WO2023217158A1 - 一种车载系统应用管理方法、架构、车辆及介质 - Google Patents
一种车载系统应用管理方法、架构、车辆及介质 Download PDFInfo
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- WO2023217158A1 WO2023217158A1 PCT/CN2023/093127 CN2023093127W WO2023217158A1 WO 2023217158 A1 WO2023217158 A1 WO 2023217158A1 CN 2023093127 W CN2023093127 W CN 2023093127W WO 2023217158 A1 WO2023217158 A1 WO 2023217158A1
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- 238000007726 management method Methods 0.000 title claims abstract description 258
- 238000000034 method Methods 0.000 claims abstract description 25
- 230000004044 response Effects 0.000 claims abstract description 8
- 230000006870 function Effects 0.000 claims description 120
- 239000000725 suspension Substances 0.000 claims description 20
- 230000015654 memory Effects 0.000 claims description 16
- 230000035939 shock Effects 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 10
- 239000006096 absorbing agent Substances 0.000 claims description 9
- 238000013016 damping Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000011161 development Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000001816 cooling Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/70—Software maintenance or management
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/70—Software maintenance or management
- G06F8/76—Adapting program code to run in a different environment; Porting
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- 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
- This application relates to the technical field of layered software architecture in the chassis domain, for example, to a vehicle system application management method, architecture, vehicle and media.
- This application provides a vehicle system application management method, architecture, vehicle and media, which can solve the problem of low reusability and portability of software modules inside the vehicle.
- a vehicle system application management method including:
- the system's internal function control management layer In response to the scheduling instruction, the system's internal function control management layer sends a calling instruction to the specific function control management layer corresponding to the scheduling instruction;
- the specific function control management layer sends management instructions to the sensor and actuator control management layer according to the scheduling instructions or calling instructions;
- the management layer is controlled by the sensors and actuators to execute the management instructions to manage the application modules in the chassis domain.
- a vehicle system application management architecture which architecture includes:
- the vehicle system control management layer is configured to obtain an application management request and request the application management to Send scheduling instructions to the corresponding system internal function control management layer or specific function control management layer;
- the internal function control management layer of the system is configured to respond to the scheduling instruction and send a calling instruction to the specific function control management layer corresponding to the scheduling instruction;
- the specific function control management layer is configured to send management instructions to the sensor and actuator control management layer according to the scheduling instructions or calling instructions;
- the sensor and actuator control management layer is configured to execute the management instructions and manage the application modules in the chassis domain.
- a vehicle comprising:
- the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method described in any embodiment of the present application.
- Vehicle system application management methods are a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method described in any embodiment of the present application. Vehicle system application management methods.
- a computer-readable storage medium stores computer instructions, and the computer instructions are used to implement any of the embodiments of the present application when executed by a processor.
- Vehicle system application management methods are provided.
- Figure 1 is a flow chart of a vehicle system application management method provided according to Embodiment 1 of the present application;
- Figure 2a is a schematic structural diagram of a vehicle system application management architecture provided according to Embodiment 2 of the present application;
- Figure 2b is a schematic structural diagram of a vehicle system application management architecture provided according to Embodiment 2 of the present application.
- Figure 2c is a schematic diagram of a software module in a vehicle system application management architecture provided according to Embodiment 2 of the present application;
- FIG. 3 is a schematic structural diagram of a vehicle that implements the vehicle system application management method according to the embodiment of the present application.
- FIG 1 is a flow chart of a vehicle system application management method provided in Embodiment 1 of the present application. This embodiment can be applied to situations where the software application module inside the vehicle is changed or adjusted.
- This method can be implemented by the vehicle system application management architecture.
- the vehicle system application management architecture can be implemented in the form of hardware and/or software, and the vehicle system application management architecture can be configured in the vehicle. As shown in Figure 1, the method includes:
- the vehicle system control management layer can refer to the functional service layer that schedules the functional systems inside the vehicle, for example, scheduling the fuel system and electric system of a hybrid vehicle.
- Application management requests may refer to requests to perform management operations such as changes or additions to application modules or application software inside the vehicle.
- Scheduling instructions may refer to instructions for scheduling the internal function control management layer or the specific function control management layer of the system.
- the scheduling instruction may include the scheduling object and the target function to be implemented by this scheduling.
- the internal function control management layer of the system can refer to the functional service layer that coordinates the functions inside the vehicle, for example, the coordinated control of the intake, exhaust and cooling of the engine system.
- the internal function control management layer of the system includes: a chassis cooperative control module and a body posture control module.
- the chassis collaborative control module may refer to the relevant software module responsible for the horizontal and vertical collaborative control of the vehicle.
- it may include a driving mode control application software module, etc.
- the body posture control module may refer to the relevant software module responsible for vertical control of the vehicle and adjustment of the body posture.
- it may To include software modules similar to those responsible for vehicle vertical control and body posture adjustment.
- the method further includes: responding to the dispatch instruction through the system internal function control management layer, sending instructions to the chassis collaborative control module and the body attitude control module in the system internal function control management layer. Send coordination instructions.
- the system's internal function control management layer can coordinate the chassis collaborative control module and body posture control module in the system's internal function control management layer through scheduling instructions.
- the specific function control management layer may refer to a functional service layer that controls specific functions within the vehicle, such as the control of the engine cooling system.
- Specific functions may refer to functions divided according to the functional characteristics of the chassis domain. For example, they may be door control functions or engine cooling.
- the specific function control management layer includes: a steering control module, a braking control module, a damping control module or a suspension control module.
- the steering control module may refer to related software modules responsible for steering control, power steering control, steering mode switching control, etc., and may include, for example, electric power steering (Electric Power Steering, EPS) software, etc.
- the brake control module may refer to the software module responsible for vehicle braking control, including service brake control, parking brake control and other related software modules.
- the damping control module may refer to related software modules responsible for controlling the vehicle's damper control, and may include, for example, Continuous Damping Control (CDC) software, etc.
- the suspension control module can refer to the related software module responsible for the suspension control of the vehicle.
- the method further includes: using the specific function control management layer to send instructions to the steering control module, brake control module, The damping control module or suspension control module sends control instructions.
- the specific function control management layer can control the steering control module, brake control module, damping control module or suspension control module in the specific function control management layer through scheduling instructions or calling instructions.
- the high-level vehicle system control management layer can schedule the low-level system internal function control management layer or specific function control management layer, achieving high cohesion and low-level control between software modules to a certain extent. Coupling reduces dependencies between software modules.
- the calling instruction may refer to an instruction to call each functional module in the specific function control management layer.
- the module corresponding to the target function in the specific function control layer can be called according to the target function in the scheduling instruction.
- the sensor and actuator control management layer can refer to the functional service layer that controls or drives the sensors and actuators inside the vehicle.
- Management instructions may refer to instructions for managing each application module in the sensor and actuator control management layer.
- the decoupling of high-level software and the underlying sensors and actuators can be achieved, so that the high-level software does not depend on changes in hardware resources, forming an applicable standard interface.
- S140 Use the sensors and actuators to control the management layer to execute the management instructions to manage the application modules in the chassis domain.
- the application module in the chassis domain may refer to the relevant hardware resource module inside the vehicle. It is worth noting that in order to ensure the safety inside the vehicle, the sensor and actuator control management layer prohibits calling application modules at the same level.
- the method further includes: dividing each sensor and actuator in the sensor and actuator control management layer according to the management instruction through the sensor and actuator control management layer. , forming a software library.
- the software library may refer to a database that stores application modules in the chassis domain.
- the software library includes: a wheel module, a braking module, a steering wheel module, a parking brake module, a shock absorber module, a suspension module or an inertial measurement module; correspondingly, through all
- the sensor and actuator control management layer executes the management instructions, and manages the application modules in the chassis domain, including: executing the management instructions through the sensor and actuator control management layer, and managing the software library and the management
- the corresponding wheel module, braking module, steering wheel module, parking brake module, shock absorber module, suspension module or inertial measurement module is managed by the instruction.
- the wheel module can refer to the relevant module responsible for wheel speed sensor drive control.
- the wheel module can also extract wheel speed and other related information for use by the upper-layer application software module.
- the braking module can refer to the relevant module responsible for the sensor and actuator drive control of the braking system.
- the steering wheel module can refer to the relevant module responsible for the steering wheel's sensor and actuator drive control.
- the parking brake module can refer to the relevant module responsible for driving control of the parking brake motor.
- the shock absorber module can refer to the related modules responsible for shock absorption related sensors and actuator drive control.
- the suspension module can refer to the relevant modules responsible for the sensor and actuator drive control of the suspension system.
- the inertial measurement module can refer to the relevant module responsible for reading inertial navigation sensor data and driving control in the inertial measurement unit (IMU).
- the sensor and actuator control management layer can control the wheel module, brake module, steering wheel module, parking brake module, shock absorber module, and suspension module in the software library corresponding to the management instruction according to the management instruction. or inertial measurement module for management.
- the method of the embodiment of the present application obtains the application management request through the vehicle system control management layer, sends a scheduling instruction to the system's internal function control management layer or the specific function control management layer corresponding to the application management request; responds to the system's internal function control management layer through the system's internal function control management layer Scheduling instructions send calling instructions to the specific function control management layer corresponding to the scheduling instruction; through the specific function control management layer, the management instructions are sent to the sensor and actuator control management layer according to the scheduling instructions or calling instructions; through the sensor and actuator control management layer Execute the management instructions to manage the application modules in the chassis domain, which solves the problem of low reusability and portability of the vehicle's internal software modules in related technologies, and can realize the reusability and portability of the software modules. When adding new functions and changing functions, fewer changes to software modules are required, which reduces development costs and manpower investment to a certain extent.
- FIG. 2a is a schematic structural diagram of a vehicle system application management architecture provided in Embodiment 2 of the present application. As shown in Figure 2a, the architecture includes: vehicle system control management layer 210, system internal function control management layer 220, specific function control management layer 230, and sensor and actuator control management layer 240;
- the vehicle system control management layer 210 obtains the application management request and sends a scheduling instruction to the system internal function control management layer or the specific function control management layer corresponding to the application management request;
- the system's internal function control management layer 220 is configured to respond to the scheduling instruction and send a calling instruction to the specific function control management layer corresponding to the scheduling instruction;
- the specific function control management layer 230 is configured to send management instructions to the sensor and actuator control management layer according to the scheduling instructions or calling instructions;
- the sensor and actuator control management layer 240 is configured to execute the management instructions and manage the application modules in the chassis domain.
- the application management request is obtained through the vehicle system control management layer, and dispatching instructions are sent to the system internal function control management layer or the specific function control management layer corresponding to the application management request; the system internal function control management layer responds to the dispatching instruction through the system internal function control management layer, Send calling instructions to the specific function control management layer corresponding to the scheduling instruction; send management instructions to the sensor and actuator control management layer through the specific function control management layer according to the scheduling instruction or calling instruction; execute the above instructions through the sensor and actuator control management layer Management instructions manage application modules in the chassis domain, which solves the problem of low reusability and portability of vehicle internal software in related technologies. It can realize the reusability and portability of software modules and add new functions. And when functions change, fewer software module changes are required, which reduces development costs and manpower investment to a certain extent.
- the system's internal function control management layer 220 includes: a chassis collaborative control module and a body attitude control module.
- the specific function control management layer 230 includes: a steering control module, a braking control module, a damping control module or a suspension control module.
- the sensor and actuator control management layer 240 may also be configured to divide the sensors and actuators in the sensor and actuator control management layer according to the management instructions to form a software library.
- system internal function control management layer 220 may also be configured to, in response to the scheduling instruction, send coordination instructions to the chassis collaborative control module and the body posture control module in the system internal function control management layer.
- the specific function control management layer 230 may also be configured to, according to the scheduling instruction or the calling instruction, send the steering control module, brake control module, damping control module or the like in the specific function control management layer.
- the suspension control module sends control commands.
- the software library includes: wheel module, braking module, steering wheel module, parking brake module, shock absorber module, suspension module or inertial measurement module;
- the sensor and actuator control management layer 240 is configured to execute the management instructions through the sensor and actuator control management layer to manage the application modules in the chassis domain in the following manner: execute the management instructions, and manage the software
- the wheel module, braking module, steering wheel module, parking brake module, shock absorber module, suspension module or inertial measurement module corresponding to the management instruction in the library is managed.
- the vehicle system application management architecture provided by the embodiments of this application can execute the vehicle system application management method provided by any embodiment of this application, and has functional modules and beneficial effects corresponding to the execution method.
- the vehicle system application management architecture can be divided into four layers: vehicle system control management layer, system internal function control layer, specific function control layer and sensor and actuator control layer.
- vehicle system control layer The system's internal function control management layer or the specific function control management layer can be scheduled.
- the system's internal function control management layer can call the specific function control management layer.
- the specific function control management layer can manage the sensor and actuator control management layer.
- the low-level software layer cannot call the high-level software layer, and the vehicle system control management layer and the system internal function control management layer cannot call the actuator control management layer.
- the system's internal function control management layer includes: chassis collaborative control module and body posture control module.
- Specific function control management layer including: steering control module, brake control module, damping control module or suspension control module.
- Software libraries in the sensor and actuator control management layer include: wheel modules, brake modules, steering wheel modules, parking brake modules, shock absorber modules, suspension modules or inertial measurement modules. Therefore, by layering the software modules in the chassis domain, the reusability and portability of the software modules can be achieved, and new functions and functions can be added. When functions change, fewer software module changes are required, which reduces development costs and manpower investment to a certain extent.
- FIG 3 is a schematic structural diagram of a vehicle provided in Embodiment 3 of the present application.
- the vehicle includes a processor 310, a memory 320, an input device 330 and an output device 340; the number of processors 310 in the vehicle can be One or more, one processor 310 is taken as an example in Figure 3; the processor 310, memory 320, input device 330 and output device 340 in the vehicle can be connected through a bus or other means.
- a bus connection is taken as an example. .
- the memory 320 can be used to store software programs, computer executable programs and modules, such as program instructions/modules corresponding to the vehicle system application management method in the embodiment of the present application (for example, vehicle system application management architecture
- the processor 310 executes various functional applications and data processing of the vehicle by running software programs, instructions and modules stored in the memory 320, that is, implementing the above-mentioned vehicle system application management method.
- the method includes:
- the system's internal function control management layer In response to the scheduling instruction, the system's internal function control management layer sends a calling instruction to the specific function control management layer corresponding to the scheduling instruction;
- the specific function control management layer sends management instructions to the sensor and actuator control management layer according to the scheduling instructions or calling instructions;
- the management layer is controlled by the sensors and actuators to execute the management instructions to manage the application modules in the chassis domain.
- the memory 320 may mainly include a stored program area and a stored data area, where the stored program area may store an operating system and at least one application program required for a function; the stored data area may store data created according to the use of the terminal, etc.
- the memory 320 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device.
- memory 320 may include memory located remotely from processor 310 , and these remote memories may be connected to the vehicle via a network. Examples of the above-mentioned networks include the Internet, intranets, local area networks, mobile communication networks and combinations thereof.
- the input device 330 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the vehicle.
- the output device 340 may include a display device such as a display screen.
- Embodiment 4 of the present application also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to execute a vehicle system application management method. The method includes:
- the system's internal function control management layer In response to the scheduling instruction, the system's internal function control management layer sends a calling instruction to the specific function control management layer corresponding to the scheduling instruction;
- the specific function control management layer sends management instructions to the sensor and actuator control management layer according to the scheduling instructions or calling instructions;
- the management layer is controlled by the sensors and actuators to execute the management instructions to manage the application modules in the chassis domain.
- the embodiments of the present application provide a storage medium containing computer-executable instructions, and the computer-executable instructions of the storage medium can operate as described above, and can also perform the vehicle system application management method provided by any embodiment of the present application. Related operations.
- the present application can be implemented with the help of software and necessary general hardware. Of course, it can also be implemented with hardware, but in many cases the former is a better implementation. .
- the technical solution of the present application can be embodied in the form of a software product in essence or that contributes to related technologies.
- the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, Read-Only Memory (ROM), Random Access Memory (RAM), Flash Memory (FLASH), hard disk or optical disk, etc., including multiple instructions to make a computer device (which can be a personal computer , server, or network device, etc.) to perform the methods described in various embodiments of this application.
Abstract
本申请公开了一种车载系统应用管理方法、架构、车辆及介质。该方法包括：通过整车系统控制管理层获取应用管理请求，向应用管理请求对应的系统内部功能控制管理层或特定功能控制管理层发送调度指令；通过系统内部功能控制管理层响应于所述调度指令，向调度指令对应的特定功能控制管理层发送调用指令；通过特定功能控制管理层根据所述调度指令或调用指令，向传感器及执行器控制管理层发送管理指令；通过传感器及执行器控制管理层执行所述管理指令，对底盘域内的应用模块进行管理。
Description
本申请要求在2022年05月10日提交中国专利局、申请号为202210508779.2的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
本申请涉及底盘域的分层软件架构技术领域，例如涉及一种车载系统应用管理方法、架构、车辆及介质。
目前，随着科技的快速发展，车辆的功能趋于智能化及场景化，由于整车功能的体现依赖于软件模块的实现，因此促使整车厂思考软件定义汽车的方案。
然而，现在大多数的整车厂采取的软件模块耦合度较高，软件模块无分层，使得功能增加时软件模块发生大量的更改，造成更大的开发成本，而且实现的效果也不是很理想。
发明内容
本申请提供了一种车载系统应用管理方法、架构、车辆及介质，可以解决车辆内部软件模块的可复用性和可移植性较低的问题。
根据本申请的一方面，提供了一种车载系统应用管理方法，包括：
通过整车系统控制管理层获取应用管理请求，向所述应用管理请求对应的系统内部功能控制管理层或特定功能控制管理层发送调度指令；
通过所述系统内部功能控制管理层响应于所述调度指令，向所述调度指令对应的特定功能控制管理层发送调用指令；
通过所述特定功能控制管理层根据所述调度指令或调用指令，向传感器及执行器控制管理层发送管理指令；
通过所述传感器及执行器控制管理层执行所述管理指令，对底盘域内的应用模块进行管理。
根据本申请的另一方面，提供了一种车载系统应用管理架构，该架构包括：
整车系统控制管理层，设置为获取应用管理请求，向所述应用管理请求对
应的系统内部功能控制管理层或特定功能控制管理层发送调度指令；
系统内部功能控制管理层，设置为响应于所述调度指令，向所述调度指令对应的特定功能控制管理层发送调用指令；
特定功能控制管理层，设置为根据所述调度指令或调用指令，向传感器及执行器控制管理层发送管理指令；
传感器及执行器控制管理层，设置为执行所述管理指令，对底盘域内的应用模块进行管理。
根据本申请的另一方面，提供了一种车辆，所述车辆包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行本申请任一实施例所述的车载系统应用管理方法。
根据本申请的另一方面，提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使处理器执行时实现本申请任一实施例所述的车载系统应用管理方法。
下面将对实施例描述中所需要使用的附图作简单地介绍，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是根据本申请实施例一提供的一种车载系统应用管理方法的流程图；
图2a是根据本申请实施例二提供的一种车载系统应用管理架构的结构示意图；
图2b是根据本申请实施例二提供的一种车载系统应用管理架构的结构示意图；
图2c是根据本申请实施例二提供的一种车载系统应用管理架构中的软件模块示意图；
图3是实现本申请实施例的车载系统应用管理方法的车辆的结构示意图。
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例进行清楚、完整地描述，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“原始”、“目标”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备，可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
实施例一
图1为本申请实施例一提供了一种车载系统应用管理方法的流程图，本实施例可适用于对车辆内部的软件应用模块进行变更或调整的情况，该方法可以由车载系统应用管理架构来执行，该车载系统应用管理架构可以采用硬件和/或软件的形式实现，该车载系统应用管理架构可配置于车辆中。如图1所示，该方法包括：
S110、通过整车系统控制管理层获取应用管理请求，向所述应用管理请求对应的系统内部功能控制管理层或特定功能控制管理层发送调度指令。
其中，整车系统控制管理层可以指对车辆内部的功能系统进行调度的功能服务层，例如，对混动车辆的燃油系统和电动系统进行调度。应用管理请求可以指对车辆内部的应用模块或应用软件执行变更或增加等管理操作的请求。调度指令可以指对系统内部功能控制管理层或特定功能控制管理层进行调度的指令，示例性的，调度指令中可以包含调度的对象以及本次调度实现的目标功能。
其中，系统内部功能控制管理层可以指对车辆内部的功能进行协调的功能服务层，例如，发动机系统的进排气与冷却的协调配合控制。在一个可选的实施方式中，所述系统内部功能控制管理层，包括：底盘协同控制模块及车身姿态控制模块。其中，底盘协同控制模块可以指负责车辆横纵向协同控制的相关软件模块，示例性的，可以包括驾驶模式控制应用软件模块等。车身姿态控制模块可以指负责车辆垂向控制及调节车身姿态的相关软件模块，示例性的，可
以包括与负责车辆垂向控制及调节车身姿态功能相近的软件模块。在上述实施方式的基础上，所述方法还包括：通过所述系统内部功能控制管理层响应于所述调度指令，向所述系统内部功能控制管理层中的底盘协同控制模块及车身姿态控制模块发送协调指令。示例性的，系统内部功能控制管理层可以通过调度指令，对系统内部功能控制管理层中的底盘协同控制模块及车身姿态控制模块进行协调。
其中，特定功能控制管理层可以指对车辆内部中的特定功能进行控制的功能服务层，例如发动机冷却系统的控制。特定功能可以指根据底盘域的功能特性划分的功能，示例性的，可以为门控功能或发动机冷却等。在一个可选的实施方式中，所述特定功能控制管理层，包括：转向控制模块、制动控制模块、减震控制模块或悬架控制模块。其中，转向控制模块可以指负责转向控制、助力转向控制及转向模式切换控制等相关软件模块，示例性的，可以包括电动助力转向(Electric Power Steering，EPS)软件等。制动控制模块可以指负责车辆制动控制，包括行车制动控制及驻车制动控制等相关软件模块，示例性的，可以包括电子驻车制动(Electrical Park Brak，EPB)软件等。减震控制模块可以指负责控制车辆的减震器控制等相关软件模块，示例性的，可以包括连续减震控制(Continuous Damping Control，CDC)软件等。悬架控制模块可以指负责车辆的悬架控制等相关软件模块。在上述实施方式的基础上，所述方法还包括：通过所述特定功能控制管理层根据所述调度指令或调用指令，向所述特定功能控制管理层中的转向控制模块、制动控制模块、减震控制模块或悬架控制模块发送控制指令。示例性的，特定功能控制管理层可以通过调度指令或调用指令，对特定功能控制管理层中的转向控制模块、制动控制模块、减震控制模块或悬架控制模块进行控制。
由此，可以使得高层级的整车系统控制管理层可以对低层级的系统内部功能控制管理层或特定功能控制管理层进行调度，在一定程度上实现了软件模块之间的高内聚、低耦合，减少了软件模块之间的依赖性。
S120、通过所述系统内部功能控制管理层响应于所述调度指令，向所述调度指令对应的特定功能控制管理层发送调用指令。
其中，调用指令可以指对特定功能控制管理层中的各功能模块进行调用的指令。
可选的，响应于系统内部功能控制管理层接收到调度指令，可以根据调度指令中的目标功能，对特定功能控制管理层中与该目标功能对应的模块进行调用。
值得注意的是，为保证车辆内部的安全性，系统内部功能控制管理层及特
定功能控制管理层中的软件模块尽量避免同层级的软件模块。
S130、通过所述特定功能控制管理层根据所述调度指令或调用指令，向传感器及执行器控制管理层发送管理指令。
其中，传感器及执行器控制管理层可以指对车辆内部的传感器及执行器进行控制或驱动的功能服务层。管理指令可以指对传感器及执行器控制管理层中的各应用模块进行管理的指令。
由此，仅通过特定功能控制管理层对传感器及执行器控制管理层进行调用，可以实现高层软件和底层传感器及执行器的解耦，使得高层软件可以不依赖于硬件资源的变化，形成可适用的标准接口。
S140、通过所述传感器及执行器控制管理层执行所述管理指令，对底盘域内的应用模块进行管理。
其中，底盘域内的应用模块可以指车辆内部的相关硬件资源模块。值得注意的是，为保证车辆内部的安全性，传感器及执行器控制管理层禁止调用同层级的应用模块。
在一个可选的实施方式中，所述方法还包括：通过所述传感器及执行器控制管理层根据所述管理指令，对所述传感器及执行器控制管理层中的各传感器及执行器进行分割，形成软件库。其中，软件库可以指对底盘域内的应用模块进行存储的数据库。在另一个可选的实施方式中，所述软件库包括：车轮模块、制动模块、方向盘模块、驻车制动模块、减震器模块、悬架模块或惯性测量模块；相应的，通过所述传感器及执行器控制管理层执行所述管理指令，对底盘域内的应用模块进行管理包括：通过所述传感器及执行器控制管理层执行所述管理指令，对所述软件库中与所述管理指令对应的车轮模块、制动模块、方向盘模块、驻车制动模块、减震器模块、悬架模块或惯性测量模块进行管理。其中，车轮模块可以指负责轮速传感器驱动控制的相关模块，该车轮模块还可以提取轮速等相关信息供上层应用软件模块进行使用。制动模块可以指负责制动系统的传感器及执行器驱动控制的相关模块。方向盘模块可以指负责方向盘的传感器及执行器驱动控制的相关模块。驻车制动模块可以指负责驻车制动电机驱动控制的相关模块。减震器模块可以指负责减震相关传感器及执行器驱动控制的相关模块。悬架模块可以指负责悬架系统的传感器及执行器驱动控制的相关模块。惯性测量模块可以指负责惯性测量单元(Inertial Measurement Unit，IMU)中惯导传感器数据的读取以及驱动控制的相关模块。可选的，传感器及执行器控制管理层可以根据管理指令对软件库中与所述管理指令对应的车轮模块、制动模块、方向盘模块、驻车制动模块、减震器模块、悬架模块或惯性测量模块进行管理。
本申请实施例的方法，通过整车系统控制管理层获取应用管理请求，向应用管理请求对应的系统内部功能控制管理层或特定功能控制管理层发送调度指令；通过系统内部功能控制管理层响应于调度指令，向调度指令对应的特定功能控制管理层发送调用指令；通过特定功能控制管理层根据调度指令或调用指令，向传感器及执行器控制管理层发送管理指令；通过传感器及执行器控制管理层执行所述管理指令，对底盘域内的应用模块进行管理，解决了相关技术中车辆内部软件模块的可复用性和可移植性较低的问题，可以实现软件模块的可复用和可移植，在增加新功能以及功能变更时，更少的减少软件模块的变更，在一定程度上减少开发成本及人力投入。
实施例二
图2a为本申请实施例二提供的一种车载系统应用管理架构的结构示意图。如图2a所示，该架构包括：整车系统控制管理层210、系统内部功能控制管理层220、特定功能控制管理层230及传感器及执行器控制管理层240；
其中，整车系统控制管理层210，职务获取应用管理请求，向所述应用管理请求对应的系统内部功能控制管理层或特定功能控制管理层发送调度指令；
系统内部功能控制管理层220，设置为响应于所述调度指令，向所述调度指令对应的特定功能控制管理层发送调用指令；
特定功能控制管理层230，设置为根据所述调度指令或调用指令，向传感器及执行器控制管理层发送管理指令；
传感器及执行器控制管理层240，设置为执行所述管理指令，对底盘域内的应用模块进行管理。
本申请实施例通过整车系统控制管理层获取应用管理请求，向应用管理请求对应的系统内部功能控制管理层或特定功能控制管理层发送调度指令；通过系统内部功能控制管理层响应于调度指令，向调度指令对应的特定功能控制管理层发送调用指令；通过特定功能控制管理层根据调度指令或调用指令，向传感器及执行器控制管理层发送管理指令；通过传感器及执行器控制管理层执行所述管理指令，对底盘域内的应用模块进行管理，解决了相关技术中车辆内部软件的可复用性和可移植性较低的问题，可以实现软件模块的可复用和可移植，在增加新功能以及功能变更时，更少的减少软件模块的变更，在一定程度上减少开发成本及人力投入。
可选的，所述系统内部功能控制管理层220，包括：底盘协同控制模块及车身姿态控制模块。
可选的，所述特定功能控制管理层230，包括：转向控制模块、制动控制模块、减震控制模块或悬架控制模块。
可选的，所述传感器及执行器控制管理层240还可以设置为，根据所述管理指令，对所述传感器及执行器控制管理层中的传感器及执行器进行分割，形成软件库。
可选的，所述系统内部功能控制管理层220还可以设置为，响应于所述调度指令，向所述系统内部功能控制管理层中的底盘协同控制模块及车身姿态控制模块发送协调指令。
可选的，所述特定功能控制管理层230还可以设置为，根据所述调度指令或调用指令，向所述特定功能控制管理层中的转向控制模块、制动控制模块、减震控制模块或悬架控制模块发送控制指令。
可选的，所述软件库包括：车轮模块、制动模块、方向盘模块、驻车制动模块、减震器模块、悬架模块或惯性测量模块；
所述传感器及执行器控制管理层240设置为以如下方式通过所述传感器及执行器控制管理层执行所述管理指令，对底盘域内的应用模块进行管理：执行所述管理指令，对所述软件库中与所述管理指令对应的车轮模块、制动模块、方向盘模块、驻车制动模块、减震器模块、悬架模块或惯性测量模块进行管理。
本申请实施例所提供的车载系统应用管理架构可执行本申请任意实施例所提供的车载系统应用管理方法，具备执行方法相应的功能模块和有益效果。
如图2b所示，为本申请实施例提供的一种车载系统应用管理架构的分层示意图。可选的，车载系统应用管理架构可以分为整车系统控制管理层、系统内部功能控制管理层、特定功能控制管理层及传感器及执行器控制管理层四层，其中，整车系统控制管理层可以对系统内部功能控制管理层或特定功能控制管理层进行调度，系统内部功能控制管理层可以对特定功能控制管理层进行调用，特定功能控制管理层可以对传感器及执行器控制管理层进行管理。低层级的软件层不能调用高层级的软件层，整车系统控制管理层和系统内部功能控制管理层也不可以对执行器控制管理层进行调用。如图2c所示，为本申请实施例提供的一种车载系统应用管理架构中的软件模块示意图。可选的，系统内部功能控制管理层包括：底盘协同控制模块及车身姿态控制模块。特定功能控制管理层，包括：转向控制模块、制动控制模块、减震控制模块或悬架控制模块。传感器及执行器控制管理层中的软件库包括：车轮模块、制动模块、方向盘模块、驻车制动模块、减震器模块、悬架模块或惯性测量模块。由此，通过对底盘域的软件模块进行分层，可以实现软件模块的可复用和可移植，在增加新功能以及
功能变更时，更少的减少软件模块的变更，在一定程度上减少开发成本及人力投入。
实施例三
图3为本申请实施例三提供的一种车辆的结构示意图，如图3所示，该车辆包括处理器310、存储器320、输入装置330和输出装置340；车辆中处理器310的数量可以是一个或多个，图3中以一个处理器310为例；车辆中的处理器310、存储器320、输入装置330和输出装置340可以通过总线或其他方式连接，图3中以通过总线连接为例。
存储器320作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块，如本申请实施例中的车载系统应用管理方法对应的程序指令/模块(例如，车载系统应用管理架构中的整车系统控制管理层210、系统内部功能控制管理层220、特定功能控制管理层230及传感器及执行器控制管理层240)。处理器310通过运行存储在存储器320中的软件程序、指令以及模块，从而执行车辆的各种功能应用以及数据处理，即实现上述的车载系统应用管理方法。
该方法包括：
通过整车系统控制管理层获取应用管理请求，向所述应用管理请求对应的系统内部功能控制管理层或特定功能控制管理层发送调度指令；
通过所述系统内部功能控制管理层响应于所述调度指令，向所述调度指令对应的特定功能控制管理层发送调用指令；
通过所述特定功能控制管理层根据所述调度指令或调用指令，向传感器及执行器控制管理层发送管理指令；
通过所述传感器及执行器控制管理层执行所述管理指令，对底盘域内的应用模块进行管理。
存储器320可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据终端的使用所创建的数据等。此外，存储器320可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储器320可包括相对于处理器310远程设置的存储器，这些远程存储器可以通过网络连接至车辆。上述网络的实例包括互联网、企业内部网、局域网、移动通信网及其组合。
输入装置330可用于接收输入的数字或字符信息，以及产生与车辆的用户设置以及功能控制有关的键信号输入。输出装置340可包括显示屏等显示设备。
实施例四
本申请实施例四还提供一种包含计算机可执行指令的存储介质，所述计算机可执行指令在由计算机处理器执行时用于执行一种车载系统应用管理方法，该方法包括：
通过整车系统控制管理层获取应用管理请求，向所述应用管理请求对应的系统内部功能控制管理层或特定功能控制管理层发送调度指令；
通过所述系统内部功能控制管理层响应于所述调度指令，向所述调度指令对应的特定功能控制管理层发送调用指令；
通过所述特定功能控制管理层根据所述调度指令或调用指令，向传感器及执行器控制管理层发送管理指令；
通过所述传感器及执行器控制管理层执行所述管理指令，对底盘域内的应用模块进行管理。当然,本申请实施例所提供的一种包含计算机可执行指令的存储介质,其计算机可执行指令如上所述的方法操作,还可以执行本申请任意实施例所提供的车载系统应用管理方法中的相关操作。
通过以上关于实施方式的描述，所属领域的技术人员可以清楚地了解到，本申请可借助软件及必需的通用硬件来实现，当然也可以通过硬件实现，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对相关技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、闪存(FLASH)、硬盘或光盘等，包括多条指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述的方法。
值得注意的是，上述车载系统应用管理架构的实施例中，所包括的各个单元和模块只是按照功能逻辑进行划分的，具体划分只要能够实现相应的功能即可；另外，各功能单元的名称也只是为了便于相互区分。
Claims (10)
- 一种车载系统应用管理方法，包括：通过整车系统控制管理层获取应用管理请求，向所述应用管理请求对应的系统内部功能控制管理层或特定功能控制管理层发送调度指令；通过所述系统内部功能控制管理层响应于所述调度指令，向所述调度指令对应的特定功能控制管理层发送调用指令；通过所述特定功能控制管理层根据所述调度指令或调用指令，向传感器及执行器控制管理层发送管理指令；通过所述传感器及执行器控制管理层执行所述管理指令，对底盘域内的应用模块进行管理。
- 根据权利要求1所述的方法，其中，所述系统内部功能控制管理层，包括：底盘协同控制模块及车身姿态控制模块。
- 根据权利要求1所述的方法，其中，所述特定功能控制管理层，包括：转向控制模块、制动控制模块、减震控制模块或悬架控制模块。
- 根据权利要求1所述的方法，所述方法还包括：通过所述传感器及执行器控制管理层根据所述管理指令，对所述传感器及执行器控制管理层中的传感器及执行器进行分割，形成软件库。
- 根据权利要求2所述的方法，所述方法还包括：通过所述系统内部功能控制管理层响应于所述调度指令，向所述系统内部功能控制管理层中的底盘协同控制模块及车身姿态控制模块发送协调指令。
- 根据权利要求3所述的方法，所述方法还包括：通过所述特定功能控制管理层根据所述调度指令或调用指令，向所述特定功能控制管理层中的转向控制模块、制动控制模块、减震控制模块或悬架控制模块发送控制指令。
- 根据权利要求4所述的方法，其中，所述软件库包括：车轮模块、制动模块、方向盘模块、驻车制动模块、减震器模块、悬架模块或惯性测量模块；所述通过所述传感器及执行器控制管理层执行所述管理指令，对底盘域内的应用模块进行管理，包括：通过所述传感器及执行器控制管理层执行所述管理指令，对所述软件库中与所述管理指令对应的车轮模块、制动模块、方向盘模块、驻车制动模块、减震器模块、悬架模块或惯性测量模块进行管理。
- 一种车载系统应用管理架构，包括：整车系统控制管理层，设置为获取应用管理请求，向所述应用管理请求对应的系统内部功能控制管理层或特定功能控制管理层发送调度指令；系统内部功能控制管理层，设置为响应于所述调度指令，向所述调度指令对应的特定功能控制管理层发送调用指令；特定功能控制管理层，设置为根据所述调度指令或调用指令，向传感器及执行器控制管理层发送管理指令；传感器及执行器控制管理层，设置为执行所述管理指令，对底盘域内的应用模块进行管理。
- 一种车辆，所述车辆包括：至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-7中任一项所述的车载系统应用管理方法。
- 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使处理器执行时实现权利要求1-7中任一项所述的车载系统应用管理方法。
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