SOA service-based vehicle body control arbitration method and device

Abstract

The invention relates to the technical field of vehicle-mounted services, and discloses a vehicle body control arbitration method and device based on SOA service, and the method comprises the steps: obtaining a new external request, and obtaining a request service type and request time of the new external request through analyzing the new external request; judging whether the new external request conflicts with the current external request set to be processed or not; if the conflict exists, performing external conflict arbitration to obtain a first external arbitration result; performing format conversion on the new external request to form a new external command; judging whether the new external command conflicts with the current local command set to be processed or not; if the conflict exists, performing local conflict arbitration to obtain a first local arbitration result; and driving the area controller according to the first local arbitration result. According to the invention, the priority and conflict problems between the vehicle body control local end and the remote end are solved, the equipment processing resources are saved, the system compatibility is greatly improved, and the coupling degree of service and signals is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted services, and in particular to a vehicle body control arbitration method and device based on SOA services. Background Art

[0002] In the context of SOA architecture, in body control applications, in order to facilitate the rapid implementation of services on the existing architecture, local control strategies are usually retained, and CAN communication based on signals is used for interaction. New remote control strategies are added, and Ethernet communication based on services is used for interaction. This method does not require adjusting the existing CAN-based model framework, but only requires adding SOA service applications.

[0003] CAN signal-based control and service-based calls coexist, so after adding the SOA part, the control strategy implementation is more complicated, and it is necessary to consider control response priority, conflict and other issues. Therefore, an arbitration strategy based on local and remote SOA control is urgently needed to solve the priority and conflict issues between the local and remote ends of body control. Summary of the invention

[0004] The present invention provides a vehicle body control arbitration method and device based on SOA service, which solves the priority and conflict problems between the local end and the remote end of the vehicle body control and saves equipment processing resources.

[0005] In order to solve the above technical problems, the present invention provides a vehicle body control arbitration method based on SOA services, comprising:

[0006] Obtain a new external request, and obtain a request service type and a request time of the new external request by parsing the new external request;

[0007] Get the current set of pending external requests;

[0008] Determining whether the new external request conflicts with the current set of external requests to be processed according to the request time of the new external request;

[0009] If the new external request conflicts with the current set of pending external requests, external conflict arbitration is performed according to the request service type of the new external request to obtain a first external arbitration result;

[0010] Based on the first external arbitration result, converting the format of the new external request to form a new external command;

[0011] Get the current pending local command set;

[0012] Determine whether the new external command conflicts with the current local command set to be processed;

[0013] If the new external command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the request service type of the new external request to obtain a first local arbitration result;

[0014] The regional controller is driven according to the first local arbitration result.

[0015] Furthermore, if the new external request conflicts with the current set of pending external requests, external conflict arbitration is performed according to the request service type of the new external request to obtain a first external arbitration result, which is specifically:

[0016] When the new external request conflicts with the current set of to-be-processed external requests, obtaining a plurality of first external conflicting requests that conflict with the new external request;

[0017] Performing external conflict arbitration based on the request service type of the new external request and the first arbitration scheme to obtain a first external arbitration result;

[0018] The first arbitration scheme includes:

[0019] When the new external request conflicts with the current set of to-be-processed external requests, the new external request and the first external conflicting requests are responded to in sequence according to the order of their request times.

[0020] Furthermore, if the new external command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the request service type of the new external request to obtain a first local arbitration result, which is specifically:

[0021] When the new external command conflicts with the current local command set to be processed, obtaining a plurality of first local conflicting commands that conflict with the new external command;

[0022] If the request service type of the new external request is a body control service, determining the command type of the new external command;

[0023] Performing local conflict arbitration based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme to obtain a first local arbitration result;

[0024] The first arbitration scheme further includes:

[0025] When the new external command conflicts with the current local command set to be processed, responding to the new external command and each of the first local conflicting commands in sequence according to the order of their request times;

[0026] The second arbitration scheme comprises:

[0027] When the new external command conflicts with the current local command set to be processed, the new external command is responded to to cover each of the first conflicting local commands.

[0028] Further, the external conflict arbitration is performed based on the request service type of the new external request and the first arbitration scheme to obtain a first external arbitration result, which is specifically:

[0029] When the requested service type of the new external request is a body control service, determining the first external arbitration result as a first arbitration scheme;

[0030] When the request service type of the new external request is a vehicle body control abnormality feedback service, determining the first external arbitration result as responding to the new external request and a plurality of the first external conflicting requests at the same time;

[0031] When the request service type of the new external request is a vehicle body control parameter setting service, a signal type of the new external request is determined; when the signal type of the new external request is a first signal type, a first external arbitration result is determined as a first arbitration scheme.

[0032] Furthermore, based on the first external arbitration result, the new external request is formatted to form a new external command, specifically:

[0033] Determining a signal type of the new external request according to an input interface of the new external request;

[0034] Mapping the new external request into a first network signal;

[0035] Acquire the first network signal through inter-core communication, and determine an output interface of the first network signal according to the signal type of the new external request;

[0036] The first network signal is converted into a new external command by using the output interface of the first network signal.

[0037] Furthermore, the local conflict arbitration is performed based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme to obtain a first local arbitration result, which is specifically:

[0038] When the command type of the new external command is an event-triggered control command, determining the first local arbitration result as a first arbitration scheme;

[0039] When the command type of the new external command is a state control command, determining the first local arbitration result as a second arbitration scheme;

[0040] When the command type of the new external command is a long-time trigger control command, the first local arbitration result is determined as a first arbitration scheme or a second arbitration scheme.

[0041] Furthermore, before obtaining the new external request, the method further includes:

[0042] When a new request sent by an external client is received, the new request is converted into a protocol to generate a new external request.

[0043] Furthermore, the vehicle body control arbitration method based on SOA service further includes:

[0044] When a new local command is received, obtaining a request service type and a request time of the new local command by parsing the new local command;

[0045] Based on the request time of the new local command, determining whether the new local command conflicts with the current local command set to be processed;

[0046] If the new local command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the requested service type of the new local command to obtain a second local arbitration result;

[0047] The regional controller is driven according to the second local arbitration result.

[0048] Furthermore, if the new local command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the requested service type of the new local command to obtain a second local arbitration result, which is specifically:

[0049] When the new local command conflicts with the current local command set to be processed, obtaining a plurality of second local conflicting commands that conflict with the new local command;

[0050] If the request service type of the new local command is a body control service, determining the command type of the new local command;

[0051] When the command type of the new local command is an event-triggered control command, determining the second local arbitration result as the first arbitration scheme;

[0052] When the command type of the new local command is a state control command, determining the second local arbitration result as a second arbitration scheme;

[0053] When the command type of the new local command is a long-time trigger control command, determining the second local arbitration result as the first arbitration scheme or the second arbitration scheme;

[0054] The first arbitration scheme further includes:

[0055] When the new local command conflicts with the current local command set to be processed, responding to the new local command and each second local conflicting command in sequence according to the order of their request times;

[0056] The second arbitration scheme further includes:

[0057] When the new local command conflicts with the current local command set to be processed, the new local command is responded to to cover each of the second conflicting local commands.

[0058] Accordingly, the present invention provides a vehicle body control arbitration device based on SOA service, comprising: a parsing module, a first acquisition module, a first judgment module, a first arbitration module, a conversion module, a second acquisition module, a second judgment module, a second arbitration module and a driving module;

[0059] The parsing module is used to obtain a new external request, and obtain a request service type and a request time of the new external request by parsing the new external request;

[0060] The first acquisition module is used to acquire the current set of external requests to be processed;

[0061] The first judgment module is used to judge whether the new external request conflicts with the current set of external requests to be processed according to the request time of the new external request;

[0062] The first arbitration module is used for performing external conflict arbitration according to the request service type of the new external request to obtain a first external arbitration result if the new external request conflicts with the current set of pending external requests;

[0063] The conversion module is used for converting the format of the new external request based on the first external arbitration result to form a new external command;

[0064] The second acquisition module is used to acquire the current local command set to be processed;

[0065] The second judgment module is used to judge whether there is a conflict between the new external command and the current local command set to be processed;

[0066] The second arbitration module is used for performing local conflict arbitration according to the request service type of the new external request to obtain a first local arbitration result if there is a conflict between the new external command and the current to-be-processed local command set;

[0067] The driving module is used to drive the regional controller according to the first local arbitration result.

[0068] Compared with the prior art, the present invention has the following beneficial effects:

[0069] The present invention utilizes the SOA front-end processor to handle conflicts between external requests, and utilizes the back-end arbitrator to handle conflicts between external commands and local commands, and between local commands and local commands, thereby solving the priority and conflict problems between the local and remote ends of vehicle body control, normalizing control commands, greatly improving system compatibility, and reducing the coupling degree between services and signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 A flow chart of an embodiment of a vehicle body control arbitration method based on SOA service provided by the present invention;

[0071] Figure 2 A schematic diagram of the structure of an embodiment of a vehicle body control arbitration system based on SOA service provided by the present invention;

[0072] Figure 3 A schematic diagram of the structure of an embodiment of the SOA service front-end processing module provided by the present invention;

[0073] Figure 4 A schematic diagram of the structure of an embodiment of the SOA service proxy module provided by the present invention;

[0074] Figure 5 A schematic structural diagram of an embodiment of a vehicle body control arbitration device based on SOA service provided by the present invention. DETAILED DESCRIPTION

[0075] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0076] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0077] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0078] In the description of the present invention, it should be understood that the terms used in the present invention are as follows:

[0079] VDC: Central Domain Controller

[0080] ZCU: Zone Controller

[0081] SOA: Service Oriented Architecture

[0082] SWC: Application Software Unit

[0083] RTE: Interface layer (runtime environment) in Autosar architecture

[0084] SOME / IP: Ethernet communication protocol

[0085] DDS: Ethernet communication protocol

[0086] HTTP: Ethernet communication protocol

[0087] IPCF: Inter-core Communication Interface

[0088] AP: Adaptive Autosar

[0089] CP: Classic Autosar

[0090] Method: Interface of SOME / IP protocol

[0091] Event: Interface of SOME / IP protocol

[0092] Field: Interface of SOME / IP protocol

[0093] Getter: Communication mechanism in Field interface by reading

[0094] Notifier: Communication mechanism through notification in Field interface

[0095] Setter: Communication mechanism in Field interface through setting

[0096] Example 1

[0097] See also Figure 1 , is a flow chart of an embodiment of a vehicle body control arbitration method based on SOA service provided by the present invention, the method includes steps 101 to 109, each step is specifically as follows:

[0098] Step 101: Obtain a new external request, and obtain the request service type and request time of the new external request by parsing the new external request.

[0099] In the first embodiment of the present invention, the body control has a conflict problem that multiple clients simultaneously request to call the same service. Therefore, when a new external request from an external client is received, the new external request is first parsed to obtain the request service type and request time corresponding to the request. Among them, the request time is used to determine whether the new external request conflicts with the existing current set of pending external requests, and the request service type is used to determine the arbitration scheme.

[0100] Furthermore, in the first embodiment of the present invention, before obtaining a new external request, the method further includes:

[0101] When a new request sent by an external client is received, the new request is converted into a protocol to generate a new external request.

[0102] In the first embodiment of the present invention, when a new request is received from an external client, the new request is first converted to a protocol to generate a new external request for subsequent arbitration. For example, DDS, Http, etc. are converted to SOME / IP, so that service calls from more ecosystem APPs can be processed.

[0103] Step 102: Get the current set of external requests to be processed.

[0104] Step 103: Determine whether the new external request conflicts with the current set of external requests to be processed according to the request time of the new external request.

[0105] In the first embodiment of the present invention, before obtaining a new external request, the system has previously received external requests. If the previously received external requests cannot be processed in time, they are stored in the current set of pending external requests after arbitration, and the external requests in the current set of pending external requests are processed according to the time after arbitration.

[0106] In the first embodiment of the present invention, after obtaining a new external request, it is determined whether the new external request conflicts with the current set of pending external requests based on the request time of the new external request. Specifically, the current set of pending external requests is screened for external requests that call the same service as the new external request, and the request time of the new external request is compared with the external request that calls the same service to determine whether the request times of the two coincide. If the request times coincide, it is determined that the new external request conflicts with the current set of pending external requests. In the event of a conflict, arbitration is required between the new external request and the conflicting external request.

[0107] Step 104: If the new external request conflicts with the current set of to-be-processed external requests, external conflict arbitration is performed according to the request service type of the new external request to obtain a first external arbitration result.

[0108] Further, in the first embodiment of the present invention, if the new external request conflicts with the current set of pending external requests, external conflict arbitration is performed according to the request service type of the new external request to obtain a first external arbitration result, which is specifically:

[0109] When the new external request conflicts with the current set of to-be-processed external requests, obtaining a plurality of first external conflicting requests that conflict with the new external request;

[0110] Performing external conflict arbitration based on the request service type of the new external request and the first arbitration scheme to obtain a first external arbitration result;

[0111] The first arbitration scheme includes:

[0112] When the new external request conflicts with the current set of to-be-processed external requests, the new external request and the first external conflicting requests are responded to in sequence according to the order of their request times.

[0113] In the first embodiment of the present invention, when a new external request conflicts with the current set of pending external requests, the first conflicting external request is first screened out from the current set of pending external requests, and the first conflicting external request and the new external request are arbitrated. Specifically, arbitration is performed based on the type of service to be called by the new external request, that is, based on the request service type of the new external request.

[0114] Further, in the first embodiment of the present invention, external conflict arbitration is performed based on the request service type of the new external request and the first arbitration scheme to obtain a first external arbitration result, which is specifically:

[0115] When the requested service type of the new external request is a body control service, determining the first external arbitration result as a first arbitration scheme;

[0116] When the request service type of the new external request is a vehicle body control abnormality feedback service, determining the first external arbitration result as responding to the new external request and a plurality of the first external conflicting requests at the same time;

[0117] When the request service type of the new external request is a vehicle body control parameter setting service, a signal type of the new external request is determined; when the signal type of the new external request is a first signal type, a first external arbitration result is determined as a first arbitration scheme.

[0118] Optionally, the types of services to be called by the new external request can be roughly divided into three categories, including body control service, body control abnormality feedback service and body control parameter setting service. Different arbitration schemes can be used for different request service types.

[0119] Optionally, for the body control service, the corresponding arbitration strategy is to trigger in sequence according to the order of request time. Therefore, when the new external request and the first external conflicting request call the same body control service, the request time arbitration of each external request is compared, and the new external request and the first external conflicting request are triggered in sequence according to the order of request time.

[0120] Optionally, for the body control abnormality feedback service, since each external request corresponds to a client to be fed back, the local end can trigger multiple body control abnormality feedback services at the same time, so as to feed back to each client respectively. Since the responding clients are different, there will be no conflict when the body control abnormality feedback services with conflicting request times are triggered at the same time. Therefore, when the conflicting request service type is the body control abnormality feedback service, there is no arbitration, and the new external request and the first external conflicting request in the current set of pending external requests can be responded to at the same time.

[0121] Optionally, the body control parameter setting service includes multiple types, including Getter type, Notifier type and Setter type. Some types of the body control parameter setting service can respond to multiple requests at the same time, while some types can only respond to multiple requests one by one in sequence. Therefore, when a conflicting new external request calls the body control parameter setting service, the signal type of the service called is determined, and different arbitration schemes are determined based on different signal types. For example, when the signal type is Getter type and Notifier type, the service can respond to multiple requests at the same time, so there is no arbitration; when the signal type is Setter type, it responds in sequence according to the order of request time.

[0122] Step 105: Based on the first external arbitration result, convert the format of the new external request to form a new external command.

[0123] Further, in the first embodiment of the present invention, based on the first external arbitration result, the new external request is formatted to form a new external command, specifically:

[0124] Determining a signal type of the new external request according to an input interface of the new external request;

[0125] Mapping the new external request into a first network signal;

[0126] Acquire the first network signal through inter-core communication, and determine an output interface of the first network signal according to the signal type of the new external request;

[0127] The first network signal is converted into a new external command by using the output interface of the first network signal.

[0128] In the first embodiment of the present invention, after the arbitration between the new external request and the current pending external request set is completed, the new external request and the current pending local command set are arbitrated again to coordinate the conflict between the remote client and the local control end.

[0129] In the first embodiment of the present invention, the system for arbitrating a new external request with the current set of pending external requests and the system for arbitrating a new external request with the current set of pending local commands are different. Therefore, when the new external request is arbitrating with the current set of pending local commands, the format of the new external request is first converted into a new external command.

[0130] Optionally, the process of converting a new external request into a new external command is as follows: mapping the new external request to a corresponding CAN signal, and obtaining the CAN signal information in the corresponding CP environment through inter-core communication. The new external request and the current pending local command set are arbitrated in the CP environment. In the CP environment, multiple interface simulation combinations of the interface layer correspond to different signal types of the new external command.

[0131] Step 106: Obtain the current local command set to be processed.

[0132] Step 107: Determine whether the new external command conflicts with the current local command set to be processed.

[0133] In the first embodiment of the present invention, the system stores local commands from local control. If the received local commands cannot be processed in time, they are stored in the current set of local commands to be processed after arbitration, and the local commands in the current set of local commands to be processed are processed according to the time after arbitration.

[0134] In the first embodiment of the present invention, after receiving a new external command converted from a new external request, it is determined whether the new external command conflicts with the current local command set to be processed based on the request time of the new external command. Specifically, the local command that calls the same service as the new external command is screened in the current local command set to be processed, and the request time of the new external command is compared with the local command that calls the same service to determine whether the request times of the two coincide. If the request times coincide, it is determined that there is a conflict between the new external command and the current local command set to be processed. In the event of a conflict, arbitration is required between the new external command and the conflicting local command.

[0135] Step 108: If the new external command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the request service type of the new external request to obtain a first local arbitration result.

[0136] Further, in the first embodiment of the present invention, if the new external command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the request service type of the new external request to obtain a first local arbitration result, which is specifically:

[0137] When the new external command conflicts with the current local command set to be processed, obtaining a plurality of first local conflicting commands that conflict with the new external command;

[0138] If the request service type of the new external request is a body control service, determining the command type of the new external command;

[0139] Performing local conflict arbitration based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme to obtain a first local arbitration result;

[0140] The first arbitration scheme further includes:

[0141] When the new external command conflicts with the current local command set to be processed, responding to the new external command and each of the first local conflicting commands in sequence according to the order of their request times;

[0142] The second arbitration scheme comprises:

[0143] When the new external command conflicts with the current local command set to be processed, the new external command is responded to to cover each of the first conflicting local commands.

[0144] In the first embodiment of the present invention, when a new external command conflicts with a current set of local commands to be processed, a first local conflicting command with a conflict is first screened out from the current set of local commands to be processed, and the first local conflicting command and the new external command are arbitrated. Specifically, local conflict arbitration is performed according to the request service type of the new external request.

[0145] Further, in the first embodiment of the present invention, local conflict arbitration is performed based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme to obtain a first local arbitration result, which is specifically:

[0146] When the command type of the new external command is an event-triggered control command, determining the first local arbitration result as a first arbitration scheme;

[0147] When the command type of the new external command is a state control command, determining the first local arbitration result as a second arbitration scheme;

[0148] When the command type of the new external command is a long-time trigger control command, the first local arbitration result is determined as a first arbitration scheme or a second arbitration scheme.

[0149] Optionally, local conflict arbitration only arbitrates new external requests whose request service type is body control service. Therefore, when the request service type corresponding to the new external command is body control service, the command type of the new external command is determined. The command types of new external commands can be roughly divided into three categories, including event-triggered control commands, state-triggered control commands, and long-time triggered control commands. Different arbitration schemes can be used for different command types.

[0150] Optionally, for event-triggered control commands, the corresponding arbitration strategy is to trigger in sequence according to the order of request time. Therefore, when a new external command and the first local conflicting command call the same body control service, the request time arbitration of each command is compared, and the new external command and the first local conflicting command are triggered in sequence according to the order of request time. The later responded command can overwrite the previously responded command.

[0151] Optionally, for state-type control commands, the corresponding arbitration strategy is to directly respond to a new external command, control the new external command to overwrite the first local conflicting command being responded to, that is, control the new state to interrupt the old state, and return the current value.

[0152] Optionally, for a long-time triggered control command, the corresponding arbitration strategy is defined according to a specific control strategy, which may be to trigger a new external command and a first local conflicting command in sequence according to the request time, or to directly execute the new external command to overwrite the first local conflicting command.

[0153] Step 109: driving the regional controller according to the first local arbitration result.

[0154] In the first embodiment of the present invention, when a new external request is newly received, it is first subjected to external conflict arbitration with the current set of pending external requests to obtain an external arbitration result; based on the external arbitration result, the new external request is converted into a new external command, and the new external command is subjected to local conflict arbitration with the current set of pending local commands to obtain a first local arbitration result, and the regional controller is driven according to the first local arbitration result. The regional controller drives the execution of each request based on the first local arbitration result, and feeds back the execution result.

[0155] Furthermore, in the first embodiment of the present invention, it also includes:

[0156] When a new local command is received, obtaining a request service type and a request time of the new local command by parsing the new local command;

[0157] Based on the request time of the new local command, determining whether the new local command conflicts with the current local command set to be processed;

[0158] If the new local command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the requested service type of the new local command to obtain a second local arbitration result;

[0159] The regional controller is driven according to the second local arbitration result.

[0160] In the first embodiment of the present invention, there may be a conflict problem in which multiple local commands transmitted from the local end request to call a service at the same time. Therefore, when a new local command transmitted by the local end is received, the new local command is first parsed to obtain the requested service type and request time corresponding to the command. The request time is used to determine whether the new local command conflicts with the existing current local command set to be processed, and the requested service type is used to determine the arbitration scheme.

[0161] In the first embodiment of the present invention, before obtaining a new local command, the system has previously received local commands. If the previously received local commands cannot be processed in time, they are stored in the current set of local commands to be processed after arbitration, and the local commands in the current set of local commands to be processed are processed according to the time after arbitration.

[0162] In the first embodiment of the present invention, after obtaining a new local command, it is determined whether the new local command conflicts with the current local command set to be processed based on the request time of the new local command. Specifically, the local command that calls the same service as the new local command is screened in the current local command set to be processed, and the request time of the new local command is compared with the local command that calls the same service to determine whether the request times of the two coincide. If the request times coincide, it is determined that the new local command conflicts with the current local command set to be processed. In the event of a conflict, arbitration is required between the new local command and the conflicting local command.

[0163] Further, in the first embodiment of the present invention, if the new local command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the request service type of the new local command to obtain a second local arbitration result, which is specifically:

[0164] When the new local command conflicts with the current local command set to be processed, obtaining a plurality of second local conflicting commands that conflict with the new local command;

[0165] If the request service type of the new local command is a body control service, determining the command type of the new local command;

[0166] When the command type of the new local command is an event-triggered control command, determining the second local arbitration result as the first arbitration scheme;

[0167] When the command type of the new local command is a state control command, determining the second local arbitration result as a second arbitration scheme;

[0168] When the command type of the new local command is a long-time trigger control command, determining the second local arbitration result as the first arbitration scheme or the second arbitration scheme;

[0169] The first arbitration scheme further includes:

[0170] When the new local command conflicts with the current local command set to be processed, responding to the new local command and each second local conflicting command in sequence according to the order of their request times;

[0171] The second arbitration scheme further includes:

[0172] When the new local command conflicts with the current local command set to be processed, the new local command is responded to to cover each of the second conflicting local commands.

[0173] In the first embodiment of the present invention, when a new local command conflicts with a current local command set to be processed, a second local conflicting command with a conflict is first screened out from the current local command set to be processed, and the second local conflicting command and the new local command are arbitrated. Specifically, the second local conflict arbitration is performed according to the request service type of the new local command.

[0174] Optionally, the second local conflict arbitration only arbitrates new local commands whose request service type is body control service. Therefore, when the request service type corresponding to the new local command is body control service, the command type of the new local command is determined. The command types of new local commands can be roughly divided into three categories, including event-triggered control commands, state-triggered control commands, and long-time triggered control commands. Different arbitration schemes can be used for different command types.

[0175] Optionally, for event-triggered control commands, the corresponding arbitration strategy is to trigger in sequence according to the order of request time. Therefore, when a new local command and a second local conflicting command call the same body control service, the request time arbitration of each command is compared, and the new local command and the second local conflicting command are triggered in sequence according to the order of request time. The later responded command can overwrite the previously responded command.

[0176] Optionally, for state-type control commands, the corresponding arbitration strategy is to directly respond to the new local command, control the new local command to cover the second local conflicting command being responded to, that is, control the new state to interrupt the old state, and return the current value.

[0177] Optionally, for long-time triggered control commands, the corresponding arbitration strategy is defined according to the specific control strategy, which can be to trigger a new local command and a second local conflicting command in sequence according to the request time, or to directly execute a new external command to overwrite the second local conflicting command.

[0178] In the first embodiment of the present invention, when a new local command is newly received, it is determined whether the new local command conflicts with the current local command set to be processed. If there is a conflict, the new local command and the current local command set to be processed are subjected to local conflict arbitration to obtain a second local arbitration result, and the regional controller is driven according to the second local arbitration result. The regional controller drives the execution of each command based on the second local arbitration result, and feeds back the execution result.

[0179] In summary, the first embodiment of the present invention provides a vehicle body control arbitration method based on SOA service, which obtains a new external request, obtains the request service type and request time of the new external request by parsing the new external request; determines whether the new external request conflicts with the current set of external requests to be processed; if there is a conflict, performs external conflict arbitration and obtains a first external arbitration result; converts the format of the new external request to form a new external command; determines whether the new external command conflicts with the current set of local commands to be processed; if there is a conflict, performs local conflict arbitration and obtains a first local arbitration result; drives the regional controller according to the first local arbitration result. The present invention solves the priority and conflict problems between the local end and the remote end of the vehicle body control, saves equipment processing resources, greatly improves system compatibility, and reduces the coupling degree between services and signals.

[0180] Example 2

[0181] See also Figure 2 , is a structural diagram of an embodiment of a vehicle body control arbitration system based on SOA service provided by the present invention, the vehicle body control arbitration system includes a central domain controller VDC and a regional controller ZCU. The central domain controller VDC is used to execute the control strategy of the vehicle body component control, and the regional controller ZCU is used to execute the control drive of the vehicle body component. The arbitration strategy is deployed in the central domain controller VDC, and the central domain controller VDC includes an SOA service front-end processing module, an SOA service proxy module, a local control SWC and an arbitration SWC.

[0182] Optionally, the SOA service front-end processing module is responsible for processing the remote service call. When receiving the remote service request, it arbitrates the service request and responds to the service. Figure 3 , is a structural diagram of an embodiment of the SOA service front-end processing module provided by the present invention, and the SOA service front-end processing module includes a SOA protocol conversion unit and a service arbitration unit. The SOA protocol conversion unit supports commonly used protocol conversions, for example, converting DDS, Http, etc. to SOME / IP, and can handle service call requests from more ecosystem APPs. For example, Windows APP application service requests from PC terminals, Android APP application service requests from mobile terminals, etc. The service arbitration unit is used to handle the problem of multiple application terminals calling services at the same time, as well as status feedback when the service is busy.

[0183] As an example, suppose that service request 1, service request 2, and service request 3 are received from multiple groups of clients, where the protocol of service request 1 and service request 2 is a non-SOME / IP protocol, and the protocol of service request 3 is a SOME / IP protocol. The SOA protocol conversion unit converts the service request 1 and service request 2 of the non-SOME / IP protocol into service requests of the SOME / IP protocol, and transmits the service requests of the SOME / IP protocol to the service arbitration unit. The service arbitration unit performs service arbitration on service request 1, service request 2, and service request 3, and outputs the SOME / IP request to the lower-level module after integration.

[0184] Optionally, a specific arbitration strategy of the service arbitration unit is determined according to a service type of a service request, and the service type of the service request includes a body control service, a body control abnormality feedback service, and a body control parameter setting service.

[0185] For the body control service, the Method interface is used. The arbitration strategy is to trigger in chronological order. For example, when the headlight control service is called by client 1, client 2, and client 3 respectively, if client 1 calls and sets it to on, client 2 calls and sets it to off, and client 3 calls and sets it to on, then the arbitration strategy is to respond to the headlights on → off → on in sequence. At this time, the service call sequence received by the server is client 1 → client 2 → client 3. After receiving the SOME / IP response, the service arbitration unit returns the current service call status and returns the SOME / IP response to the SOA protocol conversion unit, so that the SOA protocol conversion unit feeds back the service response to client 1, and returns the result of "please wait" to clients 2 and 3 while waiting for responses to clients 2 and 3.

[0186] For the abnormal feedback service of body control, the Event interface is used, which is triggered by the local end and directly distributed by the server to each client that establishes a connection without arbitration. For example, local control protection status trigger, timing trigger and other services.

[0187] For the body control parameter setting service, the Field interface is used. In the body control parameter setting service, for Getter and Notifier types, no arbitration is required, and one-to-many responses can be made simultaneously; for Setter types, responses are made in chronological order. For example, to obtain the current air-conditioning temperature status, the server distributes the air-conditioning temperature status to the currently linked cockpit controller client and the user's mobile phone APP at the same time. For another example, to set the air-conditioning target temperature parameter, the mobile phone APP calls to set it to 25℃, and the cockpit human-computer interaction interface APP calls to set it to 30℃. The server receives the request from the mobile phone APP first, and should first respond to the 25℃ setting value and then change it to the 30℃ setting value.

[0188] Optionally, the service arbitrated by the SOA service front-end processing module enters the next-level SOA service proxy module. The SOA service proxy module is used to implement SOA service implementation, convert external requests into CMD commands in the AP environment, and transmit the external SOA service request to the arbitration SWC. Figure 4 , is a structural diagram of an embodiment of the SOA service proxy module provided by the present invention. The SOA service proxy module includes a SOME / IP interface, a service mapping APP, an inter-core communication unit, a service mapping SWC and an RTE interface. The SOME / IP interface receives the SOME / IP service, and the service mapping APP maps it to the corresponding CAN network signal according to the defined service matrix, and obtains the CAN signal information under the corresponding CP environment through the inter-core communication unit. The service mapping SWC maps the CAN signal information according to the service type, and outputs the service command through the corresponding RTE interface to complete the conversion of the service request to the service command.

[0189] Optionally, in the CP environment, through the combined simulation between the SR interface, CS interface and Trigger interface in the RTE interface, the Method interface, Event interface and Field interface can be corresponded. Specifically: the service defined in the Method interface corresponds to the CS type, and the service mapping SWC provides the CS interface for inter-core communication; the service defined in the Field interface corresponds to the SR type, and the service mapping SWC provides the SR interface for inter-core communication; the service defined in the Event interface corresponds to the CS type, and the service mapping SWC provides the CS interface for inter-core communication.

[0190] Optionally, the local control SWC obtains the local control command of the local end through switch detection and status detection, and transmits the local control command to the arbitration SWC through the RTE interface. After receiving the CMD command of the local control SWC in the CP environment and the CMD command converted from the AP environment, the arbitration SWC performs the final arbitration. The arbitration SWC performs arbitration operations in the CP environment, and its upper and lower interfaces are interfaces in the RTE environment. The arbitration SWC has the same arbitration idea as the SOA service front-end processing module. The arbitration SWC only arbitrates for body control commands. Different arbitration strategies are formulated for different command types of body control commands.

[0191] Optionally, for event-triggered control commands, the corresponding arbitration strategy is to trigger in sequence according to the order of request time, that is, the first command received will be responded to first, and the subsequent response can overwrite the previous response. For state-type control commands, the corresponding arbitration strategy is to execute directly, overwriting the command being responded to, so that the new control state interrupts the old control state, and returns the current value. For long-term triggered control commands, there are two arbitration strategies, one is to wait for the previous command to be executed before executing the next command; the other is to interrupt the previous command and directly execute the new command. The arbitration strategy for long-term triggered control commands is defined by the specific control strategy.

[0192] Optionally, after the arbitration SWC obtains the final arbitration result, the final control instruction is sent to the regional controller ZCU. The regional controller ZCU is responsible for driving the execution and feeding back the execution result to the arbitration SWC, so that the arbitration SWC performs an SOA service response to the SOA service front-end processing module.

[0193] In the second embodiment of the present invention, the essential difference between local and remote control is whether it is based on CAN signal communication or Ethernet SOA service communication, and local and remote are not used as the basis for division. For example, the cockpit controller application calls the vehicle body controller's headlight SOA service through the Ethernet SOMEIP protocol, and this application is also defined as remote control.

[0194] In summary, the second embodiment of the present invention provides a vehicle body control arbitration system based on SOA services, and the intelligent headlight system includes a central domain controller VDC and a zone controller ZCU. The central domain controller VDC includes an SOA service front-end processing module, an SOA service proxy module, a local control SWC and an arbitration SWC. The SOA service front-end processing module is used to handle the conflict problem of multiple clients requesting to call the same service at the same time, and the arbitration SWC is used to handle the priority problem of local control and remote service call control, and finally the control commands are unified and sent to the downstream node ZCU for execution response. The present invention provides a universal arbitration software architecture, which solves the conflict problem between services, and also solves the priority problem of local control and remote control, greatly improves the system compatibility, and reduces the coupling degree of services and signals.

[0195] Example 3

[0196] See also Figure 5 , is a schematic diagram of the structure of an embodiment of a vehicle body control arbitration device based on SOA service provided by the present invention, the device includes a parsing module 201, a first acquisition module 202, a first judgment module 203, a first arbitration module 204, a conversion module 205, a second acquisition module 206, a second judgment module 207, a second arbitration module 208 and a driving module 209;

[0197] The parsing module 201 is used to obtain a new external request, and obtain a request service type and a request time of the new external request by parsing the new external request;

[0198] The first acquisition module 202 is used to acquire the current set of external requests to be processed;

[0199] The first judgment module 203 is used to judge whether the new external request conflicts with the current set of external requests to be processed according to the request time of the new external request;

[0200] The first arbitration module 204 is used for performing external conflict arbitration according to the request service type of the new external request to obtain an external arbitration result if the new external request conflicts with the current set of external requests to be processed;

[0201] The conversion module 205 is used to convert the new external request into a new external command based on the external arbitration result;

[0202] The second acquisition module 206 is used to acquire the current local command set to be processed;

[0203] The second judgment module 207 is used to judge whether the new external command conflicts with the current local command set to be processed;

[0204] The second arbitration module 208 is used for performing local conflict arbitration according to the request service type of the new external request to obtain a local arbitration result if there is a conflict between the new external command and the current to-be-processed local command set;

[0205] The driving module 209 is used to drive the regional controller according to the local arbitration result.

[0206] Further, in the third embodiment of the present invention, if the new external request conflicts with the current set of pending external requests, external conflict arbitration is performed according to the request service type of the new external request to obtain a first external arbitration result, which is specifically:

[0207] When the new external request conflicts with the current set of to-be-processed external requests, obtaining a plurality of first external conflicting requests that conflict with the new external request;

[0208] Performing external conflict arbitration based on the request service type of the new external request and the first arbitration scheme to obtain a first external arbitration result;

[0209] The first arbitration scheme includes:

[0210] When the new external request conflicts with the current set of to-be-processed external requests, the new external request and the first external conflicting requests are responded to in sequence according to the order of their request times.

[0211] Further, in the third embodiment of the present invention, if the new external command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the request service type of the new external request to obtain a first local arbitration result, which is specifically:

[0212] When the new external command conflicts with the current local command set to be processed, obtaining a plurality of first local conflicting commands that conflict with the new external command;

[0213] If the request service type of the new external request is a body control service, determining the command type of the new external command;

[0214] Performing local conflict arbitration based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme to obtain a first local arbitration result;

[0215] The first arbitration scheme further includes:

[0216] When the new external command conflicts with the current local command set to be processed, responding to the new external command and each of the first local conflicting commands in sequence according to the order of their request times;

[0217] The second arbitration scheme comprises:

[0218] When the new external command conflicts with the current local command set to be processed, the new external command is responded to to cover each of the first conflicting local commands.

[0219] Further, in the third embodiment of the present invention, external conflict arbitration is performed based on the request service type of the new external request and the first arbitration scheme to obtain a first external arbitration result, which is specifically:

[0220] When the requested service type of the new external request is a body control service, determining the first external arbitration result as a first arbitration scheme;

[0221] When the request service type of the new external request is a vehicle body control abnormality feedback service, determining the first external arbitration result as responding to the new external request and a plurality of the first external conflicting requests at the same time;

[0222] When the request service type of the new external request is a vehicle body control parameter setting service, a signal type of the new external request is determined; when the signal type of the new external request is a first signal type, a first external arbitration result is determined as a first arbitration scheme.

[0223] Further, in a third embodiment of the present invention, based on the first external arbitration result, the new external request is formatted to form a new external command, specifically:

[0224] Determining a signal type of the new external request according to an input interface of the new external request;

[0225] Mapping the new external request into a first network signal;

[0226] Acquire the first network signal through inter-core communication, and determine an output interface of the first network signal according to the signal type of the new external request;

[0227] The first network signal is converted into a new external command by using the output interface of the first network signal.

[0228] Further, in the third embodiment of the present invention, local conflict arbitration is performed based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme to obtain a first local arbitration result, which is specifically:

[0229] When the command type of the new external command is an event-triggered control command, determining the first local arbitration result as a first arbitration scheme;

[0230] When the command type of the new external command is a state control command, determining the first local arbitration result as a second arbitration scheme;

[0231] When the command type of the new external command is a long-time trigger control command, the first local arbitration result is determined as a first arbitration scheme or a second arbitration scheme.

[0232] Furthermore, in the third embodiment of the present invention, before obtaining a new external request, the method further includes:

[0233] When a new request sent by an external client is received, the new request is converted into a protocol to generate a new external request.

[0234] Furthermore, in the third embodiment of the present invention, the vehicle body control arbitration method based on SOA service further includes:

[0235] When a new local command is received, obtaining a request service type and a request time of the new local command by parsing the new local command;

[0236] Based on the request time of the new local command, determining whether the new local command conflicts with the current local command set to be processed;

[0237] If the new local command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the requested service type of the new local command to obtain a second local arbitration result;

[0238] The regional controller is driven according to the second local arbitration result.

[0239] Further, in the third embodiment of the present invention, if the new local command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the request service type of the new local command to obtain a second local arbitration result, which is specifically:

[0240] When the new local command conflicts with the current local command set to be processed, obtaining a plurality of second local conflicting commands that conflict with the new local command;

[0241] If the request service type of the new local command is a body control service, determining the command type of the new local command;

[0242] When the command type of the new local command is an event-triggered control command, determining the second local arbitration result as the first arbitration scheme;

[0243] When the command type of the new local command is a state control command, determining the second local arbitration result as a second arbitration scheme;

[0244] When the command type of the new local command is a long-time trigger control command, determining the second local arbitration result as the first arbitration scheme or the second arbitration scheme;

[0245] The first arbitration scheme further includes:

[0246] When the new local command conflicts with the current local command set to be processed, responding to the new local command and each second local conflicting command in sequence according to the order of their request times;

[0247] The second arbitration scheme further includes:

[0248] When the new local command conflicts with the current local command set to be processed, the new local command is responded to to cover each of the second conflicting local commands.

[0249] In summary, the third embodiment of the present invention provides a vehicle body control arbitration device based on SOA service, which is based on the organic combination of modules, obtains a new external request, obtains the request service type and request time of the new external request by parsing the new external request; determines whether the new external request conflicts with the current set of external requests to be processed; if there is a conflict, performs external conflict arbitration and obtains a first external arbitration result; converts the format of the new external request to form a new external command; determines whether the new external command conflicts with the current set of local commands to be processed; if there is a conflict, performs local conflict arbitration and obtains a first local arbitration result; drives the regional controller according to the first local arbitration result. The present invention solves the priority and conflict problems between the local and remote ends of the vehicle body control, saves equipment processing resources, greatly improves system compatibility, and reduces the coupling degree between services and signals.

[0250] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vehicle body control arbitration method based on SOA service, characterized in that: include: Obtain a new external request, and obtain a request service type and a request time of the new external request by parsing the new external request; Get the current set of pending external requests; Determining whether the new external request conflicts with the current set of external requests to be processed according to the request time of the new external request; If the new external request conflicts with the current set of pending external requests, external conflict arbitration is performed according to the request service type of the new external request to obtain a first external arbitration result; Based on the first external arbitration result, converting the format of the new external request to form a new external command; Get the current pending local command set; Determine whether the new external command conflicts with the current local command set to be processed; If the new external command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the request service type of the new external request to obtain a first local arbitration result; The regional controller is driven according to the first local arbitration result.

2. The vehicle body control arbitration method based on SOA service according to claim 1, characterized in that: If the new external request conflicts with the current set of pending external requests, external conflict arbitration is performed according to the request service type of the new external request to obtain a first external arbitration result, which is specifically: When the new external request conflicts with the current set of to-be-processed external requests, obtaining a plurality of first external conflicting requests that conflict with the new external request; Performing external conflict arbitration based on the request service type of the new external request and the first arbitration scheme to obtain a first external arbitration result; The first arbitration scheme includes: When the new external request conflicts with the current set of to-be-processed external requests, the new external request and the first external conflicting requests are responded to in sequence according to the order of their request times.

3. The vehicle body control arbitration method based on SOA service according to claim 2, characterized in that: If the new external command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the request service type of the new external request to obtain a first local arbitration result, which is specifically: When the new external command conflicts with the current local command set to be processed, obtaining a plurality of first local conflicting commands that conflict with the new external command; If the request service type of the new external request is a body control service, determining the command type of the new external command; Performing local conflict arbitration based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme to obtain a first local arbitration result; The first arbitration scheme further includes: When the new external command conflicts with the current local command set to be processed, responding to the new external command and each of the first local conflicting commands in sequence according to the order of their request times; The second arbitration scheme comprises: When the new external command conflicts with the current local command set to be processed, the new external command is responded to to cover each of the first conflicting local commands.

4. The vehicle body control arbitration method based on SOA service according to claim 2, characterized in that: The external conflict arbitration is performed based on the request service type of the new external request and the first arbitration scheme to obtain a first external arbitration result, which is specifically: When the requested service type of the new external request is a body control service, determining the first external arbitration result as a first arbitration scheme; When the request service type of the new external request is a vehicle body control abnormality feedback service, determining the first external arbitration result as responding to the new external request and a plurality of the first external conflicting requests at the same time; When the request service type of the new external request is a vehicle body control parameter setting service, a signal type of the new external request is determined; when the signal type of the new external request is a first signal type, a first external arbitration result is determined as a first arbitration scheme.

5. The vehicle body control arbitration method based on SOA service according to claim 1, characterized in that: Based on the first external arbitration result, the new external request is converted into a new external command, specifically: Determining a signal type of the new external request according to an input interface of the new external request; Mapping the new external request into a first network signal; Acquire the first network signal through inter-core communication, and determine an output interface of the first network signal according to the signal type of the new external request; The first network signal is converted into a new external command by using the output interface of the first network signal.

6. The vehicle body control arbitration method based on SOA service according to claim 3 is characterized in that: The local conflict arbitration is performed based on the command type of the new external command, the first arbitration scheme, and the second arbitration scheme to obtain a first local arbitration result, which is specifically: When the command type of the new external command is an event-triggered control command, determining the first local arbitration result as a first arbitration scheme; When the command type of the new external command is a state control command, determining the first local arbitration result as a second arbitration scheme; When the command type of the new external command is a long-time trigger control command, the first local arbitration result is determined as a first arbitration scheme or a second arbitration scheme.

7. The vehicle body control arbitration method based on SOA service according to claim 1, characterized in that: Before obtaining a new external request, the method further includes: When a new request sent by an external client is received, the new request is converted into a protocol to generate a new external request.

8. The vehicle body control arbitration method based on SOA service according to any one of claims 1 to 7, characterized in that: Also includes: When a new local command is received, obtaining a request service type and a request time of the new local command by parsing the new local command; Based on the request time of the new local command, determining whether the new local command conflicts with the current local command set to be processed; If the new local command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the requested service type of the new local command to obtain a second local arbitration result; The regional controller is driven according to the second local arbitration result.

9. The vehicle body control arbitration method based on SOA service according to claim 8, characterized in that: If the new local command conflicts with the current local command set to be processed, local conflict arbitration is performed according to the request service type of the new local command to obtain a second local arbitration result, which is specifically: When the new local command conflicts with the current local command set to be processed, obtaining a plurality of second local conflicting commands that conflict with the new local command; If the request service type of the new local command is a body control service, determining the command type of the new local command; When the command type of the new local command is an event-triggered control command, determining the second local arbitration result as the first arbitration scheme; When the command type of the new local command is a state control command, determining the second local arbitration result as a second arbitration scheme; When the command type of the new local command is a long-time trigger control command, determining the second local arbitration result as the first arbitration scheme or the second arbitration scheme; The first arbitration scheme further includes: When the new local command conflicts with the current local command set to be processed, responding to the new local command and each second local conflicting command in sequence according to the order of their request times; The second arbitration scheme further includes: When the new local command conflicts with the current local command set to be processed, the new local command is responded to to cover each of the second conflicting local commands.

10. A vehicle body control arbitration device based on SOA service, characterized in that: include: An analysis module, a first acquisition module, a first judgment module, a first arbitration module, a conversion module, a second acquisition module, a second judgment module, a second arbitration module and a driving module; The parsing module is used to obtain a new external request, and obtain a request service type and a request time of the new external request by parsing the new external request; The first acquisition module is used to acquire the current set of external requests to be processed; The first judgment module is used to judge whether the new external request conflicts with the current set of external requests to be processed according to the request time of the new external request; The first arbitration module is used for performing external conflict arbitration according to the request service type of the new external request to obtain a first external arbitration result if the new external request conflicts with the current set of pending external requests; The conversion module is used for converting the format of the new external request based on the first external arbitration result to form a new external command; The second acquisition module is used to acquire the current local command set to be processed; The second judgment module is used to judge whether the new external command conflicts with the current local command set to be processed; The second arbitration module is used for performing local conflict arbitration according to the request service type of the new external request to obtain a first local arbitration result if there is a conflict between the new external command and the current to-be-processed local command set; The driving module is used to drive the regional controller according to the first local arbitration result.

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