WO2023070238A1 - 访问车辆资源的方法、装置和车辆控制器 - Google Patents
访问车辆资源的方法、装置和车辆控制器 Download PDFInfo
- Publication number
- WO2023070238A1 WO2023070238A1 PCT/CN2021/125965 CN2021125965W WO2023070238A1 WO 2023070238 A1 WO2023070238 A1 WO 2023070238A1 CN 2021125965 W CN2021125965 W CN 2021125965W WO 2023070238 A1 WO2023070238 A1 WO 2023070238A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- data
- vehicle
- format
- gateway module
- vehicle controller
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 92
- 238000004590 computer program Methods 0.000 claims description 5
- 238000012360 testing method Methods 0.000 abstract description 21
- 238000005516 engineering process Methods 0.000 abstract description 20
- 230000008569 process Effects 0.000 description 19
- 238000004891 communication Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 13
- 230000006870 function Effects 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 10
- 238000012546 transfer Methods 0.000 description 10
- 238000006243 chemical reaction Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000013506 data mapping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 235000019800 disodium phosphate Nutrition 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F40/00—Handling natural language data
- G06F40/10—Text processing
- G06F40/12—Use of codes for handling textual entities
- G06F40/151—Transformation
Definitions
- the present application relates to the technical field of vehicle controllers, in particular to a method and device for accessing vehicle resources and a vehicle controller.
- L2 level automatic driving refers to the partial automation of vehicle driving
- IT Internet Technology
- the electronic and electrical architecture of the vehicle shown in Figure 1A is transformed from a distributed electronic control unit (Electronic Control Unit, ECU) to a centralized centralized processing (for example, by high performance computing (High Performance Computing, HPC)); the communication backbone
- ECU Electronic Control Unit
- HPC High Performance Computing
- the network has developed from traditional low-speed networks such as Controller Area Network (CAN) to high-speed networks such as automotive Ethernet (1000BASE-T1).
- CAN Controller Area Network
- automotive Ethernet 1000BASE-T1
- the solid line represents the vehicle Ethernet connection
- the dashed line represents the bus connection.
- the topological link of the vehicle Ethernet is point-to-point communication, which is different from the traditional bus method, and the cross-node data transmission needs to add switching chips. If you want to access the Ethernet data between ECU1 and HPC, you need to disconnect the original direct connection between ECU1 and HPC, install the plug-in connector required by the professional equipment shown in Figure 1B, and then connect to the equipment. The introduction of professional testing equipment and the transformation of lines will bring high hardware costs.
- the deserialization and serialization of the on-board Ethernet protocol data provided by the device requires the use of supporting software for professional test equipment.
- the installation platform of supporting software is relatively single (such as a certain operating system).
- the supporting software of professional test equipment and the closed environment created by a single installation platform bring additional software costs.
- the embodiments of the present application provide a method, device and vehicle controller for accessing vehicle resources.
- the first aspect of the present application provides a method for accessing vehicle resources, including: the vehicle controller receives first data from the vehicle sensor, the first data is data in a physical format of the vehicle sensor; The first data is converted into second data, and the second data is data in an external message format; the vehicle controller sends the second data to the outside.
- the process of converting the first data into the second data by the vehicle controller includes: converting the first data into fifth data, where the fifth data is data in an internal message format; The fifth data is converted into the second data.
- the physical format includes a binary sequence format.
- the vehicle controller can obtain the capability of the vehicle sensor interface.
- the external message format includes HTTP format.
- the external can use the open IT ecological technology to access the internal data of the vehicle controller.
- the second aspect of the present application provides a method for accessing vehicle resources, including: the vehicle controller receives third data from outside the vehicle; the third data is data in an external message format; the vehicle controller sends the third The data is converted into fourth data; the fourth data is data in a physical format of the vehicle actuator; the vehicle controller sends the fourth data to the vehicle actuator.
- the third data based on the open external message format is obtained from the outside, and converted into the fourth data based on the physical format of the vehicle actuator to control the vehicle actuator, so as to control the vehicle or perform calibration through external debugging
- the third data based on the open external message format is obtained from the outside, and converted into the fourth data based on the physical format of the vehicle actuator to control the vehicle actuator, so as to control the vehicle or perform calibration through external debugging
- the process of the vehicle controller converting the third data into the fourth data includes: converting the third data into sixth data, where the sixth data is data in an internal message format; The fifth data is converted into the fourth data.
- the physical format includes a binary sequence format.
- the vehicle controller can obtain the capability of the vehicle actuator interface.
- the external message format includes HTTP format.
- the vehicle controller can receive external control using the open IT ecological technology.
- the third aspect of the present application provides a device for accessing vehicle resources, including: an interface module and a gateway module; the interface module is used for receiving the first data of the vehicle sensor by the vehicle controller, and the first data is the vehicle sensor The data in the physical format; the gateway module is used for converting the first data into the second data by the vehicle controller; the second data is data in an external message format; the gateway module is also used for sending the second data to the outside by the vehicle controller.
- the gateway module includes a southbound gateway module and a northbound gateway module; the southbound gateway module is used to convert the first data into fifth data; the fifth data is data in an internal message format; The northbound gateway module is used for converting the fifth data into the second data.
- the physical format includes a binary sequence format.
- the vehicle controller can obtain the capability of the vehicle sensor interface.
- the external message format includes HTTP format.
- the external can use the open IT ecological technology to access the internal data of the vehicle controller.
- the fourth aspect of the present application provides a device for accessing vehicle resources, including: an interface module and a gateway module; the gateway module is used for the vehicle controller to receive third data from outside the vehicle; the third data is external Data in message format; the gateway module is also used to convert the third data into fourth data by the vehicle controller; the fourth data is data in the physical format of the vehicle actuator; the interface module is used to send the vehicle controller to the vehicle actuator Fourth data.
- the third data based on the open external message format is obtained from the outside, and converted into the fourth data based on the physical format of the vehicle actuator to control the vehicle actuator, so as to control the vehicle or perform calibration through external debugging
- the third data based on the open external message format is obtained from the outside, and converted into the fourth data based on the physical format of the vehicle actuator to control the vehicle actuator, so as to control the vehicle or perform calibration through external debugging
- the gateway module includes a southbound gateway module and a northbound gateway module; the northbound gateway module is used to convert the third data into sixth data, and the sixth data is data in an internal message format; The gateway module is used to convert the sixth data into the fourth data.
- the physical format includes a binary sequence format.
- the vehicle controller can obtain the capability of the vehicle actuator interface.
- the external message format includes HTTP format.
- the vehicle controller can receive external control using the open IT ecological technology.
- the fifth aspect of the present application provides a vehicle controller, including: the device according to any one of the third aspect; the device according to any one of the fourth aspect; a general interface unit; a centralized controller; wherein, the The interface module is deployed on the general interface unit, and the gateway module is deployed on the centralized controller.
- the sixth aspect of the present application provides a computing device, including at least one processor and at least one memory, the memory stores program instructions, and when the program instructions are executed by the at least one processor, the at least one processor implements the first The method of any one of the first aspects or the method of any one of the second aspects.
- the seventh aspect of the present application provides a computer-readable storage medium, on which program instructions are stored, and when the program instructions are executed by a computer, the computer implements the method of any one of the first aspect or any one of the second aspect. one method.
- the eighth aspect of the present application provides a computer program product, which includes program instructions. When executed by a computer, the program instructions cause the computer to implement the method of any one of the first aspect or any one of the second aspect. method.
- the embodiment of the present application achieves access to vehicle resources without introducing expensive professional testing equipment, and without modifying the original wiring harness, and using existing public IT technologies to access vehicle resources ecologically and conveniently.
- FIG. 1A is a schematic diagram of the electrical and electronic architecture of a vehicle
- FIG. 1B is a schematic structural diagram of accessing vehicle resources using professional equipment
- Fig. 1C is a structural schematic diagram of using professional equipment to access vehicle resources through Ethernet;
- FIG. 2A is a schematic structural diagram of an application scenario of an embodiment of the present application.
- FIG. 2B is a schematic diagram of an application scenario of an embodiment of the present application.
- FIG. 3A is a schematic flowchart of Embodiment 1 of a method for accessing vehicle resources of the present application
- FIG. 3B is a schematic flowchart of Embodiment 2 of a method for accessing vehicle resources of the present application
- FIG. 4A is a schematic flowchart of Embodiment 3 of a method for accessing vehicle resources of the present application
- FIG. 4B is a schematic flowchart of Embodiment 4 of a method for accessing vehicle resources of the present application
- Fig. 4C is a schematic diagram of the data of the method embodiment 3 and embodiment 4 of the present application.
- Fig. 4D is a schematic diagram of the data conversion process of the method embodiment 3 and embodiment 4 of the present application.
- FIG. 5 is a schematic structural diagram of Embodiment 1 of a device for accessing vehicle resources of the present application
- FIG. 6A is a schematic structural diagram of an embodiment of the vehicle controller of the present application.
- Fig. 6B is a schematic diagram of data conversion between the interface module and the southbound gateway module of the vehicle controller embodiment of the present application;
- Fig. 6C is a schematic diagram of data conversion among the interface module, the southbound gateway module, and the northbound gateway module of the vehicle controller embodiment of the present application;
- FIG. 7 is a schematic structural diagram of a computing device provided by an embodiment of the present application.
- the solution for exchanging data between the vehicle controller and the outside includes an apparatus and method for exchanging data between the vehicle controller and the outside, a computing device, a computer-readable storage medium, and a computer program product. Since the principles of these technical solutions to solve problems are the same or similar, in the introduction of the following specific embodiments, some repetitions may not be repeated, but it should be considered that these specific embodiments have been referred to each other and can be combined with each other.
- the vehicle controller is used to complete the control function of the whole vehicle or several functional domains.
- the functional domains may include the fields of intelligent cockpit, body, and automatic driving, and may also include the sub-functional domains of the above functional domains.
- the Versatile Interface Unit (VIU) is used to complete the connection of vehicle sensors and vehicle actuators in one functional domain of the vehicle.
- the centralized controller (X domain Controller, XDC) is used to complete the control functions in one or more functional domains of the vehicle.
- Hypertext Transfer Protocol (Hyper Text Transfer Protocol, HTTP), a network transfer protocol widely used on the Internet, is used to transfer hypertext from the World Wide Web (World Wide Web, WWW) server to the local browser transfer protocol, based on TCP/ IP communication protocol to transfer data.
- HTTP Hyper Text Transfer Protocol
- JS Object Notation (JSon), a lightweight data exchange format.
- the data is stored and represented in a text format completely independent of the programming language.
- the concise and clear hierarchical structure makes it an ideal data exchange language, which is easy to read and write for humans, and easy for machines to parse and generate, and effectively improves network transmission. efficiency.
- Objectification which encapsulates the state of the target and the operations performed on the target state.
- the vehicle sensor and vehicle execution are objectified in a service-oriented manner.
- Fig. 1C shows a calibration measurement solution based on the Ethernet backbone network.
- This solution includes a general interface unit 101 and a general interface unit 102, the general interface units 101 and 102 are responsible for the access of vehicle sensors and vehicle actuators in this functional domain; a centralized controller 104 is also shown, as well as professional test equipment 103 and its Corresponding supporting software 105 .
- the original topology is that the general interface units 101 and 102 are directly connected to the centralized controller 104 to provide vehicle Ethernet protocol data services.
- the engineer needs to configure the physical link to the professional test equipment 103 through the professional supporting software 105, and the physical link connection is successfully performed for data calibration measurement.
- serialization and deserialization of vehicle Ethernet protocol data also require professional testing equipment to complete.
- the hardware equipment cost of this calibration measurement scheme is high, and expensive professional testing equipment needs to be introduced, and the original wiring harness needs to be modified.
- the software interface is not open, and the calibration status data requires professional supporting software for serialization and deserialization, and the existing IT technology cannot be used to access vehicle resources easily and ecologically.
- the vehicle includes a vehicle controller 100 , sensors 130 and 132 , and an actuator 140 .
- the vehicle controller 100 may be a whole vehicle controller, or a controller of a functional domain, such as a smart cockpit controller.
- the vehicle controller 100 includes common interface units 110 and 112 , and a centralized controller 120 .
- General interface units 110 and 112 are responsible for the access of vehicle sensors 130 and 132 and vehicle actuators 140 in this functional domain.
- two general interface units are shown in FIG. 2A , and may actually contain multiple general interface units , each common interface unit can be an ECU.
- the centralized controller 120 completes the control function of the entire vehicle, and can also complete the control function in one or more fields or the control function of a specific functional domain.
- the centralized controller 120 can be an HPC or a multi-domain controller (Multi Domain Controller , MDC) or ECU.
- the vehicle sensors 130 and 132 are used to collect data. As an example, two vehicle sensors are shown in FIG. 2A , which may actually include multiple vehicle sensors, which are respectively connected to the common interface units. Wherein, the vehicle sensor may include a vehicle speed sensor, a roll angle sensor, a distance sensor, a temperature sensor, a brightness sensor, a humidity sensor, a power sensor, and the like.
- the vehicle actuator 140 is used to execute the control commands of the centralized controller 120.
- Vehicle actuator As an example, one vehicle actuator is shown in FIG. 2A , but it may actually include multiple vehicle actuators, which are respectively connected to the common interface units. Vehicle actuators include electric motors, clutches, solenoid valves, switches, brake calipers for ABS, and more.
- the external computer 150 communicates with the vehicle controller 100 to obtain the data collected by the vehicle sensors through the centralized controller 120 of the vehicle controller 100, and execute the The controller issues control commands.
- the external computer can communicate with the vehicle controller 100 by wire or wirelessly.
- the external computer can also be replaced by a device such as a tablet computer (PAD), a smart phone, or the like.
- PAD tablet computer
- Embodiment 1 and Embodiment 2 of a method for accessing vehicle resources provided by this application are introduced.
- the methods in Embodiment 1 and Embodiment 2 can be run in the vehicle controller 100 shown in FIG. 2A .
- the vehicle controller accesses the vehicle sensor or controls the vehicle actuator based on the data in the physical format, and interacts with the off-vehicle device based on the data in the open external message format, so that the off-vehicle device can access the vehicle resource , it is not necessary to add new equipment or modify the existing vehicle controller.
- Fig. 3A shows the process of Embodiment 1 of the method for accessing vehicle resources.
- the vehicle controller 100 obtains the first data based on the physical format of the vehicle sensor from the vehicle sensor, and converts the first data based on the open external message format. The data is sent to the outside.
- This embodiment includes steps S310A to S330A.
- the vehicle controller 100 receives first data from the vehicle sensor.
- the first data is data in a physical format of the vehicle sensor.
- the data in the physical format includes binary sequence data. In other embodiments, the data in physical format includes hexadecimal or octal sequence data.
- the vehicle controller 100 receives the first data of the vehicle sensor through the universal interface unit.
- the general interface unit may be implemented by an ECU included in the vehicle controller 100 .
- the interface unit of the vehicle controller 100 communicates with the vehicle sensor through a universal bus protocol to acquire the first data of the vehicle sensor.
- the general bus protocol may include CAN bus protocol, high-speed CAN bus protocol, FlexRay protocol, Time Triggered Protocol (Time Triggered Protocol, TTP), Vehicle Area Network (Vehicle Area network, VAN) protocol, or local Internet (Local Interconnect Network, LIN) bus protocol, etc.
- the vehicle controller 100 transmits the first data from the common interface unit to the centralized controller 120 using an internal communication protocol.
- the internal communication protocol may be a vehicle Ethernet protocol (Ethernet), and may also be a vehicle area network (Vehicle Area network, VAN) protocol, a local interconnect network (Local Interconnect Network, LIN) protocol, and the like.
- VAN Vehicle Area network
- LIN Local Interconnect Network
- S320A The vehicle controller 100 converts the first data into the second data.
- the second data is data in an external message format.
- the data in the external message format includes data in the HTTP format. Since HTTP is a network transmission protocol widely used on the Internet, the data based on the HTTP format is more versatile, and it is convenient for various external devices to receive and process the data based on the HTTP format. In some other embodiments, the format of the external message may also be data in FTP protocol format, etc.
- the second data is structured data based on JSon.
- JSON-based structured data is easy to read and write for humans, and easy for machines to parse and generate, and can effectively improve network transmission efficiency.
- the structured data may also be based on XML (XML is an Extensible Markup Language), Protobuf (Protobuf is a data exchange format), Flatbuffer (Flatbuffer is a data exchange format) and so on.
- the first data and the second data use the same service-oriented template structure.
- the vehicle controller 100 converts the first data into the second data through the centralized controller 120 . In some embodiments, the vehicle controller 100 may also convert the data through other controllers, such as any ECU on the vehicle.
- the data based on the open external message format is sent out through the vehicle controller, without special third-party test equipment, and without modifying the internal circuit of the vehicle controller, and the data of the vehicle sensor can be transmitted to the external device.
- this step specifically includes: converting the first data into fifth data, where the fifth data is data in an internal message format. And, converting the fifth data into the second data.
- the first data and the fifth data use the same service-oriented template structure.
- S330A The vehicle controller 100 sends the second data to the outside.
- the vehicle controller 100 sends out the second data through the centralized controller 120 .
- the vehicle controller 100 can send the second data to the external device through the centralized controller 120 through wired transmission or wireless transmission.
- the external device may be a general computer system, a tablet computer (PAD), a smart phone, and the like.
- the second data adopts Chunked Transfer Encoding (Chunked), which is convenient for multiplexing the link of the second data.
- Fig. 3B shows the flow of the second embodiment of the method for accessing vehicle resources.
- the vehicle controller obtains the third data based on the open external message format from the outside, and converts it into the fourth data based on the physical format of the vehicle actuator. data to control vehicle actuators.
- the embodiment will be described in detail below with reference to FIG. 3B , and the embodiment includes steps S310B to S330B.
- S310B The vehicle controller 100 receives third data from outside the vehicle.
- the third data is data in an open external message format.
- the data in the external message format includes data in the HTTP format, or data in the FTP protocol format.
- data in the HTTP format or data in the FTP protocol format.
- the relevant description of the external message format in step S320A refer to the relevant description of the external message format in step S320A.
- the third data is structured data based on JSon, and may also be based on XML, Protobuf, Flatbuffer, etc.
- JSon structured data based on JSon
- XML XML
- Protobuf Protobuf
- Flatbuffer Flatbuffer
- the vehicle controller 100 receives the third data from an external device outside the vehicle through the centralized controller 120 . Wherein, it may be received through wired transmission or wireless transmission.
- the vehicle controller 100 converts the third data into fourth data.
- the fourth data is data in a physical format of the vehicle actuator.
- the data in the physical format includes binary sequence data, and may also be hexadecimal or octal sequence data, etc., and the format of the fourth data may be based on the physical format supported by the actuator.
- the third data and the fourth data use the same service-oriented template structure.
- the vehicle controller 100 converts the third data into fourth data through the centralized controller 120 . In some embodiments, the vehicle controller 100 may also convert the data through other controllers, such as any ECU on the vehicle.
- the vehicle controller receives external data based on the open external message format and converts it into data in the physical format of the vehicle actuator. There is no need for special third-party test equipment, and there is no need to modify the internal circuit of the vehicle controller. It can receive external general data. data sent by the computer system.
- this step specifically includes: converting the third data into sixth data, where the sixth data is data in an internal message format. And, convert the sixth data into the fourth data.
- the sixth data and the fourth data use the same service-oriented template structure.
- S330B The vehicle controller sends fourth data to the vehicle actuator 140 .
- the vehicle controller 100 sends the fourth data from the centralized controller 120 to the universal interface unit using an internal communication protocol.
- the internal communication protocol may be a vehicle Ethernet protocol (Ethernet), and may also be a vehicle area network (Vehicle Area network, VAN) protocol, a local interconnect network (Local Interconnect Network, LIN) protocol, and the like.
- the vehicle controller 100 sends the fourth data to the actuator 140 through the universal interface unit.
- the general interface unit may be implemented by an ECU included in the vehicle controller 100 .
- the interface unit of the vehicle controller 100 communicates with the actuator through a universal bus protocol, and sends the fourth data to the actuator.
- the general bus protocol may include CAN bus protocol, high-speed CAN bus protocol, FlexRay protocol, Time Triggered Protocol (Time Triggered Protocol, TTP), vehicle area network (Vehicle Area network, VAN) protocol, or local Internet (Local Interconnect Network, LIN) bus protocol, etc.
- the procedure of the first embodiment of the above-mentioned method for accessing vehicle resources and the procedure of the second embodiment of the method are separately executed to collect data from vehicle sensors or control vehicle actuators.
- the process of the first embodiment of the method for accessing vehicle resources is performed first, and then the process of the second embodiment of the method for accessing vehicle resources is performed, such as being applied to the data calibration process.
- the process of the first embodiment of the above method for accessing vehicle resources and the process of the second embodiment of the above method for accessing vehicle resources are repeatedly and alternately run, such as being applied to a troubleshooting process or a debugging process.
- the above-mentioned embodiment of the method for accessing vehicle resources collects the first data based on the physical format of the vehicle sensor from the vehicle sensor, and converts it into data based on an open external message format and sends it to the outside;
- the third data is transformed into fourth data based on the physical format of the vehicle actuators to control the vehicle actuators.
- the above embodiments of the method for accessing vehicle resources do not require the introduction of expensive professional testing equipment, nor the need to modify the original wiring harness, and use the existing public IT technology to access vehicle resources ecologically and conveniently.
- the embodiment of the present application also provides the third and fourth embodiments of a method for accessing vehicle resources, and the third and fourth embodiments of the method will be described below with reference to the accompanying drawings.
- Embodiment 3 and Embodiment 4 of this method are executed by the vehicle controller 100 shown in FIG. 2A , based on the physical format data of the binary sequence to access the vehicle sensor or control the vehicle actuator through the vehicle controller 100, and externally based on the data in the open HTTP format Interact with the outside to achieve access to vehicle resources without adding new equipment and without modifying the wiring harness of the existing vehicle controller. At the same time, it is interconnected with the system outside the vehicle through the existing IT ecological technology.
- Figure 4A shows the process of the third embodiment of the method.
- the general interface unit collects the first data in the physical format of the vehicle sensor from the vehicle sensor (for the convenience of description, it is subsequently referred to as state data in this example)
- Send to centralized controller 120 and centralized controller 120 generates the 5th data of internal message format (for convenience of description, follow-up is referred to as the second status message in this example) according to state data first, then generates open HTTP according to the second status message
- the second data in the format (for convenience of description, subsequently referred to as the first status message in this example) to be sent to the external computer 150, including steps S410A to S440A;
- Fig. 4B shows the process of the fourth embodiment of the method.
- the centralized controller 120 receives the third data in the open HTTP format from the external computer (for the convenience of description, it is subsequently referred to as the first data in this example). command message), the centralized controller 120 generates the sixth data according to the first command message (for the convenience of description, it is subsequently called the second command message in this example), and then generates the fourth data based on the physical format of the actuator according to the second command message (For the convenience of description, it will be referred to as a control command later in this example), and send it to the general interface unit, and the general interface unit sends the received control command to the vehicle actuator to control the vehicle, including steps S410B to S440B.
- S410A The general interface unit of the vehicle controller 100 obtains the status data and sends it to the centralized controller 120 thereof.
- the state data is the binary sequence data in the physical format of the relevant state collected by the vehicle sensor.
- the vehicle controller 100 collects data from vehicle sensors through a service-oriented architecture application programming interface (Service-Oriented Architecture Application Programming Interface, SOA API), generates state data content based on a service-oriented template, and adds relevant service type identification and the data type identification to generate state data, wherein the data type identification of the state data is a data identification.
- SOA API Service-Oriented Architecture Application Programming Interface
- the state data is transmitted through the internal communication protocol between the general interface unit and the centralized controller 120 .
- S420A The centralized controller 120 of the vehicle controller 100 receives the status data, and generates an objectified second status message accordingly.
- the second status message is data in an object-oriented internal message format, which is convenient for subscription application programs (Application, APP) inside the centralized controller 120 to use.
- Application Application, APP
- the template structure of the content of the second status message is the same as that of the status data, which is a service-oriented template structure.
- S430A The centralized controller 120 of the vehicle controller 100 converts the second status message into the first status message.
- the first state message is JSon structured data based on HTTP format, which is in the Representational State Transfer (REST) style, and is convenient for the external computer 150 to use through the open IT technology ecology.
- REST Representational State Transfer
- the template structure of the content of the first status message is the same as the template structure of the content of the status data.
- S440A The centralized controller 120 of the vehicle controller 100 converts and sends the second status message to the outside.
- the first status message when the first status message is periodic data, the first status message adopts block transfer coding, which is convenient for multiplexing the link of the first status message.
- S410B The centralized controller 120 of the vehicle controller 100 receives a first command message from outside the vehicle.
- the first command message is JSon structured data based on HTTP format, which is convenient for receiving commands from the external computer 150 through an open IT ecological technology.
- S420B The centralized controller 120 of the vehicle controller 100 converts the first command message into a second command message.
- the second command message is data in the internal message format of the object structure, which is convenient for use inside the centralized controller 120 .
- the template structure of the content of the second command message is the same as the template structure of the content of the first command message, which is a service-oriented template structure.
- S430B The centralized controller 120 of the vehicle controller 100 serializes the second command message to generate a binary sequence of control commands.
- the format of the control command is the physical format of the vehicle actuator.
- the template structure of the content of the second command message is the same as the template structure of the content of the control command.
- S440B The general interface unit of the vehicle controller 100 obtains the control command, and sends the command to generate the vehicle actuator to the vehicle actuator.
- the state data is transmitted through the internal communication protocol between the general interface unit and the centralized controller 120 .
- the general interface unit sends commands to the vehicle actuators through SOA API.
- Fig. 4C shows the data of three types of services, from bottom to top, they are status data and control data in physical format, second status message and second command message in internal message format, first status in HTTP format message and first command message.
- the service type is Service DoorLock.
- the data in the lower box in the figure is data in physical format, and the service type is identified as SID 0x1001, including the status data of the car door status and the control commands of the car door.
- the data type of the state data is identified as Event 0x0001, and Event represents the state data, and the content of the state data includes the left door state (flClockStatus) and the right door state (frClockStatus);
- the data type of the control command is identified as Method 0x0002, and Method represents the control command , the content of the control command includes the left door control command (clockMotorCmd_L) and the right door control command (clockMotorCmd_R).
- the data in the middle box in the figure is the data in the internal message format.
- Topic DoorLock is the second status message, and its content is consistent with the Event content of Service DoorLock, including the status of the left door (flClockStatus) and the status of the right door (frClockStatus);
- DoorLock is the second command message, and its content is consistent with the method content of the control command Service DoorLock, including the left door control command (clockMotorCmd_L) and the right door control command (clockMotorCmd_R).
- the data in the upper box of the figure is JSon structured data in HTTP format.
- RI:GET DoorLock is the first status message to obtain the door status
- GET means to obtain and the obtained DoorLock content includes the left door status in Topic DoorLock (flClockStatus ) and the right door status (frClockStatus)
- URI: PUT DoorLock is the first command message for sending the door control, PUT means sending, and the content of the sent DoorLock includes the left door control command (clockMotorCmd_L) and the right door control command ( clockMotorCmd_R).
- the middle text in Figure 4C is Lighting Service (Service ExteriorLinght), and its service type is identified as SID0x1002. It includes the lighting control command, the second command message and the first command message from bottom to top. The contents of the three are consistent and will not be described in detail.
- the text on the right side in Figure 4C is Ultrasound Radar Service (Service Ultrasound), and its service type is identified as SID 0x1003, which includes status data, second status message and first status message of ultrasonic radar from bottom to top, and the contents of the three are consistent. No more detailed description.
- Fig. 4D shows the data conversion relationship of the method embodiment 3 and embodiment 4, including: the status data of the binary sequence in the physical format of the sensor is deserialized, and converted into the objectified first in the internal message format of the vehicle controller. Two status messages, and then converted to the first status message in the JSon structured HTTP format; and the JSon structured HTTP format data is converted into an object-oriented second command message in the internal message format, and then serialized into a physical format Binary sequence of control commands.
- method embodiment 3 and embodiment 4 collect the status data of the vehicle sensor in physical format from the vehicle sensor, convert it into the second status message in the internal message format, and then convert the second status message into the first status in the open HTTP format Message, to send to external computer 150; Receive the first command message of open HTTP format from external computer), centralized controller 120 is converted into the second command message of internal message format according to the first command message, and then according to the second command The messages generate control commands in the physical format of the actuators and send them to the common interface unit to control the vehicle.
- Method Embodiment 3 and Embodiment 4 do not need to introduce expensive professional testing equipment, and do not need to modify the original wiring harness, and use the existing public IT technology to access vehicle resources easily and conveniently.
- the internal message format generated in the middle The second status message or/and the second command message are convenient for internal use by the vehicle controller.
- Embodiment 1 of an apparatus for accessing vehicle resources provides Embodiment 1 of an apparatus for accessing vehicle resources, and the apparatus can be used to implement the solutions of the various embodiments of the above-mentioned method for accessing vehicle resources.
- FIG. 5 shows the structure of Embodiment 1 of the device, which includes an interface module 510 and a gateway module 520 .
- the interface module 510 executes the above step S310A and the optional embodiments of the step, for receiving the first data of the vehicle sensor by the vehicle controller 100; and also executes the above step S330B and the optional embodiments of the step, for the vehicle controller 100 to receive the first data of the vehicle sensor; The vehicle controller 100 transmits fourth data.
- the first data is the data of the physical format of the vehicle sensor
- the fourth data is the data of the physical format of the vehicle actuator
- the data in physical format includes binary sequence data.
- the interface module 510 is deployed on the general interface unit of the vehicle controller 100 shown in FIG. 2A .
- the gateway module 520 executes the above steps S320A and S330A and the optional embodiments of these two steps, for the vehicle controller 100 to convert the first data into the second data and send the second data to the outside; also execute the above steps S310B and S320B and the optional embodiments of the two steps are used for the vehicle controller 100 to receive the third data from outside the vehicle and convert the third data into fourth data.
- the second data and the third data are data in an external message format.
- the external message-formatted data includes HTTP-based formatted data.
- the second data and the third data are JSon-based structured data.
- the first data and the second data use the same service-oriented template.
- the third data and the fourth data use the same service-oriented template.
- the gateway module 520 communicates with the interface module 510 using an existing internal protocol of the vehicle controller 100 .
- the gateway module 520 is deployed on the centralized controller 120 of the vehicle controller 100 shown in FIG. 2A ,
- the gateway module 520 includes a southbound gateway module 521 and a northbound gateway module 522 .
- the southbound gateway module 521 is used for converting the first data into fifth data by the vehicle controller 100
- the northbound gateway module 522 is also used for converting the fifth data into second data by the vehicle controller 100
- the fifth data is data in an internal message format.
- the northbound gateway module 522 is also used for converting the third data into sixth data by the vehicle controller 100, and the southbound gateway module 521 is also used for converting the sixth data into fourth data by the vehicle controller 100, wherein the sixth data Data in internal message format.
- the embodiment of the present application also provides a vehicle controller, which can be used to implement the solutions of the various embodiments of the above method for accessing vehicle resources.
- Fig. 6A shows the structure of the vehicle controller embodiment, and this vehicle controller embodiment comprises each common interface unit (for example, comprises common interface unit 110 and 112) and a centralized controller 120, and each common interface unit also comprises interface Module 510, the centralized controller 120 includes a southbound gateway (South Gateway) module 521 and a northbound gateway (North Gateway) module 522.
- each common interface unit for example, comprises common interface unit 110 and 112
- each common interface unit also comprises interface Module 510
- the centralized controller 120 includes a southbound gateway (South Gateway) module 521 and a northbound gateway (North Gateway) module 522.
- the interface module 510 is used to provide the SOA API to the vehicle controller 100, and open the capabilities of the vehicle sensors (including the vehicle sensors 130 and 132) and the vehicle actuators (including the vehicle actuator 140).
- the interface module 510 executes the above step S410A and the optional embodiments of this step to obtain state data from the vehicle sensor, and also executes the above step S440B and the optional embodiments of this step to send control commands to the vehicle actuators.
- the interface provided by the interface module 510 is SOMEIP middleware.
- the interface provided by the interface module 510 is a service-oriented middleware of other communication methods.
- the state data is the binary sequence data in the physical format of the vehicle sensor
- the control command is the binary sequence data in the physical format of the vehicle actuator
- the status data and control commands are based on a service-oriented template structure, and the template includes service type identification, data type identification and content, wherein the data type identification of the status data is a data identification, and the data type identification of a control command is a command identification.
- the southbound gateway module 521 executes the above step S420A and the optional embodiments of this step, and is used to deserialize the status data received from the interface module 510 and convert it into an objectified second status message for the centralized controller
- the internal APP of 120 uses or sends through the northbound gateway module 522.
- the southbound gateway module 521 also executes the above step S430B and the optional embodiments of this step, for serializing the objectified second command message received from the northbound gateway module 522 or the APP inside the centralized controller 120, and converting It is a binary control command to be sent to the interface module 510 .
- the communication between the southbound gateway module 521 and the interface module 510 is performed through an internal protocol of the vehicle controller, for example, based on IP.
- the second status message and the second command message are in the internal message format of the vehicle controller, which is convenient for the APP subscribed inside the centralized controller to use.
- the template structure of the content of the second status message is the same as that of the status data; the template structure of the content of the second command message is the same as that of the control command.
- FIG. 6B shows the data conversion between the southbound gateway module 521 and the interface module 510 by taking the door lock service as an example.
- the second status message of the centralized controller 120 internal message format defined by the southbound gateway module 521 in Fig. 6B is Topic DoorLock, and its content is consistent with the status data of the interface module 510, that is, the content of the Event of Service DoorLock, including the left door status (flClockStatus) and the right door status (frClockStatus), so that the southbound gateway module 521 deserializes the Event data of the corresponding Service DoorLock received from the interface module 510 according to the same template structure, and converts it into a Topic DoorLock in an object-oriented internal message format, It is convenient for the internal APP of the centralized controller 120 to subscribe or send to the northbound gateway module 522 .
- the second command message of the centralized controller 120 defined by the southbound gateway module 521 is Service DoorLock, and its content is consistent with the control command of the interface module 510, that is, the content of the Method of Service DoorLock, including the left door control command (clockMotorCmd_L) and the right door control command (clockMotorCmd_R), so that the southbound gateway module 521 serializes the Service DoorLock received from the internal APP or the northbound gateway module 522 according to the same template structure, and generates the control command in the physical format of the vehicle actuator to The vehicle is controlled through the interface module 510 .
- the southbound gateway module 521 serializes the Service DoorLock received from the internal APP or the northbound gateway module 522 according to the same template structure, and generates the control command in the physical format of the vehicle actuator to The vehicle is controlled through the interface module 510 .
- the northbound gateway module 522 executes the above-mentioned steps S430A and S440A and the optional embodiments of the two steps, for converting the second status message received from the southbound gateway module 521 into a first status message in HTTP format, and sending the status message to the external computer 150 sent.
- the northbound gateway module 522 also executes the above steps S410B and S420B and the optional embodiments of the two steps, for converting the first command message in HTTP format received from the external computer 150 into a second command message.
- the first status message and the first command message are in the HTTP format widely used in the IT industry, and are in the REST style, so that the external computer 150 can be used by the open IT ecological technology.
- the first status message and the first command message are structured data represented by JS objects, so as to further facilitate the use of the external computer 150 .
- the template structure of the content of the first status message is the same as the template structure of the content of the status data.
- the first status message when the first status message is periodic data, the first status message adopts block transfer coding, which is convenient for multiplexing the link of the first status message.
- Fig. 6C shows the data conversion relationship between the northbound gateway module 522, the southbound gateway module 521 and the interface module 510 by taking the door lock service as an example, and the data conversion relationship between the southbound gateway module 521 and the interface module 510 The relationship has been introduced in FIG. 6B , and the data conversion between the northbound gateway module 522 and the southbound gateway module 521 will be described below.
- Fig. 6C shows the data conversion relationship between the northbound gateway module 522, the southbound gateway module 521 and the interface module 510 by taking the door lock service as an example, and the data conversion relationship between the southbound gateway module 521 and the interface module 510 The relationship has been introduced in FIG. 6B , and the data conversion between the northbound gateway module 522 and the southbound gateway module 521 will be described below.
- the first status message defined by the northward gateway module 522 is URI:GET DoorLock, and its content is JSon structured data based on the HTTP format, wherein GET means acquisition, and the acquired DoorLock content includes the topic defined by the southbound gateway module 521
- GET means acquisition
- the acquired DoorLock content includes the topic defined by the southbound gateway module 521
- the left door status (flClockStatus) and the right door status (frClockStatus) in the DoorLock have thus just completed the data from the vehicle sensor, to the interface module 510, to the southbound gateway module 521, to the northbound gateway module 522, and finally to the external computer 150 A logical chain of mappings. Simultaneously in Fig.
- the first command message received by the northward gateway module 522 is URI:PUT DoorLock, and its content is JSon structured data based on the HTTP format, wherein, PUT means sending, and the content of the DoorLock sent includes the southward gateway module 521
- the left door control command (clockMotorCmd_L) and the right door control command (clockMotorCmd_R) in the defined Service DoorLock have like this completed from external computer 150, to northbound gateway module 522, to southbound gateway module 521, to interface module 510, finally A logical chain of data mappings to vehicle actuators.
- FIG. 7 is a schematic structural diagram of a computing device 700 provided by an embodiment of the present application.
- the computing device 700 includes: a processor 710 , a memory 720 , and a communication interface 730 .
- the communication interface 730 in the computing device 700 shown in FIG. 7 can be used to communicate with other devices.
- the processor 710 may be connected to the memory 720 .
- the memory 720 can be used to store the program codes and data. Therefore, the memory 720 may be a storage module inside the processor 710, or an external storage module independent of the processor 710, or may include a storage module inside the processor 710 and an external storage module independent of the processor 710. part.
- the processor 710 may use a central processing unit (central processing unit, CPU).
- the processor can also be other general-purpose processors, digital signal processors (digital signal processors, DSPs), application specific integrated circuits (application specific integrated circuits, ASICs), field programmable gate arrays (field programmable gate arrays, FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
- a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
- the processor 710 adopts one or more integrated circuits for executing related programs, so as to realize the technical solutions provided by various embodiments of the present application.
- the memory 720 may include read-only memory and random-access memory, and provides instructions and data to the processor 710 .
- a portion of processor 710 may also include non-volatile random access memory.
- processor 710 may also store device type information.
- the processor 710 executes computer-implemented instructions in the memory 720 to perform the operation steps of the above method.
- the computing device 700 may correspond to a corresponding body executing the methods according to the various embodiments of the present application, and the above-mentioned and other operations and/or functions of the modules in the computing device 700 are for realizing the present invention
- the corresponding processes of the methods in the application embodiments are not repeated here.
- the disclosed systems, devices and methods may be implemented in other ways.
- the device embodiments described above are only illustrative.
- the division of the units is only a logical function division. In actual implementation, there may be other division methods.
- multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
- the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
- 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.
- 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 method described in each embodiment of the present application.
- the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disc and other media that can store program codes. .
- the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and the program is used to execute at least one of the solutions described in the various embodiments of the present application when executed by a processor.
- the computer storage medium in the embodiments of the present application may use any combination of one or more computer-readable media.
- the computer readable medium may be a computer readable signal medium or a computer readable storage medium.
- a computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connections with one or more leads, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
- a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
- a computer readable signal medium may include a data signal in baseband or propagated as part of a carrier wave with computer readable program code embodied therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
- a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
- Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
- Computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, and conventional Procedural Programming Language - such as "C" or a similar programming language.
- the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
- the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through the Internet using an Internet service provider). connect).
- LAN local area network
- WAN wide area network
- connect such as AT&T, MCI, Sprint, EarthLink, MSN, GTE, etc.
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Computational Linguistics (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Small-Scale Networks (AREA)
Abstract
Description
Claims (16)
- 一种访问车辆资源的方法,其特征在于,包括:车辆控制器接收车辆传感器的第一数据,所述第一数据为所述车辆传感器的物理格式的数据;所述车辆控制器将所述第一数据转换为第二数据;所述第二数据为外部消息格式的数据;所述车辆控制器输出所述第二数据。
- 根据权利要求1所述方法,其特征在于,所述车辆控制器将所述第一数据转换为第二数据包括:将所述第一数据转换为第五数据;所述第五数据为内部消息格式的数据;将所述第五数据转换为所述第二数据。
- 一种访问车辆资源的方法,其特征在于,包括:车辆控制器接收来自车外的第三数据,所述第三数据为外部消息格式的数据;所述车辆控制器将所述第三数据转换为第四数据;所述第四数据为车辆执行器的物理格式的数据;所述车辆控制器向所述车辆执行器发送第四数据。
- 根据权利要求3所述方法,其特征在于,所述车辆控制器将所述第三数据转换为第四数据包括:将所述第三数据转换为第六数据,所述第六数据为内部消息格式的数据;将所述第六数据转换为第四数据。
- 根据权利要求1或3所述方法,其特征在于,所述物理格式包括二进制序列格式。
- 根据权利要求1或3所述方法,其特征在于,所述外部消息格式包括HTTP格式。
- 一种访问车辆资源的装置,其特征在于,包括:接口模块和网关模块;所述接口模块用于由车辆控制器接收车辆传感器的第一数据,所述第一数据为所述车辆传感器的物理格式的数据;所述网关模块用于由所述车辆控制器将所述第一数据转换为第二数据,所述第二数据为外部消息格式的数据;所述网关模块还用于由所述车辆控制器输出所述第二数据。
- 根据权利要求7所述装置,其特征在于,所述网关模块包括南向网关模块和北向网关模块;所述南向网关模块用于将所述第一数据转换为第五数据,所述第五数据为内部消息格式的数据;所述北向网关模块用于将所述第五数据转换为所述第二数据。
- 一种访问车辆资源的装置,其特征在于,包括:接口模块和网关模块;所述网关模块用于由车辆控制器接收来自车外的第三数据,所述第三数据为外部消息格式的数据;所述网关模块还用于由所述车辆控制器将所述第三数据转换为第四数据,所述第 四数据为车辆执行器的物理格式的数据;所述接口模块用于由所述车辆控制器向所述车辆执行器发送第四数据。
- 根据权利要求9所述装置,其特征在于,所述网关模块包括南向网关模块和北向网关模块;所述北向网关模块用于将所述第三数据转换为第六数据,所述第六数据为内部消息格式的数据;所述南向网关模块用于将所述第六数据转换为第四数据。
- 根据权利要求7或9所述装置,其特征在于,所述物理格式包括二进制序列格式。
- 根据权利要求7或9所述装置,其特征在于,所述外部消息格式包括HTTP格式。
- 一种车辆控制器,其特征在于,包括:权利要求7至12任一项所述的装置;通用接口单元;集中控制器;其中,所述接口模块部署在通用接口单元上,所述网关模块部署于集中控制器上。
- 一种计算设备,其特征在于,包括至少一个处理器和至少一个存储器,所述存储器存储有程序指令,所述程序指令当被所述至少一个处理器执行时使得所述至少一个处理器实现权利要求1至6任一项所述的方法。
- 一种计算机可读存储介质,其上存储有程序指令,其特征在于,所述程序指令当被计算机执行时使得所述计算机实现权利要求1至6任一项所述的方法。
- 一种计算机程序产品,其特征在于,其包括有程序指令,所述程序指令当被计算机执行时使得所述计算机实现权利要求1至6任一项所述的方法。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202180097384.1A CN117203637A (zh) | 2021-10-25 | 2021-10-25 | 访问车辆资源的方法、装置和车辆控制器 |
PCT/CN2021/125965 WO2023070238A1 (zh) | 2021-10-25 | 2021-10-25 | 访问车辆资源的方法、装置和车辆控制器 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2021/125965 WO2023070238A1 (zh) | 2021-10-25 | 2021-10-25 | 访问车辆资源的方法、装置和车辆控制器 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023070238A1 true WO2023070238A1 (zh) | 2023-05-04 |
Family
ID=86159859
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2021/125965 WO2023070238A1 (zh) | 2021-10-25 | 2021-10-25 | 访问车辆资源的方法、装置和车辆控制器 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN117203637A (zh) |
WO (1) | WO2023070238A1 (zh) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013178140A1 (zh) * | 2012-09-06 | 2013-12-05 | 中兴通讯股份有限公司 | 行车记录处理方法、装置及设备 |
CN104412223A (zh) * | 2012-05-09 | 2015-03-11 | 博世汽车服务解决方案有限责任公司 | 自动诊断服务器 |
CN109544964A (zh) * | 2018-12-29 | 2019-03-29 | 同济大学 | 一种无人驾驶车的航线传输系统 |
CN110321392A (zh) * | 2019-06-25 | 2019-10-11 | 北京海量数据技术股份有限公司 | 基于传感器监测数据文件的数据库管理系统 |
CN111009054A (zh) * | 2019-11-25 | 2020-04-14 | 腾讯科技(深圳)有限公司 | 一种上车辆控制装置、数据处理方法及存储介质 |
CN111191422A (zh) * | 2019-12-31 | 2020-05-22 | 湖南中联重科智能技术有限公司 | 一种文件格式转换方法、装置和计算机可读存储介质 |
-
2021
- 2021-10-25 CN CN202180097384.1A patent/CN117203637A/zh active Pending
- 2021-10-25 WO PCT/CN2021/125965 patent/WO2023070238A1/zh active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104412223A (zh) * | 2012-05-09 | 2015-03-11 | 博世汽车服务解决方案有限责任公司 | 自动诊断服务器 |
WO2013178140A1 (zh) * | 2012-09-06 | 2013-12-05 | 中兴通讯股份有限公司 | 行车记录处理方法、装置及设备 |
CN109544964A (zh) * | 2018-12-29 | 2019-03-29 | 同济大学 | 一种无人驾驶车的航线传输系统 |
CN110321392A (zh) * | 2019-06-25 | 2019-10-11 | 北京海量数据技术股份有限公司 | 基于传感器监测数据文件的数据库管理系统 |
CN111009054A (zh) * | 2019-11-25 | 2020-04-14 | 腾讯科技(深圳)有限公司 | 一种上车辆控制装置、数据处理方法及存储介质 |
CN111191422A (zh) * | 2019-12-31 | 2020-05-22 | 湖南中联重科智能技术有限公司 | 一种文件格式转换方法、装置和计算机可读存储介质 |
Also Published As
Publication number | Publication date |
---|---|
CN117203637A (zh) | 2023-12-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Kyusakov et al. | Integration of wireless sensor and actuator nodes with IT infrastructure using service-oriented architecture | |
US11106838B2 (en) | Systems, methods, and apparatus to generate an integrated modular architecture model | |
KR20190029994A (ko) | 차량용 제어 장치의 진단 방법 및 장치 | |
CN114553873A (zh) | 基于soa的车云协同控制系统、方法及可读存储介质 | |
Gopu et al. | Service Oriented Architecture based connectivity of automotive ECUs | |
US20170048359A1 (en) | Method and device for transmitting a message in a vehicle | |
WO2021052442A1 (zh) | 获取方法、配置方法、边缘计算集群及装置 | |
CN103699074A (zh) | 一种变流器中的can通信控制装置及通信方法 | |
Oksanen et al. | Remote access of ISO 11783 process data by using OPC Unified Architecture technology | |
CN108563501B (zh) | 动态可重构高速串行总线的中断请求方法及装置 | |
CN115871691A (zh) | 车辆行驶控制方法、装置、电子设备和计算机可读介质 | |
Ioana et al. | VSOMEIP-OPC UA gateway solution for the automotive industry | |
WO2023070238A1 (zh) | 访问车辆资源的方法、装置和车辆控制器 | |
Kenjić et al. | Connectivity challenges in automotive solutions | |
Weckemann et al. | Lessons from a Minimal Middleware for IP-based In-car Communication | |
da Silva Sa et al. | Monitoring of temperature using smart sensors based on CAN architecture | |
CN114326503A (zh) | 一种车载io网关控制器及通讯方法 | |
TWI496706B (zh) | 車載網路通訊系統及其模組化分析裝置 | |
Yordanova et al. | Comparative Evaluation of Communication Protocols in the Automotive Industry | |
Guijarro Cameros et al. | How dds and tsn are driving interoperability and performance in automotive systems | |
Zi-Wei et al. | Remote ATS simulation system based on webSocket communication protocol | |
CN114363423B (zh) | 支持B-SA的嵌入式BACnet装置、执行器及楼宇自控系统 | |
Jacquin et al. | Design of a gateway module for multi-protocol industrial connected objects and cloud services | |
Lee et al. | General middleware bridge to support device interoperability on different middlewares | |
WO2022104747A1 (zh) | 一种访问io设备的方法及装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21961630 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202180097384.1 Country of ref document: CN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2021961630 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 2021961630 Country of ref document: EP Effective date: 20240506 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |