Vehicle data service system and method for providing vehicle body data service

Abstract

The application discloses a vehicle data service system and a method for providing vehicle body data service. The vehicle body data service system comprises: a data acquisition device configured to acquire vehicle body message data; a vehicle body domain control device in communication with the data acquisition device, configured to receive the vehicle body message data sent by the data acquisition device, and to convert the vehicle body message data into service data; and an automatic driving domain controller in communication with the vehicle body domain control device, configured to receive the service data sent by the vehicle body domain control device, and to output a control instruction according to the service data. The application can greatly realize the platformization and iterative use of the input interface, abstract the vehicle body message data in the peripheral controller through the service mode, block the difference points in the domain control device of the vehicle body, and thus provide the automatic driving domain controller with data service, realize the compatibility of multiple platforms, reduce the workload, and improve the continuity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a vehicle data service system and a method for providing vehicle body data service. BACKGROUND

[0002] With the evolution of the whole vehicle electronic and electrical architecture, controllers tend to be integrated, and communication between controllers also tends to be service-based. Traditional vehicle models have different controller solutions for different vehicle configurations, and the interfaces are not completely consistent for different system solutions. Different software needs to be adapted for the interfaces, resulting in poor platform performance, large workload, and poor continuity.

[0003] Based on the consideration of platformization, vehicle manufacturers mostly design automatic driving systems based on platform solutions and configure different vehicle models. According to this principle, the input interfaces of the automatic driving domain controller need to be abstracted, and the differentiated input interfaces of different vehicle models need to be converted into standard interfaces. The traditional way is to abstract data inside the automatic driving domain controller, which can only ensure that the upper application gets a standard interface, but cannot realize that all interfaces of the entire controller remain unchanged. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a vehicle data service system and a method for providing vehicle body data service, to solve the problem of poor platform performance, large workload, and poor continuity of vehicle service data configuration for different vehicle models in the prior art.

[0005] To achieve the above-mentioned purpose, the first aspect of the present application provides a vehicle body data service system, which comprises:

[0006] A data acquisition device configured to acquire vehicle body message data;

[0007] A vehicle body domain control device in communication with the data acquisition device, configured to receive the vehicle body message data sent by the data acquisition device, and to service-convert the vehicle body message data to obtain service data;

[0008] An automatic driving domain controller in communication with the vehicle body domain control device, configured to receive the service data sent by the vehicle body domain control device, and to output a control instruction according to the service data.

[0009] In the embodiments of the present application, the vehicle body domain control device comprises:

[0010] A left front vehicle body domain controller in communication with the data acquisition device, configured to receive the vehicle body message data sent by the data acquisition device, and to service-convert the vehicle body message data to obtain service data;

[0011] The right front vehicle body domain controller is in communication with the data acquisition device and the left front vehicle body domain controller respectively, and is configured to receive the vehicle body message data sent by the data acquisition device, and to service-convert the vehicle body message data to obtain service data.

[0012] In the embodiments of the present application, the left front vehicle body domain controller is further configured to:

[0013] In the case where it is detected that the vehicle body message data has changed, the service notification information is triggered eventually, and the service notification information contains a time stamp;

[0014] The service communication is checked;

[0015] In the case where it is detected that the service communication has a fault, the fault information is reported to the application layer.

[0016] In the embodiments of the present application, the autonomous driving domain controller is further configured to:

[0017] The service data is time-stamped;

[0018] The service data containing the time stamp is sent to the application layer;

[0019] The time of the data acquisition device, the vehicle body domain control device and the autonomous driving domain controller is a synchronized system time.

[0020] In the embodiments of the present application, the data acquisition device comprises:

[0021] The braking module is configured to acquire the automatic driving speed and acceleration information of the vehicle, and to respond to the braking instruction of the autonomous driving domain controller;

[0022] The power module is configured to acquire the power system state and power system torque of the vehicle, and to respond to the torque request instruction sent by the autonomous driving domain controller;

[0023] The steering module is configured to acquire the steering system state, steering system angle and steering system torque of the vehicle, and to respond to the steering angle request instruction sent by the autonomous driving domain controller.

[0024] The second aspect of the present application provides a method for providing vehicle body data service, applied to a vehicle body data service system, the vehicle body data service system comprising a data acquisition device, a vehicle body domain control device and an autonomous driving domain controller, the vehicle body domain control device being in communication with the data acquisition device, and the autonomous driving domain controller being in communication with the vehicle body domain control device, and the method comprising:

[0025] Acquiring vehicle body message data by the data acquisition device;

[0026] Service-convert the vehicle body message data by the vehicle body domain control device to obtain service data;

[0027] outputting, by the autonomous driving domain controller, a control instruction according to the service data.

[0028] In the embodiment of the present application, the vehicle body domain control device comprises a left front vehicle body domain controller and a right front vehicle body domain controller which communicate with each other, and the method further comprises:

[0029] receiving, by the left front vehicle body domain controller and the right front vehicle body domain controller respectively, the vehicle body message data sent by the data acquisition device;

[0030] service-izing the vehicle body message data respectively to obtain service data;

[0031] sending the service data to the autonomous driving domain controller respectively.

[0032] In the embodiment of the present application, the method further comprises:

[0033] in the case that the left front vehicle body domain controller detects that the vehicle body message data has changed, triggering service notification information eventually, the service notification information containing a time stamp;

[0034] verifying the service communication;

[0035] in the case that it is detected that the service communication has a fault, reporting the fault information to the application layer.

[0036] In the embodiment of the present application, the method further comprises:

[0037] stamping the service data with a time stamp by the autonomous driving domain controller;

[0038] sending the service data containing the time stamp to the application layer;

[0039] wherein the time of the data acquisition device, the vehicle body domain control device and the autonomous driving domain controller is the synchronized system time.

[0040] In the embodiment of the present application, the data acquisition device comprises a braking module, a power module and a steering module, and the vehicle body message data is obtained by the data acquisition device by:

[0041] obtaining, by the braking module, the autonomous driving speed and acceleration information of the vehicle;

[0042] obtaining, by the power module, the power system state and power system torque of the vehicle;

[0043] obtaining, by the steering module, the steering system state, steering system angle and steering system torque of the vehicle.

[0044] In the embodiment of the present application, the method further comprises:

[0045] respond to braking instructions of the automatic driving domain controller through the braking module;

[0046] respond to torque request instructions of the automatic driving domain controller through the power module;

[0047] respond to steering angle request instructions of the automatic driving domain controller through the steering module.

[0048] Through the technical solution, a vehicle body data service system is provided, which includes a data acquisition device, a vehicle body domain control device and an automatic driving domain controller. The data acquisition device communicates with the vehicle body domain control device, and the automatic driving domain controller communicates with the vehicle body domain control device. The vehicle body message data is acquired through the data acquisition device, the vehicle body message data is service-converted through the vehicle body domain control device to obtain service data of the vehicle, and then the control instructions are output according to the service data through the automatic driving domain controller. In this way, the platformization and iterative use of the input interface can be greatly realized, the vehicle body message data is abstracted in the peripheral controller in the form of service, and the difference is blocked in the domain control device of the vehicle body, so that the automatic driving domain controller can be provided with data service, the compatibility of multiple platforms is realized, the workload is reduced, and the continuity is improved.

[0049] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0050] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific implementation to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0051] Figure 1 The structure diagram of a vehicle body data service system according to an embodiment of the present application is schematically shown;

[0052] Figure 2 The structure diagram of a vehicle body data service system according to another embodiment of the present application is schematically shown;

[0053] Figure 3 The schematic diagram of time synchronization according to the embodiments of the present application is schematically shown;

[0054] Figure 4 The flowchart of a method for providing vehicle body data service according to the embodiments of the present application is schematically shown;

[0055] Figure 5 The data flow conversion schematic diagram of a method for providing vehicle body data service according to a specific embodiment of the present application is schematically shown.

[0056] Wherein, 100 - data acquisition device; 200 - vehicle body domain control device; 300 - automatic driving domain controller; 101 - brake module; 102 - power module; 103 - steering module; 201 - left front vehicle body domain controller; 202 - right front vehicle body domain controller. DETAILED DESCRIPTION

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. It should be understood that the specific implementation manners described herein are only used to explain and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0058] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, motion condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0059] In addition, if the embodiments of the present application involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0060] Figure 1 A structural diagram of a vehicle body data service system according to an embodiment of the present application is schematically shown. As shown in the figure, Figure 1 In an embodiment of the present application, a vehicle body data service system is provided, which can include:

[0061] The data acquisition device 100 is configured to acquire vehicle body message data.

[0062] The vehicle body domain control device 200 is in communication with the data acquisition device 100, configured to receive the vehicle body message data sent by the data acquisition device 100, and perform service conversion on the vehicle body message data to obtain service data.

[0063] The automatic driving domain controller 300 communicates with the vehicle body domain control device 200, is configured to receive service data sent by the vehicle body domain control device 200, and output control instructions according to the service data.

[0064] The vehicle body data service system of the embodiment of the present application is applied to an automatic driving vehicle. The vehicle body data service system can include a data acquisition device 100, a vehicle body domain control device 200, and an automatic driving domain controller 300. The data acquisition device 100 is a device for acquiring vehicle body message data. The vehicle body message data can include, but is not limited to, automatic driving speed, acceleration information, power system state, power system torque, steering system state, steering system angle, and steering system torque of the vehicle. Therefore, in one example, the data acquisition device 100 can include, but is not limited to, a braking module, a power module, and a steering module, and the like, which can acquire vehicle body message data.

[0065] In the embodiment of the present application, the vehicle body domain control device 200 can communicate with the data acquisition device 100, receive vehicle body message data sent by the data acquisition device 100, and convert the vehicle body message data into service data of the vehicle. In one example, the service data can be divided into two parts. The first part is power service, i.e., service data obtained by converting message data of the power module by the vehicle body domain control device 200. The second part is chassis service, i.e., service data obtained by converting message data of the braking module and the steering module by the vehicle body domain control device 200. After the vehicle body domain control device 200 converts the vehicle body message data into service data, the service data can be decoupled from the vehicle body message data, which can include some message IDs and checks, etc. After obtaining the service data, the vehicle body domain control device 200 sends the service data to the automatic driving domain controller 300. The automatic driving domain controller 300 implements automatic driving function logic according to the service data sent by the vehicle body domain control device 200, and outputs control instructions for automatic driving. The conventional data service is to perform data abstraction inside the automatic domain driving controller. This method can only ensure that the upper application obtains a standard interface, and cannot realize that all interfaces of the entire controller remain unchanged. The embodiment of the present application performs data abstraction through the vehicle body domain control device, obtains service data, and then sends the service data to the automatic driving domain controller. This can greatly realize the platformization and iterative use of input interfaces. The vehicle body data is abstracted in the peripheral controller through the service mode, and then data service is provided to the automatic driving domain controller.

[0066] According to the technical scheme, the vehicle body data service system comprises a data acquisition device 100, a vehicle body domain control device 200 and an automatic driving domain controller 300, the data acquisition device 100 communicates with the vehicle body domain control device 200, the vehicle body domain controller 200 communicates with the automatic driving domain controller 300, the vehicle body message data is acquired through the data acquisition device 100, the vehicle body message data is service-converted through the vehicle body domain control device 200 to obtain service data of the vehicle, and then the control instruction is output according to the service data through the automatic driving domain controller 300. In this way, the platformization and iterative use of the input interface can be greatly realized, the vehicle body message data is abstracted in the peripheral controller in the form of service, the difference is blocked in the domain control device of the vehicle body, and the automatic driving domain controller can be provided with data service, the compatibility of multiple platforms is realized, the workload is reduced, and the continuity is improved.

[0067] Figure 2 The structure diagram of a vehicle body data service system according to another embodiment of the application is schematically shown. Figure 2 As shown in the embodiment of the application, the data acquisition device 100 can comprise:

[0068] The brake module 101 is configured to acquire the automatic driving speed and acceleration information of the vehicle and respond to the brake instruction of the automatic driving domain controller 300;

[0069] The power module 102 is configured to acquire the power system state and power system torque of the vehicle and respond to the torque request instruction sent by the automatic driving domain controller 300;

[0070] The steering module 103 is configured to acquire the steering system state, steering system angle and steering system torque of the vehicle and respond to the steering angle request instruction sent by the automatic driving domain controller 300.

[0071] In the embodiment of the present application, the data acquisition device 100 is a device for acquiring vehicle body message data. The service data of the vehicle can be divided into two parts, the first part is power service, and the second part is chassis service. The chassis service is service data including braking and steering. Therefore, the vehicle body message data can include but is not limited to vehicle autonomous driving speed, acceleration information, power system state, power system torque, steering system state, steering system angle and steering system torque, etc. In the embodiment of the present application, the data acquisition device 100 can include but is not limited to braking module 101, power module 102 and steering module 103, etc. which can acquire vehicle body message data. The braking module 101 is used to acquire vehicle autonomous driving speed and acceleration information, and at the same time, respond to the braking instruction of the autonomous driving domain controller 300. The power module 102 is used to acquire vehicle power system state and power system torque information, and at the same time, respond to the torque request instruction of the autonomous driving domain controller 300. The steering module 103 is used to acquire vehicle steering system state, steering system angle and steering system torque information, and at the same time, respond to the steering angle request instruction of the autonomous driving domain controller 300.

[0072] As shown in Figure 2 In the embodiment of the present application, the vehicle body domain control device 200 can include:

[0073] The left front vehicle body domain controller 201 communicates with the data acquisition device 100, is configured to receive the vehicle body message data sent by the data acquisition device 100, and service-converts the vehicle body message data to obtain service data.

[0074] The right front vehicle body domain controller 202 communicates with the data acquisition device 100 and the left front vehicle body domain controller 201 respectively, is configured to receive the vehicle body message data sent by the data acquisition device 100, and service-converts the vehicle body message data to obtain service data.

[0075] In the embodiment of the present application, the vehicle body domain controller device 200 can include the left front vehicle body domain controller 201 and the right front vehicle body domain controller 202 which communicate with each other. The domain controllers can be transmitted through Ethernet, and the vehicle body domain control device 200 and the data acquisition device 100 can be transmitted through the controller area network (CAN) bus.

[0076] In the embodiment of the present application, the left front vehicle body domain controller 201 is mainly used for: 1, processing vehicle body control requests, such as lighting, window closing and the like; 2, service conversion of vehicle body message data received through the CAN bus, converting into basic services, and providing to the automatic driving domain controller; 3, providing the state of its own related functions to the automatic driving domain controller 300 through services. The right front vehicle body domain controller 202 is mainly used for: 1, processing vehicle body control requests, such as lighting, window closing and the like; 2, service conversion of vehicle body message data received through the CAN bus, converting into basic services, and providing to the automatic driving domain controller; 3, providing the state of its own related functions to the automatic driving domain controller 300 through services, which serves as a redundant controller of the left front vehicle body domain controller 201.

[0077] The left front vehicle body domain controller 201 and the right front vehicle body domain controller 202 of the embodiment of the present application are redundant to each other, and after failure of one of them, the other can normally provide services, providing double protection for data services of automatic driving, and improving the efficiency of data services.

[0078] In the embodiment of the present application, the left front vehicle body domain controller 201 can also be configured to:

[0079] In the case of detecting changes in vehicle body message data, event-triggered service notification information is triggered, and the service notification information contains a timestamp;

[0080] The service communication is checked;

[0081] In the case of detecting a fault in the service communication, the fault information is reported to the application layer.

[0082] Specifically, after the left front vehicle body domain controller 201 converts the vehicle body message data into service data, if it detects changes in the vehicle body message data, it can event-triggered service notification information, which can contain a timestamp, and at the same time, the service communication is checked. If the left front vehicle body domain controller 201 detects a communication fault, it needs to be reported to the application layer. Another way is that when the automatic driving domain controller 300 needs to monitor some states, it can also actively obtain the vehicle body data information of the left front vehicle body domain controller 201, and any way can be supported based on business requirements.

[0083] In the embodiment of the present application, the automatic driving domain controller 300 can also be configured to:

[0084] The service data is time-stamped;

[0085] The service data containing the timestamp is sent to the application layer;

[0086] The system time of the data acquisition device 100, the vehicle body domain control device 200 and the automatic driving domain controller 300 is synchronized.

[0087] Specifically, the system time is synchronized based on a standard time synchronization protocol, with the left front vehicle body domain controller 201 as a master time node, each module of the data acquisition device 100, the right front vehicle body domain controller 202 and the automatic driving domain controller 300 as a slave time node, and all the times being synchronized system times. Figure 3 A schematic diagram of time synchronization according to an embodiment of the present application is schematically shown. As shown in Figure 3 The left front vehicle body domain controller 201 is a master time node (Time master), and the brake module 101, the power module 102, the steering module 103, the right front vehicle body domain controller 202 and the automatic driving domain controller 300 are all slave time nodes (Time Slave).

[0088] In the embodiment of the present application, the brake module 101, the power module 102 and the steering module 103 of the data acquisition device 100 are all provided with a time stamp of an event occurrence time, which is a synchronized system time. The left front vehicle body domain controller 201 receives the vehicle body message data sent by the three modules, and can stamp the vehicle body message data of each module with a time stamp of the system time at the time of data reception, which is also a synchronized system time. The intelligent driving application party needs to compensate based on this time. After the automatic driving domain controller 300 obtains the service information, the data service is uniformly processed, the data service stamps the received service data with a time stamp, and gives it to the application layer, and the application layer takes the service data containing the time stamp as the input of the whole vehicle data. The embodiment of the present application accurately calculates the time delay caused by each stage based on time synchronization, so as to realize precise control of the vehicle data service system.

[0089] Figure 4 A flowchart of a method for providing vehicle body data service according to an embodiment of the present application is schematically shown. As shown in Figure 4 The embodiment of the present application provides a method for providing vehicle body data service, which is applied to a vehicle body data service system, the vehicle body data service system comprising a data acquisition device, a vehicle body domain control device and an automatic driving domain controller, the vehicle body domain control device being in communication with the data acquisition device, and the automatic driving domain controller being in communication with the vehicle body domain control device. The method can comprise the following steps:

[0090] Step 401: obtaining vehicle body message data by the data acquisition device;

[0091] Step 402: service conversion of the vehicle body message data by the vehicle body domain control device to obtain service data;

[0092] In step 403, the control instruction is output by the automatic driving domain controller according to the service data.

[0093] The vehicle body data service system in the embodiment of the application is applied to an automatic driving vehicle. The vehicle body data service system can include a data acquisition device, a vehicle body domain control device, and an automatic driving domain controller. The data acquisition device can be used to acquire vehicle body message data. The vehicle body domain control device can communicate with the data acquisition device, receive the vehicle body message data sent by the data acquisition device, and service-convert the vehicle body message data to obtain service data of the vehicle. After the vehicle body domain control device converts the vehicle body message data into service data, the service data can be decoupled from the vehicle body message data, which can include some message IDs and checks. After the vehicle body domain control device acquires the service data, the service data is sent to the automatic driving domain controller. The automatic driving domain controller implements automatic driving function logic according to the service data sent by the vehicle body domain control device, and outputs a control instruction for automatic driving. In the conventional data service, data abstraction is performed in the automatic driving controller. This method can only ensure that the upper application obtains a standard interface, and cannot ensure that all interfaces of the entire controller remain unchanged. In the embodiment of the application, data abstraction is performed by the vehicle body domain control device, and the service data is sent to the automatic driving domain controller. This method can greatly realize the platformization and iterative use of input interfaces, and can abstract vehicle body data in the peripheral controller by using a service mode, and provide data service to the automatic driving domain controller.

[0094] According to the above technical solution, a vehicle body data service system is provided, which includes a data acquisition device, a vehicle body domain control device, and an automatic driving domain controller. The data acquisition device communicates with the vehicle body domain control device, and the vehicle body domain controller communicates with the automatic driving domain controller. The vehicle body message data is acquired by the data acquisition device, the vehicle body message data is service-converted by the vehicle body domain control device to obtain service data of the vehicle, and the control instruction is output by the automatic driving domain controller according to the service data. In this way, the platformization and iterative use of input interfaces can be greatly realized, the vehicle body message data can be abstracted in the peripheral controller by using a service mode, the difference points can be blocked in the vehicle body domain control device, the automatic driving domain controller can be provided with data service, multi-platform compatibility can be realized, the workload can be reduced, and the continuity can be improved.

[0095] In the embodiment of the application, the vehicle body domain control device can include a left front vehicle body domain controller and a right front vehicle body domain controller that communicate with each other. The method can further include the following steps.

[0096] The vehicle body message data sent by the data acquisition device is received by the left front vehicle body domain controller and the right front vehicle body domain controller, respectively.

[0097] The vehicle body message data is respectively converted into service data;

[0098] The service data is respectively sent to the automatic driving domain controller.

[0099] In the embodiment of the application, the vehicle body domain controller device can include a left front vehicle body domain controller and a right front vehicle body domain controller in communication with each other, and the domain controllers can be transmitted through Ethernet, and the vehicle body domain control device and the data acquisition device can be transmitted through a controller area network (CAN) bus.

[0100] In the embodiment of the application, the left front vehicle body domain controller is mainly used for the right front vehicle body domain controller to serve as a redundant controller of the left front vehicle body domain controller 2. The vehicle body message data sent by the data acquisition device is respectively received through the left front vehicle body domain controller and the right front vehicle body domain controller, and the vehicle body message data is respectively converted into service data, and the service data is respectively sent to the automatic driving domain controller. In this way, the automatic driving domain controller can acquire the service data of the left front vehicle body domain controller and the right front vehicle body domain controller. The left front vehicle body domain controller and the right front vehicle body domain controller in the embodiment of the application are redundant to each other, and after one of them fails, the other can normally provide services, thereby providing double protection for the data services of automatic driving and improving the efficiency of data services.

[0101] In the embodiment of the application, the method can further include:

[0102] In the case where the left front vehicle body domain controller detects that the vehicle body message data has changed, service notification information is triggered eventually, and the service notification information contains a time stamp;

[0103] The service communication is checked;

[0104] In the case where it is detected that the service communication has a fault, the fault information is reported to the application layer.

[0105] Specifically, after the left front vehicle body domain controller converts the vehicle body message data into service data, if it is detected that the vehicle body message data has changed, service notification information can be triggered eventually, and the information can contain a time stamp. At the same time, the service communication is checked. If the left front vehicle body domain controller detects a communication fault, it needs to be reported to the application layer. Alternatively, when the automatic driving domain controller needs to monitor some states, it can also actively acquire the vehicle body data information of the left front vehicle body domain controller, and any one of the two ways can be supported based on business requirements.

[0106] In the embodiment of the application, the method can further include:

[0107] The service data is time-stamped by the automatic driving domain controller;

[0108] sending the service data containing the time stamp to the application layer;

[0109] The time of the data acquisition device, the vehicle body domain control device, and the automatic driving domain controller is a synchronized system time.

[0110] Specifically, the system time is taken as a master time node of the left front vehicle body domain controller, and each module of the data acquisition device, the right front vehicle body domain controller, and the automatic driving domain controller are taken as slave time nodes. The time is synchronized based on a standard time synchronization protocol, and all the time is a synchronized system time. In the embodiment of the application, the braking module, the power module, and the steering module of the data acquisition device are provided with a time stamp of an event occurrence time, and the time is a synchronized system time. The left front vehicle body domain controller receives the vehicle body message data sent by the three modules, and the vehicle body message data of each module is provided with a time stamp of the system time at the time of data reception. The time is also a synchronized system time, and the intelligent driving application side needs to compensate based on the time. After the automatic driving domain controller obtains the service information, the data service is uniformly processed, the data service is provided with a time stamp of the received service data, and the application layer is provided with the service data containing the time stamp as an input of the whole vehicle data. The embodiment of the application accurately calculates the time delay caused by each stage based on time synchronization, so that the vehicle data service system can realize accurate control.

[0111] In the embodiment of the application, the data acquisition device can include a braking module, a power module, and a steering module, and the step 401 of obtaining the vehicle body message data by the data acquisition device can include:

[0112] obtaining the automatic driving speed and acceleration information of the vehicle by the braking module;

[0113] obtaining the power system state and power system torque of the vehicle by the power module;

[0114] obtaining the steering system state, steering system angle, and steering system torque of the vehicle by the steering module.

[0115] In the embodiment of the application, the method can further include:

[0116] responding to the braking instruction of the automatic driving domain controller by the braking module;

[0117] responding to the torque request instruction of the automatic driving domain controller by the power module;

[0118] responding to the angle request instruction of the automatic driving domain controller by the steering module.

[0119] In the embodiment of the present application, the data acquisition device is a device for acquiring vehicle body message data. The service data of the vehicle can be divided into two parts, the first part is power service, and the second part is chassis service, and the chassis service is service data including braking and steering. Therefore, the vehicle body message data can include but is not limited to the automatic driving speed, acceleration information, power system state, power system torque, steering system state, steering system angle and steering system torque of the vehicle. In the embodiment of the present application, the data acquisition device can include but is not limited to a braking module, a power module and a steering module which can acquire vehicle body message data. The braking module is used to acquire the automatic driving speed and acceleration information of the vehicle, and simultaneously respond to the braking instruction of the automatic driving domain controller. The power module is used to acquire the power system state and power system torque information of the vehicle, and simultaneously respond to the torque request instruction of the automatic driving domain controller. The steering module is used to acquire the steering system state, steering system angle and steering system torque information of the vehicle, and simultaneously respond to the steering angle request instruction of the automatic driving domain controller.

[0120] Figure 5 A data flow conversion schematic diagram for providing vehicle body data service is schematically shown according to an embodiment of the present application. As shown in the figure, Figure 5 in an embodiment of the present application, a data flow conversion method for providing vehicle body data service can include:

[0121] S1, issuing CAN message (i.e. vehicle body message data) to vehicle body domain controller through data acquisition device (such as chassis, power, steering and other modules);

[0122] S2, receiving CAN message through vehicle body domain controller (through left front vehicle body domain controller and right front vehicle body domain controller respectively);

[0123] S3, time stamping CAN message through vehicle body domain controller;

[0124] S4, converting CAN message to obtain service data;

[0125] S5, in the case of detecting changes in CAN message, event-triggered service notification information is triggered to notify the vehicle body information state;

[0126] S6, the automatic driving domain controller receives the service data;

[0127] S7, the application layer receives the service data.

[0128] In the embodiment of the present application, the above-mentioned method not only solves the differences between different vehicle models, which are blocked in the vehicle body domain controller to realize the compatibility of multiple platforms. Moreover, the time delay caused by each stage is accurately calculated based on time synchronization, which can make the precise control of the vehicle data service system.

[0129] The embodiment of the present application further provides a machine readable storage medium, which stores instructions for causing a machine to execute the method for providing vehicle body data service.

[0130] Those skilled in the art should understand that the embodiment of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can adopt a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can adopt a computer program product embodied on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0131] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system) and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device implemented in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the function specified in the flow or block.

[0132] These computer program instructions can also be stored in a computer readable memory that can direct the computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including instruction apparatus, which implements the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the function specified in the flow or block.

[0133] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer implemented process, so that the instructions executed on the computer or other programmable device provide a process for implementing the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the function specified in the flow or block.

[0134] In a typical configuration, the computing device includes one or more processors (CPU), input / output interface, network interface and memory.

[0135] Memory can include non-persistent memory, Random Access Memory (RAM), and / or non-volatile memory, such as Read Only Memory (ROM) or flash memory, in a computer readable medium. Memory is an example of computer readable media.

[0136] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile discs (DVDs) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0137] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements in the list, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0138] The above merely provides an example of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A vehicle body data service system characterized by comprising: The vehicle body data service system comprises: a data acquisition device configured to acquire vehicle body message data; a vehicle body domain control device in communication with the data acquisition device and configured to receive the vehicle body message data sent by the data acquisition device and to service-convert the vehicle body message data to obtain service data; an autonomous driving domain controller in communication with the vehicle body domain control device and configured to receive the service data sent by the vehicle body domain control device and to output control instructions according to the service data; the autonomous driving domain controller is further configured to: time stamp the service data; send the service data containing the time stamp to an application layer; wherein the time of the data acquisition device, the vehicle body domain control device and the autonomous driving domain controller is a synchronized system time.

2. The vehicle body data service system according to claim 1, characterized by, The vehicle body domain control device comprises: a left front vehicle body domain controller in communication with the data acquisition device and configured to receive the vehicle body message data sent by the data acquisition device and to service-convert the vehicle body message data to obtain the service data; a right front vehicle body domain controller in communication with the data acquisition device and the left front vehicle body domain controller respectively and configured to receive the vehicle body message data sent by the data acquisition device and to service-convert the vehicle body message data to obtain the service data.

3. The vehicle body data service system according to claim 2, characterized by, The left front vehicle body domain controller is further configured to: eventually trigger service notification information containing a time stamp when detecting a change in the vehicle body message data; verify service communication; report fault information to the application layer when detecting a fault in service communication.

4. The vehicle body data service system according to claim 1, characterized by The data acquisition device comprises: a braking module configured to acquire automatic driving speed and acceleration information of a vehicle and to respond to braking instructions of the autonomous driving domain controller; a power module configured to acquire power system state and power system torque of the vehicle and to respond to torque request instructions sent by the autonomous driving domain controller; a steering module configured to acquire steering system state, steering system angle and steering system torque of the vehicle and to respond to steering angle request instructions sent by the autonomous driving domain controller.

5. A method for providing a vehicle body data service, characterized by, The method is applied to a vehicle body data service system, the vehicle body data service system comprises a data acquisition device, a vehicle body domain control device and an autonomous driving domain controller, the vehicle body domain control device is in communication with the data acquisition device, the autonomous driving domain controller is in communication with the vehicle body domain control device, and the method comprises: acquiring vehicle body message data by the data acquisition device; service-converting the vehicle body message data by the vehicle body domain control device to obtain service data; outputting control instructions according to the service data by the autonomous driving domain controller; the method further comprises: time stamping the service data by the autonomous driving domain controller; sending the service data containing the time stamp to an application layer; wherein the time of the data acquisition device, the vehicle body domain control device and the autonomous driving domain controller is a synchronized system time.

6. The method of claim 5, wherein, The vehicle body domain control device includes a left front vehicle body domain controller and a right front vehicle body domain controller that communicate with each other, and the method further includes: Receiving the vehicle body message data sent by the data acquisition device through the left front vehicle body domain controller and the right front vehicle body domain controller respectively; Converting the vehicle body message data into service data respectively to obtain service data; The service data is sent to the autonomous driving domain controller respectively.

7. The method of claim 6, wherein, The method further comprises: When the left front vehicle body domain controller detects a change in the vehicle body message data, a service notification message is triggered in an event-based manner, and the service notification message includes a timestamp; Verify service communications; When a service communication failure is detected, the failure information is reported to the application layer.

8. The method of claim 5, wherein, The data acquisition device includes a brake module, a power module and a steering module, and acquiring vehicle body message data through the data acquisition device includes: Obtaining the vehicle's automatic driving speed and acceleration information through the braking module; obtaining a power system state and a power system torque of the vehicle through the power module; The steering system state, steering system angle and steering system torque of the vehicle are obtained through the steering module.

9. The method of claim 8, wherein, The method further comprises: Responding to a braking instruction from the autonomous driving domain controller via a braking module; Responding to the torque request command of the autonomous driving domain controller through the power module; Respond to the turning angle request instruction of the autonomous driving domain controller through the steering module.

Images