WO2023124597A1 - 车辆开发平台、域控制器、整车控制系统及车辆 - Google Patents

车辆开发平台、域控制器、整车控制系统及车辆 Download PDF

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Publication number
WO2023124597A1
WO2023124597A1 PCT/CN2022/132006 CN2022132006W WO2023124597A1 WO 2023124597 A1 WO2023124597 A1 WO 2023124597A1 CN 2022132006 W CN2022132006 W CN 2022132006W WO 2023124597 A1 WO2023124597 A1 WO 2023124597A1
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Prior art keywords
vehicle
layer
service
module
operating system
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PCT/CN2022/132006
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English (en)
French (fr)
Inventor
周欢
罗锦文
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比亚迪股份有限公司
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Priority to KR1020247009755A priority Critical patent/KR20240047460A/ko
Priority to EP22913856.5A priority patent/EP4390674A1/en
Publication of WO2023124597A1 publication Critical patent/WO2023124597A1/zh
Priority to US18/610,648 priority patent/US20240217459A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/54—Interprogram communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/70—Software maintenance or management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/48—Program initiating; Program switching, e.g. by interrupt
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present disclosure generally relates to the technical field of automobiles, and in particular relates to a vehicle development platform, a domain controller, a vehicle control system and a vehicle.
  • the vehicle controller by configuring the vehicle controller, motor controller and micro base station, and building a wireless transmission network, the vehicle controller communicates with the motor controller through the signal transceiver and sends The motor controller sends control instructions, so that the motor controller controls the running state of the vehicle according to the control instructions.
  • the embodiment of the present disclosure provides a vehicle development platform, which is characterized in that the vehicle development platform runs on the controller of the vehicle, and the vehicle development platform includes a hardware layer that is connected to each other from top to bottom and communicates interactively , operating system and driver layer, platform service layer and application layer;
  • the hardware layer as a carrier of software resources, is used to form a resource pool
  • the operating system and driver layer run on the hardware layer, and the operating system and driver layer are used to provide operating conditions for the platform service layer;
  • the platform service layer runs on the operating system and is used to transmit and manage data in the vehicle;
  • the application layer is used to load the service program and application program on the upper layer of the vehicle.
  • the platform service layer includes a data bus module, a data function module and an operating system interface module,
  • the data bus module is used for data transmission and sharing between controllers on the vehicle or within the domain processor;
  • the data function module is used to store and update data
  • the operating system interface module is used to process the upper-layer services and applications to call the operating system and driver functions.
  • the operating system and the operating system in the driver layer include a Linux operating system and a QNX operating system, wherein each operating system corresponds to a POSIX operating system interface.
  • the bottom layer of each operating system is configured with a bottom layer interface.
  • the data function module specifically includes a time synchronization unit, a service management unit, a data persistence unit, a log and debugging unit, a data update unit, an actuator control service unit, and a network management unit. , security management, signal acquisition service unit and/or diagnosis service unit.
  • the application layer includes an application service layer and an application program layer, and the application service layer is used to load the vehicle.
  • the application service layer includes a vehicle status service module, a signal outgoing service module, a signal analysis service module, an air conditioning control service module, a window control service module, and a door control service module And/or identity authentication service module.
  • the application layer includes an instrument application module, an air-conditioning application module, a lighting control application module, a door control application module, a window control application module, a remote driving application module and/or a cloud service application module.
  • the vehicle development platform in the embodiment of the present disclosure is developed based on a service-oriented architecture (SOA).
  • SOA service-oriented architecture
  • the domain controller development platform is configured with a bottom interface.
  • an embodiment of the present disclosure provides a domain controller, including a memory, a processor, and a computer program stored in the memory and operable on the processor, and the domain controller is installed with the above-mentioned first aspect.
  • Vehicle development platform including a processor, and a computer program stored in the memory and operable on the processor, and the domain controller is installed with the above-mentioned first aspect.
  • an embodiment of the present disclosure provides a vehicle control system, which includes at least one domain controller as described in the second aspect.
  • an embodiment of the present disclosure provides a vehicle, on which the vehicle control system as described in the above third aspect is installed.
  • the vehicle development platform, domain controller, vehicle control system, and vehicle provided by the embodiments of the present disclosure are developed on the vehicle controller, including a hardware layer, an operating system, a driver layer, and a platform for interconnection and interactive communication from top to bottom.
  • the platform of the service layer and the application layer makes all the logic layers integrated to provide a platform for the development and application of the vehicle controller, so that the controllers with different functions can be independently developed to achieve different functions, and then build a fully functional integrated system.
  • the vehicle control system enables the real-time transmission of a large amount of data between controllers during the operation of the vehicle system, ensuring the safety of users and vehicles and enabling the control system to perform remote calls according to actual needs.
  • FIG. 1 is a schematic diagram of a top-level logic framework of a vehicle domain controller according to an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of a domain controller software architecture according to an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of domain controller software layers according to an embodiment of the present disclosure.
  • FIG. 4 is a schematic structural diagram of a domain controller development module in an embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram of an operating system interface of a domain controller according to an embodiment of the present disclosure
  • FIG. 6 is a schematic structural diagram of a domain controller development module in an embodiment of the present disclosure.
  • FIG. 7 is a schematic structural diagram of a computer of a processing device according to an embodiment of the present disclosure.
  • the physical hardware layout of the vehicle control system may include various architectures.
  • one or more domain controllers, one or more conventional on-board controllers (ECUs) and a central gateway can be included, then during operation, data is transmitted via CAN or Ethernet.
  • ECUs on-board controllers
  • central gateway can be included, then during operation, data is transmitted via CAN or Ethernet.
  • the above-mentioned architecture has been gradually simplified, resulting in a new layout architecture, that is, the number of ECUs in the traditional structure is getting smaller and smaller, and finally evolved into two or more domain control and central gateways, among which the central gateway It can also be integrated in one of the domain controllers, connected via Ethernet.
  • only one central processing unit can be included in the vehicle control system.
  • the vehicle control system in order to improve the timeliness of the vehicle control system and the independence of each function, the vehicle control system is divided into multiple a separate domain controller.
  • a vehicle control system may include: one or more domain controllers, each domain controller can access sensors and actuators, zero or more traditional ECUs, and zero or more central gateways.
  • the development software platform that is, the vehicle development platform, is configured on the domain controller of the vehicle, so that the logical architecture of the domain controller can be realized based on the development platform, and the independence of each domain controller can be realized.
  • heterogeneous refers to heterogeneous controllers, that is, the development platform must be able to run on ECUs of domain controllers of different architectures, and these domain controllers of different architectures have multiple cores and multiple processors.
  • AI artificial intelligence
  • FPGA digital integrated circuit chip
  • AI artificial intelligence
  • heterogeneity also includes the network, that is, from the perspective of the entire vehicle, the software platform of the domain controller is heterogeneous, including the Antosar platform and the traditional ECU program, that is, the vehicle development platform running on the domain controller This network difference needs to be compatible.
  • multiple domain controllers communicate through Ethernet to ensure network security and prevent hacker attacks.
  • remote calls can also be made according to actual needs, making it more convenient for users to use vehicles and development teams to remotely call vehicle software development.
  • the software architecture of the domain controller as a vehicle development platform, can be designed as a heterogeneous domain controller based on Service-Oriented Architecture (SOA).
  • SOA Service-Oriented Architecture
  • SOA is a service-oriented architecture, so that the vehicle development platform in the embodiment of the present disclosure is divided into platform services and application services.
  • Platform services and services can call each other, and application services and application services can call each other.
  • Platform services can be called, and application services can also remotely call application services on other domain controllers.
  • the domain controller in the vehicle utilizes the developed software platform to enable the flexible arrangement (decoupling) of sensors, actuators and controllers, and the sensor data collection, actuator control and controller functions are no longer tightly coupled, thereby ensuring data transparency Sharing, with a wide range of data sources and a large amount of data, it is necessary to support transparent data sharing between domain controllers and between chips within domain controllers.
  • running the developed software platform on the domain controller can support different hardware platforms.
  • each functional software module does not need to be modified, and it can respond quickly to applications with high real-time performance, such as remote control. driving applications, etc.
  • power management can also be performed to realize sleep and wake-up functions to control the power consumption of the entire vehicle, and it can also make the clocks of multiple domain controllers consistent and synchronized.
  • the data is not transmitted through the wireless network, but directly transmitted through the domain controller, thereby ensuring the real-time performance, integrity and security of the data, and further realizing Real-time transfer of large amounts of data between domain controllers. Therefore, the automation and intelligence of electrical appliances, and the real-time transmission of a large amount of video and audio data between domain controllers have improved the safety of the car for users, that is, guaranteed the safety of users and vehicles.
  • each of the domain controllers exists independently according to the actual functions of the vehicle, that is, functions are independent of each other and do not interfere with each other, so that isolation can be achieved, such as door lock components, window control components, wiper components, seat components, etc.
  • the functions of the seat assembly and the body control module (BCM) are independent.
  • the vehicle development platform that is, the layered view of the software platform
  • the lowest layer is the hardware layer
  • the middle is the platform service layer, which can include a real-time multitasking operating system (RTOS), device drivers and service layers
  • the uppermost layer is Portable Operating System Interface (POSIX)
  • an application layer which in turn may include an application service layer and an application program layer.
  • RTOS real-time multitasking operating system
  • POSIX Portable Operating System Interface
  • application layer which in turn may include an application service layer and an application program layer.
  • FIGS. 4 to 6 In order to better understand the vehicle development platform running on the domain control provided by the embodiments of the present disclosure, the following will be described in detail through FIGS. 4 to 6 .
  • FIG 4 is a schematic diagram of the software architecture of the vehicle development platform provided by the embodiment of the present disclosure. As shown in Figure 4, the vehicle development platform runs on the domain controller of the vehicle, and the vehicle development platform includes interconnection and The hardware layer, platform service layer, interface layer and application layer of interactive communication.
  • the hardware layer as a carrier of software resources, is used to form a resource pool.
  • the operating system interface runs on the hardware layer, and the operating system and driver layer are used to provide operating conditions for the platform service layer.
  • the platform service layer runs on the operating system and is used to transmit and manage data in the vehicle.
  • the application layer is used to load the service program and application program on the upper layer of the vehicle to realize the functions required by the vehicle.
  • the vehicle development platform running on the domain controller provided by the embodiments of the present disclosure can be understood from a logical level.
  • the bottom layer of the vehicle development platform is the hardware layer, which can be an actual domain controller or a virtual machine. Or containers, etc., to form a resource pool.
  • this hardware layer could be domain controllers installed at different locations on the vehicle.
  • the operating system and driver layer run on the hardware layer, which provide operating conditions for the platform service layer, and mainly handle the functions of the upper layer service and application calling the operating system or driver.
  • the operating system can be a real-time multitasking operating system (TROS), ANX Or an operating system such as RLinux.
  • the selected operating systems may be different, such as body domain controllers,
  • the real-time requirements of the operating system are not high, and based on cost considerations, the Linux operating system may be selected; for the power domain controller, the stability and real-time requirements are high, and the QNX operating system may be selected.
  • the embodiment of the present disclosure does not limit the specific operating system, which can be flexibly set according to actual conditions.
  • the platform service layer which can be used to realize the transmission and management of data generated during the operation of the operating system, such as storage and forwarding.
  • the upper layer of the platform service layer is the application layer, which loads the service programs and applications on the upper layer of the vehicle to realize different functions of the vehicle, such as air conditioning control, lighting control, power control, door control, instrument display and various user-oriented services.
  • the domain controller development platform runs the developed vehicle development platform including different logic modules on the domain controller, so that after all the logic modules are integrated, it provides a platform for the development and application of domain control , so that domain controllers with different functions can be independently developed to achieve different functions, and then build a complete vehicle control system with complete functions, realizing the real-time transmission of a large amount of data between domain controllers, ensuring the safety of users and vehicles.
  • the platform service layer may include a data bus module, a data function module, and an operating system interface module, and the data bus module is used for data transmission and sharing between domain controllers or within domain controllers; the The data function module is used to store and update data; the operating system interface module is used to process the upper layer services and applications to call the operating system and driver functions.
  • the platform service layer may include three parts: a data bus, a data function module including multiple processing modules, and an operating system interface module.
  • the second part is that each data function module realizes its corresponding data processing function.
  • the signal collection service is responsible for sensor signal collection
  • the data persistence management is responsible for the state of the application program or setting data storage, etc.
  • the third part Part of the operating system interface module mainly handles the functions of upper layer services and applications calling the operating system and drivers.
  • the data functional modules can specifically include time synchronization unit, service management unit, data persistence unit, log and debugging unit, data update unit, diagnostic service unit, network management unit, security management unit, startup management unit, signal collection service unit, actuator control service unit, configuration management unit, communication protocol stack unit, Rest interface unit and/or domain control status management unit, etc.
  • the data bus may specifically include DPC, CPC, IPC and the like.
  • the operating system and the operating system in the driver layer may include a Linux operating system or a QNX operating system, where each operating system corresponds to an operating system interface.
  • the operating system interface may be a portable operating system interface (POSIX).
  • an interface of the underlying hardware is configured at the bottom layer of each operating system.
  • the application layer in some embodiments of the present disclosure includes an application service layer and an application program layer.
  • the bottom layer is the application service layer, such as vehicle system service, signal outgoing service, signal analysis service, air conditioning control service, window control service, door control service and identity authentication service.
  • application service layer such as vehicle system service, signal outgoing service, signal analysis service, air conditioning control service, window control service, door control service and identity authentication service.
  • the vehicle system service can provide external vehicle status signals, such as power gear notification, gear status, position, speed, acceleration, power, fuel level, mileage and other vehicle status signals; the signal is sent out to serve, Signals can be sent externally, such as light signals, air conditioner on/off signals, etc.; signal analysis services can be provided, and the original signal data can be read from the data bus, and analyzed into specific signal values according to specific protocols; the air conditioner control service can provide Functions related to air conditioning control, such as turning on/off the air conditioner, setting air volume, setting temperature, etc.; this identity authentication service can legally authenticate the identity of the operator.
  • vehicle status signals such as power gear notification, gear status, position, speed, acceleration, power, fuel level, mileage and other vehicle status signals
  • the signal is sent out to serve, Signals can be sent externally, such as light signals, air conditioner on/off signals, etc.; signal analysis services can be provided, and the original signal data can be read from the data bus, and analyzed into specific signal values according to specific protocols; the air conditioner control service can provide Function
  • the upper layer is the application program. According to the specific application logic, it can be developed into applications such as instrumentation applications, air conditioning applications, lighting applications, remote control driving, remote calling, and cloud services.
  • the upper layer applications can freely call the underlying application services.
  • the instrumentation application program can call Vehicle status service, obtain vehicle information, refresh the instrument interface according to the application logic, and at the same time, if you want to send out signals, you can call the signal outbound service to realize the outbound signal; the cloud service can also call the control service to realize the opening of the air conditioner, doors and windows unlocking, seat heating and ventilation, etc.
  • the hardware layer, the operating system and the driver layer, the platform service layer, the interface layer, the application service layer and the application program layer that are set up for mutual connection and interactive communication in the actual application process of the platform,
  • the data collected through the underlying hardware such as vehicle data collected by sensors, can be transmitted to the platform service layer through the interface of the operating system, and then correspondingly processed at the platform service layer, such as update logs, and then can be transmitted to different application services on the upper layer layer and application layer to enable data sharing and applications such as vehicle powertrain, air conditioning or component control of doors.
  • the vehicle development platform of the embodiment of the present disclosure enables the flexible arrangement (decoupling) of sensors, actuators and controllers according to the logical architecture of the domain controller, and the sensor data collection, actuator control and controller functions are no longer tightly coupled;
  • This enables data to be shared transparently, with a wide range of data sources and a large amount of data, and supports transparent sharing of data between domain controllers and internal chips of domain controllers; at the same time, it is open and coordinated development, and each function can be distributed to different development teams and suppliers Independently develop, and then seamlessly integrate; support different hardware platforms, when the hardware platform changes or upgrades, each functional software module does not need to be modified; for applications with high real-time characteristics, it can respond quickly, such as remote control driving applications, etc.; power consumption Management, which can realize sleep and wake-up functions, and control the power consumption of the whole vehicle; the clocks between the domain controllers are consistent and synchronized; the domain controllers of the whole vehicle are connected to Ethernet, which has network security and prevents hacker attacks.
  • a domain controller is also provided, on which the domain controller development platform of the above embodiment is installed, so that after the development platform is installed, different users can according to For the specific functions that need to be realized, the corresponding independent development of the domain controller is carried out.
  • an embodiment of the present disclosure also provides a vehicle control system, which includes at least the pre-controller as in the above embodiments.
  • the vehicle control system may include at least one domain controller.
  • the vehicle control system may also include a gateway, a common vehicle controller, and a network system for connecting the controller, such as CAN network and/or Ethernet.
  • an embodiment of the present disclosure further provides a vehicle, on which the vehicle control system provided by the above-mentioned embodiments runs.
  • rail vehicles such as subways or light rails
  • the vehicle control system includes at least one domain controller of the above-mentioned embodiment, and the domain controller is built with the above-mentioned The development platform provided by the embodiment.
  • the domain controller provided by the embodiments of the present disclosure includes a memory, a processor, and a computer program stored on the memory and operable on the processor, and the domain controller as described in the above-mentioned embodiments is installed on the domain controller. device development platform.
  • FIG. 7 is a schematic structural diagram of a computer electronic device of a domain controller according to an embodiment of the present disclosure.
  • a computer electronic device 500 includes a central processing unit (CPU) 501 that can be programmed according to a program stored in a read-only memory (ROM) 502 or loaded from a storage section 502 into a random access memory (RAM) 503 Various appropriate actions and processing are performed by the program. In the RAM 503, various programs and data necessary for the operation of the electronic device 500 are also stored.
  • the CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504.
  • An input/output (I/O) interface 505 is also connected to the bus 504 .
  • the following components are connected to the I/O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 508 including a hard disk, etc. and a communication section 509 including a network interface card such as a LAN card, a modem, or the like.
  • the communication section 509 performs communication processing via a network such as the Internet.
  • a drive 510 is also connected to the I/O interface 505 as needed.
  • a removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 510 as necessary so that a computer program read therefrom is installed into the storage section 508 as necessary.
  • the processes described above with reference to the flowcharts can be implemented as computer software programs.
  • the embodiments of the present disclosure include a computer program product including a computer program carried on a machine-readable medium, the computer program including program code for executing the method shown in the flowchart.
  • the computer program may be downloaded and installed from a network via communication portion 509 and/or installed from removable media 511 .
  • this computer program is executed by a central processing unit (CPU) 501, the above-described functions defined in the electronic device of the present disclosure are performed.
  • CPU central processing unit
  • the computer-readable medium shown in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two.
  • a computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor electronic device, device, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer diskettes, 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 containing or storing a program that can be used by or in conjunction with an instruction-executing electronic device, apparatus, or device.
  • a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code 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 may transmit, propagate, or transmit information for use by or in conjunction with an instruction-executing electronic device, device, or device. program.
  • 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.
  • each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more logical functions for implementing specified executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block in the block diagrams and/or flow diagrams, and combinations of blocks in the block diagrams and/or flow diagrams can be implemented by a dedicated hardware-based electronic device that performs the specified function or operation. implemented, or may be implemented by a combination of special purpose hardware and computer instructions.
  • the units or modules involved in the embodiments described in the present disclosure may be implemented by means of software or by means of hardware.
  • the described units or modules may also be provided in a processor.
  • the present disclosure also provides a computer-readable storage medium.
  • the computer-readable storage medium may be included in the electronic device described in the above embodiments; in electronic equipment.
  • the above-mentioned computer-readable storage medium stores one or more programs. When the above-mentioned programs are used by one or more processors to execute the corresponding data processing in each program described in the domain controller development platform of the present disclosure.
  • the domain controller development platform, domain controller, vehicle control system and vehicle provided by the embodiments of the present disclosure, through the development on the domain controller, including the hardware layer of top-down interconnection and interactive communication, operation
  • the operating system of the system and driver layer, platform layer, and application layer makes all logic layers integrated to provide a platform for the development and application of domain controllers, so that domain controllers with different functions can be independently developed to achieve different functions, and then Constructing a fully functional vehicle control system enables the real-time transmission of a large amount of data between domain controllers during the operation of the vehicle system, ensuring the safety of users and vehicles so that the control system can be called remotely according to actual needs.

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Abstract

一种车辆开发平台、域控制器、整车控制系统及车辆，该开发平台包括相互连接并交互通讯的硬件层、操作系统及驱动层、平台服务层及应用层；硬件层，作为软件资源的载体，用于形成资源池；操作系统及驱动层，运行在硬件层上，操作用于为该平台服务层提供运行条件；平台层，平台服务层运行在操作系统上，用于对车辆中数据进行传输及管理；应用层，用于加载车辆上层的服务程序和应用程序。

Description

车辆开发平台、域控制器、整车控制系统及车辆
相关公开的交叉引用
本公开基于公开号为202111680458.2，公开日为2021年12月30日的中国专利公开提出，并要求该中国专利公开的优先权，该中国专利公开的全部内容在此引入本公开作为参考。
技术领域
本公开一般涉及汽车技术领域，尤其涉及车辆开发平台、域控制器、整车控制系统及车辆。
背景技术
随着计算机技术的发展，为汽车领域的控制提供了越来越多的发展空间。
目前的汽车控制系统中，通过配置整车控制器、电机控制器及微基站，并搭建无线传输网络，使得在汽车运行过程中，整车控制器通过信号收发器与电机控制器通信，并向电机控制器发送控制指令，以使得电机控制器根据控制指令，控制车辆运行状态。
对于上述的汽车控制系统，由于大量数据通过无线网络的二次传输，使得其实时性及稳定性不强，且信号容易被干扰，且整车控制器的总控制，使得维护成本高，性能单一，可扩展性差。
公开内容
鉴于现有技术中的上述缺陷或不足，期望提供一种车辆开发平台、域控制器、整车控制系统及车辆，通过在域控制器上安装异构操作系统，使得整车控制系统中各个功能的域控制器独立开发后无缝集成，相互调用，以提升整车控制的性能及扩展性。
第一方面，本公开实施例提供了一种车辆开发平台，其特征在于，所述车辆开发平台运行在车辆的控制器上，该车辆开发平台包括自上而下相互连接并交互通讯的硬件层、操作系统及驱动层、平台服务层及应用层；
该硬件层，作为软件资源的载体，用于形成资源池；
该操作系统及驱动层，运行在该硬件层上，该操作系统及驱动层用于为该平台服务层提供运行条件；
该平台服务层，运行在该操作系统上，用于对车辆中数据进行传输及管理；
应用层，用于加载车辆上层的服务程序和应用程序。
可选的，本公开实施例中的车辆开发平台，该平台服务层包括数据总线模块、数据功能模块及操作系统接口模块，
该数据总线模块用于车辆上的控制器之间或域处理器内部数据传输及共享；
该数据功能模块用于对数据进行存储及更新；
该操作系统接口模块用于处理上层的服务和应用调用操作系统和驱动的功能。
可选的，本公开实施例中的车辆开发平台，该操作系统和驱动层中的操作系统包括Linux操作系统及QNX操作系统，其中每个该操作系统对应一个POSIX操作系统接口。
可选的，本公开实施例中的车辆开发平台，每个该操作系统的底层配置有底层接口。
可选的，本公开实施例中的车辆开发平台，该数据功能模块具体包括时间同步单元、服务管理单元、数据持久化单元、日志与调试单元、数据更新单元、执行器控制服务单元、网络管理、安全管理、信号采集服务单元和/或诊断服务单元。
可选的，本公开实施例中的车辆开发平台，该应用层包括应用服务层及应用程序层，该应用服务层用于加载车。
可选的，本公开实施例中的车辆开发平台，该应用服务层包括整车状态服务模块、信号外发服务模块、信号解析服务模块、空调控制服务模块、窗控服务模块、门控服务模块和/或身份认证服务模块。
可选的，本公开实施例中的车辆开发平台，该应用程序层包括仪表应用模块、空调应用模块、灯光控制应用模块、门控制应用模块、窗控应用模块、遥控驾驶应用模块和/或云服务应用模块。
可选的，本公开实施例中的车辆开发平台，该车辆开发平台基于面向服务构架(SOA)开发。
可选的，本公开实施例中的车辆开发平台，该域控制器开发平台配置有底层接口。
第二方面，本公开实施例提供一种域控制器，包括存储器、处理器以及存储在存储器上并可在处理器上运行的计算机程序，该域控制器上安装有如上述第一方面所述的车辆开发平台。
第三方面，本公开实施例提供一种整车控制系统，该整车控制系统包括至少一个如第二方面所述的域控制器。
第四方面，本公开实施例提供一种车辆，该车辆上安装有如上述第三方面所述的整车控制系统。
本公开实施例提供的车辆开发平台、域控制器、整车控制系统及车辆，通过在车辆的控制器上开发包括自上而下相互连接并交互通讯的硬件层、操作系统及驱动层、平台服务层及应用层的平台，使得所有的逻辑层集成后，为车辆的控制器的开发和应用提供平台， 从而使得不同功能的控制器能够进行独立开发，实现不同功能，进而构建功能完善的整车控制系统，使得整车系统运行过程中，实现了大量数据在控制器之间的实时传输，保证了用户和车辆的安全使得控制系统能够根据实际的需求进行远程调用。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本公开的其它特征、目的和优点将会变得更明显：
图1所示为本公开实施例的整车域控制器顶层逻辑框架示意图；
图2为本公开实施例的域控制器软件架构示意图；
图3为本公开实施例的域控制器软件分层示意图；
图4为本公开实施例的域控制器开发模块结构示意图；
图5为本公开实施例的域控制器的操作系统接口示意图；
图6为本公开实施例的域控制器开发模块结构示意图；
图7为本公开实施例的处理设备的计算机的结构示意图。
具体实施方式
下面结合附图和实施例对本公开作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释相关公开，而非对该公开的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与公开相关的部分。
需要说明的是，在不冲突的情况下，本公开中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本公开。
可以理解，整车控制系统的物理硬件布局可以包括多种架构。例如，可以包括一个或多个域控制器、一个或多个传统车载控制器(ECU)以及一个中央网关，则在运行过程中，数据通过CAN或以太网进行传输。
随着技术整合，上述的架构被逐渐简化，产生了新的布局架构，即传统结构的ECU数量越来越少，最后演变成两个或两个以上的域控制及中央网关，其中的中央网关还可以整合在其中一个域控制器中，通过以太网连接。
随着处理器性能的进一步提高，整车控制系统中可以仅仅包括一个中央处理器。
在此基础上，如图1所示，本公开实施例中，为了提升整车控制系统的时效性，以及各个功能的独立性，依据车辆中需要实现的功能，将整车控制系统划分为多个独立的域控制器。
例如，整车控制系统可以包括：一个或多个域控制，每个域控制器可接入传感器和执 行机构，零个或多个传统ECU，以及零个或多个中央网关。
可以理解，在本公开实施例提供的整车控制系统的物理架构的基础上，为了实现域控制器之间的互相配合，以及程序的远程调用，以及数据的透明传输，则需要在物理架构中的域控制器上配置开发软件平台，即车辆开发平台，以使得基于该开发平台实现域控制器的逻辑架构，实现每个域控制器的独立。
可以理解，如图2所示，为了实现上述目标，具体的，如在每个域控制器上实现微服务、传感器及执行器的任意接入、实现空间下载(OTA)、终端设备功能模块等，在域控制器上运行所开发的软件平台，即搭建一个开发平台的异构框架，使不同的供应商和开发团队在这个开发平台上开发域控制器的应用。
可以理解，异构指的是异构控制器，即开发平台要能运行在不同架构的域控制器的ECU上，这些不同架构的域控制器有多核多处理器。最复杂的带人工智能(AI)计算单元的CPU+数字集成电路芯片(FPGA)+人工智能(AI)芯片+CPU架构，
另外，异构还包括网络，即从整车的角度来看，域控制器的软件平台是异构的，有Antosar平台，有传统的ECU程序，即在域控制器上所运行的车辆开发平台需兼容这种网络差异。
例如，在如图1所示的整车控制系统中，多个域控制器之间通过以太网实现通讯，以确保网络安全，预防黑客攻击。
另外，还可以根据实际的需求可以进行远程调用，更加方便用户使用车辆、开发团队进行远程调用车载软件开发。
因此，域控制器的软件架构作为一个车辆开发平台，可以设计成一个基于面相服务架构(SOA)的异构域控制器。
可以理解，SOA是服务导向的架构，使得本公开实施例的车辆开发平台划分了平台服务和应用服务，平台服务于服务之间可以相互调用，应用服务与应用服务之间可以相互调用，应用程序可以调用平台服务，应用服务还可以远程调用其他域控制器上的应用服务。
同时，车辆中的域控制器利用开发的软件平台，使得传感器、执行器与控制器灵活布置(解耦)，传感器数据采集、执行器控制与控制器功能不再紧密耦合，从而确保数据的透明共享，数据来源广、数据量大，需要支持域控制器之间、域控制器内部芯片间数据透明分享。
并且，在该开发平台的基础上，使得所有的域控制器具有开放性，协调开发，从而可使得各功能派发给不同开发团队、供应商等进行独立开发，然后无缝集成。
另外，在域控制器上运行所开发的软件平台，能够支持不同硬件平台，则当硬件平台改变或升级，各功能软件模块不用修改，并且对实时性较高的应用，可快速响应，比如遥 控驾驶应用等。另外，还能够进行功耗管理，以实现休眠、唤醒功能等，以控制整车功耗，也能够使得多个域控制器之间保持时钟一致，保持同步。
可以理解，在本公开实施例的整车控制系统的逻辑架构中，数据不通过无线网络进行传输，直接通过域控制器传输，从而保证了数据的实时性、完整性和安全性，进而可以实现大量数据在域控制器之间的实时传输。因此，电器自动化、智能化，大量视频、音频数据在域控制器之间的实时传输，使得对于用户来说，汽车的安全性得到了提升，即保证了用户和车辆的安全。
并且，其中的每个域控制器是根据车辆的实际功能独立存在，即功能与功能之间相互独立，互不干扰，从而能够实现隔离，如门锁组件、窗控组件、雨刮组件、座椅组件、车身控制组件(Body Control Module，BCM)等功能独立。
如图3所示，车辆开发平台，即软件平台的分层视图，最下层为硬件层，中间为平台服务层，可以包括实时多任务操作系统(RTOS)，设备驱动及服务层；最上层是便携式操作系统接口(POSIX)和应用层，该应用层又可以包括应用服务层和应用程序层。
为了更好的理解本公开实施例提供的运行在域控制上的车辆开发平台，下面通过图4至图6详细阐述。
图4所示为本公开实施例提供的车辆开发平台的软件架构示意图，如图4所示，该车辆开发平台运行在车辆的域控制器上，该车辆开发平台包括自下而上相互连接并交互通讯的硬件层、平台服务层、接口层及应用层。
该硬件层，作为软件资源的载体，用于形成资源池。
该操作系统接口，运行在所述硬件层上，所述操作系统及驱动层用于为所述平台服务层提供运行条件。
平台服务层，运行在所述操作系统上，用于对车辆中数据进行传输及管理。
应用层，用于加载车辆上层的服务程序和应用程序，实现车辆所需的功能。
具体的，本公开实施例提供的在域控制器上运行的车辆开发平台，从逻辑层面理解，该车辆开发平台，最底层是硬件层，可以是实际的域控制器，也可以是虚拟机，或者容器等，以形成资源池。
例如，对于轨道车辆，该硬件层可以为安装在车辆的不同位置的域控制器。
运行在硬件层上面的是操作系统和驱动层，为平台服务层提供运行条件，主要处理上层服务和应用调用操作系统或驱动的功能，该操作系统可以是实时多任务操作系统(TROS)、ANX或RLinux等操作系统。
可以理解，由于车辆开发平台，需要支持不同的域控制器硬件，而对于不同的功能域控制器，由于稳定性、实时性要求不同，选用的操作系统可能是不同的，比如车身域控制 器，对操作系统实时性要求不高，基于成本的考虑，可能会选用Linux操作系统；而对于动力域控制器，对稳定性、实时性要求都很高，可能会选择QNX操作系统。
本公开实施例对具体的操作系统不做限制，可以根据实际情况灵活设置。
操作系统和驱动层上面是平台服务层，可以用于实现对操作系统运行过程中产生的数据进行传输及管理，如存储、转发等。平台服务层上面是应用层，以加载车辆上层的服务程序及应用程序，以实现车辆的不同功能，如空调控制、灯光控制、动力控制、车门控制、仪表显示以及各种面相用户的服务等。
可以理解，本公开实施例提供的域控制器开发平台，通过在域控制器上运行开发的包括不同逻辑模块的车辆开发平台，使得所有的逻辑模块集成后，为域控制的开发和应用提供平台，从而使得不同功能的域控制能够进行独立开发，实现不同功能，进而构建功能完善的整车控制系统，实现了大量数据在域控制器之间的实时传输，保证了用户和车辆的安全。
可选的，在一些实施例中，该平台服务层可以包括数据总线模块、数据功能模块及操作系统接口模块，该数据总线模块用于域控制器之间或域控制器内部数据传输及共享；该数据功能模块用于对数据进行存储及更新；该操作系统接口模块用于处理上层的服务和应用调用操作系统和驱动的功能。
例如，如图4及如图6所示，该平台服务层可以包括数据总线、包括多个处理模块的数据功能模块和操作系统接口模块三部分，第一部分数据总线模块主要负责域处理器之间或域处理器内部数据流通和共享，第二部分各个数据功能模块实现各自相应的数据处理功能，如信号采集服务负责传感器信号采集，数据持久化管理负责应用程序的状态或设置数据存储等，第三部分操作系统接口模块，主要处理上层的服务和应用调用操作系统和驱动的功能。
如图4所示，其中的数据功能模块具体可以包括时间同步单元、服务管理单元、数据持久化单元、日志与调试单元、数据更新单元、诊断服务单元、网络管理单元、安全管理单元、启动管理单元、信号采集服务单元、执行器控制服务单元、配置管理单元、通信协议栈单元、Rest接口单元和/或域控制状态管理单元等等。
可以理解，上述数据功能模块中的数据处理单元的设置仅仅是示例性说明，具体可以根据实际情况灵活设置，本公开对此不做限制。
该数据总线具体可以包括DPC、CPC及IPC等。
可选的，本公开实施例中，对于不同的功能域控制器，由于稳定性、实时性要求不同，选用的操作系统不同的，则为了保证所开发平台的可移植性，需要在平台服务层的底层，保留操作系统接口层，如图5所示。
可选的，在一些实施例中，该操作系统和驱动层中的操作系统可以包括Linux操作系统或QNX操作系统，其中，每个操作系统对应一操作系统接口。例如，如图5所示，一些实施例中，该操作系统接口可以为便携式操作系统接口(POSIX)。
在另一些实施例中，为了实现各硬件连接，在每个操作系统的底层配置有底层硬件的接口。
如图6所示，本公开一些实施例中的应用层包括应用服务层及应用程序层。
其中，底层是应用服务层，如整车系统服务、信号外发服务、信号解析服务、空调控制服务、窗控服务、门控服务及身份认证服务等。
，该整车系统服务，可以对外提供整车状态信号，如电源档位通知，档位状态，位置，速度，加速度，电量，油量，续航里程等整车状态信号；该信号外发服务，可以对外发送信号，如灯光信号、空调开启/关闭信号等；可以信号解析服务，可以从数据总线上读取信号原始数据，根据具体协议，解析成具体的信号值；该空调控制服务，可以提供空调控制相关的功能，比如空调打开/关闭、设置风量、设置温度等；该身份认证服务，可以对操作者的身份进行合法认证。
上层是应用程序，根据具体的应用逻辑，可以开发成仪表应用、空调应用、灯光应用、遥控驾驶、远程调用、云服务等应用，上层应用可自由调用底下的应用服务，比如仪表应用程序可以调用整车状态服务，获取整车信息，根据应用逻辑，刷新仪表界面，同时如果要外发信号，可以调用信号外发服务，实现信号外发；云服务也可以调用控制服务，实现开空调、门窗的解闭锁、座椅加热通风等。
可以理解，上述实施例的车辆开发平台，设置的相互连接并交互通讯的硬件层、操作系统及驱动层、平台服务层、接口层、应用服务层及应用程序层，在平台实际应用过程中，可以将通过底层硬件采集的数据，如传感器采集的车辆数据，通过操作系统的接口，传输至平台服务层，进而在平台服务层进行相应处理，如更新日志，进而可以传输至上层不同的应用服务层及应用程序层，以实现数据共享，以及应用，如车辆动力系统、空调或车门等部件控制。
因此，本公开实施例的车辆开发平台，使得根据域控制器的逻辑架构，传感器、执行器与控制器灵活布置(解耦)，传感器数据采集、执行器控制与控制器功能不再紧密耦合；进而使得数据透明共享，数据来源广、数据量大，支持域控制器之间、域控制器内部芯片间数据透明分享；同时具有开放性，协调开发，各功能可派发给不同开发团队、供应商等进行独立开发，然后无缝集成；支持不同硬件平台，当硬件平台改变或升级，各功能软件模块不用修改；对实时性较高的应用，可快速响应，比如遥控驾驶应用等；进行功耗管理，能够实现休眠、唤醒功能，控制整车功耗；域控制器之间保持时钟一致，保持同步；整车 域控制器加入了以太网，具备网络安全，预防黑客攻击。
另一方面，本公开实施例中，还提供一种域控制器，该域控制器上安装有上述实施例的域控制器开发平台，以使得在安装有该开发平台后，不同的用户可以根据需要实现的具体功能，对域控制器进行相应的独立开发。
另一方面，本公开实施例还提供一种整车控制系统，该控制系统至少包括如上述实施例中的预控制器。
例如，在一些实施例中，如图1所示，该整车控制系统中可以包括至少一个域控制器。
该整车控制系统还可以包括网关、普通车载控制器，以及用于连通控制器的网络系统，如CAN网络和/或以太网。
可以理解，该域控制器通过被加载开发平台，即域控制器的操作系统后，从而可以基于该操作系统，使不同的供应商及开发团队在这个平台上开发域控制器的应用，以实现不同的功能，即车辆的各功能可派发给不同开发团队及供应商等进行独立开发，进而无缝集成，完成整车控制系统的构建。
可以理解，在整车控制系统搭建完成后，传感器、执行器与控制器灵活布置，传感器数据采集、执行器控制与控制器功能不再紧密耦合，使得数据来源广、数据量大，支持域控制器之间、域控制器内部芯片间数据透明分享。
另一方面，本公开实施例还提供一种车辆，该车辆上运行有上述实施例提供的整车控制系统。
例如，轨道车辆，如地铁或轻轨等，其上运行有上述实施例提供的整车控制系统，该整车控制系统包括至少一个上述实施例的域控制器，该域控制器上被搭建有上述实施例提供的开发平台。
其中，本公开实施例所提供的域控制器，包括存储器、处理器以及存储在存储器上并可在处理器上运行的计算机程序，该域控制器上安装有如上述实施例中所述的域控制器开发平台。
下面参考图7，图7为本公开实施例的域控制器的计算机电子设备的结构示意图。
如图7所示，计算机电子设备500包括中央处理单元(CPU)501，其可以根据存储在只读存储器(ROM)502中的程序或者从存储部分502加载到随机访问存储器(RAM)503中的程序而执行各种适当的动作和处理。在RAM 503中，还存储有电子设备500操作所需的各种程序和数据。CPU 501、ROM 502以及RAM 503通过总线504彼此相连。输入/输出(I/O)接口505也连接至总线504。
以下部件连接至I/O接口505：包括键盘、鼠标等的输入部分506；包括诸如阴极射线管(CRT)、液晶显示器(LCD)等以及扬声器等的输出部分507；包括硬盘等的存储部分 508；以及包括诸如LAN卡、调制解调器等的网络接口卡的通信部分509。通信部分509经由诸如因特网的网络执行通信处理。驱动器510也根据需要连接至I/O接口505。可拆卸介质511，诸如磁盘、光盘、磁光盘、半导体存储器等等，根据需要安装在驱动器510上，以便于从其上读出的计算机程序根据需要被安装入存储部分508。
特别地，根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在机器可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信部分509从网络上被下载和安装，和/或从可拆卸介质511被安装。在该计算机程序被中央处理单元(CPU)501执行时，执行本公开的电子设备中限定的上述功能。
需要说明的是，本公开所示的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的电子设备、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行电子设备、装置或者器件使用或者与其结合使用。而在本公开中，计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行电子设备、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：无线、电线、光缆、RF等等，或者上述的任意合适的组合。
附图中的流程图和框图，图示了按照本公开各种实施例的处理设备、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，前述模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的 组合，可以用执行规定的功能或操作的专用的基于硬件的电子设备来实现，或者可以用专用硬件与计算机指令的组合来实现。
描述于本公开实施例中所涉及到的单元或模块可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的单元或模块也可以设置在处理器中。
作为另一方面，本公开还提供了一种计算机可读存储介质，该计算机可读存储介质可以是上述实施例中描述的电子设备中所包含的；也可以是单独存在，而未装配入该电子设备中的。上述计算机可读存储介质存储有一个或者多个程序，当上述前述程序被一个或者一个以上的处理器用来执行描述于本公开的域控制器开发平台中各程序中对应的数据处理。
综上所述，本公开实施例提供的域控制器开发平台、域控制器、整车控制系统及车辆，通过在域控制器上开发包括自上而下相互连接并交互通讯的硬件层、操作系统及驱动层、平台层及应用层的操作系统，使得所有的逻辑层集成后，为域控制器的开发和应用提供平台，从而使得不同功能的域控制能够进行独立开发，实现不同功能，进而构建功能完善的整车控制系统，使得整车系统运行过程中，实现了大量数据在域控制器之间的实时传输，保证了用户和车辆的安全使得控制系统能够根据实际的需求进行远程调用。
以上描述仅为本公开的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本公开中所涉及的公开范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离前述公开构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本公开中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (12)

  1. 一种车辆开发平台，其特征在于，所述车辆开发平台运行在车辆控制器上，所述开发平台包括自下而上相互连接并交互通讯的硬件层、操作系统及驱动层、平台服务层及应用层；
    所述硬件层，作为软件资源的载体，用于形成资源池；
    所述操作系统及驱动层，运行在所述硬件层上，所述操作系统及驱动层用于为所述平台服务层提供运行条件；
    所述平台服务层，运行在所述操作系统上，用于对车辆中数据进行传输及管理；
    应用层，用于加载车辆上层的服务程序和应用程序。
  2. 根据权利要求1所述的车辆开发平台，其特征在于，所述平台服务层包括数据总线模块、数据功能模块及操作系统接口模块，
    所述数据总线模块用于车辆上的控制器之间或控制器内部数据传输及共享；
    所述数据功能模块用于对数据进行存储及更新；
    所述操作系统接口模块用于处理上层的服务和应用调用操作系统和驱动。
  3. 根据权利要求1或2所述的车辆开发平台，其特征在于，所述操作系统和驱动层中的操作系统包括Linux操作系统及QNX操作系统，其中每个所述操作系统对应一个POSIX操作系统接口。
  4. 根据权利要求3所述的车辆开发平台，其特征在于，每个所述操作系统的底层配置有底层硬件接口。
  5. 根据权利要求2-4中任一项所述的车辆开发平台，其特征在于，所述数据功能模块具体包括时间同步单元、服务管理单元、数据持久化单元、日志与调试单元、数据更新单元、执行器控制服务单元、网络管理、安全管理、信号采集服务单元和/或诊断服务单元。
  6. 根据权利要求1-5任一项所述的车辆开发平台，其特征在于，所述应用层包括应用服务层及应用程序层。
  7. 根据权利要求6所述的车辆开发平台，其特征在于，所述应用服务层包括整车状态服务模块、信号外发服务模块、信号解析服务模块、空调控制服务模块、窗控服务模块、门控服务模块和/或身份认证服务模块。
  8. 根据权利要求6或7所述的车辆开发平台，其特征在于，所述应用程序层包括仪表应用模块、空调应用模块、灯光控制应用模块、门控制应用模块、窗控应用模块、遥控驾驶应用模块和/或云服务应用模块。
  9. 根据权利要求1-8中任一项所述的车辆开发平台，其特征在于，所述车辆开发平台 基于面向服务构建开发。
  10. 一种域控制器，其特征在于，包括存储器、处理器以及存储在存储器上并可在处理器上运行的计算机程序，所述域控制器上安装有如上述权利要求1-9任一项所述的车辆开发平台。
  11. 一种整车控制系统，其特征在于，所述整车控制系统包括至少一个如权利要求10所述的域控制器。
  12. 一种车辆，其特征在于，所述车辆上安装有如权利要求11所述的整车控制系统。
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CN115110866B (zh) * 2022-07-30 2023-09-15 重庆长安汽车股份有限公司 一种车辆防夹手控制方法、系统、设备及存储介质
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CN117135100B (zh) * 2023-10-26 2024-02-02 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) 一种汽车车载光纤以太网信号传输的测试系统及方法
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