A method, system, device, and medium for monitoring the status of vehicle control MCUs based on DDS.

Abstract

This application provides a method, system, device, and medium for monitoring the status of a vehicle control MCU based on DDS. The method includes: acquiring a status service list of the vehicle control domain MCU; subscribing to all status services in the status service list to obtain operating status information published by the vehicle control domain MCU based on the status services; if it is determined based on the operating status information that the vehicle control domain MCU is operating abnormally, then calling a preset redundant unit to replace the vehicle control domain MCU and continue to perform vehicle control functions. This application can debug or monitor the functions of the vehicle control domain MCU in real time and handle issues promptly, greatly reducing the workload of MCU development and testing.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicle applications, and in particular to a method, system, device and medium for monitoring the status of a vehicle control MCU based on DDS. Background Technology

[0002] Existing methods for MCU status monitoring and debugging involve adding external hardware units or using the MCU's I / O interface resources to enable communication between the monitoring program and the MCU, thereby achieving the MCU's status monitoring and debugging functions. However, these methods require adjustments to hardware circuits or interface resources, making them unsuitable for status monitoring and debugging of MCUs on mass production platforms. This increases production costs and development complexity, and fails to effectively utilize resources and improve efficiency. Summary of the Invention

[0003] In view of the problems existing in the prior art, this application proposes a vehicle control MCU status monitoring method, system, device and medium based on DDS, which mainly solves the problems of existing monitoring methods requiring additional hardware resources, high production costs and high development complexity.

[0004] To achieve the above and other objectives, the technical solution adopted in this application is as follows.

[0005] This application provides a DDS-based method for monitoring the status of a vehicle control MCU, including:

[0006] Obtain the status service list of the vehicle control domain MCU, and subscribe to all status services in the status service list to obtain the operating status information published by the vehicle control domain MCU based on the status services;

[0007] If the vehicle control domain MCU is determined to be malfunctioning based on the operating status information, a preset redundant unit is invoked to replace the vehicle control domain MCU and continue to perform the vehicle control function.

[0008] In one embodiment of this application, after determining that the vehicle control domain MCU is malfunctioning based on the operating status information, the method further includes:

[0009] A debugging service is published through a preset terminal, so that the vehicle control domain MCU subscribes to the debugging service, obtains the debugging information contained in the debugging service, executes it, and returns the execution result.

[0010] In one embodiment of this application, the preset terminal includes a vehicle-side functional domain other than the vehicle control domain, a portable terminal, and / or a server.

[0011] In one embodiment of this application, after determining that the vehicle control domain MCU is malfunctioning based on the operating status information, the method further includes:

[0012] Record abnormal status information and collect data at abnormal times to determine the cause of the abnormality or locate the abnormality based on the data at the abnormal times.

[0013] In one embodiment of this application, before obtaining the operating status information published by the vehicle control domain MCU based on the status service, the method further includes:

[0014] If the operating status information is not received within the preset monitoring period, the vehicle control domain MCU is determined to be abnormal.

[0015] In one embodiment of this application, determining that the vehicle control domain MCU is malfunctioning based on the operating status information includes:

[0016] By identifying the abnormal status code contained in the operating status information, it is determined that the vehicle control domain MCU is operating abnormally, wherein the abnormal status code is obtained by the self-test of the vehicle control domain MCU.

[0017] In one embodiment of this application, after determining that the vehicle control domain MCU is malfunctioning based on the operating status information, the method further includes:

[0018] The system continuously monitors the functional status of the vehicle control domain MCU. Once the functional status of the vehicle control domain MCU returns to normal, the vehicle control function is switched back to the vehicle control domain MCU; or, a function switching prompt message is output to the target terminal.

[0019] This application also provides a vehicle control MCU status monitoring system based on DDS, including:

[0020] The monitoring and subscription module is used to obtain the status service list of the vehicle control domain MCU, subscribe to all status services in the status service list, and obtain the operating status information published by the vehicle control domain MCU based on the status services.

[0021] An exception handling module is used to call a preset redundant unit to replace the vehicle control domain MCU and continue to perform vehicle control functions if the vehicle control domain MCU is found to be malfunctioning based on the operating status information.

[0022] This application also provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the DDS-based vehicle control MCU status monitoring method.

[0023] This application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the DDS-based vehicle control MCU status monitoring method.

[0024] As described above, the vehicle control MCU status monitoring method, system, device and medium based on DDS of this application have the following beneficial effects.

[0025] This application obtains a list of status services for the vehicle control domain MCU, subscribes to all status services in the list to obtain operational status information published by the vehicle control domain MCU based on the status services, and if the operational status information determines that the vehicle control domain MCU is malfunctioning, a preset redundant unit is invoked to replace the vehicle control domain MCU and continue to perform vehicle control functions. This application uses a publish-subscribe mechanism for status monitoring. Only the status services to be monitored need to be added to the status service list, and other functional domains can accurately obtain the operational status information of the corresponding status services. This meets cross-domain control requirements, eliminates the need for additional hardware, reduces development costs, and improves monitoring and maintenance efficiency. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the vehicle-side functional domain division architecture in one embodiment of this application.

[0027] Figure 2 This is a flowchart illustrating a vehicle control MCU status monitoring method based on DDS in one embodiment of this application.

[0028] Figure 3 This is a block diagram of a vehicle control MCU status monitoring system based on DDS in one embodiment of this application.

[0029] Figure 4 This is a schematic diagram of the device in one embodiment of this application. Detailed Implementation

[0030] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0031] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0032] Technical terms:

[0033] DDS, short for Data Distribution Service, is a middleware protocol and API (Application Interface) standard published and maintained by the Object Management Group. It adopts a publish / subscribe architecture, emphasizes data-centricity, and provides rich QoS (Quality of Service) policies to ensure real-time, efficient, and flexible data distribution, meeting the needs of various distributed real-time communication applications.

[0034] With the development of intelligent vehicle technology, the in-vehicle electronic and electrical architecture is transitioning from a single control domain to a cross-domain integrated form. By dividing the vehicle control unit into multiple controllers based on different domain divisions, each providing different vehicle functions, the coupling and complexity between hardware, software, and functions are further reduced, realizing an intelligent vehicle industry ecosystem based on software. In this context, the vehicle control domain, with the MCU as its control core, is the core control unit of intelligent vehicles, and its status monitoring and testing are particularly important, especially when autonomous driving is fully enabled, the software program needs to fully consider status monitoring and anomaly handling.

[0035] Therefore, this application proposes a method, system, device and medium for monitoring the status of vehicle control MCU based on DDS. The technical solution of this application will be described in detail below with reference to specific embodiments.

[0036] Please see Figure 1 , Figure 1 This is a schematic diagram of the vehicle-side functional domain division architecture in one embodiment of this application. The functional domains can be divided into a vehicle control domain, a driving domain, and a cockpit domain. The vehicle control domain MCU can be used to control the chassis or body to perform actions. The driving domain uses an MPU to implement functions such as autonomous driving, automatic parking, vehicle control domain status monitoring, and safety redundancy control. The cockpit domain uses an MPU to control music, entertainment devices, etc., in different scenarios. Each functional domain establishes a communication connection through DDS, and publishes relevant services or subscribes to relevant functional services of other functional domains through a publish / subscribe architecture. Detection and debugging related information can also be published via the PC side, and the vehicle control domain can subscribe to debugging-related information and execute debugging actions by calling vehicle control domain resources through the vehicle control domain MCU.

[0037] Please see Figure 2 , Figure 2 This is a flowchart illustrating a DDS-based vehicle control MCU status monitoring method according to one embodiment of this application. This application provides a DDS-based vehicle control MCU status monitoring method, which includes the following steps:

[0038] Step S200: Obtain the status service list of the vehicle control domain MCU, and subscribe to all status services in the status service list to obtain the operating status information published by the vehicle control domain MCU based on the status services;

[0039] Step S210: If it is determined that the vehicle control domain MCU is malfunctioning based on the operating status information, a preset redundant unit is invoked to replace the vehicle control domain MCU and continue to perform the vehicle control function.

[0040] In step S200, the status service list of the vehicle control domain MCU is obtained, and all status services in the status service list are subscribed to in order to obtain the operating status information published by the vehicle control domain MCU based on the status services.

[0041] In one embodiment, a status service list for the vehicle control domain MCU can be constructed. This list records all status services that require monitoring of the vehicle control domain MCU. After obtaining the corresponding operating status information through self-testing, the vehicle control domain MCU publishes this information to the corresponding status service. Other functional domains can subscribe to all or part of the status services in the status service list to obtain the required operating status information of the vehicle control domain MCU. Status services to be monitored can be added to the status service list as needed; that is, the status services in the list can be flexibly configured according to actual application requirements, without any limitations. When the monitoring program of other functional domains starts, it can query the vehicle control domain MCU status service list, subscribe to all MCU-related status services in the list, and simultaneously establish service connections related to redundancy and safety. When the MCU status is abnormal, safety function switching can be performed at any time.

[0042] In step S210, if it is determined that the vehicle control domain MCU is malfunctioning based on the operating status information, a preset redundant unit is invoked to replace the vehicle control domain MCU and continue to perform the vehicle control function.

[0043] In one embodiment, after determining that the vehicle control domain MCU is malfunctioning based on the operating status information, the method further includes: publishing a debugging service through a preset terminal, so that the vehicle control domain MCU subscribes to the debugging service, obtains the debugging information contained in the debugging service, executes it, and returns the execution result.

[0044] In one embodiment, debugging services can be published via the driving domain, a PC, or a server. Specifically, debugging personnel can establish a DDS communication connection with the vehicle control domain MCU at any time via a tablet or other portable terminal, publish debugging information corresponding to the debugging service, so that the vehicle control domain MCU can obtain the debugging information from the relevant debugging service and call vehicle control domain resources for functional debugging based on the debugging information. Debugging based on a publish-subscribe approach allows debugging personnel to flexibly handle exceptions and perform debugging actions without being constrained by specific scenarios. Debugging information may include the executable file corresponding to the debugging code, which can be configured according to the application scenario and is not limited here.

[0045] In one embodiment, before obtaining the operating status information published by the vehicle control domain MCU based on the status service, the method further includes: if the operating status information is not received within a preset monitoring period, then the vehicle control domain MCU is determined to be abnormal.

[0046] In one embodiment, determining that the vehicle control domain MCU is malfunctioning based on the operating status information includes: determining that the vehicle control domain MCU is malfunctioning by identifying an abnormal status code contained in the operating status information, wherein the abnormal status code is obtained by the vehicle control domain MCU self-test.

[0047] After startup, the MCU periodically sends its operating status. By default, it sends normal status information. When an internal MCU malfunctions, it adds the exception status code to the status information and sends it to the DDS bus. Simultaneously, it subscribes to a debug service. Upon receiving debug service information, it executes the corresponding debug interface and returns the execution result. When debugging the MCU from an external PC or SOC, or when actively checking the MCU status, debug information is published directly according to the pre-defined service topic. The MCU then executes its internal operations according to the subscribed debug service and returns the operation result to the debug program.

[0048] In one embodiment, after determining that the vehicle control domain MCU is malfunctioning based on the operating status information, the method further includes: recording abnormal status information and collecting data at the time of the abnormality to determine the cause of the abnormality or locate the abnormality based on the data at the time of the abnormality.

[0049] If the monitoring program fails to receive status information from the MCU or detects an abnormal status code within the monitoring cycle, it determines that the MCU status is abnormal at this time, immediately switches to safety redundancy processing, takes over or replaces the MCU vehicle control function, prioritizes vehicle safety control, and records and alarms the abnormal status.

[0050] In one embodiment, after determining that the vehicle control domain MCU is malfunctioning based on the operating status information, the method further includes: continuously monitoring the functional status of the vehicle control domain MCU, and switching the vehicle control function back to the vehicle control domain MCU after the functional status of the vehicle control domain MCU returns to normal; or, outputting a function switching prompt to the target terminal.

[0051] Specifically, after the anomaly handling is completed and the vehicle's safety is ensured, the monitoring program continuously checks the status of the abnormal functional domain. When the functional domain returns to normal, it prompts the driver or switches functions based on the current vehicle driving situation. The target terminal can be a vehicle-mounted display screen or a portable terminal for debugging personnel, etc., and can be configured according to the application scenario; no restrictions are imposed here.

[0052] Based on the above technical solutions, this application embodiment, leveraging the functional characteristics of DDS, can realize functions such as publishing and subscribing to program status information and checking the status of functional domain systems. Since the MCU, as a trusted unit for vehicle control, plays a crucial role in stability, a monitoring program is deployed in the vehicle control domain to monitor the MCU's status. When abnormal states occur, timely handling ensures vehicle safety. In particular, since the MCU lacks tools for real-time debugging and testing, deploying a host computer program on a laptop allows for flexible and convenient debugging and testing of the MCU's functions and performance, significantly reducing the workload of MCU development and testing personnel and lowering development and testing costs. After normal startup, the MCU periodically publishes its operating status information to the DDS bus and establishes a DDS-based communication connection with the monitoring program. The monitoring program checks the MCU status list, subscribes to program operating status services in the list, periodically receives status information from the DDS bus, and checks the information content to determine whether the MCU's operation is normal. When the monitoring program detects abnormal MCU status information, it handles the abnormal state, issues an alarm, promptly performs vehicle safety redundancy control, and simultaneously records the abnormal status information to a local persistent log. After the abnormal state is recovered, the alarm is cleared, and a recovery operation process is added to the log.

[0053] Please see Figure 3 This embodiment provides a DDS-based vehicle control MCU status monitoring system for executing the DDS-based vehicle control MCU status monitoring method described in the aforementioned method embodiments. Since the technical principles of the system embodiment are similar to those of the aforementioned method embodiments, the same technical details will not be repeated.

[0054] In one embodiment, a DDS-based vehicle control MCU status monitoring system includes: a monitoring subscription module 10, used to obtain a status service list of the vehicle control domain MCU, and subscribe to all status services in the status service list to obtain the operating status information published by the vehicle control domain MCU based on the status services; and an anomaly handling module 11, used to call a preset redundant unit to replace the vehicle control domain MCU and continue to perform vehicle control functions if it is determined based on the operating status information that the vehicle control domain MCU is operating abnormally.

[0055] This application also provides a DDS-based vehicle control MCU status monitoring device, which may include: one or more processors; and one or more machine-readable media storing instructions thereon, which, when executed by the one or more processors, cause the device to perform... Figure 1The method described herein. In practical applications, the device can be used as a terminal device or as a server. Examples of terminal devices may include: ultrasonic scalpel host, smartphone, tablet computer, e-book reader, MP3 (Moving Picture Experts Group Audio Layer III) player, MP4 (Moving Picture Experts Group Audio Layer IV) player, laptop computer, in-vehicle computer, desktop computer, set-top box, smart TV, wearable device, etc. This application does not limit the specific device.

[0056] This application also provides a computer-readable storage medium storing one or more modules (programs) that, when applied to a device, enable the device to execute embodiments of this application. Figure 1 The instructions for the steps included in the DDS-based vehicle control MCU status monitoring method are as follows. The machine-readable medium can be any usable medium that a computer can store, or a data storage device such as a server or data center that integrates one or more usable media. The usable medium can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

[0057] See Figure 4 This embodiment provides a device 80, which can be a desktop computer, a portable computer, a smartphone, or other devices. Specifically, the device 80 includes at least a memory 82 and a processor 83 connected via a bus 81. The memory 82 stores a computer program, and the processor 83 executes the computer program stored in the memory 82 to perform all or part of the steps in the aforementioned method embodiments.

[0058] The system bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write libraries, and read-only libraries). Memory may include Random Access Memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0059] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0060] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A DDS-based vehicle control MCU state monitoring method, characterized in that, The method comprises the following steps: acquiring a state service list of a vehicle control domain MCU, subscribing to all state services in the state service list to acquire running state information published by the vehicle control domain MCU based on the state services; constructing a state service list of the vehicle control domain MCU, the state service list recording all state services of states that need to be monitored for the vehicle control domain MCU; after the vehicle control domain MCU obtains corresponding running state information through self-checking, publishing the running state information in the corresponding state service; subscribing to all or part of the state services in the state service list to acquire the required running state information of the vehicle control domain MCU; if it is determined based on the running state information that the vehicle control domain MCU is running abnormally, calling a preset redundant unit to replace the vehicle control domain MCU to continue to perform a vehicle control function; determining that the vehicle control domain MCU is running abnormally based on the running state information comprises: determining that the vehicle control domain MCU is running abnormally by identifying an abnormal state code contained in the running state information, wherein the abnormal state code is obtained by the vehicle control domain MCU through self-checking.

2. The DDS-based vehicle control MCU state monitoring method of claim 1, wherein, After determining that the vehicle control domain MCU is running abnormally based on the running state information, the method further comprises the following steps: publishing a debugging service through a preset terminal, so that the vehicle control domain MCU subscribes to the debugging service to acquire debugging information contained in the debugging service to perform and return an execution result.

3. The DDS-based vehicle control MCU state monitoring method of claim 2, wherein, The preset terminal comprises a vehicle terminal function domain other than the vehicle control domain, a portable terminal and / or a server terminal.

4. The DDS-based vehicle control MCU state monitoring method of claim 1, wherein, After determining that the vehicle control domain MCU is running abnormally based on the running state information, the method further comprises the following steps: recording abnormal state information and collecting data at an abnormal time to determine an abnormal cause or locate the abnormality based on the data at the abnormal time.

5. The DDS-based vehicle control MCU state monitoring method of claim 1, wherein, Before acquiring the running state information published by the vehicle control domain MCU based on the state services, the method further comprises the following steps: if the running state information is not received within a preset monitoring period, determining that the vehicle control domain MCU is abnormal.

6. The DDS-based vehicle control MCU state monitoring method of claim 1, wherein, After determining that the vehicle control domain MCU is running abnormally based on the running state information, the method further comprises the following steps: continuously monitoring a function state of the vehicle control domain MCU, switching the vehicle control function back to the vehicle control domain MCU after the function state of the vehicle control domain MCU returns to normal; or outputting function switching prompt information to a target terminal.

7. A DDS-based vehicle control MCU state monitoring system, characterized in that, The method comprises the following steps: a monitoring and subscribing module is configured to acquire a state service list of a vehicle control domain MCU, and subscribe to all state services in the state service list to acquire running state information published by the vehicle control domain MCU based on the state services; an abnormality processing module is configured to call a preset redundant unit to replace the vehicle control domain MCU to continue to perform a vehicle control function if it is determined based on the running state information that the vehicle control domain MCU is running abnormally; determining that the vehicle control domain MCU is running abnormally based on the running state information comprises: determining that the vehicle control domain MCU is running abnormally by identifying an abnormal state code contained in the running state information, wherein the abnormal state code is obtained by the vehicle control domain MCU through self-checking.

8. A computer device comprising: A memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the DDS-based vehicle control MCU state monitoring method according to any one of claims 1 to 6 when executing the computer program.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the DDS-based vehicle control MCU state monitoring method according to any one of claims 1 to 6.

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