Power domain integrated control method, device, electronic device and readable storage medium

Abstract

This application is applied to the field of automotive power system control and discloses a power domain integrated control method, device, electronic device, and readable storage medium, including: dividing the component tasks of the vehicle's entire control layer, battery management layer, and motor control layer respectively to obtain a vehicle subtask set, a battery subtask set, and a motor subtask set; determining the vehicle interface configuration of the vehicle control layer based on the vehicle subtask set, determining the battery management interface configuration of the battery management layer based on the battery subtask set, and determining the motor control interface configuration of the motor control layer based on the motor subtask set; integrating the vehicle control layer, battery management layer, and motor control layer into the power domain control system of the vehicle's power domain controller based on the vehicle interface configuration, battery management interface configuration, and motor control interface configuration. This application aims to solve the technical problem of the entire vehicle being unable to operate due to failure of any application layer software in the VCU, BMS, and MCU.

Description

Technical Field

[0001] The present application relates to the field of automobile power system control, and relates to a power domain integrated control method, device, electronic device and readable storage medium. Background Art

[0002] As a green means of transportation, new energy vehicles offer numerous advantages over internal combustion engine vehicles in terms of environmental protection, energy conservation, and driving performance. New energy vehicles include the vehicle control unit (VCU), battery management system (BMS), and motor control unit (MCU). These components are core components of the vehicle and significantly impact the vehicle's performance, fuel economy, reliability, and safety. The functions and signals of the VCU, BMS, and MCU application software, all controlled by different controllers, interact with each other. Therefore, a failure or inability of any of the VCU, BMS, and MCU application software can cause the other application software or controllers to become inoperable, ultimately rendering the entire vehicle inoperable. While integrating the VCU, BMS, and MCU into a single controller can mitigate the impact of controller failures on the VCU, BMS, and MCU, a failure of any of these software still causes the other software to fail, rendering the entire vehicle inoperable.

[0003] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of this application is to provide a power domain integrated control method, device, electronic device and readable storage medium, aiming to solve the technical problem that the entire vehicle cannot work due to the failure of any application layer software in the VCU (vehicle control unit), BMS (battery management system) and MCU (motor control unit).

[0005] To achieve the above objectives, the present application provides a power domain integrated control method, which includes:

[0006] The component tasks of the vehicle control layer, battery management layer, and motor control layer are divided respectively to obtain the vehicle subtask set of the vehicle control layer, the battery subtask set of the battery management layer, and the motor subtask set of the motor control layer;

[0007] Determine the vehicle interface configuration of the vehicle control layer based on the vehicle subtask set, determine the battery management interface configuration of the battery management layer based on the battery subtask set, and determine the motor control interface configuration of the motor control layer based on the motor subtask set;

[0008] According to the vehicle interface configuration, battery management interface configuration and motor control interface configuration, the vehicle control layer, battery management layer and motor control layer are integrated into the power domain control system of the vehicle's power domain controller.

[0009] To achieve the above objectives, the present application provides a power domain integrated control device, which includes:

[0010] The independent task division module is used to divide the component tasks of the vehicle control layer, battery management layer and motor control layer respectively, obtaining the vehicle subtask set of the vehicle control layer, the battery subtask set of the battery management layer and the motor subtask set of the motor control layer;

[0011] An interface configuration determination module is used to determine the vehicle interface configuration of the vehicle control layer based on the vehicle subtask set, determine the battery management interface configuration of the battery management layer based on the battery subtask set, and determine the motor control interface configuration of the motor control layer based on the motor subtask set;

[0012] The integration module is used to integrate the vehicle control layer, battery management layer and motor control layer into the power domain control system of the vehicle's power domain controller according to the vehicle interface configuration, battery management interface configuration and motor control interface configuration.

[0013] The present application also provides an electronic device, which includes: a memory, a processor, and a program of a power domain integrated control method stored in the memory and runnable on the processor. When the program of the power domain integrated control method is executed by the processor, the steps of the power domain integrated control method as described above can be implemented.

[0014] The present application also provides a readable storage medium, on which is stored a program for implementing the power domain integrated control method. When the program of the power domain integrated control method is executed by a processor, the steps of the power domain integrated control method as described above are implemented.

[0015] The present application also provides a computer program product, including a computer program, which implements the steps of the power domain integrated control method as described above when the computer program is executed by a processor.

[0016] The present application provides a power domain integrated control method, device, electronic device, and readable storage medium. The present application divides the component tasks of the vehicle's entire control layer, battery management layer, and motor control layer into a vehicle subtask set of the entire control layer, a battery subtask set of the battery management layer, and a motor subtask set of the motor control layer. This allows the component tasks of the vehicle control layer, battery management layer, and motor control layer to be divided separately, reducing the dependencies between the component tasks in the vehicle control layer, battery management layer, and motor control layer, and reducing the mutual impact between the subtasks.

[0017] Furthermore, based on the vehicle subtask set, battery subtask set and motor subtask set, the vehicle interface configuration of the vehicle control layer, the battery management interface configuration of the battery management layer, and the motor control interface configuration of the motor control layer are determined. Since the vehicle control layer, battery management layer and motor control layer can respectively determine the vehicle interface configuration, battery management interface configuration and motor control interface configuration, the vehicle control layer, battery management layer and motor control layer will not affect each other during operation, avoiding the mixing of the functions of the vehicle control layer, battery management layer and motor control layer, thereby avoiding the involvement and influence between each other.

[0018] Finally, according to the vehicle interface configuration, battery management interface configuration and motor control interface configuration, the vehicle control layer, battery management layer and motor control layer are integrated into the power domain control system of the vehicle's power domain controller, and the vehicle control layer, battery management layer and motor control layer are integrated into the same power domain controller, which avoids the situation where the vehicle control layer, battery management layer and motor control layer are controlled by different controllers and any controller fails, causing the whole vehicle to be unable to work. When the vehicle control layer, battery management layer and motor control layer are integrated into the power domain control system in the vehicle's power domain controller, the vehicle control layer, battery management layer and motor control layer can be Signal interaction is carried out in the power domain controller. Since the tasks in the vehicle control layer, battery management layer and motor control layer are divided into sub-tasks, and there is boundary isolation between the vehicle control layer, battery management layer and motor control layer, when one task fails, it will not affect the execution of other tasks. This solves the technical problem that when any layer in the vehicle control layer, battery management layer and motor control layer fails, the whole vehicle cannot work. In other words, it solves the technical problem that when any application layer software in the VCU (vehicle control unit), BMS (battery management system) and MCU (motor control unit) fails, the whole vehicle cannot work. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 This is a flow chart of the first embodiment of the power domain integrated control method of the present application;

[0022] Figure 2 This is a flow chart of verification and integration in the power domain integrated control method of this application;

[0023] Figure 3 This is a schematic diagram of the software architecture of the power domain control system in the power domain integrated control method of this application;

[0024] Figure 4 This is a schematic diagram of an apparatus according to an embodiment of the power domain integrated control method of the present application;

[0025] Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the power domain integrated control method in the embodiment of the present application.

[0026] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] To make the above-mentioned purposes, features, and advantages of the present application more clearly understood, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of this application.

[0028] The following are various embodiments of the power domain integrated control method:

[0029] Reference Figure 1 , Figure 1 This is a flow chart of the first embodiment of the power domain integrated control method of the present application. The present application provides a power domain integrated control method. In the first embodiment of the power domain integrated control method of the present application, the power domain integrated control method includes:

[0030] Step S10, dividing the component tasks of the vehicle control layer, battery management layer, and motor control layer of the vehicle respectively to obtain a vehicle subtask set of the vehicle control layer, a battery subtask set of the battery management layer, and a motor subtask set of the motor control layer;

[0031] In this embodiment, it should be noted that the embodiment of the present application is based on the PowerONE (power domain control) architecture, integrating the application layer software of the VCU (vehicle control unit), BMS (battery management system) and MCU (motor control unit) into the underlying environment of the power domain control system of the vehicle's power domain controller. The embodiment of the present application can be applied to the power domain control system, wherein the PowerONE architecture adopts the Kubernetes (container orchestration engine) microservice architecture and assists users through the Ansible (automated operation and maintenance tool) workflow to achieve automation of component configuration, allocation and lifecycle management. The vehicle control layer is used to realize the vehicle's driving torque control, optimized control of braking energy, energy management of the whole vehicle, fault diagnosis and processing, vehicle status monitoring, etc. The vehicle control layer is the VCU (vehicle control unit). The battery management layer is used to ensure that the vehicle's battery pack is within a safe operating range, provides the necessary information required for vehicle control, and responds and processes in a timely manner when an abnormality occurs. It also determines the battery charge and discharge power based on the ambient temperature, battery status and vehicle requirements. The battery management layer is the BMS (battery management system). The motor control layer is used to control the control unit of the motor driving the whole vehicle. The motor control layer is the MCU (motor control unit). Component tasks are SWC (Smart Web Components) tasks, and the vehicle subtask set is a collection of SWC tasks for the VCU. SWC is a software component defined under the AUTOSAR (Automotive Open System Architecture) standard, providing a software design and development methodology suitable for integration of functions in automotive electronic systems. A VCU SWC task can be considered a vehicle subtask within the vehicle subtask set. The battery subtask set is a collection of SWC tasks for the BMS, and a BMS SWC task can be considered a battery subtask within the battery subtask set. The motor subtask set is a collection of SWC tasks for the MCU, and a MCU SWC task can be considered a motor subtask within the motor subtask set.

[0032] In a specific implementation, the component tasks of the vehicle control layer are divided to obtain the vehicle subtask set of the vehicle control layer, wherein the vehicle subtask set includes: a vehicle cycle subtask set and a vehicle safety task, the vehicle cycle subtask set includes a vehicle cycle subtask, the vehicle cycle subtask and the vehicle safety task can be considered as the vehicle subtask of the vehicle control layer, the component tasks of the battery management layer are divided to obtain the battery subtask set of the battery management layer, the battery subtask set includes a battery cycle subtask set and a battery safety task, the battery cycle subtask set includes a battery cycle subtask, Both the battery cycle subtask and the battery safety task can be considered as the battery subtask of the battery management layer, and the component tasks of the motor control layer are divided to obtain the motor subtask set of the motor control layer. The motor subtask set includes the motor cycle subtask set and the motor safety task. The motor cycle subtask set includes: battery cycle subtask. The motor safety task and the battery cycle subtask can be considered as the motor subtask of the motor management layer. When any vehicle subtask fails, it does not affect the execution of other vehicle subtasks, nor does it affect the battery subtask set and the motor subtasks in the motor subtask set. This embodiment divides the vehicle control layer, battery management layer and component tasks of the motor control layer of the vehicle to obtain the vehicle subtask set of the vehicle control layer, the battery subtask set of the battery management layer and the motor subtask set of the motor control layer; thereby, the component tasks of the vehicle control layer, the battery management layer and the motor control layer can be independently divided out, reducing the dependency between the component tasks in the vehicle control layer, the battery management layer and the motor control layer, and reducing the mutual influence between the subtasks.

[0033] In one feasible implementation manner, before step S10, the power domain integrated control method further includes: constructing a PowerONE software architecture for the VCU, BMS, and MCU to integrate the VCU, BMS, and MCU in the same software architecture. It can be understood that the PowerONE software architecture for the VCU, BMS, and MCU is constructed to integrate the VCU, BMS, and MCU in the same software architecture.

[0034] Step S20: determining the vehicle interface configuration of the vehicle control layer according to the vehicle subtask set, determining the battery management interface configuration of the battery management layer according to the battery subtask set, and determining the motor control interface configuration of the motor control layer according to the motor subtask set;

[0035] In this embodiment, the vehicle interface configuration is used to describe the interface information of the vehicle control layer, the battery management interface configuration is used to describe the interface information of the battery management layer, and the motor control interface configuration is used to describe the interface information of the motor control layer. In a specific implementation manner, the vehicle interface configuration can be the .arxml file of the vehicle control layer, the battery management interface configuration can be the .arxml file of the battery management layer, and the motor control interface configuration can be the .arxml file of the motor control layer. Based on the content of the vehicle subtask set, the vehicle interface configuration is generated, based on the content of the battery subtask set, the battery management interface configuration is generated, and based on the content of the motor subtask set, the motor control interface configuration is generated.

[0036] This embodiment determines the vehicle interface configuration of the vehicle control layer, the battery management interface configuration of the battery management layer, and the motor control interface configuration of the motor control layer based on the vehicle subtask set, the battery subtask set and the motor subtask set. Since the vehicle control layer, the battery management layer and the motor control layer can respectively determine the vehicle interface configuration, the battery management interface configuration and the motor control interface configuration, the vehicle control layer, the battery management layer and the motor control layer will not affect each other during operation. That is, necessary boundary isolation is set for the vehicle control layer, the battery management layer and the motor control layer to avoid the functions of the vehicle control layer, the battery management layer and the motor control layer from being mixed together, thereby avoiding the involvement and influence between them.

[0037] Step S30 , integrating the vehicle control layer, the battery management layer, and the motor control layer into the power domain control system of the power domain controller of the vehicle according to the vehicle interface configuration, the battery management interface configuration, and the motor control interface configuration.

[0038] In this embodiment, the vehicle's power domain controller is an integrated controller, which integrates the controller hardware of the vehicle control layer, battery management layer and motor control layer. In this embodiment of the application, the functions of BMS and MCU can be realized without the controller hardware of the battery management layer and the motor control layer, which reduces the cost of the controller hardware and thus reduces the development cost.

[0039] In this embodiment, the vehicle control layer, battery management layer and motor control layer are integrated into the vehicle's power domain controller according to the vehicle interface configuration, battery management interface configuration and motor control interface configuration, that is, the vehicle control layer, battery management layer and motor control layer are integrated into the same power domain controller, which avoids the situation where the vehicle control layer, battery management layer and motor control layer are controlled by different controllers and any controller fails, resulting in the vehicle being unable to work. When the vehicle control layer, battery management layer and motor control layer are integrated into the vehicle's power domain controller, the vehicle control layer, battery management layer and motor control layer can perform signal exchange in the power domain controller. Since the tasks in the vehicle control layer, battery management layer and motor control layer are divided into independent sub-tasks with boundary isolation, the mutual dependence among the vehicle control layer, battery management layer and motor control layer is reduced. Therefore, when one task fails, it will not affect the execution of other tasks, thus solving the technical problem that when any layer among the vehicle control layer, battery management layer and motor control layer fails, the whole vehicle cannot work. That is, it also solves the technical problem that when any application layer software among VCU (vehicle control unit), BMS (battery management system) and MCU (motor control unit) fails, the whole vehicle cannot work.

[0040] In a feasible implementation, the present application integrates the vehicle control layer, battery management layer and motor control layer on the same power domain controller, thereby making the software development cycles of the vehicle control layer, battery management layer and motor control layer consistent. Then, when verifying the vehicle control layer, battery management layer and motor control layer during the development process, they do not need to wait for each other until they can verify each other due to different development cycles. In the present application, there is no need to wait for each other during development, thereby improving software development efficiency and ensuring that the vehicle control layer, battery management layer and motor control layer run in the same life cycle, making it easier to maintain the vehicle. In addition, the cost of the two controller hardware can be reduced in the present application, that is, there is no need to perform DVP (Design Verification Plan) verification on the BMS and MCU controller hardware separately, thereby saving development costs, verification costs and labor costs.

[0041] In one possible implementation, step S10 includes:

[0042] Step S11, based on a preset safety task list, extracting functional safety component tasks in the vehicle control layer, the battery management layer, and the motor control layer, respectively, to obtain the vehicle safety tasks of the vehicle control layer, the battery safety tasks of the battery management layer, and the motor safety tasks of the motor control layer;

[0043] In this embodiment, the preset safety task list includes component tasks for functional safety in the vehicle control layer, the battery management layer, and the motor control layer. In a feasible embodiment, based on the preset safety task list, the SWC tasks for functional safety in the vehicle control layer are divided out to obtain the vehicle safety tasks of the vehicle control layer. The vehicle safety tasks include the SWC tasks for functional safety in the vehicle control layer. The SWC tasks for functional safety in the battery management layer are divided out to obtain the battery safety tasks of the battery management layer. The battery safety tasks are SWC tasks for functional safety. The SWC tasks for functional safety in the motor control layer are separately divided out to obtain the SWC tasks for functional safety in the motor safety tasks of the motor control layer. The embodiment of the present application divides the component tasks for functional safety in the vehicle control layer, the battery management layer, and the motor control layer based on the preset safety task list, so that the component tasks for functional safety will not be mixed with other component tasks.

[0044] Step S12, dividing the remaining component tasks in the vehicle control layer, the battery management layer, and the motor control layer according to the preset task cycle, to obtain a vehicle cycle subtask set of the vehicle control layer, a battery cycle subtask set of the battery management layer, and a motor cycle subtask set of the motor control layer;

[0045] In this embodiment, the preset task cycle is the task cycle of the SWC task divided into divided SWC tasks, the vehicle cycle subtask set includes each vehicle cycle subtask divided by the preset task cycle, the vehicle cycle subtask is the SWC task of the VCU, the battery cycle subtask set includes each battery cycle subtask divided by the preset task cycle, the battery cycle subtask includes the SWC task of the BMS, the motor cycle subtask set includes each motor cycle subtask divided by the preset task cycle, the motor cycle subtask includes the SWC task of the MCU, and the remaining component tasks are the remaining component tasks after the functional safety component tasks are divided out.

[0046] In a feasible embodiment, the preset task cycle includes a first task cycle, a second task cycle and a third task cycle. The first task cycle can be 10ms, the second task cycle can be 50ms, and the third task cycle is 100ms. According to the preset task cycle, the remaining component tasks in the vehicle control layer are classified according to the first task cycle, the second task cycle and the third task cycle to obtain the vehicle cycle subtasks of the first task cycle, the vehicle cycle subtasks of the second task cycle and the vehicle cycle subtasks of the third task cycle. The vehicle cycle subtasks of the first task cycle, the vehicle cycle subtasks of the second task cycle and the vehicle cycle subtasks of the third task cycle in the vehicle control layer are used as the vehicle cycle subtask set, and the remaining component tasks in the motor control layer are classified according to the first task cycle, the second task cycle and the third task cycle. The task cycles are classified to obtain the motor cycle subtasks of the first task cycle, the motor cycle subtasks of the second task cycle, and the motor cycle subtasks of the third cycle in the motor control layer, and the motor cycle subtasks of the first task cycle, the motor cycle subtasks of the second task cycle, and the motor cycle subtasks of the third cycle in the battery management layer are used as the motor cycle subtask set, and the remaining component tasks in the battery management layer are classified according to the first task cycle, the second task cycle, and the third task cycle to obtain the battery cycle subtasks of the first task cycle, the battery cycle subtasks of the second task cycle, and the battery cycle subtasks of the first task cycle, the battery cycle subtasks of the second task cycle, and the battery cycle subtasks of the third cycle in the battery management layer are used as the battery cycle subtask set.

[0047] Step S13, the whole vehicle cycle subtask set and the whole vehicle safety task are used together as the whole vehicle subtask set of the whole vehicle control layer, the battery cycle subtask set and the battery safety task are used together as the battery subtask set of the battery management layer, and the motor cycle subtask set and the motor safety task are used together as the motor subtask set of the motor control layer.

[0048] This embodiment separates the functional safety component tasks in the vehicle control layer, battery management layer and motor control layer by presetting a safety task list, thereby separating the functional safety component tasks. According to the preset task cycle, the remaining component tasks in the vehicle control layer, battery management layer and motor control layer are divided into the first task cycle, the second task cycle and the third task cycle, thereby achieving the classification and independence of component tasks with different task cycles in the vehicle control layer, battery management layer and motor control layer, so that the component tasks will not affect each other. It can be understood that when any component task fails, it will not cause all component tasks to stop executing, and the failed component task can be located to determine the cause of the failure, thereby improving the efficiency of determining the cause of the failure when the vehicle fails, and avoiding the situation where the whole vehicle cannot work when any component task fails.

[0049] Furthermore, based on the first embodiment described above, a second embodiment of the power domain integrated control method is proposed. In step S10, after the component tasks of the vehicle control layer, the battery management layer, and the motor control layer are divided to obtain the vehicle subtask set of the vehicle control layer, the battery subtask set of the battery management layer, and the motor subtask set of the motor control layer, the second embodiment further includes:

[0050] Step A10 , performing reliability verification on the vehicle control layer, the battery management layer, and the motor control layer respectively, until the reliability verification of the vehicle control layer, the battery management layer, and the motor control layer is successful.

[0051] In this embodiment, before integrating the vehicle control layer, battery management layer, and motor control layer into a single power domain controller, reliability verification is performed on each of the vehicle control layer, battery management layer, and motor control layer. Reliability verification is used to verify whether the functions of the vehicle control layer, battery management layer, and motor control layer can operate normally. Reliability verification includes model-in-the-loop verification and hardware-in-the-loop verification. After the reliability verification of the vehicle control layer, battery management layer, and motor control layer is successful, step S30 is executed. If any of the vehicle control layer, battery management layer, and motor control layer fails the reliability verification, the verification is repeated until the reliability verification succeeds. In one feasible implementation, the reliability verification can be repeated by adding verification cases.

[0052] Furthermore, in a feasible embodiment, step A10 includes: performing reliability verification on the vehicle control layer, the battery management layer, and the motor control layer respectively, including:

[0053] Step A11: Performing model-in-the-loop verification on the vehicle control layer. After the model-in-the-loop verification of the vehicle control layer is successful, performing hardware-in-the-loop verification on the vehicle control layer based on the power domain controller;

[0054] Step A12: Performing model-in-the-loop verification on the battery management layer and the motor control layer respectively. After the model-in-the-loop verification of the battery management layer and the motor control layer is successful, performing hardware-in-the-loop verification on the battery management layer and the motor control layer respectively.

[0055] In this embodiment, reliability verification includes model-in-loop verification and hardware-in-loop verification. Model-in-loop verification is MIL (Model In Loop) verification, and hardware-in-loop verification is HIL (Hardware In Loop) verification. Hardware-in-loop verification can be simulated hardware-in-loop verification or real hardware-in-loop verification. Simulated hardware-in-loop verification can be rapid prototype controller verification. Real hardware-in-loop verification is hardware-in-loop testing based on real controller hardware, and simulated hardware-in-loop verification is hardware-in-loop testing based on simulated controller hardware. The power domain controller can be considered to be improved from the controller hardware of the VCU. Therefore, when the VCU performs hardware verification, the controller hardware of the VCU can be directly used for real hardware-in-loop verification without the need for simulated hardware verification, thereby improving the accuracy of hardware verification.

[0056] In one feasible implementation, the whole vehicle control layer is subjected to MIL verification. After the MIL verification is successful, the whole vehicle control layer is subjected to HIL verification based on the power domain controller. The battery management layer and the motor control layer are subjected to MIL verification respectively. After the MIL verification of the battery management layer and the motor control layer is successful, the battery management layer and the motor control layer are subjected to HIL verification. Specifically, the software model of the whole vehicle control layer at the application layer is subjected to MIL verification and HIL verification. The software model of the battery management layer and the motor control layer at the application layer is subjected to MIL verification and HIL verification respectively. The application layer software model of the whole vehicle control layer can be considered as the application layer software model of the whole vehicle control layer constructed in the PowerONE architecture. The application layer software model includes the component tasks of the whole vehicle control layer, which can be considered as including the whole vehicle sub-task set. The application layer software model of the battery management layer can be considered as the application layer software model of the battery management layer constructed in the PowerONE architecture. The application layer software model includes the component tasks of the battery management layer, which can be considered as including the battery sub-task set. The application layer software model of the motor control layer can be considered as the application layer software model of the motor control layer built in the PowerONE architecture. The component tasks of the motor control layer are included in the application layer software model, which can be considered to include a motor subtask set.

[0057] This embodiment ensures that the vehicle control layer, battery management layer and motor control layer can operate normally by performing MIL verification and HIL verification on the vehicle control layer, battery management layer and motor control layer. It can be understood that the vehicle control layer, battery management layer and motor control layer that have passed MIL verification and HIL verification are integrated to ensure that the corresponding functions of the vehicle control layer, battery management layer and motor control layer can be executed normally when they are integrated on the same power domain controller.

[0058] Furthermore, in another feasible embodiment, step A12 includes:

[0059] Step A121, determining whether the battery management layer has the controller hardware of the battery management layer;

[0060] Step A122: If the battery management layer does not have the controller hardware of the battery management layer, determine to perform simulated hardware-in-the-loop verification on the battery management layer;

[0061] Step A123: If the battery management layer has the controller hardware of the battery management layer, determine to perform real hardware-in-the-loop verification based on the controller of the battery management layer;

[0062] Step A124, determining whether the motor control layer has the controller hardware of the motor control layer;

[0063] Step A125 , if the motor control layer does not have the controller hardware of the motor control layer, determining to perform simulated hardware-in-the-loop verification on the battery management layer;

[0064] Step A126 : If the motor control layer has controller hardware of the motor control layer, determine to perform real hardware-in-the-loop verification based on the controller of the motor control layer.

[0065] In this embodiment, there are two ways to perform HIL verification on the battery management layer and the motor control layer. When hardware support exists for the battery management layer or the motor control layer, real hardware verification can be performed. When hardware support does not exist for the battery management layer or the motor control layer, simulated hardware verification can be performed. The hardware support refers to the controller hardware of the motor control layer or the controller hardware of the battery management layer.

[0066] In one possible implementation, referring to Figure 2 , Figure 2This is a flow chart of verification and completion in the power domain integrated control method. First, the software architecture of VCU, BMS and MCU is carried out based on PowerONE, and the software models of VCU, BMS and MCU are respectively subjected to MIL verification and HIL verification. In this application, when the VCU is subjected to HIL verification, a real HIL verification can be performed based on the power domain controller. If there is a controller hardware of the battery management layer (BMS), a real HIL verification is performed on the battery management layer based on the controller hardware of the battery management layer. If there is a controller hardware of the motor control layer (MCU), a real HIL verification is performed on the motor control layer based on the controller hardware of the motor control layer. Thereby, the accuracy of the HIL verification can be improved. In another feasible implementation, if there is no controller hardware of the battery management layer, a simulated HIL verification is performed on the battery management layer. If there is no controller hardware of the motor control layer, a simulated HIL verification is performed on the motor control layer. It can be understood that when there is no controller hardware of the battery management layer and controller hardware of the motor control layer, the battery management layer and the motor control layer can also be subjected to hardware verification, thereby reducing the verification cost and ensuring the reliability of the battery management layer and the motor control layer. After the reliability verification of the software models of VCU, BMS and MCU, the .ARXML file of VCU (descriptive file of the interactive interface), .ARXML file of BMS and .ARXML file of MCU are generated respectively. Then, based on the .ARXML files of VCU, BMS and MCU and the RTE (Real-Time Engagement) interface of the VFB (Virtual Function Bus) layer, communication is carried out with the BSW of the power domain control system, thereby realizing signal interaction between VCU, BMS and MCU in the power domain control system. Among them, VFB is a collection of all communication mechanisms provided by AUTOSAR.

[0067] Furthermore, based on the above embodiment, a third embodiment of the power domain integrated control method is proposed, where step 30 includes:

[0068] Step B10: Based on the vehicle interface configuration, control the vehicle control layer to perform RTE communication with the underlying environment of the power domain controller, so as to integrate the vehicle control layer into the underlying environment of the power domain controller;

[0069] Step B20: Based on the battery management interface configuration, control the battery management layer to perform RTE communication with the underlying environment of the power domain controller, so as to integrate the battery management layer into the underlying environment of the power domain controller;

[0070] Step B30: Based on the motor control interface configuration, control the motor control layer and the underlying environment of the power domain controller to perform RTE communication, so as to integrate the motor control layer into the underlying environment of the power domain controller.

[0071] In this embodiment, there is a communication layer between the vehicle control layer and the underlying environment of the power domain controller. The communication layer can be VFB (Virtual Function Bus), which is a collection of all communication mechanisms provided by AUTOSAR. In this embodiment, the VFB layer includes an RTF interface, wherein the RTE interface is an implementation of the interface of the AUTOSAR virtual function bus VFB, which provides basic services for communication between application software components. RTE communication is carried out between the vehicle control layer and the underlying environment of the power domain controller, the battery management layer and the underlying environment of the power domain controller, and the motor control layer and the underlying environment of the power domain controller. In this way, the vehicle control layer, the battery management layer and the motor control layer are integrated in the underlying environment of the power domain control system of the power domain controller, so that RTE communication can be carried out between the vehicle control layer, the battery management layer and the motor control layer without the need to communicate through CAN, thereby saving wiring harness costs, and not generating EMC or signal frame loss, thereby improving software development efficiency and quality. Further, referring to Figure 3 , Figure 3Figure 1 is a software architecture diagram of the power domain control system in the power domain integrated control method. BMS-ASW is the software model of the BMS application layer, VCU-ASW is the software model of the VCU application layer, and MCU-ASW is the software model of the MCU application layer. In BMS-ASW, the BSW component tasks (SWC) are divided into 10ms SWC tasks, 50ms SWC tasks, 100ms SWC tasks, and functional safety SWC tasks. In VCU-ASW, the VCU component tasks (SWC) are divided into 10ms SWC tasks, 50ms SWC tasks, 100ms SWC tasks, and functional safety SWC tasks. In MCU-ASW, the MCU component tasks (SWC) are divided into 10ms SWC tasks, 50ms SWC tasks, 100ms SWC tasks, and functional safety SWC tasks. Signal interaction can be carried out between the BMS-ASW, MCU-ASW and VCU-ASW through RTE. The BMS-ASW, MCU-ASW and VCU-ASW are integrated into the BSW of the underlying environment of the power domain integration system through RTE. The underlying environment BSW (Basic Software) of the power domain integration system is connected to the HW (Hardware) through the controller hard line or CAN line, thereby realizing the BMS-ASW, MCU-ASW and VCU-ASW to interact with the outside world through the controller hard line or CAN line.

[0072] In a feasible embodiment, after step S30, the power domain integrated control method further includes:

[0073] Step C10, performing communication verification between the vehicle control layer and the battery management layer;

[0074] Step C20, performing communication verification between the vehicle control layer and the motor control layer;

[0075] Step C30 , performing communication verification between the battery management layer and the motor control layer.

[0076] In this embodiment, it should be noted that after the vehicle control layer, battery management layer and motor control layer are integrated into the underlying environment of the power domain controller, the communication between the vehicle control layer, battery management layer and motor control layer must be verified to ensure that signals can be exchanged between the vehicle control layer, battery management layer and motor control layer.

[0077] In a feasible implementation, the vehicle control layer can be controlled to send a first communication verification instruction to the battery management layer and the motor control layer, the battery management layer can be controlled to send a second communication verification instruction to the vehicle control layer, and the motor control layer can be controlled to send a third communication verification instruction to the vehicle control layer. If the battery management layer receives the first communication verification instruction from the vehicle control layer and the vehicle control layer receives the second communication verification instruction, it is determined that the vehicle control layer and the battery management layer can communicate normally. If the motor control layer receives the first communication verification instruction and the vehicle control layer receives the third communication verification instruction, it is determined that the vehicle control layer and the battery management layer can communicate normally. The battery management layer can be controlled to send a second communication verification instruction to the motor control layer and the motor control layer can be controlled to send a third communication verification instruction. If the motor control layer receives the second communication verification instruction from the battery management layer, if the battery management layer receives the second communication verification instruction, it is determined that the motor control layer and the battery management layer can communicate normally. The first communication verification instruction, the second communication verification instruction, and the third communication verification instruction are used for communication verification to ensure that the vehicle control layer, the battery management layer, and the motor control layer can interact with each other normally, thereby ensuring the reliability of the power domain control system.

[0078] Further, refer to Figure 4 , an embodiment of the present application further provides a power domain integrated control device, the power domain integrated control device comprising:

[0079] The independent task division module 10 is used to divide the component tasks of the vehicle control layer, battery management layer and motor control layer of the vehicle respectively, to obtain the vehicle subtask set of the vehicle control layer, the battery subtask set of the battery management layer and the motor subtask set of the motor control layer;

[0080] An interface configuration determination module 20 is configured to determine the vehicle interface configuration of the vehicle control layer according to the vehicle subtask set, determine the battery management interface configuration of the battery management layer according to the battery subtask set, and determine the motor control interface configuration of the motor control layer according to the motor subtask set;

[0081] The integration module 30 is used to integrate the vehicle control layer, the battery management layer and the motor control layer into the power domain control system of the power domain controller of the vehicle according to the vehicle interface configuration, the battery management interface configuration and the motor control interface configuration.

[0082] Optionally, the task division independent module 10 is further configured to:

[0083] Based on a preset safety task list, extract the functional safety component tasks in the vehicle control layer, the battery management layer, and the motor control layer respectively, to obtain the vehicle safety tasks of the vehicle control layer, the battery safety tasks of the battery management layer, and the motor safety tasks of the motor control layer;

[0084] According to the preset task cycle, the remaining component tasks in the vehicle control layer, the battery management layer and the motor control layer are divided respectively to obtain the vehicle cycle subtask set of the vehicle control layer, the battery cycle subtask set of the battery management layer and the motor cycle subtask set of the motor control layer;

[0085] The vehicle cycle subtask set and the vehicle safety task are collectively used as the vehicle subtask set of the vehicle control layer, the battery cycle subtask set and the battery safety task are collectively used as the battery subtask set of the battery management layer, and the motor cycle subtask set and the motor safety task are collectively used as the motor subtask set of the motor control layer.

[0086] Optionally, the task division independent module 10 is further configured to:

[0087] Reliability verification is performed on the vehicle control layer, the battery management layer, and the motor control layer respectively until the reliability verification of the vehicle control layer, the battery management layer, and the motor control layer is successful.

[0088] Optionally, the task division independent module 10 is further configured to:

[0089] Performing model-in-the-loop verification on the vehicle control layer. After the model-in-the-loop verification of the vehicle control layer is successful, performing hardware-in-the-loop verification on the vehicle control layer based on the power domain controller;

[0090] Model-in-the-loop verification is performed on the battery management layer and the motor control layer respectively. After the model-in-the-loop verification of the battery management layer and the motor control layer is successful, hardware-in-the-loop verification is performed on the battery management layer and the motor control layer respectively.

[0091] Optionally, the task division independent module 10 is further configured to:

[0092] Determine whether the battery management layer has controller hardware of the battery management layer;

[0093] If the battery management layer does not have the controller hardware of the battery management layer, determining to perform simulated hardware-in-the-loop verification on the battery management layer;

[0094] If the battery management layer has controller hardware of the battery management layer, determining to perform real hardware-in-the-loop verification based on the controller of the battery management layer;

[0095] Determine whether the motor control layer has the controller hardware of the motor control layer;

[0096] If the motor control layer does not have the controller hardware of the motor control layer, determining to perform simulated hardware-in-the-loop verification on the battery management layer;

[0097] If the motor control layer has controller hardware of the motor control layer, it is determined to perform real hardware-in-the-loop verification based on the controller of the motor control layer.

[0098] Optionally, the integrated module 30 is used to:

[0099] Based on the vehicle interface configuration, control the vehicle control layer to perform RTE communication with the underlying environment of the power domain controller, so as to integrate the vehicle control layer into the underlying environment of the power domain controller;

[0100] Based on the battery management interface configuration, control the battery management layer to perform RTE communication with the underlying environment of the power domain controller, so as to integrate the battery management layer into the underlying environment of the power domain controller;

[0101] Based on the motor control interface configuration, the motor control layer is controlled to perform RTE communication with the underlying environment of the power domain controller, so as to integrate the motor control layer into the underlying environment of the power domain controller.

[0102] Optionally, the integrated module 30 is further configured to:

[0103] Performing communication verification between the vehicle control layer and the battery management layer;

[0104] Performing communication verification between the vehicle control layer and the motor control layer;

[0105] Communication verification is performed between the battery management layer and the motor control layer.

[0106] The power domain integrated control device provided in the embodiment of the present application adopts the power domain integrated control method in the above embodiment, and is intended to solve the technical problem of the vehicle being unable to operate due to the failure of any application layer software in the VCU (vehicle control unit), BMS (battery management system), and MCU (motor control unit). Compared with the prior art, the beneficial effects of the power domain integrated control method provided in the embodiment of the present application are the same as the beneficial effects of the power domain integrated control method provided in the above embodiment, and the other technical features of the power domain integrated control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0107] Furthermore, an embodiment of the present application provides an electronic device, which may be a playback device, and the electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the power domain integrated control method in the above embodiment.

[0108] Reference below Figure 5 , which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (portable Android devices), PMPs (portable media players), in-vehicle terminals (such as in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0109] like Figure 5 As shown, the electronic device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a ROM (Read-Only Memory) 1002 or a program loaded from a storage device 1003 into a RAM (Random Access Memory) 1004. Various programs and data required for the operation of the electronic device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus.

[0110] Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, tachometer, gyroscope, etc.; output devices 1008 including, for example, an LCD (Liquid Crystal Display), speaker, vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, hard disk, etc.; and communication devices 1009. The communication devices can allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an electronic device with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented or have instead.

[0111] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication system, or installed from a storage system, or installed from a ROM. When the computer program is executed by a processing system, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0112] The electronic device provided in the embodiment of the present application adopts the power domain integrated control method in the above-mentioned embodiment 1 to solve the technical problem that the entire vehicle cannot work due to the failure of any application layer software in the VCU (vehicle control unit), BMS (battery management system) and MCU (motor control unit). Compared with the prior art, the beneficial effects of the product flow data distribution provided in the embodiment of the present application are the same as the beneficial effects of the power domain integrated control method provided in the above-mentioned embodiment, and the other technical features of the power domain integrated control device are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0113] It should be understood that various parts of the present disclosure can be implemented with hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in an appropriate manner.

[0114] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0115] This embodiment provides a readable storage medium having computer-readable program instructions stored thereon, and the computer-readable program instructions are used to execute the power domain integrated control method in the above-mentioned embodiment 1.

[0116] The readable storage medium provided in the embodiment of the present application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor devices, equipment or devices, or any combination thereof. More specific examples of readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable EPROM (Electrical Programmable Read Only Memory, read-only memory) or flash memory, an optical fiber, a portable compact disk CD-ROM (compact disc read-only memory, read-only memory), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution device, device or device. The program code contained on the readable storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency, radio frequency) and the like, or any suitable combination thereof.

[0117] The above-mentioned readable storage medium may be included in the electronic device; or may exist independently without being assembled into the electronic device.

[0118] The above-mentioned readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by an electronic device, the electronic device: divides the component tasks of the vehicle's whole vehicle control layer, battery management layer and motor control layer respectively, and obtains the whole vehicle sub-task set of the whole vehicle control layer, the battery sub-task set of the battery management layer and the motor sub-task set of the motor control layer; determines the whole vehicle interface configuration of the whole vehicle control layer according to the whole vehicle sub-task set, determines the battery management interface configuration of the battery management layer according to the battery sub-task set, and determines the motor control interface configuration of the motor control layer according to the motor sub-task set; integrates the whole vehicle control layer, the battery management layer and the motor control layer into the power domain control system of the power domain controller of the vehicle according to the whole vehicle interface configuration, the battery management interface configuration and the motor control interface configuration.

[0119] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a LAN (local area network) or WAN (wide area network), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0120] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the devices, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based device that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0121] The modules involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0122] The readable storage medium provided in this application stores computer-readable program instructions for executing the aforementioned power domain integrated control method, aiming to address the technical issue of a vehicle being unable to operate due to failure of any application layer software in the VCU (vehicle control unit), BMS (battery management system), or MCU (motor control unit). Compared to the prior art, the beneficial effects of the readable storage medium provided in this embodiment of the application are the same as those of the power domain integrated control method provided in the aforementioned embodiment, and are not further elaborated here.

[0123] The present application also provides a computer program product, comprising a computer program, which implements the steps of the power domain integrated control method as described above when executed by a processor.

[0124] The computer program product provided in this application is intended to address the technical problem of a vehicle becoming inoperable due to failure of any application-layer software in the VCU (vehicle control unit), BMS (battery management system), or MCU (motor control unit). Compared to the prior art, the beneficial effects of the computer program product provided in this embodiment are the same as those of the power domain integrated control method provided in the above-mentioned embodiment, and are not further elaborated here.

[0125] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A power domain integrated control method, characterized in that: The power domain integrated control method includes: Dividing the component tasks of the vehicle control layer, battery management layer, and motor control layer of the vehicle respectively to obtain a vehicle subtask set of the vehicle control layer, a battery subtask set of the battery management layer, and a motor subtask set of the motor control layer; Determine the vehicle interface configuration of the vehicle control layer according to the vehicle subtask set, determine the battery management interface configuration of the battery management layer according to the battery subtask set, and determine the motor control interface configuration of the motor control layer according to the motor subtask set; Integrating the vehicle control layer, the battery management layer, and the motor control layer into a power domain control system of a power domain controller of the vehicle according to the vehicle interface configuration, the battery management interface configuration, and the motor control interface configuration; The steps of dividing the component tasks of the vehicle control layer, the battery management layer, and the motor control layer of the vehicle to obtain the vehicle subtask set of the vehicle control layer, the battery subtask set of the battery management layer, and the motor subtask set of the motor control layer include: Based on a preset safety task list, extract the functional safety component tasks in the vehicle control layer, the battery management layer, and the motor control layer, respectively, to obtain the vehicle safety tasks of the vehicle control layer, the battery safety tasks of the battery management layer, and the motor safety tasks of the motor control layer; According to the preset task cycle, the remaining component tasks in the vehicle control layer, the battery management layer and the motor control layer are divided respectively to obtain the vehicle cycle subtask set of the vehicle control layer, the battery cycle subtask set of the battery management layer and the motor cycle subtask set of the motor control layer; The vehicle cycle subtask set and the vehicle safety task are collectively used as the vehicle subtask set of the vehicle control layer, the battery cycle subtask set and the battery safety task are collectively used as the battery subtask set of the battery management layer, and the motor cycle subtask set and the motor safety task are collectively used as the motor subtask set of the motor control layer.

2. The power domain integrated control method according to claim 1, characterized in that: After the steps of dividing the component tasks of the vehicle control layer, the battery management layer, and the motor control layer to obtain the vehicle subtask set of the vehicle control layer, the battery subtask set of the battery management layer, and the motor subtask set of the motor control layer, the power domain integrated control method further includes: Reliability verification is performed on the vehicle control layer, the battery management layer, and the motor control layer respectively until the reliability verification of the vehicle control layer, the battery management layer, and the motor control layer is successful.

3. The power domain integrated control method according to claim 2, characterized in that: The steps of respectively verifying the reliability of the vehicle control layer, the battery management layer, and the motor control layer include: Performing model-in-the-loop verification on the vehicle control layer. After the model-in-the-loop verification of the vehicle control layer is successful, performing hardware-in-the-loop verification on the vehicle control layer based on the power domain controller; Model-in-the-loop verification is performed on the battery management layer and the motor control layer respectively. After the model-in-the-loop verification of the battery management layer and the motor control layer is successful, hardware-in-the-loop verification is performed on the battery management layer and the motor control layer respectively.

4. The power domain integrated control method according to claim 3, characterized in that: The hardware-in-the-loop verification includes simulated hardware-in-the-loop verification and real hardware-in-the-loop verification; The step of performing hardware-in-the-loop verification on the battery management layer and the motor control layer on the power domain controller includes: Determine whether the battery management layer has controller hardware of the battery management layer; If the battery management layer does not have the controller hardware of the battery management layer, determining to perform simulated hardware-in-the-loop verification on the battery management layer; If the battery management layer has controller hardware of the battery management layer, determining to perform real hardware-in-the-loop verification based on the controller of the battery management layer; Determine whether the motor control layer has the controller hardware of the motor control layer; If the motor control layer does not have the controller hardware of the motor control layer, determining to perform simulated hardware-in-the-loop verification on the battery management layer; If the motor control layer has controller hardware of the motor control layer, it is determined to perform real hardware-in-the-loop verification based on the controller of the motor control layer.

5. The power domain integrated control method according to claim 1, characterized in that: The step of integrating the vehicle control layer, the battery management layer, and the motor control layer into the power domain control system of the power domain controller of the vehicle according to the vehicle interface configuration, the battery management interface configuration, and the motor control interface configuration includes: Based on the vehicle interface configuration, control the vehicle control layer to perform RTE communication with the underlying environment of the power domain controller, so as to integrate the vehicle control layer into the underlying environment of the power domain controller; Based on the battery management interface configuration, control the battery management layer to perform RTE communication with the underlying environment of the power domain controller, so as to integrate the battery management layer into the underlying environment of the power domain controller; Based on the motor control interface configuration, the motor control layer is controlled to perform RTE communication with the underlying environment of the power domain controller, so as to integrate the motor control layer into the underlying environment of the power domain controller.

6. The power domain integrated control method according to claim 1, characterized in that: After the step of integrating the vehicle control layer, the battery management layer, and the motor control layer into the power domain control system of the power domain controller of the vehicle according to the vehicle interface configuration, the battery management interface configuration, and the motor control interface configuration, the power domain integrated control method further includes: Performing communication verification between the vehicle control layer and the battery management layer; Performing communication verification between the vehicle control layer and the motor control layer; Communication verification is performed between the battery management layer and the motor control layer.

7. A power domain integrated control device, characterized in that: The power domain integrated control device includes: An independent task division module is used to divide the component tasks of the vehicle control layer, battery management layer and motor control layer of the vehicle respectively, to obtain the vehicle subtask set of the vehicle control layer, the battery subtask set of the battery management layer and the motor subtask set of the motor control layer; an interface configuration determination module, configured to determine the vehicle interface configuration of the vehicle control layer according to the vehicle subtask set, determine the battery management interface configuration of the battery management layer according to the battery subtask set, and determine the motor control interface configuration of the motor control layer according to the motor subtask set; An integration module, configured to integrate the vehicle control layer, the battery management layer, and the motor control layer into a power domain control system of a power domain controller of the vehicle according to the vehicle interface configuration, the battery management interface configuration, and the motor control interface configuration; The task division independent module is further used to extract the functional safety component tasks in the vehicle control layer, the battery management layer, and the motor control layer based on a preset safety task list, obtain the vehicle safety tasks of the vehicle control layer, the battery safety tasks of the battery management layer, and extract the motor safety tasks of the motor control layer; The task division independent module is further used to divide the remaining component tasks in the vehicle control layer, battery management layer and motor control layer according to the preset task cycle, thereby obtaining the vehicle cycle subtask set of the vehicle control layer, the battery cycle subtask set of the battery management layer and the motor cycle subtask set of the motor control layer; The task division independent module is also used to use the whole vehicle cycle subtask set and the whole vehicle safety task together as the whole vehicle subtask set of the whole vehicle control layer, use the battery cycle subtask set and the battery safety task together as the battery subtask set of the battery management layer, and use the motor cycle subtask set and the motor safety task together as the motor subtask set of the motor control layer.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the steps of the power domain integrated control method according to any one of claims 1 to 6.

9. A readable storage medium, characterized in that: The readable storage medium stores a program for implementing the power domain integrated control method, and the program for implementing the power domain integrated control method is executed by a processor to implement the steps of the power domain integrated control method as claimed in any one of claims 1 to 6.

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