Vehicle controller code integration methods, devices, equipment, media and products

Abstract

This application discloses a method, apparatus, device, medium, and product for code integration of a vehicle controller. It relates to the field of automotive electronic control systems. The method includes: in response to receiving a configuration operation, obtaining an integration configuration file; obtaining multiple model code files from the storage address of multiple model code files based on the integration configuration file; receiving an integration operation, the integration operation instructing the integration of the multiple model code files; and generating model software based on the integration operation, obtained by integrating the multiple model code files. This enables rapid software integration and simulation of functional modules; the integration work is automatically performed by an integration tool, improving the efficiency of software integration and saving human resources and time costs.

Description

Technical Field

[0001] This application relates to the field of automotive electronic control systems, and in particular to a method, apparatus, device, medium, and product for code integration of a vehicle controller. Background Technology

[0002] Vehicles are equipped with numerous controllers, each controlling various components to ensure they perform their functions. As the number of controllers increases, the workload of software integration also grows significantly. Software integration involves combining, compiling, and linking the code of the individual software modules to ultimately generate a complete executable software.

[0003] In related technologies, the software integration of controllers requires integrators to monitor each step at all times and manually start the next step after one step is completed.

[0004] However, this manual integration process requires a significant investment of time and manpower. Furthermore, if any integration step encounters a problem, the integration process must be restarted from the first step, which consumes a lot of time and results in low integration efficiency. Summary of the Invention

[0005] This application provides a method, apparatus, device, medium, and product for code integration in a vehicle controller, which can improve the efficiency of software integration. The technical solution is as follows:

[0006] On the one hand, a method for code integration of a vehicle controller is provided, the method comprising:

[0007] In response to receiving a configuration operation, an integrated configuration file is obtained, which provides the storage address of multiple model code files corresponding to the vehicle controller;

[0008] Based on the integrated configuration file, the multiple model code files are obtained from the storage address of the multiple model code files. The multiple model code files include the control code of the vehicle controller. The multiple model code files correspond to multiple functional modules in the vehicle controller. The multiple functional modules are used to implement different control functions of the vehicle controller.

[0009] Receive an integration operation, the integration operation being used to instruct the integration of the plurality of model code files;

[0010] Based on the integration operation, model software is generated by integrating the multiple model code files. The model software integrates multiple functional modules of the vehicle controller and is used to simulate the operation of the multiple functional modules of the vehicle controller.

[0011] On the other hand, a code integration device for a vehicle controller is provided, the device comprising:

[0012] The acquisition module, in response to receiving a configuration operation, acquires an integrated configuration file, which provides the storage address of multiple model code files corresponding to the vehicle controller;

[0013] The acquisition module obtains the multiple model code files from the storage address of the multiple model code files based on the integrated configuration file. The multiple model code files include the control code of the vehicle controller. The multiple model code files correspond to multiple functional modules in the vehicle controller. The multiple functional modules are used to implement different control functions of the vehicle controller.

[0014] The receiving module receives an integration operation, which instructs the integration of the multiple model code files.

[0015] The model software generation module generates model software by integrating the multiple model code files based on the integration operation. The model software integrates multiple functional modules of the vehicle controller and is used to simulate the operation of the multiple functional modules of the vehicle controller.

[0016] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least one program, the code set or instruction set being loaded and executed by the processor to implement the code integration method of the vehicle controller as described in any of the embodiments of this application above.

[0017] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, code set, or instruction set is stored therein, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the code integration method for a vehicle controller as described in any of the embodiments of this application above.

[0018] On the other hand, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the code integration method for the vehicle controller described in any of the above embodiments.

[0019] The beneficial effects of the technical solutions provided in this application include at least the following:

[0020] By receiving integration operations, multiple model code files of the vehicle controller are integrated, and the code responsible for different functional modules of the vehicle controller is integrated and compiled into an executable model software, realizing rapid software integration and simulation operation of functional modules. The integration work is automatically executed by the integration tool, which improves the efficiency of software integration and saves human resources and time costs. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a software integration process provided in an exemplary embodiment of this application;

[0023] Figure 2 This is a schematic diagram of an implementation environment provided by an exemplary embodiment of this application;

[0024] Figure 3 This is a flowchart of a code integration method for a vehicle controller provided in an exemplary embodiment of this application;

[0025] Figure 4 This is a flowchart of an exemplary embodiment of the present application for obtaining an integrated configuration file;

[0026] Figure 5 This is a flowchart illustrating the process of generating software and calibration files provided in an exemplary embodiment of this application;

[0027] Figure 6 This is a schematic diagram of the interface of an integrated tool platform provided in an exemplary embodiment of this application;

[0028] Figure 7 This is a schematic diagram illustrating the process by which the integration tool platform provided in an exemplary embodiment of this application integrates model code files sequentially;

[0029] Figure 8 A structural block diagram of a code integration device for a vehicle controller provided in an exemplary embodiment of this application;

[0030] Figure 9 A structural block diagram of a code integration device for a vehicle controller provided in another exemplary embodiment of this application;

[0031] Figure 10 A structural block diagram of a computer device provided in an exemplary embodiment is requested. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0033] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0034] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0035] It should be noted that the information (including but not limited to vehicle controller information, information of different terminals, etc.) and data (including but not limited to code file data, script file data, etc., such as code file data used for software integration, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0036] It should be understood that although the terms first, second, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, a first client may also be referred to as a second client, and similarly, a second client may also be referred to as a first client. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0037] First, a brief introduction to the terms used in the embodiments of this application:

[0038] Vehicle controller / electronic control unit (ECU): Also known as the car's "on-board computer," its purpose is to control the car's driving status and perform its various functions. It primarily uses data acquisition and exchange via various sensors and buses to determine the vehicle's status and the driver's intentions, and then uses actuators to control the car.

[0039] Software integration refers to the technique of recombining existing software components according to software requirements to achieve the desired outcome at a lower cost and higher efficiency. In other words, it involves combining the code of the various modules that make up the software, compiling and linking them together to ultimately generate a complete executable software.

[0040] Automobiles are equipped with a large number of vehicle controllers, each with multiple functions to control various parts of the car. Different functional modules have their own code, and software integration is the process of combining the code corresponding to the different functional modules of each vehicle controller into a single software.

[0041] Script: A script is an executable file written in a specific descriptive language according to a certain format. A script is a type of interpreted language code used to control software applications. Scripts are usually saved as text and are only interpreted or compiled when called.

[0042] Calibration: Calibration mainly refers to using standard measuring instruments to test whether the accuracy (precision) of the instrument being used meets the standards. It is generally used for instruments with high precision. Calibration can also be considered as calibration. In the automotive field, automotive calibration refers to the process of optimizing software data after the engine, vehicle, control algorithm, and peripheral components have been determined, in order to obtain satisfactory vehicle performance, meet customer requirements, and comply with national standards.

[0043] In the field of automotive electronic control system product development and application, as the number and functions of vehicle controllers increase, the workload of software integration also increases.

[0044] In related technologies, when integrating vehicle controller software, integrators typically process the software code sequentially based on the scripts for each vehicle controller. This requires constant monitoring of the results of each script's processing. Once a script is completed, the integrator must reopen the file directory containing that script and double-click the next script to process its code. For a complete vehicle project involving multiple controllers, each controller requires software integration, a process that demands significant time and manpower.

[0045] The software integration process relies on integration tools. The installation process of most integration tools is quite complicated, which increases the difficulty for integrators to use them. In addition, the integration process is highly automated. When a problem occurs in a certain part of the integration process, the integration process needs to be restarted from the first part after the problem is solved, resulting in low efficiency and a lot of time wasted.

[0046] This application provides a platform with software integration capabilities that can automatically execute the software integration process without requiring constant monitoring by integration personnel. After integrating the code of different modules of the vehicle controller, an executable model software is generated, which improves the efficiency of software integration and saves time and labor costs.

[0047] This is illustrative; please refer to it. Figure 1 , Figure 1 This is a schematic diagram of the software integration process.

[0048] The target vehicle 100 contains multiple vehicle controllers 110, each vehicle controller 110 corresponds to multiple functional modules 120. The vehicle controllers 110 control the various components in the target vehicle 100 to achieve the corresponding functions based on different functional modules 120. The code part of the functional modules 120 is written by their respective engineers and exists in the corresponding code file 130.

[0049] Optionally, the vehicle controller 110 is used to control the in-vehicle air conditioning in the target vehicle 100. The vehicle controller 110 includes three functional modules 120.

[0050] The first functional module controls the air conditioner to turn on / off; the second functional module controls the air conditioner temperature; and the third functional module reports an error when the air conditioner malfunctions.

[0051] Each vehicle controller 110 requires a software integration process to integrate the code of different functional modules 120 in the vehicle controller 110, which can generate executable software 140, that is, vehicle controller software program. Through the executable software 130, the vehicle controller 110 can control and operate the corresponding components in the target vehicle 100.

[0052] Secondly, the implementation environment involved in the embodiments of this application will be described, for illustrative purposes only. Please refer to [the relevant documentation]. Figure 2 It illustrates a schematic diagram of an implementation environment provided by an exemplary embodiment of this application, such as... Figure 2 As shown, the implementation environment includes a first terminal 200, at least one second terminal 220, and a server 240. The first terminal 200 and the server 240 are connected through a communication network 210, and the second terminal 220 and the server 240 are connected through a communication network 210.

[0053] The second terminal 220 is responsible for writing model codes for different functional modules of the same vehicle controller and generating corresponding code files. The second terminal 220 sends the generated code files to the server 240 for storage.

[0054] Server 240 corresponds to the integration tool platform. The interface of the integration tool is displayed on the screen of the first terminal 200. The integration tool interface 230 contains a variety of target controls. By triggering the target controls, the integration process of the code files is realized.

[0055] Server 240 receives configuration operation instructions sent by first terminal 200, obtains and loads integration configuration file. Integration configuration file is used to provide the storage address of code file. Based on the storage address, server 240 calls code file.

[0056] Server 240 receives integration operation instructions sent by first terminal 200, integrates the code files, generates corresponding model software, and displays the integration process and results on the screen of first terminal 200. The model software integrates different functional modules of the vehicle controller.

[0057] The second terminal 220 is equipped with an application that supports generating model code for vehicle controllers. The application generates code files, or the second terminal 220 generates code files through a website that supports generating model code.

[0058] After the second terminal 220 generates the code file, it actively sends the code file to the server 240 for storage. In some embodiments, the second terminal 220 stores the code file locally after generating it. When the server 240 obtains the integration configuration file, it requests the second terminal to retrieve the code file based on the storage address of the code file in the integration configuration file. Then, the second terminal 220 sends the code file to the server 240.

[0059] The first terminal 200 and the second terminal 220 can be of any type, including but not limited to at least one of the following terminals: smartphone, tablet computer, portable laptop, desktop computer, smart speaker, smart wearable device, smart voice interaction device, smart home appliance, vehicle terminal, etc.

[0060] It is worth noting that the aforementioned communication network 210 can be implemented as a wired network or a wireless network, and the communication network 210 can be implemented as any one of a local area network, a metropolitan area network or a wide area network. This application embodiment does not limit this.

[0061] It is worth noting that the aforementioned server 240 can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud security, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0062] Cloud technology refers to a hosting technology that unifies hardware, software, and network resources within a wide area network (WAN) or local area network (LAN) to achieve data computation, storage, processing, and sharing. Based on the cloud computing business model, cloud technology encompasses network technology, information technology, integration technology, management platform technology, and application technology. It can form resource pools, providing flexible and convenient on-demand access. Cloud computing technology will become a crucial support. Backend services of technical network systems require substantial computing and storage resources, such as video websites, image websites, and many portal websites. With the rapid development and application of the internet industry, every item may have its own identification mark in the future, requiring transmission to backend systems for logical processing. Data at different levels will be processed separately, and various industry data will require robust system support, which can only be achieved through cloud computing.

[0063] In some embodiments, the server 240 can also be implemented as a node in a blockchain system. Blockchain is a novel application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanisms, and cryptographic algorithms. Essentially, a blockchain is a decentralized database, a chain of data blocks linked using cryptographic methods. Each data block contains information about a batch of network transactions, used to verify the validity of the information (anti-counterfeiting) and generate the next block. A blockchain can include a blockchain underlying platform, a platform product service layer, and an application service layer.

[0064] Based on the above-described terms and application scenarios, the code integration method for the vehicle controller provided in this application embodiment will be explained, such as... Figure 3 As shown, Figure 3 This is a flowchart of a code integration method for a vehicle controller according to this application, which is executed by a terminal or server and includes the following steps.

[0065] Step 310: In response to the receive configuration operation, obtain the integration configuration file.

[0066] The integrated configuration file is used to provide the storage address for multiple model code files corresponding to the vehicle controller.

[0067] The target vehicle contains at least one vehicle controller, and each vehicle controller contains multiple functional modules for controlling different components within the target vehicle. For a single vehicle controller, each functional module is written in a computer language (i.e., code) by its corresponding engineer, generating a corresponding model code file.

[0068] Optionally, the vehicle controller is responsible for controlling the in-vehicle air conditioning in the target vehicle. The vehicle controller includes three functional modules: the first functional module controls the air conditioning to turn on / off, the second functional module controls the air conditioning temperature, and the third functional module reports an error when the air conditioning malfunctions.

[0069] The first functional module was written by engineer A, generating model code file A; the second functional module was written by engineer B, generating model code file B; and the third functional module was written by engineer C, generating model code file C.

[0070] Optionally, engineers use MATLAB software to write code. MATLAB is an arithmetic computation software used for scientific research and engineering application analysis and design, providing a programming environment for different programming languages.

[0071] Each engineer generates a model code file corresponding to a functional module, containing a total of 6 files:

[0072] (1) C file: mainly includes the output variable definition, calibration definition, initialization function, main function and corresponding driving function of the vehicle controller model;

[0073] (2) H file: The main contents are the functions and variables contained in the functional module, as well as the external reference declarations of the scalar value.

[0074] (3) M-file: The main contents are the output variables, input variables, calibration values ​​(the calibration of the calibration value design is usually a common calibration) and the classification definition of system constants of the vehicle controller model;

[0075] (4) Type H file: mainly contains data structures defined by strategy engineers. The definitions of data structures can be extracted and put into the H file;

[0076] (5) Declaration H file: This file mainly contains the declaration of the input variables of this functional module and the prototype declaration of the functions generated by the system Library;

[0077] (6) Calibration file: The format definition of the input and output variables and calibration data of the vehicle controller model.

[0078] After each model's lead submits the six files generated from their model, the integrated development tool is used to process the code generated after the entire car model development process, such as... Figure 1 As shown, integration personnel can use this tool to easily and quickly resolve various problems that arise in the vehicle software within the computer system.

[0079] If there is an integration requirement between model code file A, model code file B, and model code file C, then the integration configuration file contains the storage addresses of model code file A, model code file B, and model code file C respectively.

[0080] It is worth noting that the number of vehicle controllers can be arbitrary, the number and types of functional modules contained in each vehicle controller can be arbitrary, and the number of model code files of functional modules with integration requirements can be arbitrary. This embodiment does not limit these.

[0081] Step 320: Obtain multiple model code files from the storage address of multiple model code files based on the integrated configuration file.

[0082] In this embodiment of the application, multiple model code files refer to model code files that require integration, and the integration configuration file only stores model code files used for integration.

[0083] These model code files contain the control code for the vehicle controller. Multiple model code files correspond to multiple functional modules in the vehicle controller, and these functional modules are used to implement different control functions of the vehicle controller.

[0084] In some embodiments, the order in which multiple model code files are obtained can be arbitrary based on the storage address of multiple model code files in the integration configuration file, and this embodiment does not limit this.

[0085] Step 330: Receive integration operation.

[0086] The integration operation is used to instruct the integration of multiple model code files.

[0087] Optionally, the server corresponds to an integration tool platform, which is used to integrate model code files. The interface of the integration tool platform contains multiple target controls, each with a different function.

[0088] The types of target controls include, but are not limited to: (1) configuration controls: used to obtain integration configuration files; (2) integration controls: used to integrate model code files and generate corresponding software.

[0089] Optionally, receive integration operations, that is, receive trigger operations on integration controls on the integration tool platform interface.

[0090] In some embodiments, the method of receiving integration operations can be arbitrary, and the number and functions of target controls on the integration tool platform can be arbitrary; this embodiment does not limit this.

[0091] Step 340: Based on the integration operation, generate model software that integrates multiple model code files.

[0092] Based on the integration operation, multiple model code files that have integration requirements are integrated to obtain an executable software, namely model software.

[0093] Optionally, based on a preset integrated model, multiple model code files are input into the integrated model, and model software is output. The integrated model enables all model code files to be spliced ​​or combined in a specified manner in a unified operating environment to form model software.

[0094] The model software integrates multiple functional modules of the vehicle controller, simulating their operation. This software can be downloaded and installed on different terminals, allowing users to implement various functions of the vehicle controller and control the operation of different components within the vehicle.

[0095] It is worth noting that the methods for integrating multiple model code files include, but are not limited to, the integration model used as an example above. Other application frameworks that support software integration functions can also be used. The type of integration model can be arbitrary, and this embodiment does not limit it.

[0096] In summary, the method provided in this application integrates multiple model code files of a vehicle controller by receiving an integration operation, integrates and compiles the code responsible for different functional modules of the vehicle controller into an executable model software, and realizes rapid software integration and simulation operation of functional modules; the integration work is automatically executed by the integration tool, which improves the efficiency of software integration and saves human resources and time costs.

[0097] In some embodiments, after filtering all functional modules of the vehicle controller, the model code files of the functional modules to be integrated are selected, and the storage address of these filtered model code files is included as part of the content in the integration configuration file, such as... Figure 4 As shown, Figure 4 This is a flowchart of an exemplary embodiment of the present application for obtaining an integrated configuration file, which includes the following steps.

[0098] Step 410: Obtain candidate configuration files based on configuration operations.

[0099] The candidate configuration file contains the storage address of all model code files in the vehicle controller. All model code files contain multiple model code files and reference files. The reference files are used to generate calibration files, and the calibration files are used to adjust the model software.

[0100] The reference files include input reference files and output reference files, which are used to provide references for the input and output of the calibration files. The candidate configuration file also contains the storage address of the reference files.

[0101] Optionally, the candidate profile is pre-generated by other terminals, which have an application installed that supports generating candidate profiles, or the other terminals generate candidate profiles based on websites that support generating candidate profiles.

[0102] The interface of the integration tool platform contains target controls, such as (1) configuration control: used to obtain the integration configuration file; (2) integration control: used to integrate the model code file and generate the corresponding software.

[0103] The system receives trigger operations for configuration controls, i.e., receives configuration operations. It can send requests to other terminals that generate candidate configuration files through the server corresponding to the integration tool platform. When other terminals receive the request, they send the locally stored candidate configuration files to the server and load them on the integration tool platform.

[0104] In addition to the storage addresses of all the model code files mentioned above, the candidate configuration file also contains other contents, such as: (1) a three-dimensional simulation model of each vehicle controller, which is used to simulate the appearance data of the vehicle controller under actual conditions; (2) the version number corresponding to the vehicle controller model. For the same model or type of vehicle controller, there are initial versions and multiple updated and optimized versions, each corresponding to its own version number, which is used to identify the vehicle controller model; (3) a reference file for storing the calibration file after the calibration file is generated, which is used to provide a storage address for the calibration file.

[0105] In some embodiments, candidate configuration files may be generated by other terminals and actively sent to the server corresponding to the integration tool platform for storage. When a configuration operation is received, the integration tool platform can obtain and load the candidate configuration files.

[0106] It is worth noting that the method of obtaining the candidate configuration file can be arbitrary, and the content contained in the candidate configuration file can be arbitrary. This embodiment does not limit this.

[0107] Step 420: Select the storage addresses of multiple module codes that meet the integration requirements and the storage addresses of target reference files that meet the integration requirements from the candidate configuration files to obtain the integration configuration file.

[0108] In this context, meeting integration requirements refers to the parts that need to be integrated among different functional modules in the vehicle controller.

[0109] To illustrate, the vehicle controller is responsible for controlling the in-vehicle air conditioning in the target vehicle. The vehicle controller includes five functional modules: the first functional module controls the air conditioning to turn on / off; the second functional module controls the air conditioning temperature; the third functional module reports an error when the air conditioning malfunctions; the fourth functional module automatically turns off the in-vehicle air conditioning when the air conditioning temperature exceeds a preset temperature threshold; and the fifth functional module sets the prompt sound when the air conditioning is turned on or off.

[0110] Based on the project requirements for the target vehicle, the vehicle's air conditioning system needs to automatically shut off when the temperature exceeds a preset threshold, and it must also maintain low power consumption during operation. Therefore, of the five functional modules mentioned above, the fourth module meets the project requirements and thus the integration requirements; the fifth module may cause additional power consumption and does not meet the integration requirements; the other modules are optional and can be used in conjunction with the fourth module. Therefore, the model code files corresponding to the first, second, third, and fourth functional modules are selected for integration to generate the model software.

[0111] Optionally, when loading candidate configuration files, the option to display all configuration files on the interface of the integration tool platform may include, but is not limited to:

[0112] (1) At least one vehicle controller model type and version;

[0113] (2) The storage location of the model code files for the first to fifth functional modules;

[0114] (3) Location of reference files;

[0115] (4) Specify the location where the calibration file is stored.

[0116] Based on project requirements, select the model and version corresponding to the vehicle controller, the storage location for the model code files of the first to fourth functional modules, the storage location for the reference files required to integrate the model code files of the above four functional modules, and the storage location for the calibration files. When an integration operation is received, the corresponding model code file can be obtained based on the storage location of this model code file.

[0117] It is worth noting that when loading candidate configuration files, all configuration file options can be displayed on the interface of the integration tool platform. Based on project requirements, files that meet the integration requirements can be selected, and the storage addresses of these files can be used as the components of the integration configuration file. In some embodiments, integration requirements can also be entered directly based on the prompts on the integration tool platform, and the interface can automatically display the contents of the integration configuration file to obtain the integration configuration file. This embodiment does not limit this.

[0118] In summary, the method proposed in this application can screen different functional modules of the vehicle controller based on the project requirements of the vehicle, determine multiple model code files that meet the integration requirements, and automatically integrate these model code files, thus saving manpower and time costs in the integration process. The integration configuration file contains the storage addresses of the files required for integration, providing a file index for subsequent integration operations, facilitating timely file retrieval, and improving integration efficiency.

[0119] During the integration process, in addition to integrating multiple model code files to generate model software, corresponding calibration files are also generated. These are used for subsequent adjustments to the model software to better meet the vehicle project requirements and improve vehicle performance. During the integration process, the integration tool platform corresponding to the server will display the integration progress. For example... Figure 5 As shown, Figure 5 This is a flowchart illustrating the process of generating software and calibration files according to an exemplary embodiment of this application, including the following steps.

[0120] Step 510: Receive the clear operation and clear the historical files based on the clear operation.

[0121] The clearing operation is used to clear historical files, which are files generated based on integration operations within a historical time period. During each integration operation, files generated by the previous integration operation need to be cleared, including but not limited to:

[0122] (1) Clear target files and list files: Clear files with the .o and .list extensions generated during the last integration process;

[0123] (2) Clear upper-level code: Clear the upper-level model files involved in the previous integration process and copy the header files related to the diagnostic model; where upper-level model refers to the upper-level strategy, such as: whether to turn on the car's air conditioning when the air conditioning button is pressed. This process requires strategy judgment, and the air conditioning can only be turned on when the current vehicle condition meets the conditions for turning on the air conditioning.

[0124] In some embodiments, the historical files may include other types of files in addition to the target files, list documents, and upper-level model files used for distance as described above, and this embodiment does not limit this.

[0125] Step 520: Receive code processing operations, and integrate and compile multiple model code files based on the processing operations to generate model software.

[0126] The code processing operation is used to integrate and compile multiple model code files.

[0127] After processing the original code in multiple model code files into intermediate code that can be compiled, the intermediate code is compiled and linked to generate the address files needed to generate the model software and the calibration file.

[0128] For a vehicle controller, multiple model code files refer to the code files of multiple functional modules that have integration requirements in the vehicle controller. Each functional module's code file contains a total of 6 files, namely (1) C file: mainly includes the output variable definition, calibration definition, initialization function, main function and corresponding driving function of the vehicle controller model; (2) H file: mainly contains the functions and variables contained in the functional module and the external reference declaration of the calibration; (3) M file: the classification definition of the vehicle controller model's output and input variables, calibration (the calibration of the calibration design is usually a common calibration) and system constants; (4) Type H file: mainly contains the data structure defined by the strategy engineer in the functional module. The definition of the data structure can be extracted and put into the H file; (5) Declaration H file: mainly contains the declaration of the module's input variables and the prototype declaration of the functions generated by the system Library;

[0129] (6) Calibration file: The format definition of the output variables, input variables, and calibration values ​​of the vehicle controller model.

[0130] The process of integrating and compiling multiple model code files mainly targets the C files within these files. The C files contain the original code, while the contents of the other files provide the compilation environment and function references for integration and compilation.

[0131] Step 530: Receive the judgment operation, and judge the error that occurred during the compilation process based on the judgment operation, and generate the judgment result.

[0132] Various errors often occur during code compilation, including but not limited to: (1) Variable definition errors, such as defining the original input variable as an output variable; (2) Missing variable definitions, such as missing the definition of an input variable and directly using the variable; (3) The function used does not have the corresponding header file, which makes it impossible to reference the function, etc.

[0133] The judgment operation is used to judge the situation where an error occurs during the compilation process and generate the corresponding judgment result.

[0134] Optionally, the judgment result will be displayed on the interface of the integrated tool platform, such as: (1) when the judgment result shows that no error occurred during the compilation process, a prompt text box “compilation successful” will be displayed; (2) when the judgment result shows that an error occurred during the compilation process, a prompt text box “compilation failed” will be displayed, and the type of compilation error and the line of code where the error occurred will be indicated, so as to facilitate subsequent error correction.

[0135] In some embodiments, the way the judgment result is displayed can be arbitrary. When the judgment result indicates that an error has occurred in the compilation process, an error prompt sound can also be issued to notify the integration personnel to handle it in a timely manner. This embodiment does not limit this.

[0136] Step 540: Based on the judgment results, determine the model software.

[0137] Optionally, based on the judgment results, the following are some of the possible scenarios for determining the model software:

[0138] 1. If the judgment result shows that no error has occurred, directly determine the model software;

[0139] At this point, the compilation is successful, and executable software has been generated. Directly identify the software generated by this compilation result as the model software, and display a prompt text box "Model software has been generated" on the interface of the integrated tool platform. After confirming the model software, you can continue to perform other subsequent steps.

[0140] 2. If an error occurs in the judgment result, resolve the compilation error and regenerate the model software;

[0141] 2.1 If an error is detected in the judgment result, receive the adjustment operation;

[0142] The adjustment operation is used to correct errors in multiple model code files.

[0143] Optionally, if there is a problem with the definition of input quantities in the model code file, the integration tool interface will display a "compilation error" message box and send a message to the first terminal used by the integrator to prompt the integrator to make corrections.

[0144] Integration personnel send adjustment operation instructions to the server corresponding to the integration tool platform through the first terminal. The server receives the adjustment operation, which is used to find the line where the error code is located, redefine the input quantity, and complete the adjustment.

[0145] In some embodiments, the integration tool interface has a target control for adjusting the code file. By triggering the target control, the adjustment operation is received. This embodiment does not limit this.

[0146] 2.2 Based on the adjustment operation, multiple adjusted model code files are obtained;

[0147] Based on the adjustment operation, the code with compilation errors in multiple model code files was adjusted to solve the problem, resulting in multiple adjusted model code files.

[0148] Optionally, the adjustment results are displayed on the interface of the integration tool platform, including but not limited to the following situations: (1) When the adjustment results show that the code still has errors, and the adjustment results contain the line where the error code is located, the code in the code file is adjusted based on the adjustment results until the adjustment results show that there are no errors, and then the adjustment is stopped; (2) When the adjustment results show that there are no errors in the code, the adjustment is stopped.

[0149] 2.3 Receiving and processing operations: Integrating and compiling the adjusted multiple model code files to generate model software.

[0150] The receiving and processing operation, i.e. the receiving code processing operation, is the same as step 520 above.

[0151] The adjusted model code files are re-integrated and recompiled. The original code in the adjusted model code files is processed into intermediate code suitable for compilation. This intermediate code is then compiled and linked to generate the address files needed for the model software and calibration files.

[0152] Step 550: Obtain the target reference file from the storage address of the target reference file based on the integrated configuration file.

[0153] The model software generated through integrated operation can realize different functions in the vehicle controller and control the internal components of the vehicle. However, when the target vehicle is actually running, in order to make the performance of the target vehicle more in line with the actual situation and improve the driver's comfort during the driving process, the model software needs to be adjusted. During the adjustment process, the operation of the target vehicle is simulated at the same time, so that the final target vehicle produced meets the project requirements and improves its performance.

[0154] A reference file, or calibration file, is needed during the adjustment of the model software. The calibration file is generated synchronously during the code integration process to generate the model software, maintaining consistency between the calibration file and the model software. The calibration file contains at least one calibration value, which is used to indicate the standard for evaluating and adjusting vehicle performance or vehicle parameters.

[0155] The reference file is used to generate the calibration file. The target reference file is the reference file obtained after filtering the reference files, which corresponds to multiple model code files that meet the integration requirements or have integration needs. The target reference file is used to generate the calibration file for adjusting the model software.

[0156] Step 560: Receive calibration processing operation.

[0157] The calibration process is used to generate calibration files.

[0158] Optionally, a target control for generating calibration files is provided on the interface of the integrated tool platform. By triggering the target control, calibration processing operations are received.

[0159] It is worth noting that after step 540 is completed and the model software is determined, the contents corresponding to steps 550 and 560 are automatically executed.

[0160] Step 570: Based on the calibration processing operation, integrate the target reference file to generate a calibration file corresponding to the model software.

[0161] The target reference file contains upper-level strategy code and calibrated values. The upper-level strategy code is used to determine the values ​​of output variables, which reflect the operations performed by the vehicle's internal components, such as turning on the vehicle's air conditioning.

[0162] The upper-level strategy code is calibrated and integrated, that is, the calibration data of all vehicle controller models are integrated together to generate a calibration file.

[0163] The generated calibration files are then subjected to calibration address replacement, which means merging the calibration files generated in the above steps and assigning the corresponding addresses to all variables in the calibration files according to the address file generated by compilation.

[0164] In some embodiments, in addition to the method of integrating the target reference file as exemplified above, calibration files can also be generated based on other types of files or methods, which are not limited in this embodiment.

[0165] Indicative, such as Figure 6 As shown, Figure 6 This is a schematic diagram of the interface of the integrated tool platform in the embodiments of this application.

[0166] The integration interface 600 contains multiple target controls: configuration target control 610, one-click integration target control 620, first clear target control 621, second clear target control 622, code integration target control 623, code compilation target control 624, merge processing target control 625, address replacement target control 626.

[0167] The integration interface 600 also contains a display box 630, which is used to display the integration progress and the integration results generated at each stage. When a compilation error occurs, it displays the error type and the line where the error code is located.

[0168] The functions of each target control are as follows:

[0169] (1) Configure target control 610: Triggering this control will receive the configuration operation and obtain the integrated configuration file;

[0170] (2) One-click integration target control 620: Triggering this control will receive the integration operation and generate model software and calibration files corresponding to multiple model code files; Triggering the one-click integration target control 620 will automatically execute the triggering operations of the first clear target control 621, the second clear target control 622, the code integration target control 623, the code compilation target control 624, the merge processing target control 625, and the address replacement target control 626 in sequence;

[0171] (3) First clear target control 621: Triggering this control will receive the clear operation, clear the target files and list files involved in the previous integration process, and delete the error files;

[0172] (4) Second clearing target control 622: Triggering this control will receive the clearing operation, clear the upper-level model files involved in the previous integration process, and copy several diagnostic model-related header files;

[0173] (5) Code integration target control 623: Triggering this control will receive code processing operations, integrate multiple model code files, and generate intermediate files that can be used for compilation;

[0174] (6) Code compilation target control 624: When this control is triggered, it receives code processing and judgment operations, compiles intermediate files, generates model software and address files required for generating calibration files; judges the error situation that occurs during the compilation process, generates the corresponding judgment result, and determines the final generated file based on the judgment result;

[0175] (7) Merge and process target control 625: Triggering this control will receive the calibration processing operation, perform calibration integration on the upper-level strategy code, integrate the calibration values ​​of all models according to the model configuration file of the integration project, and generate a calibration file;

[0176] (8) Address replacement target control 626: When this control is triggered, it receives the calibration processing operation, merges the generated calibration files, and assigns the corresponding addresses to all variables in the calibration files according to the address files generated during the compilation process.

[0177] During the integration process, if any target control performs an error, the integration can be restarted from any point in the current order, without having to start from the step of obtaining the integration configuration file.

[0178] Optionally, when triggering the one-click integration target control 620, receiving the integration operation, and sequentially executing the steps corresponding to the first clear target control 621, the second clear target control 622, the code integration target control 623, the code compilation target control 624, the merging and processing target control 625, and the address replacement target control 626, if an error occurs in the code integration stage, the code integration target control 623 can be re-triggered after resolving the code error, receiving the code processing operation, and after the operation is completed, the steps corresponding to the code compilation target control 624, the merging and processing target control 625, and the address replacement target control 626 can be executed sequentially.

[0179] Optionally, such as Figure 7 As shown, Figure 7 This is a flowchart of how the integration tool platform integrates model code files in sequence, including the following steps.

[0180] S710, load model configuration.

[0181] This step corresponds to configuring the target control 610, which is used to obtain the integration configuration file.

[0182] S720, clear target files and list files.

[0183] This step corresponds to the first clearing target control 621, which is used to clear related files generated during the previous integration process.

[0184] S730, clear the upper-level files.

[0185] This step corresponds to the second clearing target control 622, which is used to clear the upper-level model files involved in the previous integration process.

[0186] S740, begin code integration.

[0187] This step corresponds to code integration target control 623, which is used to generate intermediate files that can be used for compilation.

[0188] S750, begin compiling code.

[0189] This step corresponds to compiling the target control 624 code, which is used to produce model software.

[0190] S760 determines whether errors occurred during the compilation process.

[0191] This step corresponds to compiling the target control 624. If an error exists, execute S761 to correct the error and re-execute S750; if no error exists, execute S770 and S780 in sequence.

[0192] S770 performs a merge process on calibration files.

[0193] This step corresponds to the code merging and processing of target control 625, which is used to generate the calibration file.

[0194] S780, replace the calibration address.

[0195] This step corresponds to address replacement target control 626, which is used to assign addresses to variables in the calibration file.

[0196] In summary, the method provided in this application can filter different functional modules of the vehicle controller based on the project requirements of the vehicle, determine multiple model code files that meet the integration requirements, and automatically integrate these model code files, thus saving manpower and time costs in the integration process. The integration configuration file contains the storage addresses of the files required for integration, providing a file index for subsequent integration operations, facilitating timely file retrieval, and improving integration efficiency.

[0197] The method provided in this embodiment generates corresponding calibration files during the process of integrating multiple model code files and generating model software. The model software can be adjusted or modified based on the calibration files, so that the functional modules corresponding to the vehicle controller can better meet the project requirements of the vehicle during actual operation and improve the driving performance of the vehicle.

[0198] The integration tool platform provided in this embodiment can automatically perform integration operations on multiple model code files in sequence through target controls, eliminating the need for integrators to constantly monitor the integration process, thus saving manpower and time costs and improving integration efficiency. During the integration process, it can promptly display the integration progress and errors generated during compilation, notifying integrators to correct these errors and improving the efficiency of human-computer interaction.

[0199] The method provided in this embodiment can modularize the integration process, decomposing the integration of model code files into multiple steps. If a problem occurs in any step, the process can be restarted from the current step without having to re-integrate the steps that did not have problems before, thus saving time and improving integration efficiency.

[0200] Figure 8 This is a structural block diagram of an interactive device based on a laser projection television provided in an exemplary embodiment of this application, such as... Figure 8 As shown, the device includes the following parts.

[0201] The acquisition module 810 is used to acquire the integrated configuration file in response to the receiving configuration operation. The integrated configuration file is used to provide the storage address of multiple model code files corresponding to the vehicle controller.

[0202] The acquisition module 810 is used to acquire the multiple model code files from the storage address of the multiple model code files based on the integrated configuration file. The model code files include the control code of the vehicle controller. The multiple model code files correspond to multiple functional modules in the vehicle controller. The multiple functional modules are respectively used to implement different control functions of the vehicle controller.

[0203] The receiving module 820 is used to receive an integration operation, the integration operation being used to instruct the integration of the plurality of model code files;

[0204] The model software generation module 830 is used to generate model software by integrating the multiple model code files based on the integration operation. The model software integrates multiple functional modules of the vehicle controller and is used to simulate the operation of the multiple functional modules of the vehicle controller.

[0205] In an optional embodiment, such as Figure 9 As shown, the receiving module 820 further includes:

[0206] The clearing unit 821 is used to receive a clearing operation, the clearing operation being used to clear historical files, the historical files referring to files generated based on the integration operation within a historical time period;

[0207] Processing unit 822 is used to receive code processing operations, which are used to integrate and compile the multiple model code files after historical files have been cleared;

[0208] The judgment unit 823 is used to receive a judgment operation, which is used to judge the error that occurred during the compilation process after integrating multiple model code files and generate a judgment result.

[0209] In an optional embodiment, the model software generation module 830 is further configured to generate the model software obtained by integrating the plurality of model code files in response to the judgment result corresponding to the judgment operation showing that no error has occurred.

[0210] In an optional embodiment, the apparatus further includes:

[0211] The receiving module 820 is further configured to receive an adjustment operation in response to an error in the judgment result display corresponding to the judgment operation, wherein the adjustment operation is used to adjust the erroneous parts in the plurality of model code files;

[0212] The adjustment module 840 is used to obtain the adjusted multiple model code files based on the adjustment operation;

[0213] The receiving module 820 is also used to receive the processing operation, integrate and compile the adjusted multiple model code files, and generate the model software.

[0214] In an optional embodiment, the acquisition module 810 is further configured to acquire a candidate configuration file based on the configuration operation. The candidate configuration file contains the storage addresses of all model code files in the vehicle controller. The all model code files include the plurality of model code files and a reference file. The reference file is used to generate a calibration file, and the calibration file is used to adjust the model software. The storage addresses of the plurality of module codes that meet the integration requirements and the storage address of the target reference file that meets the integration requirements are selected from the candidate configuration files to obtain the integration configuration file.

[0215] In an optional embodiment, after the model software generation module 830, the apparatus further includes:

[0216] The acquisition module 810 is further configured to acquire the target reference file from the storage address of the target reference file based on the integrated configuration file;

[0217] The receiving module 820 is also used to receive calibration processing operations, which are used to generate the calibration file;

[0218] The integration module 850 is used to integrate the target reference file based on the calibration processing operation to generate the calibration file corresponding to the model software.

[0219] In summary, the device provided in this application integrates multiple model code files of a vehicle controller by receiving an integration operation. It integrates and compiles the code responsible for different functional modules of the vehicle controller into an executable model software, thereby realizing rapid software integration and simulation operation of functional modules. The integration work is automatically executed by the integration tool, which improves the efficiency of software integration and saves human resources and time costs.

[0220] It should be noted that the vehicle controller code integration device provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle controller code integration device and the vehicle controller code integration method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0221] Figure 10 This illustration shows a structural block diagram of a computer device 1000 provided in an exemplary embodiment of this application. The computer device 1000 may be a smartphone, tablet computer, MP3 player (Moving Picture Experts Group Audio Layer III), MP4 player (Moving Picture Experts Group Audio Layer IV), laptop computer, or desktop computer. The computer device 1000 may also be referred to as a user device, portable terminal, laptop terminal, desktop terminal, or other names.

[0222] Typically, computer device 1000 includes a processor 1001 and a memory 1002.

[0223] Processor 1001 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1001 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1001 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1001 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 1001 may also include an AI processor, which is used to handle computational operations related to machine learning.

[0224] The memory 1002 may include one or more computer-readable storage media, which may be non-transitory. The memory 1002 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1002 are used to store at least one instruction, which is executed by the processor 1001 to implement the code integration method for the vehicle controller provided in the method embodiments of this application.

[0225] In some embodiments, the computer device 1000 also includes other components, as those skilled in the art will understand. Figure 10 The structure shown does not constitute a limitation on terminal 1000 and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0226] Optionally, the computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), solid-state drives (SSDs), or optical discs, etc. The random access memory may include resistive random access memory (ReRAM) and dynamic random access memory (DRAM). The sequence numbers of the embodiments in this application are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0227] This application also provides a computer device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, a code set, or an instruction set. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the code integration method for a vehicle controller as described in any of the above embodiments of this application.

[0228] This application also provides a computer-readable storage medium storing at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the vehicle controller code integration method as described in any of the above embodiments of this application.

[0229] This application also provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the code integration method for a vehicle controller as described in any of the above embodiments.

[0230] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0231] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for code integration of a vehicle controller, characterized in that, The method includes: Candidate configuration files are obtained based on configuration operations. The candidate configuration files contain the storage addresses of all model code files in the vehicle controller. All model code files include multiple model code files and reference files. The reference files are used to generate calibration files, and the calibration files are used to adjust the model software. The storage addresses of the multiple model codes that meet the integration requirements and the storage addresses of the target reference files that meet the integration requirements are selected from the candidate configuration files to obtain the integration configuration file. The integration configuration file is used to provide the storage addresses of the multiple model code files corresponding to the vehicle controller. Based on the integrated configuration file, the multiple model code files are obtained from the storage address of the multiple model code files. The multiple model code files include the control code of the vehicle controller. The multiple model code files correspond to multiple functional modules in the vehicle controller. The multiple functional modules are used to implement different control functions of the vehicle controller. Receive an integration operation, the integration operation being used to instruct the integration of the plurality of model code files; Based on the integration operation, model software is generated by integrating the multiple model code files. The model software integrates multiple functional modules of the vehicle controller and is used to simulate the operation of the multiple functional modules of the vehicle controller. Based on the integrated configuration file, the target reference file is obtained from the storage address of the target reference file; Receive calibration processing operation, the calibration processing operation being used to generate the calibration file; Based on the calibration processing operation, the target reference file is integrated to generate the calibration file corresponding to the model software.

2. The method according to claim 1, characterized in that, The receiving integration operation includes: Receive a clear operation, the clear operation being used to clear historical files, the historical files referring to files generated based on the integration operation within a historical time period; Receive code processing operations, which are used to integrate and compile the multiple model code files after historical files have been cleared; The system receives a judgment operation, which is used to judge the error that occurred during the compilation process after integrating multiple model code files and generate a judgment result.

3. The method according to claim 2, characterized in that, After the receiving and judgment operation, it also includes: In response to the judgment result corresponding to the judgment operation showing no error, the model software obtained by integrating the multiple model code files is generated.

4. The method according to claim 3, characterized in that, The method further includes: In response to an error being displayed in the judgment result corresponding to the judgment operation, an adjustment operation is received, wherein the adjustment operation is used to adjust the erroneous parts in the plurality of model code files; Based on the adjustment operation, the adjusted multiple model code files are obtained; The processing operation is received, and the adjusted multiple model code files are integrated and compiled to generate the model software.

5. A code integration device for a vehicle controller, characterized in that, The device includes: The acquisition module is used to acquire candidate configuration files based on configuration operations. The candidate configuration files contain the storage addresses of all model code files in the vehicle controller. All model code files include multiple model code files and reference files. The reference files are used to generate calibration files, and the calibration files are used to adjust the model software. The module selects the storage addresses of the multiple model code files that meet the integration requirements and the storage address of the target reference file that meets the integration requirements from the candidate configuration files to obtain an integration configuration file. The integration configuration file is used to provide the storage addresses of the multiple model code files corresponding to the vehicle controller. The acquisition module is further configured to acquire the multiple model code files from the storage address of the multiple model code files based on the integrated configuration file. The model code files include the control code of the vehicle controller. The multiple model code files correspond to multiple functional modules in the vehicle controller. The multiple functional modules are respectively used to implement different control functions of the vehicle controller. A receiving module is configured to receive an integration operation, wherein the integration operation is configured to instruct the integration of the plurality of model code files; The model software generation module is used to generate model software by integrating the multiple model code files based on the integration operation. The model software integrates multiple functional modules of the vehicle controller and is used to simulate the operation of the multiple functional modules of the vehicle controller. The acquisition module is further configured to acquire the target reference file from the storage address of the target reference file based on the integrated configuration file; The receiving module is also used to receive calibration processing operations, which are used to generate the calibration file; An integration module is used to integrate the target reference file based on the calibration processing operation to generate the calibration file corresponding to the model software.

6. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one program, which is loaded and executed by the processor to implement the code integration method for the vehicle controller as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The storage medium stores at least one program segment, which is loaded and executed by a processor to implement the code integration method for the vehicle controller as described in any one of claims 1 to 4.

8. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the code integration method for a vehicle controller as described in any one of claims 1 to 4.

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