A load-aware body domain controller function migration method

Abstract

The present application relates to the technical field of vehicle body control, in particular to a vehicle body domain controller function migration method based on load sensing, comprising: collecting current load signals managed by the vehicle body domain controller and real-time function safety level information of the vehicle body domain controller; judging whether the current state of the vehicle body domain controller meets the trigger condition according to the current load signals and the corresponding real-time function safety level information; in response to the current state of the vehicle body domain controller meeting the trigger condition for function migration based on the current load signals, determining the computing power requirement threshold of the virtual domain controller currently required to be constructed according to the load type of the current load signals and the real-time function safety level information. The present application can dynamically adjust the function allocation of the controller according to the actual demand by real-time monitoring of the load signals and function safety level information of the vehicle body domain controller, and this flexibility enables the system to optimize resource use and improve overall performance under different load conditions.

Description

Technical Field

[0001] This invention relates to the field of vehicle body control technology, specifically to a load-aware method for migrating the function of a vehicle domain controller. Background Technology

[0002] Currently, traditional methods typically employ fixed function allocation strategies, failing to dynamically adjust based on real-time load conditions. This results in some functions potentially failing to respond promptly under high load, impacting the overall system performance and stability. Furthermore, many traditional methods lack effective fault tolerance mechanisms, unable to quickly switch to backup schemes when system load is too high or a failure occurs. This could lead to system crashes or functional failures, affecting vehicle safety and reliability. Additionally, traditional methods often require significant manual intervention for function adjustments and troubleshooting, increasing development and maintenance complexity and increasing the risk of human error, thus reducing overall system efficiency.

[0003] Furthermore, due to the lack of real-time monitoring and dynamic adjustment capabilities, traditional methods are relatively slow to react to emergencies and may not be able to meet the demands brought about by changes in driving conditions in a timely manner. Moreover, when the load is low, traditional methods may not be able to effectively utilize resources, resulting in a waste of computing power and energy, which contradicts the requirements of modern automobiles for energy efficiency and environmental protection. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides the following technical solution: a load-aware vehicle domain controller function migration method, comprising:

[0005] Collect the current load signal managed by the vehicle domain controller and the real-time functional safety level information of the vehicle domain controller;

[0006] Based on the current load signal and its corresponding real-time functional safety level information, determine whether the current state of the vehicle domain controller meets the triggering conditions for functional migration based on the current load signal;

[0007] In response to the current state of the vehicle domain controller satisfying the triggering condition for function migration based on the current load signal, the computing power requirement threshold of the virtual domain controller to be constructed is determined according to the load type of the current load signal and the real-time functional safety level information.

[0008] Based on the computing power requirement threshold, high-load migration function sets and low-load function sets are selected from all functional modules of the vehicle domain controller;

[0009] A virtual domain controller is established using the high-load migration function set, and the target operating environment and target communication protocol are configured in each of the high-load migration function sets according to the original signal interface information corresponding to each of the high-load migration function sets.

[0010] Based on the load characteristics of the low-load function set, the low-load function set is isolated and injected into the virtual domain controller in sequence; in response to the computing power utilization rate of the virtual domain controller being greater than or equal to the computing power demand threshold, the control authority is switched to the virtual domain controller and the original function of the vehicle domain controller is stopped.

[0011] Preferably, determining whether the current state of the vehicle domain controller meets the triggering conditions for function migration based on the current load signal, according to the current load signal and its corresponding real-time functional safety level information, includes:

[0012] Obtain the load type of the current load signal, wherein the load type includes one of the following: computing load signal, communication load signal, power load signal, and storage load signal;

[0013] Based on the real-time functional safety level information, a preset degree of change in the load information corresponding to the load type is determined. The load information includes one of the following: processor utilization rate information, bus bandwidth utilization rate information, power supply current information, and storage space utilization rate information.

[0014] Based on the current load signal, analyze the actual degree of change in the load information corresponding to the load type;

[0015] Determine whether the actual degree of change in the load information reaches the preset degree of change corresponding to the load information;

[0016] When it is determined that the actual change in the load information reaches the preset change level, the current state of the vehicle domain controller is determined to meet the triggering condition for function migration based on the current load signal.

[0017] Preferably, based on the current load signal, the actual degree of change in load information corresponding to the load type is analyzed, including:

[0018] Based on the load type of the current load signal, at least one historical load signal that matches the load type is selected from the preset historical load signals, and each historical load signal corresponds to a historical acquisition time.

[0019] Calculate the time difference between the historical acquisition time corresponding to each historical load signal and the current acquisition time corresponding to the current load signal, and use it as the signal acquisition time difference corresponding to each historical load signal;

[0020] From all historical load signals that match the load type, select the historical load signal whose corresponding signal acquisition time difference is less than or equal to a preset time difference, and use it as the reference load signal corresponding to the current load signal;

[0021] By comparing the current load signal with the reference load signal, the load signal difference information of the vehicle domain controller is obtained;

[0022] Based on the load signal difference information and the real-time functional safety level information, analyze the actual degree of change of the load information corresponding to the load type.

[0023] Preferably, a virtual domain controller is established using the high-load migration function set, and the target operating environment and target communication protocol are configured in each high-load migration function set according to the original signal interface information corresponding to each high-load migration function set, including:

[0024] Scan the original controller bus logs of the original function corresponding to the current high load migration function set, and use the signal database to detect and obtain the original signal matrix configuration table; wherein, the current high load migration function set is any of the high load migration function sets, and the original signal matrix configuration table includes the bus signal configuration information of the original controller of the original function corresponding to the current high load migration function set;

[0025] The original signal matrix configuration table is parsed to obtain the signal routing path of the original controller corresponding to the original function of the current high load migration function set;

[0026] Using a routing mapping library, the signal routing path is mapped to the target operating environment to obtain the mapped signal route for the target operating environment;

[0027] Using the protocol stack template library, generate the mapping communication protocol stack corresponding to the mapping signal route;

[0028] Synchronize the mapping communication protocol stack to the target runtime environment of the current high-load migration function set.

[0029] Preferably, the method further includes establishing a virtual domain controller using the high-load migration function set, and configuring the target operating environment and target communication protocol in each high-load migration function set according to the original signal interface information corresponding to each high-load migration function set, and further includes:

[0030] Read the original driver configuration information of the original controller corresponding to the original function of the current high-load migration function set; wherein, the original driver configuration information includes at least one of peripheral register configuration, interrupt priority configuration, direct memory access channel configuration, clock source configuration, pin multiplexing configuration, gatekeeper configuration and power management mode;

[0031] The original driver configuration information is compared with the default driver configuration information of the target runtime environment in the chip driver library to determine the different driver items in the target runtime environment of the current high-load migration function set.

[0032] Adjust the difference driver item based on the original driver configuration information.

[0033] Preferably, based on the load characteristics of the low-load function set, the low-load function set is isolated and injected into the virtual domain controller in sequence, including:

[0034] Non-core functions, excluding core safety functions, in the vehicle domain controller to be migrated are isolated in batches and injected into the virtual domain controller; wherein, the core safety functions are a low-load function set of the computing power requirement threshold, and the non-core functions are a low-load function set other than the core safety functions.

[0035] When the computing power redundancy in the virtual domain controller is greater than or equal to the computing power requirement threshold, a real-time signal synchronization test is performed on the virtual domain controller to obtain the synchronization test results.

[0036] When the migration of the non-core functions is completed and the synchronization test result is a pass, switch the control permission to the virtual domain controller and stop the original function of the vehicle domain controller;

[0037] The core security functions are injected into the virtual domain controller, and the target operating environment and target communication protocol are configured in each core security function according to the original signal interface information corresponding to each core security function.

[0038] Preferably, before isolating and injecting the low-load function set into the virtual domain controller according to its load characteristics, the method further includes:

[0039] The computing power requirement threshold is determined based on the real-time task load information of the vehicle domain controller; wherein, the real-time task load information includes the execution cycle of each task thread and the utilization rate of each core; the execution cycle includes the average cycle and / or the maximum jitter cycle.

[0040] Preferably, the computing power requirement threshold is determined based on the real-time task load information of the vehicle domain controller, including:

[0041] Based on the functional safety level of the vehicle domain controller, obtain the real-time task load information of the vehicle domain controller; wherein, at least two functional safety levels correspond to different task loads; the functional safety level includes at least one of the vehicle safety integrity levels, the functional safety level includes at least one of ASIL-A, ASIL-B, ASIL-C and ASIL-D, and the real-time task load information includes at least one of the central processing unit load, memory bandwidth load and bus load.

[0042] Preferably, after filtering out the high-load migration function set and the low-load function set from all functional modules of the vehicle domain controller according to the computing power requirement threshold, the method further includes:

[0043] Based on the function migration operation, determine the current connection relationship of the target function module in the vehicle domain controller and the target connection relationship of the virtual domain controller;

[0044] Based on the communication bus of the vehicle domain controller, disconnect the target functional module from other modules in the current connection relationship;

[0045] Based on the target connection relationship, the target functional module is connected to the communication bus of the virtual domain controller.

[0046] Preferably, after connecting the target functional module to the communication bus of the virtual domain controller according to the target connection relationship, the method further includes:

[0047] Collect the real-time load signal of the virtual domain controller after migration;

[0048] Based on the real-time load signal, determine whether the load information of the virtual domain controller exceeds a preset safety threshold;

[0049] When it is determined that the load information of the virtual domain controller exceeds a preset safety threshold, the migration strategy of the target functional module is adjusted according to the real-time load signal, and some functions of the target functional module are migrated back to the vehicle domain controller.

[0050] Compared with the prior art, the beneficial effects of the present invention are:

[0051] (1) By monitoring the load signal and functional safety level information of the vehicle domain controller in real time, the present invention can dynamically adjust the function allocation of the controller according to the current actual needs. This flexibility enables the system to optimize resource use under different load conditions and improve overall performance. Moreover, by setting load-based function migration trigger conditions, it can ensure that the reliability and safety of the function are maintained under high load conditions. Especially when the real-time functional safety level is high, it can effectively prevent system failure caused by excessive load.

[0052] (2) This invention provides a fault-tolerant mechanism by constructing a virtual domain controller and gradually injecting low-load functions. When the load of the virtual domain controller exceeds a preset threshold, some functions can be migrated back to the original controller, thereby ensuring system stability and continuity. Moreover, through the automated function migration process, the necessity of manual intervention is reduced, the complexity of development and maintenance is reduced, and by utilizing existing signal interface information and configuration, the development speed can be accelerated and the product launch time can be shortened. Attached Figure Description

[0053] Figure 1 This is a schematic flowchart of the overall method in one embodiment of the present invention. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] Please see Figure 1 This invention provides a technical solution: a load-aware vehicle domain controller function migration method, comprising:

[0056] S1. Collect the current load signals managed by the vehicle domain controller and the real-time functional safety level information of the vehicle domain controller;

[0057] S2. Based on the current load signal and its corresponding real-time functional safety level information, determine whether the current state of the vehicle domain controller meets the triggering conditions for function migration based on the current load signal.

[0058] S3. In response to the current state of the vehicle domain controller meeting the triggering condition for function migration based on the current load signal, determine the computing power requirement threshold of the virtual domain controller to be constructed based on the load type of the current load signal and the real-time functional safety level information.

[0059] S4. Based on the computing power requirement threshold, select the high-load migration function set and the low-load function set from all functional modules of the vehicle domain controller.

[0060] S5. Utilize the high-load migration function set to establish a virtual domain controller, and configure the target operating environment and target communication protocol in each high-load migration function set according to the original signal interface information corresponding to each high-load migration function set.

[0061] S6. Based on the load characteristics of the low-load function set, isolate the low-load function set in sequence and inject it into the virtual domain controller; in response to the virtual domain controller's computing power utilization rate being greater than or equal to the computing power demand threshold, switch the control authority to the virtual domain controller and stop the original function of the vehicle domain controller.

[0062] It should be noted that the vehicle domain controller first monitors its own operating status, including the current load (e.g., the computational requirements when controlling multiple windows, door locks, and lighting systems simultaneously) and its functional safety level (e.g., the safety level under normal and high-risk conditions). For example, if window control and door locks are activated simultaneously, the controller's load will increase. At this time, the controller will record the current load signal, such as "high load," and confirm that its functional safety level is "normal."

[0063] Based on the collected load signals and functional safety level information, the controller determines whether a function migration is required. For example, if the load signal is in a high load state and the functional safety level is normal, a function migration may be triggered. For example, if the load signal shows "high load" and the safety level is "normal", the controller will determine that the migration conditions are met.

[0064] If the triggering conditions are met, the controller will set the required computing power threshold based on the type of the current load signal (such as a high-load task) and the functional safety level; for example, for the operation of opening and closing car windows at the same time, the controller may need to set a computing power threshold, such as "2GHz";

[0065] The controller filters out high-load and low-load function sets from all functional modules; high-load function sets refer to functions that need to be migrated in the current state, while low-load function sets are those functions that do not need to be migrated immediately; for example, high-load function sets may include "window control" and "door lock control", while low-load function sets may include "interior lighting".

[0066] Using the selected high-load function set, the controller will create a new virtual domain controller; this virtual controller will be configured with the target operating environment and communication protocol based on the original signal interface information; for example, a virtual controller will be created to handle the operation of car windows and door locks, while ensuring that they can correctly receive instructions;

[0067] By isolating and injecting low-load functions into the virtual domain controller, it is ensured that these functions will not affect the operation of high-load functions. For example, the "interior lighting" function can be isolated and injected into the virtual controller, but its independence can be maintained so as not to interfere with the operation of windows and door locks.

[0068] When the computing power utilization of the virtual domain controller reaches or exceeds the set computing power requirement threshold, the control authority will be switched to the virtual domain controller, and the corresponding functions of the original vehicle domain controller will be stopped. For example, if the computing power utilization of the virtual controller reaches 2GHz when handling the operation of the windows and door locks, the control authority will be switched from the original vehicle domain controller to the newly established virtual domain controller, thereby ensuring that the high-load functions can be executed smoothly, while the original controller will disable these functions to release resources.

[0069] In an optional embodiment, determining whether the current state of the vehicle domain controller meets the triggering conditions for function migration based on the current load signal, according to the current load signal and its corresponding real-time functional safety level information, includes:

[0070] Obtain the load type of the current load signal. The load type includes one of the following: computing load signal, communication load signal, power load signal, and storage load signal.

[0071] Based on real-time functional safety level information, determine the preset change level of load information corresponding to the load type. The load information includes one of the following: processor utilization rate information, bus bandwidth utilization rate information, power supply current information, and storage space utilization rate information.

[0072] Based on the current load signal, analyze the actual degree of change in load information corresponding to the load type;

[0073] Determine whether the actual degree of change in the load information reaches the preset degree of change corresponding to the load information;

[0074] When it is determined that the actual change in load information reaches the preset change level, the current state of the vehicle domain controller is determined to meet the triggering condition for function migration based on the current load signal.

[0075] It should be noted that the body domain controller needs to identify the type of its current load signal; there are four types of load signals: computation load signal, communication load signal, power load signal, and storage load signal; for example, suppose the body domain controller is currently processing multiple tasks simultaneously, including opening windows and adjusting seat positions; at this time, the controller detects a high computation load signal because its processor is busy processing these tasks.

[0076] Based on real-time functional safety level information, the controller needs to determine the preset degree of variation for different load types. These degree of variation are preset to measure the allowable fluctuation range of load information (such as processor utilization, bus bandwidth utilization, etc.). For example, for computing load signals, the preset degree of variation may be set to "migration needs to be considered when processor utilization is 80%", which means that if the processor utilization exceeds 80%, an evaluation is required.

[0077] The controller analyzes the actual degree of change based on the current load signal; for example, it monitors the processor utilization rate to determine whether it exceeds the preset change level; for example, if the controller detects in real time that the processor utilization rate has reached 90%, this indicates that the actual degree of change has exceeded the preset threshold of 80%.

[0078] The controller will compare the actual degree of change with the preset degree of change to see if the conditions for function migration have been met. For example, if the processor utilization rate is 90% and the preset degree of change is 80%, the controller will determine that the actual degree of change has met the migration conditions.

[0079] When the actual degree of change is determined to reach the preset degree of change, the current state of the vehicle domain controller is deemed to meet the triggering conditions for function migration; for example, because the processor utilization rate has reached 90%, the controller confirms that the current state meets the migration conditions and prepares to perform function migration to optimize resource allocation.

[0080] In an optional embodiment, analyzing the actual degree of change in load information corresponding to the load type based on the current load signal includes:

[0081] Based on the load type of the current load signal, at least one historical load signal that matches the load type is selected from the preset historical load signals. Each historical load signal corresponds to a historical acquisition time.

[0082] Calculate the time difference between the historical acquisition time corresponding to each historical load signal and the current acquisition time corresponding to the current load signal, and use it as the signal acquisition time difference for each historical load signal.

[0083] From all historical load signals that match the load type, select the historical load signals whose corresponding signal acquisition time difference is less than or equal to the preset time difference, and use them as the reference load signals corresponding to the current load signals.

[0084] By comparing the current load signal with the reference load signal, the load signal difference information of the vehicle body domain controller is obtained;

[0085] Based on load signal difference information and real-time functional safety level information, analyze the actual degree of change of load information corresponding to load type.

[0086] It should be noted that, based on the load type of the current load signal, historical signals that match it are selected from the preset historical load signals. These historical signals should correspond to the load type, and each historical signal has a timestamp indicating its acquisition time. For example, assuming the current load signal is a computation load signal, all computation load signals within a certain period of time in the past are selected from the historical records, such as load data recorded in the past few minutes. This data includes the historical acquisition time and load value.

[0087] For each selected historical load signal, the time difference between its acquisition time and the acquisition time of the current load signal needs to be calculated. For example, if the acquisition time of the current load signal is "06:00" and the acquisition time of a certain historical load signal is "05:55", then the time difference between them is 5 minutes. Similarly, if the acquisition time of another historical signal is "05:50", the time difference is 10 minutes.

[0088] Based on a preset time difference threshold, historical load signals with time differences less than or equal to this preset value are selected from all matched historical load signals. These selected signals will be used as reference signals for the current load signal. For example, if the preset time difference is 10 minutes, then only the historical load signals "05:55" and "05:50" will be selected as reference load signals because their time differences are within the allowable range.

[0089] The current load signal is compared with the selected reference load signal to obtain the degree of difference information. This degree of difference can be a simple numerical difference or other comparison criteria. For example, suppose the calculated load value of the current load signal is 90%, while the reference load signals are 85% and 88% respectively. By comparison, the difference between the current load signal and the reference signals can be determined, and their degree of difference can be calculated. For example, compared to the 85% signal, the difference is 5%, and compared to the 88% signal, the difference is 2%.

[0090] Based on the load signal difference information and real-time functional safety level information, analyze the actual degree of change of the load information corresponding to the current load type. This step comprehensively considers the current state and safety level to determine whether there is an anomaly or whether measures need to be taken. For example, suppose the real-time functional safety level information shows that the current system requires the load change to not exceed 5%. Since the difference between the current load signal and the reference load signal is 5%, this indicates that the load change has reached the upper limit. Therefore, the controller may decide to perform a function migration to reduce the load and ensure the stability and safety of the system.

[0091] In an optional embodiment, a virtual domain controller is established using a high-load migration function set, and the target operating environment and target communication protocol are configured in each high-load migration function set according to the original signal interface information corresponding to each high-load migration function set, including:

[0092] Scan the original controller bus logs of the original functions corresponding to the current high-load migration function set, and use the signal database to detect and obtain the original signal matrix configuration table; where the current high-load migration function set is any high-load migration function set, and the original signal matrix configuration table includes the bus signal configuration information of the original controller of the original functions corresponding to the current high-load migration function set.

[0093] Parse the original signal matrix configuration table to obtain the signal routing path of the original controller corresponding to the original function of the current high load migration function set;

[0094] Using a routing mapping library, signal routing paths are mapped to the target runtime environment to obtain the mapped signal routes for the target runtime environment;

[0095] Using the protocol stack template library, generate the mapped communication protocol stack corresponding to the mapped signal route;

[0096] Synchronize the mapped communication protocol stack to the target runtime environment of the current high-load migration feature set.

[0097] It should be noted that the original controller bus log corresponding to the current high-load migration function set is scanned. This step is to obtain signal information related to the high-load migration function and extract necessary data from it. For example, assuming that the current high-load migration function set involves the "window control" function, the system will consult the original controller's bus log and record the time, frequency, and data content of all signal transmissions related to the window control function. This information will be used to identify which signals are critical.

[0098] Through the signal database, the system can detect and obtain the original signal matrix configuration table; this configuration table contains the bus signal configuration information of the original function corresponding to the current high-load migration function set; for example, in the case of "window control", the original signal matrix configuration table may include window lifting signals, window status feedback signals, etc., as well as the specific addresses and formats of these signals on the bus;

[0099] Parsing the original signal matrix configuration table reveals the signal routing path of the original controller. This means the system needs to determine the entire transmission path of the signal from generation to reception. For example, suppose the parsing reveals that the window lift signal originates from the window control switch, passes through the CAN bus, and finally reaches the window motor. This entire path will be recorded for subsequent processing.

[0100] Using a routing mapping library, the above signal routing paths are mapped to the target operating environment. This step is to ensure that the signals can be transmitted correctly in the virtual domain controller. For example, if the target operating environment is a new electronic control unit (ECU), the system will remap the routing path of the window lift signal according to the new device configuration. For example, the signal is no longer transmitted through the original CAN bus, but through a new Ethernet network.

[0101] Using the protocol stack template library, the system will generate a mapped communication protocol stack corresponding to the mapped signal route. This step is to ensure that signals in the new environment can communicate according to the appropriate protocol. For example, in the case of window control, a new communication protocol stack may be generated that can handle the sending and receiving of window raising and lowering signals, while supporting real-time data feedback and error detection.

[0102] The generated mapping communication protocol stack is synchronized to the target operating environment of the current high-load migration function set. This process ensures that all components in the new environment can work together so that the window control function can operate normally. For example, the generated protocol stack is uploaded to the new ECU to ensure that it can understand and process the window control signals. At this time, the new ECU can receive signals from the driver and effectively control the raising and lowering of the windows.

[0103] In an optional embodiment, a virtual domain controller is established using a high-load migration function set, and the target operating environment and target communication protocol are configured in each high-load migration function set according to the original signal interface information corresponding to each high-load migration function set. The embodiment further includes:

[0104] Read the original driver configuration information of the original controller corresponding to the original function of the current high-load migration function set; wherein, the original driver configuration information includes at least one of the following: peripheral register configuration, interrupt priority configuration, direct memory access channel configuration, clock source configuration, pin multiplexing configuration, gatekeeper configuration, and power management mode;

[0105] The original driver configuration information is compared with the default driver configuration information of the target runtime environment in the chip driver library to determine the different driver items in the target runtime environment of the current high-load migration function set.

[0106] Adjust the driver differences based on the original driver configuration information.

[0107] It should be noted that the original driver configuration information of the original controller corresponding to the current high-load migration function set is read. This configuration information mainly includes hardware operation-related settings, such as peripheral register configuration, interrupt priority configuration, direct memory access (DMA) channel configuration, clock source configuration, pin multiplexing configuration, doorkeeper configuration, and power management mode. For example, assuming there is an original controller for controlling electric windows, its original driver configuration information may include the following: Peripheral register configuration: defines how to access motor drivers and sensors; Interrupt priority configuration: sets which signal interrupts have higher priority, such as the press and release signals of the window button; DMA channel configuration: used to optimize data transmission, such as reading data from the window position sensor without CPU intervention; Clock source configuration: selects an appropriate clock source to ensure the real-time performance of signal processing; Pin multiplexing configuration: determines which physical pins are used for specific functions, such as controlling the opening and closing of electric windows; Doorkeeper configuration: ensures that the system enters a low-power mode when idle; Power management mode: configures the power consumption of the device in different operating states.

[0108] After reading, the system compares the acquired original driver configuration information with the default driver configuration information of the target runtime environment in the chip driver library. This step aims to identify the differences between the original configuration and the target environment. For example, suppose the default driver configuration of the target runtime environment does not enable the DMA channel, while the original controller configuration enables DMA. In this case, the system will record this difference as a "difference driver item". Other possible differences include the selection of the clock source and the setting of interrupt priority.

[0109] After identifying the differential drivers, the system needs to adjust these drivers based on the original driver configuration information to ensure that the target operating environment can properly support the high-load migration function set. This process involves modifying or updating the driver configuration in the target operating environment to match the requirements of the original controller. For example, if the DMA channel is found to be inactive in the target environment, the system will activate the DMA channel based on the original driver configuration information and set the DMA parameters accordingly. At the same time, it may also be necessary to adjust the interrupt priority configuration to make the window control respond more promptly. In addition, the system will change the clock source configuration to the same settings as the original controller to ensure the stability of signal processing.

[0110] In an optional embodiment, the low-load function set is isolated and injected into the virtual domain controller sequentially according to its load characteristics, including:

[0111] Non-core functions, excluding core safety functions, in the vehicle domain controller to be migrated are isolated in batches and injected into the virtual domain controller; among them, core safety functions are a low-load function set with computing power requirement threshold, and non-core functions are a low-load function set other than core safety functions.

[0112] When the computing power redundancy in the virtual domain controller is greater than or equal to the computing power requirement threshold, a real-time signal synchronization test is performed on the virtual domain controller to obtain the synchronization test results.

[0113] Once the migration of non-core functions is complete and the synchronization test results are passed, switch control permissions to the virtual domain controller and stop the original functions of the vehicle domain controller.

[0114] The core security functions are injected into the virtual domain controller, and the target operating environment and target communication protocol are configured in each core security function according to the original signal interface information corresponding to each core security function.

[0115] It should be noted that core safety functions and non-core functions are identified from the vehicle domain controller to be migrated. Core safety functions refer to those that are crucial to the safety and stability of the system, while non-core functions are those that have a smaller impact on the overall system functionality. For example, suppose a vehicle domain controller is responsible for multiple functions, such as window control, headlight control, vehicle stability control, and collision detection. The core safety function might be "collision detection" because it is directly related to vehicle safety; while non-core functions might include "window control" and "headlight control". At this stage, the system will isolate "window control" and "headlight control" in batches and gradually inject them into the virtual domain controller.

[0116] After successfully injecting non-core functions into the virtual domain controller, the next step is to verify whether the virtual controller's computing power is sufficient to support these functions. This is done by checking the computing power redundancy in the virtual domain controller. Computing power redundancy refers to whether the available processing power of the virtual controller is greater than or equal to the required computing power threshold. For example, suppose that after injecting "window control" and "light control", the virtual domain controller has a computing power of 50 units, while the computing power threshold is 30 units. Since 50 is greater than 30, the system will perform a real-time signal synchronization test, which includes whether it can respond to user operations on windows and lights in a timely manner.

[0117] Once the migration of non-core functions is complete and the real-time signal synchronization test is passed, the system will switch control permissions. This means that the original vehicle domain controller will be replaced by a new virtual domain controller to take over these functions. For example, after confirming that the "window control" and "light control" functions are running normally and responding quickly on the virtual domain controller, the system will switch control permissions from the original vehicle domain controller to the virtual domain controller and stop the original controller from managing these two functions.

[0118] After migrating non-core functions and switching control permissions, the next step is to inject core safety functions into the virtual domain controller. This process configures the target operating environment and communication protocols based on the original signal interface information of the core safety functions to ensure that these functions can continue to work normally in the new environment. For example, when injecting the "collision detection" function into the virtual domain controller, the system will configure the virtual controller according to its signal interface information in the original vehicle domain controller (such as the format of sensor signals, data transmission protocols, etc.) so that the "collision detection" function can run smoothly and communicate effectively with other functions.

[0119] In an optional embodiment, before isolating and injecting the low-load function set into the virtual domain controller according to its load characteristics, the method further includes:

[0120] The computing power requirement threshold is determined based on the real-time task load information of the vehicle domain controller; the real-time task load information includes the execution cycle of each task thread and the utilization rate of each core; the execution cycle includes the average cycle and / or the maximum jitter cycle.

[0121] It should be noted that real-time task load information refers to the running status and resource usage of each task thread in the vehicle domain controller within a specific time period. This information typically includes the execution cycle of each task and the utilization rate of each core. The execution cycle refers to the time required for each task to execute once. In this regard, two aspects are considered: average cycle and maximum jitter cycle. The average cycle is the average execution time of a task over multiple runs; for example, the average execution cycle of a window control task might be 20 milliseconds. The maximum jitter cycle is the maximum fluctuation in the task execution time over multiple runs; for example, if the same window control task takes up to 25 milliseconds to complete under certain circumstances, then 25 milliseconds is the maximum jitter cycle of that task. Core utilization refers to the resource usage of each core when processing tasks; for example, if in a four-core vehicle domain controller, core A has a utilization rate of 70%, core B 50%, core C 30%, and core D 20%, this data can help understand the current utilization of system resources.

[0122] After collecting real-time task load information, the system uses this data to calculate the computing power requirement threshold. The computing power requirement threshold refers to the minimum computing power required by the virtual domain controller to execute low-load function sets, ensuring that all functions can operate normally without latency or performance bottlenecks. For example, suppose that after analysis, the task load information in the body domain controller is as follows: the average execution cycle of the window control task is 20 milliseconds, and the maximum jitter cycle is 25 milliseconds; the average execution cycle of the headlight control task is 15 milliseconds, and the maximum jitter cycle is 18 milliseconds; the average execution cycle of the collision detection task is 30 milliseconds, and the maximum jitter cycle is 35 milliseconds. Based on the execution cycle and core utilization of these tasks, the system can assess the computing power requirement of each task during peak load. For example, the collision detection task, due to its longer cycle and higher priority, may be considered a major factor in the computing power requirement threshold. Ultimately, the system determines that the computing power requirement threshold is 40 units, which means that the virtual domain controller needs at least 40 units of computing power to safely execute all relevant low-load functions.

[0123] In an optional embodiment, determining the computing power requirement threshold based on the real-time task load information of the vehicle domain controller includes:

[0124] Based on the functional safety level of the vehicle domain controller, obtain the real-time task load information of the vehicle domain controller; wherein, the task loads corresponding to at least two functional safety levels are different; the functional safety level includes at least one of the vehicle safety integrity levels, the functional safety level includes at least one of ASIL-A, ASIL-B, ASIL-C and ASIL-D, and the real-time task load information includes at least one of the central processing unit load, memory bandwidth load and bus load.

[0125] It should be noted that functional safety levels are assessed based on the Automotive Safety Integrity Level (ASIL) to evaluate the importance of system functions and their impact on safety. ASIL levels are divided into four levels: ASIL-A, ASIL-B, ASIL-C, and ASIL-D. The higher the level, the more stringent the safety requirements of the system. ASIL-A: the lowest safety integrity level, applicable to functions with minimal impact on safety, such as some low-priority comfort functions. ASIL-D: the highest safety integrity level, applicable to functions with a significant impact on safety, such as collision avoidance systems or brake control. Different functional safety levels correspond to different workloads; for example, tasks at ASIL-D level may require higher processing power and faster response times, while tasks at ASIL-A level can tolerate longer latency and lower performance requirements.

[0126] Once the functional safety level is determined, the next step is to obtain the corresponding real-time task load information. Real-time task load information includes CPU load, memory bandwidth load, and bus load, any of which can be used to evaluate the overall performance of the controller. CPU load refers to the percentage of computing resources currently being used by the processor; for example, if the CPU of the body domain controller reaches 80% load when performing a collision detection task, it indicates that the task has high CPU resource requirements. Memory bandwidth load refers to memory usage, such as whether the data transfer rate has reached a bottleneck; taking collision detection and window control as examples, collision detection may require frequent readings of sensor data, leading to increased memory bandwidth load, while window control may only occasionally access memory, thus having a lower bandwidth load. Bus load refers to the load when various modules within the controller transmit data via the bus; if window control and headlight control operate simultaneously, they may generate loads on the bus. Competition increases the bus load. Example analysis: Assume a vehicle body domain controller has the following functional safety levels: Collision Detection: ASIL-D; Window Control: ASIL-A; Lighting Control: ASIL-B. During monitoring, the following real-time task load information was obtained: The CPU load for the collision detection task was 85%, memory bandwidth load was 70%, and bus load was 60%; the CPU load for the window control task was 30%, memory bandwidth load was 20%, and bus load was 10%; the CPU load for the lighting control task was 40%, memory bandwidth load was 30%, and bus load was 25%. From this data, it can be seen that the collision detection task, due to its high safety level, has significantly higher system resource requirements than the other two functions. This means that when considering the computing power requirement threshold, it is necessary to ensure that the virtual domain controller can handle at least 85% of the CPU load, 70% of the memory bandwidth, and 60% of the bus load to guarantee the effectiveness of the collision detection function.

[0127] In an optional embodiment, after filtering out the high-load migration function set and the low-load function set from all functional modules of the vehicle domain controller based on a computing power requirement threshold, the method further includes:

[0128] Based on the function migration operation, determine the current connection relationship of the target function module in the vehicle domain controller and the target connection relationship in the virtual domain controller;

[0129] Based on the communication bus of the vehicle domain controller, disconnect the target functional module from other modules in the current connection relationship;

[0130] Based on the target connection relationship, connect the target functional module to the communication bus of the virtual domain controller.

[0131] It should be noted that before performing the function migration, it is necessary to first analyze and determine the current connection relationship of the target function module in the vehicle domain controller, as well as its target connection relationship in the virtual domain controller.

[0132] The current connection relationship refers to the actual connection status between the target functional module and other functional modules. For example, suppose the target functional module to be migrated is "window control". In the current vehicle domain controller, the "window control" module may be connected to the "headlight control", "vehicle stability control" and "collision detection" modules. This means that the "window control" module needs to exchange data and communicate with these modules in order to realize its function.

[0133] Target connectivity refers to the expected connection pattern of a target functional module in a virtual domain controller environment. The "window control" module may only need to maintain a connection with "light control" in the virtual domain controller, while the connections with "collision detection" and "vehicle stability control" can be disconnected. This simplifies communication and improves system efficiency.

[0134] Once the current connection relationships of the target functional module are determined, the module needs to be disconnected from other modules via the communication bus of the vehicle domain controller. This step ensures that the migration process will not interfere with other functions of the current system. For example, after identifying that it is connected to the "Lights Control", "Vehicle Stability Control", and "Collision Detection" modules, the system will first disconnect the "Window Control" from "Vehicle Stability Control" and "Collision Detection" one by one via the communication bus, leaving only the connection with "Lights Control". This operation can be completed through software configuration or hardware means to ensure that the disconnection will not affect the normal operation of other modules.

[0135] After successfully disconnecting unnecessary connections, the target functional module is reconnected to the virtual domain controller's communication bus according to the target connection relationship. This step ensures that the target functional module can operate normally in the new control environment and communicate effectively with other required modules. For example, after disconnecting the "window control" module from "vehicle stability control" and "collision detection", the next step is to connect the "window control" module to the virtual domain controller's communication bus. At this time, it will interact with the "light control" module through a new connection mechanism, such as sending window switch status information through a new data transmission protocol.

[0136] In an optional embodiment, after connecting the target functional module to the communication bus of the virtual domain controller according to the target connection relationship, the method further includes:

[0137] Collect real-time load signals of the virtual domain controller after migration;

[0138] Based on real-time load signals, determine whether the load information of the virtual domain controller exceeds a preset safety threshold;

[0139] When it is determined that the load information of the virtual domain controller exceeds the preset safety threshold, the migration strategy of the target functional module is adjusted according to the real-time load signal, and some functions of the target functional module are migrated back to the vehicle domain controller.

[0140] It should be noted that once the target functional module is connected to the virtual domain controller, the system will begin to monitor the controller's load signals in real time. These load signals include data such as processor utilization, memory usage, and network bandwidth, which can reflect the current operating status of the system. For example, assuming the "window control" module has been successfully connected to the virtual domain controller, the system begins to monitor the controller's load signals. For instance, the system may detect that the processor utilization is rising rapidly, currently reaching 85%, while memory usage has reached 90%. This data will be recorded in real time and used for subsequent analysis.

[0141] The system determines the load status of the virtual domain controller based on a pre-set safety threshold. If the load information displayed by the real-time load signal exceeds this threshold, the system will consider it a potential risk, which may lead to performance degradation or system instability. For example, suppose the preset safety threshold is 80% processor utilization and 85% memory usage. When the system detects that the processor utilization reaches 85%, it will trigger an alarm, indicating that resources are about to be exhausted, indicating that the load has exceeded the preset safety threshold.

[0142] When the system determines that the load information of the virtual domain controller exceeds the safety threshold, it will adjust the migration strategy of the target functional module based on the real-time load signal. This means that some functions may need to be migrated back to the body domain controller to reduce the burden on the virtual domain controller. For example, if some functions of the "window control" module (such as complex switch control logic) cause a high load on the virtual domain controller, the system can decide to migrate these complex functions back to the body domain controller. In this way, the "window control" module only retains the basic switch signal transmission function, while the complex calculation tasks are handed over to the body domain controller. After adjustment, the load on the virtual domain controller may be reduced to 70%, thereby restoring the stability of the system.

[0143] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A load-aware vehicle domain controller function migration method, characterized in that, include: Collect the current load signal managed by the vehicle domain controller and the real-time functional safety level information of the vehicle domain controller; Based on the current load signal and its corresponding real-time functional safety level information, determine whether the current state of the vehicle domain controller meets the triggering conditions for functional migration based on the current load signal; In response to the current state of the vehicle domain controller satisfying the triggering condition for function migration based on the current load signal, the computing power requirement threshold of the virtual domain controller to be constructed is determined according to the load type of the current load signal and the real-time functional safety level information. Based on the computing power requirement threshold, high-load migration function sets and low-load function sets are selected from all functional modules of the vehicle domain controller; A virtual domain controller is established using the high-load migration function set, and the target operating environment and target communication protocol are configured in each of the high-load migration function sets according to the original signal interface information corresponding to each of the high-load migration function sets. Based on the load characteristics of the low-load function set, the low-load function set is isolated and injected into the virtual domain controller in sequence; In response to the virtual domain controller's computing power utilization rate being greater than or equal to the computing power demand threshold, the control authority is switched to the virtual domain controller and the original function of the vehicle domain controller is stopped.

2. The method for migrating vehicle domain controller functions based on load awareness according to claim 1, characterized in that, Based on the current load signal and its corresponding real-time functional safety level information, determine whether the current state of the vehicle domain controller meets the triggering conditions for function migration based on the current load signal, including: Obtain the load type of the current load signal, wherein the load type includes one of the following: computing load signal, communication load signal, power load signal, and storage load signal; Based on the real-time functional safety level information, a preset degree of change in the load information corresponding to the load type is determined. The load information includes one of the following: processor utilization rate information, bus bandwidth utilization rate information, power supply current information, and storage space utilization rate information. Based on the current load signal, analyze the actual degree of change in the load information corresponding to the load type; Determine whether the actual degree of change in the load information reaches the preset degree of change corresponding to the load information; When it is determined that the actual change in the load information reaches the preset change level, the current state of the vehicle domain controller is determined to meet the triggering condition for function migration based on the current load signal.

3. The method for migrating vehicle domain controller functions based on load awareness according to claim 2, characterized in that, Based on the current load signal, analyze the actual degree of change in load information corresponding to the load type, including: Based on the load type of the current load signal, at least one historical load signal that matches the load type is selected from the preset historical load signals, and each historical load signal corresponds to a historical acquisition time. Calculate the time difference between the historical acquisition time corresponding to each historical load signal and the current acquisition time corresponding to the current load signal, and use it as the signal acquisition time difference corresponding to each historical load signal; From all historical load signals that match the load type, select the historical load signal whose corresponding signal acquisition time difference is less than or equal to a preset time difference, and use it as the reference load signal corresponding to the current load signal; By comparing the current load signal with the reference load signal, the load signal difference information of the vehicle domain controller is obtained; Based on the load signal difference information and the real-time functional safety level information, analyze the actual degree of change of the load information corresponding to the load type.

4. The method for migrating vehicle domain controller functions based on load awareness according to claim 3, characterized in that, A virtual domain controller is established using the high-load migration function sets, and the target operating environment and target communication protocol are configured in each high-load migration function set according to the original signal interface information corresponding to each high-load migration function set, including: Scan the original controller bus logs of the original function corresponding to the current high load migration function set, and use the signal database to detect and obtain the original signal matrix configuration table; wherein, the current high load migration function set is any of the high load migration function sets, and the original signal matrix configuration table includes the bus signal configuration information of the original controller of the original function corresponding to the current high load migration function set; The original signal matrix configuration table is parsed to obtain the signal routing path of the original controller corresponding to the original function of the current high load migration function set; Using a routing mapping library, the signal routing path is mapped to the target operating environment to obtain the mapped signal route for the target operating environment; Using the protocol stack template library, generate the mapping communication protocol stack corresponding to the mapping signal route; Synchronize the mapping communication protocol stack to the target runtime environment of the current high-load migration function set.

5. A method for migrating vehicle domain controller functions based on load awareness according to claim 4, characterized in that, The method further includes establishing a virtual domain controller using the high-load migration function sets, configuring the target operating environment and target communication protocol in each high-load migration function set according to the original signal interface information corresponding to each high-load migration function set, and also includes: Read the original driver configuration information of the original controller corresponding to the original function of the current high-load migration function set; wherein, the original driver configuration information includes at least one of peripheral register configuration, interrupt priority configuration, direct memory access channel configuration, clock source configuration, pin multiplexing configuration, gatekeeper configuration and power management mode; The original driver configuration information is compared with the default driver configuration information of the target runtime environment in the chip driver library to determine the different driver items in the target runtime environment of the current high-load migration function set. Adjust the difference driver item based on the original driver configuration information.

6. The method for migrating vehicle domain controller functions based on load awareness according to claim 5, characterized in that, Based on the load characteristics of the low-load function set, the low-load function set is isolated and injected into the virtual domain controller in sequence, including: Non-core functions, excluding core safety functions, in the vehicle domain controller to be migrated are isolated in batches and injected into the virtual domain controller; wherein, the core safety functions are a set of low-load functions below the computing power requirement threshold, and the non-core functions are a set of low-load functions other than the core safety functions. When the computing power redundancy in the virtual domain controller is greater than or equal to the computing power requirement threshold, a real-time signal synchronization test is performed on the virtual domain controller to obtain the synchronization test results. When the migration of the non-core functions is completed and the synchronization test result is a pass, switch the control permission to the virtual domain controller and stop the original function of the vehicle domain controller; The core security functions are injected into the virtual domain controller, and the target operating environment and target communication protocol are configured in each core security function according to the original signal interface information corresponding to each core security function.

7. A load-aware vehicle domain controller function migration method according to claim 6, characterized in that, Before isolating and injecting the low-load function set into the virtual domain controller according to its load characteristics, the method further includes: The computing power requirement threshold is determined based on the real-time task load information of the vehicle domain controller; wherein, the real-time task load information includes the execution cycle of each task thread and the utilization rate of each core; the execution cycle includes the average cycle and / or the maximum jitter cycle.

8. A load-aware vehicle domain controller function migration method according to claim 7, characterized in that, Based on the real-time task load information of the vehicle domain controller, the computing power requirement threshold is determined, including: Based on the functional safety level of the vehicle domain controller, the real-time task load information of the vehicle domain controller is obtained; wherein, the task loads corresponding to at least two functional safety levels are different; the functional safety level includes at least one of the vehicle safety integrity levels, the functional safety level includes at least one of ASIL-A, ASIL-B, ASIL-C and ASIL-D, and the real-time task load information includes at least one of the central processing unit load, memory bandwidth load and bus load.

9. A load-aware vehicle domain controller function migration method according to claim 8, characterized in that, After filtering out the high-load migration function set and the low-load function set from all functional modules of the vehicle domain controller based on the computing power requirement threshold, the method further includes: Based on the function migration operation, determine the current connection relationship of the target function module in the vehicle domain controller and the target connection relationship of the virtual domain controller; Based on the communication bus of the vehicle domain controller, disconnect the target functional module from other modules in the current connection relationship; Based on the target connection relationship, the target functional module is connected to the communication bus of the virtual domain controller.

10. A load-aware vehicle domain controller function migration method according to claim 9, characterized in that, After connecting the target functional module to the communication bus of the virtual domain controller according to the target connection relationship, the method further includes: Collect the real-time load signal of the virtual domain controller after migration; Based on the real-time load signal, determine whether the load information of the virtual domain controller exceeds a preset safety threshold; When it is determined that the load information of the virtual domain controller exceeds a preset safety threshold, the migration strategy of the target functional module is adjusted according to the real-time load signal, and some functions of the target functional module are migrated back to the vehicle domain controller.

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