehicle application.
  • the calibration request carries one or more calibration parameters and their corresponding calibration values.
  • the vehicle application can respond to the calibration request and modify the corresponding calibration parameter values in the vehicle application according to the calibration parameters in the calibration request and their corresponding calibration values.
  • the present application provides a parameter calibration method for vehicle applications, which can be performed by AP AutoSAR.
  • the AP AutoSAR is configured with a calibration service, on which one or more in-vehicle applications can be deployed.
  • the method includes: the AP AutoSAR provides the calibration service to the vehicle application in response to the vehicle application calling the calibration service, and the calibration service is used to provide data release and parameter calibration services.
  • the AP can provide the calibration service interface and calibration service instance for the vehicle application deployed on it and configured to use the calibration service, that is, define the format and transmission mode of the data, so that the vehicle application can perform data release and parameter calibration . Therefore, as long as the calibration device subscribes to the calibration service of the vehicle application, it can realize the calibration of the vehicle application without confirming the memory address of the data, which avoids the failure of the calibration device to calibrate because the variable address in the vehicle application cannot be confirmed before running. question. At the same time, it also alleviates the problem that the XCP-based calibration cannot be performed due to the absence of an XCP module defined on the AP.
  • the labeling service includes a labeling service interface, and the labeling service interface is used to provide data of the labeling service.
  • the data of the calibration service may include calibration data and/or measurement data.
  • a first data element group and a second data element group may be configured in the calibration service interface, the first data element group is used to carry calibration data, and the second data element group is used to carry measurement data.
  • the calibration data includes calibration parameters, or calibration parameters and their corresponding calibration values; the measurement data is related to the calibration values.
  • the in-vehicle application configured to use the calibration service can respectively transmit calibration data and measurement data based on the first data element group and the second data element group configured in the calibration service interface.
  • a structure is configured in AP AutoSAR, and the structure includes the following fields: identification, type, value range, value and unit; the first data element group and the second data element group associated to the structure.
  • the data of the marking service can be transmitted based on the format specified by the structure.
  • the vehicle application is configured with a provision port, and the provision port is associated with the calibration service.
  • the in-vehicle application is equipped with a provision port, which can be connected to the calibration service in AP AutoSAR, the calibration parameters and measurement data released by the in-vehicle application, as well as the calibration parameters and their corresponding calibration values received from the calibration equipment, are all Data transmission can follow the calibration service.
  • the labeling service includes a labeling service instance, and the labeling service instance is used to provide a communication interface of the labeling service.
  • the vehicle application using the calibration service can transmit data through the communication interface provided by the calibration service instance in the calibration service provided by AP AutoSAR.
  • the communication interface includes: a first event (event) interface for publishing calibration data, a second event interface for publishing measurement data, and a second event interface for receiving Calibration parameters and their corresponding calibration values and response method (method) interface; the measurement data is related to the calibration values, and the calibration values are used to calibrate the calibration parameters.
  • the vehicle application can release calibration data based on the first event interface provided by AP AutoSAR, and release measurement data based on the second event interface provided by AP AutoSAR.
  • the in-vehicle application is configured with a provisioning service instance, and the marking service instance is associated with the provisioning service instance.
  • the service provisioning instance is associated with the calibration request instance in AP AutoSAR, and the calibration request instance can be used to provide the communication interface of the calibration service. Therefore, the calibration parameters and calibration data released by the vehicle application, the calibration parameters and their corresponding calibration values received from the calibration device, and the responses fed back to the calibration device, etc., can all be communicated through the communication interface provided by the calibration service instance.
  • the present application provides a parameter calibration method for vehicle applications, which can be performed by a controller, or can also be performed by a component configured in the controller (such as a chip, a chip system, or other devices that can call programs and Execute the function module of the program, etc.) to execute.
  • the controller can be a domain controller or an ECU, etc., which is configured on the vehicle and can implement the following method by executing a computer program.
  • the method includes: the controller publishes one or more calibration parameters, the controller is installed with an in-vehicle application, the in-vehicle application is an application deployed in the AP AutoSAR, the AP AutoSAR is configured with a calibration service, and the The vehicle application is configured to use a calibration service, which is used to provide data publishing and parameter calibration services; the controller receives one or more calibration parameters and their corresponding calibration values from the calibration device, and each calibration value is used for calibration The corresponding calibration parameters, one or more calibration parameters from the calibration device are part or all of the one or more calibration parameters published by the vehicle application, and the calibration device is a device that subscribes to the calibration service of the vehicle application; the controller Write the calibration value to the vehicle application.
  • the vehicle-mounted application configured to use the calibration service running in the controller can issue calibration parameters based on the calibration service, and receive calibration parameters and calibration values from the calibration device. Therefore, as long as the calibration device subscribes to the calibration service of the vehicle application, it can realize the calibration of the vehicle application without confirming the memory address of the data, which avoids the failure of the calibration device to calibrate because the variable address in the vehicle application cannot be confirmed before running. question. At the same time, it also alleviates the problem that the XCP-based calibration cannot be performed due to the absence of an XCP module defined on the AP.
  • the method further includes: the controller issues one or more measurement data, and the calibration value from the calibration device is based on at least part of the one or more measurement data Sure.
  • the controller can issue one or more measurement data.
  • the controller can write the calibration value of the calibration parameter received from the calibration device into the vehicle-mounted application, and the vehicle-mounted application can refresh the value of the calibration parameter based on the newly written calibration value, and based on the refreshed calibration value Take measurements to obtain measurement data.
  • In-vehicle applications can publish measurement data through the controller based on the calibration service. Therefore, the calibration device subscribed to the in-vehicle application can receive the measurement data, and can determine whether and how to adjust the calibration value based on the measurement data.
  • the controller periodically publishes one or more measurement data.
  • the periodic release of measurement data by the controller is essentially the periodic release of measurement data by the vehicle application. It should also be understood that the measurement data periodically released by the in-vehicle application may be the measurement data of one or more parameters, or may be the measurement data of different parameters. This embodiment of the present application does not limit it.
  • the calibration service includes a calibration service interface
  • the vehicle application is configured with a provision port, and a port-associated calibration service interface is provided, and the calibration service interface is used to provide the calibration service interface. service data.
  • the calibration service includes a calibration service interface, and a provision port is configured in the vehicle application, and the provision port is associated with the calibration service interface, the calibration parameters and measurement data issued by the vehicle application through the controller, as well as the calibration parameters received from the calibration device and The corresponding calibration values can be transmitted based on the calibration service interface.
  • the data of the calibration service includes calibration data and/or measurement data
  • the calibration service interface is configured with a first data element group and a second data element group, the first data element group is used to carry calibration data, and the second data element group is used for To carry the measurement data
  • the calibration data includes calibration parameters, or calibration parameters and their corresponding calibration values, and the measurement data is related to the calibration values.
  • the controller may respectively transmit the calibration data and the measurement data based on the first data element group and the second data element group configured in the calibration service interface.
  • a structure is configured in AP AutoSAR, and the structure includes the following fields: identification, type, value range, value and unit; the first data element group and the second data element group associated to the structure.
  • the marking service includes a marking service instance, and the marking service instance is used to provide a communication interface of the marking service.
  • the calibration request instance can be used to provide the communication interface of the calibration service
  • the calibration parameters and data issued by the controller can all be The communication is realized through the communication interface provided by the calibration service instance.
  • the communication interface includes: a first event interface for publishing calibration data, a second event interface for publishing measurement data, and a second event interface for receiving calibration parameters and The corresponding calibration value and the corresponding method interface; the measurement data is related to the calibration value.
  • the controller can issue calibration data based on the first event interface, and issue measurement data based on the second event interface.
  • the in-vehicle application is configured with a provisioning service instance, and the provisioning service instance is associated with a marking service instance in the marking service.
  • the calibration parameters and measurement data released by the controller, the calibration parameters and their corresponding calibration values received from the calibration equipment, and the responses fed back to the calibration equipment can all be realized through the calibration service instance.
  • the method further includes: the controller receives a calibration request from the calibration device, where the calibration request carries one or more calibration parameters and their corresponding calibration values, The calibration request is used to request to calibrate the calibration parameters of the vehicle application.
  • the calibration request carries one or more calibration parameters and their corresponding calibration values.
  • the controller can respond to the calibration request and modify the corresponding calibration parameter values in the vehicle application according to the calibration parameters in the calibration request and their corresponding calibration values.
  • the method further includes: the controller sends first information, the first information is used to indicate the identification of the vehicle-mounted application that issues calibration parameters in AP AutoSAR, each An in-vehicle application corresponds to an identifier.
  • each vehicle application can be bound Set an identifier (identifier, ID).
  • ID can be used to uniquely identify an in-vehicle application. Therefore, the controller may send the first information, and the first information may include the ID of the in-vehicle application that issues calibration parameters and/or measurement data, so as to distinguish it from calibration parameters and/or measurement data that are issued by other in-vehicle applications.
  • the present application provides a parameter calibration method for vehicle applications, which can be performed by a calibration device, or can also be performed by a component configured in the calibration device (such as a chip, a chip system, or other devices that can call a program and Execute the function module of the program, etc.) to execute.
  • a component configured in the calibration device such as a chip, a chip system, or other devices that can call a program and Execute the function module of the program, etc.
  • the method includes: the calibration device receives first information from the AP AutoSAR, the first information is used to indicate the identification of the vehicle application that issues the calibration parameters in the AP AutoSAR, the AP AutoSAR is configured with a calibration service, and the calibration service is used to provide data Publishing and parameter calibration services, AP AutoSAR deploys one or more in-vehicle applications that use the calibration service, and each in-vehicle application corresponds to an identifier; the calibration device responds to the user's request for the first in-vehicle application in the one or more in-vehicle applications Select, based on the first information, the first in-vehicle application receives one or more calibration parameters; the calibration device sends one or more calibration parameters and their corresponding calibration values to the first in-vehicle application in response to user operations, and the calibration device sends The one or more calibration parameters are some or all of the received one or more calibration parameters.
  • the calibration device subscribes to the vehicle-mounted applications using the calibration service, it can receive the calibration parameters issued by each vehicle-mounted application.
  • the user can independently select the vehicle application, and independently select the parameters to be calibrated for online calibration. Therefore, the online calibration of vehicle applications can be flexibly performed according to user needs.
  • the calibration device is configured with a demand port, and the method further includes: the calibration device receives the first information from the AP AutoSAR through the demand port.
  • the calibration device can receive the first information from AP AutoSAR through the demand port, so that the user can independently select the vehicle application according to the first information, and independently select the parameters to be calibrated for online calibration.
  • the calibration device is configured with a demand service instance.
  • the calibration device can perform data interaction with the vehicle application based on the demand service instance. More specifically, the calibration device can be based on the demand service instance, and the vehicle application can be based on the provision service instance. Both can call the calibration service instance in AP AutoSAR, and realize the data exchange between the two parties through the communication interface provided by the calibration service instance. interact.
  • the method further includes: the calibration device sends a calibration request to the first vehicle application in response to the user's selection, and the calibration request carries one or more calibration parameters and their corresponding calibration values.
  • the calibration device may, in response to the user's selection, send a calibration request to the vehicle application selected by the user, so as to calibrate one or more parameters of the vehicle application.
  • the present application provides a parameter calibration device for vehicle-mounted applications, which can realize any possible implementation manner of the first aspect to the fourth aspect and any possible implementation manner of the first aspect to the fourth aspect Methods.
  • the apparatus comprises corresponding means for carrying out the method described above.
  • the units included in the device may be implemented by software and/or hardware.
  • the present application provides a parameter calibration device for vehicle applications, including at least one processor, and each of the at least one processor is used to implement any of the first to fourth aspects and the first aspect.
  • the parameter calibration device further includes a communication interface, and the processor is coupled to the communication interface.
  • the parameter calibration device described in the fifth aspect or the sixth aspect when used to implement the method in the above-mentioned first aspect and any possible implementation manner of the first aspect, the parameter calibration device may be controller.
  • the parameter calibration device when used to implement the second aspect and the method in any possible implementation manner of the second aspect, the parameter calibration device may be a controller, and the controller has a Deployed with AP AutoSAR.
  • controller is a domain controller, or ECU.
  • the present application provides a vehicle, the vehicle includes at least one controller, and each controller in the at least one controller is used to implement the third aspect or any possible implementation manner of the third aspect. one of the methods described.
  • the communication device further includes a communication interface, and the processor is coupled to the communication interface.
  • the present application provides a system-on-a-chip, which includes at least one processor, configured to support the implementation of the above-mentioned first to fourth aspects and any possible implementation manners of the first to fourth aspects.
  • the functions involved in any possible implementation of the four aspects for example, receiving or processing the data involved in the above methods.
  • the chip system further includes a memory, the memory is used to store program instructions and data, and the memory is located inside or outside the processor.
  • the system-on-a-chip may consist of chips, or may include chips and other discrete devices.
  • the present application provides a computer-readable storage medium, where a computer program (also referred to as code, or instruction) is stored on the computer storage medium, and when the computer program is run by a processor, the The above method that can implement the first aspect to the fourth aspect and any possible implementation manner of the first aspect to the fourth aspect is executed.
  • a computer program also referred to as code, or instruction
  • the present application provides a computer program product, the computer program product including: a computer program (also referred to as code, or instruction), when the computer program is executed, the above-mentioned can realize the above-mentioned first
  • a computer program also referred to as code, or instruction
  • FIG. 1 is a schematic diagram of a scene of a parameter calibration method applicable to a vehicle-mounted application provided by an embodiment of the present application;
  • Fig. 2 is a schematic diagram of the software architecture of the automobile open system on the adaptive platform provided by the embodiment of the present application;
  • Fig. 3 is an exemplary flow chart of a parameter calibration method for vehicle-mounted applications provided by an embodiment of the present application
  • Fig. 4 is a schematic diagram of the configuration in the AP and the configuration in the vehicle application provided by the embodiment of the present application;
  • 5 to 7 are schematic flow charts of a parameter calibration method for a vehicle application provided by an embodiment of the present application.
  • FIG. 8 is a schematic diagram of the configuration in the AP, the configuration in the vehicle application, and the configuration in the calibration device provided by the embodiment of the present application;
  • FIG. 9 is a schematic block diagram of a parameter calibration device for vehicle-mounted applications provided by an embodiment of the present application.
  • FIG. 10 is a schematic block diagram of another vehicle-mounted application parameter calibration device provided by an embodiment of the present application.
  • Fig. 11 is a schematic block diagram of another vehicle-mounted application parameter calibration device provided by the embodiment of the present application.
  • Fig. 12 is a schematic block diagram of another vehicle-mounted application parameter calibration device provided by an embodiment of the present application.
  • Fig. 13 is a schematic block diagram of another parameter calibration device for vehicle-mounted applications provided by an embodiment of the present application.
  • words such as “first” and “second” are used to distinguish the same or similar items with basically the same function and effect.
  • the first information and the second information are only for distinguishing different information, and the sequence thereof is not limited.
  • words such as “first” and “second” do not limit the number and execution order, and words such as “first” and “second” do not necessarily limit the difference.
  • “at least one” means one or more, and “multiple” means two or more.
  • “And/or” describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the contextual objects are an “or” relationship.
  • “At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • At least one item (unit) of a, b, or c may represent: a, b, c; a and b; a and c; b and c; or a and b and c.
  • a, b, c can be single or multiple.
  • calibration mainly refers to vehicle calibration.
  • vehicle calibration includes: engine calibration, automatic transmission control unit (transmission control unit, TCU) calibration, vehicle control unit (vehicle control unit, VCU) calibration, etc.
  • TCU transmission control unit
  • VCU vehicle control unit
  • Different parameters may be configured in different vehicle applications, which can be realized by calibrating the parameters in different vehicle applications.
  • Service can be understood as a logical business activity. It can be accessed through a well-defined interface, usually the same as the interface description definition language (interface description language, IDL).
  • interface description language interface description language
  • IDL interface description definition language
  • AP AutoSAR which can be called adaptive AutoSAR, AP for short
  • IDL can be automotive open system architecture extensible makeup language (ARXML)
  • ARXML can be understood as a configuration file.
  • Service instance A service can be deployed as a set of service instances to provide its specific implementation.
  • CM Communication management
  • IP Internet protocol
  • SOME/IP Internet protocol
  • SOME/IP Ethernet communication middleware to realize data interaction between application layer and IP layer.
  • Applications on the AP typically use this service to communicate.
  • Service is a core concept in SOME/IP.
  • the server provides the service
  • the client invokes the service. All interfaces used for service data interaction may be collectively referred to as communication interfaces.
  • the communication interface mainly includes method interface and event interface.
  • the method interface is used for remote procedure calls, which means calling a process, function or subroutine. Usually initiated by the client and replied by the server. The client and server can use the "request (request) / response (response)" mechanism to communicate. The call request is sent by the client to request related data or perform related operations. After receiving the request, the server responds to the client's request through a response. method is a reliable transport service interface.
  • the event interface is used for one-way data transmission, which can be specifically used for the server to publish information to the client that has subscribed to the related service.
  • the communication between the calibration device and the vehicle application can be realized through SOME/IP.
  • the in-vehicle application can be used to publish measurement data and calibration parameters
  • the calibration device can receive the measurement data and calibration parameters issued by the in-vehicle application by subscribing to related services of the in-vehicle application.
  • the calibration device can also request the vehicle application for measurement data through the measurement request, and can request the vehicle application to modify the value of the calibration parameter through the calibration request. Therefore, the vehicle application can be used as the server, and the calibration device can be used as the client.
  • Universal Calibration Protocol It is mainly used to measure and calibrate the internal parameters of ECU.
  • the XCP-based measurement and calibration of the calibration equipment is realized by accessing the software inside the ECU, specifically, accessing the memory interval of the object to be measured and calibrated by specifying the corresponding memory address.
  • XCP is usually applied in CP AutoSAR (or CP for short). This is because on the CP, various functions of the vehicle are mainly encapsulated in the embedded ECU in the form of software.
  • the address of the vehicle application in the ECU is fixed and can be directly addressed.
  • the calibration equipment can realize the measurement and online calibration of the reading and writing of the memory address in the ECU.
  • AP is developed based on POSIX.
  • the addresses of variables in vehicle applications are all virtual addresses, and the addresses of the data to be measured cannot be confirmed before operation.
  • the calibration device cannot measure and calibrate online by reading and writing memory addresses.
  • the XCP module (such as the protocol stack) used on the CP is not defined on the AP, and manufacturers of various applications cannot standardize the calibration driver based on the XCP, so as to complete subsequent calibration operations.
  • the embodiment of the present application provides a calibration method and device for vehicle applications.
  • the vehicle application is provided with a data transmission service, so that the vehicle application that is configured to use the calibration service can release the calibration service based on the calibration service. data.
  • the calibration device subscribes to the calibration service of the vehicle application, it can receive the data released by the vehicle application, and then complete the measurement and calibration. Therefore, there is no need to confirm the memory address of the data, and it also solves the problem that the variable address in the vehicle application on the AP cannot be confirmed before running, resulting in the failure of the calibration device to perform measurement and calibration.
  • the calibration device can establish a connection with the controller.
  • At least one vehicle-mounted application is installed on the controller, such as vehicle-mounted application 1, vehicle-mounted application 2, and vehicle-mounted application 3 shown in the figure.
  • the vehicle-mounted application is deployed on the AP.
  • the AP may be configured with a calibration service.
  • Each vehicle application can be configured to use or not use the calibration service provided by the AP based on the choice of the application developer. This application does not limit whether each vehicle application uses the calibration service.
  • Vehicle applications that use the calibration service can publish data externally.
  • an in-vehicle application using the calibration service can publish measurement data and calibration parameters externally through the event interface.
  • the calibration device can subscribe to the calibration service of each vehicle application. For example, assuming that vehicle application 1, vehicle application 2 and vehicle application 3 all use the calibration service, the calibration device can subscribe to any one of vehicle application 1, vehicle application 2 and vehicle application 3 or Calibration services for multiple applications. After the calibration device subscribes to the calibration service of the vehicle application, it can receive the data published by the vehicle application.
  • FIG. 1 is just an example. In an actual scenario, more or fewer vehicle-mounted applications may be installed in one controller, which is not limited in this application.
  • Fig. 2 is a structural block diagram of software and hardware of a controller that can be used to implement the calibration method for vehicle-mounted applications provided by the embodiment of the present application.
  • the controller can be divided into a hardware layer, an operating system (operating system, OS), middleware, and an application layer.
  • the hardware layer may include, but not limited to, a virtual machine (virtual machine, VM), hardware, container (container), etc., which are used to provide a basis for the operation of upper-layer software.
  • the middleware can be understood as a software platform, and in the embodiment of the present application, the software platform can specifically be an AP.
  • the corresponding OS can be POSIX OS. Multiple services may be included in the AP.
  • CM can be used to be responsible for the communication between the middleware and the application, which is service-oriented communication.
  • Calibration service can be used to provide data publishing and parameter calibration services. Calibration services may enable communication based on services provided by the CM.
  • the application layer may specifically include one or more in-vehicle applications, such as in-vehicle application 1 , in-vehicle application 2 , and in-vehicle application 3 as shown in FIG. 2 .
  • each vehicle-mounted application in the application layer may be an adaptive application (adaptive application, AA).
  • AA adaptive application
  • each vehicle-mounted application can run on the AP, as shown in Figure 2, vehicle-mounted application 1, vehicle-mounted application 2, vehicle-mounted application 3, etc., can be configured to be used or not based on the choice of the staff The service provided by the AP, and then provide external services.
  • FIG. 3 is a schematic flowchart of a parameter calibration method 300 shown from the perspective of a controller. It should be understood that the method 300 shown in FIG. 3 may be executed by the controller, or may also be executed by components configured in the controller (such as a chip, a chip system, or other functional modules that can call programs and execute programs, etc.) .
  • the controller can be a domain controller or an ECU, etc., which is configured on the vehicle and can implement the following method by executing a computer program.
  • an AP is installed in the controller, and the AP is configured with a calibration service.
  • One or more in-vehicle application deployment APs are configured to use the calibration service.
  • the type of the calibration service is "Service Interface (ServiceInterface)", which can be provided for vehicle applications. Based on this configuration, the vehicle application can provide data publishing and parameter calibration services.
  • step 310 the controller issues one or more calibration parameters.
  • the controller issues the calibration parameters, specifically, one or more vehicle-mounted applications running in the controller issue the calibration parameters. Because the vehicle-mounted application runs in the controller, the vehicle-mounted application publishes the calibration parameters, that is, the calibration parameters are issued by the controller.
  • the vehicle-mounted application runs in the controller
  • the vehicle-mounted application publishes the calibration parameters, that is, the calibration parameters are issued by the controller.
  • an in-vehicle application is taken as an example below.
  • the calibration parameters specifically refer to parameters that can be calibrated by the vehicle application.
  • the calibration parameter may be, for example, the relative position of the sensor, a photosensitive parameter, and the like. It should be understood that this application does not limit the vehicle application and its corresponding calibration parameters.
  • in-vehicle applications may also include applications related to lidar, applications for detecting obstacles, applications for path planning, etc., and the present application includes but is not limited thereto.
  • the calibration parameters corresponding to each application are also different, and the calibration parameters designed by each application developer based on the same application may also be different, which is not limited in this application.
  • the in-vehicle application can publish the calibration parameters, so that the calibration devices subscribed to the calibration service of the in-vehicle application can perform parameter calibration based on the published calibration parameters.
  • the corresponding calibration parameters may also be different.
  • the present application does not limit the specific number of calibration parameters released by the vehicle application, and the vehicle application may publish one or more calibration parameters.
  • step 320 the controller receives one or more calibration parameters and their corresponding calibration values from the calibration device.
  • a calibration device subscribes to the calibration service of the vehicle application, it can receive the calibration parameters issued by the vehicle application through the controller.
  • the calibration device can display the received calibration parameters through the user interface, so that the user can select the parameters to be calibrated. It should be understood that the user may select some or all of the calibration parameters for calibration. In other words, the one or more calibration parameters from the calibration device are a subset of the calibration parameters issued by the vehicle application.
  • the calibration parameters issued by the controller include ⁇ a, b, c ⁇ , and the calibration parameters received from the calibration device and their corresponding calibration values are ⁇ a: x; b: y ⁇ . It should be understood that a, b, and c here represent calibration parameters; x, y represent calibration values. This application does not limit each calibration parameter and its corresponding calibration value.
  • step 320 may specifically include: the controller receives a calibration request from the calibration device, the calibration request carries one or more calibration parameters and their corresponding calibration values, and the calibration request is used to request calibration of the calibration parameters in the vehicle application.
  • step 330 the controller writes the received calibration value into the vehicle application.
  • the controller can write each calibration value into the vehicle application as the value of its corresponding calibration parameter.
  • the in-vehicle application can refresh the value of the calibration parameter based on the newly written calibration value.
  • Writing the calibration value into the vehicle application may specifically refer to writing the calibration value as the value of the calibration parameter according to the address of the corresponding calibration parameter in the memory.
  • the controller may also send a calibration request response message, and the calibration request response message may be used to notify the calibration device that the parameters requested by the calibration request have been calibrated.
  • the controller may send a response message to the calibration device after parameter calibration is completed, or may send a response message to the calibration device after receiving a calibration request, and this application does not limit the timing for the controller to send a response message. Of course, the controller may not send a response message.
  • any calibration device that subscribes to the calibration service of the vehicle application can receive the calibration parameters published by the vehicle application, and can also calibrate the parameters of the vehicle application.
  • Any calibration device can receive calibration parameters based on the method described above, and perform parameter calibration for vehicle applications.
  • the vehicle-mounted application configured to use the calibration service running in the controller can issue calibration parameters based on the calibration service, and receive calibration parameters and calibration values from the calibration device. Therefore, as long as the calibration device subscribes to the calibration service of the vehicle application, it can realize the calibration of the vehicle application without confirming the memory address of the data, which avoids the failure of the calibration device to calibrate because the variable address in the vehicle application cannot be confirmed before running. question. At the same time, it also alleviates the problem that the XCP-based calibration cannot be performed due to the absence of an XCP module defined on the AP.
  • the controller may also issue one or more measurements. Specifically, the controller may write the calibration value for the calibration parameter received from the calibration device into the vehicle application each time.
  • the in-vehicle application can refresh the calibration parameter value based on the newly written calibration value, and perform measurement based on the refreshed calibration value to obtain measurement data.
  • In-vehicle applications can publish measurement data through the controller based on the calibration service.
  • the calibration device subscribed to the in-vehicle application can receive the measurement data, and can determine whether and how to adjust the calibration value based on the measurement data.
  • the in-vehicle application releases the measurement data, specifically, the measurement data may be released through the controller.
  • the calibration parameters are position coordinates.
  • the measurement data can be, for example, images captured by the camera. Through the detection of the image, it can be judged whether the position coordinates of the camera are appropriate, or whether to further adjust, and how to adjust.
  • the measurement data released by the vehicle application is measured based on the previously written calibration value, and can be used to determine the calibration value for the next parameter calibration.
  • the calibration value written last time may be, for example, the calibration value received from the calibration device last time, or the calibration value written into the vehicle application before the device leaves the factory.
  • the calibration value written in the previous time will affect the measurement data, and the measurement data will further affect the calibration value of the next parameter calibration. Therefore, the measurement data is related to the calibration value.
  • the calibration parameters issued by the controller include ⁇ a, b, c ⁇
  • the measurement data includes measurement data related to the calibration parameters a, b, and c.
  • the calibration device can calibrate the parameters a and b
  • the calibration values of the parameters a and b can be determined based on the measurement data related to a and b, that is, the parameters a and b can be determined based on the received part of the measurement data calibration value.
  • the calibration parameters released by the controller include ⁇ a, b, c ⁇
  • the measurement data includes measurement data related to the calibration parameters a, b, and c.
  • the calibration device can calibrate the parameters a, b, and c, and then the calibration values of the parameters a, b, and c can be determined based on the measurement data related to a, b, and c, that is, based on all the measurement data received. Determine the calibration values of parameters a, b, c.
  • the measurement data and calibration parameters released by the same vehicle-mounted application in the controller can be released once or multiple times; the measurement data and calibration parameters can be released at the same time or not at the same time. This embodiment of the present application does not limit it.
  • the controller periodically publishes one or more measurement data.
  • the periodic release of measurement data by the controller is essentially the periodic release of measurement data by the vehicle application. It should also be understood that the measurement data periodically released by the in-vehicle application may be the measurement data of one or more parameters, or may be the measurement data of different parameters. This embodiment of the present application does not limit it.
  • the calibration device can perform one or more parameter calibrations based on the measurement data released by the vehicle application.
  • In-vehicle applications can publish measurement data based on each calibrated parameter value.
  • the calibration device detects that the measurement data released by the vehicle application has made the performance of the corresponding vehicle application optimal, it can stop the parameter calibration of the vehicle application.
  • the calibration value that makes the performance optimal can be solidified in the vehicle application and will not be modified.
  • each In-vehicle application is bound to an ID.
  • Each ID can be used to uniquely identify an in-vehicle application.
  • an in-vehicle application After an in-vehicle application is configured to use the calibration service, it may carry the ID of the in-vehicle application when publishing calibration parameters and/or measurement data, so as to distinguish it from calibration parameters and/or measurement data released by other in-vehicle applications.
  • the AP can generate related records based on the calibration parameters and/or measurement data issued by each vehicle application, so as to record the vehicle application that issues the calibration parameters and/or measurement data. This record can be described as first information, for example.
  • This first information includes the ID of the on-board application that issues calibration parameters and/or measurement data.
  • the method 300 further includes: the controller sending first information, where the first information is used to indicate the ID of the vehicle-mounted application of the calibration parameter and/or measurement data issued by the controller.
  • the in-vehicle application releases the measurement data, it means that the in-vehicle application has a requirement for parameter calibration, and the calibration parameters may be released at the same time, or the calibration parameters released before the release of the measurement data. Therefore, in other words, the first information can be used to indicate the ID of the vehicle-mounted application in the controller that issues the calibration parameters.
  • the first information sent by the controller can be used by the user on the calibration device side to select the vehicle-mounted application to obtain the calibration parameters and/or measurement data released by it according to the requirements, that is, to realize the subscription of the calibration device to the calibration service of the vehicle-mounted application, so that Select vehicle-mounted applications for parameter calibration according to requirements.
  • the calibration device may also actively send a request to the controller to request to obtain the first information.
  • the method further includes: the controller receiving a first request from the calibration device, where the first request is used to request to obtain the ID of the vehicle-mounted application in the controller that issues the calibration parameters.
  • the user can independently select the vehicle application, and independently select the parameters to be calibrated for online calibration.
  • the calibration process there is no need to know the memory address of the calibration parameters in each vehicle application in advance, and then read based on the memory address.
  • the calibration device subscribes to the vehicle application that uses the calibration service, it can realize online calibration, thus avoiding the problem that the vehicle application deployed on the AP cannot be calibrated online because the memory address cannot be determined in advance.
  • it also alleviates the problem that the XCP-based calibration cannot be performed due to the absence of an XCP module defined on the AP.
  • the in-vehicle application is an application deployed on the AP and is configured to use the calibration service.
  • the AP and the vehicle application can be configured separately to realize the calibration service. The following will detail the configuration of the AP and vehicle applications, and how to implement the calibration service based on these configurations.
  • the AP configuration can be done specifically by the AP supplier.
  • the AP provider can generate a configuration file (such as an ARXML file) based on the configuration of the AP described below. For ease of distinction and description, this configuration file is recorded as the first configuration file.
  • the developer of the vehicle application Based on the first configuration file, the developer of the vehicle application adds a part related to the business logic of the vehicle application to obtain a second configuration file.
  • the second configuration file is obtained by adding the business logic of the in-vehicle application on the basis of the first configuration file.
  • the business logic added by different in-vehicle application developers may be different, so different in-vehicle applications
  • the developers of can get different second configuration files based on the same first configuration file. Thereafter, the developer of the in-vehicle application can generate framework code based on the second configuration file, and then compile and run it.
  • the manufacturer of the calibration device may also obtain the first configuration file from the AP supplier in advance, and may generate codes based on the first configuration file. Therefore, normal communication between the vehicle application deployed on the AP and the calibration device can be realized.
  • the configuration of the AP may include: defining a structure and defining a service.
  • the definition of service includes: defining two groups of data elements, defining a service interface, and defining one or more service instances.
  • the AP supplier may define a structure in the basic configuration of the AP, and the type of the structure may be "StdCppImplementationDataTypeElement".
  • the structure can be used to define the format of data (specifically including measurement data and calibration data).
  • the data may specifically include measurement data and calibration data.
  • the measurement data may refer to measurement data published by an in-vehicle application.
  • the calibration data may include calibration parameters released by the vehicle application, or calibration parameters and their corresponding calibration values sent by the calibration device. Since this data is used for parameter calibration, the structure can be named as a calibration element (CalElement). This application does not limit the specific naming of the structure.
  • the structure includes the following fields: identifier, type, value range, value and unit.
  • the identifier may refer to an identifier of data, which may be used to identify different data.
  • the parameters a, b, and c listed above are represented by different data.
  • Type can be used to indicate the type of data, such as integer, floating point number, string, etc.
  • the value range can be used to indicate the maximum value and/or minimum value that the calibration parameter can take.
  • the value can be the calibration value of the calibration parameter based on the value range; it can also be the specific value of the measurement data.
  • the unit can be defined for different parameters, for example, the unit of the rotational speed is revolution/minute (r/min) and so on. This application includes but is not limited to this.
  • the AP supplier can define a new service in the AP basic configuration, that is, the above-mentioned calibration service, and the type can be "ServiceInterface".
  • a service interface and one or more service instances can be defined under the marking service.
  • the service interface can be used to provide data of the calibration service.
  • the data of the calibration service includes calibration data and/or measurement data.
  • the calibration data may be calibration parameters, or may also be calibration parameters and their corresponding calibration values.
  • the measurement data is related to calibration parameters and their corresponding calibration values. For example, the measurement data can be obtained based on the calibration values corresponding to one or more calibration parameters in the previous test; it can also be used to determine the calibration values corresponding to the one or more calibration parameters in the subsequent calibration process.
  • the first data element group and the second data element group may be configured in the service interface.
  • the first data element group is used to carry calibration data (CalibrationData)
  • the second data element group is used to carry measurement data (MeasureData).
  • the types of the two groups of data elements can both be "variable data prototype (VariableDataPrototype)".
  • the two groups of data elements can be associated with the above-mentioned structure. In other words, both the calibration data and measurement data under the calibration service need to be transmitted in the format of the above structure. Two sets of data elements are defined only to facilitate the distinction between calibration data and measurement data.
  • the AP Based on the configuration of the structure and the configuration of two sets of data elements, the AP defines the format of the data used in the data transmission for parameter calibration. Since two sets of data elements in the service interface provide data for the calibration service, the service interface may be called a calibration service interface.
  • Service instances can be used to provide data transfer methods.
  • the service instance can provide a communication interface for the calibration service.
  • the communication interface can be used in particular to transmit measurement data and calibration data.
  • One or more service instances can be defined in one marking service, and the embodiment of this application does not limit the number of service instances.
  • the type of the service instance may be "provided SOME/IP service instance (ProvidedSomeipServiceInstance)” or “data distribution service (data distribution service, DDS) provided service instance (DdsProvidedServiceInstance)”.
  • the service instance can provide an event interface for publishing calibration data (for example, it is recorded as the first event interface for easy distinction and description), and an event interface for publishing measurement data (for easy distinction and description , for example denoted as the second event interface) and a method interface for receiving the calibration parameters and their corresponding calibration values and responding.
  • an event interface for publishing calibration data for example, it is recorded as the first event interface for easy distinction and description
  • an event interface for publishing measurement data for easy distinction and description , for example denoted as the second event interface
  • a method interface for receiving the calibration parameters and their corresponding calibration values and responding.
  • the measurement data and calibration parameters are data released by the vehicle application, publishing is similar to broadcasting, and there is no need to receive responses from other devices (such as calibration devices), so they can be transmitted through the event interface for one-way transmission.
  • a possible way for the calibration device to send the calibration parameters and calibration values to the vehicle application is to send the calibration parameters and calibration values in the calibration request. After the vehicle application receives the calibration request, it can obtain the calibration parameters and calibration values from the calibration request, and then make a response. Therefore, it can be transmitted by using the method interface of "request (request)/response (response)".
  • the type of the first event interface may be "SOME/IP event deployment (SomeipEventDeployment)", which is associated with calibration data.
  • the type of the second event interface may also be “SomeipEventDeployment”, which is associated with measurement data.
  • the type of the method interface can be "SomeipMethodDeployment", which is associated with the calibration data.
  • SOME/IP and DDS may provide different transmission methods.
  • the communication interface example above using SOME/IP as an example is only a possible design, which should not constitute any limitation to the embodiment of the present application.
  • a communication interface for the calibration service may also be provided based on a service instance whose type is "DdsProvidedServiceInstance".
  • the AP defines the data transmission method for parameter calibration. Since the service instance provides a communication interface for the calibration service, the service instance may be called a calibration service instance.
  • both the calibration service interface and the calibration service instance are logical concepts, which are respectively used to define the format and transmission mode of the transmitted data.
  • the corresponding framework code can be generated, and the communication library of the CM in the AP can be directly called to realize the communication.
  • the interface of the CM may be understood as a software-defined interface, and the two parties to communicate are searched and connected through the CM to realize communication.
  • the configuration of the AP is not limited to the content described above, and may also include other configurations. This document mainly describes the configuration related to the calibration service of the AP.
  • the configuration of the in-vehicle application can be done by the developer of the in-vehicle application. Since the vehicle application is deployed on the AP, the AP supplier can provide the AP and related configuration files to the developer of the vehicle application.
  • the configuration file can be used to describe various services provided by the AP, which may include the calibration service mentioned in this application.
  • Manufacturers of in-vehicle applications can design and generate in-vehicle application configuration files based on AP configuration files, defining the data structure, services used, services provided, communication methods, etc.
  • the configuration of the vehicle application may include: defining a port and defining a service instance.
  • the manufacturer of the in-vehicle application can define a port in the in-vehicle application, the type of which can be "Provide Port Prototype (PPortPrototype)", and be associated with the calibration service interface in the AP.
  • This port can be used to call the calibration service interface of the AP, so that the vehicle application can provide data of the calibration service.
  • This port may be referred to as a provisioning port.
  • the manufacturer of the vehicle application can also define a service instance in the vehicle application, the type can be "provided SOME/IP service instance (ProvidedSomeipServiceInstance)", which is associated with the calibration service instance of the AP.
  • SOME/IP service instance ProvidedSomeipServiceInstance
  • this article refers to the service instance defined in the vehicle application as the provisioning service instance.
  • the configuration of the vehicle application is not limited to the content described above, and may also include other configurations.
  • This article mainly describes the configuration related to the calibration service for in-vehicle applications.
  • Fig. 4 shows the service, service interface, service instance, structure, port and interface configured in the AP and the vehicle application.
  • the provisioning port in the vehicle application is associated with the calibration service interface in the AP
  • the provisioning service instance in the vehicle application is associated with the calibration service instance in the AP.
  • a structure is defined in the AP, and two sets of data elements in the calibration service interface are associated with the structure. That is to say, the calibration service provides the service of publishing data and parameter calibration, and defines the format of data transmission.
  • Providing a port-associated calibration service interface can be understood as calling the calibration service interface by providing a port to perform data transmission in a format defined based on the structure, that is, the above-mentioned publishing data to the outside world and receiving data from the calibration device.
  • the calibration service also defines a calibration service instance, which provides a first event interface for publishing calibration data, a second event interface for publishing measurement data, and a method for receiving calibration parameters and their corresponding calibration values and responding interface.
  • the calibration service instance provides the way of data transmission.
  • Providing a service instance associated with a calibration service instance can be understood as, by providing a service instance to call an associated calibration service instance, data transmission can be performed based on the communication interface provided by the calibration service instance.
  • the invocation of the associated calibration service interface provided by the port provided above and the invocation of the associated calibration service instance associated with the provision of the service instance described above can be understood as the invocation of the calibration service in the AP by the vehicle application.
  • the in-vehicle application configured to use the calibration service can automatically call the calibration service after running to achieve data release and parameter calibration.
  • FIG. 5 is a schematic flowchart of a parameter calibration method 500 for a vehicle application from the perspective of an AP.
  • the AP in the embodiment shown in FIG. 5 is an AP configured with a calibration service, on which one or more vehicle-mounted applications can be deployed.
  • the AP can run in the controller.
  • the method 500 may include step 510 and step 520 . Each step in the method 500 is described in detail below.
  • step 510 the AP provides the calibration service to the vehicle application in response to the vehicle application calling the calibration service.
  • the in-vehicle application after the in-vehicle application is configured to use the calibration service, it can automatically call the calibration service after running.
  • the AP provides the calibration service to the in-vehicle application in response to the call to the calibration service.
  • the vehicle application Based on the calibration service provided by the AP, the vehicle application can provide data release and parameter calibration services.
  • the in-vehicle application configured to use the calibration service can issue calibration parameters based on the calibration service, and receive calibration parameters and calibration values from the calibration device. Therefore, as long as the calibration device subscribes to the calibration service of the vehicle application, it can realize the calibration of the vehicle application without confirming the memory address of the data, which avoids the failure of the calibration device to calibrate because the variable address in the vehicle application cannot be confirmed before running. question.
  • the calibration service includes a calibration service interface and a calibration service instance.
  • the calibration service interface is used to provide the data of the calibration service
  • the calibration service instance is used to provide the communication interface of the calibration service.
  • the vehicle application is configured with a provisioning port and a provisioning service instance
  • the provisioning port is associated with the calibration service interface
  • the provisioning service instance can be associated with the calibration service instance.
  • the in-vehicle application After the in-vehicle application is running, it automatically invokes the calibration service. Specifically, the in-vehicle application can automatically instantiate the provisioning service instance, and the instantiated service provisioning instance can call the associated calibration service instance, and then provide the in-vehicle application with the calibration service instance. Communication Interface.
  • the vehicle application can also automatically call the calibration service interface by providing a port. In this way, the in-vehicle application using the calibration service can transmit based on the data provided by the calibration service interface through the communication interface provided by the calibration service instance.
  • the above-mentioned communication interface includes: a first event interface for publishing calibration data, a second event interface for publishing measurement data, and a method interface for receiving calibration parameters and their corresponding calibration values and responding.
  • an ID can be bound to each vehicle application.
  • Each ID can be used to uniquely identify an in-vehicle application.
  • the method 500 further includes: Step 520, the AP sends first information, where the first information is used to indicate the ID of an in-vehicle application using the calibration service in the AP.
  • an in-vehicle application After an in-vehicle application calls the calibration service interface and calibration service instance, it can carry the ID of the in-vehicle application when publishing calibration parameters and/or measurement data, so as to distinguish it from calibration parameters and/or measurement data released by other in-vehicle applications.
  • the AP (specifically, the calibration service in the AP) can generate the first information based on the calibration parameters and/or measurement data released by each vehicle application. This first information includes the ID of the on-board application that issues calibration parameters and/or measurement data.
  • the first information sent by the AP can be used by the user on the calibration device side to select the in-vehicle application to obtain the calibration parameters and/or measurement data released by the user according to requirements, that is, to realize the subscription of the calibration device to the calibration service of the in-vehicle application, so that it can be based on It is required to select the vehicle application for parameter calibration.
  • the AP may actively push the first information to the connected calibration device, or may also send the first information to the calibration device in response to a request sent by the calibration device.
  • the method further includes: the AP receiving a first request from the calibration device, where the first request is used to request to acquire the ID of the vehicle-mounted application that issues the calibration parameters in the controller.
  • the marking device may carry the name of the service interface in the first request, so as to request the AP to provide the ID of the vehicle-mounted application using the service interface with the name.
  • the name of the service interface is "labeling service interface", that is, the name of the labeling service described in this application.
  • the AP can provide the ID of the in-vehicle application using the calibration service to the calibration device.
  • the AP receiving the first request from the calibration device may specifically mean that the AP receives the first request through the controller.
  • the controller may further transmit it to the AP in the CM through an internal path.
  • the AP sending the first information may specifically refer to the AP sending the first information through the controller.
  • the CM transmits it to the communication interface of the controller through the internal path, and then sends it out through the communication interface of the controller.
  • the AP can provide the calibration service for the vehicle application deployed on it and configured to use the calibration service, define the format and transmission mode of the data, and enable the vehicle application to perform data release and parameter calibration. Therefore, as long as the calibration device subscribes to the calibration service of the vehicle application, it can realize the calibration of the vehicle application without confirming the memory address of the data, which avoids the failure of the calibration device to calibrate because the variable address in the vehicle application cannot be confirmed before running. question. At the same time, it also alleviates the problem that the XCP-based calibration cannot be performed due to the absence of an XCP module defined on the AP.
  • FIG. 6 is a schematic flowchart of a method 600 for calibrating parameters of an in-vehicle application from the perspective of the in-vehicle application.
  • the vehicular application in the embodiment shown in FIG. 6 is a vehicular application deployed on the AP and configured to use the calibration service.
  • the in-vehicle application can run in the controller.
  • the method 600 may include:
  • Step 610 the vehicle application publishes one or more calibration parameters
  • Step 620 the vehicle application receives one or more calibration parameters and their corresponding calibration values from the calibration device.
  • the vehicle-mounted application since the vehicle-mounted application runs in the controller, the vehicle-mounted application publishes the calibration parameters, that is, the calibration parameters are issued by the controller.
  • the in-vehicle application receives the calibration parameters and calibration values of the calibration device.
  • the controller may write the calibration parameters and calibration values received from the calibration device into the in-vehicle application.
  • the in-vehicle application deployed on the AP and configured to use the calibration service can issue calibration parameters based on the calibration service provided by the AP, and receive calibration parameters and calibration values from the calibration device. Therefore, as long as the calibration device subscribes to the calibration service of the vehicle application, it can realize the calibration of the vehicle application without confirming the memory address of the data, which avoids the failure of the calibration device to calibrate because the variable address in the vehicle application cannot be confirmed before running. question.
  • the method 600 further includes: Step 630, the vehicle application publishes one or more measurement data.
  • in-vehicle applications can specifically publish measurement data through the controller.
  • the specific process of releasing the measurement data by the vehicle-mounted application please refer to the description about the release of the measurement data by the controller in the method 300 above.
  • details are not repeated here.
  • the provision port is configured in the vehicle application, the provision port is associated with the calibration service interface in the AP, and the calibration service interface defines the first data element group for carrying calibration data and the second data element for carrying measurement data group, and the first data element group and the second data element group are associated with the structure defined in the AP. Therefore, the calibration parameters and measurement data released by the vehicle application, as well as the calibration parameters and their corresponding calibration values received from the calibration device, can follow the format defined by this structure, that is, the format of data transmission is defined.
  • the service provisioning instance is associated with the calibration request instance in the AP, and the calibration request instance can be used to provide a communication interface for the calibration service. Therefore, the calibration parameters and calibration data released by the vehicle application, the calibration parameters and their corresponding calibration values received from the calibration device, and the responses fed back to the calibration device, etc., can all be communicated through the communication interface provided by the calibration service instance.
  • the calibration device can also be configured accordingly, and based on the configuration, the parameter calibration method of the vehicle application can be executed.
  • the relevant configuration of the calibration equipment and its execution process will be described below.
  • FIG. 7 is a schematic flow chart of a parameter calibration method 700 for a vehicle application shown from the perspective of a calibration device. It should be understood that the method 700 shown in FIG. 7 may be performed by a calibration device, or may also be performed by components configured in the calibration device (such as a chip, a chip system, or other functional modules that can call programs and execute programs, etc.) . This embodiment of the present application does not limit it.
  • the method 700 may include steps 710 to 730 . Each step in the method 700 is described in detail below.
  • the calibration device receives first information from the AP, where the first information is used to indicate the ID of the in-vehicle application in the AP that issues the calibration parameters.
  • the AP is an AP configured with a calibration service, and one or more vehicle-mounted applications can be deployed on the AP.
  • Each in-vehicle application can be configured to use the calibration service to be able to publish calibration parameters.
  • the AP may generate first information based on the in-vehicle applications that issue the calibration parameters, and record the IDs of the in-vehicle applications that issue the calibration parameters in the first information. It should be understood that the AP sending the first information may specifically mean that the AP sends the first information through the controller.
  • the marking device may obtain the first information by sending a request to the AP to obtain the first information, or the first information may also be published in a broadcast manner. This embodiment of the present application does not limit it.
  • the method further includes: the calibration device sends a first request, where the first request is used to request to obtain the ID of the vehicle-mounted application that issues calibration parameters in the AP.
  • the calibration device receives one or more calibration parameters from a first vehicle application among the one or more vehicle applications based on the first information in response to user selection of the first vehicle application.
  • the calibration device may display the first information received from the AP to the user through the user interface.
  • the calibration device may store the correspondence between the vehicle-mounted application and the ID locally in advance, and after receiving the first information, may display the vehicle-mounted application corresponding to the ID indicated in the first information on the on the user interface.
  • Users can choose vehicle applications that require parameter calibration according to their needs.
  • the in-vehicle application selected by the user for parameter calibration is here recorded as the first in-vehicle application.
  • the calibration device may receive one or more calibration parameters published by the first vehicle application in response to the user's selection of the first vehicle application, and display the received calibration parameters on the user interface. In this way, the calibration device realizes the subscription to the calibration service of the first vehicle application.
  • step 730 the calibration device sends one or more calibration parameters and corresponding calibration values to the first vehicle application in response to the user's operation.
  • the user can determine the parameters to be calibrated this time and the corresponding calibration values according to the requirements, measurement results, previous or multiple calibration values defined for each calibration parameter, and input them into the calibration device.
  • the calibration device can determine which calibration parameters the user wants to calibrate and the corresponding calibration values.
  • the calibration device may send one or more calibration parameters and corresponding calibration values to the first vehicle application in response to the user's operation. It can be understood that the one or more calibration parameters sent by the calibration device are a subset of the one or more calibration parameters issued by the first vehicle application.
  • step 730 specifically includes: the calibration device sends a calibration request to the first vehicle application, and the calibration request carries one or more calibration parameters and corresponding calibration values.
  • the calibration request is a possible signaling for carrying calibration parameters and calibration values.
  • the first in-vehicle application may also respond based on the received calibration request.
  • the calibration request and response can be transmitted through the above-mentioned method interface.
  • the calibration device may also display the vehicle-mounted application that issues calibration parameters and the calibration parameters that are issued on the user interface based on the first information, so that the user can once-in-a-time display the vehicle-mounted application that needs to perform parameter calibration.
  • the application and the parameters that need to be calibrated are selected, and the online calibration is performed. This application does not limit the interaction process between the calibration device and the user through the user interface.
  • the calibration device subscribes to the vehicle-mounted applications using the calibration service, it can receive the calibration parameters issued by each vehicle-mounted application.
  • the user can independently select the vehicle application, and independently select the parameters to be calibrated for online calibration. Therefore, the online calibration of vehicle applications can be flexibly performed according to user needs.
  • the calibration device may also be configured.
  • the configuration of the calibration device includes: defining a demand port and defining a demand service instance.
  • the type of the demand port may be "requirement port prototype (RportPrototype)".
  • the type of required service instance can be "required SOME/IP service instance (RequiredSomeipServiceInstance)” or “DdsRequiredServiceInstance”.
  • Fig. 8 shows the service, service instance, structure, port and interface configured in the AP and the vehicle application, and the port and service instance configured in the calibration device.
  • the demand port corresponds to the provision port in the vehicle application, and can be associated with the calibration service in the AP.
  • the demand service instance corresponds to the provision service instance in the vehicle application, and can be associated with the calibration service instance in the AP.
  • the calibration device can then receive the first information from the AP through the demand port. After determining the first in-vehicle application that requires parameter calibration according to the first information, the calibration device can receive calibration parameters from the provisioning service instance through the communication interface provided by the calibration service instance through the demand service instance.
  • the calibration device may receive measurement data from the vehicle application based on the same method, and send calibration parameters and calibration values to the service providing instance. For the sake of brevity, details are not repeated here.
  • FIG. 4 and FIG. 8 are only an example, and should not constitute any limitation to the embodiment of the present application.
  • more vehicle applications can be deployed on the same AP, and multiple calibration service instances can also be configured on the same AP.
  • the same controller can communicate with more calibration devices.
  • Fig. 9 is a schematic block diagram of a parameter calibration device for a vehicle application provided by an embodiment of the present application.
  • the parameter calibration device 900 for vehicle-mounted applications may include: a sending unit 910 and a receiving unit 920 .
  • the vehicle application parameter calibration device 900 may be used to execute the steps performed by the vehicle application in the vehicle application parameter calibration method 600 .
  • the sending unit 910 can be used to issue one or more calibration parameters, and the parameter calibration of the vehicle application
  • the device 900 is deployed in an AP configured with a calibration service, and is configured to use the calibration service, which is used to provide data publishing and parameter calibration services;
  • the receiving unit 920 can be used to receive one or more calibration parameters from the calibration device And its corresponding calibration value, each calibration value is used to calibrate the corresponding calibration parameter, one or more calibration parameters from the calibration device are part of the one or more calibration parameters issued by the parameter calibration device 900 of the vehicle application or all parameters, the calibration device is a device that has subscribed to the calibration service of the parameter calibration device 900 of the vehicle application.
  • the sending unit 910 may also be configured to publish one or more measurement data, and the calibration value from the calibration device is determined according to at least part of the one or more measurement data.
  • the calibration service includes a calibration service interface
  • the parameter calibration device 900 of the vehicle application is configured with a provision port, and provides a port-associated calibration service interface
  • the calibration service interface is used to provide data of the calibration service.
  • the calibration service includes a calibration service instance
  • the parameter calibration device 900 of the vehicle application is configured with a provision service instance
  • the provision service instance is associated with the calibration service instance
  • the calibration service instance is used to provide a communication interface for the calibration service.
  • the receiving unit 920 may be configured to receive a calibration request from a calibration device, where the calibration request carries one or more calibration parameters and their corresponding calibration values, and the calibration request is used to request calibration of the parameter calibration device 900 of the vehicle application. Calibration parameters.
  • the device 900 is for vehicle applications.
  • Fig. 10 is a schematic block diagram of another vehicle-mounted parameter calibration device provided by an embodiment of the present application.
  • the parameter calibration device 1000 for vehicle-mounted applications may include: a processing unit 1010 and a communication unit 1020 .
  • the parameter calibration device 1000 for the vehicle application may be used to execute the steps performed by the AP in the parameter calibration method 500 for the vehicle application.
  • the processing unit 1010 can be configured to respond to the call of the calibration service by the vehicle application through the communication unit 1020.
  • the in-vehicle application provides a calibration service.
  • the calibration service is used to provide data publishing and parameter calibration services.
  • the in-vehicle application is deployed in the parameter calibration device 1000 of the in-vehicle application.
  • the calibration service includes a calibration service interface, and the calibration service interface is used to provide data of the calibration service.
  • the data of the calibration service includes calibration data and/or measurement data;
  • the calibration service interface is configured with a first data element group and a second data element group, the first data element group is used to carry calibration data, and the second data element The group is used to carry measurement data; wherein, the calibration data includes calibration parameters, or calibration parameters and their corresponding calibration values, and the measurement data is related to the calibration values.
  • a structure is configured in AP AutoSAR, and the structure includes the following fields: identification, type, value range, value and unit; the first data element group and the second data element group are associated with the structure.
  • the in-vehicle application is configured with a provision port to provide a port-associated calibration service interface.
  • the marking service includes a marking service instance, and the marking service instance is used to provide a communication interface of the marking service.
  • the communication interface includes: a first event interface for publishing calibration data, a second event interface for publishing measurement data, and a method interface for receiving calibration parameters and their corresponding calibration values and responding; the measurement data and The calibration value is related, and the calibration value is used to calibrate the calibration parameters.
  • the in-vehicle application is configured with a provisioning service instance, and the calibration service instance is associated with the provisioning service instance.
  • the apparatus 1000 is an AP.
  • the AP can be deployed on the controller, so the device can also be a controller.
  • Fig. 11 is a schematic block diagram of another vehicle-mounted parameter calibration device provided by an embodiment of the present application.
  • the parameter calibration device 1100 for the vehicle application may include: a sending unit 1110 , a receiving unit 1120 and a writing unit 1130 .
  • the vehicle application parameter calibration device 1100 may be used to execute the steps performed by the controller in the vehicle application parameter calibration method 300 .
  • the parameter calibration device 1100 of the vehicle application is used to execute the steps performed by the controller in the parameter calibration method 300 of the vehicle application, wherein the sending unit 1110 can be used to issue one or more calibration parameters
  • the vehicle-mounted application is installed in the device 1100, and the vehicle-mounted application is an application deployed in the AP.
  • the calibration service is configured in the AP.
  • the calibration service is used to provide data publishing and parameter calibration services.
  • the vehicle-mounted application is configured to use the calibration service; the receiving unit 1120 It can be used to receive one or more calibration parameters and their corresponding calibration values from the calibration device. Each calibration value is used to calibrate the corresponding calibration parameters.
  • One or more calibration parameters from the calibration device are issued by the vehicle application. or some or all of the multiple calibration parameters, the calibration device is a device that has subscribed to the calibration service of the vehicle application; the writing unit 1130 can be used to write the calibration value into the vehicle application.
  • the sending unit 1110 may also be configured to issue one or more measurement data, and the calibration value from the calibration device is determined according to at least part of the one or more measurement data.
  • the calibration service includes a calibration service interface
  • the in-vehicle application is configured with a provision port
  • the port is associated with a calibration service interface
  • the calibration service interface is used to provide data of the calibration service.
  • the data of the calibration service includes calibration data and/or measurement data;
  • the calibration service interface is configured with a first data element group and a second data element group, the first data element group is used to carry calibration data, and the second data element The group is used to carry the measurement data;
  • the calibration data includes calibration parameters, or calibration parameters and their corresponding calibration values, and the measurement data is related to the calibration values.
  • a structure is configured in AP AutoSAR, and the structure includes the following fields: identification, type, value range, value and unit; the first data element group and the second data element group are associated with the structure.
  • the marking service includes a marking service instance, and the marking service instance is used to provide a communication interface of the marking service.
  • the communication interface includes: a first event interface for publishing calibration data, a second event interface for publishing measurement data, and a method interface for receiving calibration parameters and their corresponding calibration values and responding; the measurement data and Calibration value related.
  • the in-vehicle application is configured with a provisioning service instance, and the provisioning service instance is associated with the calibration service instance in the calibration service.
  • the receiving unit 1120 may also be configured to receive a calibration request from a calibration device, where the calibration request carries one or more calibration parameters and their corresponding calibration values, and the calibration request is used to request calibration parameters of the vehicle-mounted application.
  • the sending unit 1110 is further configured to send first information, where the first information is used to indicate the identification of the vehicle-mounted application in the AP that publishes the calibration parameters, and each vehicle-mounted application corresponds to an identification.
  • the device 1100 is a controller.
  • Fig. 12 is a schematic block diagram of another vehicle-mounted parameter calibration device provided by an embodiment of the present application.
  • the parameter calibration device 1200 for the vehicle application may include: a receiving unit 1210 and a sending unit 1220 .
  • the vehicle application parameter calibration apparatus 1200 may be used to execute the steps performed by the calibration device in the vehicle application parameter calibration method 700 .
  • the receiving unit 1210 can be used to receive the first information from the AP, and the first information is used to indicate The identification of the in-vehicle application that publishes the calibration parameters in the AP.
  • the AP is configured with a calibration service.
  • the calibration service is used to provide data release and parameter calibration services.
  • One or more in-vehicle applications that use the calibration service are deployed in the AP.
  • Each in-vehicle application corresponds to An identification; the receiving unit 1210 can also be used to receive one or more calibration parameters from the first in-vehicle application based on the first information in response to the user's selection of the first in-vehicle application in the one or more in-vehicle applications; the sending unit 1220 It can be used to send one or more calibration parameters and their corresponding calibration values to the first vehicle application in response to the user's operation, and the one or more calibration parameters sent by the calibration device are part of the received one or more calibration parameters or all parameters.
  • the parameter calibration device 1200 for the vehicle application is configured with a demand port, and the receiving unit 1210 receives the first information from the AP through the demand port.
  • the parameter calibration device 1200 of the in-vehicle application is configured with a demand service instance.
  • the sending unit 1220 may also be configured to send a calibration request to the first vehicle application in response to the user's selection, where the calibration request carries one or more calibration parameters and their corresponding calibration values.
  • the device 1200 is a calibration device.
  • each functional unit in each embodiment of the present application may be integrated into one processor, or physically exist separately, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software function modules.
  • Fig. 13 is a schematic block diagram of another parameter calibration device for vehicle-mounted applications provided by an embodiment of the present application.
  • the parameter calibration device 1300 for vehicle applications can be used to realize the functions of the calibration equipment in the above method.
  • the parameter calibration device 1300 for vehicle-mounted applications may be a system-on-a-chip.
  • the system-on-a-chip may be composed of chips, or may include chips and other discrete devices.
  • the parameter calibration device 1300 for vehicle-mounted applications may include at least one processor 1310 for realizing the functions of the calibration device in the method provided by the embodiment of the present application.
  • the processor 1310 can be used to receive the first information from the AP, and the first information is used for Indicates the identification of the vehicle-mounted application that publishes calibration parameters in the AP.
  • the AP is configured with a calibration service, and one or more vehicle-mounted applications that use the calibration service are deployed in the AP.
  • Each vehicle-mounted application corresponds to an identification; and can be used to respond to user requests Selecting, based on the first information, receiving one or more calibration parameters from a first vehicle application of the one or more vehicle applications; and being operable to send the one or more calibration parameters to the first vehicle application in response to a user's selection and their corresponding calibration values, the one or more calibration parameters sent by the calibration device are part or all of the received one or more calibration parameters.
  • the parameter calibration device 1300 for vehicle applications may also include at least one memory 1320 for storing program instructions and/or data.
  • the memory 1320 is coupled to the processor 1310 .
  • the coupling in the embodiments of the present application is an indirect coupling or a communication connection between devices, units or modules, which may be in electrical, mechanical or other forms, and is used for information exchange between devices, units or modules.
  • the processor 1310 may operate in cooperation with the memory 1320 .
  • Processor 1310 may execute program instructions stored in memory 1320 . At least one of the at least one memory may be included in the processor.
  • the parameter calibration device 1300 for vehicle applications may also include a communication interface 1330 for communicating with other devices through a transmission medium, so that the devices in the parameter calibration device 1300 for vehicle applications can communicate with other devices, for example, other devices can is the controller.
  • the communication interface 1330 may be, for example, a transceiver, an interface, a bus, a circuit, or a device capable of realizing a sending and receiving function.
  • the processor 1310 can use the communication interface 1330 to send and receive data and/or information, and be used to implement the method performed by the calibration device described in the embodiment corresponding to FIG. 7 .
  • the specific connection medium among the processor 1310, the memory 1320, and the communication interface 1330 is not limited in the embodiment of the present application.
  • the processor 1310 , the memory 1320 and the communication interface 1330 are connected through a bus 1340 .
  • the bus 1340 is represented by a thick line in FIG. 13 , and the connection manner between other components is only for schematic illustration and is not limited thereto.
  • the bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in FIG. 13 , but it does not mean that there is only one bus or one type of bus.
  • the present application also provides a chip system, the chip system includes at least one processor, configured to implement the functions involved in the method performed by the calibration device in the embodiment shown in Figure 7 above, for example, receive or send the the data and/or information involved.
  • the chip system further includes a memory, the memory is used to store program instructions and data, and the memory is located inside or outside the processor.
  • the system-on-a-chip may consist of chips, or may include chips and other discrete devices.
  • the present application also provides a computer program product, the computer program product including: a computer program (also referred to as code, or instruction), when the computer program is executed, the controller executes the embodiment shown in Figure 3 , or make the AP execute the method of the embodiment shown in FIG. 5 , or make the vehicle application execute the method of the embodiment shown in FIG. 6 , or make the calibration device execute the method of the embodiment shown in FIG. 7 .
  • a computer program also referred to as code, or instruction
  • the controller executes the embodiment shown in Figure 3
  • the AP execute the method of the embodiment shown in FIG. 5
  • the vehicle application execute the method of the embodiment shown in FIG. 6
  • the calibration device execute the method of the embodiment shown in FIG. 7 .
  • the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program (also called a code, or an instruction).
  • a computer program also called a code, or an instruction.
  • the controller is made to execute the method of the embodiment shown in FIG. 3
  • the AP is made to execute the method of the embodiment shown in FIG. 5
  • the vehicle application is made to execute the method shown in FIG. 6 .
  • example method, or make the calibration device execute the method shown in the embodiment shown in FIG. 7 .
  • the processor in this embodiment of the present application may be an integrated circuit chip that has a signal processing capability.
  • each step of the above-mentioned method embodiments may be completed by an integrated logic circuit of hardware in a processor or instructions in the form of software.
  • the above-mentioned processor can be a general-purpose processor, a digital signal processor (digital signal processor, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), a field programmable gate array (field programmable gate array, FPGA) or other possible Program logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • Program logic devices discrete gate or transistor logic devices, discrete hardware components.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register.
  • the storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.
  • the memory in the embodiments of the present application may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories.
  • the non-volatile memory can be read-only memory (read-only memory, ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically programmable Erases programmable read-only memory (electrically EPROM, EEPROM) or flash memory.
  • Volatile memory can be random access memory (RAM), which acts as external cache memory.
  • RAM random access memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM double data rate synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM direct memory bus random access memory
  • direct rambus RAM direct rambus RAM
  • unit may be used to denote a computer-related entity, hardware, firmware, a combination of hardware and software, software, or software in execution.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • each functional unit may be fully or partially implemented by software, hardware, firmware or any combination thereof.
  • software When implemented using software, it may be implemented in whole or in part in the form of a computer program product.
  • the computer program product comprises one or more computer instructions (programs). When the computer program instructions (program) are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part.
  • the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).
  • the computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media.
  • the available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a digital versatile disc (digital video disc, DVD)), or a semiconductor medium (for example, a solid state disk (solid state disk, SSD) )wait.
  • a magnetic medium for example, a floppy disk, a hard disk, a magnetic tape
  • an optical medium for example, a digital versatile disc (digital video disc, DVD)
  • a semiconductor medium for example, a solid state disk (solid state disk, SSD)
  • the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: various media capable of storing program codes such as U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk.

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Abstract

本申请提供了一种车载应用的参数标定方法、装置和车辆，该方法包括：车载应用发布一个或多个标定参数，该车载应用部署在配置有标定服务的自适应平台AP汽车开放系统架构AutoSAR中，且被配置为使用标定服务，标定服务用于提供数据发布和参数标定的服务；接收来自标定设备的一个或多个标定参数及其对应的标定值，每个标定值用于标定所对应的标定参数，来自标定设备的一个或多个标定参数为车载应用发布的一个或多个标定参数中的子集，该标定设备是订阅了车载应用的标定服务的设备。该方法可适用于AP AutoSAR中，有利于解决车载应用内变量地址无法在运行前确认导致标定设备无法标定的问题。

Description

车载应用的参数标定方法、装置和车辆 技术领域
本申请涉及汽车领域，更为具体地，涉及车载应用的参数标定方法、装置和车辆。
背景技术
随着汽车电子的高速发展，车载应用(application，APP)也越来越丰富。车载应用的参数标定(calibration)是一项重要的工作。由于很多参数都需要在实验中根据用户所追求的经济性、动力性、舒适性和满足排放法规等来设置，软件工程师在软件开发阶段并不能准确地将软件中的参数设置成合理值，而需要在软件开发后利用改变参数分析性能，反复迭代最终确定。这就需要对软件中的参数进行获取和标定。
在传统平台(classic platform，CP)上的汽车开放系统架构(automotive open system architecture，AutoSAR)中，车辆的各项功能主要以软件形式封装在嵌入式电子控制单元(electronic control unit，ECU)中。车载应用在ECU中的地址是固定的，可直接寻址。标定设备可通过对ECU中内存地址的读写进行在线标定。
但是，随着车联网技术的发展，自适应平台(adaptive platform，AP)应运而生。不同于CP，AP基于可移植操作系统接口(portable operating system interface，POSIX)开发，车载应用内变量的地址都是虚拟地址，需要测量的数据地址无法在运行前确认。标定设备也就不能通过对内存地址的读写进行在线标定。
发明内容
本申请提供了一种车载应用的参数标定方法、装置和车辆，以期解决车载应用内变量地址无法在运行前确认导致标定设备无法标定的问题。
第一方面，本申请提供了一种车载应用的参数标定方法，该方法可以由车载应用来执行。
示例性地，该方法包括：车载应用发布一个或多个标定参数，车载应用部署在配置有标定服务的AP AutoSAR中，且被配置为使用标定服务，所述标定服务用于提供数据发布和参数标定的服务；车载应用接收来自标定设备的一个或多个标定参数及其对应的标定值，每个标定值用于标定所对应的标定参数，来自标定设备的一个或多个标定参数为车载应用发布的一个或多个标定参数中的部分或全部参数，标定设备是订阅了车载应用的标定服务的设备。
基于上述方案，部署在AP AutoSAR上且被配置为使用标定服务的车载应用可以基于AP AutoSAR提供的标定服务，发布标定参数，并从标定设备接收标定参数及标定值。因此，标定设备只要订阅了该车载应用的标定服务，便可实现对该车载应用的标定，而无需确认数据的内存地址，避免了车载应用内变量地址无法在运行前确认导致标定设备无法标定的问题。同时，也缓解了AP上没有定义通用标定协议(universal calibration protocol， XCP)模块而导致的无法基于XCP进行标定的问题。
结合第一方面，在第一方面的某些可能的实现方式中，该方法还包括：车载应用发布一个或多个测量数据，来自标定设备的标定值根据一个或多个测量数据中的至少部分确定。
车载应用可以发布一个或多个测量数据，从而标定值就可以根据车载应用发布的测量数据来确定。
例如，若该车载应用是与摄像头相关的车载应用，标定参数为位置坐标。该测量数据例如可以是通过该摄像头拍摄到的图像。通过对图像的检测，可以判断该摄像头的位置坐标是否合适，或者，是否进一步调整，以及如何调整。
换言之，车载应用发布的测量数据是基于前一次写入的标定值进行测量得到的，可以用于确定下一次参数标定的标定值。这里，前一次写入的标定值例如可能是前一次从标定设备接收到的标定值，也可能是在设备出厂前写入车载应用的标定值。前一次写入的标定值会影响到测量数据，测量数据又进一步影响到下一次参数标定的标定值。因此，测量数据与标定值相关。
结合第一方面，在第一方面的某些可能的实现方式中，标定服务包括标定服务接口，车载应用配置有提供端口，提供端口关联标定服务接口，标定服务接口用于提供标定服务的数据。
其中，标定服务的数据包括标定数据和/或测量数据；标定服务接口中配置有第一数据元素组和第二数据元素组，第一数据元素组用于承载标定数据，第二数据元素组用于承载测量数据；标定数据包括标定参数，或标定参数及其对应的标定值，测量数据与标定值相关。
由于标定服务包括标定服务接口，且车载应用中配置有提供端口，该提供端口可以与标定服务的标定服务接口关联，故车载应用可以基于标定服务接口发布标定参数和/或测量数据，并可以从标定设备接收标定参数及其对应的标定值，可以基于标定服务接口进行数据传输。
结合第一方面，在第一方面的某些可能的实现方式中，标定服务包括标定服务实例，车载应用配置有提供服务实例，提供服务实例关联标定服务实例，标定服务实例用于提供标定服务的通信接口。
由于标定服务包括标定服务实例，且车载应用中配置有提供服务实例，该提供服务实例关联至标定请求实例，该标定请求实例可用于提供标定服务的通信接口。故车载应用发布的标定参数、标定数据，以及从标定设备接收到的标定参数及其对应的标定值，向标定设备反馈的响应等，均可通过标定服务实例提供的标定服务接口来实现通信。
结合第一方面，在第一方面的某些可能的实现方式中，该方法还包括：车载应用接收来自标定设备的标定请求，标定请求中携带一个或多个标定参数及其对应的标定值，标定请求用于请求标定车载应用的标定参数。
标定请求中携带一个或多个标定参数及其对应的标定值，车载应用可以对标定请求作出响应，根据标定请求中的标定参数及其对应的标定值修改车载应用中相应的标定参数的值。
第二方面，本申请提供了一种车载应用的参数标定方法，该方法可以由AP AutoSAR来执行。该AP AutoSAR配置了标定服务，其上可以部署一个或多个车载应用。
示例性地，该方法包括：AP AutoSAR响应于车载应用对标定服务的调用，向车载应用提供标定服务，标定服务用于提供数据发布和参数标定的服务。
基于上述方案，AP可以为部署在其上且被配置为使用标定服务的车载应用提供标定服务接口和标定服务实例，也即定义数据的格式和传输方式，使得车载应用能够进行数据发布和参数标定。因此，标定设备只要订阅了该车载应用的标定服务，便可实现对该车载应用的标定，而无需确认数据的内存地址，避免了车载应用内变量地址无法在运行前确认导致标定设备无法标定的问题。同时，也缓解了AP上没有定义XCP模块而导致的无法基于XCP进行标定的问题。
结合第二方面，在第二方面的某些可能的实现方式中，标定服务包括标定服务接口，标定服务接口用于提供标定服务的数据。
其中，标定服务的数据可以包括标定数据和/或测量数据。标定服务接口中可以配置第一数据元素组和第二数据元素组，第一数据元素组用于承载标定数据，第二数据元素组用于承载测量数据。标定数据包括标定参数，或标定参数及其对应的标定值；测量数据与标定值相关。
因此，被配置为使用标定服务的车载应用可以基于标定服务接口中配置的第一数据元素组和第二数据元素组分别进行标定数据和测量数据的传输。
结合第二方面，在第二方面的某些可能的实现方式中，AP AutoSAR中配置有结构体，结构体包括如下字段：标识、类型、取值范围、取值和单位；第一数据元素组和第二数据元素组关联至结构体。
因此，通过定义结构体，并将第一数据元素组和第二数据元素组关联至该结构体，使得标定服务的数据都可以基于该结构体所规定的格式来传输。
结合第二方面，在第二方面的某些可能的实现方式中，车载应用配置有提供端口，提供端口关联所述标定服务。
由于车载应用中配置有提供端口，该提供端口可以联至AP AutoSAR中的标定服务，故车载应用发布的标定参数、测量数据，以及从标定设备接收到的标定参数及其对应的标定值，均可遵循标定服务进行数据传输。
结合第二方面，在第二方面的某些可能的实现方式中，标定服务包括标定服务实例，标定服务实例用于提供标定服务的通信接口。
如此，使用标定服务的车载应用可以通过AP AutoSAR提供的标定服务中的标定服务实例提供的通信接口进行数据传输。
结合第二方面，在第二方面的某些可能的实现方式中，通信接口包括：用于发布标定数据的第一事件(event)接口、用于发布测量数据的第二event接口和用于接收标定参数及其对应的标定值并响应的方法(method)接口；测量数据与标定值相关，标定值用于对标定参数进行标定。
这样一来，车载应用可以基于AP AutoSAR提供第一event接口发布标定数据，基于AP AutoSAR提供的第二event接口发布测量数据。
结合第二方面，在第二方面的某些可能的实现方式中，车载应用配置有提供服务 实例，标定服务实例关联提供服务实例。
由于车载应用中配置有提供服务实例，该提供服务实例关联至AP AutoSAR中的标定请求实例，该标定请求实例可用于提供标定服务的通信接口。故车载应用发布的标定参数、标定数据，以及从标定设备接收到的标定参数及其对应的标定值，向标定设备反馈的响应等，均可通过标定服务实例提供的通信接口来实现通信。
第三方面，本申请提供了一种车载应用的参数标定方法，该方法可以由控制器来执行，或者也可以由配置在控制器中的部件(如，芯片、芯片系统或其他能够调用程序并执行程序的功能模块等)来执行。该控制器可以是域控制器或者ECU等配置在车上，可通过执行计算机程序实现执行如下方法的设备。
示例性地，该方法包括：控制器发布一个或多个标定参数，该控制器中安装有车载应用，该车载应用是部署在AP AutoSAR中的应用，该AP AutoSAR中配置有标定服务，且该车载应用被配置为使用标定服务，该标定服务用于提供数据发布和参数标定的服务；控制器接收来自标定设备的一个或多个标定参数及其对应的标定值，每个标定值用于标定所对应的标定参数，来自标定设备的一个或多个标定参数为车载应用发布的一个或多个标定参数中的部分或全部参数，该标定设备是订阅了车载应用的标定服务的设备；控制器将标定值写入车载应用中。
基于上述方案，运行在控制器中的被配置为使用标定服务的车载应用可以基于标定服务，发布标定参数，并从标定设备接收标定参数及标定值。因此，标定设备只要订阅了该车载应用的标定服务，便可实现对该车载应用的标定，而无需确认数据的内存地址，避免了车载应用内变量地址无法在运行前确认导致标定设备无法标定的问题。同时，也缓解了AP上没有定义XCP模块而导致的无法基于XCP进行标定的问题。
结合第三方面，在第三方面的某些可能的实现方式中，该方法还包括：控制器发布一个或多个测量数据，来自标定设备的标定值根据一个或多个测量数据中的至少部分确定。
为了对标定参数进行优化，控制器可以发布一个或多个测量数据。控制器可以将每一次接收到的来自标定设备的针对标定参数的标定值写入车载应用中，车载应用可以基于新写入的标定值对标定参数的值进行刷新，并基于刷新后的标定值进行测量，以得到测量数据。车载应用可以基于标定服务，通过控制器发布测量数据。因此，订阅了该车载应用的标定设备可以接收到该测量数据，并可基于测量数据确定是否需要调整标定值，以及如何调整标定值。
在一种可能的实现方式中，控制器周期性地发布一个或多个测量数据。
应理解，控制器周期性地发布测量数据本质上是车载应用周期性地发布测量数据。还应理解，车载应用周期性发布的测量数据可以是同一项或多项参数的测量数据，也可以是不同项参数的测量数据。本申请实施例对此不作限定。
结合第三方面，在第三方面的某些可能的实现方式中，标定服务包括标定服务接口，车载应用配置有提供端口，提供端口关联标定服务接口，所述标定服务接口用于提供所述标定服务的数据。
由于标定服务包括标定服务接口，且车载应用中配置有提供端口，该提供端口关联至标定服务接口，故车载应用通过控制器发布的标定参数、测量数据，以及从标定 设备接收到的标定参数及其对应的标定值，均可基于标定服务接口进行数据传输。
其中，标定服务的数据包括标定数据和/或测量数据；标定服务接口中配置有第一数据元素组和第二数据元素组，第一数据元素组用于承载标定数据，第二数据元素组用于承载所述测量数据；标定数据包括标定参数，或标定参数及其对应的标定值，测量数据与标定值相关。
控制器可以基于标定服务接口中配置的第一数据元素组和第二数据元素组分别进行标定数据和测量数据的传输。
结合第三方面，在第三方面的某些可能的实现方式中，AP AutoSAR中配置有结构体，结构体包括如下字段：标识、类型、取值范围、取值和单位；第一数据元素组和第二数据元素组关联至结构体。
通过定义结构体，并将第一数据元素组和第二数据元素组关联至该结构体，控制器发布的标定参数、测量数据，以及从标定设备接收到的标定参数及其对应的标定值，均可遵循该结构体所定义的格式进行数据传输。
结合第三方面，在第三方面的某些可能的实现方式中，标定服务包括标定服务实例，标定服务实例用于提供标定服务的通信接口。
由于标定请求实例可用于提供标定服务的通信接口，故控制器发布的标定参数、标定数据，以及从标定设备接收到的标定参数及其对应的标定值，向标定设备反馈的响应等，均可通过标定服务实例提供的通信接口来实现通信。
结合第三方面，在第三方面的某些可能的实现方式中，通信接口包括：用于发布标定数据的第一event接口、用于发布测量数据的第二event接口和用于接收标定参数及其对应的标定值并响应的method接口；测量数据与标定值相关。
这样一来，控制器可以基于第一event接口发布标定数据，基于第二event接口发布测量数据。
结合第三方面，在第三方面的某些可能的实现方式中，车载应用配置有提供服务实例，提供服务实例关联标定服务中的标定服务实例。
控制器发布的标定参数、测量数据，以及从标定设备接收到的标定参数及其对应的标定值，向标定设备反馈的响应等，均可通过标定服务实例来实现。
结合第三方面，在第三方面的某些可能的实现方式中，该方法还包括：控制器接收来自标定设备的标定请求，标定请求中携带一个或多个标定参数及其对应的标定值，标定请求用于请求标定车载应用的标定参数。
标定请求中携带一个或多个标定参数及其对应的标定值，控制器可以对标定请求作出响应，根据标定请求中的标定参数及其对应的标定值修改车载应用中相应的标定参数的值。
结合第三方面，在第三方面的某些可能的实现方式中，该方法还包括：控制器发送第一信息，第一信息用于指示AP AutoSAR中发布标定参数的车载应用的标识，每个车载应用对应一个标识。
由于同一AP AutoSAR上可以部署多个车载应用，不同车载应用发布的标定参数和测量数据可能是不同的，为了区分不同的车载应用发布的标定参数和/或测量数据，可以对每个车载应用绑定一个标识(identifier，ID)。每个ID可用于唯一地标识一个 车载应用。因此控制器可以发送第一信息，第一信息可以包括发布标定参数和/或测量数据的车载应用的ID，以便于与其他车载应用发布的标定参数和/或测量数据区分。
第四方面，本申请提供了一种车载应用的参数标定方法，该方法可以由标定设备来执行，或者也可以由配置在标定设备中的部件(如，芯片、芯片系统或其他能够调用程序并执行程序的功能模块等)来执行。
示例性地，该方法包括：标定设备接收来自AP AutoSAR的第一信息，第一信息用于指示AP AutoSAR中发布标定参数的车载应用的标识，AP AutoSAR配置有标定服务，标定服务用于提供数据发布和参数标定的服务，AP AutoSAR中部署有使用标定服务的一个或多个车载应用，每个车载应用对应一个标识；标定设备响应于用户对一个或多个车载应用中的第一车载应用的选择，基于第一信息，第一车载应用接收一个或多个标定参数；标定设备响应于用户的操作，向第一车载应用发送一个或多个标定参数及其对应的标定值，标定设备发送的一个或多个标定参数为接收到的一个或多个标定参数的部分或全部参数。
基于上述方案，标定设备只要订阅了使用标定服务的车载应用，便可以接收到各车载应用发布的标定参数。用户可以自主选择车载应用，并自主选择需要标定的参数进行在线标定。从而可以根据用户需求灵活地进行车载应用的在线标定。
结合第四方面，在第四方面的某些可能的实现方式中，标定设备配置有需求端口，以及该方法还包括：标定设备通过需求端口接收来自AP AutoSAR的第一信息。
如此一来，标定设备可以通过需求端口接收来自AP AutoSAR的第一信息，从而用户可以根据第一信息，自主选择车载应用，并自主选择需要标定的参数进行在线标定。
结合第四方面，在第四方面的某些可能的实现方式中，标定设备配置有需求服务实例。
标定设备可以基于需求服务实例与车载应用进行数据交互。更具体地说，标定设备可以基于需求服务实例，车载应用可以基于提供服务实例，二者均可调用AP AutoSAR中的标定服务实例，通过该标定服务实例提供的通信接口，实现双方之间的数据交互。
结合第四方面，在第四方面的某些可能的实现方式中，该方法还包括：标定设备响应于用户的选择，向第一车载应用发送标定请求，标定请求中携带一个或多个标定参数及其对应的标定值。
标定设备可以响应于用户的选择，向用户选择的车载应用发送标定请求，实现对该车载应用的一个或多个参数的标定。
第五方面，本申请提供了一种车载应用的参数标定装置，可以实现上述第一方面至第四方面和第一方面任一种可能的实现方式至第四方面任一种可能的实现方式中的方法。该装置包括用于执行上述方法的相应的单元。该装置包括的单元可以通过软件和/或硬件方式实现。
第六方面，本申请提供了一种车载应用的参数标定装置，包括至少一个处理器，所述至少一个处理器中的每个处理器用于实现上述第一方面至第四方面和第一方面任一种可能的实现方式至第四方面任一种可能的实现方式中的方法。
可选地，该参数标定装置还包括通信接口，处理器与通信接口耦合。
在一种可能的设计中，第五方面或第六方面所述的参数标定装置在用于实现上述第一方面及第一方面任一种可能实现方式中的方法时，该参数标定装置可以为控制器。
在另一种可能的设计中，该参数标定装置在用于实现上述第二方面及第二方面任一种可能实现方式中的方法时，该参数标定装置可以为控制器，且该控制器上部署有AP AutoSAR。
进一步地，上述控制器为域控制器，或，ECU。
第七方面，本申请提供了一种车辆，该车辆包括至少一个控制器，所述至少一个控制器中的每个控制器用于实现第三方面或第三方面任一种可能的实现方式中任一项所述的方法。
可选地，该通信装置还包括通信接口，处理器与通信接口耦合。
第八方面，本申请提供了一种芯片系统，该芯片系统包括至少一个处理器，用于支持实现上述可以实现上述第一方面至第四方面和第一方面任一种可能的实现方式至第四方面任一种可能的实现方式中所涉及的功能，例如，接收或处理上述方法中所涉及的数据等。
在一种可能的设计中，所述芯片系统还包括存储器，所述存储器用于保存程序指令和数据，存储器位于处理器之内或处理器之外。
该芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
第九方面，本申请提供了一种计算机可读存储介质，所述计算机存储介质上存储有计算机程序(也可以称为代码，或指令)，当所述计算机程序在被处理器运行时，使得上述可以实现上述第一方面至第四方面和第一方面任一种可能的实现方式至第四方面任一种可能的实现方式中的方法被执行。
第十方面，本申请提供了一种计算机程序产品，所述计算机程序产品包括：计算机程序(也可以称为代码，或指令)，当所述计算机程序被运行时，使得上述可以实现上述第一方面至第四方面和第一方面任一种可能的实现方式至第四方面任一种可能的实现方式中的方法被执行。
应当理解的是，本申请的第五方面至第十方面与本申请的第一方面至第四方面的技术方案相对应，各方面及对应的可行实施方式所取得的有益效果相似，不再赘述。
附图说明
图1是一种适用于本申请实施例提供的车载应用的参数标定方法的场景示意图；
图2是本申请实施例提供的自适应平台上的汽车开放系统软件架构示意图；
图3是本申请实施例提供的车载应用的参数标定方法的示例性流程图；
图4是本申请实施例提供的AP中的配置和车载应用中的配置的示意图；
图5至图7是本申请实施例提供的车载应用的参数标定方法的示意性流程图；
图8是本申请实施例提供的AP中的配置、车载应用中的配置和标定设备中的配置的示意图；
图9是本申请实施例提供的一种车载应用的参数标定装置的示意性框图；
图10是本申请实施例提供的另一种车载应用的参数标定装置的示意性框图；
图11是本申请实施例提供的另一种车载应用的参数标定装置的示意性框图；
图12是本申请实施例提供的另一种车载应用的参数标定装置的示意性框图；
图13是本申请实施例提供的又一种车载应用的参数标定装置的示意性框图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
为了便于清楚描述本申请实施例的技术方案，在本申请的实施例中，采用了“第一”、“第二”等字样对功能和作用基本相同的相同项或相似项进行区分。例如，第一信息和第二信息仅仅是为了区分不同的信息，并不对其先后顺序进行限定。本领域技术人员可以理解“第一”、“第二”等字样并不对数量和执行次序进行限定，并且“第一”、“第二”等字样也并不限定一定不同。
本申请实施例中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，或c中的至少一项(个)，可以表示：a，b，c；a和b；a和c；b和c；或a和b和c。其中a，b，c可以是单个，也可以是多个。
在本申请实施例中，针对配置的服务、服务实例、通信接口、端口等定义了不同的名称。这些名称只是为了便于区分各自的功能来定义，而不应对本申请实施例构成任何限定。例如，不同的服务实例、不同的端口也可以通过“第一”、“第二”等来区分。
此外，针对配置的服务、服务实例、通信接口、端口等分别定义了不同的类型，这些类型的具体定义可参看AP AutoSAR相关技术规范(如AutoSAR发布的规范清单(Specification of Manifest)中AP AutoSAR的相关部分)中的说明，本文不作详述。
为便于理解本申请实施例，首先对本申请中涉及到的一些术语或词汇作简单说明。
1、标定：在本申请实施例中，标定主要是指汽车标定。作为示例而非限定，汽车标定包括：发动机标定、自动变速箱控制单元(transmission control unit，TCU)标定、整车控制器(vehicle control unit，VCU)标定等。不同参数可能配置于不同的车载应用中，可通过对不同车载应用中的参数进行标定来实现。
对车载应用的参数标定的具体过程如下：通过对参数的不断修改和测量，找到最优解，从而使得该车载应用能够适应不同发动机和车型的需求，在经济性、动力性、舒适性和满足排放法规等各个方面达到最优。
2、服务(service)：服务可以理解为逻辑上的业务活动。它可通过定义明确的接口访问，通常同接口描述定义语言(interface description language，IDL)访问。在AP AutoSAR(可以称为adaptive AutoSAR，简称AP)中，IDL可以为汽车开放系统架构可扩展标记语言(automotive open system architecture extensible makeup language，ARXML)，ARXML可以理解为配置文件。
3、服务实例(service instance)：一个服务可以部署为一组服务实例，以提供其 具体的实现方式。
4、通信管理(communication management，CM)：AP规范定义了CM服务，以运行于因特网协议(internet protocol，IP)层之上的可伸缩的面向服务的中间件(scalable service-oriented middle ware over IP，SOME/IP)通信功能。SOME/IP可以作为以太网通信中间件来实现应用层和IP层的数据交互。AP上的应用通常使用该服务来进行通信。
服务是SOME/IP中的核心概念。在一个服务中，定义了服务端(server)和客户端(client)两个角色：服务端提供服务，客户端调用服务。所有的服务数据交互所采用的接口可以统称为通信接口。通信接口主要包括method接口和event接口。
method接口用于远程过程调用，表示调用一个进程、函数或子程序。通常由客户端发起，并由服务端答复。客户端和服务端可以采用“请求(request)/应答(response)”机制进行通信。由客户端发送调用请求，用于请求相关数据或者请求执行相关操作，服务端收到请求后，通过应答对客户端的请求做出反馈。method是一种可靠传输的服务接口。
event接口用于一个单向的数据传输，具体可用于服务端向订阅(subscribe)了相关服务的客户端发布(publish)信息。
在本申请实施例中，标定设备与车载应用之间可以通过SOME/IP实现通信。其中，车载应用可用于发布测量数据和标定参数，标定设备可通过订阅该车载应用的相关服务，接收车载应用发布的测量数据和标定参数。标定设备还可通过测量请求向车载应用请求测量数据，并可通过标定请求向车载应用请求修改标定参数的值。因此，车载应用可以作为服务端，标定设备可以作为客户端。
5、通用标定协议(XCP)：主要应用于测量和标定ECU内部参数。标定设备基于XCP的测量和标定是通过对ECU内部的软件的访问来实现的，具体而言，针对要测量和标定的对象的内存区间，通过指定对应的内存地址的方式进行访问。
XCP通常应用在CP AutoSAR(可简称CP)中。这是因为在CP上，车辆的各项功能主要以软件形式封装在嵌入式ECU中。车载应用在ECU中的地址是固定的，可直接寻址。标定设备可以实现对ECU中内存地址的读写进行测量和在线标定。
但是，不同于CP，AP是基于POSIX开发的，车载应用内变量的地址都是虚拟地址，需要测量的数据的地址无法在运行前确认。标定设备也就不能通过对内存地址的读写进行测量和在线标定。
此外，用于CP上的XCP模块(例如协议栈)在AP上也没有定义，各应用的厂商也无法基于XCP来规范标定驱动，从而完成后续的标定操作。
因此，本申请实施例提供了一种车载应用的标定方法和装置，通过在AP中配置标定服务，为车载应用提供传输数据的服务，使得被配置使用标定服务的车载应用可基于该标定服务发布数据。标定设备如果订阅了该车载应用的标定服务，便可接收到车载应用发布的数据，进而完成测量和标定。从而无需确认数据的内存地址，也就解决了AP上的车载应用内变量地址无法在运行前确认导致标定设备无法进行测量和标定的问题。
为了便于理解本申请实施例，下文中将结合图1对适用于本申请实施例提供的车 载应用的标定方法的系统架构做简单说明。
如图1所示，标定设备可以与控制器建立连接，控制器上安装有至少一个车载应用，例如图中示出的车载应用1、车载应用2和车载应用3，车载应用是部署在AP上的应用。该AP可配置有标定服务。每个车载应用可以基于应用开发商的选择，被配置为使用或不使用AP提供的标定服务。本申请对各车载应用是否使用标定服务不作限定。
使用了标定服务的车载应用可以对外发布数据。示例性地，使用了标定服务的车载应用可以通过event接口，对外发布测量数据和标定参数。
标定设备可以订阅各车载应用的标定服务，例如，假设车载应用1、车载应用2和车载应用3都使用了标定服务，标定设备可以订阅车载应用1、车载应用2和车载应用3中任意一个或多个应用的标定服务。标定设备订阅了车载应用的标定服务后，便可以接收到车载应用发布的数据。
应理解，本申请对标定设备订阅哪个车载应用的标定服务，以及订阅几个车载应用的标定服务均不作任何限定。
应理解，图1的场景只是一示例，在实际场景中，一个控制器中可以安装更多或更少数量的车载应用，本申请对此不作任何限定。
图2是可用于实现本申请实施例提供的车载应用的标定方法的控制器的软件和硬件的结构框图。如图2所示，该控制器可以分为硬件层、操作系统(operating system，OS)、中间件和应用层。其中，硬件层可以包括但不限于，虚拟机(virtual machine，VM)、硬件、容器(container)等，用于为上层的软件的运行提供基础。中间件可以理解为是一个软件平台，在本申请实施例中，该软件平台具体可以是AP。对应的OS可以是POSIX OS。AP中可以包括多个服务。本申请实施例涉及到的服务例如包括CM服务、标定服务等。其中，CM可用于负责中间件与应用之间的通信，是面向服务的通信。标定服务可用于提供数据发布和参数标定的服务。标定服务可以基于CM提供的服务来实现通信。应用层具体可以包括一个或多个车载应用，如图2中示出的车载应用1、车载应用2、车载应用3等。在本申请实施例中，该应用层中的各车载应用可以是自适应应用(adaptive application，AA)。应理解，图2所示的中间件和应用层均为软件层。
在本申请实施例中，各车载应用可以运行在AP上，如图2中所示的车载应用1、车载应用2、车载应用3等，可以基于工作人员的选择，被配置为使用或不使用AP提供的服务，进而对外提供服务。
下面将结合附图对本申请实施例中提供的车载应用的参数标定方法做详细说明。
图3是从控制器的角度示出的参数标定方法300的示意性流程图。应理解，图3所示的方法300可以由控制器来执行，或者也可以由配置在控制器中的部件(如，芯片、芯片系统或其他能够调用程序并执行程序的功能模块等)来执行。该控制器可以是域控制器或者ECU等配置在车上，可通过执行计算机程序实现执行如下方法的设备。
需要说明的是，该控制器内安装有AP，该AP配置有标定服务。一个或多个车载应用部署AP中，被配置为使用标定服务。该标定服务的类型为“服务接口(ServiceInterface)”，可以为车载应用提供。基于此配置，该车载应用能够提供数据 发布和参数标定的服务。
在步骤310中，控制器发布一个或多个标定参数。
应理解，控制器发布标定参数，具体可以是该控制器中运行的一个或多个车载应用发布标定参数。因车载应用运行在控制器中，故车载应用发布标定参数，也就是通过控制器发布标定参数。下文为方便说明和理解，以一个车载应用为例来说明。
标定参数具体是指车载应用可以标定的参数。例如，对于与摄像头传感器相关的车载应用来说，该标定参数例如可以是传感器的相对位置、感光参数等。应理解，本申请对于车载应用及其对应的标定参数不作限定。例如，车载应用还可以包括，与激光雷达相关的应用、用于检测障碍物的应用、用于路径规划的应用等等，本申请包含但不限于此。各应用所对应的标定参数也是不同的，且各应用开发商基于同一应用设计的标定参数也可能不同，本申请对此不作限定。
车载应用可以将标定参数发布出来，以便于订阅了该车载应用的标定服务的标定设备基于发布的标定参数来进行参数标定。对于不同的车载应用来说，其所对应的标定参数可能也是不同的。本申请对于车载应用发布的标定参数的具体数量不作限定，车载应用可以发布一个或多个标定参数。
在步骤320中，控制器接收来自标定设备的一个或多个标定参数及其对应的标定值。
若某一标定设备订阅了该车载应用的标定服务，则可以接收到该车载应用通过控制器发布的标定参数。标定设备可以将接收到的标定参数通过用户界面显示，以便于用户选择需要标定的参数。应理解，用户可以选择其中的部分或全部标定参数进行标定。换言之，来自标定设备的一个或多个标定参数为车载应用发布的标定参数的子集。
一示例，控制器发布的标定参数包括{a，b，c}，从标定设备接收到的标定参数及其对应的标定值为{a：x；b：y}。应理解，这里的a、b、c表示标定参数；x、y表示标定值。本申请对于各标定参数及其对应的标定值均不作限定。
在一种可能的实现方式中，标定设备通过标定请求携带上述一个或多个标定参数及其对应的标定值。换言之，步骤320具体可以包括：控制器接收来自标定设备的标定请求，该标定请求中携带一个或多个标定参数及其对应的标定值，该标定请求用于请求标定车载应用中的标定参数。
在步骤330中，控制器将接收到的标定值写入车载应用中。
可以理解，控制器接收到的标定值与标定参数是一一对应的。控制器可以根据标定值与标定参数的一一对应关系，将各标定值作为其所对应的标定参数的值，写入车载应用中。车载应用可以基于新写入的标定值对标定参数的值进行刷新。
将标定值写入车载应用具体可以是指，根据所对应的标定参数在内存中的地址，将标定值作为该标定参数的值写入。
作为对该标定请求的响应，该控制器还可以发送标定请求的响应消息，该标定请求的响应消息可用于通知标定设备，已完成标定请求所请求标定的参数。
应理解，控制器可以在完成了参数标定之后向标定设备发送响应消息，也可以在接收到标定请求之后向标定设备发送响应消息，本申请对于控制器发送响应消息的时机不作限定。当然，控制器也可以不发送响应消息。
还应理解，订阅同一车载应用的标定服务的标定设备可以为一个或多个，本申请实施例对此不作限定。任何一个订阅了该车载应用的标定服务的标定设备都可以接收到该车载应用发布的标定参数，也可以对该车载应用进行参数标定。任何一个标定设备都可以基于上文所述的方法来接收标定参数，并对车载应用进行参数标定。
基于上述方法，运行在控制器中的被配置为使用标定服务的车载应用可以基于标定服务，发布标定参数，并从标定设备接收标定参数及标定值。因此，标定设备只要订阅了该车载应用的标定服务，便可实现对该车载应用的标定，而无需确认数据的内存地址，避免了车载应用内变量地址无法在运行前确认导致标定设备无法标定的问题。同时，也缓解了AP上没有定义XCP模块而导致的无法基于XCP进行标定的问题。
为了对标定参数进行优化，控制器还可发布一个或多个测量数据。具体而言，控制器可以将每一次接收到的来自标定设备的针对标定参数的标定值写入车载应用中。车载应用可以基于新写入的标定值对标定参数的值进行刷新，并基于刷新后的标定值进行测量，以得到测量数据。车载应用可以基于标定服务，通过控制器发布测量数据。订阅了该车载应用的标定设备可以接收到该测量数据，并可基于测量数据确定是否需要调整标定值，以及如何调整标定值。
应理解，车载应用发布测量数据，具体可以通过控制器将测量数据发布出去。
例如，若该车载应用是与摄像头相关的车载应用，标定参数为位置坐标。该测量数据例如可以是通过该摄像头拍摄到的图像。通过对图像的检测，可以判断该摄像头的位置坐标是否合适，或者，是否进一步调整，以及如何调整。
换言之，车载应用发布的测量数据是基于前一次写入的标定值进行测量得到的，可以用于确定下一次参数标定的标定值。这里，前一次写入的标定值例如可能是前一次从标定设备接收到的标定值，也可能是在设备出厂前写入车载应用的标定值。前一次写入的标定值会影响到测量数据，测量数据又进一步影响到下一次参数标定的标定值。因此，测量数据与标定值相关。
例如，控制器发布的标定参数包括{a，b，c}，测量数据包括与标定参数a、b、c相关的测量数据。而标定设备可以对参数a和b进行标定，则可以基于与a和b相关的测量数据来确定参数a和b的标定值，也即，基于接收到的部分的测量数据来确定参数a和b的标定值。
又例如，控制器发布的标定参数包括{a，b，c}，测量数据包括与标定参数a、b、c相关的测量数据。标定设备可以对参数a、b、c进行标定，则可以基于与a、b、c相关的测量数据来确定参数a、b、c的标定值，也即，基于接收到的全部的测量数据来确定参数a、b、c的标定值。
应理解，控制器中同一车载应用发布的测量数据和标定参数可以一次发布，也可以多次发布；测量数据和标定参数可以同时发布，也可以不同时发布。本申请实施例对此不作限定。
在一种可能的实现方式中，控制器周期性地发布一个或多个测量数据。
应理解，控制器周期性地发布测量数据本质上是车载应用周期性地发布测量数据。还应理解，车载应用周期性发布的测量数据可以是同一项或多项参数的测量数据，也可以是不同项参数的测量数据。本申请实施例对此不作限定。
标定设备基于车载应用发布的测量数据可以进行一次或多次的参数标定。车载应用可以基于每一次标定的参数值发布测量数据。当标定设备检测到车载应用某一次发布的测量数据已经使得相应的车载应用的性能达到最优时，便可以停止对该车载应用的参数标定。使得性能达到最优的标定值便可固化在该车载应用，不再被修改。
另一方面，考虑到同一AP上可以部署多个车载应用，不同车载应用发布的标定参数和测量数据可能是不同的，为了区分不同的车载应用发布的标定参数和/或测量数据，可以对每个车载应用绑定一个ID。每个ID可用于唯一地标识一个车载应用。
某个车载应用被配置为使用标定服务后，可以在发布标定参数和/或测量数据时携带车载应用的ID，以便于与其他车载应用发布的标定参数和/或测量数据区分。而AP可以基于每个车载应用发布的标定参数和/或测量数据，生成相关的记录，以记录发布标定参数和/或测量数据的车载应用。该记录例如可以记为第一信息。该第一信息包括发布标定参数和/或测量数据的车载应用的ID。
可选地，该方法300还包括：控制器发送第一信息，该第一信息用于指示该控制器发布的标定参数和/或测量数据的车载应用的ID。
可以理解的是，若车载应用发布测量数据，则表示该车载应用有参数标定的需求，可能同时发布了标定参数，或在发布测量数据之前发布的标定参数。因此，换句话说，第一信息可用于指示该控制器中发布标定参数的车载应用的ID。
控制器发送的第一信息可用于标定设备侧的用户根据需求，选择车载应用来获取其发布的标定参数和/或测量数据，也即，实现标定设备对车载应用的标定服务的订阅，从而可以根据需求选择车载应用进行参数标定。
标定设备也可以主动地向控制器发送请求，以请求获取第一信息。可选地，该方法还包括：控制器接收来自标定设备的第一请求，该第一请求用于请求获取该控制器中发布标定参数的车载应用的ID。
如此一来，用户可以自主选择车载应用，并自主选择需要标定的参数进行在线标定。在标定过程中，也无需预先获知各个车载应用中的标定参数的内存地址，进而基于内存地址去读取。标定设备只要订阅了使用标定服务的车载应用，便可实现在线标定，从而避免了AP上部署的车载应用因无法提前确定内存地址导致无法进行在线标定的问题。同时，也缓解了AP上没有定义XCP模块而导致的无法基于XCP进行标定的问题。
前已述及，该车载应用是部署在AP上的应用，且被配置为使用标定服务。为了实现标定服务，可以对AP和车载应用分别进行配置，以实现标定服务。下面将详述对AP和车载应用的配置，以及基于这些配置如何实现标定服务。
一、对AP的配置：
对AP的配置具体可以由AP供应商来完成。AP供应商可以基于下文所述对AP的配置，生成配置文件(如ARXML文件)。为便于区分和说明，将此配置文件记为第一配置文件。车载应用的开发商基于该第一配置文件，增加与车载应用的业务逻辑相关的部分，得到第二配置文件。可以理解，该第二配置文件是在第一配置文件的基础上新增了与车载应用的业务逻辑而得到的，不同的车载应用的开发商所增加的业务逻辑可能不同，因此不同的车载应用的开发商可以基于相同的第一配置文件得到不同 的第二配置文件。此后，车载应用的开发商可以基于第二配置文件生成框架代码，然后进行编译运行。
另一方面，标定设备的厂商也可以预先从AP供应商获取到第一配置文件，并可以基于该第一配置文件生成代码。从而可以实现部署在AP上的车载应用与标定设备之间的正常通信。
对AP的配置可以包括：定义一个结构体、定义一个服务。其中，对服务的定义包括：定义两组数据元素，定义一个服务接口，以及定义一个或多个服务实例。
具体而言，AP供应商可以对AP的基础配置中定义一个结构体，该结构体的类型可以为“StdCppImplementationDataTypeElement”。
在本申请实施例中，该结构体可用于定义数据(具体包括测量数据和标定数据)的格式。这里，数据具体可以包括测量数据和标定数据。测量数据可以是指车载应用发布的测量数据。标定数据可以包括车载应用发布的标定参数，或，标定设备发送的标定参数及其对应的标定值。由于该数据是用于参数标定的数据，该结构体可命名为标定元素(CalElement)。本申请对于结构体的具体命名不作限定。
在一种可能的设计中，该结构体包括如下字段：标识、类型、取值范围、取值和单位。其中，标识可以指数据的标识，可用于标识不同的数据。例如上文列举的参数a、b、c为不同的数据表示。类型可用于指示数据的类型，例如可以是整数、浮点数、字符串等。取值范围可用于指示标定参数能够取到的最大值和/或最小值。取值可以是基于取值范围给出标定参数的标定值；也可以是测量数据的具体数值。单位可以针对不同参数而定义，如，转速的单位是转/分钟(r/min)等。本申请包含但不限于此。
AP供应商可以在AP基础配置中新增定义一个服务，也即上述的标定服务，类型可以为“ServiceInterface”。在该标定服务下可以定义一个服务接口以及一个或多个服务实例。
其中，服务接口可用于提供标定服务的数据。标定服务的数据包括标定数据和/或测量数据。其中，标定数据可以是标定参数，或者也可以是标定参数及其对应的标定值。测量数据与标定参数及其对应的标定值相关。例如，测量数据可以基于前一次针对某一个或多个标定参数对应的标定值经测试得到；也可用于确定后一次标定过程中该一个或多个标定参数对应的标定值。
在一种可能的实现方式中，可以在该服务接口中配置第一数据元素组和第二数据元素组。第一数据元素组用于承载标定数据(CalibrationData)，第二数据元素组用于承载测量数据(MeasureData)。该两组数据元素的类型均可以为“可变数据原型(VariableDataPrototype)”。该两组数据元素均可关联上述的结构体。换言之，该标定服务下的标定数据和测量数据均需按照上述结构体的格式来传输。两组数据元素仅为便于区分标定数据和测量数据而定义。
基于对结构体的配置和对两组数据元素的配置，AP定义用于参数标定的数据传输中数据的格式。由于服务接口中的两组数据元素为标定服务提供数据，该服务接口可以称为标定服务接口。
服务实例可以用于提供数据传输方式。具体地，该服务实例可以为标定服务提供通信接口。该通信接口具体可用于传输测量数据和标定数据。一个标定服务中可以定 义一个或多个服务实例，本申请实施例对于服务实例的数量不作限定。
示例性地，服务实例的类型可以为“提供SOME/IP服务实例(ProvidedSomeipServiceInstance)”或“数据分发服务(data distribution service，DDS)提供服务实例(DdsProvidedServiceInstance)”。
以“ProvidedSomeipServiceInstance”类型为例，服务实例可以提供用于发布标定数据的event接口(为便于区分和说明，例如记为第一event接口)、用于发布测量数据的event接口(为便于区分和说明，例如记为第二event接口)和用于接收所述标定参数及其对应的标定值并响应的method接口。
由于测量数据和标定参数是车载应用发布的数据，发布类似于广播，无需接收来自其他设备(如标定设备)的响应，因此可以通过用于单向传输的event接口来传输。
标定设备向车载应用发送标定参数和标定值的一种可能的方式是，将标定参数和标定值携带在标定请求中发送。车载应用接收到标定请求后，就可以从标定请求中获取到标定参数和标定值，进而做出响应。因此可以通过采用“请求(request)/应答(response)”的method接口来传输。
第一event接口的类型可以为“SOME/IP事件部署(SomeipEventDeployment)”，关联至标定数据。第二event接口的类型也可以为“SomeipEventDeployment”，关联至测量数据。method接口的类型可以为“SomeipMethodDeployment”，关联至标定数据。
应理解，SOME/IP和DDS可以提供不同的传输方式。上文以SOME/IP为例对通信接口的示例仅为一种可能的设计，不应对本申请实施例构成任何限定。比如，也可以基于类型为“DdsProvidedServiceInstance”的服务实例来为标定服务提供通信接口。
基于上文对服务实例的配置，AP定义了用于参数标定的数据传输的传输方式。由于该服务实例为标定服务提供通信接口，该服务实例可以称为标定服务实例。
需要说明的是，标定服务接口和标定服务实例都为逻辑上的概念，分别用来定义传输的数据的格式和传输方式。通过配置标定服务接口和标定服务实例，可以生成相应的框架代码，直接调用AP中的CM的通信库来实现通信。应理解，CM的接口可以理解为软件定义的接口，通过CM来查找和连接通信的双方，以实现通信。
还应理解，对AP的配置并不限于上文所述的内容，还可以包括其他配置。本文主要描述与AP的标定服务相关的配置。
二、对车载应用的配置：
对车载应用的配置可以由车载应用的开发商来完成。由于车载应用是部署在AP上的，故AP供应商可以将AP以及相关的配置文件提供给车载应用的开发商。该配置文件可用于描述AP提供的各项服务，其中可包括本申请中所述及的标定服务。
车载应用的厂商可以基于AP的配置文件，设计和生成车载应用的配置文件，定义其中的数据结构、使用的服务、提供的服务、通信方式等。
对车载应用的配置可以包括：定义一个端口、定义一个服务实例。
具体而言，车载应用的厂商可以在车载应用中定义一个端口，类型可以为“提供端口原型(PPortPrototype)”，关联到AP中的标定服务接口。该端口可用于调用AP的标定服务接口，从而使得车载应用能够提供标定服务的数据。该端口可以称为提供 端口。
车载应用的厂商还可以在车载应用中定义一个服务实例，类型可以为“提供SOME/IP服务实例(ProvidedSomeipServiceInstance)”，关联到AP的标定服务实例。为便于区分和说明，本文将车载应用中定义的服务实例称为提供服务实例。
应理解，对车载应用的配置并不限于上文所述的内容，还可以包括其他配置。本文主要描述与车载应用的标定服务相关的配置。
为了便于理解，下面结合图4来描述AP中的配置与车载应用中的配置之间的关联关系。
图4示出了配置在AP和车载应用中的服务、服务接口、服务实例、结构体、端口及接口。如图4所示，车载应用中的提供端口关联AP中的标定服务接口，车载应用中的提供服务实例关联AP中的标定服务实例。
如前所述，AP中定义了结构体，且标定服务接口中的两组数据元素关联至结构体。也就是说，标定服务提供了发布数据和参数标定的服务，并且定义了数据传输的格式。提供端口关联标定服务接口，可以理解为，通过提供端口调用标定服务接口，以通过基于结构体所定义的格式进行数据传输，即，上述的对外发布数据和从标定设备接收数据。
标定服务中还定义了标定服务实例，提供了用于发布标定数据的第一event接口、用于发布测量数据的第二event接口，以及用于接收标定参数及其对应的标定值并响应的method接口。标定服务实例提供了数据传输的方式。提供服务实例关联标定服务实例，可以理解为，通过提供服务实例调用关联标定服务实例，可以基于标定服务实例提供的通信接口，进行数据传输。
应理解，上文所述的提供端口对所关联的标定服务接口的调用，以及提供服务实例关联对所关联的标定服务实例的调用，可以理解为是车载应用对AP中的标定服务的调用。被配置为使用标定服务的车载应用在运行后可以自动调用标定服务，以实现数据发布和参数标定。
下面将结合上述配置，对AP和车载应用分别执行的上述车载应用的参数标定方法中分别执行的流程做详细说明。
图5是从AP的角度示出的车载应用的参数标定方法500的示意性流程图。应理解，图5所示实施例中的AP为配置了标定服务的AP，其上可以部署一个或多个车载应用。该AP可以运行在控制器中。
如图5所示，该方法500可以包括步骤510和步骤520。下面详细说明方法500中的各个步骤。
在步骤510中，AP响应于车载应用对标定服务的调用，向车载应用提供标定服务。
示例性地，车载应用被配置为使用标定服务后，可以在运行后，自动调用标定服务。AP响应于对标定服务的调用，向车载应用提供标定服务。基于AP提供的标定服务，车载应用能够提供数据发布和参数标定的服务。
基于上述方法，被配置为使用标定服务的车载应用可以基于标定服务，发布标定参数，并从标定设备接收标定参数及标定值。因此，标定设备只要订阅了该车载应用的标定服务，便可实现对该车载应用的标定，而无需确认数据的内存地址，避免了车 载应用内变量地址无法在运行前确认导致标定设备无法标定的问题。
如前所述，AP中还配置有结构体。该结构体可用于定义数据传输的格式。进一步地，标定服务包括标定服务接口和标定服务实例。其中，标定服务接口用于提供标定服务的数据，标定服务实例用于提供标定服务的通信接口。关于标定服务接口和标定服务实例的详细说明可参看上文中对AP的配置中的相关描述，为了简洁，此处不再赘述。
一种可能的设计是，车载应用配置有提供端口和提供服务实例，提供端口关联至标定服务接口，提供服务实例可以关联至该标定服务实例。车载应用在运行后，自动调用标定服务，具体可以包括：车载应用可以自动实例化该提供服务实例，实例化的提供服务实例可调用所关联的标定服务实例，进而通过标定服务实例向车载应用提供通信接口。车载应用也可以通过提供端口自动去调用标定服务接口。如此，使用标定服务的车载应用可以通过标定服务实例提供的通信接口，基于标定服务接口提供的数据进行传输。
进一步地，上述通信接口具备包括：用于发布标定数据的第一event接口、用于发布测量数据的第二event接口，以及用于接收标定参数及其对应标定值并响应的method接口。
关于AP中配置的服务、结构体、数据元素组、服务实例、通信接口等在上文中对AP的配置的相关描述中已经做了详细说明，此处不再赘述。
前已述及，为了区分同一AP上部署的不同的车载应用发布的标定参数和/或测量数据，可以对每个车载应用绑定一个ID。每个ID可用于唯一地标识一个车载应用。
可选地，该方法500还包括：步骤520，AP发送第一信息，该第一信息用于指示AP中使用标定服务的车载应用的ID。
某个车载应用在调用标定服务接口和标定服务实例后，可以在发布标定参数和/或测量数据时，携带该车载应用的ID，以便与其他车载应用发布的标定参数和/或测量数据区分。而AP(具体可以为AP中的标定服务)可以基于每个车载应用发布的标定参数和/或测量数据，生成第一信息。该第一信息包括发布标定参数和/或测量数据的车载应用的ID。
AP发送的第一信息可用于标定设备侧的用户根据需求，选择车载应用来获取其发布的标定参数和/或测量数据，也即，实现标定设备对车载应用的标定服务的订阅，从而可以根据需求选择车载应用进行参数标定。
AP可以主动地将第一信息推送给所连接的标定设备，或者，也可以响应于标定设备发送的请求，向标定设备发送第一信息。
可选地，该方法还包括：AP接收来自标定设备的第一请求，该第一请求用于请求获取该控制器中发布标定参数的车载应用的ID。
一种可能的实现方式是，标定设备可以在第一请求中携带服务接口的名称，以请求AP提供使用了该名称的服务接口的车载应用的ID。示例性地，该服务接口的名称为“标定服务接口”，也即本申请中所述的标定服务的名称。AP可以基于此服务接口的名称，提供使用标定服务的车载应用的ID给标定设备。
应理解，AP接收来自标定设备的第一请求具体可以是指，AP通过控制器接收到 该第一请求。如，该第一请求到达控制器的通信接口后，控制器可以进一步通过内部通路传输至CM中的AP。AP发送第一信息具体可以是指，AP通过控制器发送第一信息。如，AP生成第一信息后，由CM通过内部通路传输至控制器的通信接口，再通过控制器的通信接口发送出去。
基于上述方案，AP可以为部署在其上且被配置为使用标定服务的车载应用提供标定服务，定义数据的格式和传输方式，使得车载应用能够进行数据发布和参数标定。因此，标定设备只要订阅了该车载应用的标定服务，便可实现对该车载应用的标定，而无需确认数据的内存地址，避免了车载应用内变量地址无法在运行前确认导致标定设备无法标定的问题。同时，也缓解了AP上没有定义XCP模块而导致的无法基于XCP进行标定的问题。
图6是从车载应用的角度示出的车载应用的参数标定方法600的示意性流程图。应理解，图6所示实施例中的车载应用为部署在AP上且被配置为使用标定服务的车载应用。该车载应用可以运行在控制器中。
如图6所示，该方法600可以包括：
步骤610，车载应用发布一个或多个标定参数；及
步骤620，车载应用接收来自标定设备的一个或多个标定参数及其对应的标定值。
如前所述，由于车载应用运行在控制器中，故车载应用发布标定参数，也即通过控制器发布标定参数。车载应用接收标定设备的标定参数和标定值，具体可以是控制器将从标定设备接收到的标定参数和标定值写入到车载应用中。
应理解，关于标定参数、标定值及其与车载应用的关系可参看上文方法300和500中的相关说明，为了简洁，此处不再赘述。
基于上述方法，部署在AP上且被配置为使用标定服务的车载应用可以基于AP提供的标定服务，发布标定参数，并从标定设备接收标定参数及标定值。因此，标定设备只要订阅了该车载应用的标定服务，便可实现对该车载应用的标定，而无需确认数据的内存地址，避免了车载应用内变量地址无法在运行前确认导致标定设备无法标定的问题。
可选地，该方法600还包括：步骤630，车载应用发布一个或多个测量数据。
如前所述，车载应用具体可以通过控制器将测量数据发布出去。关于车载应用发布测量数据的具体过程可参看前文方法300中控制器发布测量数据的相关说明，为了简洁，此处不再赘述。
由于车载应用中配置有提供端口，该提供端口关联至AP中的标定服务接口，该标定服务接口中定义了用于承载标定数据的第一数据元素组和用于承载测量数据的第二数据元素组，而该第一数据元素组和第二数据元素组又关联了定义在AP中的结构体。故车载应用发布的标定参数、测量数据，以及从标定设备接收到的标定参数及其对应的标定值，均可遵循该结构体所定义的格式，也即定义了数据传输的格式。
由于车载应用中配置有提供服务实例，该提供服务实例关联至AP中的标定请求实例，该标定请求实例可用于提供标定服务的通信接口。故车载应用发布的标定参数、标定数据，以及从标定设备接收到的标定参数及其对应的标定值，向标定设备反馈的响应等，均可通过标定服务实例提供的通信接口来实现通信。
上文中结合图4至图6描述了AP和车载应用之间的关系，以及如何相互配合来实现图3所示实施例中控制器实现的功能。与此对应，为了实现对车载应用的参数标定，标定设备也可以做出相应的配置，并可基于配置来执行车载应用的参数标定方法。下面将对标定设备的相关配置及其执行的流程。
图7是从标定设备的角度示出的车载应用的参数标定方法700的示意性流程图。应理解，图7所示的方法700可以由标定设备来执行，或者也可以由配置在标定设备中的部件(如，芯片、芯片系统或其他能够调用程序并执行程序的功能模块等)来执行。本申请实施例对此不作限定。
如图7所示，该方法700可以包括步骤710至730。下面详细说明方法700中的各个步骤。
在步骤710中，标定设备接收来自AP的第一信息，该第一信息用于指示该AP中发布标定参数的车载应用的ID。
其中，该AP是配置有标定服务的AP，且该AP上可以部署一个或多个车载应用。各车载应用可以被配置为使用标定服务，从而能够发布标定参数。AP可以基于发布标定参数的车载应用，生成第一信息，在第一信息中记录发布标定参数的各车载应用的ID。应理解，AP发送该第一信息具体可以是指，AP通过控制器发送该第一信息。
标定设备可以通过向AP发送请求获取第一信息的方式获取到该第一信息，或者，第一信息也可以以广播的方式发布出去。本申请实施例对此不作限定。
可选地，在步骤710之前，该方法还包括：标定设备发送第一请求，该第一请求用于请求获取该AP中发布标定参数的车载应用的ID。
在步骤720中，标定设备响应于用户对一个或多个车载应用中的第一车载应用的选择，基于第一信息，从该第一车载应用接收一个或多个标定参数。
标定设备可以将从AP接收到的第一信息通过用户界面显示给用户。示例性地，标定设备可预先将车载应用与ID的对应关系保存在本地，在接收到第一信息之后，可以根据预存的对应关系，将第一信息中所指示的ID对应的车载应用显示在用户界面上。用户可以根据需求，选择需要进行参数标定的车载应用。为方便区分和说明，这里将用户选择需要进行参数标定的车载应用记为第一车载应用。标定设备可以响应于用户对第一车载应用的选择，接收该第一车载应用发布的一个或多个标定参数，并将接收到的标定参数显示在用户界面上。如此一来，该标定设备就实现了对第一车载应用的标定服务的订阅。
在步骤730中，标定设备响应于用户的操作，向第一车载应用发送一个或多个标定参数及其对应的标定值。
用户可以根据需求、测量结果、前一次或多次针对各标定参数定义的标定值等，确定此次需要标定的参数以及对应的标定值，并输入标定设备中。如此，标定设备可以确定用户希望对哪些标定参数进行标定，以及相应的标定值。标定设备可响应于用户的操作，向第一车载应用发送一个或多个标定参数及其对应的标定值。可以理解的是，标定设备发送的一个或多个标定参数是该第一车载应用发布的一个或多个标定参数的子集。
可选地，步骤730具体包括：标定设备向第一车载应用发送标定请求，该标定请 求中携带一个或多个标定参数及其对应的标定值。
应理解，该标定请求是用于承载标定参数和标定值的一种可能的信令。第一车载应用基于接收到的标定请求，也可以做出响应。该标定请求和响应可以通过上述的method接口来传输。
在另一种实现方式中，标定设备也可基于第一信息，将发布标定参数的车载应用及其发布的标定参数一同显示在用户界面上，以便于用户一次性地将需要进行参数标定的车载应用以及需要标定的参数选择出来，并进行在线标定。本申请对于标定设备通过用户界面与用户的交互过程不作限定。
基于上述方案，标定设备只要订阅了使用标定服务的车载应用，便可以接收到各车载应用发布的标定参数。用户可以自主选择车载应用，并自主选择需要标定的参数进行在线标定。从而可以根据用户需求灵活地进行车载应用的在线标定。
为了实现上述方法，可以对标定设备也进行配置。具体来说，对标定设备的配置包括：定义一个需求端口，以及定义一个需求服务实例。
与车载应用中的提供端口和提供服务实例对应，该需求端口的类型可以为“需求端口原型(RportPrototype)”。需求服务实例的类型可以为“需求SOME/IP服务实例(RequiredSomeipServiceInstance)”或“DdsRequiredServiceInstance”。
图8示出了配置在AP和车载应用中的服务、服务实例、结构体、端口及接口，以及配置在标定设备中的端口、服务实例。如图所示，该需求端口与车载应用中的提供端口相对应，可关联至AP中的标定服务。该需求服务实例与车载应用中提供服务实例相对应，可关联至AP中的标定服务实例。标定设备便可通过需求端口从AP接收第一信息。在根据第一信息确定了需要进行参数标定的第一车载应用之后，标定设备便可通过需求服务实例，基于标定服务实例提供的通信接口，接收来自提供服务实例的标定参数。
应理解，标定设备可以基于同样的方法从车载应用接收测量数据，并向提供服务实例发送标定参数及标定值，为了简洁，此处不再赘述。
还应理解，上文结合图4和图8的描述仅为示例，不应对本申请实施例构成任何限定。例如，同一AP上可以部署更多个车载应用，同一AP上还可以配置多个标定服务实例。又例如，同一控制器可以与更多个标定设备通信。图中虽未示出，但本领域的技术人员可以相同的构思，对图4或图8做出简单的变换而得到。
以上，结合图3至图8对本申请实施例提供的方法进行了详细说明。以下，结合图9至图13对本申请实施例提供的装置进行详细说明。
图9是本申请实施例提供的一种车载应用的参数标定装置的示意性框图。如图9所示，该车载应用的参数标定装置900可以包括：发送单元910和接收单元920。该车载应用的参数标定装置900可以用于执行车载应用的参数标定方法600中车载应用所执行的步骤。
当该车载应用的参数标定装置900用于执行车载应用的参数标定方法600中车载应用所执行的步骤时，其中，发送单元910可以用于发布一个或多个标定参数，该车载应用的参数标定装置900部署在配置有标定服务的AP中，且被配置为使用标定服务，标定服务用于提供数据发布和参数标定的服务；接收单元920可以用于接收来自 标定设备的一个或多个标定参数及其对应的标定值，每个标定值用于标定所对应的标定参数，来自标定设备的一个或多个标定参数为该车载应用的参数标定装置900发布的一个或多个标定参数中的部分或全部参数，所述标定设备是订阅了该车载应用的参数标定装置900的标定服务的设备。
可选地，发送单元910还可以用于发布一个或多个测量数据，来自标定设备的标定值根据该一个或多个测量数据中的至少部分确定。
可选地，标定服务包括标定服务接口，该车载应用的参数标定装置900配置有提供端口，提供端口关联标定服务接口，标定服务接口用于提供标定服务的数据。
可选地，标定服务包括标定服务实例，该车载应用的参数标定装置900配置有提供服务实例，提供服务实例关联标定服务实例，标定服务实例用于提供标定服务的通信接口。
可选地，接收单元920可以用于接收来自标定设备的标定请求，标定请求中携带一个或多个标定参数及其对应的标定值，标定请求用于请求标定该车载应用的参数标定装置900的标定参数。
可选地，该装置900为车载应用。
图10是本申请实施例提供的另一种车载应用的参数标定装置的示意性框图。如图10所示，该车载应用的参数标定装置1000可以包括：处理单元1010和通信单元1020。该车载应用的参数标定装置1000可以用于执行车载应用的参数标定方法500中AP所执行的步骤。
当该车载应用的参数标定装置1000用于执行车载应用的参数标定方法500中AP所执行的步骤时，其中，处理单元1010可以用于响应于车载应用对标定服务的调用，通过通信单元1020向车载应用提供标定服务，标定服务用于提供数据发布和参数标定的服务，车载应用部署在该车载应用的参数标定装置1000中。
可选地，标定服务包括标定服务接口，标定服务接口用于提供标定服务的数据。
可选地，标定服务的数据包括标定数据和/或测量数据；标定服务接口中配置有第一数据元素组和第二数据元素组，第一数据元素组用于承载标定数据，第二数据元素组用于承载测量数据；其中，标定数据包括标定参数，或标定参数及其对应的标定值，测量数据与标定值相关。
可选地，AP AutoSAR中配置有结构体，结构体包括如下字段：标识、类型、取值范围、取值和单位；第一数据元素组和第二数据元素组关联至结构体。
可选地，车载应用配置有提供端口，提供端口关联标定服务接口。
可选地，标定服务包括标定服务实例，标定服务实例用于提供标定服务的通信接口。
可选地，通信接口包括：用于发布标定数据的第一event接口、用于发布测量数据的第二event接口和用于接收标定参数及其对应的标定值并响应的method接口；测量数据与标定值相关，标定值用于对标定参数进行标定。
可选地，车载应用配置有提供服务实例，标定服务实例关联提供服务实例。
可选地，该装置1000为AP。进一步地，该AP可以部署在控制器上，故该装置也可以为控制器。
图11是本申请实施例提供的另一种车载应用的参数标定装置的示意性框图。如图11所示，该车载应用的参数标定装置1100可以包括：发送单元1110、接收单元1120和写入单元1130。该车载应用的参数标定装置1100可以用于执行车载应用的参数标定方法300中控制器所执行的步骤。
当该车载应用的参数标定装置1100用于执行车载应用的参数标定方法300中控制器所执行的步骤时，其中，发送单元1110可以用于发布一个或多个标定参数，该车载应用的参数标定装置1100中安装有车载应用，车载应用是部署在AP中的应用，AP中配置有标定服务，标定服务用于提供数据发布和参数标定的服务，车载应用被配置为使用标定服务；接收单元1120可以用于接收来自标定设备的一个或多个标定参数及其对应的标定值，每个标定值用于标定所对应的标定参数，来自标定设备的一个或多个标定参数为车载应用发布的一个或多个标定参数中的部分或全部参数，标定设备是订阅了车载应用的标定服务的设备；写入单元1130可以用于将标定值写入车载应用中。
可选地，发送单元1110还可以用于发布一个或多个测量数据，来自标定设备的标定值根据一个或多个测量数据中的至少部分确定。
可选地，标定服务包括标定服务接口，车载应用配置有提供端口，提供端口关联标定服务接口，所述标定服务接口用于提供所述标定服务的数据。
可选地，标定服务的数据包括标定数据和/或测量数据；标定服务接口中配置有第一数据元素组和第二数据元素组，第一数据元素组用于承载标定数据，第二数据元素组用于承载测量数据；标定数据包括标定参数，或标定参数及其对应的标定值，测量数据与标定值相关。
可选地，AP AutoSAR中配置有结构体，结构体包括如下字段：标识、类型、取值范围、取值和单位；第一数据元素组和第二数据元素组关联至结构体。
可选地，标定服务包括标定服务实例，标定服务实例用于提供标定服务的通信接口。
可选地，通信接口包括：用于发布标定数据的第一event接口、用于发布测量数据的第二event接口和用于接收标定参数及其对应的标定值并响应的method接口；测量数据与标定值相关。
可选地，车载应用配置有提供服务实例，提供服务实例关联标定服务中的标定服务实例。
可选地，接收单元1120还可以用于接收来自标定设备的标定请求，标定请求中携带一个或多个标定参数及其对应的标定值，标定请求用于请求标定车载应用的标定参数。
可选地，发送单元1110还可用于发送第一信息，第一信息用于指示AP中发布标定参数的车载应用的标识，每个车载应用对应一个标识。
可选地，该装置1100为控制器。
图12是本申请实施例提供的另一种车载应用的参数标定装置的示意性框图。如图12所示，该车载应用的参数标定装置1200可以包括：接收单元1210和发送单元1220。该车载应用的参数标定装置1200可以用于执行车载应用的参数标定方法700中标定设备所执行的步骤。
当该车载应用的参数标定装置1200用于执行车载应用的参数标定方法700中标定设备所执行的步骤时，其中，接收单元1210可以用于接收来自AP的第一信息，第一信息用于指示AP中发布标定参数的车载应用的标识，AP配置有标定服务，标定服务用于提供数据发布和参数标定的服务，AP中部署有使用标定服务的一个或多个车载应用，每个车载应用对应一个标识；接收单元1210并可以用于响应于用户对一个或多个车载应用中的第一车载应用的选择，基于第一信息，从第一车载应用接收一个或多个标定参数；发送单元1220可以用于响应于用户的操作，向第一车载应用发送一个或多个标定参数及其对应的标定值，标定设备发送的一个或多个标定参数为接收到的一个或多个标定参数的部分或全部参数。
可选地，该车载应用的参数标定装置1200配置有需求端口，以及接收单元1210通过需求端口接收来自AP的第一信息。
可选地，该车载应用的参数标定装置1200配置有需求服务实例。
可选地，发送单元1220还可以用于响应于用户的选择，向第一车载应用发送标定请求，标定请求中携带一个或多个标定参数及其对应的标定值。
可选地，该装置1200为标定设备。
应理解，各单元执行上述相应步骤的具体过程在上述方法实施例中已经详细说明，为了简洁，在此不再赘述。
应理解，本申请实施例中对单元的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。另外，在本申请各个实施例中的各功能单元可以集成在一个处理器中，也可以是单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。
图13是本申请实施例提供的又一种车载应用的参数标定装置的示意性框图。该车载应用的参数标定装置1300可用于实现上述方法中标定设备的功能。该车载应用的参数标定装置1300可以为芯片系统。本申请实施例中，芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
如图13所示，该车载应用的参数标定装置1300可以包括至少一个处理器1310，用于实现本申请实施例提供的方法中标定设备的功能。
示例性地，当该车载应用的参数标定装置1300用于实现本申请实施例提供的方法700中标定设备的功能时，处理器1310可以用于接收来自AP的第一信息，第一信息用于指示AP中发布标定参数的车载应用的标识，AP配置有标定服务，且AP中部署有使用标定服务的一个或多个车载应用，每个车载应用对应一个标识；并可以用于响应于用户的选择，基于第一信息，从一个或多个车载应用中的第一车载应用接收一个或多个标定参数；并可以用于响应于用户的选择，向第一车载应用发送一个或多个标定参数及其对应的标定值，标定设备发送的一个或多个标定参数为接收到的一个或多个标定参数的部分或全部参数。具体参见方法示例中的详细描述，此处不做赘述。
该车载应用的参数标定装置1300还可以包括至少一个存储器1320，用于存储程序指令和/或数据。存储器1320和处理器1310耦合。本申请实施例中的耦合是装置、单元或模块之间的间接耦合或通信连接，可以是电性，机械或其它的形式，用于装置、 单元或模块之间的信息交互。处理器1310可能和存储器1320协同操作。处理器1310可能执行存储器1320中存储的程序指令。所述至少一个存储器中的至少一个可以包括于处理器中。
该车载应用的参数标定装置1300还可以包括通信接口1330，用于通过传输介质和其它设备进行通信，从而用于车载应用的参数标定装置1300中的装置可以和其它设备进行通信，例如其他设备可以是控制器。所述通信接口1330例如可以是收发器、接口、总线、电路或者能够实现收发功能的装置。处理器1310可利用通信接口1330收发数据和/或信息，并用于实现图7对应的实施例中所述的标定设备所执行的方法。
本申请实施例中不限定上述处理器1310、存储器1320以及通信接口1330之间的具体连接介质。本申请实施例在图13中以处理器1310、存储器1320以及通信接口1330之间通过总线1340连接。总线1340在图13中以粗线表示，其它部件之间的连接方式，仅是进行示意性说明，并不引以为限。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示，图13中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
本申请还提供了一种芯片系统，所述芯片系统包括至少一个处理器，用于实现上述图7所示实施例中标定设备执行的方法中所涉及的功能，例如，接收或发送上述方法中所涉及的数据和/或信息。
在一种可能的设计中，所述芯片系统还包括存储器，所述存储器用于保存程序指令和数据，存储器位于处理器之内或处理器之外。
该芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
本申请还提供一种计算机程序产品，所述计算机程序产品包括：计算机程序(也可以称为代码，或指令)，当所述计算机程序被运行时，使得控制器执行如图3所示实施例的方法，或者，使得AP执行如图5所示实施例的方法，或者，使得车载应用执行如图6所示实施例的方法，或者，使得标定设备执行如图7所示实施例的方法。
本申请还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序(也可以称为代码，或指令)。当所述计算机程序被运行时，使得控制器执行如图3所示实施例的方法，或者，使得AP执行如图5所示实施例的方法，或者，使得车载应用执行如图6所示实施例的方法，或者，使得标定设备执行如图7所示实施例的方法。
应理解，本申请实施例中的处理器可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储 器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
还应理解，本申请实施例中的存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。应注意，本文描述的系统和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
本说明书中使用的术语“单元”、“模块”等，可用于表示计算机相关的实体、硬件、固件、硬件和软件的组合、软件、或执行中的软件。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各种说明性逻辑块(illustrative logical block)和步骤(step)，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。在本申请所提供的几个实施例中，应该理解到，所揭露的装置、设备和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
在上述实施例中，各功能单元的功能可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令(程序)。在计算机上加载和执行所述计算机程序指令(程序)时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可 编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，数字通用光盘(digital video disc，DVD))、或者半导体介质(例如固态硬盘(solid state disk，SSD))等。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (31)

  1. 一种车载应用的参数标定方法，其特征在于，方法包括：
    车载应用发布一个或多个标定参数，所述车载应用部署在配置有标定服务的自适应平台AP汽车开放系统架构AutoSAR中，且被配置为使用所述标定服务，所述标定服务用于提供数据发布和参数标定的服务；
    所述车载应用接收来自标定设备的一个或多个标定参数及其对应的标定值，每个标定值用于标定所对应的标定参数，来自所述标定设备的一个或多个标定参数为所述车载应用发布的一个或多个标定参数中的部分或全部参数，所述标定设备是订阅了所述车载应用的标定服务的设备。
  2. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    所述车载应用发布一个或多个测量数据，来自所述标定设备的标定值根据所述一个或多个测量数据中的至少部分确定。
  3. 如权利要求1或2所述的方法，其特征在于，所述标定服务包括标定服务接口，所述车载应用配置有提供端口，所述提供端口关联所述标定服务接口，所述标定服务接口用于提供所述标定服务的数据。
  4. 如权利要求1至3中任一项所述的方法，其特征在于，所述标定服务包括标定服务实例，所述车载应用配置有提供服务实例，所述提供服务实例关联所述标定服务实例，所述标定服务实例用于提供所述标定服务的通信接口。
  5. 如权利要求1至4中任一项所述的方法，其特征在于，所述车载应用接收来自标定设备的一个或多个标定参数及其对应的标定值，包括：
    所述车载应用接收来自所述标定设备的标定请求，所述标定请求中携带所述一个或多个标定参数及其对应的标定值，所述标定请求用于请求标定所述车载应用的标定参数。
  6. 一种车载应用的参数标定方法，其特征在于，所述车载应用部署在配置有标定服务的自适应平台AP汽车开放系统架构AutoSAR中，所述方法包括：
    所述AP AutoSAR响应于所述车载应用对所述标定服务的调用，向所述车载应用提供所述标定服务，所述标定服务用于提供数据发布和参数标定的服务。
  7. 如权利要求6所述的方法，其特征在于，所述标定服务包括标定服务接口，所述标定服务接口用于提供所述标定服务的数据。
  8. 如权利要求7所述的方法，其特征在于，所述标定服务的数据包括标定数据和/或测量数据；所述标定服务接口中配置有第一数据元素组和第二数据元素组，所述第一数据元素组用于承载所述标定数据，所述第二数据元素组用于承载所述测量数据；其中，所述标定数据包括标定参数，或标定参数及其对应的标定值，所述测量数据与所述标定值相关。
  9. 如权利要求8所述的方法，其特征在于，所述AP AutoSAR中配置有结构体，所述结构体包括如下字段：标识、类型、取值范围、取值和单位；所述第一数据元素组和所述第二数据元素组关联至所述结构体。
  10. 如权利要求7至9中任一项所述的方法，其特征在于，所述车载应用配置有 提供端口，所述提供端口关联所述标定服务接口。
  11. 如权利要求6至10中任一项所述的方法，其特征在于，所述标定服务包括标定服务实例，所述标定服务实例用于提供所述标定服务的通信接口。
  12. 如权利要求11所述的方法，其特征在于，所述通信接口包括：用于发布标定数据的第一事件event接口、用于发布测量数据的第二event接口和用于接收标定参数及其对应的标定值并响应的方法method接口；所述测量数据与所述标定值相关，所述标定值用于对所述标定参数进行标定。
  13. 如权利要求11或12所述的方法，其特征在于，所述车载应用配置有提供服务实例，所述标定服务实例关联所述提供服务实例。
  14. 一种车载应用的参数标定方法，其特征在于，包括：
    控制器发布一个或多个标定参数，所述控制器中安装有车载应用，所述车载应用是部署在自适应平台AP汽车开放系统架构AutoSAR中的应用，所述AP中配置有标定服务，所述标定服务用于提供数据发布和参数标定的服务，所述车载应用被配置为使用所述标定服务；
    所述控制器接收来自标定设备的一个或多个标定参数及其对应的标定值，每个标定值用于标定所对应的标定参数，来自所述标定设备的一个或多个标定参数为所述车载应用发布的一个或多个标定参数中的部分或全部参数，所述标定设备是订阅了所述车载应用的标定服务的设备；
    所述控制器将所述标定值写入所述车载应用中。
  15. 如权利要求14所述的方法，其特征在于，所述方法还包括：
    所述控制器发布一个或多个测量数据，来自所述标定设备的标定值根据所述一个或多个测量数据中的至少部分确定。
  16. 如权利要求14或15所述的方法，其特征在于，所述标定服务包括标定服务接口，所述车载应用配置有提供端口，所述提供端口关联所述标定服务接口，所述标定服务接口用于提供所述标定服务的数据。
  17. 如权利要求16所述的方法，其特征在于，所述标定服务的数据包括标定数据和/或测量数据；所述标定服务接口中配置有第一数据元素组和第二数据元素组，所述第一数据元素组用于承载所述标定数据，所述第二数据元素组用于承载所述测量数据；所述标定数据包括标定参数，或标定参数及其对应的标定值，所述测量数据与所述标定值相关。
  18. 如权利要求17所述的方法，其特征在于，所述AP AutoSAR中配置有结构体，所述结构体包括如下字段：标识、类型、取值范围、取值和单位；所述第一数据元素组和所述第二数据元素组关联至所述结构体。
  19. 如权利要求14至18中任一项所述的方法，其特征在于，所述标定服务包括标定服务实例，所述标定服务实例用于提供所述标定服务的通信接口。
  20. 如权利要求19所述的方法，其特征在于，所述通信接口包括：用于发布标定数据的第一事件event接口、用于发布所述测量数据的第二event接口和用于接收所述标定参数及其对应的标定值并响应的方法method接口；所述测量数据与所述标定值相关。
  21. 如权利要求19或20所述的方法，其特征在于，所述车载应用配置有提供服务实例，所述提供服务实例关联所述标定服务中的所述标定服务实例。
  22. 如权利要求14至21中任一项所述的方法，其特征在于，所述控制器接收来自所述标定设备的一个或多个标定参数及其对应的标定值，包括：
    所述控制器接收来自所述标定设备的标定请求，所述标定请求中携带所述一个或多个标定参数及其对应的标定值，所述标定请求用于请求标定所述车载应用的标定参数。
  23. 如权利要求14至22中任一项所述的方法，其特征在于，所述方法还包括：
    所述控制器发送第一信息，所述第一信息用于指示所述AP AutoSAR中发布标定参数的车载应用的标识，每个车载应用对应一个标识。
  24. 一种车载应用的参数标定方法，其特征在于，包括：
    标定设备接收来自自适应平台AP汽车开放系统架构AutoSAR的第一信息，所述第一信息用于指示所述AP AutoSAR中发布标定参数的车载应用的标识，所述AP AutoSAR配置有标定服务，所述标定服务用于提供数据发布和参数标定的服务，所述AP AutoSAR中部署有使用所述标定服务的一个或多个车载应用，每个车载应用对应一个标识；
    所述标定设备响应于用户对所述一个或多个车载应用中的第一车载应用的选择，基于所述第一信息，从所述第一车载应用接收一个或多个标定参数；
    所述标定设备响应于用户的操作，向所述第一车载应用发送一个或多个标定参数及其对应的标定值，所述标定设备发送的一个或多个标定参数为接收到的一个或多个标定参数的部分或全部参数。
  25. 如权利要求24所述的方法，其特征在于，所述标定设备配置有需求端口，以及
    所述标定设备接收来自AP AutoSAR的第一信息，包括：
    所述标定设备通过所述需求端口接收来自所述AP AutoSAR的第一信息。
  26. 如权利要求24或25所述的方法，其特征在于，所述标定设备配置有需求服务实例。
  27. 如权利要求24至26中任一项所述的方法，其特征在于，所述标定设备响应于用户的选择，向所述第一车载应用发送一个或多个标定参数及其对应的标定值，包括：
    所述标定设备响应于用户的选择，向所述第一车载应用发送标定请求，所述标定请求中携带所述一个或多个标定参数及其对应的标定值。
  28. 一种车载应用的参数标定装置，其特征在于，用于实现如权利要求1至5中任一项所述的方法，或，如权利要求6至13中任一项所述的方法，或，如权利要求11至23中任一项所述的方法，或，如权利要求24至27中任一项所述的方法。
  29. 一种车辆，其特征在于，包括至少一个控制器，所述至少一个控制器中的每个控制器用于实现如权利要求14至27中任一项所述的方法。
  30. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有指令，当所述指令在计算机上运行时，使得所述计算机执行如权利要求1至27中任一 项所述的方法。
  31. 一种计算机程序产品，其特征在于，包括程序代码，当所述程序代码在计算机上运行时，使得所述计算机实现如权利要求1至27中任一项所述的方法。
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CN108459583A (zh) * 2018-03-20 2018-08-28 上海奉天电子股份有限公司 一种汽车空调标定方法和系统
CN111954871A (zh) * 2018-04-06 2020-11-17 罗伯特·博世有限公司 提供在车辆的控制设备可实施的应用的应用数据的方法，控制设备及其校准方法，分析处理装置
WO2020128363A1 (fr) * 2018-12-20 2020-06-25 Commissariat A L'energie Atomique Et Aux Energies Alternatives Système de supervision formelle de communications
CN112810553A (zh) * 2021-01-22 2021-05-18 中汽创智科技有限公司 基于自适应平台汽车开放系统架构的数据可视化系统及方法

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